Rotational.InverseSpeedDependentTorque

This component extends from PartialTorque

Usage

TranslatedComponents.Rotational.InverseSpeedDependentTorque(tau_nominal, w_nominal, w0=0.1)

Parameters:

Name	Description	Units	Default value
useSupport		–	false
TorqueDirection		–	true
tau_nominal		N.m
w_nominal		rad/s
w0		rad/s	0.1

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		rad
phi		rad
w		rad/s
tau		N.m

Behavior

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

Source

component InverseSpeedDependentTorque
  extends PartialTorque
  parameter tau_nominal::Dyad.Torque
  structural parameter TorqueDirection::Boolean = true
  parameter w_nominal::Dyad.AngularVelocity(min = 1e-10)
  parameter w0::Dyad.AngularVelocity(final min = 1e-10) = 0.1
  variable w::Dyad.AngularVelocity
  variable tau::Dyad.Torque
relations
  w = der(phi)
  tau = -flange.tau
  if TorqueDirection
    tau = abs(w) < w0 ? tau_nominal * w_nominal / w0 : tau_nominal * w_nominal / abs(w)
  else
    tau = abs(w) < w0 ? tau_nominal * w / w0 : tau_nominal * w_nominal / w
  end
end

Flattened Source

component InverseSpeedDependentTorque
  flange = Spline()
  support = Spline() if useSupport
  structural parameter useSupport::Boolean = false
  variable phi_support::Dyad.Angle
  variable phi::Dyad.Angle
  parameter tau_nominal::Dyad.Torque
  structural parameter TorqueDirection::Boolean = true
  parameter w_nominal::Dyad.AngularVelocity(min = 1e-10)
  parameter w0::Dyad.AngularVelocity(final min = 1e-10) = 0.1
  variable w::Dyad.AngularVelocity
  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
  if TorqueDirection
    tau = abs(w) < w0 ? tau_nominal * w_nominal / w0 : tau_nominal * w_nominal / abs(w)
  else
    tau = abs(w) < w0 ? tau_nominal * w / w0 : tau_nominal * w_nominal / w
  end
metadata {}
end

Test Cases

No test cases defined.

Related

• Examples

• Experiments

• Analyses