WOLFRAM SYSTEM MODELER
DryFrictionBasedRollingA joint representing a wheel with slip-based rolling (dry friction law) on the x-axis |
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Wolfram Language
In[1]:=
SystemModel["PlanarMechanics.Joints.DryFrictionBasedRolling"]
Out[1]:=
Information
This model contains only one mechanical connector frame_a lying
at the center of the wheel, where slip occurs between the wheel and ground
and force caused by that is also taken into account.
The corresponding power loss (variable lossPower) is
transferred to the heatPort connector.
The ground is hereby represented by the x-axis.
Parameters (9)
| useHeatPort |
Value: false Type: Boolean Description: = true, if heatPort is enabled |
|---|---|
| T |
Value: 293.15 Type: Temperature (K) Description: Fixed device temperature if useHeatPort = false |
| stateSelect |
Value: StateSelect.default Type: StateSelect Description: Priority to use phi, w and a as states |
| R |
Value: 1.0 Type: Length (m) Description: Radius of the wheel |
| vAdhesion |
Value: Type: Velocity (m/s) Description: Adhesion velocity |
| vSlide |
Value: Type: Velocity (m/s) Description: Sliding velocity |
| mu_A |
Value: Type: Real Description: Friction coefficient at adhesion |
| mu_S |
Value: Type: Real Description: Friction coefficient at sliding |
| animate |
Value: true Type: Boolean Description: Enable animation |
Connectors (2)
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heatPort |
Type: HeatPort_a Description: Optional port to which dissipated losses are transported in form of heat |
|---|---|---|
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frame_a |
Type: Frame_a Description: Coordinate system (2-dim.) fixed to the component with one cut-force and cut-torque (blue icon) |
Components (4)
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planarWorld |
Type: PlanarWorld Description: Planar world model |
|---|---|---|
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cylinder |
Type: Shape Description: Visualizing an elementary object with variable size; all data have to be set as modifiers (see info layer) |
|
rim1 |
Type: Shape Description: Visualizing an elementary object with variable size; all data have to be set as modifiers (see info layer) |
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rim2 |
Type: Shape Description: Visualizing an elementary object with variable size; all data have to be set as modifiers (see info layer) |
Used in Examples (1)
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PlanarMechanics.Examples Wheel with counter-spin and dry-friction law |
Revisions
Developed 2010 at the DLR Institute of System Dynamics and Control