dkunosic
Newbie level 2
![Newbie level 2](/styles/images/ranks/alevel2.gif)
moment of inertia matlab
I hope that somebody can help me with this problem. I do not know how to calculate total momet of inertia for two-link planar arm with the following data:
a1 = a2 = 0.8m
l1 = l2 = 0.5m
ml1 = ml2 = 20kg
Il1 = Il2 = 10kgm2 (moment of inertia relative to the centres of mass of the two links)
Ra1 = Ra2 = 20 Ω
Im1 = Im2 = 0.04kgm2 (moment of inertia with respect to the axes of the two rotors)
kv1 = kv2 = 2Vs/rad
kt1 = kt2 = 3Nm/A
Fm1 = Fm2 = 0.01Nms/rad
ktp = 1
ktp = ktv = 0.4
ζ = 0.6
ωn = 7rad/s.
I need this in order to make comparasion betwen various control schemes in matlab.
Thank you.
I hope that somebody can help me with this problem. I do not know how to calculate total momet of inertia for two-link planar arm with the following data:
a1 = a2 = 0.8m
l1 = l2 = 0.5m
ml1 = ml2 = 20kg
Il1 = Il2 = 10kgm2 (moment of inertia relative to the centres of mass of the two links)
Ra1 = Ra2 = 20 Ω
Im1 = Im2 = 0.04kgm2 (moment of inertia with respect to the axes of the two rotors)
kv1 = kv2 = 2Vs/rad
kt1 = kt2 = 3Nm/A
Fm1 = Fm2 = 0.01Nms/rad
ktp = 1
ktp = ktv = 0.4
ζ = 0.6
ωn = 7rad/s.
I need this in order to make comparasion betwen various control schemes in matlab.
Thank you.