WOLFRAM SYSTEMMODELER

ControlledCraneCrab

A controlled crane crab

Diagram

Wolfram Language

In[1]:=
SystemModel["PlanarMechanics.Examples.ControlledCraneCrab"]
Out[1]:=

Information

A simple PID (actually PD) controlles the pendulum into upright position.

Diagram ControlledCraneCrab_1

Diagram ControlledCraneCrab_2

Selected continuous time states

  • actuatedPrismatic.s
  • actuatedPrismatic.v
  • actuatedRevolute.phi
  • actuatedRevolute.w
  • PID.D.x
  • PID.I.y

Components (10)

body

Type: Body

fixedTranslation

Type: FixedTranslation

fixed

Type: Fixed

body1

Type: Body

angleSensor

Type: AngleSensor

force

Type: Force

PID

Type: PID

planarWorld

Type: PlanarWorld

prismatic

Type: Prismatic

revolute

Type: Revolute