Overview

This block computes a Position PI (Proportional, Integral), and Velocity PI filter transformation. Both the position and velocity integration sums may be limited (Imax, VImax).

The coefficients for this block are as follows:

Kpp	Position Proportional Gain.
Kip	Position Integral Gain.
Kpv	Velocity Proportional Gain.
Kiv	Velocity Integral Gain.
Ksm	Smoothing parameter. 0 = no smoothing 1 = infinite smoothing
Imaxp	Limit value for the position integration sum.
Imaxv	Limit value for the velocity integration sum.
Ts	Sample period of the PIV algorithm. This is the cycle time of the PIV algorithm in Simulink simulation. This value has no effect on the PIV execution on the controller.
Subsample Code	A code which determines the schedule for updating this block (every sample, even samples only, etc.). See Subsampling.

Matlab/Simulink

Simulink Interface

piv_reset_sim1

The Position input should connect to a position error block or equivalent (for example the output of a sum block). The Velocity Position input should be from an Actual Position block or equivalent.

The Output is the torque command ready to connect to a motor output or equivalent. The Reset and Reset Value inputs control resetting of the Integrator sum internal to the block. When a non-zero value is detected at the Reset input the integrator sum will be set to the Reset Value.

The following block diagram shows the block internal structure:

piv

The block has two user data fields (User Data 0, User Data 1) to store application-specific data for convenient storage and retrieval. See User Data Storage for details.

The block's update schedule is determined by the Subsample Code (See Subsampling). The following Parameter Dialog Box can be opened by double-clicking on the block in a Simulink Model:

piv_reset_sim2

C++ API

PIV_RBlock

Declaration

Public Method

PIV_RBlock&   PIV_R();

Required Header: mechaware.h

Description

This block computes a Position PI (Proportional, Integral), and Velocity PI filter transformation. Both the position and velocity integration sums may be limited (Imax, VImax).

double	PIV_R().Kpp	Proportional Proportion Gain.
double	PIV_R().Kip	Position Integral Gain.
double	PIV_R().Kpv	Velocity Proportional Gain.
double	PIV_R().Kiv	Velocity Integral Gain.
double	PIV_R().Ksm	Smoothing parameter. 0 = no smoothing 1 = infinite smoothing
double	PIV_R().IMaxp	Limit value for the position integration sum.
double	PIV_R().IMaxv	Limit value for the velocity integration sum.

Methods

Block Methods

Remarks

The Reset and Reset Value inputs should be left disconnected if the integrator does not need to be reset.