| | 1981 | inertia (so called <i>rotor</i>) on its 3-dim. carrier body. Gyroscopic torques |
| | 1982 | appear, if the vector of the carrier body's angular velocity is not parallel |
| | 1983 | to the vector of the rotor's. The axis of rotation of the rotor is defined by |
| | 1984 | the parameter <tt>n</tt>, which has to be given in the local coordinate system |
| | 1985 | of <tt>frame_a</tt>. The default animation of this component is |
| | 1986 | shown in the figure below. </p> |
| | 1987 | <IMG SRC=\"../Images/MultiBody/Parts/Rotor1D.png\" ALT=\"model Parts.Rotor1D\"> |
| | 1988 | <p>This component is a replacement for |
| | 1989 | <a href=\"Modelica://Modelica.Mechanics.Rotational.Inertia\">Modelica.Mechanics.Rotational.Inertia</a> |
| | 1990 | for the case, that a 1-dim.-rotational mechanical system should be attached with a 3-dim. |
| | 1991 | carrier body.</p> |
| | 1992 | <p>The Boolean parameter <tt>exact</tt> was introduced due to performance |
| | 1993 | reasons. If <tt>exact</tt> is set to true, the influence of the carrier body |
| | 1994 | motion on the angular velocity of the rotor is neglected. This influence is usually |
| | 1995 | negligible if the 1-dim.-rotational mechanical system accelerates much faster as the base body (this is, |
| | 1996 | e.g., the case in vehicle powertrains). The essential advantage is |
| | 1997 | that an algebraic loop is removed since then there is only an |
| | 1998 | action on acceleration level from the powertrain to the base body |
| | 1999 | but not vice versa.</p> |
| | 2000 | <p><b>Reference</b><br> |
| | 2001 | <span style=\"font-variant:small-caps\">Schweiger</span>, Christian ; |
| | 2002 | <span style=\"font-variant:small-caps\">Otter</span>, Martin: |
| | 2003 | <a href=\"http://www.modelica.org/Conference2003/papers/h06_Schweiger_powertrains_v5.pdf\">Modelling |
| | 2004 | 3D Mechanical Effects of 1-dim. Powertrains</a>. In: <i>Proceedings of the 3rd International |
| | 2005 | Modelica Conference</i>. Linköping : The Modelica Association and Linköping University, |
| | 2006 | November 3-4, 2003, pp. 149-158</p> |
| | 2007 | </HTML> |
| | 2008 | "), Icon( |
| | 2009 | Line(points=[-80, -25; -60, -25], style(color=0)), |
| | 2010 | Line(points=[60, -25; 80, -25], style(color=0)), |
| | 2011 | Line(points=[-70, -25; -70, -70], style(color=0)), |
| | 2012 | Line(points=[70, -25; 70, -70], style(color=0)), |
| | 2013 | Line(points=[-80, 25; -60, 25], style(color=0)), |
| | 2014 | Line(points=[60, 25; 80, 25], style(color=0)), |
| | 2015 | Line(points=[-70, 45; -70, 25], style(color=0)), |
| | 2016 | Line(points=[70, 45; 70, 25], style(color=0)), |
| | 2017 | Line(points=[-70, -70; 70, -70], style(color=0)), |
| | 2018 | Rectangle(extent=[-50, 50; 50, -50], style( |
| | 2019 | color=0, |
| | 2020 | gradient=2, |
| | 2021 | fillColor=8)), |
| | 2022 | Rectangle(extent=[-100,10; -50,-10], style( |
| | 2023 | color=0, |
| | 2024 | gradient=2, |
| | 2025 | fillColor=8)), |
| | 2026 | Rectangle(extent=[50,10; 100,-10], style( |
| | 2027 | color=0, |
| | 2028 | gradient=2, |
| | 2029 | fillColor=8)), |
| | 2030 | Text(extent=[-148,112; 152,72], string="%name=%J"), |
| | 2031 | Line(points=[0, -70; 0, -100], style(color=0))), |
| | 2032 | Diagram); |
| | 2033 | |
| | 2034 | protected |
| | 2035 | outer Modelica.Mechanics.MultiBody.World world; |
| | 2036 | parameter Real e[3]=Frames.normalize(n) |
| | 2037 | "Unit vector in direction of rotor axis, resolved in frame_a"; |
| | 2038 | Visualizers.Advanced.Shape cylinder( |
| | 2039 | shapeType="cylinder", |
| | 2040 | color=cylinderColor, |
| | 2041 | specularCoefficient=specularCoefficient, |
| | 2042 | length=cylinderLength, |
| | 2043 | width=cylinderDiameter, |
| | 2044 | height=cylinderDiameter, |
| | 2045 | lengthDirection=n, |
| | 2046 | widthDirection={0,1,0}, |
| | 2047 | extra=1, |
| | 2048 | r_shape=r_center - e*(cylinderLength/2), |
| | 2049 | r=zeros(3), |
| | 2050 | R=Frames.planarRotation(e, phi, 0)) if world.enableAnimation and animation and not world.driveTrainMechanics3D; |
| | 2051 | |
| | 2052 | public |
| | 2053 | encapsulated model RotorWith3DEffects |
| | 2054 | "1D inertia attachable on 3-dim. bodies (3D dynamic effects are taken into account)" |
| | 2055 | |
| | 2056 | import Modelica; |
| | 2057 | import Modelica.Mechanics.MultiBody.Frames; |
| | 2058 | import Modelica.Mechanics.MultiBody.Types; |
| | 2059 | import SI = Modelica.SIunits; |
| | 2060 | import Cv = Modelica.SIunits.Conversions; |
| | 2061 | |
| | 2062 | parameter Boolean animation=true |
| | 2063 | "= true, if animation shall be enabled (show rotor as cylinder)"; |
| | 2064 | parameter SI.Inertia J(min=0)=1 |
| | 2065 | "Moment of inertia of rotor around its axis of rotation"; |
| | 2066 | parameter Types.Axis n={1,0,0} "Axis of rotation resolved in frame_a"; |
| | 2067 | parameter Types.Init.Temp initType=Modelica.Mechanics.MultiBody.Types.Init.Free |
| | 2068 | "Type of initialization (defines usage of start values below)" |
| | 2069 | annotation (Dialog(group="Initialization")); |
| | 2070 | parameter Cv.NonSIunits.Angle_deg phi_start=0 |
| | 2071 | "Initial value of rotor rotation angle phi (fixed or guess value)" |
| | 2072 | annotation (Evaluate=false, Dialog(group="Initialization")); |
| | 2073 | parameter Types.AngularVelocity_degs w_start=0 |
| | 2074 | "Initial value of relative angular velocity w = der(phi)" |
| | 2075 | annotation (Evaluate=false, Dialog(group="Initialization")); |
| | 2076 | parameter Types.AngularAcceleration_degs2 a_start= |
| | 2077 | 0 "Initial value of relative angular acceleration a = der(w)" |
| | 2078 | annotation (Evaluate=false, Dialog(group="Initialization")); |
| | 2079 | parameter SI.Position r_center[3]=zeros(3) |
| | 2080 | "Position vector from origin of frame_a to center of cylinder" |
| | 2081 | annotation (Dialog(tab="Animation", group="if animation = true", enable=animation)); |
| | 2082 | parameter SI.Distance cylinderLength=2*world.defaultJointLength |
| | 2083 | "Length of cylinder representing the rotor" |
| | 2084 | annotation (Dialog(tab="Animation", group="if animation = true", enable=animation)); |
| | 2085 | parameter SI.Distance cylinderDiameter=2*world.defaultJointWidth |
| | 2086 | "Diameter of cylinder representing the rotor" |
| | 2087 | annotation (Dialog(tab="Animation", group="if animation = true", enable=animation)); |
| | 2088 | input Types.Color cylinderColor=Modelica.Mechanics.MultiBody.Types.Defaults.RodColor |
| | 2089 | "Color of cylinder representing the rotor" |
| | 2090 | annotation (Dialog(tab="Animation", group="if animation = true", enable=animation)); |
| | 2091 | input Types.SpecularCoefficient specularCoefficient = world.defaultSpecularCoefficient |
| | 2092 | "Reflection of ambient light (= 0: light is completely absorbed)" |
| | 2093 | annotation (Dialog(tab="Animation", group="if animation = true", enable=animation)); |
| | 2094 | parameter Boolean enforceStates=false |
| | 2095 | "= true, if rotor angle (phi) and rotor speed (w) shall be used as states" |
| | 2096 | annotation (Dialog(tab="Advanced")); |
| | 2097 | parameter Boolean exact=true |
| | 2098 | "= true, if exact calculations; false if influence of bearing on rotor acceleration is neglected to avoid an algebraic loop" |
| | 2099 | annotation (Dialog(tab="Advanced")); |
| | 2100 | SI.AngularVelocity w_a[3] |
| | 2101 | "Angular velocity of frame_a, resolved in frame_a"; |
| | 2102 | SI.Angle phi(start=Cv.from_deg(phi_start), stateSelect=if enforceStates then |
| | 2103 | StateSelect.always else StateSelect.default) |
| | 2104 | "Rotation angle of rotor with respect to frame_a (= flange_a.phi = flange_b.phi)"; |
| | 2105 | SI.AngularVelocity w(stateSelect=if enforceStates then StateSelect.always else |
| | 2106 | StateSelect.default) |
| | 2107 | "Angular velocity of rotor with respect to frame_a"; |
| | 2108 | SI.AngularAcceleration a |
| | 2109 | "Angular acceleration of rotor with respect to frame_a"; |
| | 2110 | |
| | 2111 | Modelica.Mechanics.Rotational.Interfaces.Flange_a flange_a |
| | 2112 | "(left) driving flange (flange axis directed INTO cut plane)" |
| | 2113 | annotation (extent=[-110, -10; -90, 10]); |
| | 2114 | Modelica.Mechanics.Rotational.Interfaces.Flange_b flange_b |
| | 2115 | "(right) driven flange (flange axis directed OUT OF cut plane)" |
| | 2116 | annotation (extent=[90, -10; 110, 10]); |
| | 2117 | Modelica.Mechanics.MultiBody.Interfaces.Frame_a frame_a |
| | 2118 | "Frame in which rotor housing is fixed" |
| | 2119 | annotation (extent=[-20, -120; 20, -80], rotation=90); |
| | 2120 | annotation ( |
| | 2121 | Documentation(info="<html> |
| | 2122 | <p> |
| | 2123 | This component is used to model the gyroscopic torques exerted by a 1-dim. |
| 2095 | | |
| 2096 | | if not world.driveTrainMechanics3D then |
| 2097 | | r_0 = zeros(3); |
| 2098 | | R.T = identity(3); |
| 2099 | | R.w = zeros(3); |
| 2100 | | end if; |
| | 2260 | |
| | 2261 | frame_a.f = zeros(3); |
| | 2262 | frame_a.t = nJ*a + cross(w_a, nJ*w); |
| | 2263 | end RotorWith3DEffects; |
| | 2264 | |
| | 2265 | protected |
| | 2266 | Rotational.Inertia inertia( |
| | 2267 | J=J, |
| | 2268 | initType=initType, |
| | 2269 | phi_start=phi_start*Modelica.Constants.D2R, |
| | 2270 | w_start=w_start*Modelica.Constants.D2R, |
| | 2271 | a_start=a_start*Modelica.Constants.D2R) if not world.driveTrainMechanics3D |
| | 2272 | annotation (extent=[-20,-20; 20,20]); |
| | 2273 | RotorWith3DEffects rotorWith3DEffects( |
| | 2274 | animation=animation, |
| | 2275 | J=J, |
| | 2276 | n=n, |
| | 2277 | initType=initType, |
| | 2278 | phi_start=phi_start, |
| | 2279 | w_start=w_start, |
| | 2280 | a_start=a_start, |
| | 2281 | r_center=r_center, |
| | 2282 | cylinderLength=cylinderLength, |
| | 2283 | cylinderDiameter=cylinderDiameter, |
| | 2284 | cylinderColor=cylinderColor, |
| | 2285 | specularCoefficient=specularCoefficient, |
| | 2286 | exact=exact) if world.driveTrainMechanics3D annotation (extent=[-20,-80; 20,-40]); |
| | 2287 | equation |
| | 2288 | phi = flange_a.phi; |
| | 2289 | w = der(phi); |
| | 2290 | a = der(w); |
| | 2291 | |
| | 2292 | connect(inertia.flange_a, flange_a) annotation (points=[-20,0; -100,0], style( |
| | 2293 | color=0, |
| | 2294 | rgbcolor={0,0,0}, |
| | 2295 | smooth=0)); |
| | 2296 | connect(inertia.flange_b, flange_b) annotation (points=[20,0; 100,0], style( |
| | 2297 | color=0, |
| | 2298 | rgbcolor={0,0,0}, |
| | 2299 | smooth=0)); |
| | 2300 | connect(rotorWith3DEffects.flange_b, flange_b) annotation (points=[20,-60; 60, |
| | 2301 | -60; 60,0; 100,0], style( |
| | 2302 | color=0, |
| | 2303 | rgbcolor={0,0,0}, |
| | 2304 | smooth=0)); |
| | 2305 | connect(rotorWith3DEffects.flange_a, flange_a) annotation (points=[-20,-60; |
| | 2306 | -60,-60; -60,0; -100,0], style( |
| | 2307 | color=0, |
| | 2308 | rgbcolor={0,0,0}, |
| | 2309 | smooth=0)); |
| | 2310 | connect(rotorWith3DEffects.frame_a, frame_a) annotation (points=[0,-80; 0, |
| | 2311 | -100], style( |
| | 2312 | color=10, |
| | 2313 | rgbcolor={95,95,95}, |
| | 2314 | thickness=2, |
| | 2315 | smooth=0)); |
