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

This example demonstrates how to use the Nonlinear.SlewRateLimiter block to limit a position step with regards to velocity and acceleration:

• The Sources.Step block positionStep demands an unphysical position step.
• The first SlewRateLimiter block limit_v limits velocity.
• The first Der block v calculates velocity from the smoothed position signal.
• The second SlewRateLimiter block limit_a limits acceleration of the smoothed velocity signal.
• The second Der block a calculates acceleration from the smoothed velocity signal.
• The Integrator block positionSmoothed calculates smoothed position from the smoothed velocity signal.

A position controlled drive with limited velocity and limited acceleration (i.e. torque) is able to follow the smoothed reference position.

vMax	Value: 2 Type: Velocity (m/s) Description: Max. velocity
aMax	Value: 20 Type: Acceleration (m/s²) Description: Max. acceleration