DryFrictionWheelJoint
Dry-Friction based wheel joint
Library
PlanarMechanics/VehicleComponents/Wheels
Description
The ideal wheel joint models the behavior of a wheel rolling on a x,y-planewhose contact patch has dry-friction characteristics. This is an approximation forstiff wheels without a tire.
The force depends with dry-friction characteristics on the slip velocity. The slipvelocity is split into two components:
- the lateral velocity
- the longitudinal velocity minus 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 theparameter r. The normal load is set by N.
The wheel contains a 2D connector frame_a for the steering onthe plane. The rolling motion of the wheel can be actuated by the 1D connectorflange_a.
For examples of usage see the localExamples package.
Parameters
| Name | Label | Description | Data Type | Valid Values |
|---|---|---|---|---|
mo_useHeatPort | useHeatPort | = true, if heatPort is enabled | Number | 0 |
mo_radius | radius | Wheel radius | Scalar | |
mo_r | r | Driving direction of the wheel at angle phi = 0 | Vector of size 2 | |
mo_N | N | Normal force | 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_l | l | Length of r | Scalar | |
mo_e | e | Unit vector in direction of r | Vector of size 2 | |
mo_phi_roll | phi_roll | phi_roll | Structure | |
mo_phi_roll/fixed | fixed | Cell of scalars | true | |
mo_phi_roll/start | start | Cell of scalars | ||
mo_w_roll | w_roll | w_roll | Structure | |
mo_w_roll/fixed | fixed | Cell of scalars | true | |
mo_w_roll/start | start | Cell of scalars | ||
mo_v_lat | v_lat | v_lat | Structure | |
mo_v_lat/fixed | fixed | Cell of scalars | true | |
mo_v_lat/start | start | Cell of scalars | ||
mo_v_long | v_long | v_long | Structure | |
mo_v_long/fixed | fixed | Cell of scalars | true | |
mo_v_long/start | start | Cell of scalars | ||
mo_v_slip_long | v_slip_long | v_slip_long | Structure | |
mo_v_slip_long/fixed | fixed | Cell of scalars | true | |
mo_v_slip_long/start | start | Cell of scalars | ||
mo_v_slip_lat | v_slip_lat | v_slip_lat | Structure | |
mo_v_slip_lat/fixed | fixed | Cell of scalars | true | |
mo_v_slip_lat/start | start | Cell of scalars | ||
mo_animate | animate | = true, if animation shall be enabled | Scalar | true |
| Name | Label | Description | Data Type | Valid Values |
|---|---|---|---|---|
mo_stateSelect | stateSelect | Priority to use acceleration 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_zPosition | zPosition | Position z of the body | Scalar | |
mo_diameter | diameter | Diameter of the rims | Scalar | |
mo_width | width | Width of the wheel | Scalar | |
mo_specularCoefficient | specularCoefficient | Reflection of ambient light (= 0: light is completely absorbed) | Scalar |
| 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 | |
flange_a | implicit | input | 2 | |
Port 3 | implicit | Optional port to which dissipated losses are transported in form of heat | input | mo_useHeatPort |