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Sources.ConstantTorque.md

Sources.ConstantTorque ​

Constant torque, not dependent on speed.

Model of constant torque, not dependent on angular velocity of flange. Positive torque accelerates in positive direction of rotation, but brakes in reverse direction of rotation. Negative torque brakes in positive direction of rotation, but accelerates in reverse direction of rotation.

This component extends from RotationalComponents.Interfaces.PartialTorque

Usage ​

RotationalComponents.Sources.ConstantTorque(tau_constant)

Parameters: ​

NameDescriptionUnitsDefault value
tau_constantConstant torque (if negative, torque is acting as load in positive direction of rotation)N.m

Connectors ​

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

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

Variables ​

NameDescriptionUnits
phi_supportAbsolute angle of the support splinerad
phiAngle of spline with respect to support–
wAngular velocity of spline with respect to support (= der(phi))rad/s
tauAccelerating torque acting at spline (= -spline.tau)N.m

Behavior ​

julia
using RotationalComponents #hide
using ModelingToolkit #hide
@variables tau_constant #hide
@named sys = RotationalComponents.Sources.ConstantTorque(tau_constant=tau_constant) #hide
full_equations(sys) #hide
<< @example-block not executed in draft mode >>

Source ​

dyad
"""
Constant torque, not dependent on speed.

Model of constant torque, not dependent on angular velocity of flange.
Positive torque accelerates in positive direction of rotation, but brakes in
reverse direction of rotation. Negative torque brakes in positive direction
of rotation, but accelerates in reverse direction of rotation.
"""
component ConstantTorque
  extends RotationalComponents.Interfaces.PartialTorque
  "Constant torque (if negative, torque is acting as load in positive direction of rotation)"
  parameter tau_constant::Torque
  "Angular velocity of spline with respect to support (= der(phi))"
  variable w::AngularVelocity
  "Accelerating torque acting at spline (= -spline.tau)"
  variable tau::Torque
relations
  w = der(phi)
  tau = -spline.tau
  tau = tau_constant
metadata {
  "Dyad": {"icons": {"default": "dyad://RotationalComponents/ConstantTorque.svg"}}
}
end
Flattened Source
dyad
"""
Constant torque, not dependent on speed.

Model of constant torque, not dependent on angular velocity of flange.
Positive torque accelerates in positive direction of rotation, but brakes in
reverse direction of rotation. Negative torque brakes in positive direction
of rotation, but accelerates in reverse direction of rotation.
"""
component ConstantTorque
  "Primary rotational shaft spline connector"
  spline = Spline() {"Dyad": {"placement": {"icon": {"x1": 950, "y1": 450, "x2": 1050, "y2": 550}}}}
  "Support spline connector"
  support = Spline() {
    "Dyad": {
      "placement": {"icon": {"iconName": "support", "x1": 450, "y1": 950, "x2": 550, "y2": 1050}}
    }
  }
  "Absolute angle of the support spline"
  variable phi_support::Angle
  "Angle of spline with respect to support"
  variable phi::Real
  "Constant torque (if negative, torque is acting as load in positive direction of rotation)"
  parameter tau_constant::Torque
  "Angular velocity of spline with respect to support (= der(phi))"
  variable w::AngularVelocity
  "Accelerating torque acting at spline (= -spline.tau)"
  variable tau::Torque
relations
  support.phi = phi_support
  support.tau = -spline.tau
  phi = spline.phi - phi_support
  w = der(phi)
  tau = -spline.tau
  tau = tau_constant
metadata {
  "Dyad": {"icons": {"default": "dyad://RotationalComponents/ConstantTorque.svg"}}
}
end


Test Cases ​

No test cases defined.