WOLFRAM SYSTEM MODELER

NoControl

Model of a LEGO Segway without a controller keeping it upright

Diagram

Wolfram Language

In[1]:=
SystemModel["EducationExamples.ElectricalEngineering.LEGOSegway.NoControl"]
Out[1]:=

Information

This model is of a LEGO Segway with disturbances, but without any kind of controller to keep it upright. For the model with a controller, open LEGOSegway.LQControl.

Simulation

To simulate the LEGO Segway and view a 3D animation of it, follow the steps below:

Click the Simulate buttom: simCenter

Click the Animate button: animate

In order to get the full experience of this example, you need a desktop Wolfram Language product. A free trial download is available at www.wolfram.com/mathematica/trial/

For the full example, open the accompanying notebook LEGOSegway.nb.

Parameters (2)

uMax

Value: 8.5

Type: Voltage (V)

fMax

Value: 0.31

Type: Force (N)

Connectors (1)

angle

Type: RealOutput

Description: 'output Real' as connector

Components (8)

segway

Type: LEGOSegwayModel

Description: Contains a model of a LEGO Segway with some extra inputs and outputs

force

Type: WorldForce

Description: External force acting at frame_b, defined by 3 input signals and resolved in frame world, frame_b or frame_resolve

pulsex

Type: Pulse

Description: Generate pulse signal of type Real

pulsey

Type: Pulse

Description: Generate pulse signal of type Real

pulsez

Type: Pulse

Description: Generate pulse signal of type Real

world

Type: World

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

leftMotorVoltage

Type: TimeTable

Description: Generate a (possibly discontinuous) signal by linear interpolation in a table

rightMotorVoltage

Type: TimeTable

Description: Generate a (possibly discontinuous) signal by linear interpolation in a table