WOLFRAM SYSTEMMODELER

AxisType2

Axis model of the r3 joints 4,5,6

Diagram

Wolfram Language

In[1]:=
SystemModel["Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.Components.AxisType2"]
Out[1]:=

Information

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

The axis model consists of the controller, the motor including current controller and the gearbox including gear elasticity and bearing friction. The only difference to the axis model of joints 4,5,6 (= model axisType2) is that elasticity and damping in the gear boxes are not neglected.

The input signals of this component are the desired angle and desired angular velocity of the joint. The reference signals have to be "smooth" (position has to be differentiable at least 2 times). Otherwise, the gear elasticity leads to significant oscillations.

Default values of the parameters are given for the axis of joint 1.

Parameters (11)

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)

Connectors (2)

flange

Type: Flange_b

axisControlBus

Type: AxisControlBus

Components (8)

gear

Type: GearType2

motor

Type: Motor

controller

Type: Controller

angleSensor

Type: AngleSensor

speedSensor

Type: SpeedSensor

accSensor

Type: AccSensor

initializeFlange

Type: InitializeFlange

const

Type: Constant

Used in Examples (1)

fullRobot

Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3

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

Extended by (1)

AxisType1

Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.Components

Axis model of the r3 joints 1,2,3