Rotational Spring Damper - MapleSim Help

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Rotational Spring Damper

Linear 1D rotational spring and damper in parallel

 Description The Rotational Spring Damper (or Spring Damper) component models a spring and damper connected in parallel. An optional heat port provides a thermal connection to the power dissipated in the damper; the spring-damper parameters are not temperature dependent.
 Equations $\mathrm{\tau }={\mathrm{\tau }}_{c}+{\mathrm{\tau }}_{d}=-{\mathrm{\tau }}_{a}={\mathrm{\tau }}_{b}$ ${\mathrm{\tau }}_{c}=c\left({\mathrm{\phi }}_{\mathrm{rel}}-{\mathrm{\phi }}_{\mathrm{rel0}}\right)$ ${\mathrm{\tau }}_{d}=d{w}_{\mathrm{rel}}$ ${\mathrm{\phi }}_{\mathrm{rel}}={\mathrm{\phi }}_{b}-{\mathrm{\phi }}_{a}$ ${w}_{\mathrm{rel}}={\stackrel{.}{\mathrm{\phi }}}_{\mathrm{rel}}$ ${a}_{\mathrm{rel}}={\stackrel{.}{w}}_{\mathrm{rel}}$ $\mathrm{lossPower}={\mathrm{\tau }}_{d}{w}_{\mathrm{rel}}$

Variables

 Name Units Description Modelica ID ${a}_{\mathrm{rel}}$ $\frac{\mathrm{rad}}{{s}^{2}}$ Relative angular acceleration a_rel ${\mathrm{\phi }}_{\mathrm{rel}}$ $\mathrm{rad}$ Relative rotation angle phi_rel $\mathrm{\tau }$ $Nm$ Torque between flanges tau ${\mathrm{\tau }}_{c}$ $Nm$ Torque from spring tau_c ${\mathrm{\tau }}_{d}$ $Nm$ Torque from damper tau_d ${w}_{\mathrm{rel}}$ $\frac{\mathrm{rad}}{s}$ Relative angular velocity w_rel $\mathrm{lossPower}$ $W$ Loss power leaving component via heatPort lossPower

Connections

 Name Description Modelica ID ${\mathrm{flange}}_{a}$ Left flange of compliant 1-dim. rotational component flange_a ${\mathrm{flange}}_{b}$ Right flange of compliant 1-dim. rotational component flange_b $\mathrm{heatPort}$ heatPort

Parameters

General Parameters

 Name Default Units Description Modelica ID $c$ $100000$ $\frac{Nm}{\mathrm{rad}}$ Spring constant c $d$ $0$ $\frac{Nms}{\mathrm{rad}}$ Damping constant d ${\mathrm{\phi }}_{\mathrm{rel0}}$ $0$ $\mathrm{rad}$ Unstretched spring angle phi_rel0 Use Heat Port $\mathrm{false}$ True (checked) means heat port is enabled useHeatPort

 Name Default Units Description Modelica ID ${\mathrm{\phi }}_{\mathrm{nominal}}$ $1·{10}^{-4}$ $\mathrm{rad}$ Nominal value of ${\mathrm{\phi }}_{\mathrm{rel}}$; affects scaling phi_nominal $\mathrm{prefer}$ Prioritize ${\mathrm{\phi }}_{\mathrm{rel}}$ and ${w}_{\mathrm{rel}}$ as states stateSelect