Position

Defines a forced angular position for a spline relative to its support based on an input signal.

This component models the controlled angular positioning of a spline with respect to its supporting structure. It takes an external signal, phi_ref, as the desired or reference angle. The component calculates the actual relative angle, phi, between the spline and its support using the equation:

$$\begin{gathered} phi=\text{spline}. \\ phi- \\ ph{i}_{\text{support}} \end{gathered}$$

The core function of this component is to ensure that this actual relative angle precisely follows the reference input, as defined by the constraint equation:

$$\begin{gathered} phi= \\ ph{i}_{\text{ref}} \end{gathered}$$

The connectors spline and phi_support are inherited from PartialElementaryOneSplineAndSupport.

This component extends from PartialElementaryOneSplineAndSupport

Usage

RotationalComponents.Position()

Connectors

• spline - This connector represents a rotational spline with angle and torque as the potential and flow variables, respectively. (Spline)

• support - This connector represents a rotational spline with angle and torque as the potential and flow variables, respectively. (Spline)

• phi_ref - This connector represents a real signal as an input to a component (RealInput)

Variables

Name	Description	Units
phi_support	Absolute angle of the support spline	rad
phi	Variable representing the actual relative angle between spline and support.	rad

Behavior

$$\begin{array}{rl}\mathtt{support}\mathtt{.}\mathtt{phi}\left(t\right)& =\mathtt{phi}\mathtt{\_}\mathtt{support}\left(t\right)\\ \mathtt{support}\mathtt{.}\mathtt{tau}\left(t\right)& =-\mathtt{spline}\mathtt{.}\mathtt{tau}\left(t\right)\\ \mathtt{phi}\left(t\right)& =\mathtt{spline}\mathtt{.}\mathtt{phi}\left(t\right)-\mathtt{phi}\mathtt{\_}\mathtt{support}\left(t\right)\\ \mathtt{phi}\left(t\right)& =\mathtt{phi}\mathtt{\_}\mathtt{ref}\left(t\right)\end{array}$$

Source

"""
Defines a forced angular position for a spline relative to its support based on an input signal.

This component models the controlled angular positioning of a spline with respect
to its supporting structure. It takes an external signal, `phi_ref`, as the
desired or reference angle. The component calculates the actual relative angle, `phi`,
between the spline and its support using the equation:

math \phi = \text{spline}.\phi - \phi_\text

The core function of this component is to ensure that this actual relative angle
precisely follows the reference input, as defined by the constraint equation:

math \phi = \phi_\text

The connectors `spline` and `phi_support` are inherited from
`PartialElementaryOneSplineAndSupport`.
"""
component Position
  extends PartialElementaryOneSplineAndSupport
  "Input signal defining the desired relative angle between spline and support."
  phi_ref = RealInput() {"Dyad": {"placement": {"icon": {"x1": -50, "y1": 450, "x2": 50, "y2": 550}}}}
  "Variable representing the actual relative angle between spline and support."
  variable phi::Angle
relations
  phi = spline.phi - phi_support
  phi = phi_ref
metadata {
  "Dyad": {"icons": {"default": "dyad://RotationalComponents/Pos-Speed-Acc-Move.svg"}}
}
end

Flattened Source

"""
Defines a forced angular position for a spline relative to its support based on an input signal.

This component models the controlled angular positioning of a spline with respect
to its supporting structure. It takes an external signal, `phi_ref`, as the
desired or reference angle. The component calculates the actual relative angle, `phi`,
between the spline and its support using the equation:

math \phi = \text{spline}.\phi - \phi_\text

The core function of this component is to ensure that this actual relative angle
precisely follows the reference input, as defined by the constraint equation:

math \phi = \phi_\text

The connectors `spline` and `phi_support` are inherited from
`PartialElementaryOneSplineAndSupport`.
"""
component Position
  "Primary rotational shaft spline connector"
  spline = Spline() {"Dyad": {"placement": {"icon": {"x1": 950, "y1": 450, "x2": 1050, "y2": 550}}}}
  "Support spline connector"
  support = Spline() {
    "Dyad": {
      "placement": {"icon": {"iconName": "support", "x1": 450, "y1": 950, "x2": 550, "y2": 1050}}
    }
  }
  "Absolute angle of the support spline"
  variable phi_support::Angle
  "Input signal defining the desired relative angle between spline and support."
  phi_ref = RealInput() {"Dyad": {"placement": {"icon": {"x1": -50, "y1": 450, "x2": 50, "y2": 550}}}}
  "Variable representing the actual relative angle between spline and support."
  variable phi::Angle
relations
  support.phi = phi_support
  support.tau = -spline.tau
  phi = spline.phi - phi_support
  phi = phi_ref
metadata {
  "Dyad": {"icons": {"default": "dyad://RotationalComponents/Pos-Speed-Acc-Move.svg"}}
}
end

Test Cases

No test cases defined.

Related

• Examples

• Experiments

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