43 lines
1.7 KiB
Matlab
43 lines
1.7 KiB
Matlab
function [stewart] = initializeAmplifiedStrutDynamics(stewart, args)
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% initializeAmplifiedStrutDynamics - Add Stiffness and Damping properties of each strut
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%
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% Syntax: [stewart] = initializeAmplifiedStrutDynamics(args)
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%
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% Inputs:
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% - args - Structure with the following fields:
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% - Ka [6x1] - Stiffness of the actuator [N/m]
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% - Ke [6x1] - Stiffness used to adjust the pole of the isolator [N/m]
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% - K1 [6x1] - Stiffness of the metallic suspension when the stack is removed [N/m]
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% - C1 [6x1] - Added viscous damping [N/(m/s)]
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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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% - actuators.type = 2
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% - actuators.K [6x1] - Total Stiffness of each strut [N/m]
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% - actuators.C [6x1] - Total Damping of each strut [N/(m/s)]
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% - actuators.Ka [6x1] - Stiffness of the actuator [N/m]
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% - actuators.Ke [6x1] - Stiffness used to adjust the pole of the isolator [N/m]
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% - actuators.K1 [6x1] - Stiffness of the metallic suspension when the stack is removed [N/m]
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% - actuators.C1 [6x1] - Added viscous damping [N/(m/s)]
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arguments
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stewart
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args.Ke (6,1) double {mustBeNumeric, mustBeNonnegative} = 1.5e6*ones(6,1)
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args.Ka (6,1) double {mustBeNumeric, mustBeNonnegative} = 43e6*ones(6,1)
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args.K1 (6,1) double {mustBeNumeric, mustBeNonnegative} = 0.4e6*ones(6,1)
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args.C1 (6,1) double {mustBeNumeric, mustBeNonnegative} = 10*ones(6,1)
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end
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K = args.K1 + args.Ka.*args.Ke./(args.Ka + args.Ke);
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C = args.C1;
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stewart.actuators.type = 2;
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stewart.actuators.Ka = args.Ka;
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stewart.actuators.Ke = args.Ke;
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stewart.actuators.K1 = args.K1;
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stewart.actuators.C1 = args.C1;
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stewart.actuators.K = K;
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stewart.actuators.C = C;
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