IdealWheelJoint
Ideal wheel joint
Library
PlanarMechanics/VehicleComponents/Wheels
Description
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 theparameter 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 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_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_a | a | a | Structure | |
mo_a/fixed | fixed | Cell of scalars | true | |
mo_a/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 |