MultiBondLib.PlanarMechanics.Interfaces

connectors of the planar mechanic objects and converters to wrap the bond graphs

MultiBondLib.PlanarMechanics.Interfaces.Frame_a MultiBondLib.PlanarMechanics.Interfaces.Frame_b MultiBondLib.PlanarMechanics.Interfaces.Potentials MultiBondLib.PlanarMechanics.Interfaces.MBG2Mech MultiBondLib.PlanarMechanics.Interfaces.Mech2MBG

Information


This package contains the basic connectors of the planar mechanical elements. 
There are two connector types "Frame_a" and "Frame_b", but their only difference is the symbol and the name.
They both contain exactly the same variables and are therefore semantically identical.

The package contains two converter elements, that enable the comfortable wrapping of bondgraphic models.

NameDescription
Frame_a connector for the planar objects
Frame_b connector for the planar objects
Frame connector for the planar objects
Potentials redundant part of the connector for the planar objects
MBG2Mech links the bond graph with the mechanic connector
Mech2MBG links the mechanic connector with the bond graph


MultiBondLib.PlanarMechanics.Interfaces.Frame_a MultiBondLib.PlanarMechanics.Interfaces.Frame_a

connector for the planar objects

MultiBondLib.PlanarMechanics.Interfaces.Frame_a

Information


This is a connector for planar mechanical components. It inherits all its variables
from the basic connector type 'Frame'.

Modelica definition

connector Frame_a "connector for the planar objects" 
  extends Frame;
  
end Frame_a;

MultiBondLib.PlanarMechanics.Interfaces.Frame_b MultiBondLib.PlanarMechanics.Interfaces.Frame_b

connector for the planar objects

MultiBondLib.PlanarMechanics.Interfaces.Frame_b

Information


This is a connector for planar mechanical components. It inherits all its variables
from the basic connector type 'Frame'.

Modelica definition

connector Frame_b "connector for the planar objects" 
  extends Frame;
  
end Frame_b;

MultiBondLib.PlanarMechanics.Interfaces.Frame

connector for the planar objects

Information


This is the basic planar mechanical connector type.

The connector defines the following potential variables:

The connector defines the following flow variables:

The potential variables are summarized in a record P. So the variable name has to be preceeded by a P. (I. e.: the gain access to the position: Type frame.P.x.)

All variables are resolved in the inertial system.

Do not use this connector directly! Use its two inheritors "Frame_a" and "Frame_b".


Modelica definition

connector Frame "connector for the planar objects" 
  import SI = Modelica.SIunits;
  
    Potentials P;
  
    flow SI.Force fx "Cut-force";
    flow SI.Force fy "Cut-force";
    flow SI.Torque t "Cut-torque";
end Frame;

MultiBondLib.PlanarMechanics.Interfaces.Potentials MultiBondLib.PlanarMechanics.Interfaces.Potentials

redundant part of the connector for the planar objects

Information


This record contains all potential variables of the planar mechanical connector.

These potential variables form a redundant set of information. This is causing problems by the closure of kinematic loops. To overcome these problems this record also contains the function 'equalityConstraint'.


Modelica definition

record Potentials 
  "redundant part of the connector for the planar objects" 
                  extends Modelica.Icons.Record;
  import SI = Modelica.SIunits;
  
    SI.Position x "Position";
    SI.Position y "Position";
    SI.Angle phi;
  
    SI.Velocity vx "Velocity";
    SI.Velocity vy "Velocity";
    SI.AngularVelocity w;
  
  encapsulated function equalityConstraint 
    "Returns the constraint residues to express that two frames have the same orientation" 
    
    import Modelica;
    import MultiBondLib.PlanarMechanics.Interfaces;
    extends Modelica.Icons.Function;
    input Interfaces.Potentials P1;
    input Interfaces.Potentials P2;
    output Real residue[3];
  algorithm 
    residue := {P1.x-P2.x,P1.y-P2.y,P1.phi-P2.phi};
  end equalityConstraint;
  
end Potentials;

MultiBondLib.PlanarMechanics.Interfaces.MBG2Mech MultiBondLib.PlanarMechanics.Interfaces.MBG2Mech

links the bond graph with the mechanic connector

MultiBondLib.PlanarMechanics.Interfaces.MBG2Mech

Information


This is a converter element. The signals and bond connections of a bondgraphic model
are converted into variables of the mechanical connector. This element enables the wrapping of bondgraphic
models and is acausal.

Modelica definition

model MBG2Mech "links the bond graph with the mechanic connector" 
  import MultiBondLib;
  MultiBondLib.Interfaces.MultiBondCon MultiBondCon1(n=3);
  Frame_b frame_b;
  MultiBondLib.Interfaces.RealSignal q[3];
equation 
  MultiBondCon1.e[1]*MultiBondCon1.d = frame_b.fx;
  MultiBondCon1.e[2]*MultiBondCon1.d = frame_b.fy;
  MultiBondCon1.e[3]*MultiBondCon1.d = frame_b.t;
  
  MultiBondCon1.f[1] = frame_b.P.vx;
  MultiBondCon1.f[2] = frame_b.P.vy;
  MultiBondCon1.f[3] = frame_b.P.w;
  
  q[1] = frame_b.P.x;
  q[2] = frame_b.P.y;
  q[3] = frame_b.P.phi;
  
end MBG2Mech;

MultiBondLib.PlanarMechanics.Interfaces.Mech2MBG MultiBondLib.PlanarMechanics.Interfaces.Mech2MBG

links the mechanic connector with the bond graph

MultiBondLib.PlanarMechanics.Interfaces.Mech2MBG

Information


This is a converter element. The signals and bond connections of a bondgraphic model
are converted into variables of the mechanical connector. This element enables the wrapping of bondgraphic
models and is acausal.

Modelica definition

model Mech2MBG "links the mechanic connector with the bond graph" 
  import MultiBondLib;
  Frame_a frame_a;
  MultiBondLib.Interfaces.MultiBondCon MultiBondCon1(n=3);
  MultiBondLib.Interfaces.RealSignal q[3];
equation 
  MultiBondCon1.e[1]*MultiBondCon1.d = frame_a.fx;
  MultiBondCon1.e[2]*MultiBondCon1.d = frame_a.fy;
  MultiBondCon1.e[3]*MultiBondCon1.d = frame_a.t;
  
  MultiBondCon1.f[1] = frame_a.P.vx;
  MultiBondCon1.f[2] = frame_a.P.vy;
  MultiBondCon1.f[3] = frame_a.P.w;
  
  q[1] = frame_a.P.x;
  q[2] = frame_a.P.y;
  q[3] = frame_a.P.phi;
  
end Mech2MBG;

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