Enhance a_relfric for forward/backward sliding

m-kormann · Jan 12, 2024 · 97f0fdc · 97f0fdc
1 parent 519bf15
commit 97f0fdc
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diff --git a/Modelica/Mechanics/Rotational/Interfaces/PartialFriction.mo b/Modelica/Mechanics/Rotational/Interfaces/PartialFriction.mo
@@ -56,6 +56,8 @@ equation
   a_relfric/unitAngularAcceleration = if locked then 0 else if free then sa
     else if startForward then sa - tau0_max/unitTorque
     else if startBackward then sa + tau0_max/unitTorque
+    else if pre(mode) == Forward then sa - tau0_max/unitTorque
+    else if pre(mode) == Backward then sa + tau0_max/unitTorque
     else sa - sign(w_relfric)*tau0_max/unitTorque;
 
   /* Friction torque "tau" has to be defined in a subclass. Example for possible

diff --git a/Modelica/Mechanics/Translational/Interfaces/PartialFriction.mo b/Modelica/Mechanics/Translational/Interfaces/PartialFriction.mo
@@ -54,6 +54,8 @@ 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 if pre(mode) == Backward then sa + f0_max/unitForce
     else sa - sign(v_relfric)*f0_max/unitForce;
 
   /* Friction force "f" has to be defined in a subclass. Example for possible