Nonlinear Second-Order Actuator
A second order nonlinear actuator model.
Description
The Nonlinear Second-Order Actuator block realises the actuator model as a second-order dynamic system subject to the position and velocity constraints of the actuator.
The second-order transfer function is
where
-
- is the natural frequency of the drive, rad/s;
-
- is the damping coefficient of the drive.
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In domestic sources it is customary to write down the transfer function of the second order in the form of where is the time constant of the drive, s. The natural frequency of the drive is the inverse of the drive time constant: . |
Parameters
Natural frequency - natural frequency of the drive
1.0 (by default) | scalar
Natural frequency of the drive, rad/s.
Data types: Float64.
Damping ratio - drive damping ratio
0.3 (by default) | scalar
Drive damping ratio.
Data types: Float64.
Maximum deflection - maximum drive position
0.35 (By default) | scalar.
Maximum actuator position. The units of the maximum actuator position and the required actuator position must match.
-
Data types:
Float64.
Minimum deflection - minimum drive position
-0.35 (By default) | scalar.
Minimum actuator position. The units of the minimum and required actuator positions must match.
-
Data types:
Float64.
Rate limit - maximum drive speed
10.0 (By default) | scalar
Maximum drive speed.
Data types: Float64.
Initial position - initial position of the actuator
0.0 (by default) | scalar
Initial position of the actuator. The units of the initial position and the required actuator position must match.
-
Data types:
Float64.
Initial velocity - initial velocity of the drive
0.0 (By default) | scalar
Initial velocity of the drive.
Data types: Float64.