modelDoublePendulum2
Crane trolley system
Extends from Modelica_LinearSystems2.Controller.Templates.Internal.PlantTemplate (MIMO plant template).
Information
Model of a simple double pendulum system using double pendulum multibody model.
The physical Model is used in Modelica_LinearSystems2.Examples.StateSpace.doublePendulumController where it is being linearized an used as a base for linear controller design. The results are used to control the crane system as shown in double pendulum example.
Parameters
| Type | Name | Default | Description |
|---|---|---|---|
| Integer | n (from PlantTemplate) | 1 | System order |
| Integer | m (from PlantTemplate) | 1 | Number of inputs |
| Boolean | additionalMeasurableOutputs (from PlantTemplate) | true | Enable additional output vector of dimension l |
| Integer | l (from PlantTemplate) | 1 | Number of measurable outputs |
| Real | pi | Modelica.Constants.pi | |
| Modelica.Units.SI.Mass | m_trolley | 1000 | Mass of trolley |
| Modelica.Units.SI.Mass | m_load | 4000 | Mass of load on 2nd arm |
| Modelica.Units.SI.Length | length | 10 | Total length of double pendulum (i.e. length of each arm = length/2) |
| Modelica.Units.SI.Angle | phi1_start | -40.0/180*pi | Initial rotation angle of 1st arm relative to trolley |
| Modelica.Units.SI.Angle | phi2_start | -70.0/180*pi | Initial rotation angle of 2nd arm relative to 1st arm |
| Modelica.Units.SI.AngularVelocity | w1_start | 0.0 | Initial angular velocity of 1st arm |
| Modelica.Units.SI.AngularVelocity | w2_start | 0.0 | Initial angular velocity of 2nd arm |
Connectors
| Type | Name | Default | Description |
|---|---|---|---|
| Modelica.Blocks.Interfaces.RealOutput[n] | y (from PlantTemplate) | ||
| Modelica.Blocks.Interfaces.RealInput[m] | u (from PlantTemplate) | ||
| Modelica.Blocks.Interfaces.RealOutput[l] | ym (from PlantTemplate) |
Components
| Type | Name | Default | Description |
|---|---|---|---|
| Modelica_LinearSystems2.Utilities.Plants.DoublePendulum | doublePendulum | ||
| Modelica.Blocks.Routing.Multiplex6 | multiplex6_1 |