What I am trying to do is to simulate a B&R motor displacing a spring/shock absorber. This displacement is to be controlled by PID.
My question is how do I add in an elastic object that is governed by Hooke’s law, damping and inertial resistance, and how could I simulate it in ARSim? I’ve attached a quick basic Solidworks model to show roughly what I want to do. The springs would go in the two cylinders sticking out, and the B&R motor would spin the hammer and hit into it.
My question is how do I add in an elastic object that is governed by Hooke’s law, damping and inertial resistance
I think we do not have a special build in feature you can activate to add this. I think you will need to know the mathematical description and then you can add the calculation.
and how could I simulate it in ARSim?
If you have an ACOPOS in the Hardware Tree you can set it to “Simulate on PLC”,
if this is done you can switch the Simulation Mode to “Complete Controlled System”.
The ArSim will now simulate the movement of the motor with motorparameters and modell parameter. You can trace the Set- and Actual Position and see the LagError between those.
Via the “Additive Load ParID” you can add an additional Torque calculated by your model “Hooke’s law”.
This might also be a good reason to look into the simulation plugins that are available for Simulink or MapleSim. However, Michael’s solution is probably easier for a simple system.
