Simulink Library
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This page discusses the Simulink block library that is included in the Compliant Joint Toolbox.
At this moment, the CJT includes three model blocks. Two concern the electrical subsystem, and the third implements the mechanical subsystem:
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JointElectricalSubsystem: Implements the single-phase electrical dynamics of the joint model, the current of which is directly proportional to the generated electromotive torque
motorTorque; - JointElectricalSubsystem with d-q axes: Similar to JointElectricalSubsystem, however implements a two-phase model with separate d-q (direct and quadrature) currents;
- JointMechanicalSubsystem: Implements the mechanical dynamics of the joint model.
By connecting the motorTorque output of the electrical dynamics model to the motorTorque input of the mechanical dynamics model, and the jointBus output of the mechanical dynamics to the corresponding input on the electrical dynamics model, these blocks may be used in conjunction to simulate a full joint. In a similar way, the necessary controllers for position, torque, and current control may be cascaded.
The image below shows an overview of the Simulink model library included with the toolbox. For more information on each of the blocks in the library, please refer to the in-block Help and the block masks.
Arguably the most important model is the JointMechanicalSubsystem. Its mask is shown in the image below. The mask includes the joint object, settings for measurement signal filtering, input and output delays, quantisation associated with sensor resolution, input and output noise, and corresponding variances.
In terms of controllers, there are again two classes; current controllers, and torque controllers. The current controller is a standard PI controller with optional feed-forward and back-EMF compensation functionality.
A total of 8 torque controllers are included with the toolbox, along with a template controller which allows users to quickly prototype their controllers within the toolbox architecture.
The image below shows an overview of the Simulink controller library included with the toolbox. For more information on each of the blocks in the library, please refer to the in-block Help and the block masks.
Lastly, the Simulink library included in the toolbox includes a number of observers. These include both state and disturbance observers. Some of the controllers included in the previous section include one of these observers as an integral component. Similarly, users of the toolbox can use these blocks to rapidly develop their own controllers.
The image below shows an overview of the Simulink observer library included with the toolbox. For more information on each of the blocks in the library, please refer to the in-block Help and the block masks.
