StickOnWheelDynamics_B - G(1,1) = MS*9.81*L*sin(ThetaS); G...

Info iconThis preview shows page 1. Sign up to view the full content.

View Full Document Right Arrow Icon
function [ThetaSDD_ThetaWDD] = StickOnWheelDynamics_B(In) f MS = In(1); IS = In(2); RS = In(3); MW = In(4); IW = In(5); RW = In(6); L = In(7); DS= In(8); DW = In(9); GearedTorq = In(10); ThetaSD = In(11); ThetaWD = In(12); T ThetaS = In(13); ThetaW = In(14); T J(1,1) = MS*L^2 + IS; J(1,2) = MS*RW*L*cos(ThetaS); J D(1,1) = -DS*(ThetaSD-ThetaWD);
Background image of page 1
This is the end of the preview. Sign up to access the rest of the document.

Unformatted text preview: G(1,1) = MS*9.81*L*sin(ThetaS); G J(2,1) = MS*RW*L*cos(ThetaS); J(2,2) = (MS+MW)*RW^2+IW; D(2,1) = MS*RW*L*sin(ThetaS)*ThetaSD^2 - DS*ThetaWD -DW*(ThetaWD+ThetaSD); G(2,1) = 0; G T = [-GearedTorq; GearedTorq]; T ThetaSDD_ThetaWDD = J\(G + D +T); T...
View Full Document

This note was uploaded on 04/17/2011 for the course SYS 635 taught by Professor Re during the Spring '11 term at Albany College of Pharmacy and Health Sciences.

Ask a homework question - tutors are online