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SimGauss™ V2.0

M x dv/dt = M x g + K x (x0  x)  R x v dx/dt = v Every 0.1 seconds the velocity is sampled by the digital controller and Rd calculated from Rd = R0 + abs(v) x gain This calculation takes 10ms which is modelled by a delay before the new value of damping is transferred to the system damping parameter, R, via R = Rd where: K is the spring constant (Kg/s2) M the mass (Kg) R the damping coefficient (Kg/s) Rd the damping coefficient calculated by the controller R0 the minimum system damping coefficient gain the gain of the digital controller x0 the length of the spring at rest (m) g the gravitational acceleration constant (m/s2) v the velocity of the mass (m/s) x the position of the mass (m)
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