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Jun 15, 2020
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New initial parameters #105

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4 changes: 2 additions & 2 deletions cosim-demo-app/lars.md
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Expand Up @@ -40,9 +40,9 @@ The reference system model is divided into eight sub-models and FMUs as shown i
| FMU name | Input | Output | Default Parameters |
| ----------------------- | ----- |------- | ------------------ |
| *WinchActuatorSetpoint* | | winchSetpoint | |
| *WinchController* | `winchSetpoint`, `loadSpeed`| `motorGain` | Proportional gain K = 10.<br/> Derivative time constant Td = 0.1.<br/> Derivative gain limitation N = 10.<br/> Integral time constant Ti = 0.1. <br/> loadDepth_min max/init length 1m/1000,/200m |
| *WinchController* | `winchSetpoint`, `loadSpeed`| `motorGain` | Proportional gain K = 10.<br/> Derivative time constant Td = 0.1.<br/> Derivative gain limitation N = 10.<br/> Integral time constant Ti = 0.1. <br/> loadDepth_min max/init length 1m/1000m,/200m |
| *WinchActuator* | `motorGain`, `motorSpeed` | `motorTorque` | Max motor output torque T = 10kNm |
| *Winch* | `motorTorque1`, `motorTorque2`, `motorTorque3` | `motorSpeed`, `loadSpeed`, `winchForce` | Gear ratio r = 173<br/> Gear efficiency e = 0.925<br/> Drum inertia i = 160000kgm^2<br/> Drum diameter d = 4.36m<br/> Drum width B = 3m<br/> Max wire length wireLmax = 1000m<br/> Load mass m = 50000kg<br/> Wire diameter D= 0.02m<br/> Wire Young's Modulus E = 85e9<br/> Wire damping critical coefficient c= 0.5<br/> Total friction coefficient r = 1 |
| *Winch* | `motorTorque1`, `motorTorque2`, `motorTorque3` | `motorSpeed`, `loadSpeed`, `winchForce` | Gear ratio r = 141<br/> Gear efficiency e = 0.925<br/> Drum inertia i = 1600kgm^2<br/> Drum diameter d = 1.36m<br/> Drum width B = 1.1m<br/> Max wire length wireLmax = 1000m<br/> Load mass m = 500kg<br/> Wire diameter D= 0.02m<br/> Wire Young's Modulus E = 85e9<br/> Wire damping critical coefficient c= 0.5<br/> Total friction coefficient r = 1 |
| *AFrameActuatorSetpoint* | | `aFrameSetpoint` | |
| *AFrameController* | `aFrameSetpoint`, `cylinderSpeed` | `cylinderGain` | Proportional gain K = 2<br/> Derivative time constant Td = 0.01<br/> Derivative gain limitation N = 10<br/> Integral time constant Ti = 0.01<br/> Cylinder min/max/init length 1.2/1.7/1.7m |
| *AFrameActuator* | `cylinderGain`, `cylinderSpeed` | `cylinderForce` | Max cylinder output force F = 5000kN |
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