WOLFRAM SYSTEM MODELER
ControllerP-PI cascade controller for one axis |
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Diagram
Wolfram Language
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SystemModel["Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.Utilities.Controller"]
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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 |
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| 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)
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axisControlBus |
Type: AxisControlBus Description: Data bus for one robot axis |
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Components (6)
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gain1 |
Type: Gain Description: Output the product of a gain value with the input signal |
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PI |
Type: PI Description: Proportional-Integral controller |
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feedback1 |
Type: Feedback Description: Output difference between commanded and feedback input |
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P |
Type: Gain Description: Output the product of a gain value with the input signal |
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add3 |
Type: Add3 Description: Output the sum of the three inputs |
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gain2 |
Type: Gain Description: Output the product of a gain value with the input signal |
Used in Components (1)
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Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.Utilities Axis model of the r3 joints 4,5,6 |