WOLFRAM SYSTEM MODELER
DryFrictionWheelJointDry-Friction based wheel joint |
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Wolfram Language
In[1]:=
SystemModel["PlanarMechanics.VehicleComponents.Wheels.DryFrictionWheelJoint"]
Out[1]:=
Information
The ideal wheel joint models the behavior of a wheel rolling on a x,y-plane whose contact patch has dry-friction characteristics. This is an approximation for stiff wheels without a tire.
The force depends with dry-friction characteristics on the slip velocity. The slip velocity is split into two components:
- the lateral velocity
- the longitudinal velocity minus the rolling velocity times the radius.
The radius of the wheel can be specified by the parameter radius. The driving direction (for phi = 0) can be specified by the parameter r. The normal load is set by N.
The wheel contains a 2D connector frame_a for the steering on the plane. The rolling motion of the wheel can be actuated by the 1D connector flange_a.
For examples of usage see the local Examples package.
Parameters (15)
| useHeatPort |
Value: false Type: Boolean Description: = true, if heatPort is enabled |
|---|---|
| radius |
Value: Type: Length (m) Description: Wheel radius |
| stateSelect |
Value: StateSelect.default Type: StateSelect Description: Priority to use acceleration as states |
| r |
Value: Type: Length[2] (m) Description: Driving direction of the wheel at angle phi = 0 |
| N |
Value: Type: Force (N) Description: Normal force |
| 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 |
| l |
Value: Modelica.Math.Vectors.length(r) Type: Length (m) Description: Length of r |
| e |
Value: Modelica.Math.Vectors.normalizeWithAssert(r) Type: Real[2] Description: Unit vector in direction of r |
| animate |
Value: true Type: Boolean Description: = true, if animation shall be enabled |
| zPosition |
Value: planarWorld.defaultZPosition Type: Length (m) Description: Position z of the body |
| diameter |
Value: 0.1 Type: Length (m) Description: Diameter of the rims |
| width |
Value: diameter * 0.6 Type: Length (m) Description: Width of the wheel |
Inputs (1)
| specularCoefficient |
Default Value: planarWorld.defaultSpecularCoefficient Type: SpecularCoefficient Description: Reflection of ambient light (= 0: light is completely absorbed) |
|---|
Connectors (3)
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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) |
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flange_a |
Type: Flange_a Description: One-dimensional rotational flange of a shaft (filled circle 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) |
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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 (2)
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PlanarMechanics.VehicleComponents.Examples Dry friction wheel |
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PlanarMechanics.VehicleComponents.Examples Double track model |
Revisions
Developed 2010 at the DLR Institute of System Dynamics and Control