Refine Spring #102
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Refine Spring #102
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Signed-off-by: Michael Anderson <anderson@mbari.org>
Signed-off-by: Michael Anderson <anderson@mbari.org>
Signed-off-by: Michael Anderson <anderson@mbari.org>
Signed-off-by: Michael Anderson <anderson@mbari.org>
Signed-off-by: Michael Anderson <anderson@mbari.org>
hamilton8415
approved these changes
Oct 28, 2022
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You're showing off a little with those sick graphs, nice job! Shortly here I'll provide some test data from an at-sea deployment, it may be worth tuning to that at some point as the larger heat-sink of the ocean could be relevant. Also the usual behaviors at sea have a lower frequency content than the friction moves in the lab. Approved in any event.
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Hah! plotjuggler deserves most of the credit ;-p |
Signed-off-by: Michael Anderson <anderson@mbari.org>
Signed-off-by: Michael Anderson <anderson@mbari.org>
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The spring model was causing some jitter in the piston position, spring pressures, as well as the force-torque sensor. This was due to a discontinuity in pressures in the implementation of hysteresis in the spring. This agitation in forces occurred for very small velocities (based on changes of sign). A dead-band was added to checking velocity to fix this. Also, pressure now evolves continuously across the hysteresis rather than a step change.
Additionally, to better model the thermal decay of pressure at low speeds, a cooling law has been implemented within the velocity dead-band.