WOLFRAM SYSTEM MODELER
ControlledCraneCrabA controlled crane crab |
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Diagram
Wolfram Language
In[1]:=
SystemModel["PlanarMechanics.Examples.ControlledCraneCrab"]
Out[1]:=
Information
A simple PID (actually PD) controlles the pendulum into upright position.
Selected continuous time states
- actuatedPrismatic.s
- actuatedPrismatic.v
- actuatedRevolute.phi
- actuatedRevolute.w
- PID.D.x
- PID.I.y
Components (10)
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body |
Type: Body Description: Body component with mass and inertia |
|---|---|---|
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fixedTranslation |
Type: FixedTranslation Description: A fixed translation between two components (rigid rod) |
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fixed |
Type: Fixed Description: Frame fixed in the planar world frame at a given position and orientation |
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body1 |
Type: Body Description: Body component with mass and inertia |
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angleSensor |
Type: AngleSensor Description: Ideal sensor to measure the absolute flange angle |
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force |
Type: Force Description: External force acting on a drive train element as input signal |
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PID |
Type: PID Description: PID-controller in additive description form |
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planarWorld |
Type: PlanarWorld Description: Planar world coordinate system + gravity field + default animation definition |
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prismatic |
Type: Prismatic Description: A prismatic joint |
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revolute |
Type: Revolute Description: A revolute joint |
Revisions
Developed 2010 at the DLR Institute of System Dynamics and Control