radmasseclass.mbe

来自「用matlab描述的3个自由度的半车模型」· MBE 代码 · 共 40 行

""

RigidBodyMbs named: RadmasseClass.
  port:      #(AufbauPort)     on: PairAtpMbs;
             #(ReifenPort)     on: PairAtpMbs;
  input:     #(FReifenfeder)   on: ForceIcsMbs;
  output:    #(pos)            on: PositionAbsIcsMbs;
             #(vel)            on: VelocityAbsIcsMbs;
             #(mcPosition_)    on: PositionAbsIcsMbs;
             #(mcOrientation_) on: QuaternionMbs;



  auxiliar:  #(frame1)   on: VectorOdss size: 6;
             #(frame2)   on: VectorOdss size: 6;
             #(mcFrame_) on: VectorOdss size: 6;

  auxiliarEquation:
    frame1 := #(0 0 -0.3 0 0 0);
    frame2 := #(0 0 0 0 0 0);
    mcFrame_ := #(0 0 0 0 0 0);

  portNamed: 
    AufbauPort value: frame2;
    ReifenPort value: frame1;
    FReifenfeder value: frame1;
    pos value: frame1;
    vel value: frame1;
    mcPosition_ value: mcFrame_;
    mcOrientation_ value: mcFrame_;

  mass: 30.0;
  inertiaTensor: #(1 1 1 0 0 0  );
  gravity: #(0 0 -9.81  );
  position:    #(0 0 0  );
  orientation: #(0 0 0 1  );
  velocity:    #(0 0 0  );
  angVelocity: #(0 0 0  );

end.