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Timestamp:
12/09/2007 09:14:19 AM (13 months ago)
Author:
otter
Message:

Bug in MultiBody.Parts.Rotor1D corrected, that leads in some situations
to wrong reaction torques (movement should not be influenced by this bug)

Files:
1 modified

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

    r900 r903  
    19741974      "(right) driven flange (flange axis directed OUT OF cut plane)"  
    19751975      annotation (extent=[90, -10; 110, 10]); 
     1976     
     1977    /* Reaction torque: 
     1978        t = n*(J*a - flange_a.tau - flange_b.tau) + cross(w_a, nJ*w) 
     1979  
     1980     Since 
     1981        J*a = flange_a.tau + flange_b.tau - nJ*der(w_a); 
     1982  
     1983     the reaction torque can be simplified to 
     1984        t = n*(- nJ*der(w_a)) + cross(w_a, nJ*w) 
     1985  
     1986  */ 
    19761987    Modelica.Mechanics.MultiBody.Interfaces.Frame_a frame_a( 
    19771988        r_0=r_0, 
    19781989        R=R, 
    19791990        f=zeros(3), 
    1980         t=nJ*a + cross(w_a, nJ*w)) if world.driveTrainMechanics3D  
     1991        t=cross(w_a, nJ*w)-e*(nJ*der(w_a))) if  world.driveTrainMechanics3D  
    19811992      "Frame in which rotor housing is fixed (connector is removed, if world.driveTrainMechanics3D=false)" 
    19821993      annotation (extent=[-20, -120; 20, -80], rotation=90);