WOLFRAM SYSTEMMODELER

SlewRateLimiter

Demonstrate usage of Nonlinear.SlewRateLimiter

Diagram

Wolfram Language

In[1]:=
SystemModel["Modelica.Blocks.Examples.SlewRateLimiter"]
Out[1]:=

Information

This information is part of the Modelica Standard Library maintained by the Modelica Association.

This example demonstrates how to use the Nonlinear.SlewRateLimiter block to limit a position step with regards to velocity and acceleration:

  • The Sources.Step block positionStep demands an unphysical position step.
  • The first SlewRateLimiter block limit_v limits velocity.
  • The first Der block v calculates velocity from the smoothed position signal.
  • The second SlewRateLimiter block limit_a limits acceleration of the smoothed velocity signal.
  • The second Der block a calculates acceleration from the smoothed velocity signal.
  • The Integrator block positionSmoothed calculates smoothed position from the smoothed velocity signal.

A position controlled drive with limited velocity and limited acceleration (i.e. torque) is able to follow the smoothed reference position.

Parameters (2)

vMax

Value: 2

Type: Velocity (m/s)

Description: Max. velocity

aMax

Value: 20

Type: Acceleration (m/s²)

Description: Max. acceleration

Components (6)

positionStep

Type: Step

limit_v

Type: SlewRateLimiter

v

Type: Der

limit_a

Type: SlewRateLimiter

positionSmoothed

Type: Integrator

a

Type: Der