Information

This information is part of the Modelica Standard Library maintained by the Modelica Association.

This model demonstrates how a moving drive train modelled with 3-dim. multi-body elements (revolute, bodyCylinder) can alternatively be modeled with component rotor1D to speed up simulation. The movement of the two systems is identical and also the cut-torques in the various frames (such as: r1.frame_b.t and r2.frame_b.t).

The driving joints (r1, r2) with rotation axis {0,1,0} are modelled to be driven by a motor torque along the {1,0,0} axis. Basically, this means that an idealized bevel gear is used to drive the axes of the revolute joints.

Components (16)

	bodyCylinder	Type: BodyShape Description: Rigid body with mass, inertia tensor, different shapes for animation, and two frame connectors (12 potential states)
	revolute	Type: Revolute Description: Revolute joint (1 rotational degree-of-freedom, 2 potential states, optional axis flange)
	world	Type: World Description: World coordinate system + gravity field + default animation definition
	torque	Type: Torque Description: Torque acting between two frames, defined by 3 input signals and resolved in frame world, frame_a, frame_b or frame_resolve
	sine1	Type: Sine[3] Description: Generate sine signal
	rotor1D	Type: Rotor1D Description: 1D inertia attachable on 3-dim. bodies (3D dynamic effects are taken into account if world.driveTrainMechanics3D=true)
	torque1	Type: Torque Description: Input signal acting as external torque on a flange
	mounting1D	Type: Mounting1D Description: Propagate 1-dim. support torque to 3-dim. system (provided world.driveTrainMechanics3D=true)
	r1	Type: Revolute Description: Revolute joint (1 rotational degree-of-freedom, 2 potential states, optional axis flange)
	position1	Type: Position Description: Forced movement of a flange according to a reference angle signal
	sine2	Type: Sine Description: Generate sine signal
	mounting1D1	Type: Mounting1D Description: Propagate 1-dim. support torque to 3-dim. system (provided world.driveTrainMechanics3D=true)
	r2	Type: Revolute Description: Revolute joint (1 rotational degree-of-freedom, 2 potential states, optional axis flange)
	position2	Type: Position Description: Forced movement of a flange according to a reference angle signal
	mounting1D2	Type: Mounting1D Description: Propagate 1-dim. support torque to 3-dim. system (provided world.driveTrainMechanics3D=true)
	fixed	Type: Fixed Description: Frame fixed in the world frame at a given position

MovingActuatedDrive

Diagram

Wolfram Language

Information

Components (16)