modelForceSphereToSphere
Parameters
| Type | Name | Default | Description |
|---|---|---|---|
| SI.TranslationalSpringConstant | c | 1000000 | |
| SI.TranslationalDampingConstant | d | 1000 | |
| Real | n1 | 1.5 | |
| Real | n2 | n1 | |
| SI.CoefficientOfFriction | mue_r | 0.0001 | rolling friction coefficient |
| Real | gamma1 | 1 | |
| Real | gamma2 | 1 | |
| Real | gamma3 | 1 | |
| Real | gamma4 | 1 | |
| Real | gamma5 | 1 | |
| Real | gamma6 | 1 | |
| SI.Distance | t_max | 0.0001 | maximum penetration |
| Modelica.Mechanics.MultiBody.Types.Axis | y_direction | {0, 1, 0} | cartesian coordinate system in y direction -- direction of gravity |
| Modelica.Mechanics.MultiBody.Types.Axis | x_direction | {1, 0, 0} | cartesian coordinate system in x direction |
| Modelica.Mechanics.MultiBody.Types.Axis | z_direction | cross(x_direction, y_direction) |
Connectors
| Type | Name | Default | Description |
|---|---|---|---|
| Modelica.Blocks.Interfaces.RealInput[12] | Vector_ball1 | radius ball | |
| Modelica.Blocks.Interfaces.RealInput[12] | vector_ball2 | radius ball | |
| Modelica.Mechanics.MultiBody.Interfaces.Frame_a | frame_a2 | contact point2 on ball2 (BCS4 based on BCS2) | |
| Modelica.Mechanics.MultiBody.Interfaces.Frame_a | frame_a1 | contact point1 on ball1 (BCS3 based on BCS1) | |
| Modelica.Blocks.Interfaces.RealInput[3] | pos_rel_BCS2 | relative position center of ball1 resolved in BCS2 | |
| Modelica.Blocks.Interfaces.RealInput[3] | w_mov1 | absolut anglulat velocity contact point ball1 resolved in BCS1 | |
| Modelica.Blocks.Interfaces.RealInput[3] | w_mov2 | absolut anglular velocity cantact point ball2 resolved in BCS2 | |
| Modelica.Blocks.Interfaces.RealInput[3] | pos_rel_BCS1 | relative position center of ball2 resolved in BCS1 |
Components
| Type | Name | Default | Description |
|---|---|---|---|
| Modelica.Mechanics.MultiBody.Forces.Force | force | Force resolved in BCS4 in contact point2 | |
| Modelica.Mechanics.MultiBody.Sensors.RelativePosition | rP_mp_1_2 | relative position contact point ball1 resolved in BCS contact point ball2 | |
| Real | r1 | radius ball1 | |
| Real | r2 | radius ball2 | |
| Real | r12 | distance between center of two balls | |
| Real | x_rel | relative position contact point ball1 in x direction BCS4 | |
| Real | y_rel | relative position contact point ball1 in y direction BCS4 | |
| Real | z_rel | relative position contact point ball1 in z direction BCS4 | |
| Boolean | contact | ||
| Real | f_n_x | normal force in x direction BCS4 | |
| Real | f_n_y | normal force in y direction BCS4 | |
| Real | f_n_z | normal force in z direction BCS4 | |
| Real | f_f_x | friction in x direction BCS4 | |
| Real | f_f_y | friction in y direction BCS4 | |
| Real | f_f_z | friction in z direction BCS4 | |
| Real[3] | f_normal | normal force resolved in BCS4 | |
| Real[3] | f_tangential | friction resolved in BCS4 | |
| Real[3] | r_ct1_BCS1 | position contact point1 resolved in BCS1 | |
| Real[3] | r_ct2_BCS2 | position contact point2 resolved in BCS2 | |
| Real[3] | v_cm1_BCS2 | velocity center of mass ball1 resolved in BCS2 (velocity center of mass ball2 resolved in BCS2 is zero) | |
| Real[3] | v_ct1_BCS2 | velocity contact point1 resolved in BCS2 | |
| Real[3] | v_ct2_BCS2 | velocity contact point2 resolved in BCS2 | |
| Real[3,3] | T_BCS12 | Transmation matrix from orientation objekt to rotate BCS1 into BCS2 | |
| Real[3] | v_rel_ct_BCS2 | relative velocity contact points resolved in BCS2 | |
| Modelica.Blocks.Routing.DeMultiplex4 | deMultiplex1 | ||
| Modelica.Blocks.Routing.DeMultiplex4 | deMultiplex3 |