Translatory motion profile demand
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| C | |
| in the palette | on the schematic |
The block is designed to form a translatory motion profile of one body relative to another body. The block allows you to define the law of change of one parameter of the motion profile: relative linear position, speed or acceleration. The remaining parameters of the given motion profile are calculated by integrating or differentiating the given parameter. The block is described by the following relations:
where:
- sC and sR – positions of bodies at ports "C" and "R", respectively, m
- s – defined law of position change, m
- vC and vR – speeds at ports "C" and "R", respectively, m/s
- v – defined law of speed change, m/s
- aC and aR – accelerations at ports "C" and "R", respectively, m/s2
- a – defined law of acceleration change, m/s2
The block has two simulation modes:
- If the port "R" is output, the block calculates the motion profile and transmits it to the port "R". Force received through the port "R" is transmitted to port "C"
- If the port "R" is input, the block reads the motion profiles from ports "C" and "R" and calculates the value of the force satisfying the coupling equation
Inputs
| Name | Description | Connection line type |
|---|---|---|
| C | Port for connecting a conditionally fixed case (case) | Translatory mechanics |
| S | Defined position. The port is available when the defined value "Position" is selected | Mathematical |
| V | Defined speed. The port is available when the defined value "Speed" is selected | Mathematical |
| A | Defined acceleration The port is available when the defined value "Acceleration" is selected | Mathematical |
Ports
| Parameter | Description | Connection line type |
|---|---|---|
| R | Port for connecting a conditionally movable rod (rod). The input port in case of motion profiles from the ports "C" and "R" are being defined. The output port in case of motion profile from port the port "C" and force are being defined | Translatory mechanics |
Outputs
| Name | Description | Connection line type |
|---|---|---|
| F | The force that is applied to the "R" port for movement with a given profile | Mathematical |
Properties
| Title | Parameter | Description | By default | Data type |
|---|---|---|---|---|
| Motion profile definition method | mod_type | Type of the port "R". The possible values are: "Input", "Output" | Output | Перечисление |
| Defined value | in_type | Defined value. The possible values are: "Position", "Speed" and "Acceleration" | Position | Перечисление |
| Time constant for solving the nonlinear algebraic equation, s | Tau | The time constant for solving the nonlinear algebraic equation. Used to solve the coupling equation. The property is available when selecting the "Input" type for the port "R" | 0.1 | Вещественное |
| Derivative time constant, s | Tau_diff | Derivative time constant. The property is available when the defined value "Position" or "Speed" is selected | 0.001 | Вещественное |
| Initial conditions | A group of properties that define the initial conditions | |||
| Initial position, m | S0 | Initial position The property is available when the defined value "Speed" or "Acceleration" is selected | 0 | Вещественное |
| Initial speed, m/s | V0 | Initial speed. The property is available when the defined value "Position" or "Acceleration" is selected | 0 | Вещественное |
| Initial acceleration, m/s2 | A0 | Initial acceleration. The property is available when the defined value "Position" or "Speed" is selected | 0 | Вещественное |
Parameters
| Name | Parameter | Description | Data type |
|---|---|---|---|
| Relative speed, m/s | V | Relative speed | Вещественное |
| Force, N | F | Force | Вещественное |
| Power, W | Q | Mechanical power of the force | Вещественное |
Examples
Examples of block application: