1<Contents>
2 <OBJECTS>
3 <Lib
4 LibName = "fhsim_base"
5 SimObject = "Kalman/ZeroDynamics"
6 Name = "Current"
7 Dimension = "3"
8 P0 = "5e-2,5e-2,1e-4"
9 Q = "1e-4,1e-4,1e-5"
10 />
11 <Lib
12 LibName = "fhsim_base"
13 SimObject = "Kalman/Example/HydroBall"
14 Name = "Ball"
15 Radius = "1.0"
16 Density = "1100"
17
18 MeasurementNoise = "1"
19 PositionUncertainty = "5e-4"
20 VelocityUncertainty = "1e-6"
21 InitialDiagP = "1e-3,1e-3,1e-3,1e-3,1e-3,1e-3"
22 />
23 <Lib
24 LibName = "fhsim_base"
25 SimObject = "Kalman/Example/HydroCable"
26 Name = "Cable"
27 Diameter = "0.02"
28 Density = "2000"
29 Modulus = "20"
30 Length = "20"
31 InternalPoints = "2"
32
33 ElementPositionUncertainty = "5e-4"
34 ElementVelocityUncertainty = "1e-6"
35 ElementInitialDiagP = "1e-3,1e-3,1e-3,1e-3,1e-3,1e-3"
36 />
37 </OBJECTS>
38
39 <INTERCONNECTIONS>
40
41 <Connection
42 Ball.ExternForce = "Cable.ForceB"
43 Ball.Current = "Current.State"
44 />
45
46 <Connection
47 Cable.PositionA = "0,0,0"
48 Cable.PositionB = "Ball.Position"
49 Cable.VelocityA = "0,0,0"
50 Cable.VelocityB = "Ball.Velocity"
51 Cable.Current = "Current.State"
52 />
53
54 <Connection
55 Ball.MeasuredPosition = "0,0,18.8"
56 />
57 </INTERCONNECTIONS>
58
59 <INITIALIZATION>
60 <InitialCondition
61 Ball.Position = "0,19,0"
62 Ball.Velocity = "0,0,0"
63 Current.State = "0,0,0"
64 />
65 </INITIALIZATION>
66
67 <INTEGRATION>
68 <Engine
69 IntegratorMethod="0"
70 NumCores="1"
71 TOutput="0, 0:1e-1:Inf, 150"
72 stepsize ="2e-4"
73 HMin="0.5"
74 FileOutput="objects:ports"
75 />
76
77 </INTEGRATION>
78</Contents>
1.9.4