Working and exportable PID controller
This commit is contained in:
@@ -10,27 +10,31 @@ package EmbeddedControl
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Placement(transformation(origin = {-122, 2}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-120, 0}, extent = {{-20, -20}, {20, 20}})));
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Modelica.Blocks.Interfaces.IntegerOutput y annotation(
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Placement(transformation(origin = {86, -34}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {110, 0}, extent = {{-10, -10}, {10, 10}})));
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Modelica.Blocks.Interfaces.BooleanInput tickInput annotation(
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Placement(transformation(origin = {-130, -88}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {0, -120}, extent = {{-20, -20}, {20, 20}}, rotation = 90)));
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protected
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discrete Integer yInt(start=0, fixed=true);
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algorithm
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when tickInput then
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yInt := integer(floor((scale*u)/stepSize+ 0.5));
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end when;
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equation
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y = yInt;
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annotation(
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Documentation(info = "<html>
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<p>Integer analog-to-digital conversion block.</p>
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<p>The real-valued input <code>u</code> is quantized to an integer code using:</p>
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<p><code>y = floor((scale*u)/stepSize + 0.5)</code></p>
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<p>This produces a rounded integer representation of the scaled input, intended for embedded-style control chains that operate on integer counts.</p>
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<p>Parameters:</p>
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<ul>
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<li><code>stepSize</code>: physical value represented by one integer step</li>
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<li><code>scale</code>: additional scaling applied before quantization</li>
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</ul>
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</html>"),
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<p>Integer analog-to-digital conversion block.</p>
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<p>The real-valued input <code>u</code> is quantized to an integer code using:</p>
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<p><code>y = floor((scale*u)/stepSize + 0.5)</code></p>
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<p>This produces a rounded integer representation of the scaled input, intended for embedded-style control chains that operate on integer counts.</p>
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<p>Parameters:</p>
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<ul>
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<li><code>stepSize</code>: physical value represented by one integer step</li>
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<li><code>scale</code>: additional scaling applied before quantization</li>
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</ul>
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</html>"),
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Icon(graphics = {Line(origin = {5, 10}, points = {{-61, -68}, {-35, -68}, {-35, -22}, {-21, -22}, {-21, 38}, {7, 38}, {7, 68}, {41, 68}, {41, 24}, {61, 24}, {61, 24}}, color = {255, 85, 0}, thickness = 1.25), Text(origin = {49, -50}, extent = {{-51, 50}, {51, -50}}, textString = "AD")}));
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end ADC;
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@@ -42,26 +46,51 @@ package EmbeddedControl
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Placement(transformation(origin = {-136, -2}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-120, 0}, extent = {{-20, -20}, {20, 20}})));
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Modelica.Blocks.Interfaces.RealOutput y annotation(
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Placement(transformation(origin = {126, 10}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {110, 0}, extent = {{-10, -10}, {10, 10}})));
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Modelica.Blocks.Interfaces.BooleanInput tickInput annotation(
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Placement(transformation(origin = {-130, -88}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {0, -120}, extent = {{-20, -20}, {20, 20}}, rotation = 90)));
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protected
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discrete Real yReal(start = 0, fixed = true);
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algorithm
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when tickInput then
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yReal := (stepSize * scale) * u;
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end when;
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equation
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// Convert integer DAC code back to physical Real value.
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y = (stepSize * scale) * u;
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y = yReal;
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annotation(
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Documentation(info = "<html>
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<p>Integer digital-to-analog conversion block.</p>
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<p>The integer input <code>u</code> is mapped back to a real-valued physical signal using:</p>
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<p><code>y = (stepSize*scale)*u</code></p>
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<p>When used with matching parameter values, this block acts as the inverse conversion of the ADC block.</p>
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<p>Parameters:</p>
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<ul>
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<li><code>stepSize</code>: physical value represented by one integer step</li>
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<li><code>scale</code>: output scaling factor</li>
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</ul>
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</html>"),
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<p>Integer digital-to-analog conversion block.</p>
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<p>The integer input <code>u</code> is mapped back to a real-valued physical signal using:</p>
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<p><code>y = (stepSize*scale)*u</code></p>
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<p>When used with matching parameter values, this block acts as the inverse conversion of the ADC block.</p>
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<p>Parameters:</p>
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<ul>
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<li><code>stepSize</code>: physical value represented by one integer step</li>
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<li><code>scale</code>: output scaling factor</li>
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</ul>
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</html>"),
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Diagram(graphics),
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Icon(graphics = {Line(origin = {5, 10}, points = {{-61, -68}, {-35, -68}, {-35, -22}, {-21, -22}, {-21, 38}, {7, 38}, {7, 68}, {41, 68}, {41, 24}, {61, 24}, {61, 24}}, color = {0, 0, 127}, thickness = 1.25, smooth = Smooth.Bezier), Text(origin = {49, -50}, extent = {{-51, 50}, {51, -50}}, textString = "DA")}));
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end DAC;
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extends Modelica.Icons.Package;
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model tickGenerator
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extends Modelica.Blocks.Interfaces.partialBooleanSource;
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Modelica.Blocks.Interfaces.IntegerOutput tickPeriodUs annotation(
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Placement(transformation(origin = {134, -58}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {110, -80}, extent = {{-10, -10}, {10, 10}})));
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Modelica.Blocks.Sources.SampleTrigger sampleTrigger(period = period) annotation(
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Placement(transformation(extent = {{-10, -10}, {10, 10}})));
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parameter Modelica.Units.SI.Time period = 0.1;
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equation
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tickPeriodUs = integer(period*1000*1000);
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connect(sampleTrigger.y, y) annotation(
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Line(points = {{12, 0}, {110, 0}}, color = {255, 0, 255}));
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annotation(
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Diagram(graphics),
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Icon(graphics = {Line(points = {{-60, -70}, {-60, 70}}), Line(points = {{-20, -70}, {-20, 70}}), Line(points = {{20, -70}, {20, 70}}), Line(points = {{60, -70}, {60, 70}})}));
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end tickGenerator;
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annotation(
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Icon(graphics = {Line(origin = {-48.92, -4.33}, points = {{-35.0829, -47.6744}, {-17.0829, 18.3256}, {-3.08288, -9.6744}, {10.9171, 48.3256}, {34.9171, 14.3256}, {34.9171, 14.3256}}, color = {0, 0, 127}, thickness = 1.5, smooth = Smooth.Bezier), Line( points = {{0, 81}, {0, -81}}, pattern = LinePattern.Dash, thickness = 2.75), Line(origin = {54, -10}, points = {{-36, -42}, {-36, -20}, {-30, -20}, {-30, -10}, {-20, -10}, {-20, 10}, {-6, 10}, {-6, 4}, {6, 4}, {6, 42}, {28, 42}, {28, 18}, {36, 18}, {36, 6}, {36, 6}}, color = {255, 85, 0}, thickness = 1.5)}));
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end Boundary;
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@@ -70,51 +99,203 @@ package EmbeddedControl
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extends Modelica.Icons.Package;
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model DDifference
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extends EmbeddedControl.icons.discreteIntegerSISO;
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extends EmbeddedControl.Bases.discreteIntegerSISO;
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discrete Integer x(start=0, fixed=true) "Initial or guess value of state";
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protected
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discrete Integer y_internal(start=0, fixed=true);
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algorithm
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if tickUpdate then
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y_internal := u - pre(x);
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x := u;
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end if;
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equation
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y = y_internal;
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annotation(
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Diagram(graphics),
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Icon(graphics = {Text(textColor = {156, 156, 156}, extent = {{-30, 14}, {86, 60}}, textString = "D"), Line(points = {{-90, -80}, {82, -80}}, color = {156, 156, 156}), Line(points = {{-80, 78}, {-80, -90}}, color = {156, 156, 156}), Polygon(lineColor = {156, 156, 156}, fillColor = {156, 156, 156}, fillPattern = FillPattern.Solid, points = {{-80, 90}, {-88, 68}, {-72, 68}, {-80, 90}}), Polygon(lineColor = {156, 156, 156}, fillColor = {156, 156, 156}, fillPattern = FillPattern.Solid, points = {{90, -80}, {68, -72}, {68, -88}, {90, -80}}), Line(origin = {-9, -4}, points = {{-63, 66}, {-63, 40}, {-53, 40}, {-53, -20}, {-39, -20}, {-39, -54}, {3, -54}, {3, -66}, {63, -66}, {63, -66}}, color = {255, 85, 0}, thickness = 0.5)}));
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end DDifference;
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model DAccumulate
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extends EmbeddedControl.Bases.discreteIntegerSISO;
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discrete Integer y_internal(start=0, fixed=true);
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algorithm
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if tickUpdate then
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y_internal := u + pre(y_internal);
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end if;
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equation
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y = y_internal;
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annotation(
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Diagram(graphics),
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Icon(graphics = {Line(points = {{-90, -80}, {82, -80}}, color = {156, 156, 156}), Line(points = {{-80, 78}, {-80, -90}}, color = {156, 156, 156}), Polygon(lineColor = {156, 156, 156}, fillColor = {156, 156, 156}, fillPattern = FillPattern.Solid, points = {{-80, 90}, {-88, 68}, {-72, 68}, {-80, 90}}), Polygon(lineColor = {156, 156, 156}, fillColor = {156, 156, 156}, fillPattern = FillPattern.Solid, points = {{90, -80}, {68, -72}, {68, -88}, {90, -80}}), Text(textColor = {156, 156, 156}, extent = {{0, -70}, {60, -10}}, textString = "A"), Line(origin = {-2, -1}, points = {{-70, -73}, {-70, -53}, {-48, -53}, {-48, -33}, {-26, -33}, {-26, -9}, {-2, -9}, {-2, 11}, {22, 11}, {22, 33}, {46, 33}, {46, 57}, {70, 57}, {70, 73}}, color = {255, 85, 0}, thickness = 0.5)}));
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end DAccumulate;
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model UnitDelay
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extends EmbeddedControl.Bases.discreteIntegerSISO;
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discrete Integer x(start=0, fixed=true) "Initial or guess value of state";
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protected
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discrete Integer y_internal(start=0, fixed=true);
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algorithm
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algorithm
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if tickUpdate then
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y_internal := pre(x);
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x := u;
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if x <> pre(x) then
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y_internal := x - pre(x);
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end if;
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equation
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y = y_internal;
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annotation(
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Icon(graphics = {Text(textColor = {255, 85, 0},extent = {{-100, 100}, {100, -100}}, textString = "z"), Text(origin = {58, 50}, textColor = {255, 85, 0}, extent = {{-24, 22}, {24, -22}}, textString = "-1")}));
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end UnitDelay;
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model Gain
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extends EmbeddedControl.Bases.discreteIntegerSISO;
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parameter Integer k = 1;
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protected
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discrete Integer y_internal(start=0, fixed=true);
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algorithm
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y_internal := k * u;
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equation
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y = y_internal;
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annotation(
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Icon(graphics = {Text(textColor = {255, 85, 0}, extent = {{-100, 100}, {100, -100}}, textString = "k"), Text(extent = {{-150, -140}, {150, -100}}, textString = "k=%k")}),
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Diagram(graphics));
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end Gain;
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model FractionalGain
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extends Bases.discreteIntegerSISO;
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parameter Integer k = 1;
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parameter Integer f = 1;
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protected
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discrete Integer y_internal(start=0, fixed=true);
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algorithm
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y_internal := div((k*u),f);
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equation
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y = y_internal;
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annotation(
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Icon(graphics = {Text(textColor = {255, 85, 0}, extent = {{-100, 100}, {100, -100}}, textString = "k"), Text(extent = {{-150, -140}, {150, -100}}, textString = "k=%k f=%f")}),
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Diagram(graphics));
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end FractionalGain;
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model DDifferentiate
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extends EmbeddedControl.Bases.discreteIntegerSISO;
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discrete Integer x(start=0, fixed=true) "Initial or guess value of state";
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parameter Integer scaleNumerator = 1000000;
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outer Integer tickPeriodUs;
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protected
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discrete Integer y_internal(start=0, fixed=true);
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algorithm
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if tickUpdate then
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y_internal := integer((u - pre(x))*scaleNumerator / tickPeriodUs);
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x := u;
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end if;
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equation
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y = y_internal;
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annotation(
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Diagram(graphics),
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Icon(graphics = {Text(textColor = {156, 156, 156}, extent = {{-30, 14}, {86, 60}}, textString = "DT1"), Line(points = {{-90, -80}, {82, -80}}, color = {156, 156, 156}), Line(points = {{-80, 78}, {-80, -90}}, color = {156, 156, 156}), Polygon(lineColor = {156, 156, 156}, fillColor = {156, 156, 156}, fillPattern = FillPattern.Solid, points = {{-80, 90}, {-88, 68}, {-72, 68}, {-80, 90}}), Polygon(lineColor = {156, 156, 156}, fillColor = {156, 156, 156}, fillPattern = FillPattern.Solid, points = {{90, -80}, {68, -72}, {68, -88}, {90, -80}}), Line(origin = {-9, -4}, points = {{-63, 66}, {-63, 40}, {-53, 40}, {-53, -20}, {-39, -20}, {-39, -54}, {3, -54}, {3, -66}, {63, -66}, {63, -66}}, color = {255, 85, 0}, thickness = 0.5)}),
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experiment(StartTime = 0, StopTime = 1, Tolerance = 1e-06, Interval = 0.002));
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end DDifferentiate;
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model DIntegrate
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extends Bases.discreteIntegerSISO;
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discrete Integer y_internal(start = 0, fixed = true);
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parameter Integer scaleDenominator = 1000000;
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outer Integer tickPeriodUs;
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algorithm
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if tickUpdate then
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y_internal := u + pre(y_internal);
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end if;
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equation
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y = integer(y_internal*tickPeriodUs / scaleDenominator);
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annotation(
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Diagram(graphics),
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Icon(graphics = {Line(points = {{-90, -80}, {82, -80}}, color = {156, 156, 156}), Line(points = {{-80, 78}, {-80, -90}}, color = {156, 156, 156}), Polygon(lineColor = {156, 156, 156}, fillColor = {156, 156, 156}, fillPattern = FillPattern.Solid, points = {{-80, 90}, {-88, 68}, {-72, 68}, {-80, 90}}), Polygon(lineColor = {156, 156, 156}, fillColor = {156, 156, 156}, fillPattern = FillPattern.Solid, points = {{90, -80}, {68, -72}, {68, -88}, {90, -80}}), Text(textColor = {156, 156, 156}, extent = {{0, -70}, {60, -10}}, textString = "I"), Line(origin = {-2, -1}, points = {{-70, -73}, {-70, -53}, {-48, -53}, {-48, -33}, {-26, -33}, {-26, -9}, {-2, -9}, {-2, 11}, {22, 11}, {22, 33}, {46, 33}, {46, 57}, {70, 57}, {70, 73}}, color = {255, 85, 0}, thickness = 0.5)}));
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end DIntegrate;
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model ScaledGain
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extends Bases.discreteIntegerSISO;
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parameter Integer k = 1;
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parameter Integer scaleNumerator = 1000000;
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parameter Integer scaleDenominator = 1000000;
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outer Integer tickPeriodUs;
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parameter Boolean scaleMode = false;
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protected
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discrete Integer y_internal(start=0, fixed=true);
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algorithm
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if scaleMode then
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y_internal := integer(u * k * tickPeriodUs / scaleDenominator);
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else
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y_internal := pre(y_internal);
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y_internal := integer(u * k * scaleNumerator / tickPeriodUs);
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end if;
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equation
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y = y_internal;
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annotation(
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Documentation(info = "<html>
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<p>Discrete integer difference block.</p>
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<p>Whenever the integer input changes, the block outputs the increment between the current and previous sample:</p>
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<p><code>y = u[k] - u[k-1]</code></p>
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<p>This is a raw discrete difference, not a time-scaled derivative. If a discrete-time derivative is required, include the factor <code>1/Ts</code> in a downstream gain or in the controller gain.</p>
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<p>The output updates only when <code>u</code> changes.</p>
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</html>"),
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Diagram(graphics),
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Icon(graphics = {Text(textColor = {156, 156, 156}, extent = {{-30, 14}, {86, 60}}, textString = "DT1"), Line(points = {{-90, -80}, {82, -80}}, color = {156, 156, 156}), Line(points = {{-80, 78}, {-80, -90}}, color = {156, 156, 156}), Polygon(lineColor = {156, 156, 156}, fillColor = {156, 156, 156}, fillPattern = FillPattern.Solid, points = {{-80, 90}, {-88, 68}, {-72, 68}, {-80, 90}}), Polygon(lineColor = {156, 156, 156}, fillColor = {156, 156, 156}, fillPattern = FillPattern.Solid, points = {{90, -80}, {68, -72}, {68, -88}, {90, -80}}), Line(origin = {-9, -4}, points = {{-63, 66}, {-63, 40}, {-53, 40}, {-53, -20}, {-39, -20}, {-39, -54}, {3, -54}, {3, -66}, {63, -66}, {63, -66}}, color = {255, 85, 0}, thickness = 0.5)}));
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end DDifference;
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Icon(graphics = {Text(textColor = {255, 85, 0}, extent = {{-100, 100}, {100, -100}}, textString = "k"), Text(extent = {{-150, -140}, {150, -100}}, textString = "k=%k")}),
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Diagram(graphics));
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end ScaledGain;
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annotation(
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Icon(graphics = {Line(origin = {-0.95, 0.62}, points = {{-75.0496, -68.6246}, {-61.0496, 1.37545}, {-29.0496, 69.3754}, {-5.04956, 1.37545}, {20.9504, -64.6246}, {50.9504, -2.62455}, {74.9504, 65.3754}, {74.9504, 65.3754}}, color = {255, 85, 0}, thickness = 2, smooth = Smooth.Bezier)}));
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||||
end Math;
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||||
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model icons
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extends Modelica.Icons.IconsPackage;
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||||
package Bases
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||||
extends Modelica.Icons.BasesPackage;
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model discreteIntegerSISO
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partial model ControlBase
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extends Modelica.Blocks.Icons.DiscreteBlock;
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Modelica.Blocks.Interfaces.BooleanInput tickInput annotation(
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Placement(iconTransformation(origin = {0, -120}, extent = {{-20, -20}, {20, 20}}, rotation = 90)));
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Modelica.Blocks.Interfaces.IntegerInput tickPeriodIn annotation(
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Placement(iconTransformation(origin = {-80, -120}, extent = {{-20, -20}, {20, 20}}, rotation = 90)));
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protected
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inner Boolean tickUpdate;
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inner Integer tickPeriodUs;
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inner Integer tickPeriodMs;
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inner Integer tickPeriodS;
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algorithm
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if tickInput then
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if pre(tickInput) then
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tickUpdate := false;
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else
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tickUpdate := true;
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end if;
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else
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tickUpdate := false;
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end if;
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||||
equation
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||||
tickPeriodUs = tickPeriodIn;
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tickPeriodMs = tickPeriodUs/1000;
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tickPeriodS = tickPeriodMs/1000;
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||||
end ControlBase;
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||||
|
||||
partial model discreteInteger
|
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extends Modelica.Blocks.Icons.DiscreteBlock;
|
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outer Boolean tickUpdate;
|
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end discreteInteger;
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||||
partial model discreteIntegerSISO
|
||||
extends EmbeddedControl.Bases.discreteInteger;
|
||||
Modelica.Blocks.Interfaces.IntegerInput u annotation(
|
||||
Placement(transformation(origin = {-194, 2}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-120, 0}, extent = {{-20, -20}, {20, 20}})));
|
||||
Placement(transformation(origin = {-100, 0}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-120, 0}, extent = {{-20, -20}, {20, 20}})));
|
||||
Modelica.Blocks.Interfaces.IntegerOutput y annotation(
|
||||
Placement(transformation(origin = {128, 0}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {110, 0}, extent = {{-10, -10}, {10, 10}})));
|
||||
Placement(transformation(origin = {100, 0}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {110, 0}, extent = {{-10, -10}, {10, 10}})));
|
||||
equation
|
||||
|
||||
end discreteIntegerSISO;
|
||||
equation
|
||||
|
||||
end icons;
|
||||
end Bases;
|
||||
annotation(
|
||||
Icon(graphics = {Text(origin = {1, 1}, textColor = {255, 170, 0}, extent = {{-99, 99}, {99, -99}}, textString = "EC", textStyle = {TextStyle.Bold})}),
|
||||
uses(Modelica(version = "4.1.0")));
|
||||
|
||||
@@ -1,14 +1,17 @@
|
||||
true
|
||||
true
|
||||
"Check of EmbeddedControl.Math.DDifference completed successfully.
|
||||
Class EmbeddedControl.Math.DDifference has 4 equation(s) and 4 variable(s).
|
||||
1 of these are trivial equation(s)."
|
||||
true
|
||||
true
|
||||
true
|
||||
"Check of test.Controller completed successfully.
|
||||
Class test.Controller has 32 equation(s) and 32 variable(s).
|
||||
16 of these are trivial equation(s)."
|
||||
|
||||
Notification: Automatically loaded package Modelica 4.1.0 due to uses annotation from EmbeddedControl.
|
||||
Notification: Automatically loaded package Complex 4.1.0 due to uses annotation from Modelica.
|
||||
Notification: Automatically loaded package ModelicaServices 4.1.0 due to uses annotation from Modelica.
|
||||
|
||||
true
|
||||
translateModel(test2d.Dcontroller) = true
|
||||
translateModel() = true
|
||||
|
||||
|
||||
|
||||
@@ -1,11 +1,14 @@
|
||||
setCommandLineOptions("--simCodeTarget=ExperimentalEmbeddedC");
|
||||
setCommandLineOptions("--target=gcc");
|
||||
setCommandLineOptions("-d=initialization");
|
||||
|
||||
loadFile("/work/EmbeddedControl.mo");
|
||||
loadFile("/work/test.mo");
|
||||
|
||||
okCheck := checkModel(EmbeddedControl.Math.DDifference);
|
||||
print("checkModel(EmbeddedControl.Math.DDifference) = " + String(okCheck) + "\n");
|
||||
okCheck := checkModel(test.Controller);
|
||||
print("checkModel() = " + String(okCheck) + "\n");
|
||||
print(getErrorString());
|
||||
|
||||
okTranslate := translateModel(EmbeddedControl.Math.DDifference, fileNamePrefix="difference");
|
||||
print("translateModel(test2d.Dcontroller) = " + String(okTranslate) + "\n");
|
||||
okTranslate := translateModel(test.Controller, fileNamePrefix="controller");
|
||||
print("translateModel() = " + String(okTranslate) + "\n");
|
||||
print(getErrorString());
|
||||
|
||||
131
test.mo
131
test.mo
@@ -1,27 +1,112 @@
|
||||
model test
|
||||
Modelica.Blocks.Sources.Sine sine(amplitude = 1) annotation(
|
||||
Placement(transformation(origin = {-100, 0}, extent = {{-10, -10}, {10, 10}})));
|
||||
EmbeddedControl.Math.DDifference dDifferentiate(x(start = 0)) annotation(
|
||||
EmbeddedControl.Boundary.DAC dac(stepSize = 0.001, scale = -1) annotation(
|
||||
Placement(transformation(origin = {106, 0}, extent = {{-10, -10}, {10, 10}})));
|
||||
EmbeddedControl.Boundary.ADC adc(stepSize = 0.001) annotation(
|
||||
Placement(transformation(origin = {10, 0}, extent = {{-10, -10}, {10, 10}})));
|
||||
model Controller
|
||||
extends EmbeddedControl.Bases.ControlBase;
|
||||
Modelica.Blocks.Interfaces.IntegerInput u annotation(
|
||||
Placement(transformation(origin = {-120, 0}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-120, 0}, extent = {{-20, -20}, {20, 20}})));
|
||||
Modelica.Blocks.Interfaces.IntegerOutput y annotation(
|
||||
Placement(transformation(origin = {110, 0}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {110, 0}, extent = {{-10, -10}, {10, 10}})));
|
||||
EmbeddedControl.Math.Gain P(k = 350) annotation(
|
||||
Placement(transformation(origin = {20, 0}, extent = {{-10, -10}, {10, 10}})));
|
||||
EmbeddedControl.Boundary.DAC dac(stepSize = 0.02) annotation(
|
||||
Placement(transformation(origin = {60, 0}, extent = {{-10, -10}, {10, 10}})));
|
||||
EmbeddedControl.Boundary.ADC adc(stepSize = 0.02) annotation(
|
||||
Placement(transformation(origin = {-20, 0}, extent = {{-10, -10}, {10, 10}})));
|
||||
Modelica.Blocks.Discrete.Sampler sampler(samplePeriod(displayUnit = "ms") = 0.01) annotation(
|
||||
Placement(transformation(origin = {-60, 0}, extent = {{-10, -10}, {10, 10}})));
|
||||
Modelica.Blocks.Discrete.ZeroOrderHold zeroOrderHold(samplePeriod(displayUnit = "ms") = 0.01) annotation(
|
||||
Placement(transformation(origin = {100, 0}, extent = {{-10, -10}, {10, 10}})));
|
||||
equation
|
||||
connect(adc.y, dDifferentiate.u) annotation(
|
||||
Line(points = {{-9, 0}, {7, 0}}, color = {255, 127, 0}));
|
||||
connect(sine.y, sampler.u) annotation(
|
||||
Line(points = {{-89, 0}, {-73, 0}}, color = {0, 0, 127}));
|
||||
connect(sampler.y, adc.u) annotation(
|
||||
Line(points = {{-49, 0}, {-33, 0}}, color = {0, 0, 127}));
|
||||
connect(dDifferentiate.y, dac.u) annotation(
|
||||
Line(points = {{31, 0}, {47, 0}}, color = {255, 127, 0}));
|
||||
connect(dac.y, zeroOrderHold.u) annotation(
|
||||
Line(points = {{71, 0}, {87, 0}}, color = {0, 0, 127}));
|
||||
Modelica.Blocks.Interfaces.IntegerInput setpoint annotation(
|
||||
Placement(transformation(origin = {-120, 48}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-120, 80}, extent = {{-20, -20}, {20, 20}})));
|
||||
Modelica.Blocks.MathInteger.Sum sum(nu = 2, k = {1, -1}) annotation(
|
||||
Placement(transformation(origin = {-70, 0}, extent = {{-10, -10}, {10, 10}})));
|
||||
EmbeddedControl.Math.DDifferentiate dDifferentiate(scaleNumerator = 1000000) annotation(
|
||||
Placement(transformation(origin = {-20, 40}, extent = {{-10, -10}, {10, 10}})));
|
||||
Modelica.Blocks.MathInteger.Sum sum1(nu = 3) annotation(
|
||||
Placement(transformation(origin = {70, 0}, extent = {{-10, -10}, {10, 10}})));
|
||||
EmbeddedControl.Math.Gain D(k = 25) annotation(
|
||||
Placement(transformation(origin = {20, 40}, extent = {{-10, -10}, {10, 10}})));
|
||||
EmbeddedControl.Math.DIntegrate dIntegrate(scaleDenominator = 1000000) annotation(
|
||||
Placement(transformation(origin = {-18, -40}, extent = {{-10, -10}, {10, 10}})));
|
||||
EmbeddedControl.Math.Gain I(k = 150) annotation(
|
||||
Placement(transformation(origin = {20, -40}, extent = {{-10, -10}, {10, 10}})));
|
||||
equation
|
||||
connect(u, sum.u[1]) annotation(
|
||||
Line(points = {{-120, 0}, {-80, 0}}, color = {255, 127, 0}));
|
||||
connect(setpoint, sum.u[2]) annotation(
|
||||
Line(points = {{-120, 48}, {-96, 48}, {-96, 0}, {-80, 0}}, color = {255, 127, 0}));
|
||||
connect(sum.y, dDifferentiate.u) annotation(
|
||||
Line(points = {{-58, 0}, {-40, 0}, {-40, 40}, {-32, 40}}, color = {255, 127, 0}));
|
||||
connect(P.y, sum1.u[1]) annotation(
|
||||
Line(points = {{31, 0}, {60, 0}}, color = {255, 127, 0}));
|
||||
connect(sum1.y, y) annotation(
|
||||
Line(points = {{82, 0}, {110, 0}}, color = {255, 127, 0}));
|
||||
connect(sum.y, P.u) annotation(
|
||||
Line(points = {{-58, 0}, {8, 0}}, color = {255, 127, 0}));
|
||||
connect(dDifferentiate.y, D.u) annotation(
|
||||
Line(points = {{-8, 40}, {8, 40}}, color = {255, 127, 0}));
|
||||
connect(D.y, sum1.u[2]) annotation(
|
||||
Line(points = {{31, 40}, {40, 40}, {40, 0}, {60, 0}}, color = {255, 127, 0}));
|
||||
connect(sum.y, dIntegrate.u) annotation(
|
||||
Line(points = {{-58, 0}, {-40, 0}, {-40, -40}, {-30, -40}}, color = {255, 127, 0}));
|
||||
connect(dIntegrate.y, I.u) annotation(
|
||||
Line(points = {{-6, -40}, {8, -40}}, color = {255, 127, 0}));
|
||||
connect(I.y, sum1.u[3]) annotation(
|
||||
Line(points = {{32, -40}, {40, -40}, {40, 0}, {60, 0}}, color = {255, 127, 0}));
|
||||
annotation(
|
||||
uses(Modelica(version = "4.1.0")));
|
||||
Diagram(coordinateSystem(extent = {{-140, 20}, {120, -20}})),
|
||||
experiment(StartTime = 0, StopTime = 1, Tolerance = 1e-06, Interval = 0.002));
|
||||
end Controller;
|
||||
|
||||
Controller controller annotation(
|
||||
Placement(transformation(origin = {60, 0}, extent = {{-10, -10}, {10, 10}})));
|
||||
EmbeddedControl.Boundary.tickGenerator tickGenerator(period(displayUnit = "ms") = 0.01) annotation(
|
||||
Placement(transformation(origin = {-12, -40}, extent = {{-10, -10}, {10, 10}})));
|
||||
inner Modelica.Mechanics.MultiBody.World world annotation(
|
||||
Placement(transformation(origin = {-122, -30}, extent = {{-10, -10}, {10, 10}})));
|
||||
Modelica.Mechanics.MultiBody.Joints.Revolute revolute(useAxisFlange = true, phi(start = 0, fixed = true), w(start = 0, fixed = true)) annotation(
|
||||
Placement(transformation(origin = {-92, -30}, extent = {{-10, -10}, {10, 10}})));
|
||||
Modelica.Mechanics.Rotational.Sensors.AngleSensor angleSensor annotation(
|
||||
Placement(transformation(origin = {-72, 0}, extent = {{-10, -10}, {10, 10}})));
|
||||
Modelica.Mechanics.Rotational.Components.Damper damper(d = 0.1) annotation(
|
||||
Placement(transformation(origin = {-94, 26}, extent = {{-10, -10}, {10, 10}})));
|
||||
Modelica.Mechanics.MultiBody.Parts.Body body(r_CM = {0.5, 0, 0}, m = 1) annotation(
|
||||
Placement(transformation(origin = {-62, -30}, extent = {{-10, -10}, {10, 10}})));
|
||||
Modelica.Mechanics.Rotational.Sources.Torque torque(useSupport = true) annotation(
|
||||
Placement(transformation(origin = {-94, 52}, extent = {{-10, -10}, {10, 10}})));
|
||||
Modelica.Blocks.Sources.IntegerConstant integerConstant(k = 0) annotation(
|
||||
Placement(transformation(origin = {10, 30}, extent = {{-10, -10}, {10, 10}})));
|
||||
equation
|
||||
connect(adc.y, controller.u) annotation(
|
||||
Line(points = {{21, 0}, {48, 0}}, color = {255, 127, 0}));
|
||||
connect(tickGenerator.y, adc.tickInput) annotation(
|
||||
Line(points = {{-1, -40}, {10, -40}, {10, -12}}, color = {255, 0, 255}));
|
||||
connect(tickGenerator.y, controller.tickInput) annotation(
|
||||
Line(points = {{-1, -40}, {60, -40}, {60, -12}}, color = {255, 0, 255}));
|
||||
connect(tickGenerator.y, dac.tickInput) annotation(
|
||||
Line(points = {{-1, -40}, {106, -40}, {106, -12}}, color = {255, 0, 255}));
|
||||
connect(tickGenerator.tickPeriodUs, controller.tickPeriodIn) annotation(
|
||||
Line(points = {{-1, -48}, {52, -48}, {52, -12}}, color = {0, 0, 127}));
|
||||
connect(world.frame_b, revolute.frame_a) annotation(
|
||||
Line(points = {{-112, -30}, {-102, -30}}, color = {95, 95, 95}));
|
||||
connect(angleSensor.phi, adc.u) annotation(
|
||||
Line(points = {{-61, 0}, {-2, 0}}, color = {0, 0, 127}));
|
||||
connect(revolute.axis, angleSensor.flange) annotation(
|
||||
Line(points = {{-92, -20}, {-92, 0}, {-82, 0}}));
|
||||
connect(damper.flange_a, revolute.support) annotation(
|
||||
Line(points = {{-104, 26}, {-112, 26}, {-112, -10}, {-98, -10}, {-98, -20}}));
|
||||
connect(revolute.axis, damper.flange_b) annotation(
|
||||
Line(points = {{-92, -20}, {-92, 14}, {-78, 14}, {-78, 26}, {-84, 26}}));
|
||||
connect(revolute.frame_b, body.frame_a) annotation(
|
||||
Line(points = {{-82, -30}, {-72, -30}}, color = {95, 95, 95}));
|
||||
connect(controller.y, dac.u) annotation(
|
||||
Line(points = {{71, 0}, {94, 0}}, color = {255, 127, 0}));
|
||||
connect(torque.support, damper.flange_a) annotation(
|
||||
Line(points = {{-94, 42}, {-94, 36}, {-104, 36}, {-104, 26}}));
|
||||
connect(torque.flange, damper.flange_b) annotation(
|
||||
Line(points = {{-84, 52}, {-84, 26}}));
|
||||
connect(dac.y, torque.tau) annotation(
|
||||
Line(points = {{118, 0}, {128, 0}, {128, 74}, {-118, 74}, {-118, 52}, {-106, 52}}, color = {0, 0, 127}));
|
||||
connect(integerConstant.y, controller.setpoint) annotation(
|
||||
Line(points = {{22, 30}, {32, 30}, {32, 8}, {48, 8}}, color = {255, 127, 0}));
|
||||
annotation(
|
||||
uses(Modelica(version = "4.1.0")),
|
||||
Diagram(coordinateSystem(extent = {{-140, 40}, {120, -60}})),
|
||||
version = "",
|
||||
experiment(StartTime = 0, StopTime = 10, Tolerance = 1e-06, Interval = 0.02));
|
||||
end test;
|
||||
Reference in New Issue
Block a user