package LEGOSegway annotation(__Wolfram(openClass=LEGOSegway.LQControl, useDocumentationTemplate=false), Documentation(info="
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LEGO Segway: Controlling an Inverted Pendulum

In order to get the full experience of this example, you need the following:

 

Parts of this example require Mathematica. Open the accompanying notebook LEGOSegway.nb in Mathematica for those scenarios.

 

Package Overview

This is a package containing the following models:

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This domain example is an informational resource made freely available by Wolfram Research.

Use of This Example

License

All content in this bundle is licensed under the Creative Commons Attribution-NonCommercial-ShareAlike 3.0 Unported License. By accessing the content or using it in any way, you accept and agree to be bound by the terms of this license. If you do not agree to these Terms of Use, you may not use this content. Wolfram Research reserves the right to change, modify, add to, or remove portions of these Terms of Use at any time without notice. Please refer back to www.wolfram.com for the latest Terms of Use.

A summary of the licensing terms can be found at:
http://creativecommons.org/licenses/by-nc-sa/3.0

The full legal code can be found at:
http://creativecommons.org/licenses/by-nc-sa/3.0/legalcode

 
", revisions=""), preferredView="info", uses(Modelica(version="3.1")), Icon(coordinateSystem(extent={{-100.0,-100.0},{100.0,100.0}}, preserveAspectRatio=true, initialScale=0.1, grid={10,10}), graphics={Text(visible=true, origin={0.0,21.0}, lineColor={255,0,0}, extent={{-120.0,73.0},{120.0,132.0}}, textString="%name", fontName="Arial"),Rectangle(visible=true, lineColor={111,0,0}, fillColor={255,0,0}, fillPattern=FillPattern.HorizontalCylinder, lineThickness=4, extent={{-90.0,-90.0},{90.0,90.0}}, radius=25),Text(visible=true, origin={12.0,20.8333}, fillColor={255,255,255}, fillPattern=FillPattern.Solid, extent={{-102.0,-70.8333},{78.0,29.1667}}, textString="Ex", fontName="Arial")}), Diagram(coordinateSystem(extent={{-148.5,-105.0},{148.5,105.0}}, preserveAspectRatio=true, initialScale=0.1, grid={10,10}))); package Components "Contains components used in the LEGO Segway example" extends Modelica.Icons.Library; annotation(Documentation(info="
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LEGO Segway: Controlling an Inverted Pendulum

 

Package Overview

This subpackage contains components used in the LEGO Segway models.

\"Show\"\"Hide\"Terms and Conditions of Use

This domain example is an informational resource made freely available by Wolfram Research.

Use of This Example

License

All content in this bundle is licensed under the Creative Commons Attribution-NonCommercial-ShareAlike 3.0 Unported License. By accessing the content or using it in any way, you accept and agree to be bound by the terms of this license. If you do not agree to these Terms of Use, you may not use this content. Wolfram Research reserves the right to change, modify, add to, or remove portions of these Terms of Use at any time without notice. Please refer back to www.wolfram.com for the latest Terms of Use.

A summary of the licensing terms can be found at:
http://creativecommons.org/licenses/by-nc-sa/3.0

The full legal code can be found at:
http://creativecommons.org/licenses/by-nc-sa/3.0/legalcode

 
", revisions=""), Icon(coordinateSystem(extent={{-100.0,-100.0},{100.0,100.0}}, preserveAspectRatio=true, initialScale=0.1, grid={10,10})), Diagram(coordinateSystem(extent={{-148.5,-105.0},{148.5,105.0}}, preserveAspectRatio=true, initialScale=0.1, grid={10,10}))); model Motor "A simplified voltage controlled motor" import SI = Modelica.SIunits; Modelica.Electrical.Analog.Sources.SignalVoltage voltageSource annotation(Placement(visible=true, transformation(origin={-60.0,0.0}, extent={{-10.0,10.0},{10.0,-10.0}}, rotation=270))); Modelica.Electrical.Analog.Basic.Resistor resistor(R=6.5862) annotation(Placement(visible=true, transformation(origin={-30.0,30.0}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=0))); Modelica.Electrical.Analog.Basic.Inductor inductor(L=0.001) annotation(Placement(visible=true, transformation(origin={0.0,30.0}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=0))); Modelica.Electrical.Analog.Basic.EMF EMF1(k=0.31739, useSupport=true) annotation(Placement(visible=true, transformation(origin={50.0,-0.0}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=0))); Modelica.Blocks.Interfaces.RealInput u annotation(Placement(visible=true, transformation(origin={-90.0,0.0}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=0), iconTransformation(origin={0.0,90.0}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=-90))); Modelica.Mechanics.Rotational.Interfaces.Flange_b flange annotation(Placement(visible=true, transformation(origin={80.0,0.0}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=0), iconTransformation(origin={0.0,-100.0}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=0))); annotation(__Wolfram(itemFlippingEnabled=true), Icon(coordinateSystem(extent={{-100.0,-100.0},{100.0,100.0}}, preserveAspectRatio=true, initialScale=0.1, grid={10,10}), graphics={Text(visible=true, origin={0.0,115.0}, fillPattern=FillPattern.Solid, extent={{-100.0,-15.0},{100.0,15.0}}, textString="%name", fontName="Arial"),Bitmap(visible=true, 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vQXdH/sFIa6f8SEwaZghZqbInHdfi8B9Lb3GDaHQRI3Zaj1/U6k8sN2Yb9O6H5hyXPw/68Mv gV3DS5QUGtPJqHReGzduRH5ZCVYtb0HuMODKXEMQ4knr+8DEY42/O2JZPSqKKCoUmgRywYoW 8cpj1XL8rlq0fWC4m0QITX55CQqaS9HW1o5JkyYpc/1ut7c/5MBBpc4py/q9Hn9H81g3sPrm Uhw9/wcUGQpNcjjrylpRt6Ze/ubiSlw4Nr5/e+EEYNfwUiyeUymqaqplZ2cnxo0bq9BNbViF gwcPKHVO+cazk0T3x5ALx8ff0RSUl+L8oFSJEJKh1K2pl+n0dwkhhBBCCCGEEEIIIYQQQggh hBBCCCGEEEIIIYQQQkjU/H/eqqMH7gJ24gAAAABJRU5ErkJggg== ", extent={{-87.2316,-86.7228},{87.2316,86.7228}})}), Diagram(coordinateSystem(extent={{-105.0,-74.0},{105.0,74.0}}, preserveAspectRatio=true, initialScale=0.1, grid={5,5})), Documentation(info="
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LEGO Segway: Controlling an Inverted Pendulum

 

Description

This models the DC motor in the LEGO kit.

View the model diagram for this model.

\"Show\"\"Hide\"Terms and Conditions of Use

This domain example is an informational resource made freely available by Wolfram Research.

Use of This Example

License

All content in this bundle is licensed under the Creative Commons Attribution-NonCommercial-ShareAlike 3.0 Unported License. By accessing the content or using it in any way, you accept and agree to be bound by the terms of this license. If you do not agree to these Terms of Use, you may not use this content. Wolfram Research reserves the right to change, modify, add to, or remove portions of these Terms of Use at any time without notice. Please refer back to www.wolfram.com for the latest Terms of Use.

A summary of the licensing terms can be found at:
http://creativecommons.org/licenses/by-nc-sa/3.0

The full legal code can be found at:
http://creativecommons.org/licenses/by-nc-sa/3.0/legalcode

 
", revisions="")); Modelica.Electrical.Analog.Basic.Ground ground annotation(Placement(visible=true, transformation(origin={-50.0,-50.0}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=0))); Modelica.Mechanics.Rotational.Sensors.SpeedSensor speedSensor1 annotation(Placement(visible=true, transformation(origin={80.0,-30.0}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=-90))); Modelica.Blocks.Interfaces.RealOutput w annotation(Placement(visible=true, transformation(origin={80.0,-60.0}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=-90), iconTransformation(origin={-40.0,-60.0}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=-180))); Modelica.Electrical.Analog.Sensors.CurrentSensor currentSensor1 annotation(Placement(visible=true, transformation(origin={30.0,30.0}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=0))); Modelica.Blocks.Interfaces.RealOutput motori annotation(Placement(visible=true, transformation(origin={10.0,10.0}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=-180), iconTransformation(origin={-50.0,30.0}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=-180))); Modelica.Mechanics.Rotational.Interfaces.Support support1 annotation(Placement(visible=true, transformation(origin={30.0,-50.0}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=0), iconTransformation(origin={25.719,-74.281}, extent={{-4.281,-4.281},{4.281,4.281}}, rotation=0))); equation connect(speedSensor1.w,w) annotation(Line(visible=true, origin={80.0,-50.5}, points={{0.0,9.5},{0.0,-9.5}}, color={0,0,127})); connect(speedSensor1.flange,flange) annotation(Line(visible=true, origin={80.0,-10.0}, points={{0.0,-10.0},{0.0,10.0}})); connect(currentSensor1.i,motori) annotation(Line(visible=true, origin={23.3333,13.3333}, points={{6.6667,6.6667},{6.6667,-3.3333},{-13.3333,-3.3333}}, color={0,0,127})); connect(inductor.n,currentSensor1.p) annotation(Line(visible=true, origin={15.0,30.0}, points={{-5.0,-0.0},{5.0,0.0}}, color={0,0,255})); connect(currentSensor1.n,EMF1.p) annotation(Line(visible=true, origin={46.6667,23.3333}, points={{-6.6667,6.6667},{3.3333,6.6667},{3.3333,-13.3333}}, color={0,0,255})); connect(EMF1.n,ground.p) annotation(Line(visible=true, origin={0.0,-29.0}, points={{50.0,19.0},{50.0,-6.0},{-50.0,-6.0},{-50.0,-11.0}}, color={0,0,255})); connect(EMF1.flange,flange) annotation(Line(visible=true, origin={70.0,0.0}, points={{-10.0,0.0},{10.0,-0.0}})); connect(EMF1.support,support1) annotation(Line(visible=true, origin={33.3333,-16.6667}, points={{6.6667,16.6667},{-3.3333,16.6667},{-3.3333,-33.3333}})); connect(voltageSource.n,ground.p) annotation(Line(visible=true, origin={-55.0,-29.0}, points={{-5.0,19.0},{-5.0,-6.0},{5.0,-6.0},{5.0,-11.0}}, color={0,0,255})); connect(inductor.p,resistor.n) annotation(Line(visible=true, origin={-15.0,30.0}, points={{5.0,0.0},{-5.0,0.0}}, color={0,0,255})); connect(resistor.p,voltageSource.p) annotation(Line(visible=true, origin={-53.3333,23.3333}, points={{13.3333,6.6667},{-6.6667,6.6667},{-6.6667,-13.3333}}, color={0,0,255})); connect(u,voltageSource.v) annotation(Line(visible=true, origin={-78.5,0.0}, points={{-11.5,0.0},{11.5,0.0}}, color={0,0,127})); end Motor; model Brick "Models a LEGO CPU brick" annotation(Documentation(info="
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LEGO Segway: Controlling an Inverted Pendulum

 

Description

This models the brick with the CPU of a LEGO Segway.

View the model diagram for this model.

\"Show\"\"Hide\"Terms and Conditions of Use

This domain example is an informational resource made freely available by Wolfram Research.

Use of This Example

License

All content in this bundle is licensed under the Creative Commons Attribution-NonCommercial-ShareAlike 3.0 Unported License. By accessing the content or using it in any way, you accept and agree to be bound by the terms of this license. If you do not agree to these Terms of Use, you may not use this content. Wolfram Research reserves the right to change, modify, add to, or remove portions of these Terms of Use at any time without notice. Please refer back to www.wolfram.com for the latest Terms of Use.

A summary of the licensing terms can be found at:
http://creativecommons.org/licenses/by-nc-sa/3.0

The full legal code can be found at:
http://creativecommons.org/licenses/by-nc-sa/3.0/legalcode

 
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shapeType="DocumentationFiles/brick.obj", lengthDirection={1,0,0}, animation=true, animateSphere=false) annotation(Placement(visible=true, transformation(origin={0.0,-0.0}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=-270))); Modelica.Mechanics.MultiBody.Interfaces.Frame_a frame_a1 annotation(Placement(visible=true, transformation(origin={0.0,-40.0}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=-90), iconTransformation(origin={0.0,-100.0}, extent={{-5.0,-5.0},{5.0,5.0}}, rotation=-270))); Modelica.Mechanics.MultiBody.Interfaces.Frame_b disturbance annotation(Placement(visible=true, transformation(origin={0.0,40.0}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=-90), iconTransformation(origin={0.0,100.0}, extent={{-5.0,-5.0},{5.0,5.0}}, rotation=-90))); equation connect(RobotBody.frame_b,disturbance) annotation(Line(visible=true, origin={0.0,25.0}, points={{0.0,-15.0},{-0.0,15.0}})); connect(RobotBody.frame_a,frame_a1) annotation(Line(visible=true, origin={0.0,-25.0}, points={{0.0,15.0},{-0.0,-15.0}})); end Brick; model Gyro "Models a LEGO gyro sensor" annotation(Documentation(info="
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LEGO Segway: Controlling an Inverted Pendulum

 

Description

This models the gyroscopic sensor of a LEGO Segway.

View the model diagram for this model.

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annotation(Placement(visible=true, transformation(origin={30.0,30.0}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=-270), iconTransformation(origin={-10.0,-77.943}, extent={{-5.8914,-5.8914},{5.8914,5.8914}}, rotation=-90))); Modelica.Mechanics.Rotational.Sensors.SpeedSensor speedSensor1 annotation(Placement(visible=true, transformation(origin={30.0,0.0}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=-270))); Modelica.Mechanics.Rotational.Interfaces.Flange_a flange_a1 annotation(Placement(visible=true, transformation(origin={30.0,-30.0}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=0), iconTransformation(origin={23.9901,-80.0}, extent={{-6.0099,-6.0099},{6.0099,6.0099}}, rotation=0))); Modelica.Mechanics.Rotational.Sensors.AngleSensor angleSensor1 annotation(Placement(visible=true, transformation(origin={-30.0,0.0}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=-270))); Modelica.Mechanics.Rotational.Interfaces.Flange_a flange_a2 annotation(Placement(visible=true, transformation(origin={-30.0,-30.0}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=0), iconTransformation(origin={6.1564,-80.0}, extent={{-6.1564,-6.1564},{6.1564,6.1564}}, rotation=0))); equation connect(angleSensor1.flange,flange_a2) annotation(Line(visible=true, origin={-30.0,-20.0}, points={{-0.0,10.0},{0.0,-10.0}})); connect(angleSensor1.phi,Phi) annotation(Line(visible=true, origin={-30.0,20.5}, points={{-0.0,-9.5},{0.0,9.5}}, color={0,0,127})); connect(speedSensor1.w,Omega) annotation(Line(visible=true, origin={30.0,20.5}, points={{0.0,-9.5},{-0.0,9.5}}, color={0,0,127})); connect(speedSensor1.flange,flange_a1) annotation(Line(visible=true, origin={30.0,-20.0}, points={{0.0,10.0},{-0.0,-10.0}})); end Gyro; model SmallLeftTire "Models a LEGO tire" annotation(Documentation(info="
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LEGO Segway: Controlling an Inverted Pendulum

 

Description

This models the left tire of a LEGO Segway.

View the model diagram for this model.

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connect(LeftWheel.frame_a,frame_a1) annotation(Line(visible=true, origin={35.0,0.0}, points={{-25.0,0.0},{25.0,-0.0}})); end SmallLeftTire; model SmallRightTire "Models a LEGO tire" annotation(Documentation(info="
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LEGO Segway: Controlling an Inverted Pendulum

 

Description

This models the right tire of a LEGO Segway.

View the model diagram for this model.

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r/3W9vXrN56epydhqEBFfOPSnxGlMwH+/wMAOCiNeWS+LS4AAAAASUVORK5CYII= ", extent={{-89.2996,-94.1234},{89.2996,94.1234}})}), Diagram(coordinateSystem(extent={{-74.0,-52.5},{74.0,52.5}}, preserveAspectRatio=true, initialScale=0.1, grid={5,5}), graphics)); import SI = Modelica.SIunits; parameter Modelica.SIunits.RotationalDampingConstant d_legoBody=1e-05 "LEGO Body damper constant"; Modelica.Mechanics.MultiBody.Parts.BodyShape LeftWheel(shapeType="DocumentationFiles/rightTire.obj", extra=1, length=0.01, height=0.01, width=0.01, lengthDirection={1,0,0}, animation=true, animateSphere=false, m=0) annotation(Placement(visible=true, transformation(origin={0.0,0.0}, extent={{10.0,-10.0},{-10.0,10.0}}, rotation=180))); Modelica.Mechanics.MultiBody.Interfaces.Frame_a frame_a1 annotation(Placement(visible=true, transformation(origin={-60.0,-0.0}, extent={{10.0,-10.0},{-10.0,10.0}}, rotation=0), iconTransformation(origin={-52.2872,0.0}, extent={{-16.0,-16.0},{16.0,16.0}}, rotation=0))); equation connect(LeftWheel.frame_a,frame_a1) annotation(Line(visible=true, origin={-35.0,-0.0}, points={{25.0,0.0},{-25.0,-0.0}})); end SmallRightTire; model LEGOSegwayModel "Contains a model of a LEGO Segway with some extra inputs and outputs" extends LEGOSegway.Components.LEGOSegwayBase(ground.length=4, ground.ground.shapeType="DocumentationFiles/floor.obj"); Modelica.Blocks.Interfaces.RealOutput LeftMotorCurrent annotation(Placement(visible=true, transformation(origin={-110.0,-60.0}, extent={{10.0,-10.0},{-10.0,10.0}}, rotation=0), iconTransformation(origin={110.0,-80.0}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=0))); Modelica.Blocks.Interfaces.RealOutput RightMotorCurrent annotation(Placement(visible=true, transformation(origin={130.0,-60.0}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=0), iconTransformation(origin={110.0,-50.0}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=0))); annotation(Documentation(info="
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LEGO Segway: Controlling an Inverted Pendulum

 

Introduction

This model is of a standalone LEGO Segway. This model is used as a component in the models with control and without control.

View the model diagram for this model.

 

These pages show an overview of the example. For the full example, open the accompanying notebook LEGOSegway.nb in Mathematica.

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", revisions=""), Icon(coordinateSystem(extent={{-100.0,-100.0},{100.0,100.0}}, preserveAspectRatio=true, initialScale=0.1, grid={10,10}), graphics={Text(visible=true, origin={72.5048,-50.0}, fillColor={255,255,255}, fillPattern=FillPattern.Solid, extent={{-27.4952,-5.2339},{27.4952,5.2339}}, textString="Right Motor Current", fontSize=14, fontName="Arial"),Text(visible=true, origin={73.5692,-80.0}, lineColor={255,255,255}, fillColor={255,255,255}, fillPattern=FillPattern.Solid, extent={{-26.4308,-5.2339},{26.4308,5.2339}}, textString="Left Motor Current", fontSize=14, fontName="Arial")})); Modelica.Blocks.Interfaces.RealOutput Phi annotation(Placement(visible=true, transformation(origin={-90.0,20.0}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=-180), iconTransformation(origin={110.0,20.0}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=0))); equation connect(LeftMotor.motori,LeftMotorCurrent) annotation(Line(visible=true, origin={-86.25,-65.5}, points={{11.25,-5.5},{6.25,-5.5},{6.25,5.5},{-23.75,5.5}}, color={0,0,127})); connect(RightMotor.motori,RightMotorCurrent) annotation(Line(visible=true, origin={106.25,-68.0}, points={{-11.25,-3.0},{-6.25,-3.0},{-6.25,8.0},{23.75,8.0}}, color={0,0,127})); connect(gyro1.Phi,Phi) annotation(Line(visible=true, origin={-65.73,12.2136}, points={{26.8068,11.0447},{26.8068,7.7864},{-4.27,7.7864},{-24.27,7.7864}}, color={0,0,127})); end LEGOSegwayModel; model LEGOSegwayBase "Contains a base model of a LEGO Segway" parameter Real WheelRadius=0.035; parameter Real WheelDistance=0.13; parameter Real WheelWidth=0.0133; Modelica.Mechanics.MultiBody.Visualizers.Ground ground(length=3.3, groundColor={0,255,0}, height=0.006) annotation(Placement(visible=true, transformation(origin={-130.0,-110.0}, extent={{-20.0,-60.0},{0.0,-40.0}}, rotation=0))); inner Modelica.Mechanics.MultiBody.World world(label2="z", n={0,0,-1}, animateWorld=false, animateGravity=false) annotation(Placement(visible=true, transformation(origin={-110.0,-110.0}, extent={{-80.0,-60.0},{-60.0,-40.0}}, rotation=0))); Modelica.Mechanics.MultiBody.Parts.RollingWheelSet wheelSet(wheelRadius=WheelRadius, wheelMass=0.05, wheel_I_axis=0.01, wheelDistance=WheelDistance + 2*WheelWidth, x(start=0.1, fixed=true), y(start=0.1, fixed=true), phi(fixed=true), theta1(fixed=true), theta2(fixed=true), der_theta1(fixed=true), der_theta2(fixed=true), wheelWidth=WheelWidth, animation=false) annotation(Placement(visible=true, transformation(origin={20.0,-120.0}, extent={{-20.0,-20.0},{0.0,0.0}}, rotation=0))); LEGOSegway.Components.SmallLeftTire smallLeftTire1 annotation(Placement(visible=true, transformation(origin={-90.0,-130.0}, extent={{-20.0,-20.0},{20.0,20.0}}, rotation=0))); LEGOSegway.Components.SmallRightTire smallRightTire1 annotation(Placement(visible=true, transformation(origin={110.0,-130.0}, extent={{-20.0,-20.0},{20.0,20.0}}, rotation=0))); Modelica.Mechanics.MultiBody.Parts.FixedTranslation fixedTranslation1(r={CadOffset2,0,-WheelRadius - CadOffset}, animation=false) annotation(Placement(visible=true, transformation(origin={-50.0,-130.0}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=-180))); Modelica.Mechanics.MultiBody.Parts.FixedTranslation fixedTranslation2(r={CadOffset2,0,-WheelRadius - CadOffset}, animation=false) annotation(Placement(visible=true, transformation(origin={70.0,-130.0}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=0))); Modelica.Mechanics.MultiBody.Parts.FixedTranslation fixedTranslation3(r={0,WheelDistance/2 + WheelWidth,0}, animation=false) annotation(Placement(visible=true, transformation(origin={40.0,-130.0}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=0))); Modelica.Mechanics.MultiBody.Parts.FixedTranslation fixedTranslation4(r={0,-WheelDistance/2 - WheelWidth,0}, animation=false) annotation(Placement(visible=true, transformation(origin={-20.0,-130.0}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=-180))); parameter Real CadOffset=-0.015; parameter Real CadOffset2=0.002; Modelica.Mechanics.MultiBody.Joints.Revolute revolute1(useAxisFlange=true, n={0,1,0}, animation=false, w.stateSelect=StateSelect.always) annotation(Placement(visible=true, transformation(origin={10.0,-80.0}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=-630))); LEGOSegway.Components.Motor RightMotor annotation(Placement(visible=true, transformation(origin={80.0,-80.0}, extent={{30.0,-30.0},{-30.0,30.0}}, rotation=0))); LEGOSegway.Components.Motor LeftMotor annotation(Placement(visible=true, transformation(origin={-60.0,-80.0}, extent={{-30.0,-30.0},{30.0,30.0}}, rotation=0))); LEGOSegway.Components.Brick brick1 annotation(Placement(visible=true, transformation(origin={10.0,10.0}, extent={{-40.0,-40.0},{40.0,40.0}}, rotation=0))); Modelica.Mechanics.MultiBody.Parts.FixedTranslation fixedTrans(r={0,0,-WheelRadius - CadOffset}, animation=false) annotation(Placement(visible=true, transformation(origin={10.0,-50.0}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=-630))); LEGOSegway.Components.Gyro gyro1 annotation(Placement(visible=true, transformation(origin={-35.0,35.0}, extent={{-15.0,-15.0},{15.0,15.0}}, rotation=0))); Modelica.Blocks.Interfaces.RealInput LeftMotorVoltage annotation(Placement(visible=true, transformation(origin={-120.0,-30.0}, extent={{-20.0,-20.0},{20.0,20.0}}, rotation=0), iconTransformation(origin={-110.0,50.0}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=0))); Modelica.Blocks.Interfaces.RealInput RightMotorVoltage annotation(Placement(visible=true, transformation(origin={140.0,-30.0}, extent={{-20.0,20.0},{20.0,-20.0}}, rotation=180), iconTransformation(origin={-110.0,-50.0}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=0))); Modelica.Mechanics.Rotational.Components.Damper damper1(d=0.0001) annotation(Placement(visible=true, transformation(origin={-20.0,-80.0}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=-270))); Modelica.Blocks.Interfaces.RealOutput Omega annotation(Placement(visible=true, transformation(origin={-90.0,0.0}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=-540), iconTransformation(origin={110.0,-20.0}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=0))); Modelica.Blocks.Interfaces.RealOutput LeftMotorSpeed annotation(Placement(visible=true, transformation(origin={-110.0,-90.0}, extent={{-10.0,10.0},{10.0,-10.0}}, rotation=180), iconTransformation(origin={110.0,50.0}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=0))); Modelica.Blocks.Interfaces.RealOutput RightMotorSpeed annotation(Placement(visible=true, transformation(origin={130.0,-90.0}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=-360), iconTransformation(origin={110.0,80.0}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=0))); Modelica.Mechanics.MultiBody.Interfaces.Frame_b disturbance annotation(Placement(visible=true, transformation(origin={10.0,70.0}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=-90), iconTransformation(origin={0.0,100.0}, extent={{-16.0,-16.0},{16.0,16.0}}, rotation=-90))); Modelica.Blocks.Nonlinear.Limiter limiter1(uMax=8.5) annotation(Placement(visible=true, transformation(origin={-80.0,-30.0}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=0))); Modelica.Blocks.Nonlinear.Limiter limiter2(uMax=8.5) annotation(Placement(visible=true, transformation(origin={100.0,-30.0}, extent={{10.0,-10.0},{-10.0,10.0}}, rotation=0))); equation connect(brick1.disturbance,disturbance) annotation(Line(visible=true, origin={10.0,60.0}, points={{0.0,-10.0},{0.0,10.0}}, color={95,95,95})); connect(RightMotor.flange,wheelSet.axis2) annotation(Line(visible=true, origin={50.0,-112.5}, points={{30.0,2.5},{30.0,2.5},{-30.0,2.5},{-30.0,-7.5}})); connect(LeftMotor.flange,wheelSet.axis1) annotation(Line(visible=true, origin={-30.0,-112.5}, points={{-30.0,2.5},{-30.0,2.5},{30.0,2.5},{30.0,-7.5}})); connect(LeftMotorVoltage,limiter1.u) annotation(Line(visible=true, origin={-106.0,-30.0}, points={{-14.0,0.0},{14.0,-0.0}}, color={0,0,127})); connect(RightMotorVoltage,limiter2.u) annotation(Line(visible=true, origin={126.0,-30.0}, points={{14.0,0.0},{-14.0,0.0}}, color={0,0,127})); connect(gyro1.Omega,Omega) annotation(Line(visible=true, origin={-54.3333,7.7695}, points={{17.8333,15.539},{17.8333,-7.7695},{-35.6667,-7.7695}}, color={0,0,127})); connect(LeftMotorSpeed,LeftMotor.w) annotation(Line(visible=true, origin={-85.5,-94.0}, points={{-24.5,4.0},{5.5,4.0},{5.5,-4.0},{13.5,-4.0}}, color={0,0,127})); connect(RightMotor.w,RightMotorSpeed) annotation(Line(visible=true, origin={97.05,-94.0}, points={{-5.05,-4.0},{2.95,-4.0},{2.95,4.0},{32.95,4.0}}, color={0,0,127})); connect(wheelSet.support,LeftMotor.support1) annotation(Line(visible=true, origin={-16.2094,-111.7606}, points={{26.2094,-10.0394},{26.2094,9.4763},{-26.9177,9.4763},{-34.7906,9.4763}})); connect(RightMotor.support1,wheelSet.support) annotation(Line(visible=true, origin={21.9364,-116.6307}, points={{49.0636,14.3464},{-11.9364,14.3464},{-11.9364,-9.9165},{-11.9364,-5.1693}})); connect(fixedTrans.frame_b,brick1.frame_a1) annotation(Line(visible=true, origin={10.0,-35.0}, points={{0.0,-5.0},{0.0,5.0}})); connect(revolute1.frame_b,fixedTrans.frame_a) annotation(Line(visible=true, origin={10.0,-65.0}, points={{-0.0,-5.0},{0.0,5.0}})); connect(gyro1.flange_a1,revolute1.axis) annotation(Line(visible=true, origin={-20.9343,-45.6667}, points={{-10.4672,68.6667},{-10.4672,-34.3333},{20.9343,-34.3333}})); connect(revolute1.axis,gyro1.flange_a2) annotation(Line(visible=true, origin={-22.7177,-45.6667}, points={{22.7177,-34.3333},{-11.3588,-34.3333},{-11.3588,68.6667}})); connect(limiter1.y,LeftMotor.u) annotation(Line(visible=true, origin={-63.0,-37.6667}, points={{-6.0,7.6667},{3.0,7.6667},{3.0,-15.3333}}, color={0,0,127})); connect(damper1.flange_a,revolute1.support) annotation(Line(visible=true, origin={-9.24,-90.1}, points={{-10.76,0.1},{-10.76,-3.4},{6.14,-3.4},{6.14,4.1},{9.24,4.1}})); connect(limiter2.y,RightMotor.u) annotation(Line(visible=true, origin={83.0,-37.6667}, points={{6.0,7.6667},{-3.0,7.6667},{-3.0,-15.3333}}, color={0,0,127})); connect(fixedTranslation1.frame_b,smallLeftTire1.frame_a1) annotation(Line(visible=true, origin={-70.2305,-130.0}, points={{10.2305,0.0},{-10.2305,0.0}})); connect(fixedTranslation4.frame_a,wheelSet.frame1) annotation(Line(visible=true, origin={-4.0,-130.0}, points={{-6.0,0.0},{6.0,0.0}})); connect(fixedTranslation1.frame_a,fixedTranslation4.frame_b) annotation(Line(visible=true, origin={-35.0,-130.0}, points={{-5.0,0.0},{5.0,0.0}})); connect(fixedTranslation2.frame_b,smallRightTire1.frame_a1) annotation(Line(visible=true, origin={89.7713,-130.0}, points={{-9.7713,0.0},{9.7713,-0.0}})); connect(fixedTranslation3.frame_b,fixedTranslation2.frame_a) annotation(Line(visible=true, origin={55.0,-130.0}, points={{-5.0,0.0},{5.0,0.0}})); connect(wheelSet.frame2,fixedTranslation3.frame_a) annotation(Line(visible=true, origin={24.0,-130.0}, points={{-6.0,0.0},{6.0,0.0}})); connect(revolute1.frame_a,wheelSet.frameMiddle) annotation(Line(visible=true, origin={10.0,-110.0}, points={{0.0,20.0},{-0.0,-20.0}})); connect(damper1.flange_b,revolute1.axis) annotation(Line(visible=true, origin={-9.24,-72.8}, points={{-10.76,2.8},{-10.76,5.8},{6.14,5.8},{6.14,-7.2},{9.24,-7.2}})); annotation(Icon(coordinateSystem(extent={{-100.0,-100.0},{100.0,100.0}}, preserveAspectRatio=true, initialScale=0.1, grid={10,10}), graphics={Rectangle(visible=true, fillColor={0,170,255}, fillPattern=FillPattern.Solid, extent={{-100.0,-100.0},{100.0,100.0}}),Bitmap(visible=true, origin={-1.9457,-5.9539}, fileName="", imageSource="iVBORw0KGgoAAAANSUhEUgAAAZAAAAHUCAYAAAAUdn62AAAAAXNSR0IArs4c6QAAAAZiS0dE AP8A/wD/oL2nkwAAAAlwSFlzAAALEwAACxMBAJqcGAAAAAd0SU1FB9oGCA86NtTKRHsAACAA SURBVHja7H1nmBzVme57Knec7p6sGYXRjHKOCCQhgRAIEUTGwGJYwGF9fe31tTfce9dh1/be 9e7ihQVfsxeTzJpkkzE5SIBEkFYgCeUwOc907q5c5/7orlZ3T/fMKOBl5fqeZ56Z6a6uqq5z zvee7/0SgSOfi9xyy9UXtLZ2325Z9EsAkEym4fW6Wg3D+n9TpzYEHnvs+b92npIjjjjyX1mI 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LEGO Segway: Controlling an Inverted Pendulum

 

Description

This is a bare-bones LEGO Segway model used to build up the final Segway.

View the model diagram for this model.

\"Show\"\"Hide\"Terms and Conditions of Use

This domain example is an informational resource made freely available by Wolfram Research.

Use of This Example

License

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http://creativecommons.org/licenses/by-nc-sa/3.0/legalcode

 
", revisions="")); end LEGOSegwayBase; end Components; model LQControl "Model of a LEGO Segway with an LQ controller keeping it upright" annotation(preferredView="info", Documentation(info="
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LEGO Segway: Controlling an Inverted Pendulum

CONTENTS:
ˇ Introductionˇ Simulation
ˇ Instant Plottingˇ Create Custom Libraries
 

Introduction

This models a LEGO Segway kept upright by an LQ controller. The LQ controller is designed in Mathematica using the SystemModeler Link. For the model without a controller, open LEGOSegway.NoControl.

In order to get the full experience of this example, you need the following:

 

Parts of this example require Mathematica. Open the accompanying notebook LEGOSegway.nb in Mathematica for those scenarios.

View the model diagram for this model.

 

Simulation

To simulate the LEGO Segway and view a 3D animation of it, follow the steps below:

The result shows the LEGO Segway moving around, withstanding pushes applied at the top of the Segway.

\"\"/

 

Instant Plotting

Plotting the path of the Segway is simple in Simulation Center:

\"\"/

Also plot the angle of the Segway:

\"\"/

As you can see, the angle never deviates more than 0.08 rad, or 4.6°.

 

Create Custom Libraries

The model of this controlled Segway is built on custom components, modeling parts of the LEGO Mindstorms NXT 2.0 kit. For example, the model diagrams for the gyro, the motor, and one of the tires.

 

These pages show an overview of the example. For the full example, open the accompanying notebook LEGOSegway.nb in Mathematica.

\"Show\"\"Hide\"Terms and Conditions of Use

This domain example is an informational resource made freely available by Wolfram Research.

Use of This Example

License

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Diagram(coordinateSystem(extent={{-148.5,-105.0},{148.5,150.0}}, preserveAspectRatio=true, initialScale=0.1, grid={10,10}), graphics={Rectangle(visible=true, origin={0.0,-75.0}, lineColor={0,85,0}, fillColor={0,170,127}, pattern=LinePattern.Dash, fillPattern=FillPattern.Solid, lineThickness=0.75, extent={{-20.0,-25.0},{20.0,25.0}}),Text(visible=true, origin={0.0,-91.936}, fillColor={255,255,255}, fillPattern=FillPattern.Solid, extent={{-15.0,-5.0},{15.0,5.0}}, textString="LQR", fontSize=24, fontName="Arial"),Rectangle(visible=true, origin={-60.0,107.5}, lineColor={0,85,0}, fillColor={0,170,127}, pattern=LinePattern.Dash, fillPattern=FillPattern.Solid, lineThickness=0.75, extent={{-80.0,-37.5},{80.0,37.5}}),Text(visible=true, origin={-103.0729,135.0}, fillColor={255,255,255}, fillPattern=FillPattern.Solid, extent={{-26.9271,-5.0},{26.9271,5.0}}, textString="Disturbance", fontSize=24, fontName="Arial"),Rectangle(visible=true, origin={-120.0,15.0}, lineColor={0,85,0}, fillColor={0,170,127}, pattern=LinePattern.Dash, fillPattern=FillPattern.Solid, lineThickness=0.75, extent={{-20.0,-45.0},{20.0,45.0}}),Text(visible=true, origin={-120.0,-22.4187}, fillColor={255,255,255}, fillPattern=FillPattern.Solid, extent={{-26.9271,-5.0},{26.9271,5.0}}, textString="Steering", fontSize=24, fontName="Arial")}), experiment(StartTime=0.0, StopTime=20, Interval=0.01, Algorithm="dassl", Tolerance=1e-06)); parameter Real L[2,6]={{-0.317389999945665,-0.332770810105325,-189.012455398573,-19.1625910782731,0.00986193616239615,0.0175149167638231},{-0.332770810116102,-0.317389999939135,-189.012455399932,-19.1625910784022,0.0175149167639171,0.00986193616242574}}; Modelica.Blocks.Math.Feedback feedback1 annotation(Placement(visible=true, transformation(origin={-30.0,-0.0}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=0))); Modelica.Blocks.Math.Feedback feedback2 annotation(Placement(visible=true, transformation(origin={-50.0,40.0}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=0))); Modelica.Blocks.Math.MatrixGain LQGain(K=L) annotation(Placement(visible=true, transformation(origin={0.0,-70.0}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=-180))); LEGOSegway.Components.LEGOSegwayModel segway(limiter1.uMax=uMax, limiter2.uMax=uMax) annotation(Placement(visible=true, transformation(origin={30.0,20.0}, extent={{-40.0,-40.0},{40.0,40.0}}, rotation=0))); Modelica.Blocks.Routing.Multiplex6 multiplex annotation(Placement(visible=true, transformation(origin={40.0,-70.0}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=-180))); Modelica.Blocks.Interfaces.RealOutput angle annotation(Placement(visible=true, transformation(origin={140.0,40.0}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=0), iconTransformation(origin={85.9411,41.8738}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=0))); inner Modelica.Mechanics.MultiBody.World world(n={0,0,-1}, animateGravity=false, animateWorld=false, label2="z") annotation(Placement(visible=true, transformation(origin={-120.0,-80.0}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=0))); Modelica.Mechanics.MultiBody.Forces.WorldForce force(N_to_m=0.5) annotation(Placement(visible=true, transformation(origin={0.0,110.0}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=0))); Modelica.Blocks.Sources.Pulse pulsex(amplitude=-fMax, period=20, startTime=5, width=1) annotation(Placement(visible=true, transformation(origin={-60.0,130.0}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=0))); Modelica.Blocks.Sources.Pulse pulsey(amplitude=-0.26, period=20, startTime=11.5, width=1) annotation(Placement(visible=true, transformation(origin={-90.0,110.0}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=0))); Modelica.Blocks.Sources.Pulse pulsez(amplitude=-0.31, period=20, startTime=16, width=1) annotation(Placement(visible=true, transformation(origin={-120.0,90.0}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=0))); Modelica.Blocks.Sources.TimeTable LeftMotorVoltage(table=[0,0;2,0;2,4;8,4;8,1;14,1;16,6;18,0;20,0]) annotation(Placement(visible=true, transformation(origin={-120.0,40.0}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=0))); Modelica.Blocks.Sources.TimeTable RightMotorVoltage(table=[0,0;2,0;2,4;8,4;15,0.9;16,6;18,0;20,0]) annotation(Placement(visible=true, transformation(origin={-120.0,0.0}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=0))); parameter Modelica.SIunits.Voltage uMax=8.5; parameter Modelica.SIunits.Force fMax=0.31; Modelica.Blocks.Math.Gain gain1(k=-1) annotation(Placement(visible=true, transformation(origin={-80.0,40.0}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=0))); Modelica.Blocks.Math.Gain gain2(k=-1) annotation(Placement(visible=true, transformation(origin={-80.0,-0.0}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=0))); equation connect(feedback1.u2,LQGain.y[2]) annotation(Line(visible=true, origin={-23.6667,-49.3333}, points={{-6.3333,41.3333},{-6.3333,-20.6667},{12.6667,-20.6667}}, color={0,0,127})); connect(LQGain.y[1],feedback2.u2) annotation(Line(visible=true, origin={-37.0,-36.0}, points={{26.0,-34.0},{-13.0,-34.0},{-13.0,68.0}}, color={0,0,127})); connect(gain2.u,RightMotorVoltage.y) annotation(Line(visible=true, origin={-100.5,0.0}, points={{8.5,0.0},{-8.5,0.0}}, color={0,0,127})); connect(LeftMotorVoltage.y,gain1.u) annotation(Line(visible=true, origin={-100.5,40.0}, points={{-8.5,0.0},{8.5,0.0}}, color={0,0,127})); connect(pulsez.y,force.force[3]) annotation(Line(visible=true, origin={-52.75,100.0}, points={{-56.25,-10.0},{22.75,-10.0},{22.75,10.0},{40.75,10.0}}, color={0,0,127})); connect(pulsey.y,force.force[2]) annotation(Line(visible=true, origin={-45.5,110.0}, points={{-33.5,0.0},{33.5,0.0}}, color={0,0,127})); connect(pulsex.y,force.force[1]) annotation(Line(visible=true, origin={-35.25,120.0}, points={{-13.75,10.0},{5.25,10.0},{5.25,-10.0},{23.25,-10.0}}, color={0,0,127})); connect(feedback2.y,segway.LeftMotorVoltage) annotation(Line(visible=true, origin={-27.5,40.0}, points={{-13.5,0.0},{13.5,0.0}}, color={0,0,127})); connect(segway.Phi,angle) annotation(Line(visible=true, origin={110.05,34.0}, points={{-36.05,-6.0},{9.95,-6.0},{9.95,6.0},{29.95,6.0}}, color={0,0,127})); connect(gain1.y,feedback2.u1) annotation(Line(visible=true, origin={-63.5,40.0}, points={{-5.5,0.0},{5.5,0.0}}, color={0,0,127})); connect(gain2.y,feedback1.u1) annotation(Line(visible=true, origin={-53.5,-0.0}, points={{-15.5,0.0},{15.5,-0.0}}, color={0,0,127})); connect(segway.RightMotorVoltage,feedback1.y) annotation(Line(visible=true, origin={-17.5,-0.0}, points={{3.5,0.0},{-3.5,-0.0}}, color={0,0,127})); connect(LQGain.u[:],multiplex.y[:]) annotation(Line(visible=true, origin={20.5,-70.0}, points={{-8.5,0.0},{8.5,0.0}}, color={0,0,127})); connect(force.frame_b,segway.disturbance) annotation(Line(visible=true, origin={23.3333,93.3333}, points={{-13.3333,16.6667},{6.6667,16.6667},{6.6667,-33.3333}})); connect(segway.Omega,multiplex.u4[1]) annotation(Line(visible=true, origin={86.3626,-27.85}, points={{-12.3626,39.85},{8.9926,39.85},{8.9926,-40.45},{-35.1626,-40.45}}, color={0,0,127})); connect(segway.RightMotorCurrent,multiplex.u5[1]) annotation(Line(visible=true, origin={82.0704,-32.4894}, points={{-8.0704,32.4894},{7.9296,32.4894},{7.9296,-32.4106},{-30.8704,-32.4106}}, color={0,0,127})); connect(segway.LeftMotorCurrent,multiplex.u6[1]) annotation(Line(visible=true, origin={78.3143,-36.4523}, points={{-4.3143,24.4523},{6.4296,24.4523},{6.4296,-25.0477},{-27.1143,-25.0477}}, color={0,0,127})); connect(segway.Phi,multiplex.u3[1]) annotation(Line(visible=true, origin={89.5729,-23.8894}, points={{-15.5729,51.8894},{10.4271,51.8894},{10.4271,-47.8106},{-38.3729,-47.8106}}, color={0,0,127})); connect(segway.RightMotorSpeed,multiplex.u1[1]) annotation(Line(visible=true, origin={97.0704,-14.75}, points={{-23.0704,66.75},{12.9296,66.9667},{12.9296,-63.75},{-45.8704,-63.75}}, color={0,0,127})); connect(segway.LeftMotorSpeed,multiplex.u2[1]) annotation(Line(visible=true, origin={93.6198,-19.2667}, points={{-19.6198,59.2667},{11.5428,59.2667},{11.5428,-55.8333},{-42.4198,-55.8333}}, color={0,0,127})); end LQControl; model NoControl "Model of a LEGO Segway without a controller keeping it upright" annotation(Documentation(info="
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LEGO Segway: Controlling an Inverted Pendulum

CONTENTS:
ˇ Introductionˇ Simulation
 

Introduction

This model is of a LEGO Segway with disturbances, but without any kind of controller to keep it upright. For the model with a controller, open LEGOSegway.LQControl.

View the model diagram for this model.

 

Simulation

To simulate the LEGO Segway and view a 3D animation of it, follow the steps below:

 

Parts of this example require Mathematica. Open the accompanying notebook LEGOSegway.nb in Mathematica for those scenarios.

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Use of This Example

License

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Diagram(coordinateSystem(extent={{-148.5,-105.0},{148.5,150.0}}, preserveAspectRatio=true, initialScale=0.1, grid={10,10}), graphics={Text(visible=true, origin={0.0,-91.936}, fillColor={255,255,255}, fillPattern=FillPattern.Solid, extent={{-15.0,-5.0},{15.0,5.0}}, textString="LQR", fontSize=24, fontName="Arial"),Rectangle(visible=true, origin={-60.0,107.5}, lineColor={0,85,0}, fillColor={0,170,127}, pattern=LinePattern.Dash, fillPattern=FillPattern.Solid, lineThickness=0.75, extent={{-80.0,-37.5},{80.0,37.5}}),Text(visible=true, origin={-103.0729,135.0}, fillColor={255,255,255}, fillPattern=FillPattern.Solid, extent={{-26.9271,-5.0},{26.9271,5.0}}, textString="Disturbance", fontSize=24, fontName="Arial"),Rectangle(visible=true, origin={-120.0,15.0}, lineColor={0,85,0}, fillColor={0,170,127}, pattern=LinePattern.Dash, fillPattern=FillPattern.Solid, lineThickness=0.75, extent={{-20.0,-45.0},{20.0,45.0}}),Text(visible=true, origin={-120.0,-22.4187}, fillColor={255,255,255}, fillPattern=FillPattern.Solid, extent={{-26.9271,-5.0},{26.9271,5.0}}, textString="Steering", fontSize=24, fontName="Arial")}), experiment(StartTime=0.0, StopTime=20, Interval=0.01, Algorithm="dassl", Tolerance=1e-06)); parameter Real L[2,6]={{-0.31739,-0.332771,-189.012,-19.1626,0.00986194,0.0175149},{-0.332771,-0.31739,-189.012,-19.1626,0.0175149,0.00986194}}; LEGOSegway.Components.LEGOSegwayModel segway(limiter1.uMax=uMax, limiter2.uMax=uMax) annotation(Placement(visible=true, transformation(origin={30.0,20.0}, extent={{-40.0,-40.0},{40.0,40.0}}, rotation=0))); Modelica.Blocks.Interfaces.RealOutput angle annotation(Placement(visible=true, transformation(origin={140.0,40.0}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=0), iconTransformation(origin={85.9411,41.8738}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=0))); inner Modelica.Mechanics.MultiBody.World world(n={0,0,-1}, animateGravity=false, animateWorld=false, label2="z") annotation(Placement(visible=true, transformation(origin={-120.0,-80.0}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=0))); Modelica.Mechanics.MultiBody.Forces.WorldForce force(N_to_m=0.5) annotation(Placement(visible=true, transformation(origin={0.0,110.0}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=0))); Modelica.Blocks.Sources.Pulse pulsex(amplitude=-fMax, period=20, startTime=5, width=1) annotation(Placement(visible=true, transformation(origin={-60.0,130.0}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=0))); Modelica.Blocks.Sources.Pulse pulsey(amplitude=-0.26, period=20, startTime=11.5, width=1) annotation(Placement(visible=true, transformation(origin={-90.0,110.0}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=0))); Modelica.Blocks.Sources.Pulse pulsez(amplitude=-0.31, period=20, startTime=16, width=1) annotation(Placement(visible=true, transformation(origin={-120.0,90.0}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=0))); Modelica.Blocks.Sources.TimeTable LeftMotorVoltage(table=[0,0;2,0;2,4;8,4;8,1;14,1;16,6;18,0;20,0]) annotation(Placement(visible=true, transformation(origin={-120.0,40.0}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=0))); Modelica.Blocks.Sources.TimeTable RightMotorVoltage(table=[0,0;2,0;2,4;8,4;15,0.9;16,6;18,0;20,0]) annotation(Placement(visible=true, transformation(origin={-120.0,0.0}, extent={{-10.0,-10.0},{10.0,10.0}}, rotation=0))); parameter Modelica.SIunits.Voltage uMax=8.5; parameter Modelica.SIunits.Force fMax=0.31; equation connect(segway.RightMotorVoltage,RightMotorVoltage.y) annotation(Line(visible=true, origin={-61.5,0.0}, points={{47.5,0.0},{-47.5,0.0}}, color={0,0,127})); connect(LeftMotorVoltage.y,segway.LeftMotorVoltage) annotation(Line(visible=true, origin={-61.5,40.0}, points={{-47.5,0.0},{47.5,0.0}}, color={0,0,127})); connect(pulsez.y,force.force[3]) annotation(Line(visible=true, origin={-52.75,100.0}, points={{-56.25,-10.0},{22.75,-10.0},{22.75,10.0},{40.75,10.0}}, color={0,0,127})); connect(pulsey.y,force.force[2]) annotation(Line(visible=true, origin={-45.5,110.0}, points={{-33.5,0.0},{33.5,0.0}}, color={0,0,127})); connect(pulsex.y,force.force[1]) annotation(Line(visible=true, origin={-35.25,120.0}, points={{-13.75,10.0},{5.25,10.0},{5.25,-10.0},{23.25,-10.0}}, color={0,0,127})); connect(segway.Phi,angle) annotation(Line(visible=true, origin={110.05,34.0}, points={{-36.05,-6.0},{9.95,-6.0},{9.95,6.0},{29.95,6.0}}, color={0,0,127})); connect(force.frame_b,segway.disturbance) annotation(Line(visible=true, origin={23.3333,93.3333}, points={{-13.3333,16.6667},{6.6667,16.6667},{6.6667,-33.3333}})); end NoControl; end LEGOSegway;