49 lines
1.4 KiB
Mathematica
49 lines
1.4 KiB
Mathematica
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function [stewart] = initializeInertialSensor(stewart, args)
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% initializeInertialSensor - Initialize the inertial sensor in each strut
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%
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% Syntax: [stewart] = initializeInertialSensor(args)
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%
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% Inputs:
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% - args - Structure with the following fields:
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% - type - 'geophone', 'accelerometer', 'none'
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% - mass [1x1] - Weight of the inertial mass [kg]
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% - freq [1x1] - Cutoff frequency [Hz]
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%
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% Outputs:
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% - stewart - updated Stewart structure with the added fields:
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% - stewart.sensors.inertial
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% - type - 1 (geophone), 2 (accelerometer), 3 (none)
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% - K [1x1] - Stiffness [N/m]
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% - C [1x1] - Damping [N/(m/s)]
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% - M [1x1] - Inertial Mass [kg]
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% - G [1x1] - Gain
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arguments
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stewart
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args.type char {mustBeMember(args.type,{'geophone', 'accelerometer', 'none'})} = 'none'
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args.mass (1,1) double {mustBeNumeric, mustBeNonnegative} = 1e-2
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args.freq (1,1) double {mustBeNumeric, mustBeNonnegative} = 1e3
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end
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sensor = struct();
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switch args.type
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case 'geophone'
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sensor.type = 1;
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sensor.M = args.mass;
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sensor.K = sensor.M * (2*pi*args.freq)^2;
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sensor.C = 2*sqrt(sensor.M * sensor.K);
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case 'accelerometer'
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sensor.type = 2;
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sensor.M = args.mass;
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sensor.K = sensor.M * (2*pi*args.freq)^2;
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sensor.C = 2*sqrt(sensor.M * sensor.K);
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sensor.G = -sensor.K/sensor.M;
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case 'none'
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sensor.type = 3;
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end
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stewart.sensors.inertial = sensor;
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