WOLFRAM SYSTEM MODELER
LEGOSegwayModelContains a model of a LEGO Segway with some extra inputs and outputs |
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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)
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leftMotorVoltage |
Type: RealInput Description: 'input Real' as connector |
|---|---|---|
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rightMotorVoltage |
Type: RealInput Description: 'input Real' as connector |
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omega |
Type: RealOutput Description: 'output Real' as connector |
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leftMotorSpeed |
Type: RealOutput Description: 'output Real' as connector |
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rightMotorSpeed |
Type: RealOutput Description: 'output Real' as connector |
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disturbance |
Type: Frame_b Description: Coordinate system fixed to the component with one cut-force and cut-torque (non-filled rectangular icon) |
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leftMotorCurrent |
Type: RealOutput Description: 'output Real' as connector |
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rightMotorCurrent |
Type: RealOutput Description: 'output Real' as connector |
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phi |
Type: RealOutput Description: 'output Real' as connector |
Components (18)
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world |
Type: World Description: World coordinate system + gravity field + default animation definition |
|---|---|---|
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wheelSet |
Type: RollingWheelSet Description: Ideal rolling wheel set consisting of two ideal rolling wheels connected together by an axis |
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smallLeftTire1 |
Type: SmallLeftTire Description: Models a LEGO tire |
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smallRightTire1 |
Type: SmallRightTire Description: Models a LEGO tire |
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fixedTranslation1 |
Type: FixedTranslation Description: Fixed translation of frame_b with respect to frame_a |
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fixedTranslation2 |
Type: FixedTranslation Description: Fixed translation of frame_b with respect to frame_a |
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fixedTranslation3 |
Type: FixedTranslation Description: Fixed translation of frame_b with respect to frame_a |
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fixedTranslation4 |
Type: FixedTranslation Description: Fixed translation of frame_b with respect to frame_a |
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revolute1 |
Type: Revolute Description: Revolute joint (1 rotational degree-of-freedom, 2 potential states, optional axis flange) |
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rightMotor |
Type: Motor Description: A simplified voltage controlled motor |
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leftMotor |
Type: Motor Description: A simplified voltage controlled motor |
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brick1 |
Type: Brick Description: Models a LEGO CPU brick |
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fixedTrans |
Type: FixedTranslation Description: Fixed translation of frame_b with respect to frame_a |
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gyro1 |
Type: Gyro Description: Models a LEGO gyro sensor |
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damper1 |
Type: Damper Description: Linear 1D rotational damper |
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limiter1 |
Type: Limiter Description: Limit the range of a signal |
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limiter2 |
Type: Limiter Description: Limit the range of a signal |
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fixedShape1 |
Type: FixedShape Description: Visualizing an elementary shape with dynamically varying shape attributes (has one frame connector) |
Used in Components (1)
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EducationExamples.ElectricalEngineering.LEGOSegway.Components Model of a LEGO Segway without a controller keeping it upright |