WOLFRAM SYSTEMMODELER

Controller

P-PI cascade controller for one axis

Diagram

Wolfram Language

In[1]:=
Click for copyable input
SystemModel["Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.Components.Controller"]
Out[1]:=

Information

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

This controller has an inner PI-controller to control the motor speed, and an outer P-controller to control the motor position of one axis. The reference signals are with respect to the gear-output, and the gear ratio is used in the controller to determine the motor reference signals. All signals are communicated via the "axisControlBus".

Connectors (1)

axisControlBus

Type: AxisControlBus

Description:

Parameters (4)

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

ratio

Value: 1

Type: Real

Description: Gear ratio of gearbox

Components (6)

gain1

Type: Gain

Description:

PI

Type: PI

Description:

feedback1

Type: Feedback

Description:

P

Type: Gain

Description:

add3

Type: Add3

Description:

gain2

Type: Gain

Description:

Used in Components (2)

AxisType1

Axis model of the r3 joints 1,2,3

AxisType2

Axis model of the r3 joints 4,5,6