WOLFRAM SYSTEM MODELER

LEGOSegwayModel

Contains 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

This model is of a standalone LEGO Segway. This model is used as a component in the models with control and without control.

Parameters (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

Description: 'input Real' as connector

rightMotorVoltage

Type: RealInput

Description: 'input Real' as connector

omega

Type: RealOutput

Description: 'output Real' as connector

leftMotorSpeed

Type: RealOutput

Description: 'output Real' as connector

rightMotorSpeed

Type: RealOutput

Description: 'output Real' as connector

disturbance

Type: Frame_b

Description: Coordinate system fixed to the component with one cut-force and cut-torque (non-filled rectangular icon)

leftMotorCurrent

Type: RealOutput

Description: 'output Real' as connector

rightMotorCurrent

Type: RealOutput

Description: 'output Real' as connector

phi

Type: RealOutput

Description: 'output Real' as connector

Components (18)

world

Type: World

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

wheelSet

Type: RollingWheelSet

Description: Ideal rolling wheel set consisting of two ideal rolling wheels connected together by an axis

smallLeftTire1

Type: SmallLeftTire

Description: Models a LEGO tire

smallRightTire1

Type: SmallRightTire

Description: Models a LEGO tire

fixedTranslation1

Type: FixedTranslation

Description: Fixed translation of frame_b with respect to frame_a

fixedTranslation2

Type: FixedTranslation

Description: Fixed translation of frame_b with respect to frame_a

fixedTranslation3

Type: FixedTranslation

Description: Fixed translation of frame_b with respect to frame_a

fixedTranslation4

Type: FixedTranslation

Description: Fixed translation of frame_b with respect to frame_a

revolute1

Type: Revolute

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

rightMotor

Type: Motor

Description: A simplified voltage controlled motor

leftMotor

Type: Motor

Description: A simplified voltage controlled motor

brick1

Type: Brick

Description: Models a LEGO CPU brick

fixedTrans

Type: FixedTranslation

Description: Fixed translation of frame_b with respect to frame_a

gyro1

Type: Gyro

Description: Models a LEGO gyro sensor

damper1

Type: Damper

Description: Linear 1D rotational damper

limiter1

Type: Limiter

Description: Limit the range of a signal

limiter2

Type: Limiter

Description: Limit the range of a signal

fixedShape1

Type: FixedShape

Description: Visualizing an elementary shape with dynamically varying shape attributes (has one frame connector)

Used in Components (1)

PartialControlScenario

EducationExamples.ElectricalEngineering.LEGOSegway.Components

Model of a LEGO Segway without a controller keeping it upright