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examples.suspension.DoubleSuspensionWithExcitationAndMass.md

examples.suspension.DoubleSuspensionWithExcitationAndMass ​

Half-car model: two excited quarter-car suspensions (right mirror=false and left mirror=true) mounted on a chassis BodyShape. The chassis is attached to the world through a vertical Prismatic and a roll Revolute, so it can heave and roll.

Usage ​

MultibodyComponents.examples.suspension.DoubleSuspensionWithExcitationAndMass(wheel_base=1, ms=1500, rod_radius=0.02, CD=228.60 / 1000)

Parameters: ​

NameDescriptionUnitsDefault value
wheel_baseDistance between the left and right wheels [m]–1
msMass of the car [kg]kg1500
rod_radiusRadius of the rods–0.02

Behavior ​

Source ​

dyad
"""
Half-car model: two excited quarter-car suspensions (right `mirror=false` and
left `mirror=true`) mounted on a chassis `BodyShape`. The chassis is attached to
the world through a vertical `Prismatic` and a roll `Revolute`, so it can heave
and roll.
"""
component DoubleSuspensionWithExcitationAndMass
  world = MultibodyComponents.World()
  mass = MultibodyComponents.BodyShape(m = ms, r = [0, 0, -wheel_base], radius = 0.1, color = [0.4, 0.4, 0.4, 0.3])
  excited_suspension_r = SuspensionWithExcitation(mirror = false, rod_radius = rod_radius, r = [0, 0, CD + wheel_base / 2], r_0 = [0, 0.1, 0])
  excited_suspension_l = SuspensionWithExcitation(mirror = true, rod_radius = rod_radius, r = [0, 0, -(CD + wheel_base / 2)], r_0 = [0, 0.1, 0])
  body_upright = MultibodyComponents.Prismatic(n = [0, 1, 0], render = false, statePriority = 1000)
  body_upright2 = MultibodyComponents.Revolute(n = [1, 0, 0], n_nonzero = [true, false, false], render = false, statePriority = 1000, phi(initial = 0), w(initial = 0))
  "Distance between the left and right wheels [m]"
  parameter wheel_base::Real = 1
  "Mass of the car [kg]"
  parameter ms::Mass = 1500
  "Radius of the rods"
  parameter rod_radius::Real = 0.02
  final parameter CD::Real = 228.60 / 1000
relations
  connect(world.frame_b, body_upright.frame_a)
  connect(body_upright.frame_b, body_upright2.frame_a)
  connect(body_upright2.frame_b, mass.frame_cm)
  connect(excited_suspension_r.chassis_frame, mass.frame_a)
  connect(excited_suspension_l.chassis_frame, mass.frame_b)
metadata {
  "Dyad": {
    "icons": {
      "default": "dyad://MultibodyComponents/DoubleSuspensionWithExcitationAndMass.svg"
    }
  }
}
end
Flattened Source
dyad
"""
Half-car model: two excited quarter-car suspensions (right `mirror=false` and
left `mirror=true`) mounted on a chassis `BodyShape`. The chassis is attached to
the world through a vertical `Prismatic` and a roll `Revolute`, so it can heave
and roll.
"""
component DoubleSuspensionWithExcitationAndMass
  world = MultibodyComponents.World()
  mass = MultibodyComponents.BodyShape(m = ms, r = [0, 0, -wheel_base], radius = 0.1, color = [0.4, 0.4, 0.4, 0.3])
  excited_suspension_r = SuspensionWithExcitation(mirror = false, rod_radius = rod_radius, r = [0, 0, CD + wheel_base / 2], r_0 = [0, 0.1, 0])
  excited_suspension_l = SuspensionWithExcitation(mirror = true, rod_radius = rod_radius, r = [0, 0, -(CD + wheel_base / 2)], r_0 = [0, 0.1, 0])
  body_upright = MultibodyComponents.Prismatic(n = [0, 1, 0], render = false, statePriority = 1000)
  body_upright2 = MultibodyComponents.Revolute(n = [1, 0, 0], n_nonzero = [true, false, false], render = false, statePriority = 1000, phi(initial = 0), w(initial = 0))
  "Distance between the left and right wheels [m]"
  parameter wheel_base::Real = 1
  "Mass of the car [kg]"
  parameter ms::Mass = 1500
  "Radius of the rods"
  parameter rod_radius::Real = 0.02
  final parameter CD::Real = 228.60 / 1000
relations
  connect(world.frame_b, body_upright.frame_a)
  connect(body_upright.frame_b, body_upright2.frame_a)
  connect(body_upright2.frame_b, mass.frame_cm)
  connect(excited_suspension_r.chassis_frame, mass.frame_a)
  connect(excited_suspension_l.chassis_frame, mass.frame_b)
metadata {
  "Dyad": {
    "icons": {
      "default": "dyad://MultibodyComponents/DoubleSuspensionWithExcitationAndMass.svg"
    }
  }
}
end


Test Cases ​

No test cases defined.

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