Rotational.TorqueToAngleAdaptor

Usage

TranslatedComponents.Rotational.TorqueToAngleAdaptor()

Parameters:

Name	Description	Units	Default value
use_w	= true, enable the output connector w (angular velocity)	–	true
use_a	= true, enable the output connector a (angular acceleration)	–	true

Connectors

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

• phi - This connector represents a real signal as an output from a component (RealOutput)

• w - This connector represents a real signal as an output from a component (RealOutput)

• a - This connector represents a real signal as an output from a component (RealOutput)

• tau - This connector represents a real signal as an input to a component (RealInput)

• w_internal - This connector represents a real signal as an input to a component (RealInput)

• a_internal - This connector represents a real signal as an input to a component (RealInput)

Behavior

$$\left[\begin{array}{c}\mathtt{phi}\left(t\right)=\mathtt{flange}\mathtt{.}\mathtt{phi}\left(t\right)\\ \mathtt{flange}\mathtt{.}\mathtt{tau}\left(t\right)=\mathtt{tau}\left(t\right)\\ \mathrm{connect}(w(t),w_{internal(t)})\\ \mathrm{connect}(a(t),a_{internal(t)})\\ \mathtt{w}\mathtt{\_}\mathtt{internal}\left(t\right)=\frac{\mathrm{d}\mathtt{phi}\left(t\right)}{\mathrm{d}t}\\ \mathtt{a}\mathtt{\_}\mathtt{internal}\left(t\right)=\frac{\mathrm{d}\mathtt{w}\mathtt{\_}\mathtt{internal}\left(t\right)}{\mathrm{d}t}\end{array}\right]$$

Source

component TorqueToAngleAdaptor
  flange = Spline()
  phi = RealOutput()
  w = RealOutput() if use_w
  a = RealOutput() if use_a
  tau = RealInput()
  w_internal = RealInput()
  a_internal = RealInput()
  # = true, enable the output connector w (angular velocity)
  structural parameter use_w::Boolean = true
  # = true, enable the output connector a (angular acceleration)
  structural parameter use_a::Boolean = true
relations
  connect(w, w_internal)
  connect(a, a_internal)
  phi = flange.phi
  if use_w
    w_internal = der(phi)
  else
    w_internal = 0.0
  end
  if use_a
    a_internal = der(w_internal)
  else
    a_internal = 0.0
  end
  flange.tau = tau
end

Flattened Source

component TorqueToAngleAdaptor
  flange = Spline()
  phi = RealOutput()
  w = RealOutput() if use_w
  a = RealOutput() if use_a
  tau = RealInput()
  w_internal = RealInput()
  a_internal = RealInput()
  # = true, enable the output connector w (angular velocity)
  structural parameter use_w::Boolean = true
  # = true, enable the output connector a (angular acceleration)
  structural parameter use_a::Boolean = true
relations
  connect(w, w_internal)
  connect(a, a_internal)
  phi = flange.phi
  if use_w
    w_internal = der(phi)
  else
    w_internal = 0.0
  end
  if use_a
    a_internal = der(w_internal)
  else
    a_internal = 0.0
  end
  flange.tau = tau
metadata {}
end

Test Cases

No test cases defined.

Related

• Examples

• Experiments

• Analyses