Name

Default

Units

Description

Modelica ID

$\mathrm{D}$

$0.2$

$m$

Roller  diameter

D

use cylindrical geometry

$\mathrm{true}$

When checked (true), drum core inertia is calculated assuming a uniform cylindrical geometry

useCylindricalGeometry

${\mathrm{D}}_i$

$0$

$m$

Core inner diameter [1]

Di

${\rho }_{\mathrm{roll}}$

$2.7·{10}^3$

$\frac{\mathrm{kg}}{m^3}$

Drum core density [1]

rho_roll

L

$1.2$

$m$

Drum length [1]

L

J

$0.005$

$\mathrm{kg}{m}^2$

Drum core rotational inertia [2]

J

Name

Default

Units

Description

Modelica ID

ratio

$1$

Gear ratio (motor/roller)

ratio

$J_{\mathrm{Motor}}$

$0.1$

$\mathrm{kg}{m}^2$

Moment of inertia (motor)

JMotor

$J_{\mathrm{Gear}}$

$1$

$\mathrm{kg}{m}^2$

Moment of inertia (gear, machine side)

JGear

$J_{\mathrm{AddLoad}}$

$0$

$\mathrm{kg}{m}^2$

Moment of inertia (additional load, machine side)

JAddLoad

Name

Default

Units

Description

Modelica ID

Controller Type

PI

Type of controller: P, PI, PD, PID

controllerType

k

$1$

Gain of controller

k

$T_i$

$0.5$

$s$

Time constant of integrator block [1]

Ti

$N_i$

$0.9$

$N_i{T}_i$ is the time constant of anti-windup compensation [1]

Ni

$T_d$

$0.1$

$s$

Time constant of derivative block [2]

Td

$N_d$

$10$

The higher $N_d$, the more ideal the derivative block [2]

Nd

$w_p$

$1$

Weight for proportional block

wp

$w_d$

$0$

Weight for derivative block [2]

wd

${\mathrm{\tau }}_{\max }$

$100$

$Nm$

Upper limit of output torque

tau_max

${\mathrm{\tau }}_{\min }$

$\mathrm{-100}$

$Nm$

Lower limit of output torque

tau_min

Name

Default

Description

Modelica ID

Initial Values

NoInit

Type of initialization: NoInit, SteadyState, InitialState, InitialOutput

initType

$x_i$ start

$0$

Initial value for integrator state

xi_start

$x_d$ start

$0$

Initial value for state of differentiator

xd_start

Name

Value

Description

Modelica ID

$w_{\mathrm{Unit}}$

$\mathrm{RPM}$

Unit selection for the $w_{\mathrm{meas}}$ input

angVelUnits

${\tau }_{\mathrm{Unit}}$

$Nm$

Unit selection for the $\mathrm{\tau }$ output

torqueUnits

$v_{\mathrm{Unit}}$

$\frac{m}{s}$

Unit selection for the $v_{\mathrm{ref}}$ input

velocityUnits