LIBRARY
PlanarMechanics.examples.TwoTrackModelTest
A double track model of a car.
Usage
MultibodyComponents.PlanarMechanics.examples.TwoTrackModelTest()
Behavior
julia
using MultibodyComponents #hide
using ModelingToolkit #hide
@named sys = MultibodyComponents.PlanarMechanics.examples.TwoTrackModelTest() #hide
full_equations(sys) #hide<< @example-block not executed in draft mode >>Source
dyad
"A double track model of a car."
example component TwoTrackModelTest
world = MultibodyComponents.PlanarMechanics.World(g = 0) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 20, "y1": 20, "x2": 120, "y2": 120, "rot": 0}
},
"tags": []
}
}
body = MultibodyComponents.PlanarMechanics.Body(m = 100, I = 1, render = false) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 190, "y1": 110, "x2": 290, "y2": 210, "rot": 270}
},
"tags": []
}
}
body1 = MultibodyComponents.PlanarMechanics.Body(m = 300, I = 0.1, render = false) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 450, "y1": 680, "x2": 350, "y2": 780, "rot": 0}
},
"tags": []
}
}
body2 = MultibodyComponents.PlanarMechanics.Body(m = 100, I = 1, render = false) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 840, "y1": 110, "x2": 740, "y2": 210, "rot": 90}
},
"tags": []
}
}
wheelJoint1 = MultibodyComponents.PlanarMechanics.SlipBasedWheelJoint(radius = 0.25, r = [0, 1], mu_A = 1, mu_S = 0.7, N = 1000, sAdhesion = 0.04, sSlide = 0.12, vAdhesion_min = 0.05, vSlide_min = 0.15) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 290, "y1": 250, "x2": 190, "y2": 350, "rot": 0}
},
"tags": []
}
}
wheelJoint2 = MultibodyComponents.PlanarMechanics.SlipBasedWheelJoint(radius = 0.25, r = [0, 1], mu_A = 1, mu_S = 0.7, N = 1500, sAdhesion = 0.04, sSlide = 0.12, vAdhesion_min = 0.05, vSlide_min = 0.15) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 270, "y1": 820, "x2": 170, "y2": 920, "rot": 0}
},
"tags": []
}
}
wheelJoint3 = MultibodyComponents.PlanarMechanics.SlipBasedWheelJoint(radius = 0.25, r = [0, 1], mu_A = 1, mu_S = 0.7, N = 1500, sAdhesion = 0.04, sSlide = 0.12, vAdhesion_min = 0.05, vSlide_min = 0.15) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 750, "y1": 820, "x2": 850, "y2": 920, "rot": 0}
},
"tags": []
}
}
wheelJoint4 = MultibodyComponents.PlanarMechanics.SlipBasedWheelJoint(radius = 0.25, r = [0, 1], mu_A = 1, mu_S = 0.7, N = 1000, sAdhesion = 0.04, sSlide = 0.12, vAdhesion_min = 0.05, vSlide_min = 0.15) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 740, "y1": 250, "x2": 840, "y2": 350, "rot": 0}
},
"tags": []
}
}
differentialGear = MultibodyComponents.PlanarMechanics.DifferentialGear() {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 450, "y1": 890, "x2": 550, "y2": 990, "rot": 0}
},
"tags": []
}
}
pulse = BlockComponents.Sources.Square(frequency = 0.5, offset = 0, start_time = 1, amplitude = -2) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 650, "y1": 90, "x2": 550, "y2": 190, "rot": 0}
},
"tags": []
}
}
torque = RotationalComponents.Sources.TorqueSource() {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 460, "y1": 260, "x2": 560, "y2": 360, "rot": 90}
},
"tags": []
}
}
fixed = RotationalComponents.Components.Fixed() {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 360, "y1": 1180, "x2": 460, "y2": 1280, "rot": 0}
},
"tags": []
}
}
constantTorque = BlockComponents.Sources.Constant(k = 25) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 220, "y1": 1030, "x2": 320, "y2": 1130, "rot": 0}
},
"tags": []
}
}
engineTorque = RotationalComponents.Sources.TorqueSource() {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 360, "y1": 1030, "x2": 460, "y2": 1130, "rot": 0}
},
"tags": []
}
}
inertia = RotationalComponents.Components.Inertia(J = 1) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 130, "y1": 250, "x2": 30, "y2": 350, "rot": 0}
},
"tags": []
}
}
inertia1 = RotationalComponents.Components.Inertia(J = 1) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 130, "y1": 820, "x2": 30, "y2": 920, "rot": 0}
},
"tags": []
}
}
inertia2 = RotationalComponents.Components.Inertia(J = 1) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 890, "y1": 820, "x2": 990, "y2": 920, "rot": 0}
},
"tags": []
}
}
inertia3 = RotationalComponents.Components.Inertia(J = 1) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 890, "y1": 250, "x2": 990, "y2": 350, "rot": 0}
},
"tags": []
}
}
fixedTranslation1 = MultibodyComponents.PlanarMechanics.FixedTranslation(r = [0, 2]) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 450, "y1": 620, "x2": 550, "y2": 720, "rot": 270}
},
"tags": []
}
}
fixedTranslation2 = MultibodyComponents.PlanarMechanics.FixedTranslation(r = [0.75, 0]) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 360, "y1": 760, "x2": 460, "y2": 860, "rot": 0}
},
"tags": []
}
}
fixedTranslation3 = MultibodyComponents.PlanarMechanics.FixedTranslation(r = [-0.75, 0]) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 640, "y1": 760, "x2": 540, "y2": 860, "rot": 0}
},
"tags": []
}
}
fixedTranslation4 = MultibodyComponents.PlanarMechanics.FixedTranslation(r = [0.75, 0]) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 400, "y1": 480, "x2": 500, "y2": 580, "rot": 0}
},
"tags": []
}
}
fixedTranslation5 = MultibodyComponents.PlanarMechanics.FixedTranslation(r = [-0.75, 0]) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 610, "y1": 480, "x2": 510, "y2": 580, "rot": 0}
},
"tags": []
}
}
leftTrail = MultibodyComponents.PlanarMechanics.FixedTranslation(r = [0, -0.05]) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 440, "y1": 250, "x2": 340, "y2": 350, "rot": 90}
},
"tags": []
}
}
rightTrail = MultibodyComponents.PlanarMechanics.FixedTranslation(r = [0, 0.05]) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 690, "y1": 250, "x2": 590, "y2": 350, "rot": 270}
},
"tags": []
}
}
revolute = MultibodyComponents.PlanarMechanics.Revolute() {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 590, "y1": 390, "x2": 690, "y2": 490, "rot": 90}
},
"tags": []
}
}
revolute2 = MultibodyComponents.PlanarMechanics.Revolute() {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 440, "y1": 390, "x2": 340, "y2": 490, "rot": 270}
},
"tags": []
}
}
dynamic_load = BlockComponents.Sources.Constant(k = 0) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 120, "y1": 520, "x2": 220, "y2": 620, "rot": 0}
},
"tags": []
}
}
fixed1 = RotationalComponents.Components.Fixed() {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 380, "y1": 190, "x2": 480, "y2": 90, "rot": 0}
},
"tags": []
}
}
relations
initial body1.r = [1.0, 1.0]
initial body1.v = [0.0, 0.0]
initial body1.phi = 0.0
initial body1.w = 0.0
initial inertia.phi = 0.0
initial inertia.w = 0.0
initial inertia1.phi = 0.0
initial inertia1.w = 0.0
initial inertia2.phi = 0.0
initial inertia2.w = 0.0
initial inertia3.phi = 0.0
initial inertia3.w = 0.0
initial revolute2.phi = -0.43633231299858
initial revolute2.w = 0.0
connect(inertia.spline_a, wheelJoint1.flange_a) {"Dyad": {"renderStyle": "standard", "edges": [{"S": 1, "E": 2, "M": []}]}}
connect(inertia3.spline_a, wheelJoint4.flange_a) {"Dyad": {"renderStyle": "standard", "edges": [{"S": 1, "E": 2, "M": []}]}}
connect(body2.frame_a, wheelJoint4.frame_a, rightTrail.frame_a) {
"Dyad": {
"edges": [
{"S": 1, "M": [], "E": -1},
{"S": -1, "M": [], "E": 2},
{"S": 3, "M": [{"x": 640, "y": 230}], "E": -1}
],
"junctions": [{"x": 790, "y": 230}],
"renderStyle": "standard"
}
}
connect(body.frame_a, wheelJoint1.frame_a, leftTrail.frame_b) {
"Dyad": {
"edges": [
{"S": 1, "M": [], "E": -1},
{"S": -1, "M": [], "E": 2},
{"S": 3, "M": [{"x": 390, "y": 230}], "E": -1}
],
"junctions": [{"x": 240, "y": 230}],
"renderStyle": "standard"
}
}
connect(pulse.y, torque.tau) {
"Dyad": {
"edges": [{"S": 1, "M": [{"x": 510, "y": 140}], "E": 2}],
"renderStyle": "standard"
}
}
connect(rightTrail.frame_b, revolute.frame_a) {"Dyad": {"renderStyle": "standard", "edges": [{"S": 1, "E": 2, "M": []}]}}
connect(revolute2.flange_a, revolute.flange_a, torque.spline) {
"Dyad": {
"edges": [
{"S": 1, "M": [], "E": -1},
{"S": -1, "M": [], "E": 2},
{"S": 3, "M": [], "E": -1}
],
"junctions": [{"x": 510, "y": 440}],
"renderStyle": "standard"
}
}
connect(fixedTranslation5.frame_a, revolute.frame_b) {
"Dyad": {
"renderStyle": "standard",
"edges": [{"S": 1, "M": [{"x": 640, "y": 530}], "E": 2}]
}
}
connect(fixedTranslation5.frame_b, fixedTranslation4.frame_b) {"Dyad": {"renderStyle": "standard", "edges": [{"S": 1, "E": 2, "M": []}]}}
connect(fixedTranslation1.frame_b, fixedTranslation4.frame_b) {
"Dyad": {
"renderStyle": "standard",
"edges": [{"S": 1, "M": [{"x": 500, "y": 530}], "E": 2}]
}
}
connect(wheelJoint3.frame_a, fixedTranslation3.frame_a) {
"Dyad": {
"edges": [{"S": 1, "M": [{"x": 800, "y": 810}], "E": 2}],
"renderStyle": "standard"
}
}
connect(wheelJoint2.frame_a, fixedTranslation2.frame_a) {
"Dyad": {
"edges": [{"S": 1, "M": [{"x": 220, "y": 810}], "E": 2}],
"renderStyle": "standard"
}
}
connect(wheelJoint3.flange_a, inertia2.spline_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
connect(wheelJoint2.flange_a, inertia1.spline_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
connect(fixedTranslation2.frame_b, fixedTranslation3.frame_b, fixedTranslation1.frame_a, body1.frame_a) {
"Dyad": {
"edges": [
{"S": 1, "M": [], "E": -1},
{"S": -1, "M": [], "E": 2},
{"S": 3, "M": [], "E": -2},
{"S": -2, "M": [], "E": -1},
{"S": 4, "M": [], "E": -2}
],
"junctions": [{"x": 500, "y": 810}, {"x": 500, "y": 730}],
"renderStyle": "standard"
}
}
connect(differentialGear.flange_left, wheelJoint2.flange_a) {
"Dyad": {
"edges": [{"S": 1, "M": [{"x": 170, "y": 940}], "E": 2}],
"renderStyle": "standard"
}
}
connect(differentialGear.flange_right, wheelJoint3.flange_a) {
"Dyad": {
"edges": [{"S": 1, "M": [{"x": 850, "y": 940}], "E": 2}],
"renderStyle": "standard"
}
}
connect(engineTorque.spline, differentialGear.flange_b) {
"Dyad": {
"edges": [{"S": 1, "M": [{"x": 500, "y": 1080}], "E": 2}],
"renderStyle": "standard"
}
}
connect(constantTorque.y, engineTorque.tau) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
connect(dynamic_load.y, wheelJoint1.dynamicLoad, wheelJoint2.dynamicLoad, wheelJoint4.dynamicLoad, wheelJoint3.dynamicLoad) {
"Dyad": {
"edges": [
{"S": 1, "M": [], "E": -1},
{"S": -1, "M": [{"x": 310, "y": 300}], "E": 2},
{"S": 3, "M": [{"x": 310, "y": 870}], "E": -1},
{"S": 4, "M": [{"x": 710, "y": 300}], "E": -2},
{"S": -2, "M": [], "E": -1},
{"S": 5, "M": [{"x": 710, "y": 870}], "E": -2}
],
"junctions": [{"x": 310, "y": 570}, {"x": 710, "y": 570}],
"renderStyle": "standard"
}
}
connect(fixed1.spline, torque.support) {
"Dyad": {
"edges": [{"S": 1, "M": [{"x": 430, "y": 310}], "E": 2}],
"renderStyle": "standard"
}
}
connect(fixed.spline, engineTorque.support) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
connect(revolute2.frame_b, fixedTranslation4.frame_a) {
"Dyad": {
"renderStyle": "standard",
"edges": [{"S": 1, "M": [{"x": 390, "y": 530}], "E": 2}]
}
}
connect(leftTrail.frame_a, revolute2.frame_a) {"Dyad": {"renderStyle": "standard", "edges": [{"S": 1, "E": 2, "M": []}]}}
metadata {"Dyad": {"tests": {"case1": {"stop": 20}}}}
endFlattened Source
dyad
"A double track model of a car."
example component TwoTrackModelTest
world = MultibodyComponents.PlanarMechanics.World(g = 0) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 20, "y1": 20, "x2": 120, "y2": 120, "rot": 0}
},
"tags": []
}
}
body = MultibodyComponents.PlanarMechanics.Body(m = 100, I = 1, render = false) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 190, "y1": 110, "x2": 290, "y2": 210, "rot": 270}
},
"tags": []
}
}
body1 = MultibodyComponents.PlanarMechanics.Body(m = 300, I = 0.1, render = false) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 450, "y1": 680, "x2": 350, "y2": 780, "rot": 0}
},
"tags": []
}
}
body2 = MultibodyComponents.PlanarMechanics.Body(m = 100, I = 1, render = false) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 840, "y1": 110, "x2": 740, "y2": 210, "rot": 90}
},
"tags": []
}
}
wheelJoint1 = MultibodyComponents.PlanarMechanics.SlipBasedWheelJoint(radius = 0.25, r = [0, 1], mu_A = 1, mu_S = 0.7, N = 1000, sAdhesion = 0.04, sSlide = 0.12, vAdhesion_min = 0.05, vSlide_min = 0.15) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 290, "y1": 250, "x2": 190, "y2": 350, "rot": 0}
},
"tags": []
}
}
wheelJoint2 = MultibodyComponents.PlanarMechanics.SlipBasedWheelJoint(radius = 0.25, r = [0, 1], mu_A = 1, mu_S = 0.7, N = 1500, sAdhesion = 0.04, sSlide = 0.12, vAdhesion_min = 0.05, vSlide_min = 0.15) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 270, "y1": 820, "x2": 170, "y2": 920, "rot": 0}
},
"tags": []
}
}
wheelJoint3 = MultibodyComponents.PlanarMechanics.SlipBasedWheelJoint(radius = 0.25, r = [0, 1], mu_A = 1, mu_S = 0.7, N = 1500, sAdhesion = 0.04, sSlide = 0.12, vAdhesion_min = 0.05, vSlide_min = 0.15) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 750, "y1": 820, "x2": 850, "y2": 920, "rot": 0}
},
"tags": []
}
}
wheelJoint4 = MultibodyComponents.PlanarMechanics.SlipBasedWheelJoint(radius = 0.25, r = [0, 1], mu_A = 1, mu_S = 0.7, N = 1000, sAdhesion = 0.04, sSlide = 0.12, vAdhesion_min = 0.05, vSlide_min = 0.15) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 740, "y1": 250, "x2": 840, "y2": 350, "rot": 0}
},
"tags": []
}
}
differentialGear = MultibodyComponents.PlanarMechanics.DifferentialGear() {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 450, "y1": 890, "x2": 550, "y2": 990, "rot": 0}
},
"tags": []
}
}
pulse = BlockComponents.Sources.Square(frequency = 0.5, offset = 0, start_time = 1, amplitude = -2) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 650, "y1": 90, "x2": 550, "y2": 190, "rot": 0}
},
"tags": []
}
}
torque = RotationalComponents.Sources.TorqueSource() {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 460, "y1": 260, "x2": 560, "y2": 360, "rot": 90}
},
"tags": []
}
}
fixed = RotationalComponents.Components.Fixed() {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 360, "y1": 1180, "x2": 460, "y2": 1280, "rot": 0}
},
"tags": []
}
}
constantTorque = BlockComponents.Sources.Constant(k = 25) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 220, "y1": 1030, "x2": 320, "y2": 1130, "rot": 0}
},
"tags": []
}
}
engineTorque = RotationalComponents.Sources.TorqueSource() {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 360, "y1": 1030, "x2": 460, "y2": 1130, "rot": 0}
},
"tags": []
}
}
inertia = RotationalComponents.Components.Inertia(J = 1) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 130, "y1": 250, "x2": 30, "y2": 350, "rot": 0}
},
"tags": []
}
}
inertia1 = RotationalComponents.Components.Inertia(J = 1) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 130, "y1": 820, "x2": 30, "y2": 920, "rot": 0}
},
"tags": []
}
}
inertia2 = RotationalComponents.Components.Inertia(J = 1) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 890, "y1": 820, "x2": 990, "y2": 920, "rot": 0}
},
"tags": []
}
}
inertia3 = RotationalComponents.Components.Inertia(J = 1) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 890, "y1": 250, "x2": 990, "y2": 350, "rot": 0}
},
"tags": []
}
}
fixedTranslation1 = MultibodyComponents.PlanarMechanics.FixedTranslation(r = [0, 2]) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 450, "y1": 620, "x2": 550, "y2": 720, "rot": 270}
},
"tags": []
}
}
fixedTranslation2 = MultibodyComponents.PlanarMechanics.FixedTranslation(r = [0.75, 0]) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 360, "y1": 760, "x2": 460, "y2": 860, "rot": 0}
},
"tags": []
}
}
fixedTranslation3 = MultibodyComponents.PlanarMechanics.FixedTranslation(r = [-0.75, 0]) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 640, "y1": 760, "x2": 540, "y2": 860, "rot": 0}
},
"tags": []
}
}
fixedTranslation4 = MultibodyComponents.PlanarMechanics.FixedTranslation(r = [0.75, 0]) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 400, "y1": 480, "x2": 500, "y2": 580, "rot": 0}
},
"tags": []
}
}
fixedTranslation5 = MultibodyComponents.PlanarMechanics.FixedTranslation(r = [-0.75, 0]) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 610, "y1": 480, "x2": 510, "y2": 580, "rot": 0}
},
"tags": []
}
}
leftTrail = MultibodyComponents.PlanarMechanics.FixedTranslation(r = [0, -0.05]) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 440, "y1": 250, "x2": 340, "y2": 350, "rot": 90}
},
"tags": []
}
}
rightTrail = MultibodyComponents.PlanarMechanics.FixedTranslation(r = [0, 0.05]) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 690, "y1": 250, "x2": 590, "y2": 350, "rot": 270}
},
"tags": []
}
}
revolute = MultibodyComponents.PlanarMechanics.Revolute() {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 590, "y1": 390, "x2": 690, "y2": 490, "rot": 90}
},
"tags": []
}
}
revolute2 = MultibodyComponents.PlanarMechanics.Revolute() {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 440, "y1": 390, "x2": 340, "y2": 490, "rot": 270}
},
"tags": []
}
}
dynamic_load = BlockComponents.Sources.Constant(k = 0) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 120, "y1": 520, "x2": 220, "y2": 620, "rot": 0}
},
"tags": []
}
}
fixed1 = RotationalComponents.Components.Fixed() {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 380, "y1": 190, "x2": 480, "y2": 90, "rot": 0}
},
"tags": []
}
}
relations
initial body1.r = [1.0, 1.0]
initial body1.v = [0.0, 0.0]
initial body1.phi = 0.0
initial body1.w = 0.0
initial inertia.phi = 0.0
initial inertia.w = 0.0
initial inertia1.phi = 0.0
initial inertia1.w = 0.0
initial inertia2.phi = 0.0
initial inertia2.w = 0.0
initial inertia3.phi = 0.0
initial inertia3.w = 0.0
initial revolute2.phi = -0.43633231299858
initial revolute2.w = 0.0
connect(inertia.spline_a, wheelJoint1.flange_a) {"Dyad": {"renderStyle": "standard", "edges": [{"S": 1, "E": 2, "M": []}]}}
connect(inertia3.spline_a, wheelJoint4.flange_a) {"Dyad": {"renderStyle": "standard", "edges": [{"S": 1, "E": 2, "M": []}]}}
connect(body2.frame_a, wheelJoint4.frame_a, rightTrail.frame_a) {
"Dyad": {
"edges": [
{"S": 1, "M": [], "E": -1},
{"S": -1, "M": [], "E": 2},
{"S": 3, "M": [{"x": 640, "y": 230}], "E": -1}
],
"junctions": [{"x": 790, "y": 230}],
"renderStyle": "standard"
}
}
connect(body.frame_a, wheelJoint1.frame_a, leftTrail.frame_b) {
"Dyad": {
"edges": [
{"S": 1, "M": [], "E": -1},
{"S": -1, "M": [], "E": 2},
{"S": 3, "M": [{"x": 390, "y": 230}], "E": -1}
],
"junctions": [{"x": 240, "y": 230}],
"renderStyle": "standard"
}
}
connect(pulse.y, torque.tau) {
"Dyad": {
"edges": [{"S": 1, "M": [{"x": 510, "y": 140}], "E": 2}],
"renderStyle": "standard"
}
}
connect(rightTrail.frame_b, revolute.frame_a) {"Dyad": {"renderStyle": "standard", "edges": [{"S": 1, "E": 2, "M": []}]}}
connect(revolute2.flange_a, revolute.flange_a, torque.spline) {
"Dyad": {
"edges": [
{"S": 1, "M": [], "E": -1},
{"S": -1, "M": [], "E": 2},
{"S": 3, "M": [], "E": -1}
],
"junctions": [{"x": 510, "y": 440}],
"renderStyle": "standard"
}
}
connect(fixedTranslation5.frame_a, revolute.frame_b) {
"Dyad": {
"renderStyle": "standard",
"edges": [{"S": 1, "M": [{"x": 640, "y": 530}], "E": 2}]
}
}
connect(fixedTranslation5.frame_b, fixedTranslation4.frame_b) {"Dyad": {"renderStyle": "standard", "edges": [{"S": 1, "E": 2, "M": []}]}}
connect(fixedTranslation1.frame_b, fixedTranslation4.frame_b) {
"Dyad": {
"renderStyle": "standard",
"edges": [{"S": 1, "M": [{"x": 500, "y": 530}], "E": 2}]
}
}
connect(wheelJoint3.frame_a, fixedTranslation3.frame_a) {
"Dyad": {
"edges": [{"S": 1, "M": [{"x": 800, "y": 810}], "E": 2}],
"renderStyle": "standard"
}
}
connect(wheelJoint2.frame_a, fixedTranslation2.frame_a) {
"Dyad": {
"edges": [{"S": 1, "M": [{"x": 220, "y": 810}], "E": 2}],
"renderStyle": "standard"
}
}
connect(wheelJoint3.flange_a, inertia2.spline_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
connect(wheelJoint2.flange_a, inertia1.spline_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
connect(fixedTranslation2.frame_b, fixedTranslation3.frame_b, fixedTranslation1.frame_a, body1.frame_a) {
"Dyad": {
"edges": [
{"S": 1, "M": [], "E": -1},
{"S": -1, "M": [], "E": 2},
{"S": 3, "M": [], "E": -2},
{"S": -2, "M": [], "E": -1},
{"S": 4, "M": [], "E": -2}
],
"junctions": [{"x": 500, "y": 810}, {"x": 500, "y": 730}],
"renderStyle": "standard"
}
}
connect(differentialGear.flange_left, wheelJoint2.flange_a) {
"Dyad": {
"edges": [{"S": 1, "M": [{"x": 170, "y": 940}], "E": 2}],
"renderStyle": "standard"
}
}
connect(differentialGear.flange_right, wheelJoint3.flange_a) {
"Dyad": {
"edges": [{"S": 1, "M": [{"x": 850, "y": 940}], "E": 2}],
"renderStyle": "standard"
}
}
connect(engineTorque.spline, differentialGear.flange_b) {
"Dyad": {
"edges": [{"S": 1, "M": [{"x": 500, "y": 1080}], "E": 2}],
"renderStyle": "standard"
}
}
connect(constantTorque.y, engineTorque.tau) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
connect(dynamic_load.y, wheelJoint1.dynamicLoad, wheelJoint2.dynamicLoad, wheelJoint4.dynamicLoad, wheelJoint3.dynamicLoad) {
"Dyad": {
"edges": [
{"S": 1, "M": [], "E": -1},
{"S": -1, "M": [{"x": 310, "y": 300}], "E": 2},
{"S": 3, "M": [{"x": 310, "y": 870}], "E": -1},
{"S": 4, "M": [{"x": 710, "y": 300}], "E": -2},
{"S": -2, "M": [], "E": -1},
{"S": 5, "M": [{"x": 710, "y": 870}], "E": -2}
],
"junctions": [{"x": 310, "y": 570}, {"x": 710, "y": 570}],
"renderStyle": "standard"
}
}
connect(fixed1.spline, torque.support) {
"Dyad": {
"edges": [{"S": 1, "M": [{"x": 430, "y": 310}], "E": 2}],
"renderStyle": "standard"
}
}
connect(fixed.spline, engineTorque.support) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
connect(revolute2.frame_b, fixedTranslation4.frame_a) {
"Dyad": {
"renderStyle": "standard",
"edges": [{"S": 1, "M": [{"x": 390, "y": 530}], "E": 2}]
}
}
connect(leftTrail.frame_a, revolute2.frame_a) {"Dyad": {"renderStyle": "standard", "edges": [{"S": 1, "E": 2, "M": []}]}}
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.TwoTrackModelTest()
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
Examples
Experiments
Analyses