TorqueSource

Input signal acting as external torque on a spline

PartialTorque

Usage

TorqueSource()

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)
• tau - This connector represents a real signal as an input to a component (RealInput)

Variables

Behavior

\[ \begin{align} \mathtt{support.phi}\left( t \right) &= \mathtt{phi\_support}\left( t \right) \\ \mathtt{support.tau}\left( t \right) &= - \mathtt{spline.tau}\left( t \right) \\ \mathtt{phi}\left( t \right) &= \mathtt{spline.phi}\left( t \right) - \mathtt{phi\_support}\left( t \right) \\ \mathtt{spline.tau}\left( t \right) &= - \mathtt{tau}\left( t \right) \end{align} \]

Source

# Input signal acting as external torque on a spline
component TorqueSource
  extends PartialTorque
  # Accelerating torque acting at spline
  tau = RealInput() [{"Dyad": {"placement": {"icon": {"x1": -50, "y1": 450, "x2": 50, "y2": 550}}}}]
relations
  spline.tau = -tau
metadata {"Dyad": {"icons": {"default": "dyad://RotationalComponents/Torque.svg"}}}
end

# Input signal acting as external torque on a spline
component TorqueSource
  spline = Spline() [{"Dyad": {"placement": {"icon": {"x1": 950, "y1": 450, "x2": 1050, "y2": 550}}}}]
  support = Spline() [{
    "Dyad": {
      "placement": {"icon": {"iconName": "support", "x1": 450, "y1": 950, "x2": 550, "y2": 1050}}
    }
  }]
  # Absolute angle of support spline
  variable phi_support::Angle
  # Angle of spline with respect to support
  variable phi::Real
  # Accelerating torque acting at spline
  tau = RealInput() [{"Dyad": {"placement": {"icon": {"x1": -50, "y1": 450, "x2": 50, "y2": 550}}}}]
relations
  support.phi = phi_support
  support.tau = -spline.tau
  phi = spline.phi-phi_support
  spline.tau = -tau
metadata {"Dyad": {"icons": {"default": "dyad://RotationalComponents/Torque.svg"}}}
end

Test Cases

Related

• Examples
• Experiments
• Analyses
• Tests
  • TwoInertiasWithDrivingTorque