model ConstantTorque "Constant torque, not dependent on speed"
extends Rotational.Interfaces.PartialTorque;
parameter Modelica.SIunits.Torque tau_constant "Constant torque (if negative, torque is acting as load in positive direction of rotation)";
Modelica.SIunits.AngularVelocity w "Angular velocity of flange with respect to support (= der(phi))";
Modelica.SIunits.Torque tau "Accelerating torque acting at flange (= -flange.tau)";
equation
w = der(phi);
tau = tau_constant;
tau = -flange.tau;
annotation (
Icon(
coordinateSystem(
preserveAspectRatio = true,
extent = {
{-100, -100},
{100, 100}}),
graphics = {
Line(
points = {
{-75, 10},
{75, 10}},
color = {192, 192, 192}),
Line(
points = {
{0, 60},
{0, 0}},
color = {192, 192, 192}),
Line(
points = {
{-75, 30},
{75, 30}},
color = {0, 0, 127}),
Text(
extent = {
{-120, -40},
{120, -10}},
textString = "%tau_constant")}),
Documentation(info = "<html>\n<p>Model of constant torque, not dependent on angular velocity of flange.</p>\n<p>Please note:<br>\nPositive torque accelerates in positive direction of rotation, but brakes in reverse direction of rotation.<br>\nNegative torque brakes in positive direction of rotation, but accelerates in reverse direction of rotation.</p>\n</html>"));
end ConstantTorque;