Skip to content

P
proview
Commit 6a0df769 authored by claes's avatar claes
Browse files
Options

AntiSway added

parent 8eadba16
Show whitespace changes
Inline Side-by-side
Showing with 722 additions and 6 deletions
ssabox/wbl/mcomp/src/ssabox.wb_load
View file @ 6a0df769
Volume SsabOx $ClassVolume 0.0.250.5
Body SysBody 01-JAN-1970 01:00:00.00
Attr NextOix = "_X149"
Attr NextCix = "_X28"
Attr NextOix = "_X151"
Attr NextCix = "_X29"
Attr NextTix[0] = "_X4"
EndBody
Object Type $TypeHier 138 30-DEC-2005 14:28:03.99
......@@ -157,9 +157,10 @@ Volume SsabOx $ClassVolume 0.0.250.5
EndObject
EndObject
Object Template Ssab_SafetySwitch 2147975168 06-OCT-2005 14:45:53.00
Body RtBody 01-JAN-1970 01:00:00.00
Body RtBody 25-JAN-2006 14:55:38.69
Attr Super.Super.Specification = "SSAB SafetySwitch"
Attr Super.Super.DataSheet = "$pwr_lang/dsh/ssab_safetyswitch.pdf"
Attr Super.AlarmText = "Safety switch is not on, "
EndBody
EndObject
EndObject
......@@ -6619,14 +6620,68 @@ Volume SsabOx $ClassVolume 0.0.250.5
EndBody
EndObject
EndObject
Object AntiSway $ClassDef 27 16-JAN-2006 11:27:43.17
!/**
! @Version 1.1
! @Author Jonas Haulin
! @Code ssabox_plc_antisway.c
! @Summary Feedforward antisway control for overhead cranes
! Feedforward antisway control for overhead cranes
!
! @image orm_antisway_fo.gif
!
! @image orm_antisway_classgraph.gif
!
! The antsiway object operates in manual or automatic mode.
! In manual mode, a command velocity is passed to the object, that calculates an acceleration trajectory
! that will render the the crane at the command velocity without sway.
! The acceleration trajectory is retained in the object,
! and in each time step a reference velocity output is generated.
! The object thus works as a very advanced ramp function, with an unramped command velocity input,
! and a ramped reference velocity output.
!
! In automatic mode, the object will give an output that renders the system
! without sway at a given command position if followed exactly.
! The object solves the coupled problem of positioning and sway elimination,
! and its performance depends on how the ability of freqency converters and motors
! in the system to track a given velocity reference in real time.
! Frequency converters should be equipped with DTC or an equivalent control technology,
! and should be tuned to follow ramped references (not step references) with maximum accuracy.
! Positioning and antisway performance may be enhanced by using the antisway object
! in combination with a ServoReg object, or some other kind of regulator.
!
! In manual mode, the object always compensates for hoisting (a changed or changing pendulum length).
! In automatic mode, compensation can be activated with the compensate attribute,
! but this may affect travel time performance negatively, and may not be necessary for sway elimination.
!
! At any time, the antisway object can be switched from automatic to manual mode operation.
! The result will be smooth adaption to the given command velocity, with maintained antisway control.
!
! Technical details and more information can be found in the thesis report
! "Feedforward Anti-Sway Control for Overhead Cranes - Development and Implementation in Proview", by the author.
!
! @b See also
! @classlink Ssab_ServoReg ssabox_ssab_servoreg.html
!*/
Object Ssab_AntiSway $ClassDef 27 16-JAN-2006 11:27:43.17
Body SysBody 16-JAN-2006 11:27:33.77
Attr Editor = 0
Attr Method = 0
Attr Flags = 16
EndBody
Object RtBody $ObjBodyDef 1 16-JAN-2006 11:27:48.46
Body SysBody 16-JAN-2006 11:27:48.46
Attr StructName = "AntiSway"
Attr StructName = "Ssab_AntiSway"
Attr NextAix = "_X190"
EndBody
!/**
! Pointer to another antisway object. If this input is used, objects
! operating in the x- and y-directions (the two horizontal directions of a crane
! operating in treedimensional space) will communicate and match their
! set extensions as much as possible, in automatic mode. The result will be that the
! path travelled by the crane ressembles a straight line. The total
! travel time will not be different, however. If not connected, or if in manual mode, each
! object operates individually.
!*/
Object other $Input 155 16-JAN-2006 11:27:48.46
Body SysBody 16-JAN-2006 11:27:48.46
Attr PgmName = "other"
......@@ -6635,6 +6690,17 @@ Volume SsabOx $ClassVolume 0.0.250.5
Attr GraphName = "Other"
EndBody
EndObject
!/**
! Integer that defines the setpoint shaping sequence / antisway strategy.
! The relevant available sequences are
!
! 0 No antisway
! 1 Double pulse of unity magnitude
! 2 Robust, or double, double pulse - slower, but less sensitive to parameter errors.
! 3 Triple pulse of unity magnitude - may sometimes give a faster and more smooth operation.
!
! More information on these and other available sequences may be found in the thesis report.
!*/
Object mode $Input 156 16-JAN-2006 11:27:48.46
Body SysBody 16-JAN-2006 11:27:48.46
Attr PgmName = "mode"
......@@ -6642,6 +6708,12 @@ Volume SsabOx $ClassVolume 0.0.250.5
Attr GraphName = "Mode"
EndBody
EndObject
!/**
! Switch that sets the object in manual (1) or automatic (0) mode.
! The mode can be switched at any time during operation.
! A typical use of the input would be to set the object in manual mode whenever a manual command is given.
! Thus an automatic travel can be aborted by touching a joystick or controller used for manual operation.
!*/
Object manual $Input 157 16-JAN-2006 11:27:48.46
Body SysBody 16-JAN-2006 11:27:48.46
Attr PgmName = "manual"
......@@ -6649,6 +6721,9 @@ Volume SsabOx $ClassVolume 0.0.250.5
Attr GraphName = "man"
EndBody
EndObject
!/**
! Command velocity. Assumed to be in interval [-UMAXSM, UMAXSM] (see umax attribute).
!*/
Object uCommand $Input 158 16-JAN-2006 11:27:48.46
Body SysBody 16-JAN-2006 11:27:48.46
Attr PgmName = "uCommand"
......@@ -6656,6 +6731,9 @@ Volume SsabOx $ClassVolume 0.0.250.5
Attr GraphName = "UCOM"
EndBody
EndObject
!/**
! Command position. Assumed to be in interval [XMIN, XMAX] (see limits attribute).
!*/
Object xCommand $Input 159 16-JAN-2006 11:27:48.46
Body SysBody 16-JAN-2006 11:27:48.46
Attr PgmName = "xCommand"
......@@ -6663,6 +6741,9 @@ Volume SsabOx $ClassVolume 0.0.250.5
Attr GraphName = "XCOM"
EndBody
EndObject
!/**
! Current position
!*/
Object xc $Input 160 16-JAN-2006 11:27:48.46
Body SysBody 16-JAN-2006 11:27:48.46
Attr PgmName = "xc"
......@@ -6670,6 +6751,9 @@ Volume SsabOx $ClassVolume 0.0.250.5
Attr GraphName = "POS"
EndBody
EndObject
!/**
! Current hoisting velocity (defined as dL/dt, i.e. positive direction down).
!*/
Object DLc $Input 161 16-JAN-2006 11:27:48.46
Body SysBody 16-JAN-2006 11:27:48.46
Attr PgmName = "DLc"
......@@ -6677,6 +6761,11 @@ Volume SsabOx $ClassVolume 0.0.250.5
Attr GraphName = "dL/dt"
EndBody
EndObject
!/**
! Current pendulum length.
! The pendulum length of a crane is best calibrated by measuring a number
! of oscillation periods and then calculating L as L=g*(T/(2pi))^2
!*/
Object Lc $Input 162 16-JAN-2006 11:27:48.46
Body SysBody 16-JAN-2006 11:27:48.46
Attr PgmName = "Lc"
......@@ -6684,6 +6773,12 @@ Volume SsabOx $ClassVolume 0.0.250.5
Attr GraphName = "L"
EndBody
EndObject
!/**
! Digital input used to switch to a second UMAXSA, (soft maximum velocity in automatic mode)
! provided in the umax attribute.
! In automatic mode, the object will accomodate the trajectory to the new maximum velocity.
! The feature may be used if low-speed restrictions apply to parts of the operation area.
!*/
Object umax2 $Input 163 16-JAN-2006 11:27:48.46
Body SysBody 16-JAN-2006 11:27:48.46
Attr PgmName = "umax2"
......@@ -6691,6 +6786,10 @@ Volume SsabOx $ClassVolume 0.0.250.5
Attr GraphName = "umax2"
EndBody
EndObject
!/**
! On/Off switch. If the object has been stopped due to an error of some kind,
! the error status can be reset, and the object reactivated by toggling enable.
!*/
Object enable $Input 164 16-JAN-2006 11:27:48.46
Body SysBody 16-JAN-2006 11:27:48.46
Attr PgmName = "enable"
......@@ -6698,6 +6797,28 @@ Volume SsabOx $ClassVolume 0.0.250.5
Attr GraphName = "en"
EndBody
EndObject
!/**
! Array that contains hard and soft maximum accelerations in manual and automatic mode.
!
! amax[0] - AMAXHM. Hard limit of acceleration, manual mode.
! amax[1] - AMAXSM. Soft limit of acceleration, manual mode.
! amax[2] - AMAXHA. Hard limit of acceleration, automatic mode.
! amax[3] - AMAXSA. Soft limit of acceleration, automatic mode.
!
! When the object generates trajectories, the soft maximum acceleration is used.
! It should be slightly lower than the hard limit, which is the absolute allowed/possible maximum.
! Having a soft limit serves two purposes. Firstly, compensation for
! hoisting requires some extra acceleration that can be kicked in when
! needed. Secondly, a frequency converter will have better chances of
! tracking the trajectory if not operating at its acceleration limit.
! A control strategy to ensure trajectory tracking also has better chances
! of being successful.
! A suitable value of AMAXS that will leave enough acceleration space for
! the hoisting compensation can be calculated from the formula;
! AMAXS = AMAXH/(1.0+(1.5*DLMax/sqrt(g*LMin))),
! where DLMax is the maximum hoisting speed, g the acceleration of gravity
! and LMin the minimum pendulum length.
!*/
Object amax $Intern 165 16-JAN-2006 11:27:48.46
Body SysBody 16-JAN-2006 11:27:48.46
Attr PgmName = "amax"
......@@ -6706,6 +6827,18 @@ Volume SsabOx $ClassVolume 0.0.250.5
Attr TypeRef = "pwrs:Type-$Float32"
EndBody
EndObject
!/**
! Array that contains hard and soft maximum velocities in manual and automatic mode.
!
! umax[0] - UMAXHM. Hard limit of velocity, manual mode.
! umax[1] - UMAXSM. Soft limit of velocity, manual mode.
! umax[2] - UMAXHA. Hard limit of velocity, automatic mode.
! umax[3] - UMAXSA. Soft limit of velocity, automatic mode.
! umax[4] - UMAXSA. Second soft limit of velocity, automatic mode (see umax2 attribute).
!
! Anologue to the amax array above. Soft maximum velocities will be used in normal trajectory generation.
!
!*/
Object umax $Intern 166 16-JAN-2006 11:27:48.46
Body SysBody 16-JAN-2006 11:27:48.46
Attr PgmName = "umax"
......@@ -6714,6 +6847,29 @@ Volume SsabOx $ClassVolume 0.0.250.5
Attr TypeRef = "pwrs:Type-$Float32"
EndBody
EndObject
!/**
! Array of adjustable parameter limits. In most cases the default values will do.
!
! limits[0] - ZEROLIM. Default 0.001. Will set reference velocity
! uR to zero if |uR| < limit.
! limits[1] - ERRFACT. Default 2.0. Will stop/deactivate object
! if |uR|>limit*umaxH.
! limits[2] - UR_MIN. Default 0.01. Minimum steady state reference
! velocity that can be passed to frequency converter.
! limits[3] - XMAX. Default 99999.0. Maximum reference position.
! limits[4] - XMIN. Default -99999.0. Minimum reference position.
! limits[5] - ATTAIN_ERRLIM. Default 0.001. Will warn if final uR
! misses uCommand (or zero if auto) with more than limit.
! limits[6] - L_MIN_CHANGE. Default 0.005. Length interval between
! compensation for new pendulum length.
! limits[7] - DL_MIN. Default 0.005. Minimum hoisting speed that will
! be compensated for.
! limits[8] - XR_ATTAIN_ERRLIM. Default 0.001. Will warn if final xR
! misses xCommand with more than limit. Auto only
! limits[9] - XCOM_MIN_CHANGE. Default 0.01. Minimum change in command
! position that will invoke a new call. Auto only.
!
!*/
Object limits $Intern 167 16-JAN-2006 11:27:48.46
Body SysBody 16-JAN-2006 11:27:48.46
Attr PgmName = "limits"
......@@ -6722,42 +6878,90 @@ Volume SsabOx $ClassVolume 0.0.250.5
Attr TypeRef = "pwrs:Type-$Float32"
EndBody
EndObject
!/**
! Compensate for changed / changing pendulum length during automatic travel.
!
! 0 - Do not compensate - use the initial pendulum length throughout travel.
! 1 - Compensate for new L
! 2 - Compensate for new L and non-zero dL/dt
!
! Compensation in automatic mode can reduces time performance, and may not be necessary.
! Often an automated crane will not lift and move simultaneously,
! and the effect of not compensating may be negligible even if it does.
! An alternative to compensation is to use a more robust antisway strategy, see the mode attribute.
!
!*/
Object compensate $Intern 168 16-JAN-2006 11:27:48.46
Body SysBody 16-JAN-2006 11:27:48.46
Attr PgmName = "compensate"
Attr TypeRef = "pwrs:Type-$Int32"
EndBody
EndObject
!/**
! Integer value. If verbose =0, the object will tell you about
! its progress (or failure) by printouts to the terminal window
! (i.e. only makes sense if proview is started from a terminal window..).
! There are three degrees of verbosity:
!
! 1 AS_VERB_DISABLED Object will print message if disabled
! 2 AS_VERB_ERR Object will print message if any error occurs
! 3 AS_VERB_ALL Object will print message when anything new happens
!*/
Object verbose $Intern 169 16-JAN-2006 11:27:48.46
Body SysBody 16-JAN-2006 11:27:48.46
Attr PgmName = "verbose"
Attr TypeRef = "pwrs:Type-$Int32"
EndBody
EndObject
!/**
! Boolean switch for resetting calculated sway angle
! (there is no damping modeled in the sway simuluation).
! The calculated sway angle is not used for anything in the algorithms,
! but is merely a demo/diagnose output.
!*/
Object zeroTheta $Intern 170 16-JAN-2006 11:27:48.46
Body SysBody 16-JAN-2006 11:27:48.46
Attr PgmName = "zeroTheta"
Attr TypeRef = "pwrs:Type-$Boolean"
EndBody
EndObject
!/**
! Integer bit mask keeping information of major and minor errors that
! has occurred since last reset. The status is most easily controlled in the class graph.
! If errstatus > AS_ERR_MINOR, the object will disable itself (it will
! not affect the value of enable, though). errstatus is reset by
! switching enable, or by using the reset attribute.
!*/
Object errstatus $Intern 171 16-JAN-2006 11:27:48.46
Body SysBody 16-JAN-2006 11:27:48.46
Attr PgmName = "errstatus"
Attr TypeRef = "pwrs:Type-$Mask"
EndBody
EndObject
!/**
! Integer bit mask used for storing automatic operation status and for
! communication between objects, via the other input.
!*/
Object autostatus $Intern 172 16-JAN-2006 11:27:48.46
Body SysBody 16-JAN-2006 11:27:48.46
Attr PgmName = "autostatus"
Attr TypeRef = "pwrs:Type-$Mask"
EndBody
EndObject
!/**
! Reset errstatus and autostatus. If set, reset is automatically reset once
! the errstatus and autostatus attributes have been reset.
!*/
Object reset $Intern 173 16-JAN-2006 11:27:48.46
Body SysBody 16-JAN-2006 11:27:48.46
Attr PgmName = "reset"
Attr TypeRef = "pwrs:Type-$Boolean"
EndBody
EndObject
!/**
! Array that contains the individual status bits of errstatus and autostatus.
! Used for display in the class graph.
!*/
Object flags $Intern 174 16-JAN-2006 11:27:48.46
Body SysBody 16-JAN-2006 11:27:48.46
Attr PgmName = "flags"
......@@ -6766,6 +6970,9 @@ Volume SsabOx $ClassVolume 0.0.250.5
Attr TypeRef = "pwrs:Type-$Boolean"
EndBody
EndObject
!/**
! Reference acceleration, 64-bit.
!*/
Object aR $Intern 175 16-JAN-2006 11:27:48.46
Body SysBody 16-JAN-2006 11:27:48.46
Attr PgmName = "aR"
......@@ -6773,6 +6980,9 @@ Volume SsabOx $ClassVolume 0.0.250.5
Attr TypeRef = "pwrs:Type-$Float64"
EndBody
EndObject
!/**
! Reference velocity, 64-bit.
!*/
Object uR $Intern 176 16-JAN-2006 11:27:48.46
Body SysBody 16-JAN-2006 11:27:48.46
Attr PgmName = "uR"
......@@ -6780,6 +6990,10 @@ Volume SsabOx $ClassVolume 0.0.250.5
Attr TypeRef = "pwrs:Type-$Float64"
EndBody
EndObject
!/**
! xR[0] - Reference position, 64-bit.
! xR[1] - Reference position at previous time step, 64-bit.
!*/
Object xR $Intern 177 16-JAN-2006 11:27:48.46
Body SysBody 16-JAN-2006 11:27:48.46
Attr PgmName = "xR"
......@@ -6788,6 +7002,10 @@ Volume SsabOx $ClassVolume 0.0.250.5
Attr TypeRef = "pwrs:Type-$Float64"
EndBody
EndObject
!/**
! thR[0] - Reference sway angle, 64-bit (diagnose/demo output).
! thR[1] - Reference sway angle at previous time step, 64-bit.
!*/
Object thR $Intern 178 16-JAN-2006 11:27:48.46
Body SysBody 16-JAN-2006 11:27:48.46
Attr PgmName = "thR"
......@@ -6796,6 +7014,24 @@ Volume SsabOx $ClassVolume 0.0.250.5
Attr TypeRef = "pwrs:Type-$Float64"
EndBody
EndObject
!/**
! The phasor set contains all future acceleration commands,
! in the form of an array of phasors. The set is represented
! as a 16-byte string. If the struct is changed or if int +
! double + pointer = 16 byte, it has to be changed. phasor set members are:
!
! int N Number of phasors in the set
! double extSum Acceleration-weighted phase extension sum.
! extSum = sum (|phiEnd - phiStart|*Sa),
! where the sum is taken over all the phasors in the set.
! Positive for positive acc.
! Usage: Divide by omega to get the velocity change of
! the set.
! AS_phasor *ph Pointer to the array of phasors. Memory is allocated
! dynamically.
! (see AS_phasor_methods.h for a description of the phasor
! struct)
!*/
Object Set $Intern 179 16-JAN-2006 11:27:48.46
Body SysBody 16-JAN-2006 11:27:48.46
Attr PgmName = "Set"
......@@ -6803,6 +7039,9 @@ Volume SsabOx $ClassVolume 0.0.250.5
Attr TypeRef = "pwrs:Type-$String16"
EndBody
EndObject
!/**
! Queue of warning and error messages.
!*/
Object messageQ $Intern 180 16-JAN-2006 11:27:48.46
Body SysBody 16-JAN-2006 11:27:48.46
Attr PgmName = "messageQ"
......@@ -6811,6 +7050,10 @@ Volume SsabOx $ClassVolume 0.0.250.5
Attr TypeRef = "pwrs:Type-$Char"
EndBody
EndObject
!/**
! Current / Last warning (message[1]) and error (message[0]) messages.
! An error means that the object has deactivated itself, and needs to be restarted.
!*/
Object message $Intern 181 16-JAN-2006 11:27:48.46
Body SysBody 16-JAN-2006 11:27:48.46
Attr PgmName = "message"
......@@ -6819,6 +7062,14 @@ Volume SsabOx $ClassVolume 0.0.250.5
Attr TypeRef = "pwrs:Type-$String80"
EndBody
EndObject
!/**
! Parameters that determine the behavior of the message system.
!
! mparams[0] - M_LENGTH. Default 79. Maximum number of characters in message string.
! mparams[1] - M_NLIMIT. Default 80. Maximum numbber of messages in queue.
! mparams[2] - M_ALWAIT. Default 20. Wait this number of cycles before taking next message from queue.
! mparams[3] - M_ALHOLD. Default 30. Hold the current message this number of cycles.
!*/
Object mparams $Intern 182 16-JAN-2006 11:27:48.46
Body SysBody 16-JAN-2006 11:27:48.46
Attr PgmName = "mparams"
......@@ -6827,6 +7078,9 @@ Volume SsabOx $ClassVolume 0.0.250.5
Attr TypeRef = "pwrs:Type-$Int32"
EndBody
EndObject
!/**
! Reference acceleration, 32-bit.
!*/
Object aRO $Output 183 16-JAN-2006 11:27:48.46
Body SysBody 16-JAN-2006 11:27:48.46
Attr PgmName = "aRO"
......@@ -6835,6 +7089,9 @@ Volume SsabOx $ClassVolume 0.0.250.5
Attr GraphName = "AR"
EndBody
EndObject
!/**
! Reference velocity, 32-bit.
!*/
Object uRO $Output 184 16-JAN-2006 11:27:48.46
Body SysBody 16-JAN-2006 11:27:48.46
Attr PgmName = "uRO"
......@@ -6843,6 +7100,9 @@ Volume SsabOx $ClassVolume 0.0.250.5
Attr GraphName = "UR"
EndBody
EndObject
!/**
! Reference position, 32-bit.
!*/
Object xRO $Output 185 16-JAN-2006 11:27:48.46
Body SysBody 16-JAN-2006 11:27:48.46
Attr PgmName = "xRO"
......@@ -6851,6 +7111,9 @@ Volume SsabOx $ClassVolume 0.0.250.5
Attr GraphName = "XR"
EndBody
EndObject
!/**
! Reference sway angle, 32-bit (demo / diagnose).
!*/
Object thRO $Output 186 16-JAN-2006 11:27:48.46
Body SysBody 16-JAN-2006 11:27:48.46
Attr PgmName = "thRO"
......@@ -6859,6 +7122,10 @@ Volume SsabOx $ClassVolume 0.0.250.5
Attr GraphName = "THR"
EndBody
EndObject
!/**
! True if antisway travel is completed. Can be used in automatic mode to activate
! a positioning regulator if not close enough to the command position.
!*/
Object done $Output 187 16-JAN-2006 11:27:48.46
Body SysBody 16-JAN-2006 11:27:48.46
Attr PgmName = "done"
......@@ -6867,6 +7134,9 @@ Volume SsabOx $ClassVolume 0.0.250.5
Attr GraphName = "done"
EndBody
EndObject
!/**
! New error message in message[0]. Can be connected to a DSup, where the message string can be stored as well.
!*/
Object Alarm1 $Output 188 16-JAN-2006 11:27:48.46
Body SysBody 16-JAN-2006 11:27:48.46
Attr PgmName = "Alarm1"
......@@ -6875,6 +7145,9 @@ Volume SsabOx $ClassVolume 0.0.250.5
Attr GraphName = "al1"
EndBody
EndObject
!/**
! New warning message in message[1]. Can be connected to a DSup, where the message string can be stored as well.
!*/
Object Alarm2 $Output 189 16-JAN-2006 11:27:48.46
Body SysBody 16-JAN-2006 11:27:48.46
Attr PgmName = "Alarm2"
......@@ -6913,10 +7186,453 @@ Volume SsabOx $ClassVolume 0.0.250.5
Attr traceindex = 0
Attr connectmethod = 0
Attr executeordermethod = 2
Attr objname = "antisway"
Attr objname = "Antisway"
Attr graphname = "AntiSway"
EndBody
EndObject
Object Template Ssab_AntiSway 2154790912 24-JAN-2006 19:01:17.00
Body RtBody 01-JAN-1970 01:00:00.00
Attr manual = 1
Attr amax[0] = 4.000000e-01
Attr amax[1] = 3.800000e-01
Attr amax[2] = 4.000000e-01
Attr amax[3] = 3.800000e-01
Attr umax[0] = 2.000000e+00
Attr umax[1] = 1.950000e+00
Attr umax[2] = 2.000000e+00
Attr umax[3] = 1.950000e+00
Attr umax[4] = 5.000000e-01
Attr limits[0] = 1.000000e-03
Attr limits[1] = 2.000000e+00
Attr limits[2] = 1.000000e-02
Attr limits[3] = 9.999900e+04
Attr limits[4] = -9.999900e+04
Attr limits[5] = 1.000000e-03
Attr limits[6] = 5.000000e-03
Attr limits[7] = 5.000000e-03
Attr limits[8] = 1.000000e-03
Attr limits[9] = 1.000000e-02
Attr mparams[0] = 79
Attr mparams[1] = 30
Attr mparams[2] = 20
Attr mparams[3] = 80
EndBody
Body DevBody 01-JAN-1970 01:00:00.00
EndBody
EndObject
EndObject
!/**
! @Version 1.0
! @Author Jonas Haulin
! @Code ssabox_plc_servoreg.c
! @Summary Servoregulator with direct positioning
! Servoregulator with direct positioning
!
! @image orm_servoreg_fo.gif
!
! @image orm_servoreg_classgraph.gif
!
! The function works as a combined servo regulator, deadzone and positioning ramp.
! The features may be used individually or all at once.
! It was developed to ensure trajectory tracking and positioning in automated cranes with anti-sway control,
! but can be deployed for any positioning problem. The output of the function is a velocity reference.
!
! A brief description of the features:
!
! 1. The servo regulator is used to enhance the real-time reference tracking of a system.
! It is a simple three-term regulator, where the output is determined as
!
! uReg = kP*(uReference - uMeasured) + kI*(xR - xM) + kD*(aR - aM)
!
! If a non-zero PID delay time is set (see DelayPID attribute),
! reference values will be placed in a queue and extracted with the given delay.
! This is useful if a delay is unavoidable, but acceptable if it is uniform throughout travel.
! The D-part should not be used if a low-noise measured signal aM is not available.
!
! 2. The positioning ramp limits the output by
!
! uRamp = -DelayRamp*amaxS + sqrt(DelayRamp^2*amaxS^2 + 2.0*|Delta x|*amaxS)
!
! where Delta x is the remaining distance to the command position.
! In the case of zero delay, uRamp(x) is just a constant deceleration curve,
! where amaxS is the magnitude of deceleration.
!
! 3. The deadzone sets the output to zero, if within its limits. A second larger deadzone that is
! activated after a specified time within its limits may also be used.
!
! @b See also
! @classlink Ssab_AntiSway ssabox_ssab_antisway.html
!*/
Object Ssab_ServoReg $ClassDef 28 25-JAN-2006 14:57:22.76
Body SysBody 25-JAN-2006 14:57:10.82
Attr Editor = 0
Attr Method = 0
Attr Flags = 16
EndBody
Object RtBody $ObjBodyDef 1 25-JAN-2006 14:57:10.82
Body SysBody 25-JAN-2006 14:57:32.75
Attr StructName = "Ssab_ServoReg"
Attr NextAix = "_X171"
EndBody
!/**
! Current reference acceleration of the desired trajectory. The input is used by the PID regulator of the object.
!*/
Object aR $Input 141 25-JAN-2006 14:57:10.82
Body SysBody 25-JAN-2006 14:57:10.82
Attr PgmName = "aR"
Attr TypeRef = "pwrs:Type-$Float32"
Attr GraphName = "AR"
EndBody
EndObject
!/**
! Current reference velocity of the desired trajectory. The input is used by the PID regulator of the object.
!*/
Object uR $Input 142 25-JAN-2006 14:57:10.82
Body SysBody 25-JAN-2006 14:57:10.82
Attr PgmName = "uR"
Attr TypeRef = "pwrs:Type-$Float32"
Attr GraphName = "UR"
EndBody
EndObject
!/**
! Current reference position of the desired trajectory. The input is used by the PID regulator of the object.
!*/
Object xR $Input 143 25-JAN-2006 14:57:10.82
Body SysBody 25-JAN-2006 14:57:10.82
Attr PgmName = "xR"
Attr TypeRef = "pwrs:Type-$Float32"
Attr GraphName = "XR"
EndBody
EndObject
!/**
! Current measured acceleration. The input is used by the PID regulator of the object.
!*/
Object ac $Input 144 25-JAN-2006 14:57:10.82
Body SysBody 25-JAN-2006 14:57:10.82
Attr PgmName = "ac"
Attr TypeRef = "pwrs:Type-$Float32"
Attr GraphName = "AM"
EndBody
EndObject
!/**
! Current measured velocity. The input is used by the PID regulator of the object.
!*/
Object uc $Input 145 25-JAN-2006 14:57:10.82
Body SysBody 25-JAN-2006 14:57:10.82
Attr PgmName = "uc"
Attr TypeRef = "pwrs:Type-$Float32"
Attr GraphName = "UM"
EndBody
EndObject
!/**
! Current measured position. The input is used by the PID regulator of the object.
!*/
Object xc $Input 146 25-JAN-2006 14:57:10.82
Body SysBody 25-JAN-2006 14:57:10.82
Attr PgmName = "xc"
Attr TypeRef = "pwrs:Type-$Float32"
Attr GraphName = "XM"
EndBody
EndObject
!/**
! Command position. Final travel destination.
!*/
Object xCommand $Input 147 25-JAN-2006 14:57:10.82
Body SysBody 25-JAN-2006 14:57:10.82
Attr PgmName = "xCommand"
Attr TypeRef = "pwrs:Type-$Float32"
Attr GraphName = "XCOM"
EndBody
EndObject
!/**
! Maximum positive output velocity. This value may depend on other system variables,
! such as local low-speed restrictions etc, and is therefore supplied as an input.
!*/
Object umaxP $Input 148 25-JAN-2006 14:57:10.82
Body SysBody 25-JAN-2006 14:57:10.82
Attr PgmName = "umaxP"
Attr TypeRef = "pwrs:Type-$Float32"
Attr GraphName = "MAXP"
EndBody
EndObject
!/**
! Maximum negative output velocity. Same as above, but this value should be < 0,
! and reflects a restriction on movement in the other direction.
!*/
Object umaxN $Input 149 25-JAN-2006 14:57:10.82
Body SysBody 25-JAN-2006 14:57:10.82
Attr PgmName = "umaxN"
Attr TypeRef = "pwrs:Type-$Float32"
Attr GraphName = "MAXN"
EndBody
EndObject
!/**
! If true, and if the ramp is enabled, the control output is initially set to umaxP or umaxN,
! depending on the sign of Delta x, the distance to the command position.
! The output is then limited by the ramp. The effect is a very accurate positioning, given that
! the relevant parameters are set correctly.
! Direct positioning disables the PID regulator, as the two cannot be used simultaneously.
!*/
Object positioning $Input 150 25-JAN-2006 14:57:10.82
Body SysBody 25-JAN-2006 14:57:10.82
Attr PgmName = "positioning"
Attr TypeRef = "pwrs:Type-$Boolean"
Attr GraphName = "pos"
EndBody
EndObject
!/**
! On/Off switch. If false, uR is simply passed untouched through the object.
!*/
Object enable $Input 151 25-JAN-2006 14:57:10.82
Body SysBody 25-JAN-2006 14:57:10.82
Attr PgmName = "enable"
Attr TypeRef = "pwrs:Type-$Boolean"
Attr GraphName = "en"
EndBody
EndObject
!/**
! "Soft" maximum acceleration, i.e. the acceleration or deceleration that the system
! can be guaranteed to uphold.
!*/
Object amaxS $Intern 152 25-JAN-2006 14:57:10.82
Body SysBody 25-JAN-2006 14:57:10.82
Attr PgmName = "amaxS"
Attr TypeRef = "pwrs:Type-$Float32"
EndBody
EndObject
!/**
! Enabling or disabling of PID regulator. The positioning input overrides this setting, however.
!*/
Object enablePID $Intern 153 25-JAN-2006 14:57:10.82
Body SysBody 25-JAN-2006 14:57:10.82
Attr PgmName = "enablePID"
Attr TypeRef = "pwrs:Type-$Boolean"
EndBody
EndObject
!/**
! PID constants:
! kPID[0] - kP
! kPID[1] - kI
! kPID[2] - kD
!*/
Object kPID $Intern 154 25-JAN-2006 14:57:10.82
Body SysBody 25-JAN-2006 14:57:10.82
Attr PgmName = "kPID"
Attr Flags = 2
Attr Elements = 3
Attr TypeRef = "pwrs:Type-$Float32"
EndBody
EndObject
!/**
! Reference delay in seconds.
!*/
Object DelayPID $Intern 155 25-JAN-2006 14:57:10.82
Body SysBody 25-JAN-2006 14:57:10.82
Attr PgmName = "DelayPID"
Attr TypeRef = "pwrs:Type-$Float32"
EndBody
EndObject
!/**
! Limit as to how many time steps will be stored in the queue.
! If DelayPID / ScanTime > maxdelaysteps, the full delay will not be realized.
!*/
Object maxdelaysteps $Intern 156 25-JAN-2006 14:57:10.82
Body SysBody 25-JAN-2006 14:57:10.82
Attr PgmName = "maxdelaysteps"
Attr TypeRef = "pwrs:Type-$Int32"
EndBody
EndObject
!/**
! Pointer to the reference list / queue.
!*/
Object RefListp $Intern 157 25-JAN-2006 14:57:10.82
Body SysBody 25-JAN-2006 14:57:10.82
Attr PgmName = "RefListp"
Attr Flags = 3089
Attr TypeRef = "pwrs:Type-$Float32"
EndBody
EndObject
!/**
! Pointer to the reference list / queue.
!*/
Object enableRamp $Intern 158 25-JAN-2006 14:57:10.82
Body SysBody 25-JAN-2006 14:57:10.82
Attr PgmName = "enableRamp"
Attr TypeRef = "pwrs:Type-$Boolean"
EndBody
EndObject
!/**
! Delay parameter in the ramp model. A larger delay causes a less steep deceleration.
!*/
Object DelayRamp $Intern 159 25-JAN-2006 14:57:10.82
Body SysBody 25-JAN-2006 14:57:10.82
Attr PgmName = "DelayRamp"
Attr TypeRef = "pwrs:Type-$Float32"
EndBody
EndObject
!/**
! Enabling or disabling of deadzone.
!*/
Object enableDZ $Intern 160 25-JAN-2006 14:57:10.82
Body SysBody 25-JAN-2006 14:57:10.82
Attr PgmName = "enableDZ"
Attr TypeRef = "pwrs:Type-$Boolean"
EndBody
EndObject
!/**
! Determines the extension of the deadzone in both directions about the command position.
! Interval = [xCommand - DeadZone, xCommand + DeadZone]
!*/
Object DeadZone $Intern 161 25-JAN-2006 14:57:10.82
Body SysBody 25-JAN-2006 14:57:10.82
Attr PgmName = "DeadZone"
Attr TypeRef = "pwrs:Type-$Float32"
EndBody
EndObject
!/**
! Enabling or disabling of timer deadzone.
!*/
Object enableTDZ $Intern 162 25-JAN-2006 14:57:10.82
Body SysBody 25-JAN-2006 14:57:10.82
Attr PgmName = "enableTDZ"
Attr TypeRef = "pwrs:Type-$Boolean"
EndBody
EndObject
!/**
! Determines the extension of the deadzone in both directions about the command position.
! Interval = [xCommand - TimerDeadZone, xCommand + TimerDeadZone]
!*/
Object TimerDeadZone $Intern 163 25-JAN-2006 14:57:10.82
Body SysBody 25-JAN-2006 14:57:10.82
Attr PgmName = "TimerDeadZone"
Attr TypeRef = "pwrs:Type-$Float32"
EndBody
EndObject
!/**
! Waiting time for the timer deadzone. The deadzone is activated after
! TDZTime seconds within the timer deadzone.
!*/
Object TDZTime $Intern 164 25-JAN-2006 14:57:10.82
Body SysBody 25-JAN-2006 14:57:10.82
Attr PgmName = "TDZTime"
Attr TypeRef = "pwrs:Type-$Float32"
EndBody
EndObject
!/**
! Time counter of the timer deadzone.
!*/
Object TDZElapsedTime $Intern 165 25-JAN-2006 14:57:10.82
Body SysBody 25-JAN-2006 14:57:10.82
Attr PgmName = "TDZElapsedTime"
Attr TypeRef = "pwrs:Type-$Float32"
EndBody
EndObject
Object ScanTime $Intern 166 25-JAN-2006 14:57:10.82
Body SysBody 25-JAN-2006 14:57:10.82
Attr PgmName = "ScanTime"
Attr Flags = 67585
Attr TypeRef = "pwrs:Type-$Float32"
EndBody
EndObject
!/**
! Control output velocity.
!*/
Object uReg $Output 167 25-JAN-2006 14:57:10.82
Body SysBody 25-JAN-2006 14:57:10.82
Attr PgmName = "uReg"
Attr Flags = 1040
Attr TypeRef = "pwrs:Type-$Float32"
Attr GraphName = "UREG"
EndBody
EndObject
!/**
! Indicates whether the ramp is active or not, that is if it currently
! limits the magnitude of the control output.
!*/
Object RampActive $Output 168 25-JAN-2006 14:57:10.82
Body SysBody 25-JAN-2006 14:57:10.82
Attr PgmName = "RampActive"
Attr Flags = 1040
Attr TypeRef = "pwrs:Type-$Boolean"
Attr GraphName = "ramp"
EndBody
EndObject
!/**
! Indicates whether the deadzone is active or not, that is if it currently
! limits the magnitude of the control output.
! The output may be used as a confirmation of completed positioning.
!*/
Object DZActive $Output 169 25-JAN-2006 14:57:10.82
Body SysBody 25-JAN-2006 14:57:10.82
Attr PgmName = "DZActive"
Attr Flags = 1040
Attr TypeRef = "pwrs:Type-$Boolean"
Attr GraphName = "dz"
EndBody
EndObject
!/**
! Indicates whether the timer deadzone is active or not, that is if it currently
! limits the magnitude of the control output.
! The output may be used as a confirmation of completed positioning.
!*/
Object TDZActive $Output 170 25-JAN-2006 14:57:10.82
Body SysBody 25-JAN-2006 14:57:10.82
Attr PgmName = "TDZActive"
Attr Flags = 1040
Attr TypeRef = "pwrs:Type-$Boolean"
Attr GraphName = "tdz"
EndBody
EndObject
EndObject
Object DevBody $ObjBodyDef 2 25-JAN-2006 14:57:10.82
Body SysBody 25-JAN-2006 14:57:10.82
Attr NextAix = "_X6"
EndBody
Object PlcNode $Buffer 5 25-JAN-2006 14:57:10.82
Body SysBody 25-JAN-2006 14:57:10.82
Attr Flags = 2048
Attr Class = "pwrs:Class-$PlcNode"
EndBody
EndObject
EndObject
Object GraphPlcNode $GraphPlcNode 151 25-JAN-2006 14:57:10.82
Body SysBody 25-JAN-2006 14:57:10.82
Attr object_type = 11
Attr parameters[0] = 11
Attr parameters[1] = 15
Attr parameters[2] = 4
Attr parameters[3] = 0
Attr graphmethod = 0
Attr graphindex = 0
Attr default_mask[0] = 502
Attr default_mask[1] = 1
Attr segname_annotation = 1
Attr compmethod = 4
Attr compindex = 0
Attr tracemethod = 0
Attr traceindex = 0
Attr connectmethod = 0
Attr executeordermethod = 2
Attr objname = "servoreg"
Attr graphname = "ServoReg"
EndBody
EndObject
Object Template Ssab_ServoReg
Body RtBody
Attr umaxP = 2.000000e+00
Attr umaxN = -2.000000e+00
Attr amaxS = 3.800000e-01
Attr kPID[0] = 6.000000e-01
Attr kPID[1] = 3.000000e-01
Attr maxdelaysteps = 1000
Attr DelayRamp = 1.000000e-01
Attr DeadZone = 2.000000e-02
Attr TimerDeadZone = 5.000000e-02
Attr TDZTime = 5.000000e+00
EndBody
Body DevBody
EndBody
EndObject
EndObject
EndObject
EndVolume
Markdown is supported
0% or
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment
GitLab Nexedi Edition | About GitLab | About Nexedi | 沪ICP备2021021310号-2 | 沪ICP备2021021310号-7