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Lydia Models
C.3 The Models Constructed for the Case Study
/ / d e f i n i t i o n ’ cut −open ’ c u r r e n t loop
system C u r r e n t l o o p
(
bool I s e t , Imvr , I t o m o t o r , I f r o m m o t o r , I a c t a n a l o g ,
I a c t ,
bool h EXT , h MVR , h MotorBrake
) {
/ / d e c l a r a t i o n components
system Component EXT out , MVR forward , MBU, MVR backward ,
EXT in ;
}
/ / d e f i n i t i o n b e h a v i o r
EXT out ( I s e t , Imvr , h EXT ) ;
MVR forward ( Imvr , I t o m o t o r , h MVR) ;
MBU ( I t o m o t o r , I f r o m m o t o r , h MotorBrake ) ;
MVR backward ( I f r o m m o t o r , I a c t a n a l o g , h MVR) ;
EXT in ( I a c t a n a l o g , I a c t , h EXT ) ;
/ / d e f i n i t i o n ’ cut −open ’ speed loop
system S p e e d l o o p
(
bool Vset , Vmvr , V to motor , t o r q u e , r e a l s p e e d ,
V a c t a n a l o g , Vact ,
bool h EXT , h MVR , h MotorBrake , h S t a n d
) {
/ / d e c l a r a t i o n components
system Component EXT out , MVR forward , MBU, s t a n d ,
MVR backward , EXT in ;
}
/ / d e f i n i t i o n b e h a v i o r
EXT out ( Vset , Vmvr , h EXT ) ;
MVR forward ( Vmvr , V to motor , h MVR) ;
MBU ( V to motor , t o r q u e , h MotorBrake ) ;
s t a n d ( t o r q u e , r e a l s p e e d , h S t a n d ) ;
MVR backward ( r e a l s p e e d , V a c t a n a l o g , h MVR) ;
EXT in ( V a c t a n a l o g , Vact , h EXT ) ;
/ / d e f i n i t i o n ’ cut −open ’ p o s i t i o n loop
system P o s i t i o n l o o p
(
bool Pset , CURRENT ERROR, SPEED ERROR , r e a l p o s i t i o n ,
P a c t a n a l o g , e pos ,
bool h Stand , h PEU , h EXT
) {
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