Rotational.ConstantSpeed

This component extends from PartialTorque

Usage

TranslatedComponents.Rotational.ConstantSpeed(w_fixed)

Parameters:

Name	Description	Units	Default value
useSupport	= true, if support flange enabled, otherwise implicitly grounded	–	false
w_fixed	Fixed speed	rad/s

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)

Variables

Name	Description	Units
phi_support	Absolute angle of support flange	rad
phi	Angle of flange with respect to support (= flange.phi - support.phi)	rad
w	Angular velocity of flange with respect to support (= der(phi))	rad/s

Behavior

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

Source

component ConstantSpeed
  extends PartialTorque
  # Fixed speed
  parameter w_fixed::Dyad.AngularVelocity
  # Angular velocity of flange with respect to support (= der(phi))
  variable w::Dyad.AngularVelocity
relations
  der(phi) = w
  w = w_fixed
end

Flattened Source

component ConstantSpeed
  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
  # Angle of flange with respect to support (= flange.phi - support.phi)
  variable phi::Dyad.Angle
  # Fixed speed
  parameter w_fixed::Dyad.AngularVelocity
  # Angular velocity of flange with respect to support (= der(phi))
  variable w::Dyad.AngularVelocity
relations
  if useSupport
    initial support.phi = phi_support
    initial support.tau = -flange.tau
  else
    phi_support = 0
  end
  phi = flange.phi - phi_support
  der(phi) = w
  w = w_fixed
metadata {}
end

Test Cases

No test cases defined.

Related

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