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view m-toolbox/m/built_in_models/ssm/ssm_model_SMD.m @ 31:a26669b59d7e database-connection-manager
Update LTPDAworkbench
author | Daniele Nicolodi <nicolodi@science.unitn.it> |
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date | Mon, 05 Dec 2011 16:20:06 +0100 |
parents | f0afece42f48 |
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% SMD A statespace model of the Spring-Mass-Damper system %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % % DESCRIPTION: A statespace model of the Spring-Mass-Damper % % CALL: % HARMONIC_OSC_1D = ssm(plist('built-in','SMD')) % % % OUTPUTS: % - SMD is an SSM object % % % REFERENCES: % % % % INFO: % <a href="matlab:utils.models.displayModelOverview('ssm_model_SMD')">Model Information</a> % % % REFERENCES: % % % VERSION: $Id: ssm_model_SMD.m,v 1.2 2011/04/29 09:48:34 marc1 Exp $ % % HISTORY: % % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% function varargout = ssm_model_SMD(varargin) % Process inputs [info, pl, constructorInfo, fcn] = utils.models.processModelInputs(varargin(:), mfilename, @getModelDescription, @getModelDocumentation, @getVersion, @versionTable); if ~isempty(info) varargout{1} = info; return; end % Build the object out = fcn(pl); % Set the method version string in the minfo object if ~isempty(constructorInfo) % If this is a user-call via a constructor, then we add history out = addHistoryStep(out, constructorInfo, pl); end if nargout > 0 varargout{1} = out; varargout{2} = pl; else error('!!! Invalid number of output') end end %-------------------------------------------------------------------------- % AUTHORS EDIT THIS PART %-------------------------------------------------------------------------- function desc = getModelDescription desc = 'A built-in model that constructs a statespace model for the SMD.'; end function doc = getModelDocumentation doc = sprintf([... '<br>It constructs a simple spring mass damper test system.<br>\n'... ]); end % default version is always the first one function vt = versionTable() vt = {... 'Standard', @versionStandard, ... }; end % This is the standard SMD model % function varargout = versionStandard(varargin) if nargin == 1 && ischar(varargin{1}) switch varargin{1} case 'plist' % The plist for this version of this model pl = plist(); pl = combine(pl, ssm.getDefaultPlist('from built-in model')); % set output varargout{1} = pl; case 'description' varargout{1} = sprintf([... 'This is the standard model for the SMD.' ]); case 'info' varargout{1} = []; otherwise error('unknown inputs'); end return; end % build model pl = varargin{1}; %% parameters array paramNames = {'SMD_W' 'SMD_C' 'SMD_S1' 'SMD_S2' 'SMD_B' 'SMD_D1'}; paramValues = [0.2 0.5 0 0 1 0]; paramUnits = unit('s^-1', 's^-1', '', 's', '', 's^2'); paramDescriptions = {'Oscilator eigen-frequency' 'Oscilator damping factor'... 'Gain sensing coefficient' 'Gain differential sensing coefficient' ... 'Actuator gain' 'Actuation cross sensing coefficient'}; % If the user didn't give a 'param names' key to set parameter values, % perhaps they gave individual parameter names pl = ssm.modelHelper_processInputPlist(pl, ssm_model_SMD('plist','Standard')); % processing parameters and declaring variables depending on user needs [sys.params, sys.numparams] = ssm.modelHelper_declareParameters(pl, paramNames, paramValues, paramDescriptions, paramUnits); % here computation of the system's matrices sys.amats = {[0 1 ; -SMD_W*SMD_W -2*SMD_C*SMD_W]}; sys.cmats = {[1+SMD_S1 SMD_S2]}; sys.bmats = {[0;SMD_B] [0 0; 1 0]}; sys.dmats = {SMD_D1 [0 1]}; sys.timestep = 0; sys.name = 'SRPINGMASSDAMPER'; sys.description = 'standard spring-mass-damper test system'; inputnames = {'CMD' 'DIST_SMD'}; inputdescription = {'force noise' 'observation noise'}; inputvarnames = {{'F'} {'F' 'S'}}; inputvarunits = {unit('kg m s^-2') [unit('kg m s^-2') unit('m')]}; inputvardescription = []; ssnames = {'SMD'}; ssdescription = {'TM position and speed'}; ssvarnames = {{'x' 'xdot'}}; ssvarunits={[unit('m') unit('m s^-1')]}; ssvardescription = []; outputnames = {'SMD'}; outputdescription = {'observed position'}; outputvarnames ={{'OBS'}}; outputvarunits={unit('m')}; outputvardescription = []; %% Build input plist sys.inputs = ssmblock.makeBlocksWithData(inputnames, inputdescription, inputvarnames, inputvarunits, inputvardescription); sys.outputs = ssmblock.makeBlocksWithData(outputnames, outputdescription, outputvarnames, outputvarunits, outputvardescription); sys.states = ssmblock.makeBlocksWithData(ssnames, ssdescription, ssvarnames, ssvarunits, ssvardescription); sys = ssm(sys); varargout{1} = sys; end %-------------------------------------------------------------------------- % AUTHORS SHOULD NOT NEED TO EDIT BELOW HERE %-------------------------------------------------------------------------- %-------------------------------------------------------------------------- % Get Version %-------------------------------------------------------------------------- function v = getVersion v = '$Id: ssm_model_SMD.m,v 1.2 2011/04/29 09:48:34 marc1 Exp $'; end