| 1 | within ;
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| 2 | package Elevator
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| 3 | model Elevator
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| 4 | extends Modelica.Icons.Example;
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| 5 | parameter Integer nPas = 2 "Number of passengers";
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| 6 | parameter Modelica.SIunits.Mass mPas = 80 "Mass of one passenger";
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| 7 | parameter Modelica.SIunits.Mass mCab = 250 "Mass of cabin";
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| 8 | parameter Modelica.SIunits.Mass mCou = 410 "Mass of counterweight";
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| 9 | parameter Modelica.SIunits.Length DP = 0.8 "Diameter of drive pulley";
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| 10 | parameter Modelica.SIunits.Inertia JP = 15 "Inertia of drive pulley";
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| 11 | parameter Real EtaP = 0.96 "Efficiency of drive pulley";
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| 12 | parameter Real iG = 55 "Ratio of gearbox";
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| 13 | parameter Real EtaG = 0.80 "Efficiency of gearbox";
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| 14 | parameter Modelica.SIunits.Inertia JMG = 0.03 "Inertia of gearbox + motor";
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| 15 | parameter Modelica.SIunits.Velocity vMax = 2 "Max. speed of cabin";
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| 16 | final parameter Modelica.SIunits.Length R2T=(DP/2)/iG
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| 17 | "Transmission rotational -> translational";
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| 18 | parameter Modelica.SIunits.Length s0 = 0 "Initial position of cabin";
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| 19 | parameter Modelica.SIunits.Velocity v0 = 0 "Initial velocity of cabin";
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| 20 | Modelica.Blocks.Sources.Trapezoid trapezoid(
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| 21 | rising=2.5,
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| 22 | width=5,
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| 23 | falling=2.5,
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| 24 | period=10,
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| 25 | nperiod=1,
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| 26 | offset=0,
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| 27 | startTime=0.5,
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| 28 | amplitude=vMax/R2T)
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| 29 | annotation (Placement(transformation(extent={{-10,-10},{10,10}},
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| 30 | rotation=0,
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| 31 | origin={-60,50})));
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| 32 | Modelica.Mechanics.Rotational.Sources.Speed speed(exact = true) annotation(Placement(transformation(extent = {{-10, -10}, {10, 10}}, rotation=0, origin={-30,50})));
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| 33 | Modelica.Mechanics.Rotational.Components.IdealGear gearBox(ratio=iG,
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| 34 | useSupport=false)
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| 35 | annotation (Placement(transformation(extent={{-10,40},{10,60}})));
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| 36 | IdealDrivePulley drivePulley(useTranslationalSupport=false, radius=DP/2)
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| 37 | annotation (Placement(transformation(
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| 38 | extent={{-10,-10},{10,10}},
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| 39 | rotation=270,
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| 40 | origin={30,50})));
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| 41 | MassGravitation cabin(
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| 42 | s(start=s0),
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| 43 | v(start=v0),
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| 44 | m=mCab + nPas*mPas)
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| 45 | annotation (Placement(transformation(extent={{10,0},{30,20}})));
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| 46 | MassGravitation counterweight(m=mCou)
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| 47 | annotation (Placement(transformation(extent={{30,0},{50,20}})));
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| 48 | equation
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| 49 | connect(drivePulley.flange_a, cabin.flange) annotation(Line(points={{20,40},
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| 50 | {20,20}}, color = {0, 127, 0}));
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| 51 | connect(drivePulley.flange_b, counterweight.flange) annotation(Line(points={{40,40},
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| 52 | {40,20}}, color = {0, 127, 0}));
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| 53 | connect(speed.flange, gearBox.flange_a)
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| 54 | annotation (Line(points={{-20,50},{-14,50},{-10,50}}, color={0,0,0}));
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| 55 | connect(gearBox.flange_b, drivePulley.flange)
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| 56 | annotation (Line(points={{10,50},{15,50},{20,50}}, color={0,0,0}));
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| 57 | connect(trapezoid.y, speed.w_ref)
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| 58 | annotation (Line(points={{-49,50},{-42,50}}, color={0,0,127}));
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| 59 | annotation(Diagram(coordinateSystem(preserveAspectRatio = false, extent = {{-100, -100}, {100, 100}})), experiment(StopTime=12, Interval=0.01),
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| 60 | Documentation(info="<html>
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| 61 | <p>
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| 62 | This example of an elevator demonstrates the usage of a <a href=\"modelica://ModelicaAdditions/Mechanics/Rotational/Components/GearConstantEfficiency\">gearbox with constant efficiency</a> and
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| 63 | a <a href=\"modelica:/ModelicaAdditions/Mechanics.Rotational/Components/DrivePulleyConstantEfficiency\">drive pulley with constant efficiency</a>.
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| 64 | </p>
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| 65 | <p>
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| 66 | The flange_a of the gearbox is driven by a prescribed speed, flange_b of the gearbox drives the rotational flange of the drive pulley.
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| 67 | At the two ends of a rope through translational flanges flange_a and flange_b of the drive pulley the cabin (with passengers) and a counterweight are hanging.
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| 68 | </p>
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| 69 | <p>
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| 70 | Speed rises linearly between 0 and 2.5 seconds from to 2 m/s, then remains constant for 4.5 seconds and during the following 2.5 seconds speed is reduced linearly to 0.
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| 71 | This results in lifting the cabin by 14 m and in turn lowering the counterweight by 14 m.
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| 72 | </p>
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| 73 | </html>"),
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| 74 | __Dymola_experimentSetupOutput);
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| 75 | end Elevator;
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| 76 |
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| 77 | model IdealDrivePulley "1-dim. model of ideal drive pulley"
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| 78 | import Modelica.Constants.eps;
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| 79 | parameter Modelica.SIunits.Distance radius(final min = eps) "Wheel radius";
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| 80 | parameter Boolean useTranslationalSupport = false
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| 81 | "= true, if Translational support flange enabled, otherwise implicitly grounded"
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| 82 | annotation(Evaluate = true, HideResult = true, choices(checkBox = true));
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| 83 | Modelica.SIunits.Torque tau "Torque at rotational flange";
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| 84 | Modelica.SIunits.Force f_a "Force at translational flange a";
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| 85 | Modelica.SIunits.Force f_b "Force at translational flange b";
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| 86 | Modelica.Mechanics.Rotational.Interfaces.Flange_a flange "Flange of shaft" annotation(Placement(transformation(extent = {{-10, -110}, {10, -90}}, rotation = 0)));
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| 87 | Modelica.Mechanics.Translational.Interfaces.Flange_a flange_a annotation(Placement(transformation(extent = {{90, -110}, {110, -90}}), iconTransformation(extent = {{90, -110}, {110, -90}})));
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| 88 | Modelica.Mechanics.Translational.Interfaces.Flange_b flange_b annotation(Placement(transformation(extent = {{90, 110}, {110, 90}}), iconTransformation(extent = {{90, 90}, {110, 110}})));
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| 89 | Modelica.Mechanics.Translational.Interfaces.Support translationalSupport(s = s_support, f = -(f_a + f_b)) if useTranslationalSupport
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| 90 | "Translational support of component" annotation(Placement(transformation(extent = {{-110, -10}, {-90, 10}})));
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| 91 | protected
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| 92 | Modelica.SIunits.Angle phi "Angle of rotational flange";
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| 93 | Modelica.SIunits.Position s_a
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| 94 | "Relative position of translational flange a w.r.t. support";
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| 95 | Modelica.SIunits.Position s_b
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| 96 | "Relative position of translational flange b w.r.t. support";
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| 97 | Modelica.SIunits.Position s_support
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| 98 | "Absolute position of translational support flange";
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| 99 | equation
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| 100 | if not useTranslationalSupport then
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| 101 | s_support = 0;
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| 102 | end if;
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| 103 | phi = flange.phi;
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| 104 | tau = flange.tau;
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| 105 | s_a = flange_a.s - s_support;
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| 106 | s_b = flange_b.s - s_support;
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| 107 | f_a = flange_a.f;
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| 108 | f_b = flange_b.f;
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| 109 | s_a + s_b = 0;
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| 110 | phi * radius = s_a;
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| 111 | tau + (f_a - f_b) * radius = 0;
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| 112 | annotation(Icon(coordinateSystem(preserveAspectRatio = true, extent = {{-100.0, -100.0}, {100.0, 100.0}}, initialScale = 0.1), graphics={
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| 113 | Rectangle(extent={{-100,-12},{-10,-16}}, lineColor={0,0,0}, fillColor={95,95,95},
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| 114 | fillPattern = FillPattern.Solid),
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| 115 | Polygon(points = {{57, -85}, {37, -85}, {-57, 85}, {-37, 85}, {57, -85}}, lineColor = {95, 95, 95}, fillColor = {175, 175, 175},
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| 116 | fillPattern = FillPattern.Forward, origin={5,
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| 117 | 53}, rotation = 90),
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| 118 | Rectangle(lineColor = {64, 64, 64}, fillColor = {192, 192, 192},
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| 119 | fillPattern = FillPattern.HorizontalCylinder, extent = {{-27, -10}, {27, 10}}, origin = {0, -72}, rotation = 90),
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| 120 | Ellipse(lineColor = {64, 64, 64}, fillColor = {255, 255, 255},
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| 121 | fillPattern = FillPattern.HorizontalCylinder, extent = {{-30, -80}, {30, 80}}, origin = {0, -18}, rotation = 90),
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| 122 | Rectangle(lineColor = {64, 64, 64}, fillColor = {255, 255, 255}, pattern = LinePattern.None,
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| 123 | fillPattern = FillPattern.HorizontalCylinder, extent = {{-16, -80}, {16, 80}}, origin = {0, -4}, rotation = 90),
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| 124 | Ellipse(lineColor = {64, 64, 64}, fillColor = {128, 128, 128},
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| 125 | fillPattern = FillPattern.Solid, extent = {{-30, -80}, {30, 80}}, origin = {0, 14}, rotation = 90),
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| 126 | Ellipse(lineColor = {64, 64, 64}, fillColor = {192, 192, 192},
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| 127 | fillPattern = FillPattern.HorizontalCylinder, extent = {{-4, -10}, {4, 10}}, origin = {0, 14}, rotation = 90),
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| 128 | Text(lineColor={0,0,255}, extent = {{-100, 120}, {100, 140}}, textString = "%name"),
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| 129 | Polygon(points = {{-57, -85}, {-37, -85}, {57, 85}, {37, 85}, {-57, -85}}, lineColor = {95, 95, 95}, fillColor = {175, 175, 175},
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| 130 | fillPattern = FillPattern.Backward, origin = {5, -53}, rotation = 90),
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| 131 | Line(visible = not useTranslationalSupport, points = {{-10, -10}, {10, 10}}, color = {0, 0, 0}, origin = {-110, -20}, rotation = 270),
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| 132 | Line(visible = not useTranslationalSupport, points = {{-10, -10}, {10, 10}}, color = {0, 0, 0}, origin = {-110, 0}, rotation = 270),
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| 133 | Line(visible = not useTranslationalSupport, points = {{-10, -10}, {10, 10}}, color = {0, 0, 0}, origin = {-110, 20}, rotation = 270),
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| 134 | Line(visible = not useTranslationalSupport, points = {{-10, -10}, {10, 10}}, color = {0, 0, 0}, origin = {-110, 40}, rotation = 270),
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| 135 | Line(visible = not useTranslationalSupport, points = {{-30, 0}, {30, 0}}, color = {0, 0, 0}, origin = {-100, 0}, rotation = 270),
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| 136 | Rectangle(extent={{-100,16},{-10,12}}, lineColor={0,0,0}, fillColor={95,95,95},
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| 137 | fillPattern = FillPattern.Solid)}),
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| 138 | Documentation(info = "<html>
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| 139 | <p>
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| 140 | This is a simple model of a drive pulley without losses and without inertia.<br>
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| 141 | It is assumed that the two rotational flanges flange_a and flange_b are connected by a rope.
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| 142 | The rope moving into flange_a moves out from flange b.<br>
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| 143 | The relationship between the rotational flange and the two translational flanges flange_a and flange_b is defined by:
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| 144 | </p>
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| 145 | <pre>
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| 146 | flange_a.s + flange_b.s = 0;
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| 147 | flange.phi*radius = flange_a.s;
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| 148 | flange.tau + (flange_a.f - flange_b.f)*radius = 0;
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| 149 | </pre>
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| 150 | <p>
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| 151 | Note, there is a balance between torque and the difference of forces * radius, a rotational support is not present.<br>
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| 152 | The sum of the two forces appears at the optional translational support.
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| 153 | </p>
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| 154 | </html>"));
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| 155 | end IdealDrivePulley;
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| 156 |
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| 157 | model MassGravitation "Mass with gravitational force"
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| 158 | parameter Modelica.SIunits.Mass m(final min = 0) "Mass";
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| 159 | parameter Modelica.SIunits.Acceleration g = Modelica.Constants.g_n
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| 160 | "Gravitation";
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| 161 | Modelica.SIunits.Position s(start = 0) "Position of flange";
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| 162 | Modelica.SIunits.Velocity v(start = 0) "Velocity of flange";
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| 163 | Modelica.SIunits.Acceleration a(start = 0) "Acceleration of flange";
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| 164 | Modelica.Mechanics.Translational.Interfaces.Flange_a flange annotation(Placement(transformation(extent = {{-10, 110}, {10, 90}})));
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| 165 | equation
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| 166 | s = flange.s;
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| 167 | v = der(s);
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| 168 | a = der(v);
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| 169 | m * a = flange.f - m * g;
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| 170 | annotation(Icon(coordinateSystem(preserveAspectRatio = false), graphics={
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| 171 | Rectangle(extent = {{-55, -30}, {55, 30}}, lineColor = {0, 0, 0},
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| 172 | fillPattern = FillPattern.Sphere, fillColor = {255, 255, 255}, origin = {0, 25}, rotation = 90),
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| 173 | Line(points = {{2.62459e-031, -4.28629e-015}, {20, 0}}, color = {0, 127, 0}, origin = {0, 80}, rotation = 90),
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| 174 | Text(extent = {{-100, 20}, {100, -20}}, lineColor={0,0,255}, origin = {-80, 0}, rotation = 90, textString = "%name"),
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| 175 | Text(extent = {{-100, 10}, {100, -10}}, lineColor={0,0,255}, origin = {90, 0}, rotation = 90, textString = "m=%m"),
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| 176 | Line(points = {{-70, -7.71773e-015}, {60, 0}}, color = {0, 0, 0}, origin = {60, -10}, rotation = 90),
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| 177 | Polygon(points = {{15, 0}, {-15, 10}, {-15, -10}, {15, 0}}, lineColor = {0, 0, 0}, fillColor = {128, 128, 128},
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| 178 | fillPattern = FillPattern.Solid, origin = {60, 65}, rotation = 90),
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| 179 | Polygon(points = {{-10, -30}, {10, -30}, {10, -60}, {20, -60}, {0, -80}, {-20, -60}, {-10, -60}, {-10, -30}}, lineColor = {0, 127, 0}, fillColor = {0, 127, 0},
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| 180 | fillPattern = FillPattern.Solid)}),
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| 181 | Diagram(coordinateSystem(preserveAspectRatio = false)), Documentation(info = "<html>
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| 182 | <p>
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| 183 | This is a simple model of a mass either hanging on a rope or lying on an eleveating platform.<br>
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| 184 | Both inertia and gravitional force is modelled.
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| 185 | </p>
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| 186 | </html>"));
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| 187 | end MassGravitation;
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| 188 | annotation (uses(Modelica(version="3.2.1")));
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| 189 | end Elevator;
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