LIBRARY
PlanarMechanics.CutTorqueTest
Test for CutTorque sensor: a damped pendulum with a CutTorque sensor, a WorldForce applying sinusoidal forces and torque to the body.
Topology: Fixed → CutTorque → FixedTranslation1(r=[0.5,0]) → Revolute → FixedTranslation(r=[1,0]) → Body ← WorldForce A rotational damper stabilizes the revolute joint via its flange.
Translated from PlanarMechanicsTest.Sensors.CutTorques.
Usage
MultibodyComponents.PlanarMechanics.CutTorqueTest()
Behavior
julia
using MultibodyComponents #hide
using ModelingToolkit #hide
@named sys = MultibodyComponents.PlanarMechanics.CutTorqueTest() #hide
full_equations(sys) #hide<< @example-block not executed in draft mode >>Source
dyad
"""
Test for CutTorque sensor: a damped pendulum with a CutTorque sensor, a WorldForce
applying sinusoidal forces and torque to the body.
Topology: Fixed → CutTorque → FixedTranslation1(r=[0.5,0]) → Revolute → FixedTranslation(r=[1,0]) → Body ← WorldForce
A rotational damper stabilizes the revolute joint via its flange.
Translated from PlanarMechanicsTest.Sensors.CutTorques.
"""
test component CutTorqueTest
world = World() {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 20, "y1": 20, "x2": 120, "y2": 120, "rot": 0}
},
"tags": []
}
}
fixed_frame = MultibodyComponents.PlanarMechanics.Fixed() {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 40, "y1": 380, "x2": 140, "y2": 480, "rot": 0}
},
"tags": []
}
}
cut_torque = CutTorque(scale = 3) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 155, "y1": 380, "x2": 255, "y2": 480, "rot": 0}
},
"tags": []
}
}
rod1 = FixedTranslation(r = [0.5, 0]) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 280, "y1": 380, "x2": 380, "y2": 480, "rot": 0}
},
"tags": []
}
}
revolute = Revolute() {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 410, "y1": 380, "x2": 510, "y2": 480, "rot": 0}
},
"tags": []
}
}
rod = FixedTranslation(r = [1, 0]) {
"Dyad": {
"placement": {
"diagram": {
"iconName": "default",
"x1": 542.5,
"y1": 380,
"x2": 642.5,
"y2": 480,
"rot": 0
}
},
"tags": []
}
}
body = Body(m = 1, I = 0.1) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 670, "y1": 140, "x2": 770, "y2": 240, "rot": 0}
},
"tags": []
}
}
damper = RotationalComponents.Components.Damper(d = 0.1) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 410, "y1": 560, "x2": 510, "y2": 660, "rot": 270}
},
"tags": []
}
}
rot_fixed = RotationalComponents.Components.Fixed() {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 410, "y1": 720, "x2": 510, "y2": 820, "rot": 0}
},
"tags": []
}
}
"WorldForce applying sinusoidal force and torque to body"
world_force = WorldForceTorque(resolve_in_frame = MultibodyComponents.ResolveInFrame.FrameB()) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 540, "y1": 140, "x2": 640, "y2": 240, "rot": 0}
},
"tags": []
}
}
"Sine signals: force in y direction and torque"
sine_fx = BlockComponents.Sources.Sine(amplitude = 0, frequency = 1, start_time = 1.8) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 405, "y1": 20, "x2": 505, "y2": 120, "rot": 0}
},
"tags": []
}
}
sine_fy = BlockComponents.Sources.Sine(amplitude = -5, frequency = 1, start_time = 1.8) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 405, "y1": 140, "x2": 505, "y2": 240, "rot": 0}
},
"tags": []
}
}
sine_tau = BlockComponents.Sources.Sine(amplitude = 1, frequency = 1, start_time = 1.8) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 405, "y1": 260, "x2": 505, "y2": 360, "rot": 0}
},
"tags": []
}
}
relations
initial revolute.phi = 0
initial revolute.w = 0
# Main chain: Fixed → CutTorque → Rod1 → Revolute → Rod → Body
connect(fixed_frame.frame_b, cut_torque.frame_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
connect(cut_torque.frame_b, rod1.frame_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
connect(rod1.frame_b, revolute.frame_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
connect(revolute.frame_b, rod.frame_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
connect(rod.frame_b, body.frame_a) {
"Dyad": {
"edges": [{"S": 1, "M": [{"x": 660, "y": 430}], "E": -1}, {"S": -1, "M": [], "E": 2}],
"junctions": [{"x": 660, "y": 190}],
"renderStyle": "standard"
}
}
# WorldForce on body
connect(world_force.frame_b, body.frame_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
connect(sine_fx.y, world_force.force_x) {
"Dyad": {
"edges": [{"S": 1, "M": [{"x": 525, "y": 70}, {"x": 525, "y": 155}], "E": 2}],
"renderStyle": "standard"
}
}
connect(sine_fy.y, world_force.force_y) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
connect(sine_tau.y, world_force.torque) {
"Dyad": {
"edges": [{"S": 1, "M": [{"x": 525, "y": 310}, {"x": 525, "y": 223}], "E": 2}],
"renderStyle": "standard"
}
}
# Rotational damper on revolute flange
connect(damper.spline_b, revolute.flange_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
connect(rot_fixed.spline, damper.spline_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
metadata {"Dyad": {"tests": {"case1": {"stop": 3}}}}
endFlattened Source
dyad
"""
Test for CutTorque sensor: a damped pendulum with a CutTorque sensor, a WorldForce
applying sinusoidal forces and torque to the body.
Topology: Fixed → CutTorque → FixedTranslation1(r=[0.5,0]) → Revolute → FixedTranslation(r=[1,0]) → Body ← WorldForce
A rotational damper stabilizes the revolute joint via its flange.
Translated from PlanarMechanicsTest.Sensors.CutTorques.
"""
test component CutTorqueTest
world = World() {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 20, "y1": 20, "x2": 120, "y2": 120, "rot": 0}
},
"tags": []
}
}
fixed_frame = MultibodyComponents.PlanarMechanics.Fixed() {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 40, "y1": 380, "x2": 140, "y2": 480, "rot": 0}
},
"tags": []
}
}
cut_torque = CutTorque(scale = 3) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 155, "y1": 380, "x2": 255, "y2": 480, "rot": 0}
},
"tags": []
}
}
rod1 = FixedTranslation(r = [0.5, 0]) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 280, "y1": 380, "x2": 380, "y2": 480, "rot": 0}
},
"tags": []
}
}
revolute = Revolute() {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 410, "y1": 380, "x2": 510, "y2": 480, "rot": 0}
},
"tags": []
}
}
rod = FixedTranslation(r = [1, 0]) {
"Dyad": {
"placement": {
"diagram": {
"iconName": "default",
"x1": 542.5,
"y1": 380,
"x2": 642.5,
"y2": 480,
"rot": 0
}
},
"tags": []
}
}
body = Body(m = 1, I = 0.1) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 670, "y1": 140, "x2": 770, "y2": 240, "rot": 0}
},
"tags": []
}
}
damper = RotationalComponents.Components.Damper(d = 0.1) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 410, "y1": 560, "x2": 510, "y2": 660, "rot": 270}
},
"tags": []
}
}
rot_fixed = RotationalComponents.Components.Fixed() {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 410, "y1": 720, "x2": 510, "y2": 820, "rot": 0}
},
"tags": []
}
}
"WorldForce applying sinusoidal force and torque to body"
world_force = WorldForceTorque(resolve_in_frame = MultibodyComponents.ResolveInFrame.FrameB()) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 540, "y1": 140, "x2": 640, "y2": 240, "rot": 0}
},
"tags": []
}
}
"Sine signals: force in y direction and torque"
sine_fx = BlockComponents.Sources.Sine(amplitude = 0, frequency = 1, start_time = 1.8) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 405, "y1": 20, "x2": 505, "y2": 120, "rot": 0}
},
"tags": []
}
}
sine_fy = BlockComponents.Sources.Sine(amplitude = -5, frequency = 1, start_time = 1.8) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 405, "y1": 140, "x2": 505, "y2": 240, "rot": 0}
},
"tags": []
}
}
sine_tau = BlockComponents.Sources.Sine(amplitude = 1, frequency = 1, start_time = 1.8) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 405, "y1": 260, "x2": 505, "y2": 360, "rot": 0}
},
"tags": []
}
}
relations
initial revolute.phi = 0
initial revolute.w = 0
# Main chain: Fixed → CutTorque → Rod1 → Revolute → Rod → Body
connect(fixed_frame.frame_b, cut_torque.frame_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
connect(cut_torque.frame_b, rod1.frame_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
connect(rod1.frame_b, revolute.frame_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
connect(revolute.frame_b, rod.frame_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
connect(rod.frame_b, body.frame_a) {
"Dyad": {
"edges": [{"S": 1, "M": [{"x": 660, "y": 430}], "E": -1}, {"S": -1, "M": [], "E": 2}],
"junctions": [{"x": 660, "y": 190}],
"renderStyle": "standard"
}
}
# WorldForce on body
connect(world_force.frame_b, body.frame_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
connect(sine_fx.y, world_force.force_x) {
"Dyad": {
"edges": [{"S": 1, "M": [{"x": 525, "y": 70}, {"x": 525, "y": 155}], "E": 2}],
"renderStyle": "standard"
}
}
connect(sine_fy.y, world_force.force_y) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
connect(sine_tau.y, world_force.torque) {
"Dyad": {
"edges": [{"S": 1, "M": [{"x": 525, "y": 310}, {"x": 525, "y": 223}], "E": 2}],
"renderStyle": "standard"
}
}
# Rotational damper on revolute flange
connect(damper.spline_b, revolute.flange_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
connect(rot_fixed.spline, damper.spline_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
metadata {"Dyad": {"tests": {"case1": {"stop": 3}}}}
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.CutTorqueTest()
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 = 3e+0, abstol=1e-6, reltol=1e-6)
sol_case1 = rebuild_sol(result_case1)<< @setup-block not executed in draft mode >>Related
Examples
Experiments
Analyses
Tests