Rotational mechanics
Library to model 1-dimensional, rotational mechanical systems
Rotational provides 1-dimensional, rotational mechanical components to model in a convenient way drive trains with frictional losses.
These components are modeled after the Modelica.Mechanics.Rotational library.
NOTE: these need more testing.
Inertia
1D-rotational component with inertia
Rotational component with inertia and two rigidly connected flanges.
Inertia(flange_a::Flange, flange_b::Flange, J::Real)
Arguments
flange_a::Flange: left flange of shaft [rad]flange_b::Flange: right flange of shaft [rad]J::Real: Moment of inertia [kg.m^2]
Sims/src/../lib/rotational.jl:42
Disc
1-dim. rotational rigid component without inertia, where right flange is rotated by a fixed angle with respect to left flange
Rotational component with two rigidly connected flanges without inertia. The right flange is rotated by the fixed angle "deltaPhi" with respect to the left flange.
Disc(flange_a::Flange, flange_b::Flange, deltaPhi)
Arguments
flange_a::Flange: left flange of shaft [rad]flange_b::Flange: right flange of shaft [rad]deltaPhi::Signal: rotation of left flange with respect to right flange (= flange_b - flange_a) [rad]
Sims/src/../lib/rotational.jl:77
Spring
Linear 1D rotational spring
A linear 1D rotational spring. The component can be connected either between two inertias/gears to describe the shaft elasticity, or between a inertia/gear and the housing (component Fixed), to describe a coupling of the element with the housing via a spring.
Spring(flange_a::Flange, flange_b::Flange, c::Real, phi_rel0 = 0.0)
Arguments
flange_a::Flange: left flange of shaft [rad]flange_b::Flange: right flange of shaft [rad]c: spring constant [N.m/rad]phi_rel0: unstretched spring angle [rad]
Sims/src/../lib/rotational.jl:105
Damper
Linear 1D rotational damper
Linear, velocity dependent damper element. It can be either connected between an inertia or gear and the housing (component Fixed), or between two inertia/gear elements.
Damper(flange_a::Flange, flange_b::Flange, d::Signal) Damper(flange_a::Flange, flange_b::Flange, hp::HeatPort, d::Signal)
Arguments
flange_a::Flange: left flange of shaft [rad]flange_b::Flange: right flange of shaft [rad]hp::HeatPort: heat port [K]d: damping constant [N.m.s/rad]
Sims/src/../lib/rotational.jl:136
SpringDamper
Linear 1D rotational spring and damper in parallel
A spring and damper element connected in parallel. The component can be connected either between two inertias/gears to describe the shaft elasticity and damping, or between an inertia/gear and the housing (component Fixed), to describe a coupling of the element with the housing via a spring/damper.
SpringDamper(flange_a::Flange, flange_b::Flange, c::Signal, d::Signal) SpringDamper(flange_a::Flange, flange_b::Flange, hp::HeatPort, c::Signal, d::Signal)
Arguments
flange_a::Flange: left flange of shaft [rad]flange_b::Flange: right flange of shaft [rad]hp::HeatPort: heat port [K]c: spring constant [N.m/rad]d: damping constant [N.m.s/rad]
Sims/src/../lib/rotational.jl:172
IdealGear
Ideal gear without inertia
This element characterices any type of gear box which is fixed in the ground and which has one driving shaft and one driven shaft. The gear is ideal, i.e., it does not have inertia, elasticity, damping or backlash. If these effects have to be considered, the gear has to be connected to other elements in an appropriate way.
IdealGear(flange_a::Flange, flange_b::Flange, ratio)
Arguments
flange_a::Flange: left flange of shaft [rad]flange_b::Flange: right flange of shaft [rad]ratio: transmission ratio (flange_a / flange_b)
Sims/src/../lib/rotational.jl:293
Miscellaneous
MBranchHeatPort
Wrap argument model with a heat port that captures the power
generated by the device. This is vectorizable.
MBranchHeatPort(flange_a::Flange, flange_b::Flange, hp::HeatPort, model::Function, args...)
Arguments
flange_a::Flange: left flange of shaft [rad]flange_b::Flange: right flange of shaft [rad]hp::HeatPort: Heat port [K]model::Function: Model to wrapargs...: Arguments passed tomodel
Sims/src/../lib/rotational.jl:331
Sensors
SpeedSensor
Ideal sensor to measure the absolute flange angular velocity
Measures the absolute angular velocity w of a flange in an ideal way and provides the result as output signal w.
SpeedSensor(flange::Flange, w::Signal)
Arguments
flange::Flange: left flange of shaft [rad]w::Signal: absolute angular velocity of the flange [rad/sec]
Sims/src/../lib/rotational.jl:377
AccSensor
Ideal sensor to measure the absolute flange angular acceleration
Measures the absolute angular velocity a of a flange in an ideal way and provides the result as output signal a.
SpeedSensor(flange::Flange, a::Signal)
Arguments
flange::Flange: left flange of shaft [rad]a::Signal: absolute angular acceleration of the flange [rad/sec^2]
Sims/src/../lib/rotational.jl:400
Sources
SignalTorque
Input signal acting as external torque on a flange
The input signal tau defines an external torque in [Nm] which acts (with negative sign) at a flange connector, i.e., the component connected to this flange is driven by torque tau.
SignalTorque(flange_a::Flange, flange_b::Flange, tau::Signal)
Arguments
flange_a::Flange: left flange of shaft [rad]flange_b::Flange: right flange of shaft [rad]tau: Accelerating torque acting at flange_a relative to flange_b (normally a support); a positive value accelerates flange_a
Sims/src/../lib/rotational.jl:437
QuadraticSpeedDependentTorque
Quadratic dependency of torque versus speed
Model of torque, quadratic dependent on angular velocity of flange. Parameter TorqueDirection chooses whether direction of torque is the same in both directions of rotation or not.
QuadraticSpeedDependentTorque(flange_a::Flange, flange_b::Flange, tau_nominal::Signal, TorqueDirection::Bool, w_nominal::Signal)
Arguments
flange_a::Flange: left flange of shaft [rad]flange_b::Flange: right flange of shaft [rad]tau_nominal::Signal: nominal torque (if negative, torque is acting as a load) [N.m]TorqueDirection::Bool: same direction of torque in both directions of rotationAngularVelocity::Signal: nominal speed [rad/sec]