WOLFRAM SYSTEM MODELER
BasePendulumModelPartial inverted pendelum model |
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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)
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s |
Type: RealOutput Description: Absolute position of flange as output signal (position.s) |
|---|---|---|
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v |
Type: RealOutput Description: Absolute velocity of flange as output signal (speed.v) |
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phi |
Type: RealOutput Description: Absolute angle of flange as output signal (angle.phi) |
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w |
Type: RealOutput Description: Absolute angular velocity of flange as output signal (angularVelocity.w) |
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y |
Type: RealOutput[controller.nout] Description: Connector of Real output signals (controller.y) |
Components (15)
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pendulum |
Type: Body Description: Pendulum mass. |
|---|---|---|
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origin |
Type: Fixed Description: Center point. Reference point for cart. |
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cart |
Type: Body Description: Mass of cart. |
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planarWorld |
Type: PlanarWorld Description: Planar world coordinate system + gravity field + default animation definition |
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revolute |
Type: Revolute Description: Pendulum axis of rotation. |
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cartPosition |
Type: Prismatic Description: Translational position of cart. |
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angle |
Type: AngleSensor Description: Angle sensor for the pendulum. |
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controller |
Type: MatrixGain Description: LQ-regulator with optimal gains. |
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position |
Type: PositionSensor Description: Position sensor for the cart. |
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angularVelocity |
Type: SpeedSensor Description: Velocity sensor for the pendulum. |
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speed |
Type: SpeedSensor Description: Velocity sensor for the cart. |
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disturbancePendulum |
Type: WorldForce Description: Disturbance force applied on the pendulum. |
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disturbanceCart |
Type: WorldForce Description: Disturbance force applied on the cart. |
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pendulumLength |
Type: FixedTranslation Description: Length of the pendulum. |
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controllerForce |
Type: WorldForce Description: Corrective force applied to the cart. |
Extended by (2)
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EducationExamples.MechanicalEngineering.InvertedPendulum A LQR-controlled inverted pendulum system, controlled by external hardware using the ModelPlug library |
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EducationExamples.MechanicalEngineering.InvertedPendulum A LQR-controlled inverted pendulum system |