% SETUP_SP_CONFIGURATION

%

% SETUP_SP_CONFIGURATION accepts the user-defined configuration 

% of the Quanser Single Pendulum (SP) module. 

% SETUP_SP_CONFIGURATION then sets up 

% the Single Pendulum configuration-dependent model variables accordingly,

% and finally returns the calculated model parameters of the Single Pendulum Quanser module.

%

% Single Pendulum system nomenclature:

% g       Gravitational Constant                         (m/s^2)

% Mp      Pendulum Mass with T-fitting                   (kg)

% Lp      Full Length of the Pendulum (with T-fitting)   (m)

% lp      Distance from Pivot to Centre Of Gravity       (m)

% Ip      Pendulum Moment of Inertia                     (kg.m^2)

% Bp      Viscous Damping Coefficient 

%                       as seen at the Pendulum Axis     (N.m.s/rad)

%

% Copyright (C) 2003 Quanser Consulting Inc.

% Quanser Consulting Inc.





%% returns the model parameters accordingly to the USER-DEFINED Single Pendulum (SP) configuration

function [ g, Mp, Lp, lp, Ip, Bp ] = setup_sp_configuration( PEND_TYPE )

% Calculate useful conversion factors

calc_conversion_constants;

% Gravity Constant

g = 9.81;

% Calculate the pendulum model parameters

[ Mp, Lp, lp, Ip, Bp ] = calc_sp_parameters( PEND_TYPE );

% end of 'setup_sp_configuration( )'





%% Calculate the Single Pendulum (SP) model parameters 

function [ Mp, Lp, lp, Ip, Bp ] = calc_sp_parameters( PEND_TYPE )

global K_IN2M

% Set these variables (used in Simulink Diagrams)

if strcmp( PEND_TYPE, 'LONG_24IN')

    % Pendulum Mass (with T-fitting)

    Mp = 0.230;

    % Pendulum Full Length (with T-fitting, from axis of rotation to tip)

    Lp = ( 25 + 1 / 4 ) * K_IN2M;  % = 0.6413;

    % Distance from Pivot to Centre Of Gravity

    lp = 13 * K_IN2M;  % = 0.3302

    % Pendulum Moment of Inertia (kg.m^2) - approximation

    Ip = Mp * Lp^2 / 12;  % = 7.8838 e-3

    % Equivalent Viscous Damping Coefficient (N.m.s/rad)

    Bp = 0.0024;

elseif strcmp( PEND_TYPE, 'MEDIUM_12IN')

    % Pendulum Mass (with T-fitting)

    Mp = 0.127;

    % Pendulum Full Length (with T-fitting, from axis of rotation to tip)

    Lp = ( 13 + 1 / 4 ) * K_IN2M;  % = 0.3365

    % Distance from Pivot to Centre Of Gravity

    lp = 7 * K_IN2M;  % = 0.1778

    % Pendulum Moment of Inertia (kg.m^2) - approximation

    Ip = Mp * Lp^2 / 12;  % = 1.1987 e-3

    % Equivalent Viscous Damping Coefficient (N.m.s/rad)

    Bp = 0.0024;

else 

    error( 'Error: Set the type of pendulum.' )

end

% end of 'calc_sp_parameters( )'





%% Calculate Useful Conversion Factors w.r.t. Units

function calc_conversion_constants ()

global K_D2R K_IN2M K_RADPS2RPM K_OZ2N

% from radians to degrees

K_R2D = 180 / pi;

% from degrees to radians

K_D2R = 1 / K_R2D;

% from Inch to Meter

K_IN2M = 0.0254;

% from Meter to Inch

K_M2IN = 1 / K_IN2M;

% from rad/s to RPM

K_RADPS2RPM = 60 / ( 2 * pi );

% from RPM to rad/s

K_RPM2RADPS = 1 / K_RADPS2RPM;

% from oz-force to N

K_OZ2N = 0.2780139;

% from N to oz-force

K_N2OZ = 1 / K_OZ2N;

% end of 'calc_conversion_constants( )'