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Changed color of element "name" in nearly all icons AND moved it into upper area of icon
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‎.gitattributes

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# Do not change the line endings by default
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* -text
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# Explicitly declare text files we want to always be normalized and converted
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# to native line endings on checkout.
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*.c text
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*.h text
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*.mo text
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*.mos text
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*.order text
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.gitattributes text
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.gitignore text
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*.md text
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LICENSE text

‎PlanarMechanics/Examples/ControlledCraneCrab.mo

Lines changed: 100 additions & 100 deletions
Original file line numberDiff line numberDiff line change
@@ -1,100 +1,100 @@
1-
within PlanarMechanics.Examples;
2-
model ControlledCraneCrab "A controlled crane crab"
3-
extends Modelica.Icons.Example;
4-
5-
Parts.Body body(
6-
m=70,
7-
I=0) annotation (Placement(transformation(
8-
extent={{-10,-10},{10,10}},
9-
rotation=270,
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origin={-10,-60})));
11-
Parts.FixedTranslation fixedTranslation(r={0,2.5})
12-
annotation (
13-
Placement(transformation(
14-
extent={{-10,-10},{10,10}},
15-
rotation=270,
16-
origin={-10,-30})));
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Parts.Fixed fixed annotation (Placement(transformation(
18-
extent={{-10,-10},{10,10}},
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rotation=180,
20-
origin={-70,30})));
21-
Parts.Body body1(
22-
m=250,
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I=0,
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a(start={1,0}))
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annotation (Placement(transformation(extent={{0,20},{20,40}})));
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Modelica.Mechanics.Rotational.Sensors.AngleSensor angleSensor
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annotation (Placement(transformation(extent={{20,-10},{40,10}})));
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Modelica.Mechanics.Translational.Sources.Force force annotation (
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Placement(transformation(
30-
extent={{-10,-10},{10,10}},
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rotation=180,
32-
origin={-10,70})));
33-
Modelica.Blocks.Continuous.PID PID(
34-
Td=0.2,
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k=-320*9.81*5,
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initType=Modelica.Blocks.Types.InitPID.InitialState,
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xi_start=0,
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Ti=1e9) annotation (Placement(transformation(extent={{40,60},{20,80}})));
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inner PlanarWorld planarWorld
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annotation (Placement(transformation(extent={{-80,-20},{-60,0}})));
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Joints.Prismatic prismatic(r={1,0}, useFlange=true,
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s(fixed=true),
43-
v(fixed=true))
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annotation (Placement(transformation(extent={{-40,20},{-20,40}})));
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Joints.Revolute revolute(useFlange=true,
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w(fixed=true),
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phi(fixed=true, start=-0.34906585039887))
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annotation (Placement(transformation(
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extent={{-10,-10},{10,10}},
50-
rotation=270,
51-
origin={-10,0})));
52-
equation
53-
connect(fixedTranslation.frame_b, body.frame_a) annotation (Line(
54-
points={{-10,-40},{-10,-45},{-10,-50}},
55-
color={95,95,95},
56-
thickness=0.5));
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connect(force.f, PID.y) annotation (Line(
58-
points={{2,70},{2,70},{19,70}},
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color={0,0,127}));
60-
connect(angleSensor.phi, PID.u) annotation (Line(
61-
points={{41,0},{70,0},{70,70},{42,70}},
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color={0,0,127}));
63-
64-
connect(fixed.frame, prismatic.frame_a) annotation (Line(
65-
points={{-60,30},{-40,30}},
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color={95,95,95},
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thickness=0.5));
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connect(prismatic.frame_b, body1.frame_a) annotation (Line(
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points={{-20,30},{0,30}},
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color={95,95,95},
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thickness=0.5));
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connect(prismatic.flange_a, force.flange) annotation (Line(
73-
points={{-30,39},{-30,50},{-30,70},{-20,70}},
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color={0,127,0}));
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connect(prismatic.frame_b, revolute.frame_a) annotation (Line(
76-
points={{-20,30},{-10,30},{-10,10}},
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color={95,95,95},
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thickness=0.5));
79-
connect(revolute.frame_b, fixedTranslation.frame_a) annotation (Line(
80-
points={{-10,-10},{-10,-20}},
81-
color={95,95,95},
82-
thickness=0.5));
83-
connect(revolute.flange_a, angleSensor.flange) annotation (Line(
84-
points={{0,0},{10,0},{10,0},{20,0}}));
85-
annotation (experiment(StopTime=3),
86-
Documentation(revisions="<html><p><img src=\"modelica://PlanarMechanics/Resources/Images/dlr_logo.png\"/> <b>Developed 2010-2014 at the DLR Institute of System Dynamics and Control</b></p></html>", info="<html>
87-
<p>A simple PID (actually PD) controlles the pendulum into upright position.</p>
88-
<p><img src=\"modelica://PlanarMechanics/Resources/Images/ControlledCraneCrab_1.png\"/></p>
89-
<p><img src=\"modelica://PlanarMechanics/Resources/Images/ControlledCraneCrab_2.png\"/></p>
90-
<p>Selected continuous time states</p>
91-
<ul>
92-
<li>actuatedPrismatic.s</li>
93-
<li>actuatedPrismatic.v</li>
94-
<li>actuatedRevolute.phi</li>
95-
<li>actuatedRevolute.w</li>
96-
<li>PID.D.x</li>
97-
<li>PID.I.y</li>
98-
</ul>
99-
</html>"));
100-
end ControlledCraneCrab;
1+
within PlanarMechanics.Examples;
2+
model ControlledCraneCrab "A controlled crane crab"
3+
extends Modelica.Icons.Example;
4+
5+
Parts.Body body(
6+
m=70,
7+
I=0) annotation (Placement(transformation(
8+
extent={{-10,-10},{10,10}},
9+
rotation=270,
10+
origin={-10,-60})));
11+
Parts.FixedTranslation fixedTranslation(r={0,2.5})
12+
annotation (
13+
Placement(transformation(
14+
extent={{-10,-10},{10,10}},
15+
rotation=270,
16+
origin={-10,-30})));
17+
Parts.Fixed fixed annotation (Placement(transformation(
18+
extent={{-10,-10},{10,10}},
19+
rotation=180,
20+
origin={-70,30})));
21+
Parts.Body body1(
22+
m=250,
23+
I=0,
24+
a(start={1,0}))
25+
annotation (Placement(transformation(extent={{0,20},{20,40}})));
26+
Modelica.Mechanics.Rotational.Sensors.AngleSensor angleSensor
27+
annotation (Placement(transformation(extent={{20,-10},{40,10}})));
28+
Modelica.Mechanics.Translational.Sources.Force force annotation (
29+
Placement(transformation(
30+
extent={{-10,10},{10,-10}},
31+
rotation=180,
32+
origin={-10,70})));
33+
Modelica.Blocks.Continuous.PID PID(
34+
Td=0.2,
35+
k=-320*9.81*5,
36+
initType=Modelica.Blocks.Types.InitPID.InitialState,
37+
xi_start=0,
38+
Ti=1e9) annotation (Placement(transformation(extent={{40,60},{20,80}})));
39+
inner PlanarWorld planarWorld
40+
annotation (Placement(transformation(extent={{-80,-20},{-60,0}})));
41+
Joints.Prismatic prismatic(r={1,0}, useFlange=true,
42+
s(fixed=true),
43+
v(fixed=true))
44+
annotation (Placement(transformation(extent={{-40,40},{-20,20}})));
45+
Joints.Revolute revolute(useFlange=true,
46+
w(fixed=true),
47+
phi(fixed=true, start=-0.34906585039887))
48+
annotation (Placement(transformation(
49+
extent={{-10,10},{10,-10}},
50+
rotation=270,
51+
origin={-10,0})));
52+
equation
53+
connect(fixedTranslation.frame_b, body.frame_a) annotation (Line(
54+
points={{-10,-40},{-10,-45},{-10,-50}},
55+
color={95,95,95},
56+
thickness=0.5));
57+
connect(force.f, PID.y) annotation (Line(
58+
points={{2,70},{2,70},{19,70}},
59+
color={0,0,127}));
60+
connect(angleSensor.phi, PID.u) annotation (Line(
61+
points={{41,0},{70,0},{70,70},{42,70}},
62+
color={0,0,127}));
63+
64+
connect(fixed.frame, prismatic.frame_a) annotation (Line(
65+
points={{-60,30},{-40,30}},
66+
color={95,95,95},
67+
thickness=0.5));
68+
connect(prismatic.frame_b, body1.frame_a) annotation (Line(
69+
points={{-20,30},{0,30}},
70+
color={95,95,95},
71+
thickness=0.5));
72+
connect(prismatic.flange_a, force.flange) annotation (Line(
73+
points={{-30,39},{-30,39},{-30,70},{-20,70}},
74+
color={0,127,0}));
75+
connect(prismatic.frame_b, revolute.frame_a) annotation (Line(
76+
points={{-20,30},{-10,30},{-10,10}},
77+
color={95,95,95},
78+
thickness=0.5));
79+
connect(revolute.frame_b, fixedTranslation.frame_a) annotation (Line(
80+
points={{-10,-10},{-10,-20}},
81+
color={95,95,95},
82+
thickness=0.5));
83+
connect(revolute.flange_a, angleSensor.flange) annotation (Line(
84+
points={{0,0},{0,0},{20,0}}));
85+
annotation (experiment(StopTime=3),
86+
Documentation(revisions="<html><p><img src=\"modelica://PlanarMechanics/Resources/Images/dlr_logo.png\"/> <b>Developed 2010-2014 at the DLR Institute of System Dynamics and Control</b></p></html>", info="<html>
87+
<p>A simple PID (actually PD) controlles the pendulum into upright position.</p>
88+
<p><img src=\"modelica://PlanarMechanics/Resources/Images/ControlledCraneCrab_1.png\"/></p>
89+
<p><img src=\"modelica://PlanarMechanics/Resources/Images/ControlledCraneCrab_2.png\"/></p>
90+
<p>Selected continuous time states</p>
91+
<ul>
92+
<li>actuatedPrismatic.s</li>
93+
<li>actuatedPrismatic.v</li>
94+
<li>actuatedRevolute.phi</li>
95+
<li>actuatedRevolute.w</li>
96+
<li>PID.D.x</li>
97+
<li>PID.I.y</li>
98+
</ul>
99+
</html>"));
100+
end ControlledCraneCrab;

‎PlanarMechanics/Examples/CounterSpin.mo

Lines changed: 46 additions & 46 deletions
Original file line numberDiff line numberDiff line change
@@ -1,46 +1,46 @@
1-
within PlanarMechanics.Examples;
2-
model CounterSpin "Wheel with counter-spin and dry-friction law"
3-
extends Modelica.Icons.Example;
4-
5-
Parts.Body body(
6-
m=0.01,
7-
I=0.0005,
8-
animate=false,
9-
r(each fixed=false),
10-
v(each fixed=false))
11-
annotation (Placement(transformation(
12-
extent={{-10,-10},{10,10}},
13-
rotation=180,
14-
origin={-10,0})));
15-
inner PlanarWorld planarWorld
16-
annotation (Placement(transformation(extent={{-60,-10},{-40,10}})));
17-
Joints.DryFrictionBasedRolling slipBasedRolling1(
18-
R=0.1,
19-
vAdhesion=0.01,
20-
mu_S=0.15,
21-
phi(fixed=true),
22-
w(fixed=true, start=15),
23-
vx(fixed=true, start=2),
24-
x(fixed=true),
25-
vSlide=0.03,
26-
mu_A=0.5) annotation (Placement(transformation(extent={{20,-10},{40,10}})));
27-
equation
28-
connect(body.frame_a, slipBasedRolling1.frame_a) annotation (Line(
29-
points={{0,0},{20,0}},
30-
color={95,95,95},
31-
thickness=0.5));
32-
annotation (experiment(StopTime=3),
33-
Documentation(revisions="<html><p><img src=\"modelica://PlanarMechanics/Resources/Images/dlr_logo.png\"/> <b>Developed 2010-2014 at the DLR Institute of System Dynamics and Control</b></p></html>", info="<html>
34-
<p><img src=\"modelica://PlanarMechanics/Resources/Images/CounterSpin_1.png\"></p>
35-
<p><img src=\"modelica://PlanarMechanics/Resources/Images/CounterSpin_2.png\"></p>
36-
<p>The model contains a large local stiffness before 2s</p>
37-
<p><img src=\"modelica://PlanarMechanics/Resources/Images/CounterSpin_3.png\"></p>
38-
<p>Selected continuous time states</p>
39-
<ul>
40-
<li>body.r[1]</li>
41-
<li>body.v[1]</li>
42-
<li>slipBasedRolling.phi</li>
43-
<li>slipBasedRolling.w</li>
44-
</ul>
45-
</html>"));
46-
end CounterSpin;
1+
within PlanarMechanics.Examples;
2+
model CounterSpin "Wheel with counter-spin and dry-friction law"
3+
extends Modelica.Icons.Example;
4+
5+
Parts.Body body(
6+
m=0.01,
7+
I=0.0005,
8+
animate=false,
9+
r(each fixed=false),
10+
v(each fixed=false))
11+
annotation (Placement(transformation(
12+
extent={{-10,10},{10,-10}},
13+
rotation=180,
14+
origin={-10,0})));
15+
inner PlanarWorld planarWorld
16+
annotation (Placement(transformation(extent={{-60,-10},{-40,10}})));
17+
Joints.DryFrictionBasedRolling slipBasedRolling(
18+
R=0.1,
19+
vAdhesion=0.01,
20+
mu_S=0.15,
21+
phi(fixed=true),
22+
w(fixed=true, start=15),
23+
vx(fixed=true, start=2),
24+
x(fixed=true),
25+
vSlide=0.03,
26+
mu_A=0.5) annotation (Placement(transformation(extent={{20,-10},{40,10}})));
27+
equation
28+
connect(body.frame_a, slipBasedRolling.frame_a) annotation (Line(
29+
points={{0,0},{20,0}},
30+
color={95,95,95},
31+
thickness=0.5));
32+
annotation (experiment(StopTime=3),
33+
Documentation(revisions="<html><p><img src=\"modelica://PlanarMechanics/Resources/Images/dlr_logo.png\"/> <b>Developed 2010-2014 at the DLR Institute of System Dynamics and Control</b></p></html>", info="<html>
34+
<p><img src=\"modelica://PlanarMechanics/Resources/Images/CounterSpin_1.png\"></p>
35+
<p><img src=\"modelica://PlanarMechanics/Resources/Images/CounterSpin_2.png\"></p>
36+
<p>The model contains a large local stiffness before 2s</p>
37+
<p><img src=\"modelica://PlanarMechanics/Resources/Images/CounterSpin_3.png\"></p>
38+
<p>Selected continuous time states</p>
39+
<ul>
40+
<li>body.r[1]</li>
41+
<li>body.v[1]</li>
42+
<li>slipBasedRolling.phi</li>
43+
<li>slipBasedRolling.w</li>
44+
</ul>
45+
</html>"));
46+
end CounterSpin;

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