WOLFRAM SYSTEM MODELER
IdealWheelJointIdeal wheel joint |
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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 (10)
| 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 |
| 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 Test an ideal wheel |
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PlanarMechanics.VehicleComponents.Examples Single track model |
Revisions
Developed 2010 at the DLR Institute of System Dynamics and Control