Control-oriented modeling of an electrically actuated piston: an object-oriented approach

The aim of this paper is to present an object-oriented model of an electrically actuated piston. The object-oriented methodology guarantees hierarchical model composition and faster modeling and simulation, as well as reusability of components, connectors and composite acausal connections. We apply the object-oriented modeling language Modelica to obtain our model, which is tested via simulation of a PID position control scheme. In order to illustrate the reusability of the electrically actuated piston model we model a two degrees-of-freedom parallel robot manipulator which uses as its main component two identical electrically actuated pistons.