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

 

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.

 

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

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)

PartialControlScenario

EducationExamples.ElectricalEngineering.LEGOSegway.Components

Model of a LEGO Segway without a controller keeping it upright.