4.8 1 Z:\home\wouter\Documents\studie\ma\mahd\implementation\library\Motor\stepper_control.emx 2020-7-23 13:09:57 parameters real max_acceleration = 100 {rad/s2}; real max_velocity = 25 {rad/s}; real initial_velocity = 0 {rad/s}; real initial_angle = 0 {rad}; '; type Submodel ports signal in setpoint {rad} ; signal out output {rad} ; end; icon bg bottom figures rectangle 648 576 760 608 color 0 fill 15132390; text 'name' 704 592 color 0 'Clear Sans' 16; end; implementation bg submodels Acceleration_int 648 336 description ' 4.3 1 False Signal\Block Diagram\Integrate.emx 2013-3-8 14:47:42 '; type Integrate ports signal in input; signal out output; end; icon bg bottom figures rectangle 632 320 664 352 color 0 fill 15132390; text '∫' 648 336.3 color 16711680 'Lucida Sans' 21 italic; end; implementation eq parameters real global initial_velocity; // initial value equations output = int (input, initial_velocity); implementation_end; Acceleration_limit 568 336 description '4.01False Signal\Block Diagram Non-Linear\SignalLimiter-Limit.emx 2007-9-26 12:47:40 '; type 'SignalLimiter-Limit' ports signal in input; signal out output; end; icon bg bottom figures group rectangle 552 320 584 352 color 0 fill 15132390; line 567.9 324.5 567.9 349 color 0 fill 15132390; line 555 336.2 580.7 336.2 color 0 fill 15132390; spline 561.9 343.1 573.9 329.4 color 16711680 fill 15132390 width 2; spline 573.3 330.2 581.9 329.8 color 16711680 fill 15132390 width 2; spline 555 343.6 561.9 343.1 color 16711680 fill 15132390 width 2; end; end; implementation eq parameters real global max_acceleration {rad/s2}; equations output = limit (input, -max_acceleration, max_acceleration); implementation_end; plug setpoint 136 336; plug output 791 336; PlusMinus1 240 336 description '4.01False Signal\Block Diagram\PlusMinus.emx 2007-9-27 10:15:13 '; knot PlusMinus ports signal knot duplicatable in plus [1]; signal knot duplicatable in minus [1]; signal knot out output [1]; end; icon bg ellipse figures ellipse 232 328 248 344 color 0 fill 16777215; end; implementation eq equations output = sum (collect (plus)) - sum (collect (minus)); implementation_end; PlusMinus2 432 336 description '4.01False Signal\Block Diagram\PlusMinus.emx 2007-9-27 10:15:13 '; knot PlusMinus ports signal knot duplicatable in plus [1]; signal knot duplicatable in minus [1]; signal knot out output [1]; end; icon bg ellipse figures ellipse 424 328 440 344 color 0 fill 16777215; end; implementation eq equations output = sum (collect (plus)) - sum (collect (minus)); implementation_end; Position_control 296 336 description ' 4.0 1 False Signal\Control\PID Control\Continuous\PD.emx 2008-1-17 10:49:7 '; type PD ports signal in error; signal out output; end; icon bg bottom figures rectangle 280 320 312 352 color 0 fill 15132390; text 'PD' 296.5 336.1 color 16711680 18 bold; end; implementation eq parameters real kp = 4 {}; // Proportional gain real tauD = 100 {s}; // Derivative time constant: tauD > 0 real beta = 0.4 {}; // Tameness constant: 0 < beta << 1 variables real state, rate; equations rate = (kp * error - output) / (beta * tauD); state = int (rate); output = state + kp * error / beta; implementation_end; Splitter3 688 336 description '4.0 Signal\Block Diagram\Splitter.emx 2008-01-17 11:28:29 1 False '; knot Splitter ports signal knot duplicatable out output [1]; signal knot in input [1]; end; icon bg ellipse figures ellipse 684.8 332.8 691.2 339.2 color -1 fill 0; ellipse 683.7 331.7 692.3 340.3 color -1; terminals input 688 336 fixed; end; implementation eq equations collect (output) = input; implementation_end; Splitter4 752 336 description '4.0 Signal\Block Diagram\Splitter.emx 2008-01-17 11:28:29 1 False '; knot Splitter ports signal knot duplicatable out output [1]; signal knot in input [1]; end; icon bg ellipse figures ellipse 748.8 332.8 755.2 339.2 color -1 fill 0; ellipse 747.7 331.7 756.3 340.3 color -1; terminals input 752 336 fixed; end; implementation eq equations collect (output) = input; implementation_end; Velocity_control 480 336 description ' 4.0 1 False Signal\Control\PID Control\Continuous\PD.emx 2008-1-17 10:49:7 '; type PD ports signal in error; signal out output; end; icon bg bottom figures rectangle 464 320 496 352 color 0 fill 15132390; text 'PD' 480.5 336.1 color 16711680 18 bold; end; implementation eq parameters real kp = 12 {}; // Proportional gain real tauD = 10 {s}; // Derivative time constant: tauD > 0 real beta = 0.4 {}; // Tameness constant: 0 < beta << 1 variables real state, rate; equations rate = (kp * error - output) / (beta * tauD); state = int (rate); output = state + kp * error / beta; implementation_end; Velocity_int 720 336 description ' 4.3 1 False Signal\Block Diagram\Integrate.emx 2013-3-8 14:47:42 '; type Integrate ports signal in input; signal out output; end; icon bg bottom figures rectangle 704 320 736 352 color 0 fill 15132390; text '∫' 720 336.3 color 16711680 'Lucida Sans' 21 italic; end; implementation eq parameters real global initial_angle; // initial value equations output = int (input, initial_angle); implementation_end; Velocity_limit 376 336 description '4.01False Signal\Block Diagram Non-Linear\SignalLimiter-Limit.emx 2007-9-26 12:47:40 '; type 'SignalLimiter-Limit' ports signal in input; signal out output; end; icon bg bottom figures group rectangle 360 320 392 352 color 0 fill 15132390; line 375.9 324.5 375.9 349 color 0 fill 15132390; line 363 336.2 388.7 336.2 color 0 fill 15132390; spline 369.9 343.1 381.9 329.4 color 16711680 fill 15132390 width 2; spline 381.3 330.2 389.9 329.8 color 16711680 fill 15132390 width 2; spline 363 343.6 369.9 343.1 color 16711680 fill 15132390 width 2; end; end; implementation eq parameters real global max_velocity {rad/s}; equations output = limit (input, -max_velocity, max_velocity); implementation_end; end; connections Acceleration_int\output -> Splitter3\input; Acceleration_limit\output -> Acceleration_int\input; PlusMinus1\output -> Position_control\error; PlusMinus2\output -> Velocity_control\error; Position_control\output -> Velocity_limit\input; setpoint -> PlusMinus1\plus; Splitter3\output -> PlusMinus2\minus 688 288 432 288; Splitter3\output -> Velocity_int\input; Splitter4\output -> output; Splitter4\output -> PlusMinus1\minus 752 400 240 400; Velocity_control\output -> Acceleration_limit\input; Velocity_int\output -> Splitter4\input; Velocity_limit\output -> PlusMinus2\plus; end; implementation_end; ]]>