diff --git a/Modelica/Mechanics/Rotational/Components/Clutch.mo b/Modelica/Mechanics/Rotational/Components/Clutch.mo index 18b4c43824..bfe709f42a 100644 --- a/Modelica/Mechanics/Rotational/Components/Clutch.mo +++ b/Modelica/Mechanics/Rotational/Components/Clutch.mo @@ -1,5 +1,5 @@ within Modelica.Mechanics.Rotational.Components; -model Clutch "Clutch based on Coulomb friction" +model Clutch "Clutch based on Coulomb friction (with interpolation by Modelica.Math.Vectors.interpolate)" extends Modelica.Mechanics.Rotational.Icons.Clutch; extends Modelica.Mechanics.Rotational.Interfaces.PartialCompliantWithRelativeStates; diff --git a/Modelica/Mechanics/Rotational/Components/Clutch2.mo b/Modelica/Mechanics/Rotational/Components/Clutch2.mo index 42ab1fed82..a6f4b4cf5f 100644 --- a/Modelica/Mechanics/Rotational/Components/Clutch2.mo +++ b/Modelica/Mechanics/Rotational/Components/Clutch2.mo @@ -1,10 +1,12 @@ within Modelica.Mechanics.Rotational.Components; -model Clutch2 "Clutch based on Coulomb friction (with interpolation based on CombiTable1Ds)" +model Clutch2 "Clutch based on Coulomb friction (with interpolation by ExternalCombiTable1D)" extends Modelica.Mechanics.Rotational.Icons.Clutch; extends Modelica.Mechanics.Rotational.Interfaces.PartialCompliantWithRelativeStates; parameter Real mu_pos[:, 2] = [0, 0.5] "Positive sliding friction coefficient [-] as function of w_rel [rad/s] (w_rel>=0)"; + parameter Modelica.Blocks.Types.Smoothness smoothness=Modelica.Blocks.Types.Smoothness.LinearSegments + "Smoothness of table interpolation in mu_pos"; parameter Real peak(final min=1) = 1 "Peak for maximum value of mu at w==0 (mu0_max = peak*mu_pos[1,2])"; parameter Real cgeo(final min=0) = 1 @@ -21,15 +23,26 @@ model Clutch2 "Clutch based on Coulomb friction (with interpolation based on Com annotation (Placement(transformation(origin={0,110}, extent={{20,-20},{-20,20}}, rotation=90))); protected - final parameter Real mu0 = Modelica.Math.Vectors.interpolate(mu_pos[:,1], mu_pos[:,2], 0, 1) + final parameter Modelica.Blocks.Types.ExternalCombiTable1D tableID = Modelica.Blocks.Types.ExternalCombiTable1D( + tableName="NoName", + fileName="NoName", + table=mu_pos, + columns={2}, + smoothness=smoothness, + extrapolation=Modelica.Blocks.Types.Extrapolation.LastTwoPoints, + verboseRead=false) "External table object for sliding friction coefficient"; + final parameter Real mu0 = + if smoothness == Modelica.Blocks.Types.Smoothness.ConstantSegments then Modelica.Blocks.Tables.Internal.getTable1DValueNoDer(tableID, 1, 0) + elseif smoothness == Modelica.Blocks.Types.Smoothness.LinearSegments then Modelica.Blocks.Tables.Internal.getTable1DValueNoDer2(tableID, 1, 0) + else Modelica.Blocks.Tables.Internal.getTable1DValue(tableID, 1, 0) "Friction coefficient for w=0 and forward sliding" annotation(Evaluate = true); Real table_signs[2] "Signs for sliding friction coefficient table interpolation: [sign for w_rel, sign for mu]"; - Modelica.Blocks.Tables.CombiTable1Ds table( - table=mu_pos) "Sliding friction coefficient table"; equation + assert(size(mu_pos, 1) > 0 and size(mu_pos, 2) > 0, "Parameter mu_pos is an empty matrix"); + // Relative quantities w_relfric = w_rel; a_relfric = a_rel; @@ -46,8 +59,10 @@ equation elseif startBackward then { 1,-1} elseif pre(mode) == Forward then { 1, 1} else {-1,-1}; - table.u = table_signs[1]*w_rel; - mu = table_signs[2]*table.y[1]; + mu = table_signs[2]*( + if smoothness == Modelica.Blocks.Types.Smoothness.ConstantSegments then Modelica.Blocks.Tables.Internal.getTable1DValueNoDer(tableID, 1, table_signs[1]*w_rel) + elseif smoothness == Modelica.Blocks.Types.Smoothness.LinearSegments then Modelica.Blocks.Tables.Internal.getTable1DValueNoDer2(tableID, 1, table_signs[1]*w_rel) + else Modelica.Blocks.Tables.Internal.getTable1DValue(tableID, 1, table_signs[1]*w_rel)); tau = if locked then sa*unitTorque elseif free then 0 else mu*cgeo*fn; lossPower = tau*w_relfric; @@ -100,8 +115,7 @@ frictional_torque = cgeo * mu(w_rel) * The positive part of the friction characteristic mu(w_rel), w_rel >= 0, is defined via table mu_pos (first column = w_rel, - second column = mu). Currently, only linear interpolation in - the table is supported. + second column = mu).
When the relative angular velocity becomes zero, the elements @@ -155,8 +169,9 @@ This model of clutch is slightly different to the
mu0
for zero velocity is a constant parameter computed by linear interpolation.mu_pos
utilizes the interpolation based on CombiTable1Ds.mu0
for zero velocity is a constant parameter.mu_pos
utilizes the interpolation based on ExternalCombiTable1D.