LIBRARY
PlanarMechanics.examples.dyad_balans.SimpleMotor
This component extends from MultibodyComponents.PlanarMechanics.PartialTwoFrames
Usage
MultibodyComponents.PlanarMechanics.examples.dyad_balans.SimpleMotor(d=0.0)
Parameters:
| Name | Description | Units | Default value |
|---|---|---|---|
d | damping coefficient | N.m.s/rad | 0 |
Connectors
frame_a- Coordinate system (2-dim.) fixed to the component with one cut-force and cut-torque.
All variables are resolved in the planar world frame. (Frame2D)
frame_b- Coordinate system (2-dim.) fixed to the component with one cut-force and cut-torque.
All variables are resolved in the planar world frame. (Frame2D)
torqueinput- This connector represents a real signal as an input to a component (RealInput)
Behavior
julia
using MultibodyComponents #hide
using ModelingToolkit #hide
@variables d #hide
@named sys = MultibodyComponents.PlanarMechanics.examples.dyad_balans.SimpleMotor(d=d) #hide
full_equations(sys) #hide<< @example-block not executed in draft mode >>Source
dyad
example component SimpleMotor
extends MultibodyComponents.PlanarMechanics.PartialTwoFrames
torquesource = RotationalComponents.Sources.TorqueSource() {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 450, "y1": 590, "x2": 550, "y2": 690, "rot": 270}
},
"tags": []
}
}
motor_rotation = MultibodyComponents.PlanarMechanics.Revolute(render = false) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 450, "y1": 280, "x2": 550, "y2": 380, "rot": 0}
},
"tags": []
}
}
damper1 = RotationalComponents.Components.Damper(d = d) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 560, "y1": 460, "x2": 660, "y2": 560, "rot": 90}
},
"tags": []
}
}
torqueinput = Dyad.RealInput() {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 460, "y1": 700, "x2": 540, "y2": 780, "rot": 270}
},
"tags": []
}
}
fixed = RotationalComponents.Components.Fixed() {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 670, "y1": 590, "x2": 770, "y2": 690, "rot": 270}
},
"tags": []
}
}
"damping coefficient"
parameter d::RotationalDampingConstant = 0.0
relations
connect(torquesource.spline, motor_rotation.flange_a, damper1.spline_a) {
"Dyad": {
"edges": [
{"S": 1, "M": [], "E": -1},
{"S": -1, "M": [], "E": 2},
{"S": 3, "M": [{"x": 610, "y": 420}], "E": -1}
],
"junctions": [{"x": 500, "y": 420}],
"renderStyle": "standard"
}
}
connect(frame_a, motor_rotation.frame_a) {
"Dyad": {
"edges": [{"S": 1, "M": [{"x": 280, "y": 500}, {"x": 280, "y": 330}], "E": 2}],
"renderStyle": "standard"
}
}
connect(motor_rotation.frame_b, frame_b) {
"Dyad": {
"edges": [{"S": 1, "M": [{"x": 720, "y": 330}, {"x": 720, "y": 500}], "E": 2}],
"renderStyle": "standard"
}
}
connect(torquesource.support, damper1.spline_b, fixed.spline) {
"Dyad": {
"edges": [
{"S": 1, "M": [{"x": 610, "y": 640}], "E": -1},
{"S": -1, "M": [], "E": 2},
{"S": 3, "M": [], "E": -1}
],
"junctions": [{"x": 610, "y": 640}],
"renderStyle": "standard"
}
}
connect(torqueinput, torquesource.tau) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
metadata {
"Dyad": {
"icons": {"default": "dyad://MultibodyComponents/Revolute.svg"},
"labels": [
{
"label": "$(instance)",
"x": 500,
"y": 200,
"rot": 0,
"attrs": {"font-size": "160"}
}
]
}
}
endFlattened Source
dyad
example component SimpleMotor
frame_a = Frame2D() {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 50, "y1": 450, "x2": 150, "y2": 550, "rot": 0}
},
"tags": []
}
}
frame_b = Frame2D() {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 850, "y1": 450, "x2": 950, "y2": 550, "rot": 0}
},
"tags": []
}
}
torquesource = RotationalComponents.Sources.TorqueSource() {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 450, "y1": 590, "x2": 550, "y2": 690, "rot": 270}
},
"tags": []
}
}
motor_rotation = MultibodyComponents.PlanarMechanics.Revolute(render = false) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 450, "y1": 280, "x2": 550, "y2": 380, "rot": 0}
},
"tags": []
}
}
damper1 = RotationalComponents.Components.Damper(d = d) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 560, "y1": 460, "x2": 660, "y2": 560, "rot": 90}
},
"tags": []
}
}
torqueinput = Dyad.RealInput() {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 460, "y1": 700, "x2": 540, "y2": 780, "rot": 270}
},
"tags": []
}
}
fixed = RotationalComponents.Components.Fixed() {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 670, "y1": 590, "x2": 770, "y2": 690, "rot": 270}
},
"tags": []
}
}
"damping coefficient"
parameter d::RotationalDampingConstant = 0.0
relations
connect(torquesource.spline, motor_rotation.flange_a, damper1.spline_a) {
"Dyad": {
"edges": [
{"S": 1, "M": [], "E": -1},
{"S": -1, "M": [], "E": 2},
{"S": 3, "M": [{"x": 610, "y": 420}], "E": -1}
],
"junctions": [{"x": 500, "y": 420}],
"renderStyle": "standard"
}
}
connect(frame_a, motor_rotation.frame_a) {
"Dyad": {
"edges": [{"S": 1, "M": [{"x": 280, "y": 500}, {"x": 280, "y": 330}], "E": 2}],
"renderStyle": "standard"
}
}
connect(motor_rotation.frame_b, frame_b) {
"Dyad": {
"edges": [{"S": 1, "M": [{"x": 720, "y": 330}, {"x": 720, "y": 500}], "E": 2}],
"renderStyle": "standard"
}
}
connect(torquesource.support, damper1.spline_b, fixed.spline) {
"Dyad": {
"edges": [
{"S": 1, "M": [{"x": 610, "y": 640}], "E": -1},
{"S": -1, "M": [], "E": 2},
{"S": 3, "M": [], "E": -1}
],
"junctions": [{"x": 610, "y": 640}],
"renderStyle": "standard"
}
}
connect(torqueinput, torquesource.tau) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
metadata {
"Dyad": {
"icons": {"default": "dyad://MultibodyComponents/Revolute.svg"},
"labels": [
{
"label": "$(instance)",
"x": 500,
"y": 200,
"rot": 0,
"attrs": {"font-size": "160"}
}
]
}
}
endTest Cases
No test cases defined.
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