WOLFRAM SYSTEMMODELER

DoublePendulumInitTip

Demonstrate how to initialize a double pendulum so that its tip starts at a predefined position

Diagram

Wolfram Language

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SystemModel["Modelica.Mechanics.MultiBody.Examples.Elementary.DoublePendulumInitTip"]
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Information

This information is part of the Modelica Standard Library maintained by the Modelica Association.

This example demonstrates at hand of a double pendulum, how no-standard initialization can be defined: The absolute position of the pendulum tip, and its absolute speed shall be initially defined. This can be performed with the Joints.FreeMotionScalarInit joint that allows to initialize individual elements of its relative vectors. In this case, the x-, and y-coordinates of the relative position vector (visualized by the yellow arrow in the figure below) and of its derivative shall have a defined value at initial time. The configuration of the double pendulum at the initial time is shown below, where the tip position is required to have the coordinates x=0.7, y=0.3.

Components (7)

world

Type: World

Description:

revolute1

Type: Revolute

Description:

damper

Type: Damper

Description:

boxBody1

Type: BodyBox

Description:

revolute2

Type: Revolute

Description:

boxBody2

Type: BodyBox

Description:

freeMotionScalarInit

Type: FreeMotionScalarInit

Description: