WOLFRAM SYSTEM MODELER

LinearActuator

Idealized linear actuator with proportional controller

Diagram

Wolfram Language

In[1]:=
SystemModel["IndustryExamples.IndustrialManufacturing.StewartPlatform.Components.LinearActuator"]
Out[1]:=

Information

This component models an idealized linear actuator with a proportional controller.

Parameters (6)

initialLength

Value: 1

Type: Length (m)
maxForce

Value: 500

Type: Force (N)
maxSpeed

Value: 0.2

Type: Velocity (m/s)
stateSelect

Value: StateSelect.prefer

Type: StateSelect

initialLengthFixed

Value: true

Type: Boolean

legDirection

Value: {0, 1, 0}

Type: Real[3]

Connectors (3)

frame_a

Type: Frame_a

Description: Coordinate system fixed to the component with one cut-force and cut-torque (filled rectangular icon)
realInput1

Type: RealInput

Description: 'input Real' as connector
frame_b

Type: Frame_b

Description: Coordinate system fixed to the component with one cut-force and cut-torque (non-filled rectangular icon)

Components (5)

prismatic

Type: Prismatic

Description: Prismatic joint (1 translational degree-of-freedom, 2 potential states, optional axis flange)
controlForce

Type: Force2

Description: Input signal acting as torque on two flanges
relPositionSensor

Type: RelPositionSensor

Description: Ideal sensor to measure the relative position
controller

Type: LimPID

Description: P, PI, PD, and PID controller with limited output, anti-windup compensation, setpoint weighting and optional feed-forward
damper

Type: Damper

Description: Linear 1D translational damper

Used in Components (1)

SixDOFLeg

IndustryExamples.IndustrialManufacturing.StewartPlatform.Components

Six-degree-of-freedom leg with controlled length