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Timestamp:
12/08/07 20:34:06 (9 months ago)
Author:
otter
Message:

Replaced MultiBody.Parts.Rotor1D implementation by the previous version

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1 modified

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  • branches/maintenance/2.2.2/Modelica/Mechanics/MultiBody/parts.mo

    r651 r900  
    19571957      "= true, if exact calculations; false if influence of bearing on rotor acceleration is neglected to avoid an algebraic loop" 
    19581958      annotation (Dialog(tab="Advanced")); 
    1959      
     1959    SI.AngularVelocity w_a[3]  
     1960      "Angular velocity of frame_a, resolved in frame_a"; 
    19601961    SI.Angle phi(start=Cv.from_deg(phi_start), stateSelect=if enforceStates then  
    19611962                StateSelect.always else StateSelect.default)  
    … …  
    19731974      "(right) driven flange (flange axis directed OUT OF cut plane)"  
    19741975      annotation (extent=[90, -10; 110, 10]); 
    1975     Modelica.Mechanics.MultiBody.Interfaces.Frame_a frame_a if world.driveTrainMechanics3D  
     1976    Modelica.Mechanics.MultiBody.Interfaces.Frame_a frame_a( 
     1977        r_0=r_0, 
     1978        R=R, 
     1979        f=zeros(3), 
     1980        t=nJ*a + cross(w_a, nJ*w)) if world.driveTrainMechanics3D  
    19761981      "Frame in which rotor housing is fixed (connector is removed, if world.driveTrainMechanics3D=false)" 
    19771982      annotation (extent=[-20, -120; 20, -80], rotation=90); 
    … …  
    19791984      Documentation(info="<html> 
    19801985<p>This component is used to model the gyroscopic torques exerted by a 1-dim. 
    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>. Link&ouml;ping : The Modelica Association and Link&ouml;ping 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. 
    21241986inertia (so called <i>rotor</i>) on its 3-dim. carrier body. Gyroscopic torques 
    21251987appear, if the vector of the carrier body's angular velocity is not parallel 
    … …  
    22072069        Text(extent=[25, 77; 77, 65], string="w = der(phi) "), 
    22082070        Line(points=[0, -70; 0, -100], style(color=0)))); 
    2209        
    2210     protected  
     2071     
     2072  protected  
    22112073    outer Modelica.Mechanics.MultiBody.World world; 
    22122074    parameter Real e[3]=Frames.normalize(n)  
    2213         "Unit vector in direction of rotor axis, resolved in frame_a"; 
     2075      "Unit vector in direction of rotor axis, resolved in frame_a"; 
    22142076    parameter SI.Inertia nJ[3]=J*e; 
    2215     Modelica.Mechanics.MultiBody.Visualizers.Advanced.Shape cylinder( 
     2077    Visualizers.Advanced.Shape cylinder( 
    22162078      shapeType="cylinder", 
    22172079      color=cylinderColor, 
    … …  
    22242086      extra=1, 
    22252087      r_shape=r_center - e*(cylinderLength/2), 
    2226       r=frame_a.r_0, 
    2227       R=Frames.absoluteRotation(frame_a.R, Frames.planarRotation(e, phi, 0))) if  
     2088      r=r_0, 
     2089      R=Frames.absoluteRotation(R, Frames.planarRotation(e, phi, 0))) if  
    22282090         world.enableAnimation and animation; 
     2091     
     2092    SI.Position r_0[3]  
     2093      "Position vector from world frame to the connector frame origin, resolved in world frame"; 
     2094    Frames.Orientation R  
     2095      "Orientation object to rotate the world frame into the connector frame"; 
    22292096  initial equation  
    22302097    if initType == Types.Init.PositionVelocity then 
    … …  
    22512118    w = der(phi); 
    22522119    a = der(w); 
    2253        
    2254     w_a = Modelica.Mechanics.MultiBody.Frames.angularVelocity2(frame_a.R); 
     2120     
     2121    w_a = Modelica.Mechanics.MultiBody.Frames.angularVelocity2(R); 
    22552122    if exact then 
    22562123      J*a = flange_a.tau + flange_b.tau - nJ*der(w_a); 
    … …  
    22582125      J*a = flange_a.tau + flange_b.tau; 
    22592126    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)); 
     2127     
     2128    if not world.driveTrainMechanics3D then 
     2129      r_0 = zeros(3); 
     2130      R.T = identity(3); 
     2131      R.w = zeros(3); 
     2132    end if; 
    23162133  end Rotor1D; 
    23172134