modelRRMotor2Control

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Extends from Modelica.Icons.Example (Icon for runnable examples), Servomechanisms.Examples.RRServomechanism.Data (RR Servomechanism Data).

Information

General

With this example the position control of the motor can be verified.
The weigth of the links when the centroid is outside the motor or transmition axis generates disturbances that sometimes reduce the precision of the control loop.
If those disturbances are relatively small the proportional control P can be used otherwise a PI or PID control is preferred.

Implementation

The effect of disturbances for proportional position control are. MSL dcmotorequation.png

Parameters

TypeNameDefaultDescription
Reall1 (from Data)0.2
Realw1 (from Data)0.02
Realh1 (from Data)0.005
Reald1 (from Data)400
Realmin1 (from Data)0
Realmax1 (from Data)pi/2
Reall2 (from Data)0.1
Realw2 (from Data)0.02
Realh2 (from Data)0.005
Reald2 (from Data)400
Realmin2 (from Data)-pi/2
Realmax2 (from Data)pi/2
Realr (from Data)0.03
Realxc (from Data)0.25
Realyc (from Data)0.075
Realratio1 (from Data)10
Realratio2 (from Data)5
Realperiod (from Data)8
RealR (from Data)0.101
RealL (from Data)0.0000266
Realk (from Data)0.0115
RealJ (from Data)0.0000119
RealVoltage (from Data)12
Realkp2 (from Data)4.423
Realkp1 (from Data)7.1543

Components

TypeNameDefaultDescription
Servomechanisms.Electrical.SignalDCMotorsignaldcmotor2
Modelica.Mechanics.Rotational.Components.IdealGearidealgear2
Modelica.Blocks.Sources.Stepstep1
Modelica.Blocks.Continuous.LimPIDlimpid1
Modelica.Mechanics.Rotational.Sources.Positionposition1
Modelica.Mechanics.Rotational.Sensors.AngleSensoranglesensor1
Modelica.Blocks.Sources.Stepstep2
Servomechanisms.Mechanism.RRrr1