state_space_generator.m
ece361673202command_line

state_space_generator.m
View Options

			function state_space_generator(DYDATA)
			%{
			Function for constructing the state-space form.
			--------------------------------------------------------------------------
			Syntax :
			[du] = state_space_generator(DYDATA)
			--------------------------------------------------------------------------
			Function Description :
			This function build on the equations of motion derived already will
			generate the state-space form of the equations of motion.
			--------------------------------------------------------------------------
			%}

			% Define the states and the generalized forces
			syms q1 q2 q3 real; % generalized coordinates
			syms dq1 dq2 dq3 real; % generalized velocities
			syms Q1 Q2 Q3 real; % generalized forces

			Tau = [Q1 Q2 Q3]'; % generalized force vector

			% Quantify the constants
			M = DYDATA.Parameters(1,1);g = DYDATA.Parameters(1,2);CG = DYDATA.Parameters(1,3);

			Ixx = DYDATA.Parameters(2,1);Iyy = DYDATA.Parameters(2,2);Izz = DYDATA.Parameters(2,3);

			% Re-write the equations of motion introducing the values above
			EquationsofMotion

			% Define the generalized accelerations
			DDq = inv(MDYN)*(RHS + Tau);

			% Saving algorithm
			List_of_variables = {'DDq'};

			CurrentPath = pwd;

			File_name = [CurrentPath, '/GeneralizedAccelerations.m'];

			fid = fopen(File_name,'wt');
			index_equ = 1;
			for k = 1:length(List_of_variables)
			Var_name = List_of_variables{k};
			size_var = size(eval(Var_name));
			for i = 1:size_var(1)
			Var_name_i = strcat(Var_name,'(',num2str(i),')');
			Equation = strcat(Var_name_i,' = ',char(eval(Var_name_i)),';');
			fprintf(fid,'%s \n',Equation);
			end
			end
			fclose(fid);

			return;

msm/ShoulderModel_3DOF/state_space_generator.mece361673202command_line

state_space_generator.mView Options

msm/ShoulderModel_3DOF/state_space_generator.m
ece361673202command_line

state_space_generator.m
View Options