Identification and Computer Control of a Flexible
Contents
1. ATSA ATSB BTSB RJ 1BTSA Q 0 5 4 If there exists a K such that the closed loop system that results from coupling 3 1 with 5 2 then it can be found by 5 3 5 4 diqr Use the MATLAB help to know how to use this function The function also computes the closed loop eigenvalues given by the eigenvalues of A BK This result is an important piece of information The main tuning knob for the designer when using LQ control are the matrices Q and R For a SISO plant if the output y is to be regulated then G C C 5 5 The weight R reduces to a scalar Changing R adjusts the type of response yielded Indeed the poles of the closed loop system are the stable roots of the root square locus In general decreasing Rincreases the bandwidth of the control system Thus decreasing R has the advantage of making the response of the close loop faster but the disadvantage of exciting plant modes that are not modeled Warning Do not confuse dlqr that solves the LQ problem in discrete time the formulation used here with the function qr that solves a similar problem in continuous time not considered in this work Kalman filter The Kalman filter aims at estimating the plant state from the observation of the plant input and output It assumes that the plant model is modified by the inclusion of disturbance or noise inputs becoming x k 1 Ax k Bu k w k 5 6 y k Cx k Du k v k 52. Scope to show the signals of the sensors Configure them as in point 4 Give them the names tensao pot and tensao_taq respectively Recompile the model Run the model Confirm with the teacher wether all is well before beginning the simulation Observe and register the graphics of the time evolution of the potentiometer voltage and of the tachometer Record data Make sure that the vector variables tensao pot and tensao_taq are available in the workspace of Matlab and save them to a file D Sensor Calibration Computer Control Laboratory Project Page 14 21 Apply a step signal 1 volt to the motor Acquire and record the voltages obtained by the potentiometer and the tachometer From the data obtained calculate the calibration factor K degree volt and K degree s volt that make it possible to convert sensor measurements in volt for degrees and degree sec respectively 22 Similarly make a set of experiments to estimate the calibration factor Kp degree volt for the bar deflection Use the procedure described in relation to figures 6 and 7 P3 Write a report about your activities including Comment on the motor operation Explain in particular why their angular position never stabilizes when its command signal is constant Explain the procedure carried out to perform sensor calibration Include in the report o The Simulink block diagram used o Plots of the sensor and command signals o The auxili
3. and drag an element Scope to the model window Open the item and click the toolbar Parameters second from left In the tab Computer Control Laboratory Project Page 12 General configure Tick Labels All Sampling Sample Time and choose as sampling period 1 millisecond 0 001 In the tab History remove Limit date selection points to last and select Save data to workspace The data presented in this element will be exported to the matlab workspace at the end of the simulation Choose the name of the variable input and data format Structure with time Configure and run the simulation Connect the Signal Generator element to the element Scope Start the simulation Simulation Start menu or CTRL T Observe the result of the simulation in the viewer element Scope Showing signals in workspace Confirm that the workspace of matlab has the input variable Access the signal with the command plot and confirm that is identical to that observed in the Scope gt gt plot input input signals values Save data from the workspace Save the data file see command save in order to generate the graph offline B Sending commands to the motor 8 10 11 Insert a block D A to send commands to the motor In the selection tree select Real time Windows Target and drag the Analog Output element to the window of the template created Configure the block D A To see which data acquisition card is in use
4. random fluctuations from experiment to experiment Figure 6 The flexible bar mounted on its calibration rig Figure 7 The calibration comb for two different bar deflections In rest with no deflection left and deflected to the left by one slot right For these reasons one should e Characterize the deviations with respect to the linear behaviors e Make several experiments It is remarked that the linear behavior is only expected for relatively small deflections Large deflections may cause a permanent deformation of the bar and should of course not be done Due to the deviations with respect to the ideal linear behavior the value of the constant K corresponds to an average behavior As such this constant is estimated from the set of data obtained in the different experiments using the least squares algorithm The way to read the electrical quantities will be explained below in detail Shaft angle transducer The shaft angle is measured with a rotation potentiometer whose axis is rigidly connected with it Figure 8 shows the internal scheme of the potentiometer being used A cursor 3 solidary with the potentiometer axis 4 and therefore also with the motor shaft slides over a coiled resistive wired 1 When the cursor moves the resistance varies in a way that is proportional to the angle of the contact An electric Computer Control Laboratory Project Page 9 circuit transforms this resistance in an elect
5. 7 The signal w is the process noise and the signal v is the sensor noise The equations of the Kalman filter are given by R k k 1 AR k 1 k 1 Bu k 1 5 8 Computer Control Laboratory Project Page 18 X k k X k k 1 M y k C2 k k 1 5 9 These equations are interpreted as follows e Equation 5 8 computes what you expect the state to be at time k given the previous estimate X k 1 k 1 the input sample applied u k 1 and the knowledge about the state dynamics e Then this prediction is corrected by a term that is proportional to what you expect the output to be given the state prediction CX k k 1 and what is actually observed for the value of y k The proportionality constant vector M is called the Kalman gain It is computed so as to optimize a quadratic cost In this work the Kalman gain is computed using the MATLAB function dige Use the MATLAB help to know how to use this function Again do not make a confusion with the function ge that computes the Kalman filter gain for the continuous time case Instead of using 5 8 and 5 9 it is possible to eliminate the prediction from 5 8 and 5 9 and propagate the estimate using y k x k k dex k 1 k 1 Tz 5 10 u k 1 where dp A MCA 5 11 and Fe M B MCB 5 12 Loop transfer recovery LTR The computation of the Kalman gain requires the covariance matrices of t
6. T CNICO LISBOA Master Degree in Electrical and Computer Engineering 2015 2016 Winter Semester Computer Control Controlo por Computador LABORATORY WORK Identification and Computer Control of a Flexible Robot Arm Joint Prepared by Alexandre Bernardino Jo o Miranda Lemos gt Instituto Superior T cnico Department of Electrical and Computer Engineering Scientific Area of Systems Decision and Control Computer Control Laboratory Project Page 1 Translation to Portuguese of selected words Arm Bra o Gear box caixa de desmultiplica o Motor shaft veio do motor Plant instala o a controlar Strain gage extens metro Tip ponta Instruction on the reports and software to develop The students must do 2 reports The first report corresponds to the model identification and validation while the second report corresponds to control design and testing The language of the report can be either Portuguese or English In each report you should answer the questions marked with ws The end of the question is indicated by the symbol The symbol El corresponds to tasks to be performed at the laboratory Each of the two reports must be written in a text processor and must indicate e The number and name of the students that author the report e The part of the work to which it refers either 1 or 2 e The number of the questions addressed The a
7. ary calculations and or the graphics used to compute the conversion factors K degree volt K degree s volt and Kp degree volt o Plot on the same graphic the experimental points obtained for the bar deflection and the linear relation assumed to hold between the bar deflection and the sensor electric tension for the value of K that you have estimated Important When writing your reports do not forget to display the units in both axes of graphs and to write appropriate captions to identify all the graphs and diagrams explaining the experimental conditions to which they refer v 4 Plant model identification Plant model identification aims at producing a model to be used for control design For that sake the following steps are performed 1 2 Select an input signal for instance a square wave or a PRBS and perform an experiment in which the plant is excited with it Register the data For this sake use the data acquisition facilities of SIMULINK that you have learned how to use in section 3 and write an appropriate SIMULINK block diagram Use a sampling interval of 0 02 s sampling frequency of 50 Hz Observe that the motor gear box has a dead zone The plant output angular position of the flexible bar tip data has to be treated in order for the identification algorithm to work properly Computer Control Laboratory Project Page 15 a Differentiate the plant output to remove the integrator associated to th
8. at the laboratory bench run the utility Measurement amp Automation which you can find on the Desktop In the directory tree that appears on the left side of the main window choose Devices and Interfaces NI DAQmx Devices showing the type of graphics card installed e g NI PCI 6221 or PCI MIO6040E Make a note of the type of card Then go back to Simulink open the D A block and select the appropriate board Set the sampling period sample time to 1 millisecond 0 001 Set the output channel 1 Voltage ranges should be configured between 10 and 10V and the data type as voltage The initial and final values should be set to 0 Connect the signal generator to this block Configure the simulation to work in real time In the menu Simulation select Configuration Parameters or CTRL e This opens a dialog window In the Solver option gt Type choose Fixed step In Hardware Implementation gt Device Type choose 32 bit real time Windows Target In Real time Workshop gt RTW system target file choose rtwin tlc Configure Simulink external mode In the menu Tools choose External Mode Control Panel This opens a dialog window Select Signal amp Triggering This opens a new window In Duration enter the number of total samples required for the simulation in this case 10 sec X 1000 samples sec 10000 samples Go back to the model window and in the menu Simulation select External Computer Control Laborator
9. atible dimensions n being the dimension of x These matrices form the input to the next phase of the project concerned with controller design The index k denotes discrete time Experiments to perform at the laboratory Number of 3h laboratory sessions 2 Execute the procedure listed above to obtain a model Write MATLAB scripts to automate the procedure Explore several options in a critical way Take into consideration the issues you have to answer in the report P4 Write a report about plant model including e Explanation on the tests performed on the plant to obtain the data used for identification Discuss the results obtained with different types of excitation Computer Control Laboratory Project Page 16 signals and the effect of very small amplitude and very large amplitude excitation signals e Discussion of the sampling frequency e Effect on identification of filtering the data e Explanation on how the pole at the origin has been dwelt with e Discussion on how the model orders have been decided Take into consideration that the plant results from the interconnection of a DC motor and the flexible bar and discuss the models needed for each of them e Description of the final ARMAX model e Description of the final state space model e Characterization of the plant open loop pole zero plot frequency response and time response of the model e Model validation v 5 Controller design In this section the sta
10. by the red encirclement The electronic circuit at the fixed part of the bar contains the Wheastone bridge used to measure the electrical resistance of the strain gage Bar tip o a y Motor shaft angular positior Zero direction Figure 4 Schematic model of the flexible bar deflection With respect to the circular movement of the motor and the tip of the flexible bar consider the following quantities e L m the bar length e D m the length of the deflection of the bar tip e rad the angular deviation of the bar tip with respect to the motor shaft direction e rad the angle of the motor shaft direction with respect to a zero direction Recall from basic Geometry that the value of an angle in radian rad is given by the length of the corresponding arc of a circumference of radius of length to 1 in the length unit used Therefore the relation of the angular deflection of the bar tip with its deflection measured along a straight line is approximately given by a 2 rad Computer Control Laboratory Project Page 7 In practice it is preferable to work in degree instead of rad For that sake observe that the conversion between the same measure expressed in these units is made by _ 180 Oldegree z Arad Hereafter we will always use the angles expressed in degrees The issue of using the right units is fundamental A space probe sent to Mars was lost because part of the design team was usin
11. e motor b Remove constant offsets in data using the MATLAB function detrend c Filter the output to eliminate high frequency dynamics and noise that fall outside the frequency band in which the model is to be valid For that sake use the commands Ts 0 02 sampling interval s alpha 0 8 filter pole Afilt 1 alpha Bfilt l alpha l alpha Ts Filtered outproc filter Bfilt Afilt nonfilt outproc Identify an ARMAX model using the function armax Add the integrator to the model use the function conv Convert the model to state space form using the function tf2ss Validate the model in various forms a Compare data that has not been used for identification with the result obtained by simulating with the model using as input the same input used to excite the system b Look at the simulated time response and discuss its plausibility c Look at the frequency response and discuss its plausibility 7 Review the process changing the values of some parameters filter pole assumed model orders sampling interval The final result is a discrete time state space model that relates the input to the motor Son ee with the flexible bar tip position that is of the form x k 1 Ax k Bu k 3 1 y k Cx k Du k 3 2 where u scalar is the motor excitation y scalar is the flexible bar tip angular position x n x 1 is a column vector and A n Xn B nx 1 C 1 Xn and D 0 scalar are matrices of comp
12. ed at the laboratory Number of 3h laboratory sessions 1 This introductory session is formatted as a tutorial As such few previous knowledge of Matlab SIMULINK will be required All the necessary steps to configure the simulations are quite detailed Since some of the procedures are repeated several times throughout the work we strongly advise the students to draw up a check list based on the tasks performed synthesizing the procedures required to configure a real time simulation configure the recording of data in the workspace configure the elements viewers etc With these working procedures work efficiency will be greatly increased A Generation viewing and recording signals 1 Open the SIMULINK Open the MATLAB version 7 and run the command lt lt simulink gt gt The window Simulink Library Browser will be opened 2 Create a new model In the menu Simulink Library Browser choose File New Model or press CTRL N This opens a graphical window where you will enter and connect the various operational blocks 3 Insert and configure a block signal generator In the selection tree to the left of the window Simulink Library Browser choose Simulink Sources Drag an element Signal Generator for the model window Open the element double click and configure it to generate a square wave 2 volt amplitude and frequency 2 Hz 4 Insert and configure a block signal Viewer In the selection tree choose Simulink Sinks
13. g centimeters as unit length while the other part was using inches The total angle that defines the position of the tip of the flexible bar is y 0 a degree Flexible bar deflection transducer The angle sensors provide a an electric tension that is an image of the corresponding angle In the case of the flexible bar the sensor provides an electrical tension that is related to the actual deflection angle a by a Kya where K is a constant with units degree V Figure 5 shows a block diagram that relates the physical variable a angle with its electrical tension image Xe Sensor Figure 5 Relation between one angle and its measure given by the sensor In order to estimate the value of the constant K a sequence of experiments is done each experiment consisting of deflecting the bar by a known quantity and reading the corresponding electrical tension In order to perform these experiments the bar is rigidly attached to a support stand as shown in figure 6 In the end of the stand there is a calibration comb with several slots separated by 1 4 inch 1 inch 2 54 cm that as shown in figure 7 allows to deflected the bar by known quantities In the ideal situation the electrical tension yielded by the sensor would be exactly proportional to the deflection angle In practice this is not true because Computer Control Laboratory Project Page 8 e The relation is not exactly linear e There are small
14. he noises entering the model These are Qy E ww7 and R E vv7 In this case R is a scalar Instead of trying to estimate these noise covariances from plant data we are going to use them as tuning knobs Thus we make the choices Qw 1001 and R 1 LQG controller structure The LQG controller is obtained by coupling a LQ controller with a Kalman filter and replacing the state by its estimate This controller has the structure shown in figure 10 Computer Control Laboratory Project Page 19 Figure 10 Structure of the LQG controller The constant N is such that in closed loop the gain from the reference r to the output y is equal to 1 For a state of dimension 5 it can be computed by the MATLAB code N inv A eye 5 5 B C 0 zeros 5 1 1 Nx N L 5 3 Nu N 6 Nbar Nu K Nx See the reference book on page 313 Experiments to perform at the laboratory Number of 3h laboratory sessions 2 Design a LQG LTR controller according to the procedure explained and test it Start by testing the controller designed in simulation using the state space model that has been identified in section 4 Explore several options by changing the weight matrix R Start by making R 100 When you think you have a satisfactory result try it on the real system Think about what are the features of the time response you look at to consider them satisfactory What happens when you increase R Write MATLAB scripts a
15. mple of the design of a computer controlled system The plant is a single joint of a flexible robot arm and consists of a DC motor driven by a power amplifier whose shaft is solidary with an extremity of a flexible bar the joint Figure 1 below shows a picture of the physical system the plant to control Figure 1 The physical system plant to control The control objective is to actuate on the motor such that the tip of the bar tracks a specified angle P2 Describe reasons that cause this control objective to be nontrivial hints Is it possible to develop a table of electric tensions to apply to the DC motor such that the bar tip moves to a constant position What happens if a constant electric tension is applied to the motor Does feedback with a controller made of a single gain amplifying the tracking error solve the problem Think about the dynamics of the motor and the bar What is plausible rough distribution of the poles v Computer Control Laboratory Project Page 5 Shaft angular position 9 Direction of Pis zero angular Anguila eee ON Bar position ee deflection Figure 2 Schematic view of the hardware of the plant interconnected with the computer control system The motor M including a gear box is driven by the output of a power amplifier PA and moves the flexible bar The computer is interconnected with the plant using AD and DA converters Figure 2 shows a schematic view of the inte
16. nd SIMULINK block diagrams to automate your design P5 Write a report about controller design and testing of the controlled system including e The MATLAB scripts that must include comments e The block diagram used to control the system e Comment on the choice of the weights on the quadratic cost when using the LQG design approach Include the root square locus e Effect of the choice of the noise covariance matrices in a LTR framework e Resulting closed loop frequency response and time response e Effect of the inclusion of a pre filter Computer Control Laboratory Project Page 20 e Discuss how do you evaluate the performance of your control system and what are the limits of performance End of the project thee Computer Control Laboratory Project Page 21
17. nswers must be direct concise and short but insightful and technically correct Both the reports and the software must be sent to the professor in charge of the laboratory within the prescribed time limits The reports and the software developed must be original All forms of plagiarism or copy detected will be punished without contempt according to IST regulations and the Portuguese Law Computer Control Laboratory Project Page 2 Safety warnings To avoid being injured all the students should be at a safe distance from the flexible bar to avoid being hit if it turns e When performing tests one student must always have a finger close to the power amplifier switch to stop the bar if it starts running e In order to avoid malfunctions never allow the bar to rotate over itself Avisos de seguran a e Para evitar ser feridos todos os alunos devem estar a uma dist ncia de seguran a da barra flex vel por forma a n o poderem ser atingidos se esta rodar e Quando se executam os testes deve haver sempre um aluno com o dedo sobre o interruptor do amplificador de pot ncia por forma a parar a barra se esta come ar a rodar e Por forma a evitar avarias nunca deixe a barra rodar sobre si pr pria Notice also e Youmust bring to the lab a flash drive to store the results obtained during the class sessions e When using the lab computers make sure that you are using a working folder with write permissions can be an exte
18. rconnection of the plant power amplifier PA DC motor with gearboxes M and the flexible bar with a computer The computer receives information about the angular position of the flexible bar tip given by the sum of the motor shaft angular position and the bar deflection through the AD converters At each sampling time al algorithm embedded in a computer program reads this information and computes the value of the electric tension to apply to the motor This value is then applied through a D A converter to the power amplifier PA that drives the motor Measuring the bar deflection The flexible bar is instrumented with a strain gage figure 3 that measures the deflection of the bar A strain gage is a deflection variable resistor attached with glue to the bar that is used to measure the mechanical forces on the material where it is attached The strain gage consists of an electrical resistance whose value changes when its length varies When the bar is deflected one of its faces is slightly stretched while the other is compressed the changes being approximately proportional to the bar tip deflection For further details on strain gage sensors see http www omega com literature transactions volume3 strain html Figure 3 below shows a detail of the flexible bar indicating the mounting of the strain gage Computer Control Laboratory Project Page 6 Figure 3 Detail of the flexible bar showing the mounting of the strain gage indicated
19. ric tension value Indeed the resistive element is powered at the extremes by a voltage of 5V point 5 and 5V point 9 and therefore depending on the cursor position the output voltage has a value between 5V and 5V It is remarked that since there are no mechanical stops at the extremes of the resistance end of course the measured voltage repeats itself every whole rotation of the cursor o 9 Figure 8 The internal scheme of the potentiometer used to measure the shat angle Therefore the shaft angle is approximately given as a function of the sensor output Oe by O K 6e where Kp is a constant with units degree V It is remarked that due the coiled structure of the resistance there is a quantization effect that causes the resistance to vary in a staircase form when the angle varies Before proceeding to the estimation of the transducer constants from plant data the use of the data acquisition and control software is explained Tachometer The motor is also coupled with a tachometer that measures its angular velocity Similarly the angular velocity of the motor w degree s is related to the tachometer measure we by Computer Control Laboratory Project Page 10 w Kiwe where K is a constant with units degree s V 3 Software for data acquisition and control To carry out data acquisition reading data from the plant sensors connected to the A D converters and process control sending commands
20. rnal flash drive Computer Control Laboratory Project Page 3 List of symbols and units D m gt Distance of deflection of the bar L m gt Bar length 0 degree gt Angle of rotation of the motor shaft with respect to a zero direction a rad or degree Angle of deflection of the flexible bar with respect to the motor shaft angular direction w degree s gt Motor angular speed de V gt Electrical tension yielded by the sensor of 8 amp e V gt Electrical tension yielded by the sensor of a we degree s gt Electrical tension yielded by the sensor of w K degree V gt Flexible bar deflection transducer constant K degree V gt Motor shaft angular position transducer constant K degree s V Tachometer transducer constant y rad gt Total angular position of the tip of the flexible bar tip with respect to the zero direction y 0 a Computer Control Laboratory Project Page 4 1 Objective The objective of this work consists of the identification and control design for the position of a flexible joint of a robot arm a flexible bar The work consists of two parts In part 1 a plant model is obtained as a result of the identification process In part 2 a controller is designed using the model previously obtained in order to position the tip of the robot joint in a desired angle The controller is then tested on the actual plant 2 Plant description This work provides an exa
21. t is necessary to rely on the Real time Workshop Tools and Real time Windows Target kernel when using blocks that interface with A D and D A converters See the user manual of Simulink available on the website of the discipline Real Time Workshop The Real Time Workshop tool allows to transcript automatically Simulink models to C code adapted to diverse hardware and software platforms The code when compiled generates an executable program that run the Simulink model in a separate process without graphical interface Computer Control Laboratory Project Page 11 It is however possible to save and display the signals available in the model as well as to modify the properties of the blocks using the Simulink external mode In this mode the Simulink can communicate with the process executable to get send data and reconfigure the parameters of the simulation Real Time Windows Target With the Real Time Windows Target tool the C code generated by Real Time Workshop can be compiled for the Windows platform and run in real time For a good understanding of the process of creating code in real time using all the tools behind described it is essential to consult the user manual of the Real time Windows Target available on the website of the discipline We recommend in particular reading the chapter Basic Procedures Nevertheless it is remarked that reading these documents is not essential to perform this project Tasks to be perform
22. te space model identified on section 4 is used to design a LQG controller The controller consists of a state feedback control law whose gains are selected such as to minimize a quadratic cost The controller gains are designed on the basis of the state model 3 1 3 2 that has been identified This is the LQ control law Since the state of the plant is not available for direct measurement it is estimated with a Kalman filter The kalman filter receives as input the plant input and output and yields as it output an estimate of the plant state The equations of the algorithm that are required to perform this work are described hereafter Further details can be seen in the book G F Franklin J D Powell and M Workman Digital Control of Dynamic Systems E di ed Addison Wesley 1998 chapter 9 Multivariable and Optimal Control LQ control law The control law that generates the manipulated variable u for the state model 3 1 3 2 such as to minimize the steady state or infinite horizon quadratic cost J Limi X kK Qx k u k Ru k 5 1 where Q gt 0 means Q is positive semi definite and R gt O means R is positive denite is given by the state feedback u k Kx k 5 2 Computer Control Laboratory Project Page 17 where the vector of feedback gains K 1 x n is computed by K B SB 4R 1 BTSA 5 3 The matrix S n x n is the positive definite solution of the algebraic Riccati equation ARE
23. to the actuator connected to the D A converter the software Matlab Simulink with toolboxes Real time Workshop Real time Windows Target will be used With Simulink it is possible to design data acquisition and control systems through a simple graphical interface and with plenty of features The Real time Workshop allows to transcript Simulink diagrams to C code and compile it to a target platform Finally the Real time Windows Target allows running real time models in a computer with the Windows operating system and synchronize the time of the computer with the real time of the plant Although not essential to complete this work the student is advised to consult the manuals of these software tools made available on the website of the course In the following lines a brief description of the software to be used is presented Simulink Simulink is a simulation environment that works in conjunction with Matlab and allows simulations of dynamical systems in non real time simulated mode There are several component libraries blocksets that can be interconnected in easy and intuitive ways similar to a block diagram In particular there are components that allow to simulate dynamic systems signal generators signal viewers and communicate with various I O card including the ones to be used in this work However since Simulink by itself does not allow to carry out simulations with a synchronously real clock i
24. y Project Page 13 12 13 14 Build the model In the menu Tools choose real time Workshop Build Model or CTRL B Wait for the build to complete and verify that there are no errors In order to run the template in the Simulation menu choose Connect to target Ask the staff of the laboratory to check the operation of the system and start the operation by pressing the button gt Use the button E to stop Figure 9 shows buttons in the SIMULINK project sheet that are useful to compile a block diagram to be executed by real time workshop Observe the motor operation and register its behavior Foo Extemal v F n amp A BC Figure 9 Buttons in the SIMULINK project sheet that are useful to compile a block diagram to be executed by real time workshop A Connect To target B incremental Build C Update Diagram C Reading signals from the sensors 15 16 17 18 19 20 Insert A D block to read the values of the sensors In the selection tree select real time Windows Target and take two elements Analog Input to the template Configuring the A D block Open the block and choose the acquisition card installed in the machine Set the sampling period sample time to 1 millisecond 0 001 Set the input channel 1 potentiometer to one of the blocks and 3 tachometer to the other Voltage ranges should be configured between 10 and 10V and the data type as voltage Insert two blocks
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