WOLFRAM SYSTEMMODELER

IdealWheelJoint

Ideal wheel joint

Wolfram Language

In[1]:=
SystemModel["PlanarMechanics.VehicleComponents.Wheels.IdealWheelJoint"]
Out[1]:=

Information

The ideal wheel joint enforces the constraints of ideal rolling on the x,y-plane.

The constraint is that the velocity of the virtual point of contact shall be zero. This constrains is split into two components:

  • no lateral velocity
  • the longitudinal velocity has to equal 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 wheel contains a 2D frame connector for the steering on the plane. The rolling motion of the wheel can be actuated by the 1D flange connector.

For examples of usage see the local Examples package.

Parameters (9)

stateSelect

Value: StateSelect.default

Type: StateSelect

Description: Priority to use acceleration as states

radius

Value:

Type: Length (m)

Description: Radius of the wheel

r

Value:

Type: Length[2] (m)

Description: Driving direction of the wheel at angle phi = 0

l

Value: sqrt(r * r)

Type: Length (m)

Description: Length of vector r

e

Value: r / l

Type: Real[2]

Description: Normalized direction

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 (2)

frame_a

Type: Frame_a

flange_a

Type: Flange_a

Components (4)

planarWorld

Type: PlanarWorld

Description: planar world model

cylinder

Type: Shape

rim1

Type: Shape

rim2

Type: Shape

Used in Examples (2)

TestIdealWheel

PlanarMechanics.VehicleComponents.Examples

Test an ideal wheel

SingleTrackWithEngine

PlanarMechanics.VehicleComponents.Examples

Single track model