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/* taz_model.c */
/* asserv - Position & speed motor control on AVR. {{{
 *
 * Copyright (C) 2006 Nicolas Schodet
 *
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * 
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software
 * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
 *
 * Contact :
 *        Web: http://perso.efrei.fr/~schodet/
 *      Email: <contact@ni.fr.eu.org>
 * }}} */
#include "motor_model.h"

#include <math.h>

/* Taz model. */
struct motor_t taz_model =
{
    /* Motor caracteristics. */
    407 * M_2_PI / 60,	/* Speed constant ((rad/s)/V). */
    23.4 / 1000,	/* Torque constant (N.m/A). */
    0,			/* Bearing friction (N.m/(rad/s)). */
    2.18,		/* Terminal resistance (Ohm). */
    0.24 / 1000,	/* Terminal inductance (H). */
    /* Gearbox caracteristics. */
    10,			/* Gearbox ratio. */
    0.75,		/* Gearbox efficiency. */
    /* Load caracteristics. */
    10 * 0.04 * 0.04,	/* Load (kg.m^2). */
    /* Simulation parameters. */
    4.444444 / 1000,	/* Simulation time step (s). */
    1000,		/* Simulation time step division. */
    /* Simulation current state. */
    0,			/* Current time (not realy used) (s). */
    0,			/* Current input voltage (V). */
    0,			/* Current current (A). */
    0,			/* Current angular speed (o for omega) (rad/s). */
    0			/* Current theta (th for theta) (rad). */
};