Inconsistent/Diverging angular position with sine torque source

Question

Peio 2024-4-1

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https://ww2.mathworks.cn/matlabcentral/answers/2101231-inconsistent-diverging-angular-position-with-sine-torque-source

回答： Neelanshu 2024-4-18

Hello,

I don't understand why I get a diverging angular position (an angular velocity of which I do not know the source) for this simple case for exemple:

The sinusoidal source has an average value of 250, so we should have an equilibrium. For theses parameters for the sine source I obtain the following angular position :

And if I only change the phase of the sine source to pi for exemple, I get the following angular position (the angular speed become negative) :

Could you please explain to me the reason for this angular velocity? What am I doing wrong?

Thank you in advance

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Answer 1

Neelanshu 2024-4-18

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https://ww2.mathworks.cn/matlabcentral/answers/2101231-inconsistent-diverging-angular-position-with-sine-torque-source#answer_1443741

Hi Peio,

The reason for the diverging angular position is the presence of a constant term in the angular velocity. This constant changes to a linear term when it is further integrated to obtain the angular position, as shown in the equation below:

You can add a phase of 90 degrees to the sine wave source, which would eliminate the constant in angular velocity and result in a sinusoidal angular displacement with some bias.

Hope this helps.