Rotational.ConstantTorque

This component extends from PartialTorque

Usage

TranslatedComponents.Rotational.ConstantTorque(tau_constant)

Parameters:

Name	Description	Units	Default value
useSupport	= true, if support flange enabled, otherwise implicitly grounded	–	false
tau_constant	Constant torque (if negative, torque is acting as load in positive direction of rotation)	N.m

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
tau	Accelerating torque acting at flange (= -flange.tau)	N.m

Behavior

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

Source

component ConstantTorque
  extends PartialTorque
  # Constant torque (if negative, torque is acting as load in positive direction of rotation)
  parameter tau_constant::Dyad.Torque
  # Angular velocity of flange with respect to support (= der(phi))
  variable w::Dyad.AngularVelocity
  # Accelerating torque acting at flange (= -flange.tau)
  variable tau::Dyad.Torque
relations
  w = der(phi)
  tau = -flange.tau
  tau = tau_constant
end

Flattened Source

component ConstantTorque
  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
  # Constant torque (if negative, torque is acting as load in positive direction of rotation)
  parameter tau_constant::Dyad.Torque
  # Angular velocity of flange with respect to support (= der(phi))
  variable w::Dyad.AngularVelocity
  # Accelerating torque acting at flange (= -flange.tau)
  variable tau::Dyad.Torque
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)
  tau = -flange.tau
  tau = tau_constant
metadata {}
end

Test Cases

No test cases defined.

Related

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