spring

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spring

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Iconic Diagrams\Mechanical\Rotation\Components

Use

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

Description

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;

Interface

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].