Rotational.TorqueStep

This component extends from PartialTorque

Usage

TranslatedComponents.Rotational.TorqueStep(stepTorque=1, offsetTorque=0, startTime=0)

Parameters:

Name	Description	Units	Default value
useSupport	= true, if support flange enabled, otherwise implicitly grounded	–	false
stepTorque	Height of torque step (if negative, torque is acting as load)	N.m	1
offsetTorque	Offset of torque	N.m	0
startTime	Torque = offset for time < startTime	s	0

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

Behavior

$$\begin{array}{rl}\mathtt{phi}\left(t\right)& =\mathtt{flange}\mathtt{.}\mathtt{phi}\left(t\right)-\mathtt{phi}\mathtt{\_}\mathtt{support}\left(t\right)\\ \mathtt{tau}\left(t\right)& =-\mathtt{flange}\mathtt{.}\mathtt{tau}\left(t\right)\\ \mathtt{tau}\left(t\right)& =\mathtt{offsetTorque}+ifelse(t<\mathtt{startTime},0,\mathtt{stepTorque})\\ \mathtt{phi}\mathtt{\_}\mathtt{support}\left(t\right)& =0\end{array}$$

Source

component TorqueStep
  extends PartialTorque
  # Height of torque step (if negative, torque is acting as load)
  parameter stepTorque::Dyad.Torque = 1
  # Offset of torque
  parameter offsetTorque::Dyad.Torque = 0
  # Torque = offset for time < startTime
  parameter startTime::Dyad.Time = 0
  # Accelerating torque acting at flange (= -flange.tau)
  variable tau::Dyad.Torque
relations
  tau = -flange.tau
  tau = offsetTorque + (time < startTime ? 0 : stepTorque)
end

Flattened Source

component TorqueStep
  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
  # Height of torque step (if negative, torque is acting as load)
  parameter stepTorque::Dyad.Torque = 1
  # Offset of torque
  parameter offsetTorque::Dyad.Torque = 0
  # Torque = offset for time < startTime
  parameter startTime::Dyad.Time = 0
  # 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
  tau = -flange.tau
  tau = offsetTorque + (time < startTime ? 0 : stepTorque)
metadata {}
end

Test Cases

No test cases defined.

Related

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