WOLFRAM SYSTEM MODELER

BasePendulumModel

Partial inverted pendelum model

Diagram

Wolfram Language

In[1]:=
SystemModel["EducationExamples.MechanicalEngineering.InvertedPendulum.Components.BasePendulumModel"]
Out[1]:=

Information

This model is a partial model containing the dynamics of the inverted pendelum.

Parameters (5)

cartMass

Value: 1

Type: Mass (kg)

Description: Mass of the cart (base of the pendulum)

cartInertia

Value: 0.1

Type: Inertia (kg⋅m²)

Description: Inertia of the cart (base of the pendulum)

pendulumMass

Value: 0.5

Type: Mass (kg)

Description: Mass at the top of the pendulum

pendulumInertia

Value: 0.1

Type: Inertia (kg⋅m²)

Description: Inertia at the top of the pendulum

angle0

Value: 0

Type: Angle (rad)

Description: Initial angle of the pendulum

Connectors (5)

s

Type: RealOutput

Description: Absolute position of flange as output signal (position.s)

v

Type: RealOutput

Description: Absolute velocity of flange as output signal (speed.v)

phi

Type: RealOutput

Description: Absolute angle of flange as output signal (angle.phi)

w

Type: RealOutput

Description: Absolute angular velocity of flange as output signal (angularVelocity.w)

y

Type: RealOutput[controller.nout]

Description: Connector of Real output signals (controller.y)

Components (15)

pendulum

Type: Body

Description: Pendulum mass.

origin

Type: Fixed

Description: Center point. Reference point for cart.

cart

Type: Body

Description: Mass of cart.

planarWorld

Type: PlanarWorld

Description: Planar world coordinate system + gravity field + default animation definition

revolute

Type: Revolute

Description: Pendulum axis of rotation.

cartPosition

Type: Prismatic

Description: Translational position of cart.

angle

Type: AngleSensor

Description: Angle sensor for the pendulum.

controller

Type: MatrixGain

Description: LQ-regulator with optimal gains.

position

Type: PositionSensor

Description: Position sensor for the cart.

angularVelocity

Type: SpeedSensor

Description: Velocity sensor for the pendulum.

speed

Type: SpeedSensor

Description: Velocity sensor for the cart.

disturbancePendulum

Type: WorldForce

Description: Disturbance force applied on the pendulum.

disturbanceCart

Type: WorldForce

Description: Disturbance force applied on the cart.

pendulumLength

Type: FixedTranslation

Description: Length of the pendulum.

controllerForce

Type: WorldForce

Description: Corrective force applied to the cart.

Extended by (2)

InvertedPendulumHardware

EducationExamples.MechanicalEngineering.InvertedPendulum

A LQR-controlled inverted pendulum system, controlled by external hardware using the ModelPlug library

InvertedPendulumPulse

EducationExamples.MechanicalEngineering.InvertedPendulum

A LQR-controlled inverted pendulum system