Pendulum

Simple kinematic pendulum.

Collaboration diagram for Pendulum:

Pendulum is a very simple pendulum described by angle and angular velocity dynamics. Only influenced by gravity.

Author

Joakim Haugen

Example configuration excerpt

<Lib LibName    = "fhsim_base"
     SimObject  = "Example/Pendulum"
     Name       = "Pendle"
     Position   = "0,0,0"
     Length     = "3"
/>
...
<InitialCondition
  Pen.Angle = "1.0"
  Pen.AngularVelocity = "0"
/>

Input Ports

There are no input ports

Output Ports

Name	Width	Description
Angle	1	The angle in radians of the pendulum with respect to the z-axis.
AngularVelocity	1	The angular velocity of the above angle.

Configuration parameters

Name	Width	Description
Length	1	Length of the pendulum arm [meter].
Position	3	North, east, and down position of the suspension point [m^3].
Material	1	The visualization material (Default: Simple/White). Visualization builds only.

Initial conditions

Name	Width	Description
Angle	1	-.
AngularVelocity	1	-.

Full example file

<Contents>
  <OBJECTS>
    <Lib
      LibName = "fhsim_base"
      SimObject = "Example/Pendulum"
      Name = "Pen"
      Length = "3"
      Position = "0,0,0"
      Material = "darkseagreen"
    />
  </OBJECTS>
 
  <INTERCONNECTIONS>
  </INTERCONNECTIONS>
 
  <INITIALIZATION>
    <InitialCondition
        Pen.Angle = "1.0"
        Pen.AngularVelocity = "0"
    />
  </INITIALIZATION>
 
  <SIMULATION>
    <Timing TStart="0" TEnd="100"/>
    <Integrator Method="RK45_i" NumCores="1">
      <StepControl Step="1e-5"/>
    </Integrator>
  </SIMULATION>
</Contents>

This SimObject is referred to as Example/Pendulum