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Forces.mo
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Forces.mo
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within Modelica.Mechanics.MultiBody;
package Forces "Components that exert forces and/or torques between frames"
extends Modelica.Icons.SourcesPackage;
model WorldForce
"External force acting at frame_b, defined by 3 input signals and resolved in frame world, frame_b or frame_resolve"
extends Interfaces.PartialOneFrame_b;
Interfaces.Frame_resolve frame_resolve if
resolveInFrame == Modelica.Mechanics.MultiBody.Types.ResolveInFrameB.frame_resolve
"The input signals are optionally resolved in this frame"
annotation (Placement(transformation(
origin={0,-100},
extent={{-16,-16},{16,16}},
rotation=270)));
Modelica.Blocks.Interfaces.RealInput force[3](each final quantity="Force", each final unit="N")
"x-, y-, z-coordinates of force resolved in frame defined by resolveInFrame"
annotation (Placement(transformation(extent={{-140,-20},{-100,20}})));
parameter Boolean animation=true "= true, if animation shall be enabled";
parameter Modelica.Mechanics.MultiBody.Types.ResolveInFrameB resolveInFrame=
Modelica.Mechanics.MultiBody.Types.ResolveInFrameB.world
"Frame in which input force is resolved (1: world, 2: frame_b, 3: frame_resolve)";
input Types.Color color=Modelica.Mechanics.MultiBody.Types.Defaults.ForceColor
"Color of arrow"
annotation (Dialog(colorSelector=true, group="if animation = true", enable=animation));
input Types.SpecularCoefficient specularCoefficient = world.defaultSpecularCoefficient
"Reflection of ambient light (= 0: light is completely absorbed)"
annotation (Dialog(group="if animation = true", enable=animation));
protected
Visualizers.Advanced.Arrow arrow(
color=color,
specularCoefficient=specularCoefficient,
R=frame_b.R,
r=frame_b.r_0,
headAtOrigin=true,
quantity=Modelica.Mechanics.MultiBody.Types.VectorQuantity.Force,
r_head=-frame_b.f) if world.enableAnimation and animation;
public
Internal.BasicWorldForce basicWorldForce(resolveInFrame=resolveInFrame)
annotation (Placement(transformation(extent={{-10,-10},{10,10}})));
protected
Interfaces.ZeroPosition zeroPosition if
not (resolveInFrame == Modelica.Mechanics.MultiBody.Types.ResolveInFrameB.frame_resolve)
annotation (Placement(transformation(extent={{20,-40},{40,-20}})));
equation
connect(basicWorldForce.frame_b, frame_b) annotation (Line(
points={{10,0},{100,0}},
color={95,95,95},
thickness=0.5));
connect(basicWorldForce.force, force) annotation (Line(
points={{-12,0},{-120,0}}, color={0,0,127}));
connect(basicWorldForce.frame_resolve, frame_resolve) annotation (Line(
points={{0,-10},{0,-100}},
color={95,95,95},
pattern=LinePattern.Dot));
connect(zeroPosition.frame_resolve, basicWorldForce.frame_resolve)
annotation (Line(
points={{20,-30},{0,-30},{0,-10}},
color={95,95,95},
pattern=LinePattern.Dot));
annotation (defaultComponentName="force",
Icon(coordinateSystem(preserveAspectRatio=true, extent={{-100,-100},{100,
100}}), graphics={
Text(
extent={{-100,-40},{100,-70}},
textColor={192,192,192},
textString="resolve"),
Polygon(
points={{-100,10},{50,10},{50,31},{94,0},{50,-31},{50,-10},{-100,-10},
{-100,10}},
fillPattern=FillPattern.Solid),
Text(
extent={{-150,80},{150,40}},
textString="%name",
textColor={0,0,255}),
Line(
points={{0,-10},{0,-95}},
color={95,95,95},
pattern=LinePattern.Dot)}),
Documentation(info="<html>
<p>
The <strong>3</strong> signals of the <strong>force</strong> connector are interpreted
as the x-, y- and z-coordinates of a <strong>force</strong> acting at the frame
connector to which frame_b of this component is attached.
Via parameter <strong>resolveInFrame</strong> it is defined, in which frame these
coordinates shall be resolved:
</p>
<table border=\"1\" cellspacing=\"0\" cellpadding=\"2\">
<tr><th><strong>Types.ResolveInFrameB.</strong></th><th><strong>Meaning</strong></th></tr>
<tr><td>world</td>
<td>Resolve input force in world frame (= default)</td></tr>
<tr><td>frame_b</td>
<td>Resolve input force in frame_b</td></tr>
<tr><td>frame_resolve</td>
<td>Resolve input force in frame_resolve (frame_resolve must be connected)</td></tr>
</table>
<p>
If resolveInFrame = Types.ResolveInFrameB.frame_resolve, the force coordinates
are with respect to the frame, that is connected to <strong>frame_resolve</strong>.
</p>
<p>
If force={100,0,0}, and for all parameters the default setting is used,
then the interpretation is that a force of 100 N is acting along the positive
x-axis of frame_b.
</p>
<p>
Note, the cut-torque in frame_b (frame_b.t) is always set to zero.
Conceptually, a force and torque acts on the world frame in such a way that
the force and torque balance between world.frame_b and frame_b is fulfilled.
For efficiency reasons, this reaction torque is, however, not computed.
</p>
<p>
This force component is by default visualized as an arrow
acting at the connector to which it is connected.
The color of the arrow can be defined via
variable <strong>color</strong>. The arrow
points in the direction defined by the
force signal. The length of the arrow is proportional
to the length of the force vector using a global tool-dependent scaling factor.
</p>
<p>
An example how to use this model is given in the
following figure:
</p>
<p>
<img src=\"modelica://Modelica/Resources/Images/Mechanics/MultiBody/Forces/WorldForce1.png\">
</p>
<p>
This leads to the following animation
</p>
<p>
<img src=\"modelica://Modelica/Resources/Images/Mechanics/MultiBody/Forces/WorldForce2.png\">
</p>
</html>"));
end WorldForce;
model WorldTorque
"External torque acting at frame_b, defined by 3 input signals and resolved in frame world, frame_b or frame_resolve"
extends Interfaces.PartialOneFrame_b;
Interfaces.Frame_resolve frame_resolve if
resolveInFrame == Modelica.Mechanics.MultiBody.Types.ResolveInFrameB.frame_resolve
"The input signals are optionally resolved in this frame"
annotation (Placement(transformation(
origin={0,100},
extent={{16,-16},{-16,16}},
rotation=270)));
Modelica.Blocks.Interfaces.RealInput torque[3](each final quantity="Torque", each final unit="N.m")
"x-, y-, z-coordinates of torque resolved in frame defined by resolveInFrame"
annotation (Placement(transformation(extent={{-140,-20},{-100,20}})));
parameter Boolean animation=true "= true, if animation shall be enabled";
parameter Modelica.Mechanics.MultiBody.Types.ResolveInFrameB resolveInFrame=
Modelica.Mechanics.MultiBody.Types.ResolveInFrameB.world
"Frame in which input torque is resolved (1: world, 2: frame_b, 3: frame_resolve)";
input Types.Color color=Modelica.Mechanics.MultiBody.Types.Defaults.TorqueColor
"Color of arrow"
annotation (Dialog(colorSelector=true, group="if animation = true", enable=animation));
input Types.SpecularCoefficient specularCoefficient = world.defaultSpecularCoefficient
"Reflection of ambient light (= 0: light is completely absorbed)"
annotation (Dialog(group="if animation = true", enable=animation));
protected
Visualizers.Advanced.DoubleArrow arrow(
color=color,
specularCoefficient=specularCoefficient,
R=frame_b.R,
r=frame_b.r_0,
quantity=Modelica.Mechanics.MultiBody.Types.VectorQuantity.Torque,
headAtOrigin=true,
r_head=-frame_b.t) if world.enableAnimation and animation;
public
Internal.BasicWorldTorque basicWorldTorque(resolveInFrame=resolveInFrame)
annotation (Placement(transformation(extent={{-10,-10},{10,10}})));
protected
Interfaces.ZeroPosition zeroPosition if
not (resolveInFrame == Modelica.Mechanics.MultiBody.Types.ResolveInFrameB.frame_resolve)
annotation (Placement(transformation(extent={{20,10},{40,30}})));
equation
connect(basicWorldTorque.frame_b, frame_b) annotation (Line(
points={{10,0},{100,0}},
color={95,95,95},
thickness=0.5));
connect(basicWorldTorque.torque, torque) annotation (Line(
points={{-12,0},{-120,0}}, color={0,0,127}));
connect(frame_resolve, basicWorldTorque.frame_resolve) annotation (Line(
points={{0,100},{0,10}},
color={95,95,95},
pattern=LinePattern.Dot));
connect(zeroPosition.frame_resolve, basicWorldTorque.frame_resolve)
annotation (Line(
points={{20,20},{0,20},{0,10}},
color={95,95,95},
pattern=LinePattern.Dot));
annotation (defaultComponentName="torque",
Documentation(info="<html>
<p>
The <strong>3</strong> signals of the <strong>torque</strong> connector are interpreted
as the x-, y- and z-coordinates of a <strong>torque</strong> acting at the frame
connector to which frame_b of this component is attached.
Via parameter <strong>resolveInFrame</strong> it is defined, in which frame these
coordinates shall be resolved:
</p>
<table border=\"1\" cellspacing=\"0\" cellpadding=\"2\">
<tr><th><strong>Types.ResolveInFrameB.</strong></th><th><strong>Meaning</strong></th></tr>
<tr><td>world</td>
<td>Resolve input torque in world frame (= default)</td></tr>
<tr><td>frame_b</td>
<td>Resolve input torque in frame_b</td></tr>
<tr><td>frame_resolve</td>
<td>Resolve input torque in frame_resolve (frame_resolve must be connected)</td></tr>
</table>
<p>
If resolveInFrame = Types.ResolveInFrameB.frame_resolve, the torque coordinates
are with respect to the frame, that is connected to <strong>frame_resolve</strong>.
</p>
<p>
If torque={100,0,0}, and for all parameters the default setting is used,
then the interpretation is that a torque of 100 N is acting along the positive
x-axis of frame_b.
</p>
<p>
Note, the cut-force in frame_b (frame_b.f) is always set to zero.
Conceptually, a force and torque acts on the world frame in such a way that
the force and torque balance between world.frame_b and frame_b is fulfilled.
For efficiency reasons, this reaction torque is, however, not computed.
</p>
<p>
This torque component is by default visualized as a <strong>double arrow</strong>
acting at the connector to which it is connected.
The color of the arrow can be defined via
variable <strong>color</strong>. The double arrow points
in the direction defined by the
torque vector. The length of the double arrow is proportional
to the length of the torque vector using a global tool-dependent scaling factor.
</p>
<p>
An example how to use this model is given in the
following figure:
</p>
<p>
<img src=\"modelica://Modelica/Resources/Images/Mechanics/MultiBody/Forces/WorldTorque1.png\">
</p>
<p>
This leads to the following animation
</p>
<p>
<img src=\"modelica://Modelica/Resources/Images/Mechanics/MultiBody/Forces/WorldTorque2.png\">
</p>
</html>"), Icon(coordinateSystem(
preserveAspectRatio=true,
extent={{-100,-100},{100,100}}), graphics={
Text(
extent={{-61,64},{46,27}},
textColor={192,192,192},
textString="resolve"),
Text(
extent={{-150,-40},{150,-80}},
textString="%name",
textColor={0,0,255}),
Line(
points={{0,95},{0,82}},
color={95,95,95},
pattern=LinePattern.Dot),
Line(
points={{-100,0},{-94,13},{-86,28},{-74,48},{-65,60},{-52,72},{-35,
81},{-22,84},{-8,84},{7,80},{19,73},{32,65},{44,55},{52,47},{58,
40}},
thickness=0.5),
Polygon(
points={{94,10},{75,59},{41,24},{94,10}},
fillPattern=FillPattern.Solid)}));
end WorldTorque;
model WorldForceAndTorque
"External force and torque acting at frame_b, defined by 3+3 input signals and resolved in frame world, frame_b or in frame_resolve"
import Modelica.Mechanics.MultiBody.Types;
extends Interfaces.PartialOneFrame_b;
Interfaces.Frame_resolve frame_resolve if
resolveInFrame == Modelica.Mechanics.MultiBody.Types.ResolveInFrameB.frame_resolve
"The input signals are optionally resolved in this frame"
annotation (Placement(transformation(
origin={0,100},
extent={{16,-16},{-16,16}},
rotation=270)));
Blocks.Interfaces.RealInput force[3](each final quantity="Force", each final unit=
"N")
"x-, y-, z-coordinates of force resolved in frame defined by resolveInFrame"
annotation (Placement(transformation(extent={{-140,-80},{-100,-40}})));
Blocks.Interfaces.RealInput torque[3](each final quantity="Torque", each final unit=
"N.m")
"x-, y-, z-coordinates of torque resolved in frame defined by resolveInFrame"
annotation (Placement(transformation(extent={{-140,40},{-100,80}})));
parameter Boolean animation=true "= true, if animation shall be enabled";
parameter Modelica.Mechanics.MultiBody.Types.ResolveInFrameB resolveInFrame=
Modelica.Mechanics.MultiBody.Types.ResolveInFrameB.world
"Frame in which input force and torque are resolved (1: world, 2: frame_b, 3: frame_resolve)";
input Types.Color forceColor=Modelica.Mechanics.MultiBody.Types.Defaults.ForceColor
"Color of force arrow" annotation (Dialog(colorSelector=true, group="if animation = true", enable=animation));
input Types.Color torqueColor=Modelica.Mechanics.MultiBody.Types.Defaults.TorqueColor
"Color of torque arrow" annotation (Dialog(colorSelector=true, group="if animation = true", enable=animation));
input Types.SpecularCoefficient specularCoefficient = world.defaultSpecularCoefficient
"Reflection of ambient light (= 0: light is completely absorbed)"
annotation (Dialog(group="if animation = true", enable=animation));
protected
Visualizers.Advanced.Arrow forceArrow(
color=forceColor,
specularCoefficient=specularCoefficient,
quantity=Modelica.Mechanics.MultiBody.Types.VectorQuantity.Force,
R=frame_b.R,
r=frame_b.r_0,
r_head=-frame_b.f,
headAtOrigin=true) if world.enableAnimation and animation;
Visualizers.Advanced.DoubleArrow torqueArrow(
color=torqueColor,
specularCoefficient=specularCoefficient,
quantity=Modelica.Mechanics.MultiBody.Types.VectorQuantity.Torque,
R=frame_b.R,
r=frame_b.r_0,
r_head=-frame_b.t,
headAtOrigin=true) if world.enableAnimation and animation;
public
Internal.BasicWorldForce basicWorldForce(resolveInFrame=resolveInFrame)
annotation (Placement(transformation(extent={{18,-50},{38,-70}})));
Internal.BasicWorldTorque basicWorldTorque(resolveInFrame=resolveInFrame)
annotation (Placement(transformation(extent={{-10,50},{10,70}})));
protected
Interfaces.ZeroPosition zeroPosition if
not (resolveInFrame == Modelica.Mechanics.MultiBody.Types.ResolveInFrameB.frame_resolve)
annotation (Placement(transformation(extent={{58,70},{78,90}})));
equation
connect(basicWorldForce.frame_b, frame_b) annotation (Line(
points={{38,-60},{60,-60},{60,0},{100,0}},
color={95,95,95},
thickness=0.5));
connect(basicWorldForce.force, force) annotation (Line(
points={{16,-60},{-120,-60}}, color={0,0,127}));
connect(basicWorldTorque.frame_b, frame_b)
annotation (Line(
points={{10,60},{60,60},{60,0},{100,0}},
color={95,95,95},
thickness=0.5));
connect(basicWorldTorque.torque, torque)
annotation (Line(
points={{-12,60},{-120,60}}, color={0,0,127}));
connect(basicWorldForce.frame_resolve, frame_resolve) annotation (Line(
points={{28,-50},{28,80},{0,80},{0,100}},
color={95,95,95},
pattern=LinePattern.Dot));
connect(basicWorldTorque.frame_resolve, frame_resolve)
annotation (Line(
points={{0,70},{0,100}},
color={95,95,95},
pattern=LinePattern.Dot));
connect(zeroPosition.frame_resolve, basicWorldTorque.frame_resolve)
annotation (Line(
points={{58,80},{0,80},{0,70}},
color={95,95,95},
pattern=LinePattern.Dot));
connect(zeroPosition.frame_resolve, basicWorldForce.frame_resolve)
annotation (Line(
points={{58,80},{40,80},{40,-40},{28,-40},{28,-50}},
color={95,95,95},
pattern=LinePattern.Dot));
annotation (defaultComponentName="forceAndTorque",
Icon(coordinateSystem(preserveAspectRatio=true, extent={{-100,-100},{100,
100}}), graphics={
Text(
extent={{-63,56},{44,19}},
textColor={192,192,192},
textString="resolve"),
Text(
extent={{-150,-75},{150,-115}},
textString="%name",
textColor={0,0,255}),
Line(
points={{-100,60},{-86,68},{-80,72},{-70,78},{-64,82},{-46,86},{-34,
88},{-16,88},{-2,86},{12,80},{24,74},{34,68},{46,58},{52,54},{
58,48}},
thickness=0.5),
Polygon(
points={{89,17},{64,76},{30,41},{89,17}},
fillPattern=FillPattern.Solid),
Line(
points={{0,95},{0,-26}},
color={95,95,95},
pattern=LinePattern.Dot),
Line(
points={{0,0},{96,0}},
color={95,95,95},
pattern=LinePattern.Dot),
Polygon(
points={{-104,-48},{54,0},{46,20},{96,0},{66,-42},{60,-22},{-96,-72},
{-104,-48}},
fillPattern=FillPattern.Solid)}),
Documentation(info="<html>
<p>
The <strong>3</strong> signals of the <strong>force</strong> and <strong>torque</strong>
connector are interpreted
as the x-, y- and z-coordinates of a <strong>force</strong> and
<strong>torque</strong> acting at the frame
connector to which frame_b of this component is attached.
Via parameter <strong>resolveInFrame</strong> it is defined, in which frame these
coordinates shall be resolved:
</p>
<table border=\"1\" cellspacing=\"0\" cellpadding=\"2\">
<tr><th><strong>Types.ResolveInFrameB.</strong></th><th><strong>Meaning</strong></th></tr>
<tr><td>world</td>
<td>Resolve input force and torque in world frame (= default)</td></tr>
<tr><td>frame_b</td>
<td>Resolve input force and torque in frame_b</td></tr>
<tr><td>frame_resolve</td>
<td>Resolve input force and torque in frame_resolve
(frame_resolve must be connected)</td></tr>
</table>
<p>
If resolveInFrame = Types.ResolveInFrameB.frame_resolve, the force and
torque coordinates
are with respect to the frame, that is connected to <strong>frame_resolve</strong>.
</p>
<p>
If force={100,0,0}, and for all parameters the default setting is used,
then the interpretation is that a force of 100 N is acting along the positive
x-axis of frame_b.
</p>
<p>
Conceptually, a force and torque acts on the world frame in such a way that
the force and torque balance between world.frame_b and frame_b is fulfilled.
For efficiency reasons, this reaction torque is, however, not computed.
</p>
<p>
The force and torque are by default visualized as an arrow (force)
and as a double arrow (torque) acting at the connector to which
they are connected. The colors of the arrows can be defined via
<strong>forceColor</strong> and <strong>torqueColor</strong>. The arrows
point in the directions defined by the
force and torque vectors. The lengths of the arrows are proportional
to the length of the force and torque vectors, respectively, using tool-dependent
scaling factors.
</p>
<p>
An example how to use this model is given in the
following figure:
</p>
<p>
<img src=\"modelica://Modelica/Resources/Images/Mechanics/MultiBody/Forces/WorldForceAndTorque1.png\">
</p>
<p>
This leads to the following animation
</p>
<p>
<img src=\"modelica://Modelica/Resources/Images/Mechanics/MultiBody/Forces/WorldForceAndTorque2.png\">
</p>
</html>"));
end WorldForceAndTorque;
model Force
"Force acting between two frames, defined by 3 input signals and resolved in frame world, frame_a, frame_b or frame_resolve"
import Modelica.SIunits.Conversions.to_unit1;
extends Modelica.Mechanics.MultiBody.Interfaces.PartialTwoFrames;
Interfaces.Frame_resolve frame_resolve if
resolveInFrame == Modelica.Mechanics.MultiBody.Types.ResolveInFrameAB.frame_resolve
"The input signals are optionally resolved in this frame"
annotation (Placement(transformation(
origin={40,100},
extent={{-16,-16},{16,16}},
rotation=90)));
Modelica.Blocks.Interfaces.RealInput force[3](each final quantity="Force", each final unit="N")
"x-, y-, z-coordinates of force resolved in frame defined by resolveInFrame"
annotation (Placement(transformation(
origin={-60,120},
extent={{-20,-20},{20,20}},
rotation=270)));
parameter Boolean animation=true "= true, if animation shall be enabled";
parameter Modelica.Mechanics.MultiBody.Types.ResolveInFrameAB
resolveInFrame=
Modelica.Mechanics.MultiBody.Types.ResolveInFrameAB.frame_b
"Frame in which input force is resolved (1: world, 2: frame_a, 3: frame_b, 4: frame_resolve)";
input SI.Diameter connectionLineDiameter=world.defaultArrowDiameter
"Diameter of line connecting frame_a and frame_b"
annotation (Dialog(group="if animation = true", enable=animation));
input Types.Color forceColor=Modelica.Mechanics.MultiBody.Types.Defaults.ForceColor
"Color of force arrow" annotation (Dialog(colorSelector=true, group="if animation = true", enable=animation));
input Types.Color connectionLineColor=Modelica.Mechanics.MultiBody.Types.Defaults.SensorColor
"Color of line connecting frame_a and frame_b"
annotation (Dialog(colorSelector=true, group="if animation = true", enable=animation));
input Types.SpecularCoefficient specularCoefficient = world.defaultSpecularCoefficient
"Reflection of ambient light (= 0: light is completely absorbed)"
annotation (Dialog(group="if animation = true", enable=animation));
protected
Visualizers.Advanced.Arrow forceArrow(
color=forceColor,
specularCoefficient=specularCoefficient,
quantity=Modelica.Mechanics.MultiBody.Types.VectorQuantity.Force,
R=frame_b.R,
r=frame_b.r_0,
r_head=-frame_b.f,
headAtOrigin=true) if world.enableAnimation and animation;
Visualizers.Advanced.Shape connectionLine(
shapeType="cylinder",
lengthDirection = to_unit1(basicForce.r_0),
widthDirection={0,1,0},
length=Modelica.Math.Vectors.length(basicForce.r_0),
width=connectionLineDiameter,
height=connectionLineDiameter,
color=connectionLineColor,
specularCoefficient=specularCoefficient,
r=frame_a.r_0) if world.enableAnimation and animation;
public
MultiBody.Forces.Internal.BasicForce basicForce(resolveInFrame=resolveInFrame)
annotation (Placement(transformation(extent={{0,-10},{20,10}})));
protected
MultiBody.Interfaces.ZeroPosition zeroPosition if
not (resolveInFrame == Modelica.Mechanics.MultiBody.Types.ResolveInFrameAB.frame_resolve)
annotation (Placement(transformation(extent={{40,10},{60,30}})));
equation
connect(basicForce.frame_a, frame_a) annotation (Line(
points={{0,0},{-100,0}},
color={95,95,95},
thickness=0.5));
connect(basicForce.frame_b, frame_b) annotation (Line(
points={{20,0},{100,0}},
color={95,95,95},
thickness=0.5));
connect(force, basicForce.force) annotation (Line(
points={{-60,120},{-60,40},{4,40},{4,12}}, color={0,0,127}));
connect(basicForce.frame_resolve, frame_resolve) annotation (Line(
points={{14,10},{14,40},{40,40},{40,100}},
color={95,95,95},
pattern=LinePattern.Dot));
connect(zeroPosition.frame_resolve, basicForce.frame_resolve) annotation (
Line(
points={{40,20},{27,20},{27,10},{14,10}},
color={95,95,95},
pattern=LinePattern.Dot));
annotation (
Icon(coordinateSystem(preserveAspectRatio=true, extent={{-100,-100},{100,
100}}), graphics={
Rectangle(
extent={{-98,99},{99,-98}},
lineColor={255,255,255},
fillColor={255,255,255},
fillPattern=FillPattern.Solid),
Text(
extent={{-92,61},{87,35}},
textColor={192,192,192},
textString="resolve"),
Text(
extent={{-150,-55},{150,-95}},
textString="%name",
textColor={0,0,255}),
Line(
points={{40,100},{40,0}},
color={95,95,95},
pattern=LinePattern.Dot),
Polygon(
points={{-94,0},{-64,11},{-64,-10},{-94,0}},
fillPattern=FillPattern.Solid),
Line(
points={{-60,100},{40,100}},
color={95,95,95},
pattern=LinePattern.Dot),
Polygon(
points={{94,0},{65,12},{65,-11},{94,0}},
fillPattern=FillPattern.Solid),
Line(points={{-64,0},{-20,0}}),
Line(points={{20,0},{65,0}})}),
Documentation(info="<html>
<p>
The <strong>3</strong> signals of the <strong>force</strong> connector are interpreted
as the x-, y- and z-coordinates of a <strong>force</strong> acting at the frame
connector to which frame_b of this component is attached.
Via parameter <strong>resolveInFrame</strong> it is defined, in which frame these
coordinates shall be resolved:
</p>
<table border=\"1\" cellspacing=\"0\" cellpadding=\"2\">
<tr><th><strong>Types.ResolveInFrameAB.</strong></th><th><strong>Meaning</strong></th></tr>
<tr><td>world</td>
<td>Resolve input force in world frame</td></tr>
<tr><td>frame_a</td>
<td>Resolve input force in frame_a</td></tr>
<tr><td>frame_b</td>
<td>Resolve input force in frame_b (= default)</td></tr>
<tr><td>frame_resolve</td>
<td>Resolve input force in frame_resolve (frame_resolve must be connected)</td></tr>
</table>
<p>
If resolveInFrame = ResolveInFrameAB.frame_resolve, the force coordinates
are with respect to the frame, that is connected to <strong>frame_resolve</strong>.
</p>
<p>
If force={100,0,0}, and for all parameters the default setting is used,
then the interpretation is that a force of 100 N is acting along the positive
x-axis of frame_b.
</p>
<p>
Note, the cut-torque in frame_b (frame_b.t) is always set to zero.
Additionally, a force and torque acts on frame_a in such a way that
the force and torque balance between frame_a and frame_b is fulfilled.
</p>
<p>
An example how to use this model is given in the
following figure:
</p>
<p>
<img src=\"modelica://Modelica/Resources/Images/Mechanics/MultiBody/Forces/Force1.png\">
</p>
<p>
This leads to the following animation (the yellow cylinder
characterizes the line between frame_a and frame_b of the
Force component, i.e., the force acts with negative sign
also on the opposite side of this cylinder, but for
clarity this is not shown in the animation):
</p>
<p>
<img src=\"modelica://Modelica/Resources/Images/Mechanics/MultiBody/Forces/Force2.png\">
</p>
</html>"));
end Force;
model Torque
"Torque acting between two frames, defined by 3 input signals and resolved in frame world, frame_a, frame_b or frame_resolve"
import Modelica.SIunits.Conversions.to_unit1;
extends Modelica.Mechanics.MultiBody.Interfaces.PartialTwoFrames;
Interfaces.Frame_resolve frame_resolve if
resolveInFrame == Modelica.Mechanics.MultiBody.Types.ResolveInFrameAB.frame_resolve
"The input signals are optionally resolved in this frame"
annotation (Placement(transformation(
origin={40,100},
extent={{-16,-16},{16,16}},
rotation=90)));
Modelica.Blocks.Interfaces.RealInput torque[3](each final quantity="Torque", each final unit="N.m")
"x-, y-, z-coordinates of torque resolved in frame defined by resolveInFrame"
annotation (Placement(transformation(
origin={-60,120},
extent={{-20,-20},{20,20}},
rotation=270)));
parameter Boolean animation=true "= true, if animation shall be enabled";
parameter Modelica.Mechanics.MultiBody.Types.ResolveInFrameAB
resolveInFrame=
Modelica.Mechanics.MultiBody.Types.ResolveInFrameAB.frame_b
"Frame in which input force is resolved (1: world, 2: frame_a, 3: frame_b, 4: frame_resolve)";
input SI.Diameter connectionLineDiameter=world.defaultArrowDiameter
"Diameter of line connecting frame_a and frame_b"
annotation (Dialog(group="if animation = true", enable=animation));
input Types.Color torqueColor=Modelica.Mechanics.MultiBody.Types.Defaults.TorqueColor
"Color of torque arrow" annotation (Dialog(colorSelector=true, group="if animation = true", enable=animation));
input Types.Color connectionLineColor=Modelica.Mechanics.MultiBody.Types.Defaults.SensorColor
"Color of line connecting frame_a and frame_b"
annotation (Dialog(colorSelector=true, group="if animation = true", enable=animation));
input Types.SpecularCoefficient specularCoefficient = world.defaultSpecularCoefficient
"Reflection of ambient light (= 0: light is completely absorbed)"
annotation (Dialog(group="if animation = true", enable=animation));
protected
Visualizers.Advanced.DoubleArrow torqueArrow(
color=torqueColor,
specularCoefficient=specularCoefficient,
R=frame_b.R,
r=frame_b.r_0,
quantity=Modelica.Mechanics.MultiBody.Types.VectorQuantity.Torque,
headAtOrigin=true,
r_head=-frame_b.t) if world.enableAnimation and animation;
Visualizers.Advanced.Shape connectionLine(
shapeType="cylinder",
lengthDirection = to_unit1(basicTorque.r_0),
widthDirection={0,1,0},
length=Modelica.Math.Vectors.length(basicTorque.r_0),
width=connectionLineDiameter,
height=connectionLineDiameter,
color=connectionLineColor,
specularCoefficient=specularCoefficient,
r=frame_a.r_0) if world.enableAnimation and animation;
public
Internal.BasicTorque basicTorque(resolveInFrame=resolveInFrame)
annotation (Placement(transformation(extent={{-8,-10},{12,10}})));
protected
Interfaces.ZeroPosition zeroPosition if
not (resolveInFrame == Modelica.Mechanics.MultiBody.Types.ResolveInFrameAB.frame_resolve)
annotation (Placement(transformation(extent={{34,10},{54,30}})));
equation
connect(basicTorque.frame_a, frame_a) annotation (Line(
points={{-8,0},{-100,0}},
color={95,95,95},
thickness=0.5));
connect(basicTorque.frame_b, frame_b) annotation (Line(
points={{12,0},{100,0}},
color={95,95,95},
thickness=0.5));
connect(basicTorque.torque, torque) annotation (Line(
points={{-4,12},{-4,60},{-60,60},{-60,120}}, color={0,0,127}));
connect(basicTorque.frame_resolve, frame_resolve) annotation (Line(
points={{6,10},{6,60},{40,60},{40,100}},
color={95,95,95},
pattern=LinePattern.Dot));
connect(zeroPosition.frame_resolve, basicTorque.frame_resolve) annotation (
Line(
points={{34,20},{20,20},{20,10},{6,10}},
color={95,95,95},
pattern=LinePattern.Dot));
annotation (
Icon(coordinateSystem(preserveAspectRatio=true, extent={{-100,-100},{100,
100}}), graphics={
Rectangle(
extent={{-98,99},{99,-98}},
lineColor={255,255,255},
fillColor={255,255,255},
fillPattern=FillPattern.Solid),
Text(
extent={{-59,55},{72,30}},
textColor={192,192,192},
textString="resolve"),
Text(
extent={{-150,-30},{150,-70}},
textString="%name",
textColor={0,0,255}),
Polygon(
points={{100,20},{84,52},{69,39},{100,20}},
fillPattern=FillPattern.Solid),
Line(
points={{40,100},{76,46}},
color={95,95,95},
pattern=LinePattern.Dot),
Polygon(
points={{-99,20},{-86,53},{-70,42},{-99,20}},
fillPattern=FillPattern.Solid),
Line(
points={{-60,100},{40,100}},
color={95,95,95},
pattern=LinePattern.Dot),
Line(points={{-79,47},{-70,61},{-59,72},{-45,81},{-32,84},{-20,85}}),
Line(points={{77,45},{66,60},{55,69},{49,74},{41,80},{31,84},{20,85}})}),
Documentation(info="<html>
<p>
The <strong>3</strong> signals of the <strong>torque</strong> connector are interpreted
as the x-, y- and z-coordinates of a <strong>torque</strong> acting at the frame
connector to which frame_b of this component is attached.
Via parameter <strong>resolveInFrame</strong> it is defined, in which frame these
coordinates shall be resolved:
</p>
<table border=\"1\" cellspacing=\"0\" cellpadding=\"2\">
<tr><th><strong>Types.ResolveInFrameAB.</strong></th><th><strong>Meaning</strong></th></tr>
<tr><td>world</td>
<td>Resolve input torque in world frame</td></tr>
<tr><td>frame_a</td>
<td>Resolve input torque in frame_a</td></tr>
<tr><td>frame_b</td>
<td>Resolve input torque in frame_b (= default)</td></tr>
<tr><td>frame_resolve</td>
<td>Resolve input torque in frame_resolve (frame_resolve must be connected)</td></tr>
</table>
<p>
If resolveInFrame = ResolveInFrameAB.frame_resolve, the torque coordinates
are with respect to the frame, that is connected to <strong>frame_resolve</strong>.
</p>
<p>
If torque={100,0,0}, and for all parameters the default setting is used,
then the interpretation is that a torque of 100 N.m is acting along the positive
x-axis of frame_b.
</p>
<p>
Note, the cut-forces in frame_a and frame_b (frame_a.f, frame_b.f) are
always set to zero and the cut-torque at frame_a (frame_a.t) is the same
as the cut-torque at frame_b (frame_b.t) but with opposite sign.
</p>
<p>
An example how to use this model is given in the
following figure:
</p>
<p>
<img src=\"modelica://Modelica/Resources/Images/Mechanics/MultiBody/Forces/Torque1.png\">
</p>
<p>
This leads to the following animation (the yellow cylinder
characterizes the line between frame_a and frame_b of the
Torque component, i.e., the torque acts with negative sign
also on the opposite side of this cylinder, but for
clarity this is not shown in the animation):
</p>
<p>
<img src=\"modelica://Modelica/Resources/Images/Mechanics/MultiBody/Forces/Torque2.png\">
</p>
</html>"));
end Torque;
model ForceAndTorque
"Force and torque acting between two frames, defined by 3+3 input signals and resolved in frame world, frame_a, frame_b or frame_resolve"
import Modelica.Mechanics.MultiBody.Types;
import Modelica.SIunits.Conversions.to_unit1;
extends Modelica.Mechanics.MultiBody.Interfaces.PartialTwoFrames;
Blocks.Interfaces.RealInput force[3](each final quantity="Force", each final unit="N")
"x-, y-, z-coordinates of force resolved in frame defined by resolveInFrame"
annotation (Placement(transformation(
origin={-80,120},
extent={{-20,-20},{20,20}},
rotation=270)));
Blocks.Interfaces.RealInput torque[3](each final quantity="Torque", each final unit="N.m")
"x-, y-, z-coordinates of torque resolved in frame defined by resolveInFrame"
annotation (Placement(transformation(
origin={0,120},
extent={{-20,-20},{20,20}},
rotation=270)));
Interfaces.Frame_resolve frame_resolve if
resolveInFrame == Modelica.Mechanics.MultiBody.Types.ResolveInFrameAB.frame_resolve
"The input signals are optionally resolved in this frame"
annotation (Placement(transformation(
origin={80,100},
extent={{-16,-16},{16,16}},
rotation=90)));
parameter Boolean animation=true "= true, if animation shall be enabled";
parameter Modelica.Mechanics.MultiBody.Types.ResolveInFrameAB
resolveInFrame=
Modelica.Mechanics.MultiBody.Types.ResolveInFrameAB.frame_b
"Frame in which input force and torque are resolved (1: world, 2: frame_a, 3: frame_b, 4: frame_resolve)";
input SI.Diameter connectionLineDiameter=world.defaultArrowDiameter
"Diameter of line connecting frame_a and frame_b"
annotation (Dialog(group="if animation = true", enable=animation));
input Types.Color forceColor=Modelica.Mechanics.MultiBody.Types.Defaults.ForceColor
"Color of force arrow" annotation (Dialog(colorSelector=true, group="if animation = true", enable=animation));
input Types.Color torqueColor=Modelica.Mechanics.MultiBody.Types.Defaults.TorqueColor
"Color of torque arrow" annotation (Dialog(colorSelector=true, group="if animation = true", enable=animation));
input Types.Color connectionLineColor=Modelica.Mechanics.MultiBody.Types.Defaults.SensorColor
"Color of line connecting frame_a and frame_b"
annotation (Dialog(colorSelector=true, group="if animation = true", enable=animation));
input Types.SpecularCoefficient specularCoefficient = world.defaultSpecularCoefficient
"Reflection of ambient light (= 0: light is completely absorbed)"
annotation (Dialog(group="if animation = true", enable=animation));
protected
Visualizers.Advanced.Arrow forceArrow(
specularCoefficient=specularCoefficient,
quantity=Modelica.Mechanics.MultiBody.Types.VectorQuantity.Force,
R=frame_b.R,
r=frame_b.r_0,
headAtOrigin=true,
r_head=-frame_b.f) if world.enableAnimation and animation;
Visualizers.Advanced.DoubleArrow torqueArrow(
color=torqueColor,
specularCoefficient=specularCoefficient,
quantity=Modelica.Mechanics.MultiBody.Types.VectorQuantity.Torque,
R=frame_b.R,
r=frame_b.r_0,
headAtOrigin=true,
r_head=-frame_b.t) if world.enableAnimation and animation;
Visualizers.Advanced.Shape connectionLine(
shapeType="cylinder",
lengthDirection = to_unit1(basicForce.r_0),
widthDirection={0,1,0},
length=Modelica.Math.Vectors.length(basicForce.r_0),
width=connectionLineDiameter,
height=connectionLineDiameter,
color=connectionLineColor,
specularCoefficient=specularCoefficient,
r=frame_a.r_0) if world.enableAnimation and animation;
public
Internal.BasicForce basicForce(resolveInFrame=resolveInFrame)
annotation (Placement(transformation(extent={{-84,-10},{-64,10}})));
Internal.BasicTorque basicTorque(resolveInFrame=resolveInFrame)
annotation (Placement(transformation(extent={{-4,10},{16,30}})));
protected
Interfaces.ZeroPosition zeroPosition if
not (resolveInFrame == Modelica.Mechanics.MultiBody.Types.ResolveInFrameAB.frame_resolve)
annotation (Placement(transformation(extent={{20,30},{40,50}})));
equation
connect(basicForce.frame_a, frame_a) annotation (Line(
points={{-84,0},{-100,0}},
color={95,95,95},
thickness=0.5));
connect(basicForce.frame_b, frame_b) annotation (Line(
points={{-64,0},{100,0}},
color={95,95,95},
thickness=0.5));
connect(basicTorque.frame_b, frame_b) annotation (Line(
points={{16,20},{68,20},{68,0},{100,0}},
color={95,95,95},
thickness=0.5));
connect(basicTorque.frame_a, frame_a) annotation (Line(
points={{-4,20},{-90,20},{-90,0},{-100,0}},
color={95,95,95},
thickness=0.5));
connect(basicForce.force, force) annotation (Line(
points={{-80,12},{-80,120}}, color={0,0,127}));
connect(basicTorque.torque, torque) annotation (Line(
points={{0,32},{0,120}}, color={0,0,127}));
connect(basicTorque.frame_resolve, frame_resolve) annotation (Line(
points={{10,30},{10,80},{80,80},{80,100}},
color={95,95,95},
pattern=LinePattern.Dot));
connect(basicForce.frame_resolve, frame_resolve) annotation (Line(
points={{-70,10},{-70,80},{80,80},{80,100}},
color={95,95,95},
pattern=LinePattern.Dot));
connect(zeroPosition.frame_resolve, basicTorque.frame_resolve) annotation (
Line(
points={{20,40},{10,40},{10,30}},
color={95,95,95},
pattern=LinePattern.Dot));
connect(zeroPosition.frame_resolve, basicForce.frame_resolve) annotation (
Line(
points={{20,40},{-70,40},{-70,10}},
color={95,95,95},
pattern=LinePattern.Dot));
annotation (
Icon(coordinateSystem(preserveAspectRatio=true, extent={{-100,-100},{100,
100}}), graphics={
Rectangle(
extent={{-98,99},{99,-98}},
lineColor={255,255,255},
fillColor={255,255,255},
fillPattern=FillPattern.Solid),
Text(
extent={{-59,55},{72,30}},
textColor={192,192,192},
textString="resolve"),
Text(
extent={{-150,-55},{150,-95}},
textString="%name",
textColor={0,0,255}),
Polygon(
points={{100,21},{84,55},{69,39},{100,21}},
fillPattern=FillPattern.Solid),
Line(
points={{80,100},{80,0}},
color={95,95,95},
pattern=LinePattern.Dot),
Polygon(
points={{-95,1},{-64,11},{-64,-10},{-95,1}},
fillPattern=FillPattern.Solid),