WOLFRAM SYSTEM MODELER
CraneCrabDampedA model of a simple crane crab where the revolute joint has been removed so that the crab position is always identical to the load position |
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Diagram
Wolfram Language
In[1]:=
SystemModel["EducationExamples.MechanicalEngineering.ModelInversionControl.Components.CraneCrabDamped"]
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Information
The hoist crane is modeled using the PlanarMechanics Modelica library. Force is applied to a prismatic joint that pushes a crab along a one-dimensional beam. Attached to the crab is a dampened revolute joint that connects to the load through a stiff rod.
Parameters (2)
| body_I |
Value: 0.5 Type: Inertia (kg⋅m²) Description: Interia of the crane body |
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| animateCrane |
Value: false Type: Boolean Description: Animation flag |
Connectors (3)
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loadPosition |
Type: RealOutput Description: Position of the load |
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crabPosition |
Type: RealOutput Description: Position of the crab |
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inputForce |
Type: RealInput Description: Force signal (in newtons) to be applied on the crab |
Components (9)
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loadWithInertia |
Type: Body Description: Load on the crane. |
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rope |
Type: FixedTranslation Description: Stiff rope supporting the load. |
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wall |
Type: Fixed Description: Prismatic join fixture. |
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prismatic |
Type: Prismatic Description: Crab crane movement along X-axis. |
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crab |
Type: Body Description: Crab moving along the gantry. |
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force |
Type: Force Description: Force applied on the crab crane. |
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revolute |
Type: Revolute Description: Crab-crane relative angle. |
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fixed |
Type: Fixed Description: Damper fixture. |
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damper |
Type: Damper Description: Damper to remove oscillations. |
Used in Examples (1)
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EducationExamples.MechanicalEngineering.ModelInversionControl Crab crane with a model inversion control setup |
Used in Components (1)
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EducationExamples.MechanicalEngineering.ModelInversionControl.Components Partial model for the controlled crane setup |