modelDoublePendulum
Multibody model of crane trolley
Information
Multibody model of a simple double pendulum system. This physical model is used in various models and functions of the library e.g. for linearization or as a base for linear controller design.
Parameters
| Type | Name | Default | Description |
|---|---|---|---|
| Modelica.Units.SI.Mass | m_trolley | 5 | Mass of trolley |
| Modelica.Units.SI.Mass | m_load | 20 | Mass of load on 2nd arm |
| Modelica.Units.SI.Length | length | 2 | 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 | -80.0/180*pi | Initial rotation angle of 1st arm relative to trolley |
| Modelica.Units.SI.Angle | phi2_start | 10 | 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 |
| Modelica.Units.SI.RotationalDampingConstant | d | 0 | Damping constant for revolute joint of 1st arm |
| Real | pi | Modelica.Constants.pi |
Connectors
Components
| Type | Name | Default | Description |
|---|---|---|---|
| Modelica.Mechanics.MultiBody.Sensors.RelativeSensor | relativeSensorPrismatic | ||
| Modelica.Mechanics.MultiBody.Sensors.RelativeSensor | relativeSensorAng1 | ||
| Modelica.Mechanics.MultiBody.Sensors.RelativeSensor | relativeSensorAng2 | ||
| Modelica.Mechanics.MultiBody.World | world | ||
| Modelica.Mechanics.MultiBody.Joints.Prismatic | prismatic | ||
| Modelica.Mechanics.MultiBody.Joints.Revolute | revolute1 | ||
| Modelica.Mechanics.MultiBody.Joints.Revolute | revolute2 | ||
| Modelica.Mechanics.MultiBody.Parts.BodyShape | bodyShape | ||
| Modelica.Mechanics.MultiBody.Parts.Body | body | ||
| Modelica.Mechanics.MultiBody.Parts.BodyCylinder | bodyCylinder | ||
| Modelica.Mechanics.MultiBody.Parts.BodyCylinder | bodyCylinder1 | ||
| Modelica.Mechanics.Translational.Components.Damper | damperTrans1D | ||
| Modelica.Mechanics.Rotational.Components.Damper | damperRot1D | ||
| Modelica.Mechanics.Translational.Sources.Force | force | ||
| Modelica.Blocks.Sources.Constant | const | ||
| Modelica.Blocks.Math.Add | add | ||
| Modelica.Blocks.Math.Add | add1 | ||
| Modelica.Blocks.Sources.Constant | const1 |