Hello there, welcome all again to the MATLAB & SIMULINK tutorial.
When designing a inverted pendulum model to Simulink you have to had some ideas about the mathematical modeling in control systems. You can search several video about inverted pendulum actual control systems in YouTube. But we have to model this by some help of computational tool like MATLAB Simulink software.
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| 1.1 sketch of the inverted pendulum control system |
In this above figure you can see the sketch about the system. We can add any controlling limits and restrains to this model like friction, air friction, frictions in the hinge points external forces like wise. After that you have to control the pendulum in straight at the middle by help of the external giving force u.
So, you have to model this first in Solidworks. So in this system we have a base, cart, a pendulum.
In my YouTube channel you can see how to draw them. You don't need to be a pro to sketch those. You can try this.
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| 1.2 cart |
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1.3 base
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| 1.4 Pendulum |
After build these model you can Assemble them.
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| 1.5 Assembly |
In here very important thing is use simple combinations between the parts. Because MATLAB Simulink can't understand some connection. As an example when making the hinge you can have width mate between them but don't use it because this can't be identify by the Simulink. so use simple mates when assembling.
After that you have to identify the forces and the angle of the model. This will be easy if we use coordinates to them.
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| 1.6 coordinate in cart |
When applying coordinates you have to consider the falling angle coming to this side. And also all coordinates have to had same direction too.
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| 1.7 pendulum coordinate |
As external task we have to apply another force in top of the pendulum so we have to add this too. But in same direction.
After that both coordinates should have same prefix before export to Simulink. In here i used cord_ as my prefix.
so this is end of part 1. see you again from "how to export this model to MATLAB" part 3. Leave you comments and share with your friends.
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