Modelica.Mechanics.MultiBody.Forces.Internal

Internal package, should not be used by user

Information

Package with models that are used to construct the models in package Forces. The models in this package should not be directly used by a user.

Extends from Modelica.Icons.InternalPackage (Icon for an internal package (indicating that the package should not be directly utilized by user)).

Package Content

Name Description
Modelica.Mechanics.MultiBody.Forces.Internal.BasicForce BasicForce Force acting between two frames, defined by 3 input signals
Modelica.Mechanics.MultiBody.Forces.Internal.BasicTorque BasicTorque Torque acting between two frames, defined by 3 input signals
Modelica.Mechanics.MultiBody.Forces.Internal.BasicWorldForce BasicWorldForce External force acting at frame_b, defined by 3 input signals
Modelica.Mechanics.MultiBody.Forces.Internal.BasicWorldTorque BasicWorldTorque External torque acting at frame_b, defined by 3 input signals
Modelica.Mechanics.MultiBody.Forces.Internal.standardGravityAcceleration standardGravityAcceleration Standard gravity fields (no/parallel/point field)

Modelica.Mechanics.MultiBody.Forces.Internal.BasicForce Modelica.Mechanics.MultiBody.Forces.Internal.BasicForce

Force acting between two frames, defined by 3 input signals

Information

The 3 signals of the force connector are interpreted as the x-, y- and z-coordinates of a force acting at the frame connector to which frame_b of this component is attached. Via parameter resolveInFrame it is defined, in which frame these coordinates shall be resolved:

Types.ResolveInFrameAB.Meaning
world Resolve input force in world frame
frame_a Resolve input force in frame_a
frame_b Resolve input force in frame_b (= default)
frame_resolve Resolve input force in frame_resolve (frame_resolve must be connected)

If resolveInFrame = ResolveInFrameAB.frame_resolve, the force coordinates are with respect to the frame, that is connected to frame_resolve.

If resolveInFrame is not ResolveInFrameAB.frame_resolve, then the position vector and the orientation object of frame_resolve must be set to constant values from the outside in order that the model remains balanced (these constant values are ignored).

Extends from Modelica.Mechanics.MultiBody.Interfaces.PartialTwoFrames (Base model for components providing two frame connectors + outer world + assert to guarantee that the component is connected).

Parameters

NameDescription
resolveInFrameFrame in which force is resolved (1: world, 2: frame_a, 3: frame_b, 4: frame_resolve)

Connectors

NameDescription
frame_aCoordinate system a fixed to the component with one cut-force and cut-torque
frame_bCoordinate system b fixed to the component with one cut-force and cut-torque
frame_resolveThe input signals are optionally resolved in this frame
force[3]x-, y-, z-coordinates of force resolved in frame defined by resolveInFrame [N]

Modelica.Mechanics.MultiBody.Forces.Internal.BasicTorque Modelica.Mechanics.MultiBody.Forces.Internal.BasicTorque

Torque acting between two frames, defined by 3 input signals

Information

The 3 signals of the torque connector are interpreted as the x-, y- and z-coordinates of a torque acting at the frame connector to which frame_b of this component is attached. Via parameter resolveInFrame it is defined, in which frame these coordinates shall be resolved:

Types.ResolveInFrameAB.Meaning
world Resolve input torque in world frame
frame_a Resolve input torque in frame_a
frame_b Resolve input torque in frame_b (= default)
frame_resolve Resolve input torque in frame_resolve (frame_resolve must be connected)

If resolveInFrame = ResolveInFrameAB.frame_resolve, the torque coordinates are with respect to the frame, that is connected to frame_resolve.

If resolveInFrame is not ResolveInFrameAB.frame_resolve, then the position vector and the orientation object of frame_resolve must be set to constant values from the outside in order that the model remains balanced (these constant values are ignored).

Extends from Modelica.Mechanics.MultiBody.Interfaces.PartialTwoFrames (Base model for components providing two frame connectors + outer world + assert to guarantee that the component is connected).

Parameters

NameDescription
resolveInFrameFrame in which torque is resolved (1: world, 2: frame_a, 3: frame_b, 4: frame_resolve)

Connectors

NameDescription
frame_aCoordinate system a fixed to the component with one cut-force and cut-torque
frame_bCoordinate system b fixed to the component with one cut-force and cut-torque
frame_resolveThe input signals are optionally resolved in this frame
torque[3]x-, y-, z-coordinates of torque resolved in frame defined by resolveInFrame [N.m]

Modelica.Mechanics.MultiBody.Forces.Internal.BasicWorldForce Modelica.Mechanics.MultiBody.Forces.Internal.BasicWorldForce

External force acting at frame_b, defined by 3 input signals

Information

The 3 signals of the force connector are interpreted as the x-, y- and z-coordinates of a force acting at the frame connector to which this component is attached. Via parameter resolveInFrame it is defined, in which frame these coordinates shall be resolved:

Types.ResolveInFrameB.Meaning
world Resolve input force in world frame (= default)
frame_b Resolve input force in frame_b
frame_resolve Resolve input force in frame_resolve (frame_resolve must be connected)

If resolveInFrame = Types.ResolveInFrameB.frame_resolve, the force coordinates are with respect to the frame, that is connected to frame_resolve.

If resolveInFrame is not Types.ResolveInFrameB.frame_resolve, then the position vector and the orientation object of frame_resolve must be set to constant values from the outside in order that the model remains balanced (these constant values are ignored).

Extends from Interfaces.PartialOneFrame_b (Base model for components providing one frame_b connector + outer world + assert to guarantee that the component is connected).

Parameters

NameDescription
resolveInFrameFrame in which force is resolved (1: world, 2: frame_b, 3: frame_resolve)

Connectors

NameDescription
frame_bCoordinate system fixed to the component with one cut-force and cut-torque
frame_resolveThe input signals are optionally resolved in this frame
force[3]x-, y-, z-coordinates of force resolved in frame defined by resolveInFrame [N]

Modelica.Mechanics.MultiBody.Forces.Internal.BasicWorldTorque Modelica.Mechanics.MultiBody.Forces.Internal.BasicWorldTorque

External torque acting at frame_b, defined by 3 input signals

Information

The 3 signals of the torque connector are interpreted as the x-, y- and z-coordinates of a torque acting at the frame connector to which this component is attached. Via parameter resolveInFrame it is defined, in which frame these coordinates shall be resolved:

Types.ResolveInFrameB.Meaning
world Resolve input torque in world frame (= default)
frame_b Resolve input torque in frame_b
frame_resolve Resolve input torque in frame_resolve (frame_resolve must be connected)

If resolveInFrame = Types.ResolveInFrameB.frame_resolve, the torque coordinates are with respect to the frame, that is connected to frame_resolve.

If resolveInFrame is not Types.ResolveInFrameB.frame_resolve, then the position vector and the orientation object of frame_resolve must be set to constant values from the outside in order that the model remains balanced (these constant values are ignored).

Extends from Interfaces.PartialOneFrame_b (Base model for components providing one frame_b connector + outer world + assert to guarantee that the component is connected).

Parameters

NameDescription
resolveInFrameFrame in which torque is resolved (1: world, 2: frame_b, 3: frame_resolve)

Connectors

NameDescription
frame_bCoordinate system fixed to the component with one cut-force and cut-torque
frame_resolveThe input signals are optionally resolved in this frame
torque[3]x-, y-, z-coordinates of torque resolved in frame defined by resolveInFrame [N.m]

Modelica.Mechanics.MultiBody.Forces.Internal.standardGravityAcceleration Modelica.Mechanics.MultiBody.Forces.Internal.standardGravityAcceleration

Standard gravity fields (no/parallel/point field)

Information

This function defines the standard gravity fields for the World object.

gravityType gravity [m/s2] description
Types.GravityType.NoGravity = {0,0,0} No gravity
Types.GravityType.UniformGravity = g Constant parallel gravity field
Types.GravityType.PointGravity = -(mue/(r*r))*r/|r| Point gravity field with spherical mass

Extends from Modelica.Icons.Function (Icon for functions), Modelica.Mechanics.MultiBody.Interfaces.partialGravityAcceleration (Interface for the gravity function used in the World object).

Inputs

NameDescription
r[3]Position vector from world frame to actual point, resolved in world frame [m]
gravityTypeType of gravity field
g[3]Constant gravity acceleration, resolved in world frame, if gravityType=UniformGravity [m/s2]
mueField constant of point gravity field, if gravityType=PointGravity [m3/s2]

Outputs

NameDescription
gravity[3]Gravity acceleration at position r, resolved in world frame [m/s2]
Automatically generated Thu Dec 19 17:20:06 2019.