WOLFRAM SYSTEM MODELER

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

Description: Body component with mass and inertia
fixedTranslation

Type: FixedTranslation

Description: A fixed translation between two components (rigid rod)
fixed

Type: Fixed

Description: Frame fixed in the planar world frame at a given position and orientation
body1

Type: Body

Description: Body component with mass and inertia
angleSensor

Type: AngleSensor

Description: Ideal sensor to measure the absolute flange angle
force

Type: Force

Description: External force acting on a drive train element as input signal
PID

Type: PID

Description: PID-controller in additive description form
planarWorld

Type: PlanarWorld

Description: Planar world coordinate system + gravity field + default animation definition
prismatic

Type: Prismatic

Description: A prismatic joint
revolute

Type: Revolute

Description: A revolute joint

Revisions

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