Dyad

Appearance

LIBRARY
PartialCompliantWithRelativeStates.md

PartialCompliantWithRelativeStates ​

Partial model for the compliant connection of two rotational 1-dim. shaft splines where the relative angle and speed are used as preferred states.

This component extends from PartialCompliant

Usage ​

PartialCompliantWithRelativeStates()

Connectors ​

Variables ​

NameDescriptionUnits
phi_relRelative rotation angle between splinesrad
tauTorque between splinesN.m
w_relRelative angular velocity between splinesrad/s
a_relRelative angular acceleration between splinesrad/s2

Source ​

dyad
# Partial model for the compliant connection of two rotational 1-dim. shaft splines
# where the relative angle and speed are used as preferred states.
partial component PartialCompliantWithRelativeStates
  extends PartialCompliant
  # Relative angular velocity between splines
  variable w_rel::AngularVelocity
  # Relative angular acceleration between splines
  variable a_rel::AngularAcceleration
relations
  der(phi_rel) = w_rel
  der(w_rel) = a_rel
end
Flattened Source
# Partial model for the compliant connection of two rotational 1-dim. shaft splines
# where the relative angle and speed are used as preferred states.
partial component PartialCompliantWithRelativeStates
  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
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
metadata {}
end

Test Cases ​

  • Examples

  • Experiments

  • Analyses