Name | Description |
---|---|
MGY | multiport gyrator according to the eulerian jucntion structure (models gyroscopic effect) |
mTF | modulated transformer that transforms either flow or effort |
translationalTF | translational transformer |
translational_mTF | translational transformer modulated by amplification |
translational_mTF2 | modulated translational transformer |
This element models the gyroskopic force of a body element with the inertia tensor specified by the parameter I.
Name | Default | Description |
---|---|---|
I[3, 3] | identity(3) | Inductive Field |
model MGY "multiport gyrator according to the eulerian jucntion structure (models gyroscopic effect)" import MultiBondLib; extends MultiBondLib.Interfaces.PassiveOnePort(final n=3); parameter Real[3,3] I=identity(3) "Inductive Field"; equation e = cross(f,I*f); end MGY;
The boolean input signal determines, if the flow or the effort should be transformed in arrow direction. If the singal value is true, the flow is transformed in direction of the arrow. The physical meaning of the elements isn't influenced by this boolean signal, because the transformation matrix will always be a rotation matrix. Anyhow the efficiency of the code will be influenced by the right choice of the signal.
Name | Default | Description |
---|---|---|
n | N | Cardinality of Bond connections |
model mTF "modulated transformer that transforms either flow or effort" import MultiBondLib; extends MultiBondLib.Interfaces.TwoPort; MultiBondLib.Interfaces.RealSignal M[n,n] "transformation matrix"; Modelica.Blocks.Interfaces.BooleanInput transformFlow; equation if transformFlow then f2 = M*f1; e1 = transpose(M)*e2; else f1 = transpose(M)*f2; e2 = M*e1; end if; end mTF;
The angular velocity is transformed along a vector r.
This leads to the equation:
v = w cross r
and in consequence:
t = r cross f
r can be set by an parameter.
Name | Default | Description |
---|---|---|
r[3] | {1,0,0} |
model translationalTF "translational transformer" extends MultiBondLib.Interfaces.TwoPort(final n=3); parameter Real r[3] = {1,0,0}; equation f2 = cross(f1,r); e1 = cross(r,e2); end translationalTF;
Different from the unmodulated translational transformer, the vector r can be amplified by a real signal "ampl".
The angular velocity is then transformed along a vector r*ampl.
This leads to the equation:
v = w cross (r*ampl)
and in consequence:
t = (r*ampl) cross f
r can be set by an parameter. This element is used to model a prismatic joint.
Name | Default | Description |
---|---|---|
r[3] | {1,0,0} |
model translational_mTF "translational transformer modulated by amplification" import MultiBondLib; extends MultiBondLib.Interfaces.TwoPort(final n=3); parameter Real r[3] = {1,0,0}; MultiBondLib.Interfaces.RealSignal ampl; equation f2 = cross(f1,ampl*r); e1 = cross(ampl*r,e2); end translational_mTF;
Different from the unmodulated translational transformer, the vector r is not a parameter, it is the modulating signal.
The angular velocity is then transformed along this vector r.
This leads to the equation:
v = w cross r
and in consequence:
t = r cross f
This element is useful to model a rollig wheel.
model translational_mTF2 "modulated translational transformer" import MultiBondLib; extends MultiBondLib.Interfaces.TwoPort(final n=3); MultiBondLib.Interfaces.RealSignal r[3]; equation f2 = cross(f1,r); e1 = cross(r,e2); end translational_mTF2;