LIBRARY

PlanarMechanics.examples.dyad_balans.DyadBalans2DFF

This is a continuation of the DyadBalans2D example, adding a feedforward generator computed using DyadControlSystems.feedforward_generator in the script compute_feedforward.jl. The feedforward generator provides a filtered position reference to the outer controller as well as an angle feedforward reference for the inner controller and a direct torque feedforward signal to be applied directly to the torque input. Both inner feedforward signals are connected to the u_ff port on the LimPID components.

Usage

MultibodyComponents.PlanarMechanics.examples.dyad_balans.DyadBalans2DFF(M=0.1, m=0.05, R=0.04, L=0.08, Ib=2.5e-4, Iw=1e-4)

Parameters:

Name	Description	Units	Default value
M	Body mass	kg	0.1
m	Wheel mass	kg	0.05
R	Wheel radius	m	0.04
L	Distance from wheel axis to body center of mass	m	0.08
Ib	Body moment of inertia	kg.m2	0.00025
Iw	Wheel + motor moment of inertia	kg.m2	0.0001

Behavior