modelNonLinearCrane
Parameters
| Type | Name | Default | Description |
|---|---|---|---|
| Mass | mc | 10 | mass of the car |
| Length | r | 5 | lenght of the cable that holds the load |
| Force | g | 9.81 | force of gravity |
| Real | dcnormal | 0.5 | |
| Real | dcbrake | 100000 | |
| Real | dl | 0.01 | |
| Mass | ml | 100 | mass of the load |
| Voltage | VMax | 40 | max voltage for the DC motor |
| Position | PosCarMax | 5 | maximum limit for the position of the car |
| Position | PosCarMin | -5 | minimum limit for the position of the car |
Components
| Type | Name | Default | Description |
|---|---|---|---|
| Position | loadPos | ||
| Angle | alpha | ||
| Modelica.Blocks.Interfaces.RealOutput | posCar | ||
| Modelica.Blocks.Interfaces.BooleanOutput | SwPosCarMin | ||
| Modelica.Blocks.Interfaces.RealInput | fcdesired | input voltage for the DC motor | |
| Modelica.Blocks.Interfaces.BooleanOutput | SwPosCarMax | ||
| Modelica.Blocks.Interfaces.RealInput | fd | ||
| Modelica.Blocks.Interfaces.BooleanInput | brake |