WOLFRAM SYSTEMMODELER

AxisType1

Axis model of the r3 joints 1,2,3

Diagram

Wolfram Language

In[1]:=
SystemModel["Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.Components.AxisType1"]
Out[1]:=

Information

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

Model of axis 1, 2, 3 of the robot r3. An axis consists of a gearbox with modelled gear elasticity and bearing friction, a model of the electrical motor and a continuous-time cascade controller.

Parameters (13)

kp

Value: 10

Type: Real

Description: Gain of position controller

ks

Value: 1

Type: Real

Description: Gain of speed controller

Ts

Value: 0.01

Type: Time (s)

Description: Time constant of integrator of speed controller

k

Value: 1.1616

Type: Real

Description: Gain of motor

w

Value: 4590

Type: Real

Description: Time constant of motor

D

Value: 0.6

Type: Real

Description: Damping constant of motor

J

Value: 0.0013

Type: Inertia (kg·m²)

Description: Moment of inertia of motor

ratio

Value: -105

Type: Real

Description: Gear ratio

Rv0

Value: 0.4

Type: Torque (N·m)

Description: Viscous friction torque at zero velocity in [Nm]

Rv1

Value: 0.13 / 160

Type: Real (N·m·s/rad)

Description: Viscous friction coefficient in [Nms/rad]

peak

Value: 1

Type: Real

Description: Maximum static friction torque is peak*Rv0 (peak >= 1)

c

Value: 43

Type: Real (N·m/rad)

Description: Spring constant

cd

Value: 0.005

Type: Real (N·m·s/rad)

Description: Damper constant

Connectors (2)

flange

Type: Flange_b

axisControlBus

Type: AxisControlBus

Components (8)

gear

Type: GearType1

motor

Type: Motor

controller

Type: Controller

angleSensor

Type: AngleSensor

speedSensor

Type: SpeedSensor

accSensor

Type: AccSensor

initializeFlange

Type: InitializeFlange

const

Type: Constant

Used in Examples (2)

oneAxis

Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3

Model of one axis of robot (controller, motor, gearbox) with simple load

fullRobot

Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3

Six degree of freedom robot with path planning, controllers, motors, brakes, gears and mechanics