94 lines
6.5 KiB
Plaintext
94 lines
6.5 KiB
Plaintext
model test2d
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import _1D = BondGraph._1D;
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import _2D = BondGraph._2D;
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_1D.J1 w_com(N = 4, s = {1, -1, -1, -1}) annotation(
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Placement(transformation(origin = {0, 120}, extent = {{-10, -10}, {10, 10}})));
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_2D.TransRotUtils.mTFrot2lin mTFrot2lin(r_body = {0.5, 0}) annotation(
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Placement(transformation(origin = {0, 80}, extent = {{-10, -10}, {10, 10}}, rotation = -90)));
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_2D.J0 j0(N = 3, s = {1, 1, -1}) annotation(
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Placement(transformation(origin = {0, 40}, extent = {{-10, -10}, {10, 10}})));
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_2D.J1 v_p_bff(N = 2, s = {1, 1}) annotation(
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Placement(transformation(origin = {-40, 40}, extent = {{-10, -10}, {10, 10}})));
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_2D.J1 v_com_bff(N = 2, s = {-1, -1}) annotation(
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Placement(transformation(origin = {40, 40}, extent = {{-10, -10}, {10, 10}})));
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_2D.TransRotUtils.rTF rTF annotation(
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Placement(transformation(origin = {40, 0}, extent = {{-10, -10}, {10, 10}}, rotation = 90)));
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_1D.fsensor wsensor annotation(
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Placement(transformation(origin = {50, 90}, extent = {{-10, -10}, {10, 10}})));
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Modelica.Blocks.Continuous.Integrator w2phi(k = 1) annotation(
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Placement(transformation(origin = {90, 90}, extent = {{-10, -10}, {10, 10}})));
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_2D.J1 v_com_in(N = 4, s = {1, -1, -1, 1}) annotation(
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Placement(transformation(origin = {40, -40}, extent = {{-10, -10}, {10, 10}})));
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_2D.I mass(I = [1, 0; 0, 1]) annotation(
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Placement(transformation(origin = {80, -40}, extent = {{-10, -10}, {10, 10}})));
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BondGraph._2D.Sf ground(f0 = {0, 0}) annotation(
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Placement(transformation(origin = {-80, 40}, extent = {{-10, -10}, {10, 10}})));
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BondGraph._1D.I m_inertial(I = 0.001) annotation(
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Placement(transformation(origin = {40, 120}, extent = {{-10, -10}, {10, 10}})));
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BondGraph._1D.Sf ground2(f0 = 0) annotation(
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Placement(transformation(origin = {-80, 120}, extent = {{-10, -10}, {10, 10}})));
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BondGraph._1D.J0 j1(N = 3, s = {1, -1, -1}) annotation(
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Placement(transformation(origin = {-40, 120}, extent = {{-10, -10}, {10, 10}})));
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BondGraph._1D.J1 w_hinge(N = 2, s = {1, -11}) annotation(
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Placement(transformation(origin = {-40, 90}, extent = {{-10, -10}, {10, 10}})));
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BondGraph._1D.R hinge_r(R = 0.01) annotation(
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Placement(transformation(origin = {-80, 90}, extent = {{-10, -10}, {10, 10}})));
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BondGraph._2D.Se g(e0 = {0, 9.81}) annotation(
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Placement(transformation(origin = {2, -40}, extent = {{-10, -10}, {10, 10}})));
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BondGraph._2D.fsensor2d v_inertial annotation(
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Placement(transformation(origin = {40, -60}, extent = {{-10, -10}, {10, 10}}, rotation = -90)));
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Modelica.Blocks.Continuous.Integrator vx_to_x(k = -1, y_start = -0.5) annotation(
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Placement(transformation(origin = {70, -70}, extent = {{-10, -10}, {10, 10}})));
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Modelica.Blocks.Continuous.Integrator vy_to_y annotation(
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Placement(transformation(origin = {70, -100}, extent = {{-10, -10}, {10, 10}})));
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vis2d link;
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equation
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connect(w_com.P[2], mTFrot2lin.pR) annotation(
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Line(points = {{0, 120}, {0, 88}}, color = {0, 0, 127}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
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connect(mTFrot2lin.pT, j0.P[1]) annotation(
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Line(points = {{0, 72}, {0, 40}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
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connect(v_com_bff.P[1], j0.P[2]) annotation(
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Line(points = {{40, 40}, {0, 40}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
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connect(j0.P[3], v_p_bff.P[1]) annotation(
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Line(origin = {-1, 0}, points = {{0, 40}, {-40, 40}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
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connect(wsensor.f, w2phi.u) annotation(
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Line(points = {{58, 90}, {78, 90}}, color = {0, 0, 127}));
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connect(w2phi.y, rTF.phi) annotation(
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Line(points = {{102, 90}, {110, 90}, {110, 0}, {48, 0}}, color = {0, 0, 127}, arrow = {Arrow.None, Arrow.Filled}));
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connect(v_com_in.P[2], mass.p) annotation(
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Line(points = {{40, -40}, {80, -40}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
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connect(w_com.P[3], wsensor.p) annotation(
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Line(points = {{0, 120}, {44, 90}}, color = {0, 0, 127}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
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connect(w_com.P[1], m_inertial.p) annotation(
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Line(points = {{0, 120}, {40, 120}}, color = {0, 0, 127}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
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connect(ground2.p, j1.P[1]) annotation(
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Line(points = {{-72, 120}, {-40, 120}}, color = {0, 0, 127}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
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connect(j1.P[2], w_com.P[4]) annotation(
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Line(points = {{-40, 120}, {0, 120}}, color = {0, 0, 127}, thickness = 0.75, arrow = {Arrow.Half, Arrow.None}, arrowSize = 6));
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connect(ground.p, v_p_bff.P[2]) annotation(
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Line(points = {{-72, 40}, {-40, 40}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
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connect(j1.P[3], w_hinge.P[1]) annotation(
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Line(points = {{-40, 120}, {-40, 90}}, color = {0, 0, 127}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
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connect(w_hinge.P[2], hinge_r.p) annotation(
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Line(points = {{-40, 90}, {-80, 90}}, color = {0, 0, 127}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
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connect(g.p, v_com_in.P[3]) annotation(
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Line(points = {{10, -40}, {40, -40}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
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connect(v_com_bff.P[2], rTF.p2) annotation(
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Line(points = {{40, 40}, {40, 8}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
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connect(rTF.p1, v_com_in.P[1]) annotation(
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Line(points = {{40, -8}, {40, -40}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
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connect(v_com_in.P[4], v_inertial.p) annotation(
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Line(points = {{40, -40}, {40, -54}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
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connect(v_inertial.f0, vx_to_x.u) annotation(
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Line(points = {{42, -66}, {42, -70}, {58, -70}}, color = {0, 0, 127}));
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connect(v_inertial.f1, vy_to_y.u) annotation(
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Line(points = {{38, -66}, {38, -100}, {58, -100}}, color = {0, 0, 127}));
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link.r = {vx_to_x.y, vy_to_y.y, 0};
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link.phi = w2phi.y;
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annotation(
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uses(Modelica(version = "4.1.0")),
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experiment(StartTime = 0, StopTime = 10, Tolerance = 1e-06, Interval = 0.02),
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Diagram(coordinateSystem(extent = {{-100, 140}, {120, -120}})),
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Icon(coordinateSystem(extent = {{-200, -200}, {200, 200}})),
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version = "");
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end test2d; |