WOLFRAM SYSTEM MODELER

Controller

P-PI cascade controller for one axis

Diagram

Wolfram Language

In[1]:=
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".

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

Connectors (1)

axisControlBus

Type: AxisControlBus

Components (6)

gain1

Type: Gain
PI

Type: PI
feedback1

Type: Feedback
P

Type: Gain
add3

Type: Add3
gain2

Type: Gain

Used in Components (1)

AxisType2

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

Axis model of the r3 joints 4,5,6