WOLFRAM SYSTEM MODELER

CraneCrabDamped

A 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

Diagram

Wolfram Language

In[1]:=
SystemModel["EducationExamples.MechanicalEngineering.ModelInversionControl.Components.CraneCrabDamped"]
Out[1]:=

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

animateCrane

Value: false

Type: Boolean

Description: Animation flag

Connectors (3)

loadPosition

Type: RealOutput

Description: Position of the load

crabPosition

Type: RealOutput

Description: Position of the crab

inputForce

Type: RealInput

Description: Force signal (in newtons) to be applied on the crab

Components (9)

loadWithInertia

Type: Body

Description: Load on the crane.

rope

Type: FixedTranslation

Description: Stiff rope supporting the load.

wall

Type: Fixed

Description: Prismatic join fixture.

prismatic

Type: Prismatic

Description: Crab crane movement along X-axis.

crab

Type: Body

Description: Crab moving along the gantry.

force

Type: Force

Description: Force applied on the crab crane.

revolute

Type: Revolute

Description: Crab-crane relative angle.

fixed

Type: Fixed

Description: Damper fixture.

damper

Type: Damper

Description: Damper to remove oscillations.

Used in Examples (1)

InversionControlledCrane

EducationExamples.MechanicalEngineering.ModelInversionControl

Crab crane with a model inversion control setup

Used in Components (1)

PartialControlledCrane

EducationExamples.MechanicalEngineering.ModelInversionControl.Components

Partial model for the controlled crane setup