Robot Model

The user see how models are generated for a simple motor, parameters A and B, and that motor in a control system.

The dynamic nature of the models is depicted and the associated differential equation derived.

At the bottom a plot is shown how the output changes from 0 to its final value. Note for given motor parameters the same time scale is used for the motor on its own or in a control system - so you can see the benefits of control.

For the motor on its own, the input is V which is set so the output reaches 1.

In the P control system the input I is set to 1 aiming that the output reaches 1. You should see that a higher controller gain means the output gets closer to 1 and does so more quickly!

P+I control can be used where the integral constant is set to AB so the system simplifies. Here O reaches 1.

Click on the relevant blocks in the diagram to change their parameters and see the effect.

If you select 'Show How Blocks Formed', the block diagram is developed in stages : click Next/Done button when it appears.

By default a continuous model is used, so the output changes smoothly. However, discrete simulation can also be selected, where the output is calculated at a set of discrete times.