Fix position prescribed friction for both moving directions

Parti-Gyle · May 10, 2023 · f689295 · f689295
1 parent 7e917b4
commit f689295
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/Modelica/Mechanics/Translational/Interfaces/PartialFriction.mo b/Modelica/Mechanics/Translational/Interfaces/PartialFriction.mo
@@ -54,7 +54,7 @@ equation
   a_relfric/unitAcceleration = if locked then 0 else if free then sa else
     if startForward then sa - f0_max/unitForce else if startBackward then
     sa + f0_max/unitForce else if pre(mode) == Forward then sa - f0_max/
-    unitForce else sa + f0_max/unitForce;
+    unitForce else sa - sign(v_relfric)*f0_max/unitForce;
 
   /* Friction force "f" has to be defined in a subclass. Example for possible
      realization of a brake utilizing interpolation by ExternalCombiTable1D see: