Modeling and Simulation of a Rotary Quadruple Pendulum System Using Scientific Python Stacks and Modelica Language
Abstract: This paper presented
the modeling and simulation of a rotary quadruple pendulum (RQP) system using
two open source software, i.e: scientific python stacks (SciPy stacks) and
Modelica language via Anaconda python distribution and OpenModelica,
respectively. The modeling stage using SymPy (a package of SciPy stacks) was conducted
to obtain the governing equation in full symbolic form by applying Lagrange’s
method. The listing code is also provided to test by the user later on.
Meanwhile, both modeling and simulation were performed in Modelica language by
addressing several conditions concerning the initial conditions of the system,
i.e: examining up-upup-up, up-up-down-down, and up-down-up-down conditions.
Simulation required the numerical values of the RQP system be supplied before
running the simulation. In conclusion, the derivation of the governing equation
using SymPy can be done in a matter of minutes without having a mistake when
doing the algebraic manipulation. Simulation using OpenModelica was present the
response of the RQP system in three conditions that considered initial conditions
imposed to the system. The model obtained through this research can be used a
baseline for developing a control scheme for the RQP system in its inverted
position.
Keywords: Modeling and
simulation, rotary quadruple pendulum, the governing equation of motion,
scientific python stacks and Modelica language
Penulis: Adriyan
Kode Jurnal: jptmesindd170241
