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Examples.ElasticBearing.md

Examples.ElasticBearing ​

Example to show possible usage of support flange.

The gearbox is not connected rigidly to the ground, but by a spring-damper system. This allows examination of the gearbox housing dynamics. A multi-sensor measures the angular velocity, torque, and power between the housing inertia and the spring-damper connected to the fixed ground.

Corresponds to Modelica.Mechanics.Rotational.Examples.ElasticBearing. StopTime=10.0, Interval=0.01.

Usage ​

RotationalComponents.Examples.ElasticBearing()

Behavior ​

[connect(ramp+y,torque+tau)connect(torque+spline,shaft+splinea)connect(torque+support,fixed+spline)connect(shaft+splineb,idealgear+spline_a)connect(idealgear+spline_b,spring+splinea)connect(spring+splineb,load+splinea)connect(idealgear+support,housing+splineb)connect(housing+splinea,multisensor+spline_b)connect(multisensor+spline_a,springdamper+spline_b)connect(springdamper+spline_a,fixed+spline)shaft.phi(t)=shaft.splinea.phi(t)shaft.phi(t)=shaft.splineb.phi(t)d⋅shaft.phi(t)dt=shaft.w(t)d⋅shaft.w(t)dt=shaft.a(t)shaft.J⋅shaft.a(t)=shaft.splineb.tau(t)+shaft.splinea.tau(t)load.phi(t)=load.splinea.phi(t)load.phi(t)=load.splineb.phi(t)d⋅load.phi(t)dt=load.w(t)d⋅load.w(t)dt=load.a(t)load.J⋅load.a(t)=load.splinea.tau(t)+load.splineb.tau(t)spring.phirel(t)=−spring.splinea.phi(t)+spring.splineb.phi(t)spring.splineb.tau(t)=spring.tau(t)spring.splinea.tau(t)=−spring.tau(t)spring.tau(t)=spring.c⋅(−spring.phirel0+spring.phirel(t))fixed.spline.phi(t)=fixed.phi0springdamper.phi_rel(t)=springdamper.spline_b.phi(t)−springdamper.spline_a.phi(t)springdamper.spline_b.tau(t)=springdamper.tau(t)springdamper.spline_a.tau(t)=−springdamper.tau(t)d⋅springdamper.phi_rel(t)dt=springdamper.w_rel(t)d⋅springdamper.w_rel(t)dt=springdamper.a_rel(t)springdamper.tau_c(t)=springdamper.c⋅(−springdamper.phi_rel0+springdamper.phi_rel(t))springdamper.tau_d(t)=springdamper.d⋅springdamper.w_rel(t)springdamper.tau(t)=springdamper.tau_c(t)+springdamper.tau_d(t)torque.support.phi(t)=torque.phisupport(t)torque.support.tau(t)=−torque.spline.tau(t)torque.phi(t)=torque.spline.phi(t)−torque.phisupport(t)torque.spline.tau(t)=−torque.tau(t)ramp.y(t)=ifelse(ramp.starttime<t,ifelse(t<ramp.duration+ramp.starttime,ramp.offset+ramp.height⋅(−ramp.starttime+t)ramp.duration,ramp.height+ramp.offset),ramp.offset)idealgear.support.phi(t)=idealgear.phi_support(t)idealgear.support.tau(t)=−idealgear.spline_b.tau(t)−idealgear.spline_a.tau(t)idealgear.phi_a(t)=idealgear.spline_a.phi(t)−idealgear.phi_support(t)idealgear.phi_b(t)=idealgear.spline_b.phi(t)−idealgear.phi_support(t)idealgear.phi_a(t)=idealgear.ratio⋅idealgear.phi_b(t)0=idealgear.spline_b.tau(t)+idealgear.ratio⋅idealgear.spline_a.tau(t)housing.phi(t)=housing.splinea.phi(t)housing.phi(t)=housing.splineb.phi(t)d⋅housing.phi(t)dt=housing.w(t)d⋅housing.w(t)dt=housing.a(t)housing.J⋅housing.a(t)=housing.splinea.tau(t)+housing.splineb.tau(t)0=multisensor.spline_b.tau(t)+multisensor.spline_a.tau(t)multisensor.spline_a.phi(t)=multisensor.spline_b.phi(t)multisensor.w(t)=d⋅multisensor.spline_a.phi(t)dtmultisensor.tau(t)=multisensor.spline_a.tau(t)multisensor.power(t)=multisensor.w(t)⋅multisensor.tau(t)]

Source ​

dyad
"""
Example to show possible usage of support flange.

The gearbox is not connected rigidly to the ground, but by a spring-damper
system. This allows examination of the gearbox housing dynamics. A multi-sensor
measures the angular velocity, torque, and power between the housing inertia
and the spring-damper connected to the fixed ground.

Corresponds to Modelica.Mechanics.Rotational.Examples.ElasticBearing.
StopTime=10.0, Interval=0.01.
"""
example component ElasticBearing
  "Motor shaft inertia, J=1 kg.m^2."
  shaft = RotationalComponents.Components.Inertia(J = 1) {}
  "Load inertia, J=50 kg.m^2."
  load = RotationalComponents.Components.Inertia(J = 50) {}
  "Torsional spring between gear output and load, c=1e3 N.m/rad."
  spring = RotationalComponents.Components.Spring(c = 1e3) {}
  "Fixed mechanical ground."
  fixed = RotationalComponents.Components.Fixed() {}
  "Spring-damper connecting housing to ground, c=1e5 N.m/rad, d=5 N.m.s/rad."
  spring_damper = RotationalComponents.Components.SpringDamper(c = 1e5, d = 5) {}
  "Torque source driven by ramp signal (useSupport=true in MSL)."
  torque = RotationalComponents.Sources.TorqueSource() {}
  "Ramp signal for driving torque, height=100 N.m over 5 s."
  ramp = BlockComponents.Sources.Ramp(duration = 5, height = 100) {}
  "Ideal gear with ratio=3 (useSupport=true in MSL)."
  ideal_gear = RotationalComponents.Components.IdealGear(ratio = 3) {}
  "Housing inertia, J=5 kg.m^2."
  housing = RotationalComponents.Components.Inertia(J = 5) {}
  "Multi-sensor measuring angular velocity, torque, and power."
  multi_sensor = RotationalComponents.Sensors.MultiSensor() {}
relations
  initial shaft.phi = 0
  initial shaft.w = 0
  initial load.w = 0
  initial spring.phi_rel = 0
  initial spring_damper.phi_rel = 0
  initial spring_damper.w_rel = 0
  connect(ramp.y, torque.tau)
  connect(torque.spline, shaft.spline_a)
  connect(torque.support, fixed.spline)
  connect(shaft.spline_b, ideal_gear.spline_a)
  connect(ideal_gear.spline_b, spring.spline_a)
  connect(spring.spline_b, load.spline_a)
  connect(ideal_gear.support, housing.spline_b)
  connect(housing.spline_a, multi_sensor.spline_b)
  connect(multi_sensor.spline_a, spring_damper.spline_b)
  connect(spring_damper.spline_a, fixed.spline)
metadata {
  "Dyad": {
    "icons": {"default": "dyad://RotationalComponents/Example.svg"},
    "tests": {
      "case1": {"stop": 10, "expect": {"initial": {"shaft.phi": 0, "shaft.w": 0, "load.w": 0}}}
    }
  }
}
end
Flattened Source
dyad
"""
Example to show possible usage of support flange.

The gearbox is not connected rigidly to the ground, but by a spring-damper
system. This allows examination of the gearbox housing dynamics. A multi-sensor
measures the angular velocity, torque, and power between the housing inertia
and the spring-damper connected to the fixed ground.

Corresponds to Modelica.Mechanics.Rotational.Examples.ElasticBearing.
StopTime=10.0, Interval=0.01.
"""
example component ElasticBearing
  "Motor shaft inertia, J=1 kg.m^2."
  shaft = RotationalComponents.Components.Inertia(J = 1) {}
  "Load inertia, J=50 kg.m^2."
  load = RotationalComponents.Components.Inertia(J = 50) {}
  "Torsional spring between gear output and load, c=1e3 N.m/rad."
  spring = RotationalComponents.Components.Spring(c = 1e3) {}
  "Fixed mechanical ground."
  fixed = RotationalComponents.Components.Fixed() {}
  "Spring-damper connecting housing to ground, c=1e5 N.m/rad, d=5 N.m.s/rad."
  spring_damper = RotationalComponents.Components.SpringDamper(c = 1e5, d = 5) {}
  "Torque source driven by ramp signal (useSupport=true in MSL)."
  torque = RotationalComponents.Sources.TorqueSource() {}
  "Ramp signal for driving torque, height=100 N.m over 5 s."
  ramp = BlockComponents.Sources.Ramp(duration = 5, height = 100) {}
  "Ideal gear with ratio=3 (useSupport=true in MSL)."
  ideal_gear = RotationalComponents.Components.IdealGear(ratio = 3) {}
  "Housing inertia, J=5 kg.m^2."
  housing = RotationalComponents.Components.Inertia(J = 5) {}
  "Multi-sensor measuring angular velocity, torque, and power."
  multi_sensor = RotationalComponents.Sensors.MultiSensor() {}
relations
  initial shaft.phi = 0
  initial shaft.w = 0
  initial load.w = 0
  initial spring.phi_rel = 0
  initial spring_damper.phi_rel = 0
  initial spring_damper.w_rel = 0
  connect(ramp.y, torque.tau)
  connect(torque.spline, shaft.spline_a)
  connect(torque.support, fixed.spline)
  connect(shaft.spline_b, ideal_gear.spline_a)
  connect(ideal_gear.spline_b, spring.spline_a)
  connect(spring.spline_b, load.spline_a)
  connect(ideal_gear.support, housing.spline_b)
  connect(housing.spline_a, multi_sensor.spline_b)
  connect(multi_sensor.spline_a, spring_damper.spline_b)
  connect(spring_damper.spline_a, fixed.spline)
metadata {
  "Dyad": {
    "icons": {"default": "dyad://RotationalComponents/Example.svg"},
    "tests": {
      "case1": {"stop": 10, "expect": {"initial": {"shaft.phi": 0, "shaft.w": 0, "load.w": 0}}}
    }
  }
}
end


Test Cases ​

Test Case case1 ​

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