modelInverseDoublePendulum2
Inverted double pendulum
Extends from Modelica_LinearSystems2.Controller.Templates.Internal.PlantTemplate (MIMO plant template).
Information
Model of a simple inverted double pendulum system using Modelica_Controller.Examples.Components.InverseDoublePendulum. The physical Model is used in Modelica_LinearSystems2.Examples.StateSpace.inverseDoublePendulumController where it is being linearized an used as a base for linear controller design. The results are used to control the crane system in Modelica_Controller.Examples.InverseDoublePendulum.mo
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 |
| Modelica.Units.SI.Mass | m_trolley | 1 | Mass of trolley |
| Modelica.Units.SI.Mass | m_load | 4 | Mass of load on 2nd arm |
| Modelica.Units.SI.Length | length | 1 | Total length of double pendulum (i.e. length of each arm = length/2) |
| Modelica.Units.SI.Position | s_start | 0.0 | Initial position of trolley relative to world |
| Modelica.Units.SI.Velocity | v_start | 0.0 | Initial velocity of trolley relative to world |
| Modelica.Units.SI.Angle | phi1_start | 90.0/180*pi | Initial rotation angle of 1st arm relative to trolley |
| Modelica.Units.SI.Angle | phi2_start | 0 | Initial rotation angle of 2nd arm relative to 1st arm |
| Modelica.Units.SI.AngularVelocity | w1_start | 0.0 | Initial angular velocity of 1st arm relative to trolley |
| Modelica.Units.SI.AngularVelocity | w2_start | 0.0 | Initial angular velocity of 2nd arm relative to 1st arm |
| Boolean | cartDisturbance | false | True, if cart disturbance should be enabled |
| Boolean | bodyDisturbance | false | True, if body disturbance should be enabled |
| Real | pi | Modelica.Constants.pi |
Connectors
Components
| Type | Name | Default | Description |
|---|---|---|---|
| Real | dist1_s | ||
| Real | dist2_v | 0 | |
| Real | dist3_phi1 | 0 | |
| Real | dist4_w1 | 0 | |
| Real | dist5_phi2 | 0 | |
| Real | dist6_w2 | 0 | |
| Controller.Examples.Components.InverseDoublePendulum | inverseDoublePendulum | ||
| Modelica.Blocks.Routing.Multiplex6 | multiplex6 | ||
| Internal.Add[6] | add | ||
| Modelica.Blocks.Sources.RealExpression[6] | measureDisturbance |