WOLFRAM SYSTEM MODELER
LEGOSegwayModelContains a model of a LEGO Segway with some extra inputs and outputs. |
 |
Diagram
Wolfram Language
In[1]:=
SystemModel["EducationExamples.ElectricalEngineering.LEGOSegway.Components.LEGOSegwayModel"]
Out[1]:=
Information
LEGO Segway: Controlling an Inverted Pendulum
Introduction
This model is of a standalone LEGO Segway. This model is used as a component in the models with control and without control.
View the model diagram for this model.
These pages show an overview of the example. For the full example, open the accompanying notebook LEGOSegway.nb.
Terms and Conditions of Use
Terms and Conditions of UseParameters (5)
| WheelRadius |
Value: 0.035 Type: Real |
|---|---|
| WheelDistance |
Value: 0.13 Type: Real |
| WheelWidth |
Value: 0.0133 Type: Real |
| CadOffset |
Value: -0.015 Type: Real |
| CadOffset2 |
Value: 0.002 Type: Real |
Connectors (9)
 |
LeftMotorVoltage |
Type: RealInput |
|---|---|---|
|
RightMotorVoltage |
Type: RealInput |
 |
Omega |
Type: RealOutput |
|
LeftMotorSpeed |
Type: RealOutput |
|
RightMotorSpeed |
Type: RealOutput |
 |
disturbance |
Type: Frame_b |
|
LeftMotorCurrent |
Type: RealOutput |
|
RightMotorCurrent |
Type: RealOutput |
|
Phi |
Type: RealOutput |
Components (18)
 |
ground |
Type: Ground |
|---|---|---|
 |
world |
Type: World |
 |
wheelSet |
Type: RollingWheelSet |
 |
smallLeftTire1 |
Type: SmallLeftTire |
 |
smallRightTire1 |
Type: SmallRightTire |
 |
fixedTranslation1 |
Type: FixedTranslation |
|
fixedTranslation2 |
Type: FixedTranslation |
|
fixedTranslation3 |
Type: FixedTranslation |
|
fixedTranslation4 |
Type: FixedTranslation |
 |
revolute1 |
Type: Revolute |
 |
RightMotor |
Type: Motor |
|
LeftMotor |
Type: Motor |
 |
brick1 |
Type: Brick |
|
fixedTrans |
Type: FixedTranslation |
 |
gyro1 |
Type: Gyro |
 |
damper1 |
Type: Damper |
 |
limiter1 |
Type: Limiter |
|
limiter2 |
Type: Limiter |
Used in Components (1)
 |
EducationExamples.ElectricalEngineering.LEGOSegway.Components Model of a LEGO Segway without a controller keeping it upright. |