Rotational.Accelerate

This component extends from PartialElementaryOneFlangeAndSupport2

Usage

TranslatedComponents.Rotational.Accelerate()

Parameters:

Name	Description	Units	Default value
useSupport	= true, if support flange enabled, otherwise implicitly grounded	–	false

Connectors

• flange - 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)

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

Variables

Name	Description	Units
phi_support	Absolute angle of support flange	rad
phi	Rotation angle of flange with respect to support	rad
w	Angular velocity of flange with respect to support	rad/s
a	Angular acceleration of flange with respect to support	rad/s2

Behavior

$$\begin{array}{rl}\mathtt{phi}\left(t\right)& =\mathtt{flange}\mathtt{.}\mathtt{phi}\left(t\right)-\mathtt{phi}\mathtt{\_}\mathtt{support}\left(t\right)\\ w\left(t\right)& =\frac{\mathrm{d}\mathtt{phi}\left(t\right)}{\mathrm{d}t}\\ a\left(t\right)& =\frac{\mathrm{d}w\left(t\right)}{\mathrm{d}t}\\ a\left(t\right)& =\mathtt{a}\mathtt{\_}\mathtt{ref}\left(t\right)\\ \mathtt{phi}\mathtt{\_}\mathtt{support}\left(t\right)& =0\end{array}$$

Source

component Accelerate
  extends PartialElementaryOneFlangeAndSupport2
  a_ref = RealInput()
  # Rotation angle of flange with respect to support
  variable phi::Dyad.Angle
  # Angular velocity of flange with respect to support
  variable w::Dyad.AngularVelocity
  # Angular acceleration of flange with respect to support
  variable a::Dyad.AngularAcceleration
relations
  phi = flange.phi - phi_support
  w = der(phi)
  a = der(w)
  a = a_ref
end

Flattened Source

component Accelerate
  flange = Spline()
  support = Spline() if useSupport
  # = true, if support flange enabled, otherwise implicitly grounded
  structural parameter useSupport::Boolean = false
  # Absolute angle of support flange
  variable phi_support::Dyad.Angle
  a_ref = RealInput()
  # Rotation angle of flange with respect to support
  variable phi::Dyad.Angle
  # Angular velocity of flange with respect to support
  variable w::Dyad.AngularVelocity
  # Angular acceleration of flange with respect to support
  variable a::Dyad.AngularAcceleration
relations
  if useSupport
    initial support.phi = phi_support
    initial support.tau = -flange.tau
  else
    phi_support = 0
  end
  phi = flange.phi - phi_support
  w = der(phi)
  a = der(w)
  a = a_ref
metadata {}
end

Test Cases

No test cases defined.

Related

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