modelRRPositionControl

Diagram of RRPositionControlOpen the diagram
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Extends from Modelica.Icons.Example (Icon for runnable examples), Servomechanisms.Examples.RRServomechanism.Data (RR Servomechanism Data).

Information

General

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

Example

Results:

rrpositioncontrol.png rrpositioncontrolparametric.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
Modelica.Mechanics.Rotational.Sensors.AngleSensoranglesensor2
Modelica.Blocks.Continuous.LimPIDPID
Modelica.Mechanics.Rotational.Components.IdealGearidealgear2
Servomechanisms.Electrical.SignalDCMotorsignaldcmotor2
Modelica.Blocks.Continuous.LimPIDlimpid1
Servomechanisms.Electrical.SignalDCMotorsignaldcmotor1
Modelica.Mechanics.Rotational.Components.IdealGearidealgear1
Modelica.Mechanics.Rotational.Sensors.AngleSensoranglesensor1
Servomechanisms.Control.RRInverseKinematicsrrinversekinematics1
Servomechanisms.Control.CircleTrayectorycircletrayectory1
Servomechanisms.Mechanism.RRrr1