Overview
| Comment: | Added comment about linearisation point |
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| User & Date: | gawthrop@users.sourceforge.net on 1998-01-19 10:08:21 |
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Context
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1998-01-19
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| 14:20:07 | Initial revision check-in: 8014feb043 user: gawthrop@users.sourceforge.net tags: origin/master, trunk | |
| 10:08:21 | Added comment about linearisation point check-in: c5b3d1485b user: gawthrop@users.sourceforge.net tags: origin/master, trunk | |
| 09:57:26 | Added a discussion of the relevance of G(s). check-in: 359bab5f7b user: gawthrop@users.sourceforge.net tags: origin/master, trunk | |
Changes
Modified mttroot/mtt/lib/examples/Inverse/iTwoLink/itwolink_desc.tex from [6ab02e3a86] to [1a4b6d91b5].
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 |
% Verbal description for system itwolink (itwolink_desc.tex)
% Generated by MTT on Mon Nov 17 10:42:48 GMT 1997.
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
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% %% $Id$
% %% $Log$
% Revision 1.1 1997/12/09 16:53:27 peterg
% Initial revision
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The acausal bond graph of system \textbf{itwolink} is
displayed in Figure \Ref{itwolink_abg} and its label
| > > > | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 |
% Verbal description for system itwolink (itwolink_desc.tex)
% Generated by MTT on Mon Nov 17 10:42:48 GMT 1997.
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.2 1998/01/19 09:57:26 peterg
% %% Added a discussion of the relevance of G(s).
% %%
% Revision 1.1 1997/12/09 16:53:27 peterg
% Initial revision
%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
The acausal bond graph of system \textbf{itwolink} is
displayed in Figure \Ref{itwolink_abg} and its label
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| ︙ | ︙ | |||
34 35 36 37 38 39 40 | Such diagrams can be used for actuator sizing in terms of torque, velocity and power. This non-linear system can be linearised (about the various configurations) and small-signal frequency response methods applied. For example, the four transfer functions $G_11$ to $G_22$ in Section | > | | | 37 38 39 40 41 42 43 44 45 46 47 48 49 50 |
Such diagrams can be used for actuator sizing in terms of torque,
velocity and power.
This non-linear system can be linearised (about the various
configurations) and small-signal frequency response methods applied.
For example, the four transfer functions $G_11$ to $G_22$ in Section
\Ref{sec:itwolink_tf} (representing the system linearised about zero
angles and velocities), give the small-signal relations between the
two spec. torques and the required system torques. Used together with
$G_31$ and $G_42$ (relating the spec. torques and the joint
velocities) gives, in principle, a method for evaluating actuator
requirements (for small signals) as a function of frequency.
|