pendulum controller
This commit is contained in:
27
Simple2DPendulum.mo
Normal file
27
Simple2DPendulum.mo
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@@ -0,0 +1,27 @@
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model Simple2DPendulum
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inner Modelica.Mechanics.MultiBody.World world annotation(
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Placement(transformation(origin = {-40, 0}, extent = {{-10, -10}, {10, 10}})));
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Modelica.Mechanics.MultiBody.Joints.Revolute revolute(phi(start = -1.5707963267948966, fixed = true, displayUnit = "deg"), useAxisFlange = true) annotation(
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Placement(transformation(origin = {40, 0}, extent = {{-10, -10}, {10, 10}})));
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Modelica.Mechanics.MultiBody.Parts.Body body(r_CM = {0, -0.5, 0}, m = 1, I_11 = 0.001, I_22 = 0.001, I_33 = 0.001) annotation(
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Placement(transformation(origin = {70, 0}, extent = {{-10, -10}, {10, 10}})));
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Modelica.Mechanics.Rotational.Components.Damper damper(d = 0.02) annotation(
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Placement(transformation(origin = {40, 38}, extent = {{-10, -10}, {10, 10}})));
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Modelica.Mechanics.MultiBody.Joints.Prismatic prismatic annotation(
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Placement(transformation(extent = {{-10, -10}, {10, 10}})));
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equation
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connect(revolute.frame_b, body.frame_a) annotation(
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Line(points = {{50, 0}, {60, 0}}, color = {95, 95, 95}));
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connect(damper.flange_b, revolute.axis) annotation(
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Line(points = {{50, 38}, {58, 38}, {58, 20}, {40, 20}, {40, 10}}));
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connect(damper.flange_a, revolute.support) annotation(
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Line(points = {{30, 38}, {22, 38}, {22, 20}, {34, 20}, {34, 10}}));
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connect(prismatic.frame_b, revolute.frame_a) annotation(
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Line(points = {{10, 0}, {30, 0}}, color = {95, 95, 95}));
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connect(world.frame_b, prismatic.frame_a) annotation(
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Line(points = {{-30, 0}, {-10, 0}}, color = {95, 95, 95}));
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annotation(
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uses(Modelica(version = "4.1.0")),
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experiment(StartTime = 0, StopTime = 10, Tolerance = 1e-06, Interval = 0.02));
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end Simple2DPendulum;
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228
test2d.mo
228
test2d.mo
@@ -1,4 +1,107 @@
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package test2d
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package test2d
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model vis2d
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import Modelica.Mechanics.MultiBody.Visualizers;
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import Modelica.Mechanics.MultiBody.Frames;
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parameter Real L = 1;
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parameter Real w = 0.02;
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parameter Real orbRadius = 0.04;
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parameter Real axisLength = 0.25;
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parameter Real axisWidth = 0.01;
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parameter Real planeSize = 2.0;
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parameter Real planeThickness = 0.002;
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parameter Real planeOffset = -0.001;
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Modelica.Blocks.Interfaces.RealInput phi annotation(
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Placement(transformation(origin = {-98, -42}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-94, 60}, extent = {{-10, -10}, {10, 10}})));
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Modelica.Blocks.Interfaces.RealInput y annotation(
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Placement(transformation(origin = {-98, 0}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-94, -60}, extent = {{-10, -10}, {10, 10}})));
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Modelica.Blocks.Interfaces.RealInput x annotation(
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Placement(transformation(origin = {-98, 40}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-94, 0}, extent = {{-10, -10}, {10, 10}})));
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protected
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Real Rz[3,3];
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Real r[3];
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Visualizers.Advanced.Shape link(
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shapeType = "cylinder",
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length = L/2,
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width = w,
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height = w,
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r_shape = {L / 2, 0, 0},
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lengthDirection = {-1, 0, 0},
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widthDirection = {0, 1, 0},
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r = r,
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R = Frames.from_T(Rz, zeros(3)));
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Visualizers.Advanced.Shape orb(
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shapeType = "sphere",
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length = 2 * orbRadius,
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width = 2 * orbRadius,
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height = 2 * orbRadius,
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r_shape = {0, 0, 0},
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lengthDirection = {1, 0, 0},
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widthDirection = {0, 1, 0},
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r = r,
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R = Frames.from_T(Rz, zeros(3)));
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Visualizers.Advanced.Shape xAxis(
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shapeType = "cylinder",
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length = axisLength,
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width = axisWidth,
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height = axisWidth,
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color = {255, 0, 0},
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specularCoefficient = 0.1,
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r_shape = {axisLength / 2, 0, 0},
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lengthDirection = {1, 0, 0},
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widthDirection = {0, 1, 0},
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r = zeros(3),
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R = Frames.from_T([1, 0, 0;
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0, 1, 0;
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0, 0, 1], zeros(3)));
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Visualizers.Advanced.Shape yAxis(
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shapeType = "cylinder",
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length = axisLength,
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width = axisWidth,
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height = axisWidth,
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color = {0, 200, 0},
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specularCoefficient = 0.1,
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r_shape = {0, axisLength / 2, 0},
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lengthDirection = {0, 1, 0},
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widthDirection = {0, 0, 1},
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r = zeros(3),
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R = Frames.from_T([1, 0, 0;
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0, 1, 0;
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0, 0, 1], zeros(3)));
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Visualizers.Advanced.Shape zAxis(
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shapeType = "cylinder",
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length = axisLength,
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width = axisWidth,
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height = axisWidth,
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color = {0, 90, 255},
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specularCoefficient = 0.1,
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r_shape = {0, 0, axisLength / 2},
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lengthDirection = {0, 0, 1},
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widthDirection = {1, 0, 0},
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r = zeros(3),
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R = Frames.from_T([1, 0, 0;
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0, 1, 0;
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0, 0, 1], zeros(3)));
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equation
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r = {x, y, 0};
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// Negate phi here since shapes use inverse frame-mapping
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Rz = [cos(-phi), -sin(-phi), 0;
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sin(-phi), cos(-phi), 0;
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0, 0, 1];
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annotation(
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uses(Modelica(version = "4.1.0")),
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Icon(graphics = {Rectangle(lineColor = {204, 204, 204}, fillColor = {255, 255, 255}, fillPattern = FillPattern.Sphere, extent = {{-100, 100}, {100, -100}}, radius = 10), Text(extent = {{-100, 100}, {100, -100}}, textString = "VIS")}),
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experiment(StartTime = 0, StopTime = 1, Tolerance = 1e-06, Interval = 0.002));
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end vis2d;
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model pendulum
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model pendulum
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parameter Modelica.Units.SI.Mass mass;
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parameter Modelica.Units.SI.Mass mass;
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parameter Modelica.Units.SI.Length length;
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parameter Modelica.Units.SI.Length length;
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@@ -131,9 +234,10 @@ package test2d
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end rTF;
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end rTF;
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model test
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model test
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pendulum pendulum1(mass = 1, length = 1, momentOfInertia = 0.001, startAngle = 0) annotation(
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import Modelica.Constants.pi;
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pendulum pendulum1(mass = 1, length = 1, momentOfInertia = 0.001, startAngle = 1.5707963267948966) annotation(
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Placement(transformation(origin = {60, 0}, extent = {{-20, -20}, {20, 20}})));
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Placement(transformation(origin = {60, 0}, extent = {{-20, -20}, {20, 20}})));
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BondGraph.J0 j1(N = 2, s = {1, -1}) annotation(
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BondGraph.J0 j1(N = 3, s = {1, -1, 1}) annotation(
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Placement(transformation(origin = {60, 40}, extent = {{-10, -10}, {10, 10}})));
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Placement(transformation(origin = {60, 40}, extent = {{-10, -10}, {10, 10}})));
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BondGraph.J1 w_hinge(N = 2, s = {-1, -1}) annotation(
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BondGraph.J1 w_hinge(N = 2, s = {-1, -1}) annotation(
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Placement(transformation(origin = {20, 40}, extent = {{-10, -10}, {10, 10}})));
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Placement(transformation(origin = {20, 40}, extent = {{-10, -10}, {10, 10}})));
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@@ -147,10 +251,26 @@ package test2d
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Placement(transformation(origin = {30, -40}, extent = {{-10, -10}, {10, 10}})));
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Placement(transformation(origin = {30, -40}, extent = {{-10, -10}, {10, 10}})));
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BondGraph.J1 j3(N = 2, s = {1, -1}) annotation(
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BondGraph.J1 j3(N = 2, s = {1, -1}) annotation(
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Placement(transformation(origin = {-20, -60}, extent = {{-10, -10}, {10, 10}})));
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Placement(transformation(origin = {-20, -60}, extent = {{-10, -10}, {10, 10}})));
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BondGraph.J1 j4(N = 1, s = {-1}) annotation(
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BondGraph.J1 j4(N = 2, s = {-1, 1}) annotation(
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Placement(transformation(origin = {-20, -20}, extent = {{-10, -10}, {10, 10}})));
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Placement(transformation(origin = {-20, -20}, extent = {{-10, -10}, {10, 10}})));
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BondGraph.Sf sf(f0 = 0) annotation(
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BondGraph.Sf sf(f0 = 0) annotation(
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Placement(transformation(origin = {-58, -60}, extent = {{-10, -10}, {10, 10}})));
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Placement(transformation(origin = {-58, -60}, extent = {{-10, -10}, {10, 10}})));
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BondGraph.Sf sf1(f0 = 0) annotation(
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Placement(transformation(origin = {-56, -20}, extent = {{-10, -10}, {10, 10}})));
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BondGraph.J1 w_maxle(N = 2, s = {-1, 1}) annotation(
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Placement(transformation(origin = {60, 80}, extent = {{-10, -10}, {10, 10}})));
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BondGraph.mSe T_motor annotation(
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Placement(transformation(origin = {20, 80}, extent = {{-10, -10}, {10, 10}})));
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controller controller1(g_P = 50, g_I = 7.5, g_D = 5, sampleTime(displayUnit = "ms") = 0.01, limit = 20) annotation(
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Placement(transformation(origin = {16, 110}, extent = {{10, -10}, {-10, 10}})));
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Modelica.Blocks.Sources.TimeTable timeTable(table = [
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0, 0; 4,0;
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5, 1.5*pi; 9, 1.5*pi;
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10, pi; 14, pi;
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15, 0.5*pi; 19, 0.5*pi;
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20, 0; 25, 0
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]) annotation(
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Placement(transformation(origin = {50, 130}, extent = {{-10, -10}, {10, 10}}, rotation = 180)));
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equation
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equation
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connect(w_hinge.P[1], j1.P[1]) annotation(
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connect(w_hinge.P[1], j1.P[1]) annotation(
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Line(points = {{20, 40}, {60, 40}}, color = {0, 0, 127}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
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Line(points = {{20, 40}, {60, 40}}, color = {0, 0, 127}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
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@@ -170,9 +290,109 @@ package test2d
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Line(points = {{-20, -20}, {8, -20}, {8, -36}, {20, -36}}, color = {0, 0, 127}));
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Line(points = {{-20, -20}, {8, -20}, {8, -36}, {20, -36}}, color = {0, 0, 127}));
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connect(sf.p, j3.P[1]) annotation(
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connect(sf.p, j3.P[1]) annotation(
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Line(points = {{-50, -60}, {-20, -60}}, color = {0, 0, 127}));
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Line(points = {{-50, -60}, {-20, -60}}, color = {0, 0, 127}));
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connect(sf1.p, j4.P[2]) annotation(
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Line(points = {{-48, -20}, {-20, -20}}, color = {0, 0, 127}));
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connect(w_maxle.P[1], j1.P[3]) annotation(
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Line(points = {{60, 80}, {60, 40}}, color = {0, 0, 127}, thickness = 0.5));
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connect(T_motor.p, w_maxle.P[2]) annotation(
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Line(points = {{28, 80}, {60, 80}}, color = {0, 0, 127}));
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connect(pendulum1.phi, controller1.angle) annotation(
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Line(points = {{80, 8}, {92, 8}, {92, 110}, {26, 110}}, color = {0, 0, 127}));
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connect(controller1.motor, T_motor.e0) annotation(
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Line(points = {{6, 110}, {6, 109}, {0, 109}, {0, 80}, {20, 80}, {20, 72}}, color = {0, 0, 127}));
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connect(timeTable.y, controller1.setpoint) annotation(
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Line(points = {{39, 130}, {39, 117}, {26, 117}}, color = {0, 0, 127}));
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annotation(
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annotation(
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experiment(StartTime = 0, StopTime = 10, Tolerance = 1e-06, Interval = 0.02));
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experiment(StartTime = 0, StopTime = 25, Tolerance = 1e-06, Interval = 0.02),
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Diagram(coordinateSystem(extent = {{-80, 140}, {100, -80}})));
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end test;
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end test;
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model controller
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import Modelica.Blocks.Interfaces.RealInput;
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import Modelica.Blocks.Interfaces.RealOutput;
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parameter Real g_P = 1;
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parameter Real g_I = 1;
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parameter Real g_D = 1;
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parameter Modelica.Units.SI.Time sampleTime = 0.0025;
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parameter Real limit = 100;
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RealInput setpoint(quantity="Angle") "Setpoint" annotation(
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Placement(transformation(origin = {-158, 20}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {-96, 70}, extent = {{-10, -10}, {10, 10}})));
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RealInput angle(quantity="Angle") "Angle of the pendulum" annotation(
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Placement(transformation(origin = {-158, -6}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {-96, 0}, extent = {{-10, -10}, {10, 10}})));
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RealOutput motor(quantity="Torque") "Motor drive" annotation(
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Placement(transformation(origin = {226, 0}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {104, 0}, extent = {{-10, -10}, {10, 10}})));
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Modelica.Blocks.Discrete.Sampler sampler(samplePeriod = sampleTime) annotation(
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Placement(transformation(origin = {-126, -6}, extent = {{-10, -10}, {10, 10}})));
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Modelica.Blocks.Math.Add add(k1 = 1, k2 = -1) annotation(
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Placement(transformation(origin = {-86, 0}, extent = {{-10, -10}, {10, 10}})));
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Modelica.Blocks.Math.Gain gain(k = g_P) annotation(
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Placement(transformation(origin = {-30, 0}, extent = {{-10, -10}, {10, 10}})));
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Modelica.Blocks.Discrete.UnitDelay unitDelay(samplePeriod = sampleTime) annotation(
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Placement(transformation(origin = {-36, 32}, extent = {{-10, -10}, {10, 10}})));
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Modelica.Blocks.Math.MultiSum multiSum(nu = 3) annotation(
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Placement(transformation(origin = {122, 0}, extent = {{-10, -10}, {10, 10}})));
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Modelica.Blocks.Math.Gain gain1(k = g_D / sampleTime) annotation(
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Placement(transformation(origin = {56, 38}, extent = {{-10, -10}, {10, 10}})));
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Modelica.Blocks.Math.Add add1(k1 = +1, k2 = -1) annotation(
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Placement(transformation(origin = {8, 38}, extent = {{-10, -10}, {10, 10}})));
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Modelica.Blocks.Discrete.Sampler sampler1(samplePeriod = sampleTime) annotation(
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Placement(transformation(origin = {-126, 20}, extent = {{-10, -10}, {10, 10}})));
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Modelica.Blocks.Discrete.ZeroOrderHold zeroOrderHold(samplePeriod = sampleTime) annotation(
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Placement(transformation(origin = {192, 0}, extent = {{-10, -10}, {10, 10}})));
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Modelica.Blocks.Nonlinear.Limiter limiter(uMax = limit) annotation(
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Placement(transformation(origin = {158, 0}, extent = {{-10, -10}, {10, 10}})));
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Modelica.Blocks.Discrete.UnitDelay unitDelay1(samplePeriod = sampleTime) annotation(
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Placement(transformation(origin = {50, -50}, extent = {{-10, -10}, {10, 10}})));
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Modelica.Blocks.Math.Gain gain11(k = g_I*sampleTime) annotation(
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Placement(transformation(origin = {-30, -44}, extent = {{10, -10}, {-10, 10}}, rotation = 180)));
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Modelica.Blocks.Math.Add add11(k1 = +1, k2 = +1) annotation(
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Placement(transformation(origin = {14, -50}, extent = {{-10, -10}, {10, 10}}, rotation = -0)));
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equation
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connect(angle, sampler.u) annotation(
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Line(points = {{-158, -6}, {-138, -6}}, color = {0, 0, 127}));
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connect(sampler.y, add.u2) annotation(
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Line(points = {{-115, -6}, {-99, -6}}, color = {0, 0, 127}));
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connect(add.y, gain.u) annotation(
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Line(points = {{-75, 0}, {-42, 0}}, color = {0, 0, 127}));
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connect(gain.y, multiSum.u[1]) annotation(
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Line(points = {{-19, 0}, {112, 0}}, color = {0, 0, 127}));
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connect(gain1.y, multiSum.u[2]) annotation(
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Line(points = {{67, 38}, {95, 38}, {95, 0}, {111, 0}}, color = {0, 0, 127}));
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connect(unitDelay.y, add1.u2) annotation(
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Line(points = {{-25, 32}, {-4, 32}}, color = {0, 0, 127}));
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connect(add.y, add1.u1) annotation(
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Line(points = {{-74, 0}, {-62, 0}, {-62, 54}, {-12, 54}, {-12, 44}, {-4, 44}}, color = {0, 0, 127}));
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connect(add.y, unitDelay.u) annotation(
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Line(points = {{-74, 0}, {-62, 0}, {-62, 32}, {-48, 32}}, color = {0, 0, 127}));
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connect(add1.y, gain1.u) annotation(
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Line(points = {{20, 38}, {44, 38}}, color = {0, 0, 127}));
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||||||
|
connect(setpoint, sampler1.u) annotation(
|
||||||
|
Line(points = {{-158, 20}, {-138, 20}}, color = {0, 0, 127}));
|
||||||
|
connect(sampler1.y, add.u1) annotation(
|
||||||
|
Line(points = {{-114, 20}, {-110, 20}, {-110, 6}, {-98, 6}}, color = {0, 0, 127}));
|
||||||
|
connect(multiSum.y, limiter.u) annotation(
|
||||||
|
Line(points = {{134, 0}, {146, 0}}, color = {0, 0, 127}));
|
||||||
|
connect(limiter.y, zeroOrderHold.u) annotation(
|
||||||
|
Line(points = {{170, 0}, {180, 0}}, color = {0, 0, 127}));
|
||||||
|
connect(zeroOrderHold.y, motor) annotation(
|
||||||
|
Line(points = {{204, 0}, {226, 0}}, color = {0, 0, 127}));
|
||||||
|
connect(unitDelay1.y, multiSum.u[3]) annotation(
|
||||||
|
Line(points = {{61, -50}, {94, -50}, {94, 0}, {112, 0}}, color = {0, 0, 127}));
|
||||||
|
connect(unitDelay1.y, add11.u2) annotation(
|
||||||
|
Line(points = {{62, -50}, {80, -50}, {80, -74}, {-10, -74}, {-10, -56}, {2, -56}}, color = {0, 0, 127}));
|
||||||
|
connect(gain11.y, add11.u1) annotation(
|
||||||
|
Line(points = {{-19, -44}, {2, -44}}, color = {0, 0, 127}));
|
||||||
|
connect(add.y, gain11.u) annotation(
|
||||||
|
Line(points = {{-74, 0}, {-62, 0}, {-62, -44}, {-42, -44}}, color = {0, 0, 127}));
|
||||||
|
connect(add11.y, unitDelay1.u) annotation(
|
||||||
|
Line(points = {{26, -50}, {38, -50}}, color = {0, 0, 127}));
|
||||||
|
annotation(
|
||||||
|
Icon(graphics = {Rectangle(lineColor = {211, 211, 211}, fillColor = {255, 255, 255}, fillPattern = FillPattern.Sphere, lineThickness = 2, extent = {{-100, 100}, {100, -100}}, radius = 25)}),
|
||||||
|
experiment(StartTime = 0, StopTime = 1, Tolerance = 1e-06, Interval = 0.002),
|
||||||
|
Diagram(coordinateSystem(extent = {{-180, 60}, {240, -20}})));
|
||||||
|
end controller;
|
||||||
annotation(
|
annotation(
|
||||||
uses(Modelica(version = "4.1.0")));
|
uses(Modelica(version = "4.1.0")));
|
||||||
end test2d;
|
end test2d;
|
||||||
100
vis2d.mo
100
vis2d.mo
@@ -1,100 +0,0 @@
|
|||||||
model vis2d
|
|
||||||
import Modelica.Mechanics.MultiBody.Visualizers;
|
|
||||||
import Modelica.Mechanics.MultiBody.Frames;
|
|
||||||
|
|
||||||
parameter Real L = 1;
|
|
||||||
parameter Real w = 0.02;
|
|
||||||
parameter Real orbRadius = 0.04;
|
|
||||||
parameter Real axisLength = 0.25;
|
|
||||||
parameter Real axisWidth = 0.01;
|
|
||||||
parameter Real planeSize = 2.0;
|
|
||||||
parameter Real planeThickness = 0.002;
|
|
||||||
parameter Real planeOffset = -0.001;
|
|
||||||
|
|
||||||
Modelica.Blocks.Interfaces.RealInput phi annotation(
|
|
||||||
Placement(transformation(origin = {-98, -42}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-94, 60}, extent = {{-10, -10}, {10, 10}})));
|
|
||||||
Modelica.Blocks.Interfaces.RealInput y annotation(
|
|
||||||
Placement(transformation(origin = {-98, 0}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-94, -60}, extent = {{-10, -10}, {10, 10}})));
|
|
||||||
Modelica.Blocks.Interfaces.RealInput x annotation(
|
|
||||||
Placement(transformation(origin = {-98, 40}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-94, 0}, extent = {{-10, -10}, {10, 10}})));
|
|
||||||
protected
|
|
||||||
Real Rz[3,3];
|
|
||||||
Real r[3];
|
|
||||||
|
|
||||||
Visualizers.Advanced.Shape link(
|
|
||||||
shapeType = "cylinder",
|
|
||||||
length = L,
|
|
||||||
width = w,
|
|
||||||
height = w,
|
|
||||||
r_shape = {-L / 2, 0, 0},
|
|
||||||
lengthDirection = {1, 0, 0},
|
|
||||||
widthDirection = {0, 1, 0},
|
|
||||||
r = r,
|
|
||||||
R = Frames.from_T(Rz, zeros(3)));
|
|
||||||
|
|
||||||
Visualizers.Advanced.Shape orb(
|
|
||||||
shapeType = "sphere",
|
|
||||||
length = 2 * orbRadius,
|
|
||||||
width = 2 * orbRadius,
|
|
||||||
height = 2 * orbRadius,
|
|
||||||
r_shape = {L / 2 - orbRadius, 0, 0},
|
|
||||||
lengthDirection = {1, 0, 0},
|
|
||||||
widthDirection = {0, 1, 0},
|
|
||||||
r = r,
|
|
||||||
R = Frames.from_T(Rz, zeros(3)));
|
|
||||||
|
|
||||||
Visualizers.Advanced.Shape xAxis(
|
|
||||||
shapeType = "cylinder",
|
|
||||||
length = axisLength,
|
|
||||||
width = axisWidth,
|
|
||||||
height = axisWidth,
|
|
||||||
color = {255, 0, 0},
|
|
||||||
specularCoefficient = 0.1,
|
|
||||||
r_shape = {axisLength / 2, 0, 0},
|
|
||||||
lengthDirection = {1, 0, 0},
|
|
||||||
widthDirection = {0, 1, 0},
|
|
||||||
r = zeros(3),
|
|
||||||
R = Frames.from_T([1, 0, 0;
|
|
||||||
0, 1, 0;
|
|
||||||
0, 0, 1], zeros(3)));
|
|
||||||
|
|
||||||
Visualizers.Advanced.Shape yAxis(
|
|
||||||
shapeType = "cylinder",
|
|
||||||
length = axisLength,
|
|
||||||
width = axisWidth,
|
|
||||||
height = axisWidth,
|
|
||||||
color = {0, 200, 0},
|
|
||||||
specularCoefficient = 0.1,
|
|
||||||
r_shape = {0, axisLength / 2, 0},
|
|
||||||
lengthDirection = {0, 1, 0},
|
|
||||||
widthDirection = {0, 0, 1},
|
|
||||||
r = zeros(3),
|
|
||||||
R = Frames.from_T([1, 0, 0;
|
|
||||||
0, 1, 0;
|
|
||||||
0, 0, 1], zeros(3)));
|
|
||||||
|
|
||||||
Visualizers.Advanced.Shape zAxis(
|
|
||||||
shapeType = "cylinder",
|
|
||||||
length = axisLength,
|
|
||||||
width = axisWidth,
|
|
||||||
height = axisWidth,
|
|
||||||
color = {0, 90, 255},
|
|
||||||
specularCoefficient = 0.1,
|
|
||||||
r_shape = {0, 0, axisLength / 2},
|
|
||||||
lengthDirection = {0, 0, 1},
|
|
||||||
widthDirection = {1, 0, 0},
|
|
||||||
r = zeros(3),
|
|
||||||
R = Frames.from_T([1, 0, 0;
|
|
||||||
0, 1, 0;
|
|
||||||
0, 0, 1], zeros(3)));
|
|
||||||
equation
|
|
||||||
r = {x, y, 0};
|
|
||||||
// Negate phi here since shapes use inverse frame-mapping
|
|
||||||
Rz = [cos(-phi), -sin(-phi), 0;
|
|
||||||
sin(-phi), cos(-phi), 0;
|
|
||||||
0, 0, 1];
|
|
||||||
|
|
||||||
annotation(
|
|
||||||
uses(Modelica(version = "4.1.0")),
|
|
||||||
Icon(graphics = {Rectangle(lineColor = {204, 204, 204}, fillColor = {255, 255, 255}, fillPattern = FillPattern.Sphere, extent = {{-100, 100}, {100, -100}}, radius = 10), Text(extent = {{-100, 100}, {100, -100}}, textString = "VIS")}));
|
|
||||||
end vis2d;
|
|
||||||
Reference in New Issue
Block a user