Lab 2 - Modeling and Simulation of Furuta Pendulum

In this lab you will be tasked with completing and extending an already existing Modelica model of the Furuta pendulum shown below.

The lab is meant for you to get some hands-on experience in working with object-oriented equation-based languages, so don't spend too much time trying to get the model and its parameters perfect. Before starting, it is however highly recommended that you complete Exercise 8.

To perform the lab you will need the following files.

Instructions: lab2manual.pdf Download lab2manual.pdf

Modelica code: FurutaPendulum.mo Download FurutaPendulum.mo

Jupyter notebook: lab2_furuta_modeling.ipynb Links to an external site.

Important: When working with Impact, please download your models and save them on your personal computer often! The workspaces saved on one remote computer will not be accessible on other remote computers, and the files will be purged from time to time. If you have not saved the files on your own personal computer, you risk to loose that work.

To pass the lab:

Hand in your final Modelica code and a brief report in PDF format with results and short discussions for each task. You do not have to complete the parts marked as extra. You may ask for help and cooperate on the laboration, but the handin should be done individually. (You are e.g. not allowed to copy material from another persons' report).

Deadlines:

The deadline for the handin is Friday Nov 17, 2023, 11:59 PM. We will grade and give comments on the handins, hopefully by Monday Nov 27. If you don't pass the first time, you have one more attempt to make the required corrections/updates. The resubmission is due one week after we give you the grade (pass/fail) for the first submission (but no earlier than Dec 3, 11:59 PM, even if we happen to be early on the grading of the initial submission).