MultiBondLib.Mechanics3D.AdditionalMBG

Additional bondgraphic elements

MultiBondLib.Mechanics3D.AdditionalMBG.MGY MultiBondLib.Mechanics3D.AdditionalMBG.mTF MultiBondLib.Mechanics3D.AdditionalMBG.translationalTF MultiBondLib.Mechanics3D.AdditionalMBG.translational_mTF MultiBondLib.Mechanics3D.AdditionalMBG.translational_mTF2

Information


This package contains additional multibondgraphic elements.
These elements are specific for 3D-mechanical bondgraphic models. This is why they are found here and not in the MultiBondLib.

NameDescription
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


MultiBondLib.Mechanics3D.AdditionalMBG.MGY MultiBondLib.Mechanics3D.AdditionalMBG.MGY

multiport gyrator according to the eulerian jucntion structure (models gyroscopic effect)

MultiBondLib.Mechanics3D.AdditionalMBG.MGY

Information


This is the internally modulated multiport gyrator.
It consists in  a eulerian junction structure, as sketched in the modelling window.

This element models the gyroskopic force of a body element with the inertia tensor specified by the parameter I.


Parameters

NameDefaultDescription
I[3, 3]identity(3)Inductive Field

Modelica definition

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;

MultiBondLib.Mechanics3D.AdditionalMBG.mTF MultiBondLib.Mechanics3D.AdditionalMBG.mTF

modulated transformer that transforms either flow or effort

MultiBondLib.Mechanics3D.AdditionalMBG.mTF

Information


This is a special variant of the modulated transformer. The modulating real signal
is the (n x n) transformation matrix. 

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.


Parameters

NameDefaultDescription
nNCardinality of Bond connections

Modelica definition

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;

MultiBondLib.Mechanics3D.AdditionalMBG.translationalTF MultiBondLib.Mechanics3D.AdditionalMBG.translationalTF

translational transformer

MultiBondLib.Mechanics3D.AdditionalMBG.translationalTF

Information


This is the translational transformer. It couples the rotational domain at the arrow tail
with the translational domain at the arrow head. It is of fixed cardinality 3.

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.


Parameters

NameDefaultDescription
r[3]{1,0,0} 

Modelica definition

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;

MultiBondLib.Mechanics3D.AdditionalMBG.translational_mTF MultiBondLib.Mechanics3D.AdditionalMBG.translational_mTF

translational transformer modulated by amplification

MultiBondLib.Mechanics3D.AdditionalMBG.translational_mTF

Information


This is a modulated translational transformer. It couples the rotational domain at the arrow tail
with the translational domain at the arrow head.
It is of fixed cardinality 3.

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.


Parameters

NameDefaultDescription
r[3]{1,0,0} 

Modelica definition

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;

MultiBondLib.Mechanics3D.AdditionalMBG.translational_mTF2 MultiBondLib.Mechanics3D.AdditionalMBG.translational_mTF2

modulated translational transformer

MultiBondLib.Mechanics3D.AdditionalMBG.translational_mTF2

Information


This is a modulated translational transformer. It couples the rotational domain at the arrow tail
with the translational domain at the arrow head. 

It is of fixed cardinality 3.

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.


Modelica definition

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;

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