Wolfram Language

In[1]:=

SystemModel["EducationExamples.MechanicalEngineering.ModelInversionControl.Components.PartialControlledCrane"]

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Information

Partial model for the base setups used in the InversionControlledCrane and PIDControlledCrane examples. Contains the crane crab setup and filtered reference signal.

pulsePeriod	Value: 20 Type: Time (s) Description: Period of the input pulse, position switches every half period
inputFilter	Value: 0.2 Type: Frequency (Hz) Description: Cut-off frequency of the input filter, higher values give sharper movement
crane_I	Value: 0.5 Type: Inertia (kg⋅m²) Description: Inertia of the physical crane body

pulsePeriod

Value: 20

Type: Time (s)

Description: Period of the input pulse, position switches every half period

inputFilter

Value: 0.2

Type: Frequency (Hz)

Description: Cut-off frequency of the input filter, higher values give sharper movement

crane_I

Value: 0.5

Type: Inertia (kg⋅m²)

Description: Inertia of the physical crane body

	filter	Type: Filter Description: Input signal filter, smoothing the signal.
	reference	Type: Pulse Description: Load position reference, going back and forth between 0 and 1 meters along the X-axis.
	planarWorld	Type: PlanarWorld Description: Coordinate system.
	crane	Type: CraneCrabDamped Description: Crab crane setup.

EducationExamples.MechanicalEngineering.ModelInversionControl

Crab crane with PID-controller

EducationExamples.MechanicalEngineering.ModelInversionControl

Crab crane with a model inversion control setup