MultiBondLib.PlanarMechanics.AdditionalMBG

Additional multibondgraphic elements specific for planar mechanics

Information


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

Not all the elements are purely bondgraphic elements. One of them cares about the processing of the signals in the bondgraphic model.

Package Content

NameDescription
MultiBondLib.PlanarMechanics.AdditionalMBG.prismaticTF prismaticTF modulated transformer for a prismatic joint
MultiBondLib.PlanarMechanics.AdditionalMBG.translationalTF translationalTF optionally modulated transformer for a translation
MultiBondLib.PlanarMechanics.AdditionalMBG.Translation Translation translates the position


MultiBondLib.PlanarMechanics.AdditionalMBG.prismaticTF MultiBondLib.PlanarMechanics.AdditionalMBG.prismaticTF

modulated transformer for a prismatic joint

MultiBondLib.PlanarMechanics.AdditionalMBG.prismaticTF

Information


This is a modulated projective translational transformer. 

This element is used to model a prismatic joint.


Parameters

TypeNameDefaultDescription
Reald[2]{1,0} 

Connectors

TypeNameDescription
MultiBondConMultiBondConA 
MultiBondConMultiBondConB 
RealSignalphi 

Modelica definition

model prismaticTF "modulated transformer for a prismatic joint" 
  extends MultiBondLib.Interfaces.TwoDiffPort(final nA=1,final nB=2);
  parameter Real d[2] =  {1,0};
public 
  MultiBondLib.Interfaces.RealSignal phi;
equation 
  fB[1] =  (cos(phi)*d[1] + sin(phi)*d[2])*fA[1];
  fB[2] = (-sin(phi)*d[1] + cos(phi)*d[2])*fA[1];
  eA[1] = (cos(phi)*d[1] + sin(phi)*d[2])*eB[1] + (-sin(phi)*d[1] + cos(phi)*d[2])*eB[2];
  
end prismaticTF;

MultiBondLib.PlanarMechanics.AdditionalMBG.translationalTF MultiBondLib.PlanarMechanics.AdditionalMBG.translationalTF

optionally modulated transformer for a translation

MultiBondLib.PlanarMechanics.AdditionalMBG.translationalTF

Information


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

The vector d can be amplified by an optional real signal "ampl".

The angular velocity is then transformed along a vector d*ampl. d can be set by a parameter and is resolved in the body system, which is specified by the signal phi.

This element is used to model a fixed translation or a prismatic joint


Parameters

TypeNameDefaultDescription
Reald[2]{1,0} 

Connectors

TypeNameDescription
MultiBondConMultiBondCon1 
MultiBondConMultiBondCon2 
RealSignalphi 
RealSignalampl 

Modelica definition

model translationalTF 
  "optionally modulated transformer for a translation" 
  extends MultiBondLib.Interfaces.TwoPort(final n=3);
  parameter Real d[2] = {1,0};
  MultiBondLib.Interfaces.RealSignal phi;
  MultiBondLib.Interfaces.RealSignal ampl;
equation 
  if cardinality(ampl) == 0 then
    ampl = 1;
  end if;
  f2[1] = f1[1] + (-sin(phi)*d[1] + cos(phi)*d[2])*ampl*f1[3];
  f2[2] = f1[2] + (-cos(phi)*d[1] - sin(phi)*d[2])*ampl*f1[3];
  f2[3] = f1[3];
  
  e1[1] = e2[1];
  e1[2] = e2[2];
  e1[3] = e2[3]+ (-sin(phi)*d[1]+cos(phi)*d[2])*ampl*e2[1]+ (-cos(phi)*d[1]-sin(phi)*d[2])*ampl*e2[2];
end translationalTF;

MultiBondLib.PlanarMechanics.AdditionalMBG.Translation MultiBondLib.PlanarMechanics.AdditionalMBG.Translation

translates the position

MultiBondLib.PlanarMechanics.AdditionalMBG.Translation

Information


This model implements a translation between the two positional signals q1 and q2.

The translation is specified by the parameter d, which is resolved in the body system specified by the signal q1[3].

The translation can optionally be amplified by the signal ampl

The positonal signal can optionally be rotated by the angle phi of the corresponding signal.


Parameters

TypeNameDefaultDescription
Reald[2]{1,0} 

Connectors

TypeNameDescription
RealSignalq1[3] 
RealSignalampl 
RealSignalq2[3] 
RealSignalphi 

Modelica definition

model Translation "translates the position" 
  
  MultiBondLib.Interfaces.RealSignal q1[3];
  MultiBondLib.Interfaces.RealSignal ampl;
  MultiBondLib.Interfaces.RealSignal q2[3];
  MultiBondLib.Interfaces.RealSignal phi;
  
  parameter Real d[2] = {1,0};
  
equation 
  if cardinality(ampl) == 0 then
    ampl = 1;
  end if;
  if cardinality(phi) == 0 then
    phi = 0;
  end if;
  q2[1] = q1[1] + (cos(q1[3])*d[1] + sin(q1[3])*d[2])*ampl;
  q2[2] = q1[2] + (-sin(q1[3])*d[1] + cos(q1[3])*d[2])*ampl;
  q2[3] = q1[3]+phi;
  
end Translation;

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