LIBRARY
PlanarMechanics.examples.SlipBasedWheelTest
A slip-based wheel.
Usage
MultibodyComponents.PlanarMechanics.examples.SlipBasedWheelTest()
Behavior
julia
using MultibodyComponents #hide
using ModelingToolkit #hide
@named sys = MultibodyComponents.PlanarMechanics.examples.SlipBasedWheelTest() #hide
full_equations(sys) #hide<< @example-block not executed in draft mode >>Source
dyad
"A slip-based wheel."
example component SlipBasedWheelTest
slipBasedWheelJoint = MultibodyComponents.PlanarMechanics.SlipBasedWheelJoint(radius = 0.3, r = [1, 0], mu_A = 0.8, mu_S = 0.4, N = 100, sAdhesion = 0.04, sSlide = 0.12, vAdhesion_min = 0.05, vSlide_min = 0.15) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 940, "y1": 590, "x2": 740, "y2": 790, "rot": 90}
},
"tags": []
}
}
prismatic = MultibodyComponents.PlanarMechanics.Prismatic(r = [0, 1]) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 550, "y1": 50, "x2": 750, "y2": 250, "rot": 0}
},
"tags": []
}
}
revolute = MultibodyComponents.PlanarMechanics.Revolute() {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 290, "y1": 50, "x2": 490, "y2": 250, "rot": 0}
},
"tags": []
}
}
world = MultibodyComponents.PlanarMechanics.World(g = 0) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 20, "y1": 50, "x2": 220, "y2": 250, "rot": 0}
},
"tags": []
}
}
body = MultibodyComponents.PlanarMechanics.Body(m = 10, I = 1) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 810, "y1": 50, "x2": 1010, "y2": 250, "rot": 0}
},
"tags": []
}
}
inertia = RotationalComponents.Components.Inertia(J = 1) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 550, "y1": 360, "x2": 750, "y2": 560, "rot": 0}
},
"tags": []
}
}
engineTorque = RotationalComponents.Sources.TorqueSource() {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 290, "y1": 360, "x2": 490, "y2": 560, "rot": 0}
},
"tags": []
}
}
fixed = RotationalComponents.Components.Fixed()
constant_torque = BlockComponents.Sources.Constant(k = 2) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 20, "y1": 360, "x2": 220, "y2": 560, "rot": 0}
},
"tags": []
}
}
constant_load = BlockComponents.Sources.Constant(k = 0) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 1430, "y1": 800, "x2": 1230, "y2": 1000, "rot": 0}
},
"tags": []
}
}
relations
initial prismatic.s = 1.0
initial prismatic.v = 0.0
initial body.phi = 0.0
initial body.w = 0.0
initial inertia.phi = 0.0
initial inertia.w = 1e-10
connect(prismatic.frame_a, revolute.frame_b) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
connect(revolute.frame_a, world.frame_b) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
connect(constant_torque.y, engineTorque.tau) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
connect(engineTorque.spline, inertia.spline_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
connect(body.frame_a, prismatic.frame_b, slipBasedWheelJoint.frame_a) {
"Dyad": {
"edges": [
{"S": 1, "M": [], "E": -1},
{"S": -1, "M": [], "E": 2},
{"S": 3, "M": [{"x": 952, "y": 400}, {"x": 780, "y": 400}], "E": -1}
],
"junctions": [{"x": 780, "y": 150}],
"renderStyle": "standard"
}
}
connect(constant_load.y, slipBasedWheelJoint.dynamicLoad) {
"Dyad": {
"edges": [{"S": 1, "M": [{"x": 1120, "y": 900}, {"x": 1120, "y": 800}], "E": 2}],
"renderStyle": "standard"
}
}
connect(engineTorque.support, fixed.spline)
connect(inertia.spline_b, slipBasedWheelJoint.flange_a) {
"Dyad": {
"edges": [{"S": 1, "M": [{"x": 840, "y": 460}], "E": 2}],
"renderStyle": "standard"
}
}
metadata {"Dyad": {"tests": {"case1": {"stop": 20}}}}
endFlattened Source
dyad
"A slip-based wheel."
example component SlipBasedWheelTest
slipBasedWheelJoint = MultibodyComponents.PlanarMechanics.SlipBasedWheelJoint(radius = 0.3, r = [1, 0], mu_A = 0.8, mu_S = 0.4, N = 100, sAdhesion = 0.04, sSlide = 0.12, vAdhesion_min = 0.05, vSlide_min = 0.15) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 940, "y1": 590, "x2": 740, "y2": 790, "rot": 90}
},
"tags": []
}
}
prismatic = MultibodyComponents.PlanarMechanics.Prismatic(r = [0, 1]) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 550, "y1": 50, "x2": 750, "y2": 250, "rot": 0}
},
"tags": []
}
}
revolute = MultibodyComponents.PlanarMechanics.Revolute() {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 290, "y1": 50, "x2": 490, "y2": 250, "rot": 0}
},
"tags": []
}
}
world = MultibodyComponents.PlanarMechanics.World(g = 0) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 20, "y1": 50, "x2": 220, "y2": 250, "rot": 0}
},
"tags": []
}
}
body = MultibodyComponents.PlanarMechanics.Body(m = 10, I = 1) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 810, "y1": 50, "x2": 1010, "y2": 250, "rot": 0}
},
"tags": []
}
}
inertia = RotationalComponents.Components.Inertia(J = 1) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 550, "y1": 360, "x2": 750, "y2": 560, "rot": 0}
},
"tags": []
}
}
engineTorque = RotationalComponents.Sources.TorqueSource() {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 290, "y1": 360, "x2": 490, "y2": 560, "rot": 0}
},
"tags": []
}
}
fixed = RotationalComponents.Components.Fixed()
constant_torque = BlockComponents.Sources.Constant(k = 2) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 20, "y1": 360, "x2": 220, "y2": 560, "rot": 0}
},
"tags": []
}
}
constant_load = BlockComponents.Sources.Constant(k = 0) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 1430, "y1": 800, "x2": 1230, "y2": 1000, "rot": 0}
},
"tags": []
}
}
relations
initial prismatic.s = 1.0
initial prismatic.v = 0.0
initial body.phi = 0.0
initial body.w = 0.0
initial inertia.phi = 0.0
initial inertia.w = 1e-10
connect(prismatic.frame_a, revolute.frame_b) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
connect(revolute.frame_a, world.frame_b) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
connect(constant_torque.y, engineTorque.tau) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
connect(engineTorque.spline, inertia.spline_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
connect(body.frame_a, prismatic.frame_b, slipBasedWheelJoint.frame_a) {
"Dyad": {
"edges": [
{"S": 1, "M": [], "E": -1},
{"S": -1, "M": [], "E": 2},
{"S": 3, "M": [{"x": 952, "y": 400}, {"x": 780, "y": 400}], "E": -1}
],
"junctions": [{"x": 780, "y": 150}],
"renderStyle": "standard"
}
}
connect(constant_load.y, slipBasedWheelJoint.dynamicLoad) {
"Dyad": {
"edges": [{"S": 1, "M": [{"x": 1120, "y": 900}, {"x": 1120, "y": 800}], "E": 2}],
"renderStyle": "standard"
}
}
connect(engineTorque.support, fixed.spline)
connect(inertia.spline_b, slipBasedWheelJoint.flange_a) {
"Dyad": {
"edges": [{"S": 1, "M": [{"x": 840, "y": 460}], "E": 2}],
"renderStyle": "standard"
}
}
metadata {"Dyad": {"tests": {"case1": {"stop": 20}}}}
endTest Cases
julia
using MultibodyComponents
using DyadInterface: TransientAnalysis, rebuild_sol, ODEAlg
using ModelingToolkit: toggle_namespacing, get_initial_conditions, @named
using CSV, DataFrames, Plots
snapshotsdir = joinpath(dirname(dirname(pathof(MultibodyComponents))), "test", "snapshots")<< @setup-block not executed in draft mode >>Test Case case1
julia
@named model_case1 = MultibodyComponents.PlanarMechanics.examples.SlipBasedWheelTest()
model_case1 = toggle_namespacing(model_case1, false)
model_case1 = toggle_namespacing(model_case1, true)
result_case1 = TransientAnalysis(; model = model_case1, alg = ODEAlg.Auto(), start = 0e+0, stop = 2e+1, abstol=1e-6, reltol=1e-6)
sol_case1 = rebuild_sol(result_case1)<< @setup-block not executed in draft mode >>Related
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