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WOLFRAM SYSTEM MODELER

PIDControlledCrane

Crab crane with PID-controller

Diagram

Wolfram Language

In[1]:=

SystemModel["IndustryExamples.HeavyEquipment.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