WOLFRAM SYSTEM MODELER

PIDControlledCrane

Crab crane with PID-controller

Diagram

Wolfram Language

In[1]:=
SystemModel["EducationExamples.MechanicalEngineering.ModelInversionControl.PIDControlledCrane"]
Out[1]:=

Information

Library Dependency

This model requires the PlanarMechanics library.

  • The free PlanarMechanics library was created especially for modeling multibody systems with two-dimensional mechanical components. Compared to the MultiBody library, currently available in the Modelica Standard Library, it is simpler to use and it is more optimized to planar modeling. Planar models of mechanical systems are useful in many different applications, for example, in contact problems that are more easily modeled in 2D than in 3D.

Model

Alternative control scheme from the InversionControlledCrane model. Uses a PID Controller that has been tuned using the accompanying Wolfram Language notebook.

In order to get the full experience of this example, you need a desktop Wolfram Language product. A free trial download is available at www.wolfram.com/mathematica/trial/

For the full example, open the accompanying notebook ModelInversionControl.nb.

Parameters (7)

pulsePeriod

Value: 20

Type: Time (s)

Description: Period of the input pulse, position switches every half period

inputFilter

Value: 0.2

Type: Frequency (Hz)

Description: Cut-off frequency of the input filter, higher values give sharper movement

crane_I

Value: 0.5

Type: Inertia (kg⋅m²)

Description: Inertia of the physical crane body

k_PID

Value: 292.758

Type: Real

Description: Proportional gain of corrective controller

Ti_PID

Value: 2.06238

Type: Real

Description: Time constant of integrative part of corrective controller

Td_PID

Value: 0.919468

Type: Real

Description: Time constant of derivative part of corrective controller

initType

Value: Modelica.Blocks.Types.Init.SteadyState

Type: Init

Description: Type of initialization used for PID controller

Components (6)

filter

Type: Filter

Description: Input signal filter, smoothing the signal.

reference

Type: Pulse

Description: Load position reference, going back and forth between 0 and 1 meters along the X-axis.

planarWorld

Type: PlanarWorld

Description: Coordinate system.

crane

Type: CraneCrabDamped

Description: Crab crane setup.

feedback

Type: Feedback

Description: Corrective closed loop feedback of crane position

feedbackController

Type: PID

Description: Corrective PID-controller