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backlash

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backlash

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Iconic Diagrams\Mechanical\Rotation\Components

Use

Domains: Continuous. Size: 1-D. Kind: Iconic Diagrams (Rotation).

Description

This model represents backlash by a spring damper system equivalent to the translational backlash model. The port p of this model has separate high and low terminals. The equations are:

 

p.T = p_high.T = p_low.T

p.omega = p_high.omega - p_low.omega

 

Interface

Ports

Description

p_high, p_low

Both terminals of port p (Rotation).

Causality

 

fixed torque out

 

Parameters

 

s

k1

k2

d1

d2

ep

Interval of the play [rad]

Stiffness in the play [Nm/rad]

Stiffness outside the play [Nm/rad]

Damping inside the play [Nms/rad]

Damping outside the play [Nms/rad]

Relative round off (1e-6 -> sharp edges, 1e-2 -> smoother)

Parameters

 

x_initial

Initial position in the play [rad], -s/2 < x_initial < s/2