WOLFRAM SYSTEM MODELER
PendulumAn inverted pendulum connected to a cart |
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Diagram
Wolfram Language
In[1]:=
SystemModel["DocumentationExamples.Modeling.InvertedPendulum.Components.Pendulum"]
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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: 0.61 Type: Length (m) Description: Pendulum length |
|---|---|
| rPendulum |
Value: 0.005 Type: Radius (m) Description: Pendulum radius |
| dPendulum |
Value: 0.01 Type: RotationalDampingConstant (N⋅m⋅s/rad) Description: Pendulum damper constant |
| rhoPendulum |
Value: 7700 Type: Density (kg/m³) Description: Pendulum material density |
| dSlider |
Value: 2 Type: TranslationalDampingConstant (N⋅s/m) Description: Pendulum slider constant |
| rhoCart |
Value: 445 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 (3)
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flange_a |
Type: Flange_a Description: One-dimensional translational flange (left, flange axis directed INTO cut plane) |
|---|---|---|
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x |
Type: RealOutput Description: 'output Real' as connector |
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phi |
Type: RealOutput Description: 'output Real' as connector |
Components (11)
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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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sliderConstraint |
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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world |
Type: World Description: World coordinate system + gravity field + default animation definition |
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center |
Type: FixedTranslation Description: Fixed translation of frame_b with respect to frame_a |
Used in Examples (2)
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DocumentationExamples.Modeling.InvertedPendulum.Components An inverted pendulum system |
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DocumentationExamples.Modeling.InvertedPendulum.InvertedPendulumStateFeedback An inverted pendulum system |