Iconic Diagrams\Mechanical\Rotation\Components
Domains: Continuous. Size: 1-D. Kind: Iconic Diagrams (Rotation).
This model represents an ideal rotational spring. The element has a preferred torque out causality. The corresponding constitutive equations then contain an integration. The element can also have the non-preferred angular velocity out causality. The constitutive equations then contain a derivation. The port p of the spring 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
torque out causality (preferred):
phi = int(p.omega);
p.T = c * phi;
angular velocity out causality:
p.omega = ddt(phi);
phi = p.T/k;
Ports |
Description |
p_high, p_low |
Both terminals of the Rotational port p. |
Causality |
|
preferred torque out |
An angular velocity out causality results in a derivative constitutive equation. |
Variables |
|
phi |
torsion of the spring [rad] |
Parameters |
|
c |
Stiffness [Nm/rad] |
Initial Values |
|
phi_initial |
The initial torsion of the spring [rad]. |