Rotary motion profile demand
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| C | |
| in the palette | on the schematic |
The block is designed to form a rotary 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 angular 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 – turn angles of bodies at ports "C" and "R", respectively, rad
- φ – defined law of angle change, rad
- ωC and ωR – angular speeds at ports "C" and "R", respectively, rad/s
- ω – defined law of angular speed change, m/s
- εC and εR – angular accelerations at ports "C" and "R", respectively, rad/s2
- ε – defined law of angular 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". Torque 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 torque satisfying the coupling equation
Inputs
| Name | Description | Connection line type |
|---|---|---|
| C | Port for connecting a conditionally fixed case (case) | Rotary mechanics |
| Fi | Defined turn angle. The port is available when the defined value "Position" is selected | Mathematical |
| W | Defined angular speed. The port is available when the defined value "Speed" is selected | Mathematical |
| Eps | Defined angular 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 moving shaft (rotor). 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 torque are being defined | Rotary mechanics |
Outputs
| Name | Description | Connection line type |
|---|---|---|
| T | Torque that is applied to the "R" port for movement with a given profile | Mathematical |
Properties
| Title | Parameter | Description | By default | Data type |
|---|---|---|---|---|
| Type of the port R | 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 turn angle, rad | Fi0 | Initial turn angle. The property is available when the defined value "Speed" or "Acceleration" is selected | 0 | Вещественное |
| Initilal angular speed, rad/s | W0 | Initial angular speed The property is available when the defined value "Position" or "Acceleration" is selected | 0 | Вещественное |
| Initial angular acceleration, rad/s2 | Eps0 | Initial angular acceleration. The property is available when the defined value "Position" or "Speed" is selected | 0 | Вещественное |
Parameters
| Name | Parameter | Description | Data type |
|---|---|---|---|
| Relative angular speed, rad/s | W | Relative angular speed | Вещественное |
| Torque, Nm | T | Torque | Вещественное |
| Power, W | Q | Mechanical power of the torque | Вещественное |
Examples
Examples of block application: