model TorqueStep "Constant torque, not dependent on speed"
extends Modelica.Mechanics.Rotational.Interfaces.PartialTorque;
parameter Modelica.SIunits.Torque stepTorque(start = 1) "Height of torque step (if negative, torque is acting as load)";
parameter Modelica.SIunits.Torque offsetTorque(start = 0) "Offset of torque";
parameter Modelica.SIunits.Time startTime = 0 "Torque = offset for time < startTime";
Modelica.SIunits.Torque tau "Accelerating torque acting at flange (= -flange.tau)";
equation
tau = offsetTorque + (if time < startTime then 0 else stepTorque);
tau = -flange.tau;
annotation (
Icon(
coordinateSystem(
preserveAspectRatio = true,
extent = {
{-100, -100},
{100, 100}}),
graphics = {
Line(
points = {
{-75, 0},
{75, 0}},
color = {192, 192, 192}),
Line(
points = {
{-75, -30},
{0, -30},
{0, 45},
{65, 45}},
color = {0, 0, 127}),
Text(
extent = {
{0, -40},
{100, -10}},
lineColor = {128, 128, 128},
textString = "time")}),
Documentation(info = "<html>\n<p>\nModel of a torque step at time startTime.\nPositive torque accelerates in positive direction of <code>flange</code> rotation.\n</p>\n</html>"));
end TorqueStep;