How to control the angular velocity.

I would like to run a simple car model like the one in the image below at a constant speed using Simscape Multibody..

I know how to apply torque to the wheel axis, but that would accelerate infinitely. Please tell me the block diagram required to achieve that. The current block diagram looks like the image below.

If possible, I would like to build a feedback system that controls the speed.

Thank you for your answer.

Answer 1

[Steve Miller]

Hi there,

You can measure the wheel speed from the Revolute Joints. That speed signal can be fed to a feedback controller that measures the difference from the commanded speed, and based on the difference applies a torque to that joint.

You need to make two adjustments to the Revolute Joint blocks you wish to actuate:

1. Under "Sensing", check the box for Velocity
2. Under "Actuation", change the setting for Torque to "Provided by Input"

This will create the input and output that you need to control the speed of the wheels.

--Steve