5.0

5.0 | 1 rating Rate this file 20 Downloads (last 30 days) File Size: 121 KB File ID: #34521
image thumbnail

Furuta (rotary) Pendulum

by

 

Equations of motion for a pendulum mounted on rotating base are compared to SimMechanics.

| Watch this File

File Information
Description

SimMechanics is used to simulate a pendulum at the tip of a rotating arm, called a furuta pendulum. The equation of motion are then simulated by ode45 to show they are the same. All nonlinear dynamics are simulated (only one on file exchange I've seen that does that), so the equations can be used to design swing up controller. Also shows how to use function handles so to use ode with a single file.

Simulation does NOT include friction or inertia besides the axial inertia.

File still works without SimMechanics, but cannot show comparison. If there's interest for a mat file with an example output, just let me know.

Required Products SimMechanics
Simulink
MATLAB
MATLAB release MATLAB 7.8 (R2009a)
Tags for This File   Please login to tag files.
Please login to add a comment or rating.
Comments and Ratings (2)
19 Feb 2013 faisal

very good

03 Apr 2012 ERIC  

Contact us