modelDoublePendulumInverse
Multibody model of inverse crane trolley
Extends from DoublePendulum (Multibody model of crane trolley).
Information
Multibody model of a simple inverted 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. The mdel is the same as in Modelica_Controller.Examples.Components.DoublePendulum but with different initial values because the initial values are used as a working point for linearization.
Parameters
| Type | Name | Default | Description |
|---|---|---|---|
| Modelica.Units.SI.Mass | m_trolley (from DoublePendulum) | 5 | Mass of trolley |
| Modelica.Units.SI.Mass | m_load (from DoublePendulum) | 20 | Mass of load on 2nd arm |
| Modelica.Units.SI.Length | length (from DoublePendulum) | 2 | Total length of double pendulum (i.e. length of each arm = length/2) |
| Modelica.Units.SI.Position | s_start (from DoublePendulum) | 0.0 | Initial position of trolley relative to world |
| Modelica.Units.SI.Velocity | v_start (from DoublePendulum) | 0.0 | Initial velocity of trolley relative to world |
| Modelica.Units.SI.Angle | phi1_start (from DoublePendulum) | -80.0/180*pi | Initial rotation angle of 1st arm relative to trolley |
| Modelica.Units.SI.Angle | phi2_start (from DoublePendulum) | 10 | Initial rotation angle of 2nd arm relative to 1st arm |
| Modelica.Units.SI.AngularVelocity | w1_start (from DoublePendulum) | 0.0 | Initial angular velocity of 1st arm relative to trolley |
| Modelica.Units.SI.AngularVelocity | w2_start (from DoublePendulum) | 0.0 | Initial angular velocity of 2nd arm relative to 1st arm |
| Modelica.Units.SI.RotationalDampingConstant | d (from DoublePendulum) | 0 | Damping constant for revolute joint of 1st arm |
| Real | pi (from DoublePendulum) | Modelica.Constants.pi | |
| Boolean | cartDisturbance | false | True, if cart disturbance should be enabled |
| Boolean | bodyDisturbance | false | True, if body disturbance should be enabled |