Name

Default

Units

Description

Modelica ID

Order

Sensor-Drive

Order of machine direction

BDir

Name

Default

Units

Description

Modelica ID

Controller Type

PI

Type of controller: P, PI, PD, PID

controllerType

k

$0.001$

Gain of controller

k

$T_i$

$0.5$

$s$

Time constant of integrator block [1]

Ti

$N_i$

$0.9$

$N_i{T}_i$ is the time constant of anti-windup compensation [1]

Ni

$T_d$

$0.1$

$s$

Time constant of derivative block [2]

Td

$N_d$

$10$

The higher $N_d$, the more ideal the derivative block [2]

Nd

$w_p$

$1$

Weight for proportional block

wp

$w_d$

$0$

Weight for derivative block [2]

wd

$v_{\max }$

$0.1$

$\frac{m}{s}$

Upper limit of output velocity

v_max

$v_{\min }$

$\mathrm{-0.1}$

$\frac{m}{s}$

Lower limit of output velocity

v_min

Name

Default

Description

Modelica ID

Initial Values

NoInit

Type of initialization: NoInit, SteadyState, InitialState, InitialOutput

initType

$x_i$ start

$0$

Initial value for integrator state

xi_start

$x_d$ start

$0$

Initial value for state of differentiator

xd_start

Name

Value

Description

Modelica ID

$T_{\mathrm{Unit}}$

$N$

Unit selection for the $T_{\mathrm{Ref}}$ and $T_{\mathrm{Meas}}$ inputs

forceUnits

$v_{\mathrm{Unit}}$

$\frac{m}{s}$

Unit selection for the $v_{\mathrm{web}}$ and $v_{\mathrm{local}}$ inputs

velocityUnits