WOLFRAM SYSTEM MODELER
MotorGearPendulumAn electrical motor, a gear, and a pendulum connected to a cart |
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Diagram
Wolfram Language
In[1]:=
SystemModel["DocumentationExamples.Modeling.ControlledMotorGearPendulum.MotorGearPendulum"]
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 (14)
| R |
Value: 2.6 Type: Resistance (Ω) Description: Resistance |
|---|---|
| L |
Value: 0.001 Type: Inductance (H) Description: Inductance |
| k |
Value: 0.00767 Type: Real (N⋅m/A) Description: Transformation coefficient |
| ratio_rotational |
Value: 3.7 Type: Real Description: Rotational transmission ratio from input wheel to pinion |
| ratio_translational |
Value: 157.48 Type: Real (rad/m) Description: Translational transmission ratio from pinion to gear rack |
| 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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V |
Type: RealInput Description: Input voltage signal |
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phi |
Type: RealOutput Description: Angle of the pendulum with respect to the vertical |
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x |
Type: RealOutput Description: Horizontal position of the cart |
Components (20)
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world |
Type: World Description: World coordinate system + gravity field + default animation definition |
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voltageSource |
Type: SignalVoltage Description: Generic voltage source using the input signal as source voltage |
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resistor |
Type: Resistor Description: Ideal linear electrical resistor |
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inductor |
Type: Inductor Description: Ideal linear electrical inductor |
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EMF |
Type: RotationalEMF Description: Electromotoric force (electric/mechanic transformer) |
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ground |
Type: Ground Description: Ground node |
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gearR2T |
Type: IdealGearR2T Description: Gearbox transforming rotational into translational motion |
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idealGear |
Type: IdealGear Description: Ideal gear without inertia |
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cart |
Type: BodyBox Description: Rigid body with box shape. Mass and animation properties are computed from box data and density (12 potential states) |
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pendulumCylinder |
Type: BodyCylinder Description: Rigid body with cylinder shape. Mass and animation properties are computed from cylinder data and density (12 potential states) |
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pendulumJoint |
Type: Revolute Description: Revolute joint (1 rotational degree-of-freedom, 2 potential states, optional axis flange) |
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toMidCart |
Type: FixedTranslation Description: Fixed translation of frame_b with respect to frame_a |
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sliderConstraint1 |
Type: Prismatic Description: Prismatic joint (1 translational degree-of-freedom, 2 potential states, optional axis flange) |
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pendulumDamper |
Type: Damper Description: Linear 1D rotational damper |
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sliderDamper |
Type: Damper Description: Linear 1D translational damper |
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angleSensor |
Type: AngleSensor Description: Ideal sensor to measure the absolute flange angle |
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positionSensor |
Type: PositionSensor Description: Ideal sensor to measure the absolute position |
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center |
Type: FixedTranslation Description: Fixed translation of frame_b with respect to frame_a |
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torque |
Type: Torque Description: Input signal acting as external torque on a flange |
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gain |
Type: Gain Description: Output the product of a gain value with the input signal |
Used in Components (1)
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DocumentationExamples.Modeling.ControlledMotorGearPendulum A model that encloses a plant and passes its states as outputs |