LIBRARY

SpringDamper

Linear 1D rotational spring and damper

This component extends from PartialCompliantWithRelativeStates

Usage

SpringDamper(d, c, phi_rel0=0.0)

Parameters:

Name	Description	Units	Default value
d	Damping constant	N.m.s/rad
c	Spring constant	N.m/rad
phi_rel0	Unstretched spring angle	rad	0

Connectors

• spline_a - (Spline)

• spline_b - (Spline)

Variables

Name	Description	Units
phi_rel	Relative rotation angle between splines	rad
tau	Torque between splines	N.m
w_rel	Relative angular velocity between splines	rad/s
a_rel	Relative angular acceleration between splines	rad/s2
tau_c	Spring torque	N.m
tau_d	Damper torque	N.m

Behavior

Source

# Linear 1D rotational spring and damper
component SpringDamper
  extends PartialCompliantWithRelativeStates
  # Spring torque
  variable tau_c::Torque
  # Damper torque
  variable tau_d::Torque
  # Damping constant
  parameter d::RotationalDampingConstant
  # Spring constant
  parameter c::RotationalSpringConstant
  # Unstretched spring angle
  parameter phi_rel0::Angle = 0.0
relations
  tau_c = c*(phi_rel-phi_rel0)
  tau_d = d*w_rel
  tau = tau_c+tau_d
metadata {
  "JuliaSim": {"icons": {"default": "jsml://RotationalComponents/SpringDamper.svg"}}
}
end

Flattened Source

# Linear 1D rotational spring and damper
component SpringDamper
  spline_a = Spline() [{
    "JuliaSim": {"placement": {"icon": {"x1": -50, "y1": 450, "x2": 50, "y2": 550}}}
  }]
  spline_b = Spline() [{
    "JuliaSim": {"placement": {"icon": {"x1": 950, "y1": 450, "x2": 1050, "y2": 550}}}
  }]
  # Relative rotation angle between splines
  variable phi_rel::Angle
  # Torque between splines
  variable tau::Torque
  # Relative angular velocity between splines
  variable w_rel::AngularVelocity
  # Relative angular acceleration between splines
  variable a_rel::AngularAcceleration
  # Spring torque
  variable tau_c::Torque
  # Damper torque
  variable tau_d::Torque
  # Damping constant
  parameter d::RotationalDampingConstant
  # Spring constant
  parameter c::RotationalSpringConstant
  # Unstretched spring angle
  parameter phi_rel0::Angle = 0.0
relations
  phi_rel = spline_b.phi-spline_a.phi
  spline_b.tau = tau
  spline_a.tau = -tau
  der(phi_rel) = w_rel
  der(w_rel) = a_rel
  tau_c = c*(phi_rel-phi_rel0)
  tau_d = d*w_rel
  tau = tau_c+tau_d
metadata {
  "JuliaSim": {"icons": {"default": "jsml://RotationalComponents/SpringDamper.svg"}}
}
end

Test Cases

Related

• Examples

• Experiments

• Analyses