LIBRARY

PlanarMechanics.examples.dyad_balans.DyadBalans2D

This example models a wheeled balancing robot with a cascade control system stabilizing the angle in the inner loop and the position in the outer loop.

See also DyadBalans2DFF for a version with a feedforward generator.

Usage

MultibodyComponents.PlanarMechanics.examples.dyad_balans.DyadBalans2D(M=0.1, m=0.05, R=0.04, L=0.08, Ib=2.5e-4, Iw=1e-4, d=0.0001)

Parameters:

Name	Description	Units	Default value
M	Body mass	kg	0.1
m	Wheel mass	kg	0.05
R	Wheel radius	m	0.04
L	Distance from wheel axis to body center of mass	m	0.08
Ib	Body moment of inertia	kg.m2	0.00025
Iw	Wheel + motor moment of inertia	kg.m2	0.0001
d	Motor viscous friction	N.m.s/rad	0.0001

Behavior