20.8.1.2. Example

This example doesn’t have physical meaning. But you learn using the Bode tool.

Build RecurDyn model

• Simple pendulum model

  

  Figure 20.205 Simple pendulum model

• Defines plant input and plant output

  See Figure 20.206. Expression of plant output is DX(Body1.CM)

  

  Figure 20.206 Plant input and outputs

Build Colink model

Run CoLink program.

• CoLink Blocks

  

  Figure 20.207 Build CoLink blocks

• Sets the option of Bode tool and simulates

  See Figure 20.208. Choose CoLink block type and select the block named Tranfer func. Then, Simulates.

  

  Figure 20.208 Setting of simulation options

• Results

  Reopen the dialog of the Bode tool.

• Bode plot

  

  Figure 20.209 Bode diagram

• State matrix

  • A matrix

    

    Figure 20.210 A matrix

  • B matrix

    

    Figure 20.211 B matrix

  • C matrix

    

    Figure 20.212 C matrix

  • D matrix

    

    Figure 20.213 D matrix

• State variables

  

  Figure 20.214 State variables