.RealTimeCoordinationLibrary.Examples.Application.Parts.Robot_V3

Information

Version 3.1
Created 14.12.2010
Last modified 11.04.2011

Model of robot with two wheels, actuated independantly by two DC motors.
The model is made up of following parts:
- DC Motor based on Faulhaber 1724 motor with a gear having a ratio of 14.4
- Motor is attached to an inertia block which includes a friction model
- Frictional torque is made up of Coulomb and stribeck friction, viscous friction is neglected
- PI-Controller with limiter