modelVehicle

Vehicle with friction
Diagram of VehicleOpen the diagram
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Extends from ElectroMechanicalDrives.BaseClasses.Vehicle (Partial vehicle with friction).

Information

This vehicle model considers

  • Rolling friction
  • Athmospheric friction
  • The effect of effective mass increase due to inertias
  • The impact of going up or down an inclined way by means of the constant angle parameter constantAnge or the signal input variableAngle.
  • The vehicle has to translational sides and two roational axes to be driven
Note

Do not change v_linear except this is required for numerical reasons

Parameters

TypeNameDefaultDescription
BooleanuseConstantAngle (from ConditionalAngle)trueIf false, signal input is used
Modelica.Units.SI.AngleconstantAngle (from ConditionalAngle)0Constant angle of gradient
Modelica.Units.SI.InertiaJ (from Vehicle)j*m*r^2Total inertia with respect to wheel
Ambient
Modelica.Units.SI.Densityrho (from Vehicle)1.2Mass density of air
Realmu (from Vehicle)0.02Rolling friction coefficient
Vehicle
Modelica.Units.SI.AreaA (from Vehicle)3Area of cross section of vehicle
Realcx (from Vehicle)0.3Drag coefficient (cw in German)
Modelica.Units.SI.Massm (from Vehicle)1000Total mass of vehicle
Modelica.Units.SI.Lengthr (from Vehicle)0.35Wheel radius
Realj (from Vehicle)0Relative mass increase due to rotating inertias
Tuning
Modelica.Units.SI.Velocityv_linear (from Vehicle)0.01Speed limit of constant rolling friction (do not change unless required)

Connectors

TypeNameDefaultDescription
Modelica.Blocks.Interfaces.RealInputvariableAngle (from ConditionalAngle)Angle of inclination of ramp
Modelica.Mechanics.Translational.Interfaces.Flange_aflangeT_a (from Vehicle)Left translational flange of vehicle
Modelica.Mechanics.Translational.Interfaces.Flange_bflangeT_b (from Vehicle)Right translational flange of vehicle
Modelica.Mechanics.Rotational.Interfaces.Flange_aflangeR_a (from Vehicle)Left rotational flange_a of wheel_a
Modelica.Mechanics.Rotational.Interfaces.Flange_bflangeR_b (from Vehicle)Right rotational flange_b of wheel_b

Components

TypeNameDefaultDescription
Modelica.Blocks.Sources.Constantconst (from ConditionalAngle)
Modelica.Units.SI.Accelerationa (from Vehicle)Vehicle acceleration
Modelica.Units.SI.Velocityv (from Vehicle)Vehicle velovity
Modelica.Units.SI.Lengths (from Vehicle)Distance
Modelica.Units.SI.AngularAccelerationalpha (from Vehicle)Angular acceleration of wheel(s)
Modelica.Units.SI.AngularVelocityw (from Vehicle)Angular velocity of wheel(s)
Modelica.Units.SI.Anglephi (from Vehicle)Angul of wheel(s)
Modelica.Units.SI.Forcef_a (from Vehicle)flangeT_a.fForce of flangeT a
Modelica.Units.SI.Forcef_b (from Vehicle)flangeT_b.fForce of flangeT b
Modelica.Units.SI.ForcefRollingFriction (from Vehicle)rollingFriction.f_frictionRolling friction force
Modelica.Units.SI.ForcefAtmosphericFriction (from Vehicle)atmosphericFriction.fAtmospheric friction force
Modelica.Units.SI.ForcefTotalFriction (from Vehicle)fRollingFriction + fAtmosphericFrictionTotal rolling plus atmospeheric friction
Modelica.Units.SI.ForcefGradient (from Vehicle)rollingFriction.f_gradientForce cause by gradient
Modelica.Units.SI.PowerpowerRollingFriction (from Vehicle)fRollingFriction*vRolling friction power
Modelica.Units.SI.PowerpowerAtmosphericFriction (from Vehicle)fAtmosphericFriction*vAtmospheric friction power
Modelica.Units.SI.PowerpowerTotalFriction (from Vehicle)fTotalFriction*vTotal friction power
Modelica.Units.SI.PowerpowerGradient (from Vehicle)fGradient*vPower caused by gradient
Modelica.Units.SI.Torquetau_a (from Vehicle)flangeR_a.tauTorque of flangeR_a
Modelica.Units.SI.Torquetau_b (from Vehicle)flangeR_b.tauTorque of flangeR_b
ElectroMechanicalDrives.Components.Translational.AthmosphericFrictionatmosphericFriction (from Vehicle)
ElectroMechanicalDrives.Components.Translational.MassFrictionrollingFriction (from Vehicle)
Modelica.Mechanics.Rotational.Components.IdealRollingWheelwheel_a (from Vehicle)
Modelica.Mechanics.Rotational.Components.Inertiainertia (from Vehicle)
Modelica.Mechanics.Rotational.Components.IdealRollingWheelwheelInternal (from Vehicle)
Modelica.Mechanics.Rotational.Components.IdealRollingWheelwheel_b (from Vehicle)