Servo Drive with PWM Controller Simulation

The simulating of a servo drive with symmetrical pulse width controlling is implemented by the ISMA platform. This task is classified as an event-continuous or hybrid system. Since the dynamic processes can be event-driven, the finite-state machine notation by D. Harel (statechart as formalism) is applied to build a mathematical model for the problem. The statechart with three states complying the Cauchy problem is designed, predicates for directed transitions, as well as states equations are defined. The original LISMA language, combining both block and textual coding, which allows to form compact models that correspond bijectively to statechart formalism used for event-driven continuous systems, is applied. A fragment of the LISMA language grammar for determining the states and transitions of hybrid systems is presented. The designed ISMA software is resolved by original explicit and semi-explicit numerical methods with the asymptotic algorithm for event detection, included to the ISMA library. Computer experiments demonstrate good results with sufficient accuracy.