This example shows a control system for a one axis robot using an FMU file as system in

QFIRE Studio

.

Introduction

An one axis robot can be simulated using an FMU file. This file receives as input a control signal and returns the following states:

• Angular position -
  $\phi$
• Angular speed -
  $\omega$
• Angular acceleration -
  $a$

Using this signals, it is possible to simulate a control system using as controller a

QFIRE

.

Simulation

Figure 1 shows the control system diagram with the FMU and the controller. In this situation, the QFIRE CTR-101 receive the angular position and speed position because the angular acceleration is not necessary for the controller designed.

As can be seen, it is necessary to use Scale & Offset blocks due to the output and input range limitation.

The controller designed for this situations is described by:

Figure 2 shows the diagram that represent this controller:

The angular position reference was defined as 100

and the Task frequency to 20. The step response of the system is shown in Figure 3 and 4.