cpp_robotics::DCMotorParam

DCモーターモデル

#include <dc_motor_param.hpp>

Public Functions

	Name
constexpr	DCMotorParam(Volt nominal_voltage, Rpm free_speed, Ampere free_current, Ohm Rm, Henry Lm, TorqueConstant Kt, BackEmfConstant Ke, Inertia Im, Second curr_set_time =0.1f)
constexpr	DCMotorParam(const DCMotorParam & ) =default
constexpr void	set_current_setting_time(Second Tc)
constexpr Rpm	calcu_steady_free_velocity(Volt v) const
constexpr Ampere	calcu_stall_current(Volt v) const
constexpr Torque	calcu_stall_torque(Volt v) const
constexpr AngularAcceleration	calcu_max_free_angular_acceleration(Volt v) const
constexpr Second	get_Tm() const
constexpr AngularVelocity	get_Wi() const
constexpr double	get_Kip(Volt volt) const
constexpr double	get_Kii(Volt volt) const

Public Attributes

	Name
const Volt	nominal_voltage
const Rpm	free_speed
const Ampere	free_current
const Ohm	resistance
const Henry	inductance
const TorqueConstant	torque_constant
const BackEmfConstant	back_emf_constance
const FrictionConstant	friction_constant
const Inertia	rotor_inertia
const Second	time_constant

Public Functions Documentation

function DCMotorParam

inline constexpr DCMotorParam(
    Volt nominal_voltage,
    Rpm free_speed,
    Ampere free_current,
    Ohm Rm,
    Henry Lm,
    TorqueConstant Kt,
    BackEmfConstant Ke,
    Inertia Im,
    Second curr_set_time =0.1f
)

function DCMotorParam

constexpr DCMotorParam(
    const DCMotorParam & 
) =default

function set_current_setting_time

inline constexpr void set_current_setting_time(
    Second Tc
)

function calcu_steady_free_velocity

inline constexpr Rpm calcu_steady_free_velocity(
    Volt v
) const

function calcu_stall_current

inline constexpr Ampere calcu_stall_current(
    Volt v
) const

function calcu_stall_torque

inline constexpr Torque calcu_stall_torque(
    Volt v
) const

function calcu_max_free_angular_acceleration

inline constexpr AngularAcceleration calcu_max_free_angular_acceleration(
    Volt v
) const

function get_Tm

inline constexpr Second get_Tm() const

function get_Wi

inline constexpr AngularVelocity get_Wi() const

function get_Kip

inline constexpr double get_Kip(
    Volt volt
) const

function get_Kii

inline constexpr double get_Kii(
    Volt volt
) const

Public Attributes Documentation

variable nominal_voltage

const Volt nominal_voltage;

variable free_speed

const Rpm free_speed;

variable free_current

const Ampere free_current;

variable resistance

const Ohm resistance;

variable inductance

const Henry inductance;

variable torque_constant

const TorqueConstant torque_constant;

variable back_emf_constance

const BackEmfConstant back_emf_constance;

variable friction_constant

const FrictionConstant friction_constant;

variable rotor_inertia

const Inertia rotor_inertia;

variable time_constant

const Second time_constant;

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Updated on 2024-05-28 at 06:55:39 +0000