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SRV-02 Self-Erecting Inverted Pendulum

Computes the dynamics of the SRV02 Self-Erecting Inverted Pendulum.

Library

QUARC Targets/Devices/Quanser/Virtual Plants

MATLAB Command Line

Click to copy the following command line to the clipboard. Then paste it in the MATLAB Command Window:

qc_open_library('quarc_library/Devices/Quanser/Virtual Plants')

Description

SRV-02 Self-Erecting Inverted Pendulum

The SRV-02 Self-Erecting Inverted Pendulum block computes the dynamics of the SRV02 Self-Erecting Inverted Pendulum. It takes a torque as input and produces the position and velocity of the arm and pendulum. Torque is used as the input so that different motor and amplifier models may be applied to simulate the torque, since some data acquisition cards generate a voltage output while others produce a current output.

Input Ports

tau

The torque applied by the SRV-02 base motor to the arm, in N-m.

Output Ports

theta

The angular position of the arm relative to the SRV-02 base, in radians.

alpha

The angular position of the pendulum relative to the downward (fallen) position, in radians.

theta_dot

The angular velocity of the arm in radians per second.

alpha_dot

The angular velocity of the pendulum in radians per second.

Data Type Support

This block supports scalar inputs and outputs of type double.

Parameters and Dialog Box

SRV-02 Self-Erecting Inverted Pendulum

Pendulum type

The type of pendulum being used. There are two standard lengths available for the SRV-02 Self-Erecting Inverted Pendulum: a short, 7 inch pendulum and a medium, 12 inch pendulum.

Initial pendulum angle, alpha0 (rad)

The initial pendulum angle relative to the downward (fallen) position in radians. Do not specify an initial pendulum angle of zero unless your controller is designed to get the pendulum swinging. For example, a controller designed to swing the pendulum up could give the arm an initial impulse, or it could be a non-linear controller (such as fuzzy logic) that uses the upright position as its commanded position.

Targets

Target Name

Compatible*

Model Referencing

Comments

QUARC Win32 Target

Yes

Yes

QUARC Win64 Target

Yes

Yes

QUARC Linux Nvidia Target

Yes

Yes

QUARC Linux QBot Platform Target

Yes

Yes

QUARC Linux QCar 2 Target

Yes

Yes

QUARC Linux QDrone 2 Target

Yes

Yes

QUARC Linux Raspberry Pi 3 Target

Yes

Yes

QUARC Linux Raspberry Pi 4 Target

Yes

Yes

QUARC Linux RT ARMv7 Target

Yes

Yes

QUARC Linux x64 Target

Yes

Yes

QUARC Linux DuoVero Target

Yes

Yes

QUARC Linux DuoVero 2016 Target

Yes

Yes

QUARC Linux Verdex Target

Yes

Yes

QUARC QNX x86 Target

Yes

Yes

Last fully supported in QUARC 2018.

Rapid Simulation (RSIM) Target

Yes

Yes

S-Function Target

No

N/A

Old technology. Use model referencing instead.

Normal simulation

Yes

Yes

* Compatible means that the block can be compiled for the target.

See Also

 

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