modelPRAnalysis

Diagram of PRAnalysisOpen the diagram
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Extends from Modelica.Icons.Example (Icon for runnable examples), Servomechanisms.Utilities.Visual3d, Servomechanisms.Examples.PRServomechanism.Data.

Information

General

In this model the trayectory tracking for PR servomechanisms is tested using PID block and signal DC motor.

Example

Results:

pranalysis1.png pranalysis2.png

Parameters

TypeNameDefaultDescription
Reall1 (from Data)0.3
Realw1 (from Data)0.01
Realh1 (from Data)0.075
Reald1 (from Data)888.889
Realmin1 (from Data)-0.3
Realmax1 (from Data)0
Reall2 (from Data)0.085
Realw2 (from Data)0.02
Realh2 (from Data)0.005
Reald2 (from Data)2352.94
Realmin2 (from Data)-pi/2
Realmax2 (from Data)pi/2
Reala (from Data)0.075
Realb (from Data)1/8
Realxc (from Data)0.15
Realyc (from Data)0
RealR (from Data)0.101
RealL (from Data)0.0000266
Realk (from Data)0.0115
RealJ (from Data)0.0000119
RealVoltage (from Data)12
Realperiod (from Data)60
Realratio1 (from Data)50
Realratio2 (from Data)5
Realkprot (from Data)3.9551
Realkppris (from Data)5.4292

Components

TypeNameDefaultDescription
Servomechanisms.Control.FlowerTrayectoryflowertrayectory1
Servomechanisms.Control.PRInverseKinematicsprinversekinematics1
Servomechanisms.Mechanism.PRpr1
Servomechanisms.Electrical.SignalDCMotorsignaldcmotor2
Modelica.Blocks.Continuous.LimPIDPID2
Modelica.Mechanics.Rotational.Components.IdealGearidealgear2
Modelica.Mechanics.Rotational.Sensors.AngleSensoranglesensor1
Modelica.Blocks.Continuous.LimPIDPID1
Servomechanisms.Electrical.SignalDCMotorsignaldcmotor1
Modelica.Mechanics.Rotational.Components.IdealGearR2Tidealgearr2t1
Modelica.Mechanics.Translational.Sensors.PositionSensorpositionsensor1