Example

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

Build RecurDyn model

•     Simple pendulum model

Figure 1  Simple pendulum model

•     Defines plant input and plant output

See Figure 2. Expression of plant output is “DX(Body1.CM)”

Figure 2  Plant input and outputs

Build Colink model

Run CoLink program.

•     CoLink Blocks

Figure 3  Build CoLink blocks

•     Sets the option of Bode tool and simulates

See Figure 4. Choose CoLink block type and select the block named “Tranfer func”. Then, Simulates.

Figure 4  Setting of simulation options

•     Results

Reopen the dialog of the Bode tool.

•    Bode plot

Figure 5  Bode diagram

•    State matrix

o  A matrix

Figure 6  A matrix

o  B matrix

Figure 7  B matrix

o  C matrix

Figure 8  C matrix

o  D matrix

Figure 9  D matrix

•    State variables

Figure 10  State variables