| 1 | within Project1;
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| 2 | model SpringDamperARB_4
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| 3 | "Rocker arrangement w spring damper per side and anti roll bar4"
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| 4 | extends
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| 5 | VDLMotorsports.Chassis.Suspensions.Linkages.Templates.RockerArrangement;
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| 6 |
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| 7 | import SI = Modelica.SIunits;
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| 8 | parameter SI.Position r0CS_1[3] = {0.3, 0.08, 0.13}
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| 9 | "Position of the left spring end connected to the chassis resolved in vehicleFrame"
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| 10 | annotation(Dialog(tab=Geometry));
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| 11 | parameter SI.Position r0RS_1[3] = {0.06, 0.04, 0.13}
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| 12 | "Position of the left spring end connected to the rocker resolved in vehicleFrame"
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| 13 | annotation(Dialog(tab="Geometry"));
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| 14 |
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| 15 | parameter SI.Position r0CD_1[3] = {0.3, 0.08, 0.13}
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| 16 | "Position of the left damper end connected to the chassis resolved in vehicleFrame"
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| 17 | annotation(Dialog(tab=Geometry));
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| 18 | parameter SI.Position r0RD_1[3] = {0.06, 0.04, 0.13}
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| 19 | "Position of the left damper end connected to the rocker resolved in vehicleFrame"
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| 20 | annotation(Dialog(tab="Geometry"));
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| 21 |
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| 22 | parameter SI.Position r0CS_2[3] = {0.3, 0.08, 0.13}
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| 23 | "Position of the right spring end connected to the chassis resolved in vehicleFrame"
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| 24 | annotation(Dialog(tab=Geometry));
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| 25 | parameter SI.Position r0RS_2[3] = {0.06, 0.04, 0.13}
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| 26 | "Position of the right spring end connected to the rocker resolved in vehicleFrame"
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| 27 | annotation(Dialog(tab="Geometry"));
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| 28 |
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| 29 | parameter SI.Position r0CD_2[3] = {0.3, 0.08, 0.13}
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| 30 | "Position of the right damper end connected to the chassis resolved in vehicleFrame"
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| 31 | annotation(Dialog(tab=Geometry));
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| 32 | parameter SI.Position r0RD_2[3] = {0.06, 0.04, 0.13}
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| 33 | "Position of the right damper end connected to the rocker resolved in vehicleFrame"
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| 34 | annotation(Dialog(tab="Geometry"));
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| 35 |
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| 36 | protected
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| 37 | parameter SI.Position r0CS_1_scaled[3] = r0CS_1 .* scale_factor + offset;
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| 38 | parameter SI.Position r0RS_1_scaled[3] = r0RS_1 .* scale_factor + offset;
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| 39 |
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| 40 | parameter SI.Position r0CD_1_scaled[3] = r0CD_1 .* scale_factor + offset;
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| 41 | parameter SI.Position r0RD_1_scaled[3] = r0RD_1 .* scale_factor + offset;
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| 42 |
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| 43 | parameter SI.Position r0CS_2_scaled[3] = r0CS_2 .* scale_factor + offset;
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| 44 | parameter SI.Position r0RS_2_scaled[3] = r0RS_2 .* scale_factor + offset;
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| 45 |
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| 46 | parameter SI.Position r0CD_2_scaled[3] = r0CD_2 .* scale_factor + offset;
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| 47 | parameter SI.Position r0RD_2_scaled[3] = r0RD_2 .* scale_factor + offset;
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| 48 | VehicleDynamics.Vehicles.Chassis.Suspensions.Linkages.Struts.UnconstrainedTranslational
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| 49 | leftSpring(
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| 50 | r0J1=r0CS_1_scaled,
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| 51 | r0J2=r0RS_1_scaled,
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| 52 | r0B=r0CR_1_scaled)
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| 53 | annotation (Placement(transformation(
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| 54 | extent={{-10,4},{10,-4}},
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| 55 | rotation=-90,
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| 56 | origin={-100,50})));
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| 57 | VehicleDynamics.Vehicles.Chassis.Suspensions.Linkages.Struts.UnconstrainedTranslational
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| 58 | leftDamper(
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| 59 | r0J1=r0CD_1_scaled,
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| 60 | r0J2=r0RD_1_scaled,
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| 61 | r0B=r0CR_1_scaled)
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| 62 | annotation (Placement(transformation(
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| 63 | extent={{-10,-4},{10,4}},
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| 64 | rotation=-90,
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| 65 | origin={-80,50})));
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| 66 | VehicleDynamics.Vehicles.Chassis.Suspensions.Linkages.Struts.UnconstrainedTranslational
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| 67 | rightDamper(
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| 68 | r0B=r0CR_2_scaled,
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| 69 | r0J1=r0CD_2_scaled,
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| 70 | r0J2=r0RD_2_scaled)
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| 71 | annotation (Placement(transformation(
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| 72 | extent={{10,-4},{-10,4}},
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| 73 | rotation=90,
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| 74 | origin={80,50})));
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| 75 | VehicleDynamics.Vehicles.Chassis.Suspensions.Linkages.Struts.UnconstrainedTranslational
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| 76 | rightSpring(
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| 77 | r0B=r0CR_2_scaled,
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| 78 | r0J1=r0CS_2_scaled,
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| 79 | r0J2=r0RS_2_scaled,
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| 80 | lineForce(m=1))
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| 81 | annotation (Placement(transformation(
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| 82 | extent={{-10,-4},{10,4}},
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| 83 | rotation=-90,
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| 84 | origin={100,50})));
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| 85 | VDLMotorsports.Chassis.Suspensions.Linkages.Mechanisms.AntiRoll1 antiRoll(
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| 86 | r0CR_1=r0CR_1_scaled,
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| 87 | r0RP_1=r0RP_1 .* scale_factor + offset,
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| 88 | r0LP_1=r0LP_1 .* scale_factor + offset,
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| 89 | r0ARB_1=r0ARB_1 .* scale_factor + offset,
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| 90 | r0CR_2=r0CR_2_scaled,
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| 91 | r0RP_2=r0RP_2 .* scale_factor + offset,
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| 92 | r0LP_2=r0LP_2 .* scale_factor + offset,
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| 93 | r0ARB_2=r0ARB_2 .* scale_factor + offset,
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| 94 | fAntiRoll_1=fAntiRoll_1,
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| 95 | manualOverride=manualOverride,
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| 96 | manualBranchSelection=manualBranchSelection)
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| 97 | annotation (Placement(transformation(extent={{-10,-48},{10,-68}})));
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| 98 | public
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| 99 | parameter SI.Position r0RP_1[3]={0,0.3,0.3}
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| 100 | "Position of left pivot point on rocker resolved in vehicleFrame"
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| 101 | annotation (Dialog(tab="Geometry"));
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| 102 | parameter SI.Position r0LP_1[3]={0,0.3,0.3}
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| 103 | "Position of left lever pivot point resolved in vehicleFrame"
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| 104 | annotation (Dialog(tab="Geometry"));
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| 105 | parameter SI.Position r0ARB_1[3]={0,0.3,0.3}
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| 106 | "Position of left end of anti-roll bar resolved in vehicleFrame"
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| 107 | annotation (Dialog(tab="Geometry"));
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| 108 | parameter SI.Position r0RP_2[3]=antiRoll.r0RP_1 .* {1,-1,1}
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| 109 | "Position of right pivot point on rocker resolved in vehicleFrame"
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| 110 | annotation (Dialog(tab="Geometry"));
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| 111 | parameter SI.Position r0LP_2[3]=antiRoll.r0LP_1 .* {1,-1,1}
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| 112 | "Position of right lever pivot point resolved in vehicleFrame"
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| 113 | annotation (Dialog(tab="Geometry"));
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| 114 | parameter SI.Position r0ARB_2[3]=antiRoll.r0ARB_1 .* {1,-1,1}
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| 115 | "Position of right end of anti-roll bar resolved in vehicleFrame"
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| 116 | annotation (Dialog(tab="Geometry"));
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| 117 | parameter SI.Force fAntiRoll_1=0
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| 118 | "Initial estimate of the force in the left anti-roll bar arm"
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| 119 | annotation (Dialog(tab="Initialization"));
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| 120 | Modelon.Mechanics.Translational.Interfaces.FlangeU axis2
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| 121 | annotation (Placement(transformation(extent={{-160,16},{-140,36}})));
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| 122 | Modelon.Mechanics.Translational.Interfaces.FlangeC bearing2
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| 123 | annotation (Placement(transformation(extent={{-160,54},{-140,74}})));
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| 124 | Modelon.Mechanics.Translational.Interfaces.FlangeC bearing1
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| 125 | annotation (Placement(transformation(extent={{-86,90},{-66,110}})));
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| 126 | Modelon.Mechanics.Translational.Interfaces.FlangeU axis1
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| 127 | annotation (Placement(transformation(extent={{-56,90},{-36,110}})));
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| 128 | Modelon.Mechanics.Translational.Interfaces.FlangeU axis3
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| 129 | annotation (Placement(transformation(extent={{40,90},{60,110}})));
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| 130 | Modelon.Mechanics.Translational.Interfaces.FlangeC bearing3
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| 131 | annotation (Placement(transformation(extent={{68,90},{88,110}})));
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| 132 | Modelon.Mechanics.Translational.Interfaces.FlangeC bearing4
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| 133 | annotation (Placement(transformation(extent={{140,58},{160,78}})));
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| 134 | Modelon.Mechanics.Translational.Interfaces.FlangeU axis4
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| 135 | annotation (Placement(transformation(extent={{140,20},{160,40}})));
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| 136 | Modelon.Mechanics.Rotational.Interfaces.FlangeU axis5
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| 137 | annotation (Placement(transformation(extent={{-34,-110},{-14,-90}})));
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| 138 | Modelon.Mechanics.Rotational.Interfaces.FlangeC bearing5
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| 139 | annotation (Placement(transformation(extent={{-82,-110},{-62,-90}})));
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| 140 | parameter Boolean manualBranchSelection=false
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| 141 | "Select positive (true) or negative (false) solution branch for inital angle of revolute in the anti-roll bar arms"
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| 142 | annotation (Dialog(tab="Solution Selection"));
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| 143 | parameter SI.Mass m=0
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| 144 | "Mass of point mass on the connetion line between the origin of frame_a and the origin of frame_b"
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| 145 | annotation (Dialog(tab="Geometry"));
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| 146 | equation
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| 147 | connect(leftSpring.frame_a, vehicleFrame) annotation (Line(
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| 148 | points={{-100,60},{-100,80},{0,80},{0,100}},
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| 149 | color={95,95,95},
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| 150 | thickness=0.5,
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| 151 | smooth=Smooth.None));
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| 152 | connect(leftDamper.frame_a, vehicleFrame) annotation (Line(
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| 153 | points={{-80,60},{-80,80},{0,80},{0,100}},
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| 154 | color={95,95,95},
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| 155 | thickness=0.5,
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| 156 | smooth=Smooth.None));
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| 157 | connect(rightDamper.frame_a, vehicleFrame) annotation (Line(
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| 158 | points={{80,60},{80,80},{0,80},{0,100}},
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| 159 | color={95,95,95},
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| 160 | thickness=0.5,
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| 161 | smooth=Smooth.None));
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| 162 | connect(rightSpring.frame_a, vehicleFrame) annotation (Line(
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| 163 | points={{100,60},{100,80},{0,80},{0,100}},
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| 164 | color={95,95,95},
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| 165 | thickness=0.5,
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| 166 | smooth=Smooth.None));
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| 167 | connect(leftRockerFrame, antiRoll.leftRockerFrame) annotation (Line(
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| 168 | points={{-150,-60},{-80,-60},{-80,-64},{-10,-64}},
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| 169 | color={95,95,95},
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| 170 | thickness=0.5,
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| 171 | smooth=Smooth.None));
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| 172 | connect(leftSpring.frame_b, antiRoll.leftRockerFrame) annotation (Line(
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| 173 | points={{-100,40},{-100,-60},{-80,-60},{-80,-64},{-10,-64}},
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| 174 | color={95,95,95},
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| 175 | thickness=0.5,
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| 176 | smooth=Smooth.None));
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| 177 | connect(leftDamper.frame_b, antiRoll.leftRockerFrame) annotation (Line(
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| 178 | points={{-80,40},{-80,-64},{-10,-64}},
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| 179 | color={95,95,95},
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| 180 | thickness=0.5,
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| 181 | smooth=Smooth.None));
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| 182 | connect(antiRoll.rightRockerFrame, rightRockerFrame) annotation (Line(
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| 183 | points={{10,-64},{80,-64},{80,-60},{150,-60}},
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| 184 | color={95,95,95},
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| 185 | thickness=0.5,
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| 186 | smooth=Smooth.None));
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| 187 | connect(antiRoll.vehicleFrame, vehicleFrame) annotation (Line(
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| 188 | points={{0,-48},{0,100}},
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| 189 | color={95,95,95},
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| 190 | thickness=0.5,
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| 191 | smooth=Smooth.None));
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| 192 | connect(leftSpring.axis, axis2) annotation (Line(
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| 193 | points={{-104,47},{-150,47},{-150,26}},
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| 194 | color={0,127,0},
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| 195 | smooth=Smooth.None));
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| 196 | connect(leftSpring.bearing, bearing2) annotation (Line(
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| 197 | points={{-104,53},{-128,53},{-128,56},{-150,56},{-150,64}},
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| 198 | color={0,127,0},
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| 199 | smooth=Smooth.None));
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| 200 | connect(leftDamper.bearing, bearing1) annotation (Line(
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| 201 | points={{-76,53},{-70,53},{-70,100},{-76,100}},
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| 202 | color={0,127,0},
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| 203 | smooth=Smooth.None));
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| 204 | connect(leftDamper.axis, axis1) annotation (Line(
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| 205 | points={{-76,47},{-52,47},{-52,100},{-46,100}},
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| 206 | color={0,127,0},
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| 207 | smooth=Smooth.None));
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| 208 | connect(rightDamper.axis, axis3) annotation (Line(
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| 209 | points={{76,47},{42,47},{42,100},{50,100}},
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| 210 | color={0,127,0},
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| 211 | smooth=Smooth.None));
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| 212 | connect(rightDamper.bearing, bearing3) annotation (Line(
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| 213 | points={{76,53},{74,53},{74,54},{72,54},{72,100},{78,100}},
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| 214 | color={0,127,0},
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| 215 | smooth=Smooth.None));
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| 216 | connect(rightSpring.bearing, bearing4) annotation (Line(
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| 217 | points={{104,53},{150,53},{150,68}},
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| 218 | color={0,127,0},
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| 219 | smooth=Smooth.None));
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| 220 | connect(rightSpring.axis, axis4) annotation (Line(
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| 221 | points={{104,47},{150,47},{150,30}},
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| 222 | color={0,127,0},
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| 223 | smooth=Smooth.None));
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| 224 | connect(antiRoll.axis2, axis5) annotation (Line(
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| 225 | points={{-10,-58},{-20,-58},{-20,-100},{-24,-100}},
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| 226 | color={0,0,0},
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| 227 | smooth=Smooth.None));
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| 228 | connect(antiRoll.bearing2, bearing5) annotation (Line(
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| 229 | points={{-10,-50},{-34,-50},{-34,-52},{-58,-52},{-58,-100},{-72,-100}},
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| 230 | color={0,0,0},
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| 231 | smooth=Smooth.None));
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| 232 | annotation (Diagram(coordinateSystem(preserveAspectRatio=false, extent={{-150,
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| 233 | -100},{150,100}}), graphics));
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| 234 | end SpringDamperARB_4;
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