Backlash

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Backlash

Implements a backlash or deadband function.

Inputs/Outputs

A Boolean or a Boolean array that determines whether to use initial output to perform the deadband computation.

True	Uses initial output to perform the deadband computation.
False	Uses the previous output to perform the deadband computation.

This node automatically uses initial output to perform the deadband computation on the first call.

Default value: False

Input signal.

This input accepts a double-precision, floating-point number or an array of double-precision, floating-point numbers.

Width of the deadband.

This input accepts a double-precision, floating-point number or an array of double-precision, floating-point numbers.

Default value: 0

Value that this node compares with input the first time the backlash function executes or when reset is True.

This input accepts a double-precision, floating-point number or an array of double-precision, floating-point numbers.

Default value: 0

Output signal.

This output can return a double-precision, floating-point number or an array of double-precision, floating-point numbers.

The following equation defines the backlash function.

y (t) = {\begin{matrix} y (t - 1) if | u (t) - y (t - 1) | \leq \frac{d e a d b a n d}{2} \\ u (t) - \frac{d e a d b a n d}{2} if | u (t) - y (t - 1) | \leq \frac{d e a d b a n d}{2} and u (t) > y (t - 1) \\ u (t) + \frac{d e a d b a n d}{2} if | u (t) - y (t - 1) | > \frac{d e a d b a n d}{2} and u (t) \leq y (t - 1) \end{matrix}

y (t) = {\begin{matrix} y (t - 1) if | u (t) - y (t - 1) | \leq \frac{d e a d b a n d}{2} \\ u (t) - \frac{d e a d b a n d}{2} if | u (t) - y (t - 1) | \leq \frac{d e a d b a n d}{2} and u (t) > y (t - 1) \\ u (t) + \frac{d e a d b a n d}{2} if | u (t) - y (t - 1) | > \frac{d e a d b a n d}{2} and u (t) \leq y (t - 1) \end{matrix}

where