Overview

Description

The Noise block is an input block that provides access to the ZMP-SynqNet controller's internally generated random noise source. This block is primarily used by the Bode Tool to generate noise for measuring the frequency response of the system. In Simulink, it used to simulate the frequency response of the system

Example

The following example shows how to use the Scope blocks at the Noise Input and PID Filter. By finding the system response from Scope0 to Scope1, this is the frequency response of the servo loop.

The Noise Block is summed in after the PID Filter calculates the desired torque output, and summed before the total torque output is hooked up to the Output block.

The configuration values for this block are as follows:

Kn1	Multiplier for noise output.
Kn2	Reserved for future use.
Axis number	Reserved for future use.
Evaluate Block	This block allows you to specify whether the block executes Every Sample, Every Other Sample (Odd or Even), or Every Fourth Sample (and specify the First, Second, Third, or Fourth). This provides greater flexibility in controlling the execution of a model and to preserve performance for other areas of motion control.
User Defined Block Priority	When selected, allows you to enter a Priority Code to modify Execution Ordering of this block. For more information, see Block Execution Order and User Defined Block Priority.
Priority	For an explanation of how the Priority field is used by the MechaWare Model Downloader, see Block Execution Order and User Defined Block Priority.
User Data 0	Application-specific data. See User Data Storage.
User Data 1	Application-specific data. See User Data Storage.

Matlab/Simulink

Simulink Interface

noise_sim1

The Output of the Noise block is a random value between -KN1 and KN1.

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 Evaluate Block field. The following Parameter Dialog Box is opened by double-clicking on the block in a Simulink Model:

noise_sim2

C++ API

NOISEBlock

Declaration

Public Method

	class NOISEBlock: public virtual Block { public: // User accessible coefficients double Kn1; double Kn2; };
	Required Header: mechaware.h

Description

The Noise block generates a random or sinusoidal output multiplied by a gain value.

double	Kn1	Noise gain.
double	Kn2	Reserved for future use.

Methods

Block Methods