Figure 1 Below Shows The Change In Magnitude Of The Steady State Acceleration With Time
Figure 1 below shows the change in magnitude of the steady state acceleration with time. This graph complies with Newton's second law as the force applied is equal to 1 and the mass remains constant so and an acceleration of one is expected. I also tested this by changing the value of the force applied, to a value of 2, which in theory should give and equivalent change in the acceleration, to a value of 2. From Newton’s second law: it can be seen that as the force varies, provided moment of inertia is constant, the value for the angular acceleration should vary linearly and in this case as the force is constant the angular acceleration therefore also remains constant. The purpose of the control loop is to feed in the required velocity in the ’Velocity demand’ vector and to subtract the actual velocity, found by the body sensor, to give an acceleration until the required velocity is achieved. By increasing the gain there is an overall decrease in the velocity and with an extreme increase in gain there is a decreases to values below the initially x-velocity. This analysis also corresponds to an extreme decrease in gain whereby the velocity therefore increases dramatically to very high values of velocity. By imposing a 3 vector velocity demand the graph becomes more stretched out which implies that the velocity increases slower and over a longer period of time.
When ‘with respect to CS’ is set to ‘Absolute world’ the sphere rotates about the y plane with respect to the earths axis whereas when it is set to ‘Local’ the sphere moves in the y direction of the sphere body axis.
From the graph below it can be seen that linear velocity of the sphere increases greatly at the start of the simulation but remains constant just before the velocity reaches 1m/s I found that no matter how much I changed the respective linear velocity gain value the linear always tended towards 1m/s but the rate at which this final velocity would be obtained depended on the size of the
When ‘with respect to CS’ is set to ‘Absolute world’ the sphere rotates about the y plane with respect to the earths axis whereas when it is set to ‘Local’ the sphere moves in the y direction of the sphere body axis.
From the graph below it can be seen that linear velocity of the sphere increases greatly at the start of the simulation but remains constant just before the velocity reaches 1m/s I found that no matter how much I changed the respective linear velocity gain value the linear always tended towards 1m/s but the rate at which this final velocity would be obtained depended on the size of the