# OSU ECE 5463 - Actuator-Simulation (6 pages)

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## Actuator-Simulation

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## Actuator-Simulation

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Pages:
6
School:
Ohio State University
Course:
Ece 5463 - Introduction to Real Time Robotics Systems
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Actuator Simulation Take class notes Why simulation It is often very useful to have a model for a system and to see the effects of different inputs or gains for the case of feedback control by simulating the response on a computer For simulation it is usually best to obtain the state equation for the system and to use numerical integration This works for both linear and nonlinear systems It usually avoids long hand derivation of time functions as in HW 7 for the DC motor Simulations are not limited to actuators only State equations for the U12M4T motor State Equations 1 1 Let One could have a state space equation from 1 In which 0 1 0 n number of state variables m number of inputs For the motor n 2 m 1 State Equations 2 0 For simulation we use numerical integration It is an rectangular integration Euler integration Runge Kutta for higher order integration more accurate 2 6 2 2 2 2 2 Estimates of derivative half way across Estimates of derivative at end An example 0 0 1 60 0 v t 5 7 0 1 78 Static friction Use the above two equations you can calculate the state at t 0 1ms 2ms when the input is 1 V at t 0 Time ms 0 1 2 3 4 State Variable 0 0 0 5 7 10 3 rad sec Derivatives 0 5 7 10 3 5 7 rad sec2 3 578 How small t should be

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