blockMultimodalModel
Manual controller model from Zaal et al. (2012) with compensatory (visual) and pursuit (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 | 1.1 | Gain of compensatory path |
| Real | K2 | 0.22 | Gain of pursuit path |
| Real | tau1 | 0.23 | Time delay of compensatory path (s) |
| Real | tau2 | 0.095 | Time delay of pursuit path (s) |
| Real | T1 | 0.4 | Time constant of compensatory phase lead (s) |
| Real | T2 | 0.8 | Time constant of compensatory phase lag (s) |
| Real | omega | 9.6 | Natural frequency of neuromuscular filter (rad/s) |
| Real | zeta | 0.215 | Damping ratio of neuromuscular filter |
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 | |
| ManualTracking.Blocks.ComplexZero | complexzero | ||
| Modelica.Blocks.Continuous.TransferFunction | leadlag | ||
| Modelica.Blocks.Continuous.Derivative | derivative | ||
| Modelica.Blocks.Nonlinear.FixedDelay | timedelay1 | ||
| Modelica.Blocks.Nonlinear.FixedDelay | timedelay2 | ||
| Modelica.Blocks.Math.Add | add2 | ||
| Modelica.Blocks.Continuous.SecondOrder | secondorder |