Rotational.Spring

This component extends from PartialCompliant

Usage

TranslatedComponents.Rotational.Spring(c=100000, phi_rel0=0)

Parameters:

Name	Description	Units	Default value
c		N.m/rad	100000
phi_rel0		rad	0

Connectors

• flange_a - This connector represents a rotational spline with angle and torque as the potential and flow variables, respectively. (Spline)

• flange_b - This connector represents a rotational spline with angle and torque as the potential and flow variables, respectively. (Spline)

Variables

Name	Description	Units
phi_rel		rad
tau		N.m

Behavior

$$\begin{array}{rl}\mathtt{phi}\mathtt{\_}\mathtt{rel}\left(t\right)& =\mathtt{flange}\mathtt{\_}\mathtt{b}\mathtt{.}\mathtt{phi}\left(t\right)-\mathtt{flange}\mathtt{\_}\mathtt{a}\mathtt{.}\mathtt{phi}\left(t\right)\\ \mathtt{flange}\mathtt{\_}\mathtt{b}\mathtt{.}\mathtt{tau}\left(t\right)& =\mathtt{tau}\left(t\right)\\ \mathtt{flange}\mathtt{\_}\mathtt{a}\mathtt{.}\mathtt{tau}\left(t\right)& =-\mathtt{tau}\left(t\right)\\ \mathtt{tau}\left(t\right)& =c(-\mathtt{phi}\mathtt{\_}\mathtt{rel}\mathtt{0}+\mathtt{phi}\mathtt{\_}\mathtt{rel}\left(t\right))\end{array}$$

Source

component Spring
  extends PartialCompliant
  parameter c::Dyad.RotationalSpringConstant(final min = 0) = 100000
  parameter phi_rel0::Dyad.Angle = 0
relations
  tau = c * (phi_rel - phi_rel0)
end

Flattened Source

component Spring
  flange_a = Spline()
  flange_b = Spline()
  variable phi_rel::Dyad.Angle
  variable tau::Dyad.Torque
  parameter c::Dyad.RotationalSpringConstant(final min = 0) = 100000
  parameter phi_rel0::Dyad.Angle = 0
relations
  phi_rel = flange_b.phi - flange_a.phi
  flange_b.tau = tau
  flange_a.tau = -tau
  tau = c * (phi_rel - phi_rel0)
metadata {}
end

Test Cases

No test cases defined.

Related

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