The Command menu provides for efficient specification of Driving Function input shapes (trajectories) and gives the interface for executing system maneuvers. Trajectories are quickly specified from a library of 7 geometric and sinusoidal forms. These allow the user to efficiently characterize the transient (e.g. response to initial conditions) and frequency responses of the system. Students may use these inputs to graphically witness the change in time and frequency domain behavior caused by changing the plant parameters and Forcing Function*. Each trajectory form is adjustable in terms of its geometric parameters, frequencies (where applicable), dwell times, number of repetitions, etc., thereby providing a virtually infinite number of possible shapes.
Additionally, the user may specify a general shape with point-by-point following or auto-smoothing options. This feature is useful in the study of convolution and system response to arbitrary inputs.
* In the Dynamics Executive program and related systems operations, Driving Function refers to the type of input at the system boundary (e.g. force, torque, or base motion). Input Shape refers to the trajectory (e.g. inpulse, step, ramp, sinusoid, etc.) of the force, torque, or position input. When executed in a system maneuver, the Driving Function and Input Shape combine to effectuate a Forcing Function in the classical sense.
|
