modelIdealActuatorVel
Model of a rotary actuator with controllable angular velocity with first order control dynamic
Extends from DeltaRobot.Icons.IdealActuatorVel (Icon for 'IdealActuatorVel' model), DeltaRobot.Components.PartialActuator (Partial model of a rotary actuator).
Parameters
| Type | Name | Default | Description |
|---|---|---|---|
| DeltaRobot.Types.ReducerParameters | reducerParameters (from PartialActuator) | Parameters of the gearbox reducer | |
| DeltaRobot.Types.ActuatorParameters | actuatorParameters (from PartialActuator) | Parameters of the rotary actuator |
Connectors
| Type | Name | Default | Description |
|---|---|---|---|
| Modelica.Mechanics.MultiBody.Interfaces.Frame_a | frame_a (from PartialActuator) | ||
| Modelica.Mechanics.MultiBody.Interfaces.Frame_b | frame_b (from PartialActuator) | ||
| Modelica.Blocks.Interfaces.RealInput | angleVelRef |
Components
| Type | Name | Default | Description |
|---|---|---|---|
| SI.Angle | theta (from PartialActuator) | Rotation angle around z-axis from frame_a to frame_b | |
| SI.AngularVelocity | velocity (from PartialActuator) | First derivative of 'theta' (=der(theta)) | |
| SI.AngularAcceleration | acceleration (from PartialActuator) | Second derivative of 'theta' (=der(velocity)) | |
| SI.Torque | torque (from PartialActuator) | Torque applied to the arm, after the reducer | |
| Modelica.Mechanics.MultiBody.Joints.Revolute | revolute (from PartialActuator) | ||
| GearReducer | gearReducer (from PartialActuator) | ||
| Modelica.Blocks.Continuous.FirstOrder | firstOrder | ||
| Modelica.Mechanics.Rotational.Sources.Speed | speed |