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CONSTANTS.m
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CONSTANTS.m
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% This script contains all physical constants and specifications for the
% Paint Booth Factory
%%%%%%%%%%%%%%%%%%%%%%
% Physical Constants %
%%%%%%%%%%%%%%%%%%%%%%
G = 9.81; % m/s^2
FtPerM = 3.28; % ft/m
RadPerDeg = pi/180; % rad/deg
DegPerRad = 180/pi; % deg/rad
Big = 1e6; % General purpose large number
%%%%%%%%%%%%%%%%%%
% Specifications %
%%%%%%%%%%%%%%%%%%
% Prismatic Joint 0
% ===================
% Pump
PK0 = 600; % Pump gain (PSI/V)
PT0 = 10; % Pump time constant (ms)
PM0 = 150; % Pump max (PSI)
% Actuator
QL0 = -0.5; % Joint Lower Limit (m)
QU0 = 4.5; % Joint Upper Limit (m)
ID0 = 25; % Cross-sectional Cylinder ID (cm)
M0 = 0; % Unknown Mass of Cylinder & Hyd Fluid
B0 = 0; % Unknown Friction of Cylinder & Hyd Fluid
% Rotary Joints
% ===============
% Amplifier
R1 = 1; % R1 (Kohm)
R2 = 4; % R2 (Kohm)
C1 = 5; % C1 (uF)
C2 = 2; % C2 (uF)
VSS = 480; % Vss (V)
% Motor : Mechanical
MM = 25; % Motor Mass (Kg)
MJ = 1.6e5; % Motor Inertia (gcm^2)
MB = 650; % Motor Friction (gcm^2/s)
% Motor : Electrical
ML = 1.2; % Motor Inductance (mH)
MR = 75; % Motor Resistance (mohm)
MT = 5000; % Motor Torque Const (mNm/A)
ME = 25; % Motor Back EMF Const (RPM/V)
% Joint 1
% =========
L1 = 2.5; % Link Length (m)
M1 = 780; % Link Mass (g)
QL1 = -180; % Joint Lower Limit (deg)
QU1 = 90; % Joint Upper Limit (deg)
% Gear
GM1 = 17000; % Gear Mass (g)
GJ1 = 98; % Gear Inertia (gm^2)
GB1 = 2; % Gear Friction (gm^2/s)
GR1 = 50; % Gear Ratio (pure)
% Joint 2
% ========
L2 = 0.75; % Link Length (m)
QL2 = -144; % Joint Lower Limit (deg)
QU2 = 144; % Joint Upper Limit (deg)
% Gear
GM2 = 7000; % Gear Mass (g)
GJ2 = 3.3; % Gear Inertia (gm^2)
GB2 = 0.65; % Gear Friction (gm^2/s)
GR2 = 5; % Gear Ratio (pure)