modelControlledCraneCrab
A controlled crane crab
Extends from Modelica.Icons.Example (Icon for runnable examples).
Information
A simple PID (actually PD) controlles the pendulum into upright position.
Selected continuous time states
- actuatedPrismatic.s
- actuatedPrismatic.v
- actuatedRevolute.phi
- actuatedRevolute.w
- PID.D.x
- PID.I.y
Components
| Type | Name | Default | Description |
|---|---|---|---|
| Parts.Body | body | ||
| Parts.FixedTranslation | fixedTranslation | ||
| Parts.Fixed | fixed | ||
| Parts.Body | body1 | ||
| Modelica.Mechanics.Rotational.Sensors.AngleSensor | angleSensor | ||
| Modelica.Mechanics.Translational.Sources.Force | force | ||
| Modelica.Blocks.Continuous.PID | PID | ||
| PlanarWorld | planarWorld | ||
| Joints.Prismatic | prismatic | ||
| Joints.Revolute | revolute |
Revisions
Developed 2010 at the DLR Institute of System Dynamics and Control