| 1 | // name: ModelicaTest
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| 2 | // keywords: simulation MSL Examples
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| 3 | // status: correct
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| 4 | //
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| 5 | // Simulation Results
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| 6 | // Modelica Standard Library
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| 7 | //
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| 8 |
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| 9 | loadModel(Modelica,{"3.2.1"});
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| 10 | getErrorString();
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| 11 |
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| 12 | loadString("
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| 13 | model RevolutePlanarLoopConstraintA
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| 14 | extends Modelica.Icons.Example;
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| 15 | parameter Real tor=1000;
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| 16 | Real k;
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| 17 |
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| 18 | inner Modelica.Mechanics.MultiBody.World world(animateWorld=false,
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| 19 | animateGravity=false) annotation (Placement(transformation(extent={{-160,
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| 20 | 40},{-140,60}}, rotation=0)));
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| 21 | Modelica.Mechanics.Rotational.Sources.Torque torque
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| 22 | annotation (Placement(transformation(extent={{-14,74},{6,94}})));
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| 23 | Modelica.Blocks.Sources.RealExpression realExpression(y=k)
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| 24 | annotation (Placement(transformation(extent={{-46,74},{-26,94}})));
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| 25 | Modelica.Mechanics.MultiBody.Parts.BodyCylinder bodyCylinder1(r={1,0,0},
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| 26 | diameter=0.2) annotation (Placement(transformation(
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| 27 | extent={{-10,-10},{10,10}},
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| 28 | rotation=270,
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| 29 | origin={106,20})));
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| 30 | Modelica.Mechanics.MultiBody.Parts.BodyCylinder bodyCylinder2(r={1,0,0},
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| 31 | diameter=0.2) annotation (Placement(transformation(
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| 32 | extent={{-10,-10},{10,10}},
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| 33 | rotation=180,
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| 34 | origin={42,-6})));
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| 35 | Modelica.Mechanics.MultiBody.Parts.BodyCylinder bodyCylinder3(r={1,0,0},
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| 36 | diameter=0.2) annotation (Placement(transformation(
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| 37 | extent={{-10,-10},{10,10}},
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| 38 | rotation=90,
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| 39 | origin={-20,22})));
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| 40 | Modelica.Mechanics.MultiBody.Joints.Revolute revolute2(
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| 41 | n={1,0,0},
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| 42 | phi(fixed=true, start=0),
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| 43 | w(fixed=true, start=2*Modelica.Constants.pi))
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| 44 | annotation (Placement(transformation(extent={{-122,40},{-102,60}})));
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| 45 | Modelica.Mechanics.MultiBody.Parts.FixedRotation fixedRotation(n={0,1,0},
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| 46 | angle=90)
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| 47 | annotation (Placement(transformation(extent={{-86,40},{-66,60}})));
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| 48 | Modelica.Mechanics.MultiBody.Parts.FixedRotation fixedRotation1(angle=45,
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| 49 | n={0,0,1})
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| 50 | annotation (Placement(transformation(extent={{-52,40},{-32,60}})));
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| 51 |
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| 52 | Modelica.Mechanics.MultiBody.Joints.RevolutePlanarLoopConstraint revolute(
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| 53 | n={0,1,0}) annotation (Placement(transformation(
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| 54 | extent={{-10,-10},{10,10}},
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| 55 | rotation=180,
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| 56 | origin={6,-6})));
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| 57 | Modelica.Mechanics.MultiBody.Joints.Revolute revolute1(n={0,1,0},
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| 58 | useAxisFlange=true) annotation (Placement(transformation(
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| 59 | extent={{-10,-10},{10,10}},
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| 60 | rotation=0,
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| 61 | origin={8,52})));
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| 62 | Modelica.Mechanics.MultiBody.Joints.Revolute revolute3(
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| 63 | n={0,1,0},
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| 64 | phi(fixed=true, start=1.5707963267949),
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| 65 | w(fixed=true)) annotation (Placement(transformation(
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| 66 | extent={{-10,-10},{10,10}},
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| 67 | rotation=0,
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| 68 | origin={82,52})));
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| 69 | Modelica.Mechanics.MultiBody.Joints.Revolute revolute4(n={0,1,0}, phi(
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| 70 | start=1.5707963267949)) annotation (Placement(transformation(
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| 71 | extent={{-10,-10},{10,10}},
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| 72 | rotation=180,
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| 73 | origin={76,-6})));
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| 74 | Modelica.Mechanics.MultiBody.Parts.BodyCylinder bodyCylinder(r={1,0,0},
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| 75 | diameter=0.2)
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| 76 | annotation (Placement(transformation(extent={{36,42},{56,62}})));
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| 77 | equation
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| 78 | if (time < 1) then
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| 79 | k = tor;
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| 80 | else
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| 81 | k = 0;
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| 82 | end if;
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| 83 | connect(revolute1.frame_b, bodyCylinder.frame_a) annotation (Line(
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| 84 | points={{18,52},{36,52}},
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| 85 | color={95,95,95},
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| 86 | thickness=0.5,
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| 87 | smooth=Smooth.None));
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| 88 | connect(bodyCylinder.frame_b, revolute3.frame_a) annotation (Line(
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| 89 | points={{56,52},{72,52}},
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| 90 | color={95,95,95},
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| 91 | thickness=0.5,
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| 92 | smooth=Smooth.None));
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| 93 | connect(torque.flange, revolute1.axis) annotation (Line(
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| 94 | points={{6,84},{6,62},{8,62}},
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| 95 | color={0,0,0},
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| 96 | smooth=Smooth.None));
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| 97 | connect(realExpression.y, torque.tau) annotation (Line(
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| 98 | points={{-25,84},{-16,84}},
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| 99 | color={0,0,127},
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| 100 | smooth=Smooth.None));
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| 101 | connect(revolute3.frame_b, bodyCylinder1.frame_a) annotation (Line(
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| 102 | points={{92,52},{102,52},{102,30},{106,30}},
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| 103 | color={95,95,95},
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| 104 | thickness=0.5,
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| 105 | smooth=Smooth.None));
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| 106 | connect(bodyCylinder1.frame_b, revolute4.frame_a) annotation (Line(
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| 107 | points={{106,10},{98,10},{98,-6},{86,-6}},
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| 108 | color={95,95,95},
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| 109 | thickness=0.5,
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| 110 | smooth=Smooth.None));
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| 111 | connect(revolute4.frame_b, bodyCylinder2.frame_a) annotation (Line(
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| 112 | points={{66,-6},{62.5,-6},{62.5,-6},{59,-6},{59,-6},{52,-6}},
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| 113 | color={95,95,95},
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| 114 | thickness=0.5,
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| 115 | smooth=Smooth.None));
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| 116 | connect(bodyCylinder2.frame_b, revolute.frame_a) annotation (Line(
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| 117 | points={{32,-6},{28,-6},{28,-6},{24,-6},{24,-6},{16,-6}},
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| 118 | color={95,95,95},
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| 119 | thickness=0.5,
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| 120 | smooth=Smooth.None));
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| 121 | connect(revolute.frame_b, bodyCylinder3.frame_a) annotation (Line(
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| 122 | points={{-4,-6},{-12,-6},{-12,12},{-20,12}},
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| 123 | color={95,95,95},
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| 124 | thickness=0.5,
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| 125 | smooth=Smooth.None));
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| 126 | connect(bodyCylinder3.frame_b, revolute1.frame_a) annotation (Line(
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| 127 | points={{-20,32},{-12,32},{-12,52},{-2,52}},
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| 128 | color={95,95,95},
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| 129 | thickness=0.5,
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| 130 | smooth=Smooth.None));
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| 131 | connect(world.frame_b, revolute2.frame_a) annotation (Line(
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| 132 | points={{-140,50},{-122,50}},
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| 133 | color={95,95,95},
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| 134 | thickness=0.5,
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| 135 | smooth=Smooth.None));
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| 136 | connect(fixedRotation.frame_b, fixedRotation1.frame_a) annotation (Line(
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| 137 | points={{-66,50},{-52,50}},
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| 138 | color={95,95,95},
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| 139 | thickness=0.5,
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| 140 | smooth=Smooth.None));
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| 141 | connect(revolute2.frame_b, fixedRotation.frame_a) annotation (Line(
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| 142 | points={{-102,50},{-86,50}},
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| 143 | color={95,95,95},
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| 144 | thickness=0.5,
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| 145 | smooth=Smooth.None));
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| 146 | connect(fixedRotation1.frame_b, revolute1.frame_a) annotation (Line(
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| 147 | points={{-32,50},{-18,50},{-18,52},{-2,52}},
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| 148 | color={95,95,95},
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| 149 | thickness=0.5,
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| 150 | smooth=Smooth.None));
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| 151 | annotation (experiment(StopTime=5), Diagram(coordinateSystem(extent={{-160,
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| 152 | -40},{120,100}}, preserveAspectRatio=true)));
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| 153 | end RevolutePlanarLoopConstraintA;
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| 154 |
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| 155 | model RevolutePlanarLoopConstraintB
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| 156 | extends Modelica.Icons.Example;
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| 157 | parameter Real tor=1000;
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| 158 | Real k;
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| 159 |
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| 160 | inner Modelica.Mechanics.MultiBody.World world(animateWorld=false,
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| 161 | animateGravity=false) annotation (Placement(transformation(extent={{-160,
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| 162 | 40},{-140,60}}, rotation=0)));
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| 163 |
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| 164 | Modelica.Mechanics.MultiBody.Joints.RevolutePlanarLoopConstraint revolute(
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| 165 | n={0,1,0}) annotation (Placement(transformation(
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| 166 | extent={{-10,-10},{10,10}},
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| 167 | rotation=180,
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| 168 | origin={6,-6})));
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| 169 | Modelica.Mechanics.MultiBody.Joints.Revolute revolute1(n={0,1,0},
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| 170 | useAxisFlange=true) annotation (Placement(transformation(
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| 171 | extent={{-10,-10},{10,10}},
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| 172 | rotation=0,
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| 173 | origin={8,52})));
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| 174 | Modelica.Mechanics.MultiBody.Joints.Revolute revolute3(
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| 175 | n={0,1,0},
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| 176 | phi(fixed=true, start=1.5707963267949),
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| 177 | w(fixed=true)) annotation (Placement(transformation(
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| 178 | extent={{-10,-10},{10,10}},
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| 179 | rotation=0,
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| 180 | origin={82,52})));
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| 181 | Modelica.Mechanics.MultiBody.Joints.Revolute revolute4(n={0,1,0}, phi(
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| 182 | start=1.5707963267949)) annotation (Placement(transformation(
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| 183 | extent={{-10,-10},{10,10}},
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| 184 | rotation=180,
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| 185 | origin={76,-6})));
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| 186 | Modelica.Mechanics.MultiBody.Parts.BodyCylinder bodyCylinder(r={1,0,0},
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| 187 | diameter=0.2)
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| 188 | annotation (Placement(transformation(extent={{36,42},{56,62}})));
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| 189 |
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| 190 | Modelica.Mechanics.Rotational.Sources.Torque torque
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| 191 | annotation (Placement(transformation(extent={{-14,74},{6,94}})));
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| 192 | Modelica.Blocks.Sources.RealExpression realExpression(y=k)
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| 193 | annotation (Placement(transformation(extent={{-46,74},{-26,94}})));
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| 194 | Modelica.Mechanics.MultiBody.Parts.BodyCylinder bodyCylinder1(r={1,0,0},
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| 195 | diameter=0.2) annotation (Placement(transformation(
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| 196 | extent={{-10,-10},{10,10}},
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| 197 | rotation=270,
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| 198 | origin={106,20})));
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| 199 | Modelica.Mechanics.MultiBody.Parts.BodyCylinder bodyCylinder2(r={1,0,0},
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| 200 | diameter=0.2) annotation (Placement(transformation(
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| 201 | extent={{-10,-10},{10,10}},
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| 202 | rotation=180,
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| 203 | origin={42,-6})));
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| 204 | Modelica.Mechanics.MultiBody.Parts.BodyCylinder bodyCylinder3(r={1,0,0},
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| 205 | diameter=0.2) annotation (Placement(transformation(
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| 206 | extent={{-10,-10},{10,10}},
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| 207 | rotation=90,
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| 208 | origin={-20,22})));
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| 209 | Modelica.Mechanics.MultiBody.Joints.Revolute revolute2(
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| 210 | n={1,0,0},
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| 211 | phi(fixed=true, start=0),
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| 212 | w(fixed=true, start=2*Modelica.Constants.pi))
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| 213 | annotation (Placement(transformation(extent={{-122,40},{-102,60}})));
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| 214 | Modelica.Mechanics.MultiBody.Parts.FixedRotation fixedRotation(n={0,1,0},
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| 215 | angle=90)
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| 216 | annotation (Placement(transformation(extent={{-86,40},{-66,60}})));
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| 217 | Modelica.Mechanics.MultiBody.Parts.FixedRotation fixedRotation1(angle=45,
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| 218 | n={0,0,1})
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| 219 | annotation (Placement(transformation(extent={{-52,40},{-32,60}})));
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| 220 |
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| 221 | equation
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| 222 | if (time < 1) then
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| 223 | k = tor;
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| 224 | else
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| 225 | k = 0;
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| 226 | end if;
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| 227 | connect(revolute1.frame_b, bodyCylinder.frame_a) annotation (Line(
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| 228 | points={{18,52},{36,52}},
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| 229 | color={95,95,95},
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| 230 | thickness=0.5,
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| 231 | smooth=Smooth.None));
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| 232 | connect(bodyCylinder.frame_b, revolute3.frame_a) annotation (Line(
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| 233 | points={{56,52},{72,52}},
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| 234 | color={95,95,95},
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| 235 | thickness=0.5,
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| 236 | smooth=Smooth.None));
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| 237 | connect(torque.flange, revolute1.axis) annotation (Line(
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| 238 | points={{6,84},{6,62},{8,62}},
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| 239 | color={0,0,0},
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| 240 | smooth=Smooth.None));
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| 241 | connect(realExpression.y, torque.tau) annotation (Line(
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| 242 | points={{-25,84},{-16,84}},
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| 243 | color={0,0,127},
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| 244 | smooth=Smooth.None));
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| 245 | connect(revolute3.frame_b, bodyCylinder1.frame_a) annotation (Line(
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| 246 | points={{92,52},{102,52},{102,30},{106,30}},
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| 247 | color={95,95,95},
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| 248 | thickness=0.5,
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| 249 | smooth=Smooth.None));
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| 250 | connect(bodyCylinder1.frame_b, revolute4.frame_a) annotation (Line(
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| 251 | points={{106,10},{98,10},{98,-6},{86,-6}},
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| 252 | color={95,95,95},
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| 253 | thickness=0.5,
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| 254 | smooth=Smooth.None));
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| 255 | connect(revolute4.frame_b, bodyCylinder2.frame_a) annotation (Line(
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| 256 | points={{66,-6},{62.5,-6},{62.5,-6},{59,-6},{59,-6},{52,-6}},
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| 257 | color={95,95,95},
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| 258 | thickness=0.5,
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| 259 | smooth=Smooth.None));
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| 260 | connect(bodyCylinder2.frame_b, revolute.frame_a) annotation (Line(
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| 261 | points={{32,-6},{28,-6},{28,-6},{24,-6},{24,-6},{16,-6}},
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| 262 | color={95,95,95},
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| 263 | thickness=0.5,
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| 264 | smooth=Smooth.None));
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| 265 | connect(revolute.frame_b, bodyCylinder3.frame_a) annotation (Line(
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| 266 | points={{-4,-6},{-12,-6},{-12,12},{-20,12}},
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| 267 | color={95,95,95},
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| 268 | thickness=0.5,
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| 269 | smooth=Smooth.None));
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| 270 | connect(bodyCylinder3.frame_b, revolute1.frame_a) annotation (Line(
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| 271 | points={{-20,32},{-12,32},{-12,52},{-2,52}},
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| 272 | color={95,95,95},
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| 273 | thickness=0.5,
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| 274 | smooth=Smooth.None));
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| 275 | connect(world.frame_b, revolute2.frame_a) annotation (Line(
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| 276 | points={{-140,50},{-122,50}},
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| 277 | color={95,95,95},
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| 278 | thickness=0.5,
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| 279 | smooth=Smooth.None));
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| 280 | connect(fixedRotation.frame_b, fixedRotation1.frame_a) annotation (Line(
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| 281 | points={{-66,50},{-52,50}},
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| 282 | color={95,95,95},
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| 283 | thickness=0.5,
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| 284 | smooth=Smooth.None));
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| 285 | connect(revolute2.frame_b, fixedRotation.frame_a) annotation (Line(
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| 286 | points={{-102,50},{-86,50}},
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| 287 | color={95,95,95},
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| 288 | thickness=0.5,
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| 289 | smooth=Smooth.None));
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| 290 | connect(fixedRotation1.frame_b, revolute1.frame_a) annotation (Line(
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| 291 | points={{-32,50},{-18,50},{-18,52},{-2,52}},
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| 292 | color={95,95,95},
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| 293 | thickness=0.5,
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| 294 | smooth=Smooth.None));
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| 295 | annotation (experiment(StopTime=5), Diagram(coordinateSystem(extent={{-160,
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| 296 | -40},{120,100}}, preserveAspectRatio=true)));
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| 297 | end RevolutePlanarLoopConstraintB;
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| 298 | ");
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| 299 |
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| 300 |
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| 301 | simulate(RevolutePlanarLoopConstraintA);
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| 302 | getErrorString();
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| 303 |
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| 304 | simulate(RevolutePlanarLoopConstraintB);
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| 305 | getErrorString();
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| 306 |
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