New version of InvertedCraneCrab and Ideas for Step1-3#9
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RaphaelGebhart wants to merge 1 commit intodzimmer:masterfrom
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New version of InvertedCraneCrab and Ideas for Step1-3#9RaphaelGebhart wants to merge 1 commit intodzimmer:masterfrom
RaphaelGebhart wants to merge 1 commit intodzimmer:masterfrom
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RaphaelGebhart
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I created a new version of the
InvertedCraneCrabExample (model + inversionBlock) + model (and secondOrder-filter instead of firstOrder-filter) because initial values for both phi and w are necessary to enable inversion.I also created models
Step1_FreeBody2, Step2_FixedBody2 and Step3_Pendulum3that show what people could change for the workshop:-- Set initial values v.start={5,5}, change the simulation time at Simulation.SimulationSetup to StopTime=1 and simulate with animation
-- Check the animation. Zoom out, if you cant see the body
-- Create a plot with y(t) = r [2] (t) and x(t) = r [1] (t)
-- Create a parametric plot y(x)
Change the rod to a springDamper with spring constant c_y = 10 N/m, and try different damping constants, e.g. d_y = 0, 3, 6, 12. (d = 2sqrt(cm) is kritisch gedämpft)
Add a horizontal spring with c = 100 N/m either using PlanarMechanics.Parts.Spring (set c_y = c_phi = 1e-9) or using Modelica.Mechanics.Translational.Components.Spring (you need 2x PlanarMechanics.Joints.Prismatic and 1x PlanarMechanics.Joints.Revolute in addition