Cart and pendulum with SimMechanics
in [Matlab]
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From: Zdenko on 24 Apr 2010 16:02 Hi, I am trying to model a cart and pendulum system with SimMechanics. My system is pretty much set up as in figure 5 in this document http://people.bath.ac.uk/enpms/study/docs/sem03sm_report.pdf The only difference is that I have exchanged spring-damper with an actuator to move the cart back and forth. My problem right now is that the dynamics of the pendulum do not effect the movement of the cart, and vica versa. E.g. if I move the cart back and forth and pendulum is at its unstable equilibrium point (upwards) the pendulum stays there during the entire motion of the cart. Which of course makes no sense. Is there a standard mistake I might have made, or is there some other information I can provide to get help? Thanks Frustrated - Zdenko Tudor
From: Zdenko on 24 Apr 2010 16:24
And then of course, after endless hours of frustration, as soon as I post a question I get a small breakthrough. The problem i believe is in the actuator for the cart. Where, if I choose to actuate with motion, I experience the problem I mentioned. If i choose to actuate with generalized forces though, it seems to make more sense.. Still do not understand why this should make any difference for this problem. Still working on it.. |