WOLFRAM SYSTEM MODELER
InvertedPendulumWithInputForcesAn inverted pendulum connected to a cart. A force f acts on the center of mass of the cart while a force d acts on the center of mass of the pendulum. d is normal to the radial direction of the pendulum. |
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Diagram
Wolfram Language
In[1]:=
SystemModel["DocumentationExamples.Control.InvertedPendulumWithInputForces"]
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 (9)
| lPendulum |
Value: 0.85 Type: Length (m) Description: Pendulum length |
|---|---|
| rPendulum |
Value: 0.005 Type: Radius (m) Description: Pendulum radius |
| dPendulum |
Value: 0 Type: RotationalDampingConstant (N·m·s/rad) Description: Pendulum damper constant |
| rhoPendulum |
Value: 7939.023 Type: Density (kg/m³) Description: Pendulum material density |
| dSlider |
Value: 0 Type: TranslationalDampingConstant (N·s/m) Description: Pendulum slider constant |
| rhoCart |
Value: 5600 Type: Density (kg/m³) Description: Cart material density |
| lCart |
Value: 0.1 Type: Length (m) Description: Cart length |
| hCart |
Value: 0.1 Type: Height (m) Description: Cart height |
| wCart |
Value: 0.1 Type: Length (m) Description: Cart width |
Connectors (4)
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d |
Type: RealInput Description: Tangential force acting on the center of mass of the pendulum |
|---|---|---|
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f |
Type: RealInput Description: Horizontal force acting on the center of mass of the cart |
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phi |
Type: RealOutput Description: Angle of the pendulum with respect to the vertical |
|
x |
Type: RealOutput Description: Horizontal position of the cart |
Components (14)
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world |
Type: World |
|---|---|---|
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cart |
Type: BodyBox |
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pendulumCylinder |
Type: BodyCylinder |
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pendulumJoint |
Type: Revolute |
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toMidCart |
Type: FixedTranslation |
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sliderConstraint |
Type: Prismatic |
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pendulumDamper |
Type: Damper |
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sliderDamper |
Type: Damper |
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angleSensor |
Type: AngleSensor |
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positionSensor |
Type: PositionSensor |
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center |
Type: FixedTranslation |
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force1 |
Type: Force |
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torque1 |
Type: Torque |
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gain1 |
Type: Gain |