WOLFRAM SYSTEM MODELER

BallAndBeam

Simple model of a ball on a beam, rolling without slipping

Diagram

Wolfram Language

In[1]:=
SystemModel["DocumentationExamples.Control.BallAndBeam"]
Out[1]:=

Information

Wolfram Language Documentation Examples

This library contains models used in the documentation of system modeling functionality in Wolfram Language. These examples and this library can be explored in the Wolfram Language documentation.

Parameters (8)

g

Value: Modelica.Constants.g_n

Type: Acceleration (m/s²)

Description: Gravitational acceleration

lb

Value: 1

Type: Length (m)

Description: Beam length

wb

Value: 0.01

Type: Length (m)

Description: Beam width

hb

Value: 0.15

Type: Length (m)

Description: Beam height

mb

Value: 0.2

Type: Mass (kg)

Description: Mass of the beam

ms

Value: 0.05

Type: Mass (kg)

Description: Mass of the sphere

Rs

Value: 0.1

Type: Radius (m)

Description: Radius of the sphere

b

Value: 0

Type: RotationalDampingConstant (N⋅m⋅s/rad)

Description: Beam rotational damping constant

Connectors (3)

T

Type: RealInput

Description: External torque applied to the beam measured in the lab frame

rs

Type: RealOutput

Description: Position of the center of mass of the sphere along the path of the beam measured from the middle of the beam

thetab

Type: RealOutput

Description: Angle that the beam forms with the horizontal

Components (7)

ballAndBeamDynamics

Type: BallAndBeamDynamics

Description: Sphere on a beam dynamics, rolling without slipping

world

Type: World

Description: World coordinate system + gravity field + default animation definition

translation

Type: Translation

Description: Translation of frame_b with respect to frame_a

rotation

Type: Rotation

Description: Fixed translation followed by a rotation of frame_b with respect to frame_a. This component rotates frame_a around an angle with a fixed axis.

shape

Type: FixedShape

Description: Visualizing an elementary shape with dynamically varying shape attributes (has one frame connector)

rotationBeam

Type: Rotation

Description: Fixed translation followed by a rotation of frame_b with respect to frame_a. This component rotates frame_a around an angle with a fixed axis.

beam

Type: FixedShape

Description: Visualizing an elementary shape with dynamically varying shape attributes (has one frame connector)