model Torque "Torque acting between two frames, defined by 3 input signals and resolved in frame world, frame_a, frame_b or frame_resolve"
import Modelica.SIunits.Conversions.to_unit1;
extends Modelica.Mechanics.MultiBody.Interfaces.PartialTwoFrames;
Interfaces.Frame_resolve frame_resolve if resolveInFrame == Modelica.Mechanics.MultiBody.Types.ResolveInFrameAB.frame_resolve "The input signals are optionally resolved in this frame"
annotation (Placement(transformation(
origin = {40, 100},
extent = {
{-16, -16},
{16, 16}},
rotation = 90)));
Modelica.Blocks.Interfaces.RealInput torque[3](each final quantity = "Torque", each final unit = "N.m") "x-, y-, z-coordinates of torque resolved in frame defined by resolveInFrame"
annotation (Placement(transformation(
origin = {-60, 120},
extent = {
{-20, -20},
{20, 20}},
rotation = 270)));
parameter Boolean animation = true "= true, if animation shall be enabled";
parameter Modelica.Mechanics.MultiBody.Types.ResolveInFrameAB resolveInFrame = Modelica.Mechanics.MultiBody.Types.ResolveInFrameAB.frame_b "Frame in which input force is resolved (1: world, 2: frame_a, 3: frame_b, 4: frame_resolve)";
parameter Real Nm_to_m(unit = "N.m/m") = world.defaultNm_to_m "Torque arrow scaling (length = torque/Nm_to_m)"
annotation (Dialog(
group = "if animation = true",
enable = animation));
input SI.Diameter torqueDiameter = world.defaultArrowDiameter "Diameter of torque arrow"
annotation (Dialog(
group = "if animation = true",
enable = animation));
input SI.Diameter connectionLineDiameter = torqueDiameter "Diameter of line connecting frame_a and frame_b"
annotation (Dialog(
group = "if animation = true",
enable = animation));
input Types.Color torqueColor = Modelica.Mechanics.MultiBody.Types.Defaults.TorqueColor "Color of torque arrow"
annotation (Dialog(
colorSelector = true,
group = "if animation = true",
enable = animation));
input Types.Color connectionLineColor = Modelica.Mechanics.MultiBody.Types.Defaults.SensorColor "Color of line connecting frame_a and frame_b"
annotation (Dialog(
colorSelector = true,
group = "if animation = true",
enable = animation));
input Types.SpecularCoefficient specularCoefficient = world.defaultSpecularCoefficient "Reflection of ambient light (= 0: light is completely absorbed)"
annotation (Dialog(
group = "if animation = true",
enable = animation));
protected
SI.Position t_in_m[3] = frame_b.t / Nm_to_m "Torque mapped from Nm to m for animation";
Visualizers.Advanced.DoubleArrow torqueArrow(diameter = torqueDiameter, color = torqueColor, specularCoefficient = specularCoefficient, R = frame_b.R, r = frame_b.r_0, r_tail = t_in_m, r_head = -t_in_m) if world.enableAnimation and animation;
Visualizers.Advanced.Shape connectionLine(shapeType = "cylinder", lengthDirection = to_unit1(basicTorque.r_0), widthDirection = {0, 1, 0}, length = Modelica.Math.Vectors.length(basicTorque.r_0), width = connectionLineDiameter, height = connectionLineDiameter, color = connectionLineColor, specularCoefficient = specularCoefficient, r = frame_a.r_0) if world.enableAnimation and animation;
public
Internal.BasicTorque basicTorque(resolveInFrame = resolveInFrame) annotation (Placement(transformation(extent = {
{-8, -10},
{12, 10}})));
protected
Interfaces.ZeroPosition zeroPosition if not resolveInFrame == Modelica.Mechanics.MultiBody.Types.ResolveInFrameAB.frame_resolve annotation (Placement(transformation(extent = {
{34, 10},
{54, 30}})));
equation
connect(basicTorque.frame_a,frame_a) annotation (Line(
points = {
{-8, 0},
{-100, 0}},
color = {95, 95, 95},
thickness = 0.5));
connect(basicTorque.frame_b,frame_b) annotation (Line(
points = {
{12, 0},
{100, 0}},
color = {95, 95, 95},
thickness = 0.5));
connect(basicTorque.torque,torque) annotation (Line(
points = {
{-4, 12},
{-4, 60},
{-60, 60},
{-60, 120}},
color = {0, 0, 127}));
connect(basicTorque.frame_resolve,frame_resolve) annotation (Line(
points = {
{6, 10},
{6, 60},
{40, 60},
{40, 100}},
color = {95, 95, 95},
pattern = LinePattern.Dot));
connect(zeroPosition.frame_resolve,basicTorque.frame_resolve) annotation (Line(
points = {
{34, 20},
{20, 20},
{20, 10},
{6, 10}},
color = {95, 95, 95},
pattern = LinePattern.Dot));
annotation (
Icon(
coordinateSystem(
preserveAspectRatio = true,
extent = {
{-100, -100},
{100, 100}}),
graphics = {
Rectangle(
extent = {
{-98, 99},
{99, -98}},
lineColor = {255, 255, 255},
fillColor = {255, 255, 255},
fillPattern = FillPattern.Solid),
Text(
extent = {
{-59, 55},
{72, 30}},
lineColor = {192, 192, 192},
textString = "resolve"),
Text(
extent = {
{-150, -30},
{150, -70}},
textString = "%name",
lineColor = {0, 0, 255}),
Polygon(
points = {
{100, 20},
{84, 52},
{69, 39},
{100, 20}},
fillPattern = FillPattern.Solid),
Line(
points = {
{40, 100},
{76, 46}},
color = {95, 95, 95},
pattern = LinePattern.Dot),
Polygon(
points = {
{-99, 20},
{-86, 53},
{-70, 42},
{-99, 20}},
fillPattern = FillPattern.Solid),
Line(
points = {
{-60, 100},
{40, 100}},
color = {95, 95, 95},
pattern = LinePattern.Dot),
Line(points = {
{-79, 47},
{-70, 61},
{-59, 72},
{-45, 81},
{-32, 84},
{-20, 85}}),
Line(points = {
{77, 45},
{66, 60},
{55, 69},
{49, 74},
{41, 80},
{31, 84},
{20, 85}})}),
Documentation(info = "<html>\n<p>\nThe <strong>3</strong> signals of the <strong>torque</strong> connector are interpreted\nas the x-, y- and z-coordinates of a <strong>torque</strong> acting at the frame\nconnector to which frame_b of this component is attached.\nVia parameter <strong>resolveInFrame</strong> it is defined, in which frame these\ncoordinates shall be resolved:\n</p>\n\n<table border=1 cellspacing=0 cellpadding=2>\n<tr><th><strong>Types.ResolveInFrameAB.</strong></th><th><strong>Meaning</strong></th></tr>\n<tr><td>world</td>\n <td>Resolve input torque in world frame</td></tr>\n\n<tr><td>frame_a</td>\n <td>Resolve input torque in frame_a</td></tr>\n\n<tr><td>frame_b</td>\n <td>Resolve input torque in frame_b (= default)</td></tr>\n\n<tr><td>frame_resolve</td>\n <td>Resolve input torque in frame_resolve (frame_resolve must be connected)</td></tr>\n</table>\n\n<p>\nIf resolveInFrame = ResolveInFrameAB.frame_resolve, the torque coordinates\nare with respect to the frame, that is connected to <strong>frame_resolve</strong>.\n</p>\n\n<p>\nIf torque={100,0,0}, and for all parameters the default setting is used,\nthen the interpretation is that a torque of 100 N.m is acting along the positive\nx-axis of frame_b.\n</p>\n\n<p>\nNote, the cut-forces in frame_a and frame_b (frame_a.f, frame_b.f) are\nalways set to zero and the cut-torque at frame_a (frame_a.t) is the same\nas the cut-torque at frame_b (frame_b.t) but with opposite sign.\n</p>\n\n<p>\nAn example how to use this model is given in the\nfollowing figure:\n</p>\n\n<p>\n<img src=\"modelica://Modelica/Resources/Images/Mechanics/MultiBody/Forces/Torque1.png\">\n</p>\n\n<p>\nThis leads to the following animation (the yellow cylinder\ncharacterizes the line between frame_a and frame_b of the\nTorque component, i.e., the torque acts with negative sign\nalso on the opposite side of this cylinder, but for\nclarity this is not shown in the animation):\n</p>\n\n<p>\n<img src=\"modelica://Modelica/Resources/Images/Mechanics/MultiBody/Forces/Torque2.png\">\n</p>\n\n</html>"));
end Torque;