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SimGauss V2.0
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/* CTRLSPRG.SGM */ Ts = 0.1; /* sampling period */ calcT = 0.01; /* 10 ms calculation delay */ stoptime = 4.0; /* stop at 4 sec */ R0 = 1; /* min. damping Kg/s */ M = 1; /* Kg mass */ K = 9.8; /* Kg/(s*s) spring const. */ g = 9.8; /* grav. accel. m/(s*s) */ gain = {0, 0.4, 1.5, 4, 10} /* 5 gains */ x0 = {5, 5, 5, 5, 5} /* length at rest */ i_x = x0 - g./k + x1; /* initial disp. */ i_v = {0, 0, 0, 0, 0} /* the initial v */ INITIAL; R = R0; /* initial value for damping */ END_INIT; DYNAMIC(0.05); /* System equations */ d_v = (K.(x0-x) - R.v)./M - g; d_x = v; END_DYN; DISCRETE("sample",Ts); /* sample every Ts sec */ /* and calculate damping */ Rd = R0+abs(v).gain; /* Schedule output of controller */ /* after calculation delay */ SCHEDULE("control",T+calcT); END_DISC; DISCRETE("control",0); /* transfer new damping to system */ R = Rd; END_DISC;
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