Kalman Pendulum

Pendulum with Kalman filter extension.

Collaboration diagram for Kalman Pendulum:

KalmanPendulum is the Kalman extension of Pendulum. It 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            = "Kalman/Example/Pendulum"
  Name                 = "Pen"
  Position             = "0,0,0"
  Length               = "3"
  AngleNoise           = "1e-1"
  AngularVelocityNoise = "1e-3"
  MeasurementNoise     = "1e0"
  InitialP             = "1e0,1e0"
/>
<Connection
  Pen.Angle = "0"
/>
<InitialCondition
  Pen.Angle = "0.5"
  Pen.AngularVelocity = "0"
/>

Input Ports

Name	Width	Description
Angle	1	Measured angle [rad].

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].
AngleNoise	1	Variance of the angle noise [rad^2].
AngleVelocityNoise	1	Variance of the angular velocity noise [(rad/s)^2].
InitialP	2	Initial uncertainty (variance) diagonal of the state vector [angle anglularvelocity].

Initial conditions

Name	Width	Description
Angle	1	-.
AngularVelocity	1	-.

Full example file

<Contents>
  <OBJECTS>
    <Lib
      LibName = "fhsim_base"
      SimObject = "Kalman/Example/Pendulum"
      Name = "Pen"
      Length = "3"
      AngleNoise = "1e-1"
      AngularVelocityNoise = "1e-3"
      MeasurementNoise = "1e-0"
      InitialP = "1e-0,1e-0"
    />
  </OBJECTS>
 
  <INTERCONNECTIONS>
  <Connection
    Pen.Angle = "0"
  />
  </INTERCONNECTIONS>
 
  <INITIALIZATION>
    <InitialCondition
      Pen.Angle = "0.5"
      Pen.AngularVelocity = "0"
    />
  </INITIALIZATION>
 
  <INTEGRATION>
    <Engine
        IntegratorMethod="2"
        NumCores="1"
        TOutput="0, 0:1e-1:Inf, 100"
        stepsize ="1e-6"
        HMin="0.5"
        FileOutput="objects:ports"
    />
  </INTEGRATION>
</Contents>

This SimObject is referred to as Kalman/Example/Pendulum