blockDescriptiveModel
Manual controller model from Hosman and Stassen (1999) with visual and vestibular pathways
Extends from ManualTracking.Blocks.SI3SO (3 Single Input / 1 Single Output continuous control block with manual controller signal names), ManualTracking.Icons.ManualController.
Information
Parameters
| Type | Name | Default | Description |
|---|---|---|---|
| Real | K1 | 1 | Gain of compensatory proportional path |
| Real | K2 | 1 | Gain of compensatory derivative path |
| Real | K3 | 1 | Gain of pursuit derivative path |
| Real | K4 | 1 | Gain of pursuit acceleration path |
| Real | tau1 | 0.25 | Time delay of compensatory proportional path (s) |
| Real | tau2 | 0.25 | Time delay of compensatory derivative path (s) |
| Real | tau3 | 0.25 | Time delay of pursuit derivative path (s) |
| Real | tau4 | 0.25 | Time delay of combined paths (s) |
| Real | T1 | 5 | Time constant of phase lead (s) |
| Real | T2 | 5 | Time constant of low-frequency phase lag (s) |
| Real | T3 | 5 | Time constant of high-frequency phase lag (s) |
Connectors
| Type | Name | Default | Description |
|---|---|---|---|
| Modelica.Blocks.Interfaces.RealInput | r (from SI3SO) | Reference state | |
| Modelica.Blocks.Interfaces.RealInput | y (from SI3SO) | Measured state | |
| Modelica.Blocks.Interfaces.RealInput | w (from SI3SO) | Disturbance input | |
| Modelica.Blocks.Interfaces.RealOutput | u (from SI3SO) | Control input |
Components
| Type | Name | Default | Description |
|---|---|---|---|
| Real | e (from SI3SO) | Difference between reference and measured states | |
| Real | v (from SI3SO) | Control input before disturbance input is added | |
| Modelica.Blocks.Math.Gain | gain | ||
| Modelica.Blocks.Continuous.Derivative | derivativecompensatory | ||
| Modelica.Blocks.Continuous.Derivative | derivativepursuit | ||
| Modelica.Blocks.Nonlinear.FixedDelay | timedelay1 | ||
| Modelica.Blocks.Nonlinear.FixedDelay | timedelay2 | ||
| Modelica.Blocks.Nonlinear.FixedDelay | timedelay3 | ||
| Modelica.Blocks.Nonlinear.FixedDelay | timedelay4 | ||
| Modelica.Blocks.Continuous.TransferFunction | leadlag1 | ||
| Modelica.Blocks.Continuous.TransferFunction | leadlag2 | ||
| Modelica.Blocks.Math.Add | add2compensatory | ||
| Modelica.Blocks.Math.Add | add2pursuit | ||
| Modelica.Blocks.Math.Add | add2combined |