23 lines
777 B
Python
23 lines
777 B
Python
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class MagLevCoil:
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def __init__(self, r_resistance, l_inductance, source_voltage, maxCurrent):
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self.R = r_resistance
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self.L = l_inductance
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self.current = 0.0
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self.Vs = source_voltage
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self.Imax = maxCurrent
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def update(self, pwm_duty_cycle, dt):
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"""
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Simulates the coil circuit and force generation.
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pwm_duty_cycle: -1.0 to 1.0
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"""
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# Simple First-order RL circuit approximation
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# V_in = Duty * V_source
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voltage = pwm_duty_cycle * self.Vs
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# di/dt = (V - I*R) / L
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di = (voltage - self.current * self.R) / self.L
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self.current += di * dt
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self.current = min(max(-self.Imax, self.current), self.Imax)
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return self.current
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