WOLFRAM SYSTEMMODELER

InitializeFlange

Initializes a flange with pre-defined angle, speed and angular acceleration (usually, this is reference data from a control bus)

Diagram

Wolfram Language

In[1]:=
SystemModel["Modelica.Mechanics.Rotational.Components.InitializeFlange"]
Out[1]:=

Information

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

This component is used to optionally initialize the angle, speed, and/or angular acceleration of the flange to which this component is connected. Via parameters use_phi_start, use_w_start, use_a_start the corresponding input signals phi_start, w_start, a_start are conditionally activated. If an input is activated, the corresponding flange property is initialized with the input value at start time.

For example, if "use_phi_start = true", then flange.phi is initialized with the value of the input signal "phi_start" at the start time.

Additionally, it is optionally possible to define the "StateSelect" attribute of the flange angle and the flange speed via parameter "stateSelection".

This component is especially useful when the initial values of a flange shall be set according to reference signals of a controller that are provided via a signal bus.

Parameters (4)

use_phi_start

Value: true

Type: Boolean

Description: = true, if initial angle is defined by input phi_start, otherwise not initialized

use_w_start

Value: true

Type: Boolean

Description: = true, if initial speed is defined by input w_start, otherwise not initialized

use_a_start

Value: true

Type: Boolean

Description: = true, if initial angular acceleration is defined by input a_start, otherwise not initialized

stateSelect

Value: StateSelect.default

Type: StateSelect

Description: Priority to use flange angle and speed as states

Connectors (4)

phi_start

Type: RealInput

Description: Initial angle of flange

w_start

Type: RealInput

Description: Initial speed of flange

a_start

Type: RealInput

Description: Initial angular acceleration of flange

flange

Type: Flange_b

Description: Flange that is initialized

Components (4)

set_phi_start

Type: Set_phi_start

set_w_start

Type: Set_w_start

set_a_start

Type: Set_a_start

set_flange_tau

Type: Set_flange_tau

Used in Components (1)

AxisType2

Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.Components

Axis model of the r3 joints 4,5,6