Name

Default

Description

Modelica ID

Use default properties (WP1)

true

When checked (true), web properties are defined by the closest Web Properties block found

useDefault

Web Properties

WP1

Name of the record containing the web properties [1]

wp

Name

Default

Units

Description

Modelica ID

$J$

$0.001$

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

Moment of inertia (Brake)

JBrake

Name

Default

Units

Description

Modelica ID

D

$0.1$

$m$

Core diameter of the unwinder

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

$\mathrm{\rho }$

$2700$

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

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

Controller Type

PI

Type of controller: P, PI, PD, PID

controllerType

k

$0.001$

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

${\tau }_{\max }$

$100$

$Nm$

Upper limit of output torque

tau_max

${\tau }_{\min }$

$0$

$Nm$

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

$T_{\mathrm{Unit}}$

$N$

Unit selection for the $T_{\mathrm{Ref}}$ and $T_{\mathrm{Meas}}$ inputs

forceUnits

$R_{\mathrm{Unit}}$

$m$

Unit selection for the $R$ input

lengthUnits

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

$Nm$

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

torqueUnits

$v_{\mathrm{Unit}}$

$\frac{m}{s}$

Unit selection for the $v_{\mathrm{web}}$ and $v_{\mathrm{local}}$ inputs

velocityUnits