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-rw-r--r--digital/asserv/src/asserv/motor_model.host.h25
1 files changed, 16 insertions, 9 deletions
diff --git a/digital/asserv/src/asserv/motor_model.host.h b/digital/asserv/src/asserv/motor_model.host.h
index 9b0ce712..3a04e15a 100644
--- a/digital/asserv/src/asserv/motor_model.host.h
+++ b/digital/asserv/src/asserv/motor_model.host.h
@@ -25,27 +25,34 @@
*
* }}} */
-/** Motor and load caracteristics and current data. */
-struct motor_t
+/** Motor and load characteristics. */
+struct motor_def_t
{
- /* Motor caracteristics. */
+ /* Motor characteristics. */
double Ke; /* Speed constant ((rad/s)/V). */
double Kt; /* Torque constant (N.m/A). */
double Rf; /* Bearing friction (N.m/(rad/s)). */
double R; /* Terminal resistance (Ohm). */
double L; /* Terminal inductance (H). */
- /* Gearbox caracteristics. */
+ double u_max;/* Maximum voltage (V). */
+ /* Gearbox characteristics. */
double i_G; /* Gearbox ratio. */
double ro_G;/* Gearbox efficiency. */
- /* Load caracteristics. */
- double J; /* Load (kg.m^2). */
- /* Wheel caracteristics. */
- double w_r; /* Wheel radius (m). */
+ /* Load characteristics. */
+ double J; /* Load at gearbox output (kg.m^2). */
+};
+
+/** Motor and load characteristics and current data. Angular speed and theta
+ * are at motor output, not gearbox output. */
+struct motor_t
+{
+ /* Motor and load characteristics. */
+ struct motor_def_t m;
/* Simulation parameters. */
double h; /* Simulation time step (s). */
int d; /* Simulation time step division. */
/* Simulation current state. */
- double t; /* Current time (not realy used) (s). */
+ double t; /* Current time (not really used) (s). */
double u; /* Current input voltage (V). */
double i; /* Current current (A). */
double o; /* Current angular speed (o for omega) (rad/s). */