Instruction manual

APPENDICES
APP − 2
4) Distorted sine curve
1
Ta =
8
1
Am =
2Ta 2
−
8Ta
π
+
π
2
Section I (0≤T≤Ta)
πT
A = Amsin
2Ta
+
C0
Section II (Ta<T≤1−Ta)
π(T − Ta)
A = Amcos
1 − 2Ta
+
C0
Section III (1−Ta<T≤1)
π(T − 1 + Ta)
A = −Amcos
2Ta
+
C0
5) Distorted constant speed curve
1
Ta =
16
1
Ta =
4
1
Am =
28 4
π
(2
−
π
)TaTb
+
(
π
−
2) Tb
2
+
Tb
Section I (0≤T≤Ta)
πT
A = Amsin
2Ta
+
C0
Section II (Ta<T≤Tb)
π(T − Ta)
A = Amcos
2(Tb − Ta)
+
C0
Section III (Tb<T≤1−Tb)
A = 0 + A0
Section IV (1−Tb<T≤1−Ta)
π(T − 1 + Ta)
A=−Amsin
2(Tb − Ta)
+
C0
Section V (1−Ta<T≤1)
π(T − 1 + Ta)
A=−Amcos
2Ta
+
C0