WOLFRAM SYSTEM MODELER

MotorGearPendulum

An electrical motor, a gear, and a pendulum connected to a cart

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)

d

Type: RealInput

Description: Tangential force acting on the center of mass of the pendulum

V

Type: RealInput

Description: Input voltage signal

phi

Type: RealOutput

Description: Angle of the pendulum with respect to the vertical

x

Type: RealOutput

Description: Horizontal position of the cart

Components (20)

world

Type: World

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

voltageSource

Type: SignalVoltage

Description: Generic voltage source using the input signal as source voltage

resistor

Type: Resistor

Description: Ideal linear electrical resistor

inductor

Type: Inductor

Description: Ideal linear electrical inductor

EMF

Type: RotationalEMF

Description: Electromotoric force (electric/mechanic transformer)

ground

Type: Ground

Description: Ground node

gearR2T

Type: IdealGearR2T

Description: Gearbox transforming rotational into translational motion

idealGear

Type: IdealGear

Description: Ideal gear without inertia

cart

Type: BodyBox

Description: Rigid body with box shape. Mass and animation properties are computed from box data and density (12 potential states)

pendulumCylinder

Type: BodyCylinder

Description: Rigid body with cylinder shape. Mass and animation properties are computed from cylinder data and density (12 potential states)

pendulumJoint

Type: Revolute

Description: Revolute joint (1 rotational degree-of-freedom, 2 potential states, optional axis flange)

toMidCart

Type: FixedTranslation

Description: Fixed translation of frame_b with respect to frame_a

sliderConstraint1

Type: Prismatic

Description: Prismatic joint (1 translational degree-of-freedom, 2 potential states, optional axis flange)

pendulumDamper

Type: Damper

Description: Linear 1D rotational damper

sliderDamper

Type: Damper

Description: Linear 1D translational damper

angleSensor

Type: AngleSensor

Description: Ideal sensor to measure the absolute flange angle

positionSensor

Type: PositionSensor

Description: Ideal sensor to measure the absolute position

center

Type: FixedTranslation

Description: Fixed translation of frame_b with respect to frame_a

torque

Type: Torque

Description: Input signal acting as external torque on a flange

gain

Type: Gain

Description: Output the product of a gain value with the input signal

Used in Components (1)

MotorGearPendulum_extended

DocumentationExamples.Modeling.ControlledMotorGearPendulum

A model that encloses a plant and passes its states as outputs