pidControllerPolynomial2

class +AMrotorSIM.+pidControllers.@pidControllerPolynomial2.pidControllerPolynomial2(cnfg)

Bases: AMrotorSIM.pidControllers.pidController

Sub-class of pid controller with 2nd order polynomial with displacement and current for force

A = None

units: [A] = [N/A^3, N/(A*m^2); N/(A^2*m), N/m^3]

B = None

units: [B] = [N/A^2, N/(A*m); N/(A*m), N/m^2]

cT = None

units: [cT] = [N/A, N/m]

d = None

units: [d] = N

pidControllerPolynomial2(cnfg)

Constructor

Parameters

cnfg (struct) – Cnfg_component substruct of cnfg-struct

Returns

pidControllerPolynomial2 object

+AMrotorSIM.+pidControllers.@pidControllerPolynomial2.get_controller_current(obj, tCurr, y)

Provides the controller current

Parameters

• obj (object) – Object of type pidController

• tcurr (vector) – Time-vector of solution

• y (vector) – position vector at the corresponding controller node

Returns

Controller current

+AMrotorSIM.+pidControllers.@pidControllerPolynomial2.get_controller_force(obj, time, displacement)

Provides the controller force

Parameters

• time (vector) – Time-vector of solution (not needed)

• displacement (vector) – Displacement

Returns

Controller force

+AMrotorSIM.+pidControllers.@pidControllerPolynomial2.print(obj)

Displays the object name in the Command Window

Parameters

obj (object) – Objects of type pidController

Returns

Notification of object name