WOLFRAM SYSTEMMODELER

Flange_a

1-dim. rotational flange of a shaft (filled square icon)

Wolfram Language

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SystemModel["Modelica.Mechanics.Rotational.Interfaces.Flange_a"]
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Information

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

This is a connector for 1-dim. rotational mechanical systems and models the mechanical flange of a shaft. The following variables are defined in this connector:

phi Absolute rotation angle of the shaft flange in [rad]
tau Cut-torque in the shaft flange in [Nm]

There is a second connector for flanges: Flange_b. The connectors Flange_a and Flange_b are completely identical. There is only a difference in the icons, in order to easier identify a flange variable in a diagram. For a discussion on the actual direction of the cut-torque tau and of the rotation angle, see section Sign Conventions in the user's guide of Rotational.

If needed, the absolute angular velocity w and the absolute angular acceleration a of the flange can be determined by differentiation of the flange angle phi:

     w = der(phi);    a = der(w)

Used in Components (103)

AIM_SquirrelCage

Asynchronous induction machine with squirrel cage rotor

AIM_SlipRing

Asynchronous induction machine with slipring rotor

SM_PermanentMagnet

Permanent magnet synchronous induction machine

SM_ElectricalExcited

Electrical excited synchronous induction machine with damper cage

SM_ReluctanceRotor

Synchronous induction machine with reluctance rotor and damper cage

DC_PermanentMagnet

Permanent magnet DC machine

DC_ElectricalExcited

Electrical shunt/separate excited linear DC machine

DC_SeriesExcited

Series excited linear DC machine

DC_PermanentMagnet

Quasistationary permanent magnet DC machine

DC_ElectricalExcited

Quasistationary electrical shunt/separate excited linear DC machine

DC_SeriesExcited

Quasistationary series excited linear DC machine

PartialAirGap

Partial airgap model

AirGapS

Airgap in stator-fixed coordinate system

AirGapR

Airgap in rotor-fixed coordinate system

PermanentMagnetWithLosses

Permanent magnet excitation

PartialAirGapDC

Partial airgap model of a DC machine

AirGapDC

Linear airgap model of a DC machine

MechanicalPowerSensor

Mechanical power = torque x speed

RotorDisplacementAngle

Rotor lagging angle

Friction

Model of angular velocity dependent friction losses

StrayLoad

Model of stray load losses dependent on current and speed

PermanentMagnetLosses

Model of permanent magnet losses dependent on current and speed

StrayLoad

Model of stray load losses dependent on current and speed

PartialBasicMachine

Partial model for all machines

PartialBasicInductionMachine

Partial model for induction machine

PartialBasicDCMachine

Partial model for DC machine

FlangeSupport

Shaft and support

AIM_SquirrelCage

Asynchronous induction machine with squirrel cage

AIM_SlipRing

Asynchronous induction machine with slip ring rotor

SM_PermanentMagnet

Permanent magnet synchronous machine with optional damper cage

SM_ElectricalExcited

Electrical excited synchronous machine with optional damper cage

SM_ReluctanceRotor

Reluctance machine with optional damper cage

RotorSaliencyAirGap

Air gap model with rotor saliency

PermanentMagnet

Permanent magnet represented by magnetic potential difference

PartialBasicInductionMachine

Partial model for induction machine

IM_SquirrelCage

Induction machine with squirrel cage

IM_SlipRing

Induction machine with slip ring rotor

SM_PermanentMagnet

Permanent magnet synchronous machine with optional damper cage

SM_ElectricalExcited

Electrical excited synchronous machine with optional damper cage

SM_ReluctanceRotor

Synchronous reluctance machine with optional damper cage

RotorSaliencyAirGap

Air gap model with rotor saliency

PermanentMagnet

Permanent magnet model without intrinsic reluctance, represented by magnetic potential difference

PartialBasicMachine

Partial model for quasi static multi phase machines

StrayLoad

Model of stray load losses dependent on current and speed

PermanentMagnetLosses

Model of permanent magnet losses dependent on current and speed

GearType1

Motor inertia and gearbox model for r3 joints 1,2,3

GearType2

Motor inertia and gearbox model for r3 joints 4,5,6

MechanicalStructure

Model of the mechanical part of the r3 robot (without animation)

FlangeWithBearing

Connector consisting of 1-dim. rotational flange and its bearing frame

Revolute

Revolute joint (1 rotational degree-of-freedom, 2 potential states, optional axis flange)

RollingWheelSet

Joint (no mass, no inertia) that describes an ideal rolling wheel set (two ideal rolling wheels connected together by an axis)

JointUSR

Universal - spherical - revolute joint aggregation (no constraints, no potential states)

JointSSR

Spherical - spherical - revolute joint aggregation with mass (no constraints, no potential states)

JointRRR

Planar revolute - revolute - revolute joint aggregation (no constraints, no potential states)

RevoluteWithLengthConstraint

Revolute joint where the rotation angle is computed from a length constraint (1 degree-of-freedom, no potential state)

Rotor1D

1D inertia attachable on 3-dim. bodies (3D dynamic effects are taken into account if world.driveTrainMechanics3D=true)

RotorWith3DEffects

1D inertia attachable on 3-dim. bodies (3D dynamic effects are taken into account)

BevelGear1D

1D gearbox with arbitrary shaft directions and 3-dim. bearing frame (3D dynamic effects are taken into account provided world.driveTrainMechanics3D=true)

RollingWheelSet

Ideal rolling wheel set consisting of two ideal rolling wheels connected together by an axis

SpringDamperNoRelativeStates

Linear 1D rotational spring and damper in parallel (phi and w are not used as states)

Inertia

1D-rotational component with inertia

Disc

1-dim. rotational rigid component without inertia, where right flange is rotated by a fixed angle with respect to left flange

Spring

Linear 1D rotational spring

Damper

Linear 1D rotational damper

SpringDamper

Linear 1D rotational spring and damper in parallel

ElastoBacklash

Backlash connected in series to linear spring and damper (backlash is modeled with elasticity)

ElastoBacklash2

Backlash connected in series to linear spring and damper (backlash is modeled with elasticity; at start of contact the flange torque can jump, contrary to the ElastoBacklash model)

BearingFriction

Coulomb friction in bearings

Brake

Brake based on Coulomb friction

Clutch

Clutch based on Coulomb friction

OneWayClutch

Series connection of freewheel and clutch

IdealGear

Ideal gear without inertia

LossyGear

Gear with mesh efficiency and bearing friction (stuck/rolling possible)

IdealPlanetary

Ideal planetary gear box

Gearbox

Realistic model of a gearbox (based on LossyGear)

IdealGearR2T

Gearbox transforming rotational into translational motion

IdealRollingWheel

Simple 1-dim. model of an ideal rolling wheel without inertia

RelativeStates

Definition of relative state variables

TorqueToAngleAdaptor

Signal adaptor for a Rotational flange with angle, speed, and acceleration as outputs and torque as input (especially useful for FMUs)

AngleSensor

Ideal sensor to measure the absolute flange angle

SpeedSensor

Ideal sensor to measure the absolute flange angular velocity

AccSensor

Ideal sensor to measure the absolute flange angular acceleration

RelAngleSensor

Ideal sensor to measure the relative angle between two flanges

RelSpeedSensor

Ideal sensor to measure the relative angular velocity between two flanges

RelAccSensor

Ideal sensor to measure the relative angular acceleration between two flanges

TorqueSensor

Ideal sensor to measure the torque between two flanges (= flange_a.tau)

PowerSensor

Ideal sensor to measure the power between two flanges (= flange_a.tau*der(flange_a.phi))

MultiSensor

Ideal sensor to measure the torque and power between two flanges (= flange_a.tau*der(flange_a.phi)) and the absolute angular velocity

Torque2

Input signal acting as torque on two flanges

InternalSupport

Adapter model to utilize conditional support connector

PartialTwoFlanges

Partial model for a component with two rotational 1-dim. shaft flanges

PartialTwoFlangesAndSupport

Partial model for a component with two rotational 1-dim. shaft flanges and a support used for graphical modeling, i.e., the model is build up by drag-and-drop from elementary components

PartialCompliant

Partial model for the compliant connection of two rotational 1-dim. shaft flanges

PartialCompliantWithRelativeStates

Partial model for the compliant connection of two rotational 1-dim. shaft flanges where the relative angle and speed are used as preferred states

PartialElementaryTwoFlangesAndSupport

Obsolete partial model. Use PartialElementaryTwoFlangesAndSupport2.

PartialElementaryTwoFlangesAndSupport2

Partial model for a component with two rotational 1-dim. shaft flanges and a support used for textual modeling, i.e., for elementary models

PartialElementaryRotationalToTranslational

Partial model to transform rotational into translational motion

PartialAbsoluteSensor

Partial model to measure a single absolute flange variable

PartialRelativeSensor

Partial model to measure a single relative variable between two flanges

IdealGearR2T

Gearbox transforming rotational into translational motion

IdealRollingWheel

Simple 1-dim. model of an ideal rolling wheel without inertia

PartialElementaryRotationalToTranslational

Partial model to transform rotational into translational motion

IdealPump

Model of an ideal pump