blockP2p
Extends from Modelica.Blocks.Interfaces.SO (Single Output continuous control block).
Information
The P2P block calculates an optimal point-to-point trajectory.
Note:
If intial position yIni and intitial speed vIni (at start of simulation) are specified, and the movement starts time span t0 after start of simulation, the movement starts from position y0 = yIni + vIni*t0.
If initial speed vIni moves in the opposite direction as desired, i.e. sign(vIni) <> sign (yEnd - yIni), the movement starts in the "wrong" direction until deceleration to zero and acceleration into then "right" direction is achieved.
If desired end position yEnd and desired end speed vEnd (at the end of the movement) are specified, the position is extrapolated linearly from yEnd with vEnd after end of the movement.
If desired end speed vEnd moves in the opposite direction of the movement, i.e. sign(vEnd) <> sign (yEnd - yIni), the movement shows an overshot over the desired end position yEnd. However, when the desired end speed vEnd is met, the desired end position yEnd is reached.
Parameters
| Type | Name | Default | Description |
|---|---|---|---|
| Modelica.Units.SI.Time | t0 | 0 | Movement starts t0 after start of simulation |
| Real | yIni | 0 | Initial position (at start of simulation) |
| Real | yEnd | Desired end position | |
| Real | vIni | 0 | Initial speed [vMin..vMax] 1/s |
| Real | vEnd | 0 | Desired end speed [vMin..vMax] 1/s |
| Real | vMax | Maximum positive velocity [+small..+vMax) 1/s | |
| Real | vMin | -vMax | Maximum negative velocity ( vMin..-small] 1/s |
| Real | aMax | Maximum positive acceleration [+small..+inf) 1/s2 | |
| Real | aMin | -aMax | Maximum negative acceleration (-inf..-small] 1/s2 |
Connectors
| Type | Name | Default | Description |
|---|---|---|---|
| RealOutput | y (from SO) | Connector of Real output signal | |
| Modelica.Blocks.Interfaces.BooleanOutput | moving |
Components
| Type | Name | Default | Description |
|---|---|---|---|
| Real | v | Velocity | |
| Real | a | Acceleration |