工业自动化应用领域

Extends the Smart4i virtual commissioning applications to accommodate robot dynamics in the system framework to automate assembly line operation. This example models and controls the dynamics of robots in the assembly line, which helps develop a more realistic simulation environment. The virtual assembly line consists of four components: two robotic workcells, connected by a shuttle track and a conveyor belt. The first robot, Robot 1, is a Comau Racer V3 and places cups onto the shuttle. The second robot, Robot 2, is a Mitsubishi RV-4F and places balls in the cups. The shuttle track system consists of four shuttles which continuously move to Robot 1, then to Robot 2, followed by a slider. A slider then delivers those cups containing balls to a container. For a detailed system overview, see Automate Virtual Assembly Line with Two Robotic Workcells (Robotics System Toolbox).

此示例说明当作动器饱和时，如何使用抗饱和方案来防止 PID 控制器中的积分饱和。Simulink® 中的 PID Controller 模块提供两种内置的抗饱和方法（back-calculation 和 clamping），还提供一种跟踪模式来处理更复杂的工业场景。PID Controller 模块支持几个功能，这些功能允许它在常见的工业场景下处理控制器饱和问题。

Achieve bumpless control transfer when switching from manual control to proportional integral derivative (PID) control. The model uses the PID Controller block in Simulink® to control a first-order process with dead-time.

Regulate the speed of an electric motor using two degree-of-freedom PID control with set-point weighting. This model uses the PID Controller (2DOF) block. The model changes the setpoint values between 60 and 30 rpm. To convert the units to rad/s for use in the PID controller, the model uses a Signal Conversion block.