WOLFRAM SYSTEM MODELER
PendulumAn inverted pendulum connected to a cart |
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Diagram
Wolfram Language
In[1]:=
SystemModel["IntroductoryExamples.Systems.Components.Pendulum"]
Out[1]:=
Information
This pendulum system consists of a cart with a joint connected to the pendulum. Components from the MultiBody library have been used for the cart and pendulum and components from the translational and rotational mechanical library have been used to model friction. The cart can only be moved in a fixed horizontal motion.
To be able to control the pendulum, the position of the cart, x, and the pendulum angle, phi, is measured. The movement of the cart can be controlled via a force, F, using the flange input.
Parameters (9)
| l_pendulum |
Value: 0.61 Type: Length (m) Description: Pendulum length |
|---|---|
| r_pendulum |
Value: 0.005 Type: Radius (m) Description: Pendulum diameter |
| d_pendulum |
Value: 0.01 Type: RotationalDampingConstant (N⋅m⋅s/rad) Description: Pendulum damper constant |
| rho_pendulum |
Value: 7700 Type: Density (kg/m³) Description: Pendulum material density |
| d_slider |
Value: 2 Type: TranslationalDampingConstant (N⋅s/m) Description: Pendulum slider constant |
| rho_cart |
Value: 445 Type: Density (kg/m³) Description: Cart material density |
| l_cart |
Value: 0.1 Type: Length (m) Description: Cart length |
| h_cart |
Value: 0.1 Type: Height (m) Description: Cart height |
| w_cart |
Value: 0.1 Type: Length (m) Description: Cart width |
Connectors (3)
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flange_a |
Type: Flange_a Description: One-dimensional translational flange (left, flange axis directed INTO cut plane) |
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position |
Type: RealOutput Description: 'output Real' as connector |
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angle |
Type: RealOutput Description: 'output Real' as connector |
Components (10)
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cart |
Type: BodyBox Description: Rigid body with box shape. Mass and animation properties are computed from box data and density (12 potential states) |
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pendulumCylinder |
Type: BodyCylinder Description: Rigid body with cylinder shape. Mass and animation properties are computed from cylinder data and density (12 potential states) |
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pendulumJoint |
Type: Revolute Description: Revolute joint (1 rotational degree-of-freedom, 2 potential states, optional axis flange) |
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toMidCart |
Type: FixedTranslation Description: Fixed translation of frame_b with respect to frame_a |
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sliderConstraint |
Type: Prismatic Description: Prismatic joint (1 translational degree-of-freedom, 2 potential states, optional axis flange) |
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pendulumDamper |
Type: Damper Description: Linear 1D rotational damper |
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sliderDamper |
Type: Damper Description: Linear 1D translational damper |
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angleSensor |
Type: AngleSensor Description: Ideal sensor to measure the absolute flange angle |
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positionSensor |
Type: PositionSensor Description: Ideal sensor to measure the absolute position |
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world |
Type: World Description: World coordinate system + gravity field + default animation definition |
Used in Examples (1)
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IntroductoryExamples.Systems A controlled inverted pendulum system |