| | 5 | extends Modelica.Icons.Library2; |
| | 6 | import SI = Modelica.SIunits; |
| | 7 | |
| | 8 | annotation(preferedView="info", |
| | 9 | Window( |
| | 10 | x=0.05, |
| | 11 | y=0.09, |
| | 12 | width=0.39, |
| | 13 | height=0.47, |
| | 14 | library=1, |
| | 15 | autolayout=1), |
| | 16 | Icon( |
| | 17 | Line(points=[-84, -73; 66, -73], style(color=0)), |
| | 18 | Rectangle(extent=[-81, -22; -8, -65], style( |
| | 19 | color=0, |
| | 20 | gradient=3, |
| | 21 | fillColor=8, |
| | 22 | fillPattern=1)), |
| | 23 | Line(points=[-8, -43; -1, -43; 6, -64; 17, -23; 29, -65; 40, -23; 50, -44; |
| | 24 | 61, -44], style(color=0)), |
| | 25 | Line(points=[-59, -73; -84, -93], style(color=0)), |
| | 26 | Line(points=[-11, -73; -36, -93], style(color=0)), |
| | 27 | Line(points=[-34, -73; -59, -93], style(color=0)), |
| | 28 | Line(points=[14, -73; -11, -93], style(color=0)), |
| | 29 | Line(points=[39, -73; 14, -93], style(color=0)), |
| | 30 | Line(points=[63, -73; 38, -93], style(color=0))), Documentation(info="<html> |
| | 31 | <p> |
| | 32 | This package contains components to model <i>1-dimensional translational |
| | 33 | mechanical</i> systems. |
| | 34 | </p> |
| | 35 | <p> |
| | 36 | The <i>filled</i> and <i>non-filled green squares</i> at the left and |
| | 37 | right side of a component represent <i>mechanical flanges</i>. |
| | 38 | Drawing a line between such squares means that the corresponding |
| | 39 | flanges are <i>rigidly attached</i> to each other. The components of this |
| | 40 | library can be usually connected together in an arbitrary way. E.g. it is |
| | 41 | possible to connect two springs or two sliding masses with inertia directly |
| | 42 | together. |
| | 43 | <p> The only <i>connection restriction</i> is that the Coulomb friction |
| | 44 | elements (Stop) should be only connected |
| | 45 | together provided a compliant element, such as a spring, is in between. |
| | 46 | The reason is that otherwise the frictional force is not uniquely |
| | 47 | defined if the elements are stuck at the same time instant (i.e., there |
| | 48 | does not exist a unique solution) and some simulation systems may not be |
| | 49 | able to handle this situation, since this leads to a singularity during |
| | 50 | simulation. It can only be resolved in a \"clean way\" by combining the |
| | 51 | two connected friction elements into |
| | 52 | one component and resolving the ambiguity of the frictional force in the |
| | 53 | stuck mode. |
| | 54 | </p> |
| | 55 | <p> Another restriction arises if the hard stops in model Stop are used, i. e. |
| | 56 | the movement of the mass is limited by a stop at smax or smin. |
| | 57 | <font color=\"#ff0000\"> <b>This requires the states Stop.s and Stop.v</b> </font>. If these states are eliminated during the index reduction |
| | 58 | the model will not work. To avoid this any inertias should be connected via springs |
| | 59 | to the Stop element, other sliding masses, dampers or hydraulic chambers must be avoided. </p> |
| | 60 | <p> |
| | 61 | In the <i>icon</i> of every component an <i>arrow</i> is displayed in grey |
| | 62 | color. This arrow characterizes the coordinate system in which the vectors |
| | 63 | of the component are resolved. It is directed into the positive |
| | 64 | translational direction (in the mathematical sense). |
| | 65 | In the flanges of a component, a coordinate system is rigidly attached |
| | 66 | to the flange. It is called <i>flange frame</i> and is directed in parallel |
| | 67 | to the component coordinate system. As a result, e.g., the positive |
| | 68 | cut-force of a \"left\" flange (flange_a) is directed into the flange, whereas |
| | 69 | the positive cut-force of a \"right\" flange (flange_b) is directed out of the |
| | 70 | flange. A flange is described by a Modelica connector containing |
| | 71 | the following variables: |
| | 72 | </p> |
| | 73 | <pre> |
| | 74 | SIunits.Position s \"absolute position of flange\"; |
| | 75 | <i>flow</i> Force f \"cut-force in the flange\"; |
| | 76 | </pre> |
| | 77 | |
| | 78 | <p> |
| | 79 | This library is designed in a fully object oriented way in order that |
| | 80 | components can be connected together in every meaningful combination |
| | 81 | (e.g. direct connection of two springs or two shafts with inertia). |
| | 82 | As a consequence, most models lead to a system of |
| | 83 | differential-algebraic equations of <i>index 3</i> (= constraint |
| | 84 | equations have to be differentiated twice in order to arrive at |
| | 85 | a state space representation) and the Modelica translator or |
| | 86 | the simulator has to cope with this system representation. |
| | 87 | According to our present knowledge, this requires that the |
| | 88 | Modelica translator is able to symbolically differentiate equations |
| | 89 | (otherwise it is e.g. not possible to provide consistent initial |
| | 90 | conditions; even if consistent initial conditions are present, most |
| | 91 | numerical DAE integrators can cope at most with index 2 DAEs). |
| | 92 | </p> |
| | 93 | |
| | 94 | <dl> |
| | 95 | <dt><b>Main Author:</b></dt> |
| | 96 | <dd>Peter Beater <br> |
| | 97 | Universität Paderborn, Abteilung Soest<br> |
| | 98 | Fachbereich Maschinenbau/Automatisierungstechnik<br> |
| | 99 | Lübecker Ring 2 <br> |
| | 100 | D 59494 Soest <br> |
| | 101 | Germany <br> |
| | 102 | email: <A HREF=\"mailto:Beater@mailso.uni-paderborn.de\">Beater@mailso.uni-paderborn.de</A><br> |
| | 103 | </dd> |
| | 104 | </dl> |
| | 105 | |
| | 106 | <p> |
| | 107 | Copyright © 1998-2007, Modelica Association and Universität Paderborn, FB 12. |
| | 108 | </p> |
| | 109 | <p> |
| | 110 | <i>This Modelica package is <b>free</b> software; it can be redistributed and/or modified |
| | 111 | under the terms of the <b>Modelica license</b>, see the license conditions |
| | 112 | and the accompanying <b>disclaimer</b> |
| | 113 | <a href=\"Modelica://Modelica.UsersGuide.ModelicaLicense\">here</a>.</i> |
| | 114 | </p><br> |
| | 115 | |
| | 116 | </HTML> |
| | 117 | ", revisions="<html> |
| | 118 | <ul> |
| | 119 | <li><i>Version 1.0 (January 5, 2000)</i> |
| | 120 | by Peter Beater <br> |
| | 121 | Realized a first version based on Modelica library Mechanics.Rotational |
| | 122 | by Martin Otter and an existing Dymola library onedof.lib by Peter Beater. |
| | 123 | <br> |
| | 124 | <li><i>Version 1.01 (July 18, 2001)</i> |
| | 125 | by Peter Beater <br> |
| | 126 | Assert statement added to \"Stop\", small bug fixes in examples. |
| | 127 | <br><br> |
| | 128 | </li> |
| | 129 | </ul> |
| | 130 | </html>")); |
| | 131 | |
| 1006 | | import SI = Modelica.SIunits; |
| 1007 | | |
| 1008 | | extends Modelica.Icons.Library2; |
| 1009 | | |
| 1010 | | annotation(preferedView="info", |
| 1011 | | Window( |
| 1012 | | x=0.05, |
| 1013 | | y=0.09, |
| 1014 | | width=0.39, |
| 1015 | | height=0.47, |
| 1016 | | library=1, |
| 1017 | | autolayout=1), |
| 1018 | | Icon( |
| 1019 | | Line(points=[-84, -73; 66, -73], style(color=0)), |
| 1020 | | Rectangle(extent=[-81, -22; -8, -65], style( |
| 1021 | | color=0, |
| 1022 | | gradient=3, |
| 1023 | | fillColor=8, |
| 1024 | | fillPattern=1)), |
| 1025 | | Line(points=[-8, -43; -1, -43; 6, -64; 17, -23; 29, -65; 40, -23; 50, -44; |
| 1026 | | 61, -44], style(color=0)), |
| 1027 | | Line(points=[-59, -73; -84, -93], style(color=0)), |
| 1028 | | Line(points=[-11, -73; -36, -93], style(color=0)), |
| 1029 | | Line(points=[-34, -73; -59, -93], style(color=0)), |
| 1030 | | Line(points=[14, -73; -11, -93], style(color=0)), |
| 1031 | | Line(points=[39, -73; 14, -93], style(color=0)), |
| 1032 | | Line(points=[63, -73; 38, -93], style(color=0))), Documentation(info="<html> |
| 1033 | | <p> |
| 1034 | | This package contains components to model <i>1-dimensional translational |
| 1035 | | mechanical</i> systems. |
| 1036 | | </p> |
| 1037 | | <p> |
| 1038 | | The <i>filled</i> and <i>non-filled green squares</i> at the left and |
| 1039 | | right side of a component represent <i>mechanical flanges</i>. |
| 1040 | | Drawing a line between such squares means that the corresponding |
| 1041 | | flanges are <i>rigidly attached</i> to each other. The components of this |
| 1042 | | library can be usually connected together in an arbitrary way. E.g. it is |
| 1043 | | possible to connect two springs or two sliding masses with inertia directly |
| 1044 | | together. |
| 1045 | | <p> The only <i>connection restriction</i> is that the Coulomb friction |
| 1046 | | elements (Stop) should be only connected |
| 1047 | | together provided a compliant element, such as a spring, is in between. |
| 1048 | | The reason is that otherwise the frictional force is not uniquely |
| 1049 | | defined if the elements are stuck at the same time instant (i.e., there |
| 1050 | | does not exist a unique solution) and some simulation systems may not be |
| 1051 | | able to handle this situation, since this leads to a singularity during |
| 1052 | | simulation. It can only be resolved in a \"clean way\" by combining the |
| 1053 | | two connected friction elements into |
| 1054 | | one component and resolving the ambiguity of the frictional force in the |
| 1055 | | stuck mode. |
| 1056 | | </p> |
| 1057 | | <p> Another restriction arises if the hard stops in model Stop are used, i. e. |
| 1058 | | the movement of the mass is limited by a stop at smax or smin. |
| 1059 | | <font color=\"#ff0000\"> <b>This requires the states Stop.s and Stop.v</b> </font>. If these states are eliminated during the index reduction |
| 1060 | | the model will not work. To avoid this any inertias should be connected via springs |
| 1061 | | to the Stop element, other sliding masses, dampers or hydraulic chambers must be avoided. </p> |
| 1062 | | <p> |
| 1063 | | In the <i>icon</i> of every component an <i>arrow</i> is displayed in grey |
| 1064 | | color. This arrow characterizes the coordinate system in which the vectors |
| 1065 | | of the component are resolved. It is directed into the positive |
| 1066 | | translational direction (in the mathematical sense). |
| 1067 | | In the flanges of a component, a coordinate system is rigidly attached |
| 1068 | | to the flange. It is called <i>flange frame</i> and is directed in parallel |
| 1069 | | to the component coordinate system. As a result, e.g., the positive |
| 1070 | | cut-force of a \"left\" flange (flange_a) is directed into the flange, whereas |
| 1071 | | the positive cut-force of a \"right\" flange (flange_b) is directed out of the |
| 1072 | | flange. A flange is described by a Modelica connector containing |
| 1073 | | the following variables: |
| 1074 | | </p> |
| 1075 | | <pre> |
| 1076 | | SIunits.Position s \"absolute position of flange\"; |
| 1077 | | <i>flow</i> Force f \"cut-force in the flange\"; |
| 1078 | | </pre> |
| 1079 | | |
| 1080 | | <p> |
| 1081 | | This library is designed in a fully object oriented way in order that |
| 1082 | | components can be connected together in every meaningful combination |
| 1083 | | (e.g. direct connection of two springs or two shafts with inertia). |
| 1084 | | As a consequence, most models lead to a system of |
| 1085 | | differential-algebraic equations of <i>index 3</i> (= constraint |
| 1086 | | equations have to be differentiated twice in order to arrive at |
| 1087 | | a state space representation) and the Modelica translator or |
| 1088 | | the simulator has to cope with this system representation. |
| 1089 | | According to our present knowledge, this requires that the |
| 1090 | | Modelica translator is able to symbolically differentiate equations |
| 1091 | | (otherwise it is e.g. not possible to provide consistent initial |
| 1092 | | conditions; even if consistent initial conditions are present, most |
| 1093 | | numerical DAE integrators can cope at most with index 2 DAEs). |
| 1094 | | </p> |
| 1095 | | |
| 1096 | | <dl> |
| 1097 | | <dt><b>Main Author:</b></dt> |
| 1098 | | <dd>Peter Beater <br> |
| 1099 | | Universität Paderborn, Abteilung Soest<br> |
| 1100 | | Fachbereich Maschinenbau/Automatisierungstechnik<br> |
| 1101 | | Lübecker Ring 2 <br> |
| 1102 | | D 59494 Soest <br> |
| 1103 | | Germany <br> |
| 1104 | | email: <A HREF=\"mailto:Beater@mailso.uni-paderborn.de\">Beater@mailso.uni-paderborn.de</A><br> |
| 1105 | | </dd> |
| 1106 | | </dl> |
| 1107 | | |
| 1108 | | <p> |
| 1109 | | Copyright © 1998-2007, Modelica Association and Universität Paderborn, FB 12. |
| 1110 | | </p> |
| 1111 | | <p> |
| 1112 | | <i>This Modelica package is <b>free</b> software; it can be redistributed and/or modified |
| 1113 | | under the terms of the <b>Modelica license</b>, see the license conditions |
| 1114 | | and the accompanying <b>disclaimer</b> |
| 1115 | | <a href=\"Modelica://Modelica.UsersGuide.ModelicaLicense\">here</a>.</i> |
| 1116 | | </p><br> |
| 1117 | | |
| 1118 | | </HTML> |
| 1119 | | ", revisions="<html> |
| 1120 | | <ul> |
| 1121 | | <li><i>Version 1.0 (January 5, 2000)</i> |
| 1122 | | by Peter Beater <br> |
| 1123 | | Realized a first version based on Modelica library Mechanics.Rotational |
| 1124 | | by Martin Otter and an existing Dymola library onedof.lib by Peter Beater. |
| 1125 | | <br> |
| 1126 | | <li><i>Version 1.01 (July 18, 2001)</i> |
| 1127 | | by Peter Beater <br> |
| 1128 | | Assert statement added to \"Stop\", small bug fixes in examples. |
| 1129 | | <br><br> |
| 1130 | | </li> |
| 1131 | | </ul> |
| 1132 | | </html>")); |
| 1133 | | |
