diff options
| author | Siddharth11235 | 2019-09-03 18:09:16 +0530 |
|---|---|---|
| committer | Siddharth11235 | 2019-09-03 18:09:16 +0530 |
| commit | b4b6aa36e3486a3544acc52419149b5671f841e9 (patch) | |
| tree | 66c1783158f23e6d21c77324156fc57e18d4ac67 /PID_Practice_Cases/SpringMassPID.mo | |
| parent | f5266f634f4fb4fd39933a83551a01cf446256b8 (diff) | |
| download | OpenModelica_HIL-b4b6aa36e3486a3544acc52419149b5671f841e9.tar.gz OpenModelica_HIL-b4b6aa36e3486a3544acc52419149b5671f841e9.tar.bz2 OpenModelica_HIL-b4b6aa36e3486a3544acc52419149b5671f841e9.zip | |
Diffstat (limited to 'PID_Practice_Cases/SpringMassPID.mo')
| -rwxr-xr-x | PID_Practice_Cases/SpringMassPID.mo | 38 |
1 files changed, 38 insertions, 0 deletions
diff --git a/PID_Practice_Cases/SpringMassPID.mo b/PID_Practice_Cases/SpringMassPID.mo new file mode 100755 index 0000000..36f48de --- /dev/null +++ b/PID_Practice_Cases/SpringMassPID.mo @@ -0,0 +1,38 @@ +model SpringMassPID + import Modelica.Mechanics.*; + Modelica.Mechanics.Translational.Components.Mass mass1(L = 1, m = 1) annotation( + Placement(visible = true, transformation(origin = {36, 4}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Mechanics.Translational.Sources.Force force1 annotation( + Placement(visible = true, transformation(origin = {0, 4}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Mechanics.Translational.Components.Fixed fixed1 annotation( + Placement(visible = true, transformation(origin = {94, 4}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Sources.Pulse pulse1(amplitude = 158, period = 20, startTime = 10) annotation( + Placement(visible = true, transformation(origin = {-88, 4}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Mechanics.Translational.Sensors.PositionSensor positionSensor1 annotation( + Placement(visible = true, transformation(origin = {-12, -56}, extent = {{10, -10}, {-10, 10}}, rotation = 0))); + Modelica.Mechanics.Translational.Components.SpringDamper springDamper1(c = 100, d = 10, s_rel0 = 1) annotation( + Placement(visible = true, transformation(origin = {66, 4}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Math.Feedback feedback1 annotation( + Placement(visible = true, transformation(origin = {-61, 5}, extent = {{-5, -5}, {5, 5}}, rotation = 0))); + Modelica.Blocks.Continuous.PID PID(Nd = 20, Td = 0.05, Ti = 0.1, k = 50) annotation( + Placement(visible = true, transformation(origin = {-34, 6}, extent = {{-8, -8}, {8, 8}}, rotation = 0))); +equation + connect(feedback1.y, PID.u) annotation( + Line(points = {{-56.5, 5}, {-55.25, 5}, {-55.25, 4}, {-44, 4}}, color = {0, 0, 127})); + connect(PID.y, force1.f) annotation( + Line(points = {{-25, 4}, {-12, 4}}, color = {0, 0, 127})); + connect(positionSensor1.s, feedback1.u2) annotation( + Line(points = {{-23, -56}, {-61, -56}, {-61, 1}}, color = {0, 0, 127})); + connect(pulse1.y, feedback1.u1) annotation( + Line(points = {{-76, 4}, {-72, 4}, {-72, 5}, {-65, 5}}, color = {0, 0, 127})); + connect(mass1.flange_b, positionSensor1.flange) annotation( + Line(points = {{46, 4}, {46, 4}, {46, -56}, {-2, -56}, {-2, -56}}, color = {0, 127, 0})); + connect(force1.flange, mass1.flange_a) annotation( + Line(points = {{10, 4}, {26, 4}}, color = {0, 127, 0})); + connect(springDamper1.flange_b, fixed1.flange) annotation( + Line(points = {{76, 4}, {92, 4}, {92, 4}, {94, 4}}, color = {0, 127, 0})); + connect(mass1.flange_b, springDamper1.flange_a) annotation( + Line(points = {{46, 4}, {56, 4}, {56, 4}, {56, 4}}, color = {0, 127, 0})); + annotation( + uses(Modelica(version = "3.2.2"))); +end SpringMassPID;
\ No newline at end of file |