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Rotational Elasto-Backlash

Backlash connected in series to linear spring and damper (backlash is modeled with elasticity)

Description

The Rotational Elasto Backlash (or Elasto Backlash) component consists of a backlash element connected in series with spring and damper elements which are connected in parallel. The spring constant must be positive.

In the backlash region $\left(-\frac{b}{2}\le {\mathrm{\phi }}_{b}-{\mathrm{\phi }}_{a}-{\mathrm{\phi }}_{\mathrm{rel0}}\le \frac{b}{2}\right)$ no torque is exerted. Outside of this region, contact is present and the contact torque is basically computed with a linear spring/damper characteristic.

If the backlash parameter $b$ is smaller than ${b}_{\mathrm{\epsilon }}$, the backlash is ignored and the component reduces to a spring/damper element in parallel.

During initialization, the backlash characteristic is replaced by a continuous approximation in the backlash region.

 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 $b$ $0$ $\mathrm{rad}$ Total backlash b $c$ $100000$ $\frac{Nm}{\mathrm{rad}}$ Spring constant; must be positive 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 ${\mathrm{\phi }}_{\mathrm{rel}}$ phi_nominal $\mathrm{prefer}$ Prioritize ${\mathrm{\phi }}_{\mathrm{rel}}$ and ${w}_{\mathrm{rel}}$ as states stateSelect
 Name Value Units Description Modelica ID ${b}_{\mathrm{\epsilon }}$ $1·{10}^{-10}$ $\mathrm{rad}$ Minimum backlash bEps