Rotational.LinearSpeedDependentTorque

This component extends from PartialTorque

Usage

TranslatedComponents.Rotational.LinearSpeedDependentTorque(tau_nominal, w_nominal)

Parameters:

Name	Description	Units	Default value
useSupport		–	false
TorqueDirection		–	true
tau_nominal		N.m
w_nominal		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		rad
phi		rad
w		rad/s
tau		N.m

Behavior

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

Source

component LinearSpeedDependentTorque
  extends PartialTorque
  # Nominal torque (if negative, torque is acting as load in positive direction of rotation)
  parameter tau_nominal::Dyad.Torque
  # Same direction of torque in both directions of rotation
  structural parameter TorqueDirection::Boolean = true
  # Nominal speed
  parameter w_nominal::Dyad.AngularVelocity(min = 1e-10)
  # 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
  if TorqueDirection
    tau = tau_nominal * abs(w / w_nominal)
  else
    tau = tau_nominal * (w / w_nominal)
  end
end

Flattened Source

component LinearSpeedDependentTorque
  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
  # Nominal torque (if negative, torque is acting as load in positive direction of rotation)
  parameter tau_nominal::Dyad.Torque
  # Same direction of torque in both directions of rotation
  structural parameter TorqueDirection::Boolean = true
  # Nominal speed
  parameter w_nominal::Dyad.AngularVelocity(min = 1e-10)
  # 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
  if TorqueDirection
    tau = tau_nominal * abs(w / w_nominal)
  else
    tau = tau_nominal * (w / w_nominal)
  end
metadata {}
end

Test Cases

No test cases defined.

Related

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