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examples.suspension.SuspensionWithExcitation.md

examples.suspension.SuspensionWithExcitation ​

Quarter-car suspension driven by a sinusoidal wheel-position excitation.

Wraps a QuarterCarSuspension and drives the point where the wheel would be (suspension.wheel_frame) through a vertical Prismatic joint whose position is commanded by a sinusoid amplitude*sin(2π*freq*t). A SphericalSpherical actuation rod connects the prismatic to the suspension to avoid over-constraining the loop. The chassis is exposed via chassis_frame.

Usage ​

MultibodyComponents.examples.suspension.SuspensionWithExcitation(rod_radius=0.02, amplitude=0.1, freq=2, r=[0, 0, 0.2286], r_0=[0, 0.1, 0])

Parameters: ​

NameDescriptionUnitsDefault value
spring–true
mirror–false
rod_radiusRadius of the rods–0.02
amplitudeAmplitude of the wheel displacement [m]–0.1
freqFrequency of the wheel displacement [Hz]Hz2
rActuation attachment position relative to the worldm[0, 0, 0.2286]
r_0Nominal vector of the actuation rod (sets its length)m[0, 0.1, 0]

Connectors ​

  • chassis_frame - Frame3D is the fundamental 3D connector used for 6DOF motion. Most components have one or several Frame

connectors that can be connected together (Frame3D)

Behavior ​

Source ​

dyad
"""
Quarter-car suspension driven by a sinusoidal wheel-position excitation.

Wraps a `QuarterCarSuspension` and drives the point where the wheel would be
(`suspension.wheel_frame`) through a vertical `Prismatic` joint whose position is
commanded by a sinusoid `amplitude*sin(2π*freq*t)`. A `SphericalSpherical`
actuation rod connects the prismatic to the suspension to avoid over-constraining
the loop. The chassis is exposed via `chassis_frame`.
"""
component SuspensionWithExcitation
  "Frame rigidly attached to the chassis"
  chassis_frame = Frame3D() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 295, "y1": 65, "x2": 395, "y2": 165, "rot": 0}
      },
      "tags": []
    }
  }
  fixed = MultibodyComponents.Fixed() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 70, "y1": 350, "x2": -30, "y2": 450, "rot": 90}
      },
      "tags": []
    }
  }
  suspension = QuarterCarSuspension(spring = spring, mirror = mirror, rod_radius = rod_radius) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 420, "y1": 170, "x2": 520, "y2": 270, "rot": 0}
      },
      "tags": []
    }
  }
  wheel_prismatic = MultibodyComponents.Prismatic(n = [0, 1, 0], statePriority = 100) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 165, "y1": 245, "x2": 265, "y2": 345, "rot": 0}
      },
      "tags": []
    }
  }
  actuation_rod = MultibodyComponents.SphericalSpherical(r_0 = r_0, radius = rod_radius, kinematic_constraint = false) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 295, "y1": 245, "x2": 395, "y2": 345, "rot": 0}
      },
      "tags": []
    }
  }
  actuation_position = MultibodyComponents.FixedTranslation(r = r, render = false) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 35, "y1": 245, "x2": 135, "y2": 345, "rot": 0}
      },
      "tags": []
    }
  }
  wheel_position = TranslationalComponents.Sources.Position() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 35, "y1": 120, "x2": 135, "y2": 220, "rot": 0}
      },
      "tags": []
    }
  }
  structural parameter spring::Boolean = true
  structural parameter mirror::Boolean = false
  "Radius of the rods"
  parameter rod_radius::Real = 0.02
  "Amplitude of the wheel displacement [m]"
  parameter amplitude::Real = 0.1
  "Frequency of the wheel displacement [Hz]"
  parameter freq::Frequency = 2
  "Actuation attachment position relative to the world"
  parameter r::Length[3] = [0, 0, 0.2286]
  "Nominal vector of the actuation rod (sets its length)"
  parameter r_0::Length[3] = [0, 0.1, 0]
relations
  wheel_position.s_ref = amplitude * sin(2 * π * freq * time)
  connect(wheel_position.flange, wheel_prismatic.axis) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 215, "y": 170}], "E": 2}],
      "renderStyle": "standard"
    }
  }
  connect(fixed.frame_b, actuation_position.frame_a) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 20, "y": 295}], "E": 2}],
      "renderStyle": "standard"
    }
  }
  connect(actuation_position.frame_b, wheel_prismatic.frame_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(wheel_prismatic.frame_b, actuation_rod.frame_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(actuation_rod.frame_b, suspension.wheel_frame) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 470, "y": 295}], "E": 2}],
      "renderStyle": "standard"
    }
  }
  connect(chassis_frame, suspension.chassis_frame) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 470, "y": 115}], "E": 2}],
      "renderStyle": "standard"
    }
  }
metadata {
  "Dyad": {
    "icons": {"default": "dyad://MultibodyComponents/SuspensionWithExcitation.svg"}
  }
}
end
Flattened Source
dyad
"""
Quarter-car suspension driven by a sinusoidal wheel-position excitation.

Wraps a `QuarterCarSuspension` and drives the point where the wheel would be
(`suspension.wheel_frame`) through a vertical `Prismatic` joint whose position is
commanded by a sinusoid `amplitude*sin(2π*freq*t)`. A `SphericalSpherical`
actuation rod connects the prismatic to the suspension to avoid over-constraining
the loop. The chassis is exposed via `chassis_frame`.
"""
component SuspensionWithExcitation
  "Frame rigidly attached to the chassis"
  chassis_frame = Frame3D() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 295, "y1": 65, "x2": 395, "y2": 165, "rot": 0}
      },
      "tags": []
    }
  }
  fixed = MultibodyComponents.Fixed() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 70, "y1": 350, "x2": -30, "y2": 450, "rot": 90}
      },
      "tags": []
    }
  }
  suspension = QuarterCarSuspension(spring = spring, mirror = mirror, rod_radius = rod_radius) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 420, "y1": 170, "x2": 520, "y2": 270, "rot": 0}
      },
      "tags": []
    }
  }
  wheel_prismatic = MultibodyComponents.Prismatic(n = [0, 1, 0], statePriority = 100) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 165, "y1": 245, "x2": 265, "y2": 345, "rot": 0}
      },
      "tags": []
    }
  }
  actuation_rod = MultibodyComponents.SphericalSpherical(r_0 = r_0, radius = rod_radius, kinematic_constraint = false) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 295, "y1": 245, "x2": 395, "y2": 345, "rot": 0}
      },
      "tags": []
    }
  }
  actuation_position = MultibodyComponents.FixedTranslation(r = r, render = false) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 35, "y1": 245, "x2": 135, "y2": 345, "rot": 0}
      },
      "tags": []
    }
  }
  wheel_position = TranslationalComponents.Sources.Position() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 35, "y1": 120, "x2": 135, "y2": 220, "rot": 0}
      },
      "tags": []
    }
  }
  structural parameter spring::Boolean = true
  structural parameter mirror::Boolean = false
  "Radius of the rods"
  parameter rod_radius::Real = 0.02
  "Amplitude of the wheel displacement [m]"
  parameter amplitude::Real = 0.1
  "Frequency of the wheel displacement [Hz]"
  parameter freq::Frequency = 2
  "Actuation attachment position relative to the world"
  parameter r::Length[3] = [0, 0, 0.2286]
  "Nominal vector of the actuation rod (sets its length)"
  parameter r_0::Length[3] = [0, 0.1, 0]
relations
  wheel_position.s_ref = amplitude * sin(2 * π * freq * time)
  connect(wheel_position.flange, wheel_prismatic.axis) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 215, "y": 170}], "E": 2}],
      "renderStyle": "standard"
    }
  }
  connect(fixed.frame_b, actuation_position.frame_a) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 20, "y": 295}], "E": 2}],
      "renderStyle": "standard"
    }
  }
  connect(actuation_position.frame_b, wheel_prismatic.frame_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(wheel_prismatic.frame_b, actuation_rod.frame_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(actuation_rod.frame_b, suspension.wheel_frame) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 470, "y": 295}], "E": 2}],
      "renderStyle": "standard"
    }
  }
  connect(chassis_frame, suspension.chassis_frame) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 470, "y": 115}], "E": 2}],
      "renderStyle": "standard"
    }
  }
metadata {
  "Dyad": {
    "icons": {"default": "dyad://MultibodyComponents/SuspensionWithExcitation.svg"}
  }
}
end


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