Coulomb Friction block

Coulomb Friction Block

Description

This block outputs the friction in a given motor according to the Coulomb model of friction (Source 2). The implementation of this block is based in this Matlab example.

##Parameters and ports

Parameters

• Torque máximo de atrito estático: Determines the maximum torque that static friction may assume. [N.m]
• Torque de atrito dinâmico: Determines the value of the dynamic friction. [N.m]

###Inputs

• T_r: The net torque applied to the rotor (Electromagnetic torque minus load torque. [N.m]
• w_state: This port should be connected to the 'State Port' of the integrator which outputs the motor's angular velocity, to resolve algebraic loops.
• w: Angular velocity of the motor's rotor. [rad/s]

###Outputs

• T_at: Friction torque. [N.m]
• to_reset: This port should be connected to the 'reset'of the integrator which outputs the motor's angular velocity.

###Additional information

• The simulation must use a variable-step solver for the correct operation of this block. Attempting to use a fixed-step solver will generate an error.