blockStructuralFor2ndOrder

Based on Hess structural model for second-order controlled element -- pulsing logic and proportional/derivative input switching are not modeled
Diagram of StructuralFor2ndOrderOpen the diagram
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Extends from ManualTracking.Blocks.SI3SO (3 Single Input / 1 Single Output continuous control block with manual controller signal names), ManualTracking.Icons.ManualController.

Information

StructuralFor2ndOrder

Parameters

TypeNameDefaultDescription
RealK11Gain of proportional path
RealK21Gain of derivative path
RealK31Gain of proprioceptive feedback
Realtau10.25Time delay of derivative control path (s)
Realtau20.25Time delay of total forward control path (s)
RealT15Time constant of first proprioceptive feedback lag (s)
RealT25Time constant of second proprioceptive feedback lag (s)
Realomega12Natural frequency of neuromuscular filter (rad/s)
Realzeta0.2Damping ratio of neuromuscular filter

Connectors

TypeNameDefaultDescription
Modelica.Blocks.Interfaces.RealInputr (from SI3SO)Reference state
Modelica.Blocks.Interfaces.RealInputy (from SI3SO)Measured state
Modelica.Blocks.Interfaces.RealInputw (from SI3SO)Disturbance input
Modelica.Blocks.Interfaces.RealOutputu (from SI3SO)Control input

Components

TypeNameDefaultDescription
Reale (from SI3SO)Difference between reference and measured states
Realv (from SI3SO)Control input before disturbance input is added
Modelica.Blocks.Math.Gaingain
Modelica.Blocks.Continuous.Derivativederivativecompensatory
Modelica.Blocks.Nonlinear.FixedDelaytimedelay1
Modelica.Blocks.Nonlinear.FixedDelaytimedelay2
Modelica.Blocks.Continuous.TransferFunctionderivativelagged
Modelica.Blocks.Continuous.SecondOrdersecondorder
Modelica.Blocks.Math.Addadd2forwardpaths
Modelica.Blocks.Math.Addadd2proprioceptive