Information

This information is part of the Modelica Standard Library maintained by the Modelica Association.

The axis model consists of the controller, the motor including current controller and the gearbox including gear elasticity and bearing friction. The only difference to the axis model of joints 4,5,6 (= model axisType2) is that elasticity and damping in the gear boxes are not neglected.

The input signals of this component are the desired angle and desired angular velocity of the joint. The reference signals have to be "smooth" (position has to be differentiable at least 2 times). Otherwise, the gear elasticity leads to significant oscillations.

Default values of the parameters are given for the axis of joint 1.

Parameters (11)

kp	Value: 10 Type: Real Description: Gain of position controller
ks	Value: 1 Type: Real Description: Gain of speed controller
Ts	Value: 0.01 Type: Time (s) Description: Time constant of integrator of speed controller
k	Value: 1.1616 Type: Real Description: Gain of motor
w	Value: 4590 Type: Real Description: Time constant of motor
D	Value: 0.6 Type: Real Description: Damping constant of motor
J	Value: 0.0013 Type: Inertia (kg·m²) Description: Moment of inertia of motor
ratio	Value: -105 Type: Real Description: Gear ratio
Rv0	Value: 0.4 Type: Torque (N·m) Description: Viscous friction torque at zero velocity in [Nm]
Rv1	Value: 0.13 / 160 Type: Real (N·m·s/rad) Description: Viscous friction coefficient in [Nms/rad]
peak	Value: 1 Type: Real Description: Maximum static friction torque is peak*Rv0 (peak >= 1)

	flange	Type: Flange_b
	axisControlBus	Type: AxisControlBus

Components (8)

	gear	Type: GearType2
	motor	Type: Motor
	controller	Type: Controller
	angleSensor	Type: AngleSensor
	speedSensor	Type: SpeedSensor
	accSensor	Type: AccSensor
	initializeFlange	Type: InitializeFlange
	const	Type: Constant

AxisType2

Diagram

Information

Parameters (11)

Connectors (2)

Components (8)

Used in Examples (1)

Extended by (1)