Damper

Linear 1D rotational damper

This component extends from PartialCompliantWithRelativeStates

Usage

Damper(d)

Parameters:

Connectors

• spline_a - (Spline)
• spline_b - (Spline)

Variables

Behavior

\[ \begin{align} \mathtt{phi\_rel}\left( t \right) &= \mathtt{spline\_b.phi}\left( t \right) - \mathtt{spline\_a.phi}\left( t \right) \\ \mathtt{spline\_b.tau}\left( t \right) &= \mathtt{tau}\left( t \right) \\ \mathtt{spline\_a.tau}\left( t \right) &= - \mathtt{tau}\left( t \right) \\ \frac{\mathrm{d} \mathtt{phi\_rel}\left( t \right)}{\mathrm{d}t} &= \mathtt{w\_rel}\left( t \right) \\ \frac{\mathrm{d} \mathtt{w\_rel}\left( t \right)}{\mathrm{d}t} &= \mathtt{a\_rel}\left( t \right) \\ \mathtt{tau}\left( t \right) &= d \mathtt{w\_rel}\left( t \right) \end{align} \]

Source

# Linear 1D rotational damper
component Damper
  extends PartialCompliantWithRelativeStates
  # Damping constant
  parameter d::RotationalDampingConstant
relations
  tau = d*w_rel
metadata {"Dyad": {"icons": {"default": "dyad://RotationalComponents/Damper.svg"}}}
end

# Linear 1D rotational damper
component Damper
  spline_a = Spline() [{"Dyad": {"placement": {"icon": {"x1": -50, "y1": 450, "x2": 50, "y2": 550}}}}]
  spline_b = Spline() [{"Dyad": {"placement": {"icon": {"x1": 950, "y1": 450, "x2": 1050, "y2": 550}}}}]
  # Relative rotation angle between splines
  variable phi_rel::Angle
  # Torque between splines
  variable tau::Torque
  # Relative angular velocity between splines
  variable w_rel::AngularVelocity
  # Relative angular acceleration between splines
  variable a_rel::AngularAcceleration
  # Damping constant
  parameter d::RotationalDampingConstant
relations
  phi_rel = spline_b.phi-spline_a.phi
  spline_b.tau = tau
  spline_a.tau = -tau
  der(phi_rel) = w_rel
  der(w_rel) = a_rel
  tau = d*w_rel
metadata {"Dyad": {"icons": {"default": "dyad://RotationalComponents/Damper.svg"}}}
end

Test Cases

Related

• Examples
• Experiments
• Analyses
• Tests
  • TwoInertiasWithDrivingTorque