WOLFRAM SYSTEMMODELER

WeakServoMechanism

A servo mechanism with a weak axis

Diagram

Wolfram Language

In[1]:=
SystemModel["IntroductoryExamples.MultiDomain.WeakServoMechanism"]
Out[1]:=

Information

The structure of the control system is shown in the schematic picture below. It consists of an input signal, a sensor, a feedback loop, and a regulator. The physical system consists of the gear and axis system described in DC Motor and Weak Axis. Since the physical system has negative static gain the PI gain also has to be negative.

In the stiff servo mechanism example it is shown how different controller gains affect the response. After selecting a gain k = 1.5 for both the stiff and weak axis systems we can compare the results:

As seen the controller design made using the stiff axis model performs well also when the more accurate weak axis is used in simulations.

For a step by step tutorial see Multidomain—A Servo Mechanism.

Components (14)

ground1

Type: Ground

inertia1

Type: Inertia

idealGear1

Type: IdealGear

EMF1

Type: EMF

signalVoltage1

Type: SignalVoltage

feedback1

Type: Feedback

step1

Type: Step

resistor1

Type: Resistor

inductor1

Type: Inductor

speedSensor1

Type: SpeedSensor

inertia2

Type: Inertia

spring1

Type: Spring

inertia3

Type: Inertia

PI1

Type: PI