DryFrictionBasedRolling
A joint representing a wheel with slip-based rolling (dry friction law) on the x-axis
Library
PlanarMechanics/Joints
Description
This model contains only one mechanical connector frame_a lyingat the center of the wheel, where slip occurs between the wheel and groundand force caused by that is also taken into account.The corresponding power loss (variable lossPower) istransferred to the heatPort connector.
The ground is hereby represented by the x-axis.
Parameters
| Name | Label | Description | Data Type | Valid Values |
|---|---|---|---|---|
mo_useHeatPort | useHeatPort | = true, if heatPort is enabled | Number | 0 |
mo_T | T | Fixed device temperature if useHeatPort = false | Scalar | |
mo_R | R | Radius of the wheel | Scalar | |
mo_vAdhesion | vAdhesion | Adhesion velocity | Scalar | |
mo_vSlide | vSlide | Sliding velocity | Scalar | |
mo_mu_A | mu_A | Friction coefficient at adhesion | Scalar | |
mo_mu_S | mu_S | Friction coefficient at sliding | Scalar | |
mo_TheatPort | TheatPort | TheatPort | Structure | |
mo_TheatPort/fixed | fixed | Cell of scalars | true | |
mo_TheatPort/start | start | Cell of scalars | ||
mo_x | x | x | Structure | |
mo_x/fixed | fixed | Cell of scalars | true | |
mo_x/start | start | Cell of scalars | ||
mo_phi | phi | phi | Structure | |
mo_phi/fixed | fixed | Cell of scalars | true | |
mo_phi/start | start | Cell of scalars | ||
mo_w | w | w | Structure | |
mo_w/fixed | fixed | Cell of scalars | true | |
mo_w/start | start | Cell of scalars | ||
mo_z | z | z | Structure | |
mo_z/fixed | fixed | Cell of scalars | true | |
mo_z/start | start | Cell of scalars | ||
mo_vx | vx | vx | Structure | |
mo_vx/fixed | fixed | Cell of scalars | true | |
mo_vx/start | start | Cell of scalars | ||
mo_animate | animate | Enable animation | Scalar | true |
| Name | Label | Description | Data Type | Valid Values |
|---|---|---|---|---|
mo_stateSelect | stateSelect | Priority to use phi, w and a as states | Structure | |
mo_stateSelect/choice1 | StateSelect.never | Number | 0 | |
mo_stateSelect/choice2 | StateSelect.avoid | Number | 0 | |
mo_stateSelect/choice3 | StateSelect.default | Number | 0 | |
mo_stateSelect/choice4 | StateSelect.prefer | Number | 0 | |
mo_stateSelect/choice5 | StateSelect.always | Number | 0 |
| Name | Label | Description | Data Type | Valid Values |
|---|---|---|---|---|
mo__nmodifiers | Number of Modifiers | Specifies the number of modifiers | Number | |
mo__modifiers | Modifiers | Add new modifier | Structure | |
mo__modifiers/varname | Variable name | Cell of strings | 'lossPower' | |
mo__modifiers/attribute | Attribute | Cell of strings | 'start' | |
mo__modifiers/value | Value |
Ports
| Name | Type | Description | IO Type | Number |
|---|---|---|---|---|
frame_a | implicit | input | 1 | |
Port 2 | implicit | Optional port to which dissipated losses are transported in form of heat | input | mo_useHeatPort |