RollingWheelSet

Joint (no mass, no inertia) that describes an ideal rolling wheel set (two ideal rolling wheels connected together by an axis)

    RollingWheelSet

Library

Mechanics/MultiBody/Joints

Description

An assembly joint for a wheelset rolling on the x-y plane of the world frame. The frames frame1 and frame2 are connected to rotating wheels; the frameMiddle moves in a plane parallel to the x-y plane of the world and should be connected to the vehicle body.

Note

To work properly, the gravity acceleration vector g of the world must point in the negative z-axis, i.e.

inner Modelica.Mechanics.MultiBody.World world(n={0,0,-1});

Parameters

RollingWheelSet_0

NameLabelDescriptionData TypeValid Values

mo_animation

animation

= true, if animation of wheel set shall be enabled

Scalar

true
false

mo_wheelRadius

wheelRadius

Radius of one wheel

Scalar

mo_wheelDistance

wheelDistance

Distance between the two wheels

Scalar

mo_stateSelect

stateSelect

Priority to use the generalized coordinates as states

Structure

mo_stateSelect/choice1

StateSelect.never

Number

0
1

mo_stateSelect/choice2

StateSelect.avoid

Number

0
1

mo_stateSelect/choice3

StateSelect.default

Number

0
1

mo_stateSelect/choice4

StateSelect.prefer

Number

0
1

mo_stateSelect/choice5

StateSelect.always

Number

0
1

RollingWheelSet_1

NameLabelDescriptionData TypeValid Values

mo_x

x

x

Structure

mo_x/fixed

fixed

Cell of scalars

true
false

mo_x/start

start

Cell of scalars

mo_y

y

y

Structure

mo_y/fixed

fixed

Cell of scalars

true
false

mo_y/start

start

Cell of scalars

mo_phi

phi

phi

Structure

mo_phi/fixed

fixed

Cell of scalars

true
false

mo_phi/start

start

Cell of scalars

mo_theta1

theta1

theta1

Structure

mo_theta1/fixed

fixed

Cell of scalars

true
false

mo_theta1/start

start

Cell of scalars

mo_theta2

theta2

theta2

Structure

mo_theta2/fixed

fixed

Cell of scalars

true
false

mo_theta2/start

start

Cell of scalars

mo_der_theta1

der_theta1

der_theta1

Structure

mo_der_theta1/fixed

fixed

Cell of scalars

true
false

mo_der_theta1/start

start

Cell of scalars

mo_der_theta2

der_theta2

der_theta2

Structure

mo_der_theta2/fixed

fixed

Cell of scalars

true
false

mo_der_theta2/start

start

Cell of scalars

mo_prismatic1

prismatic1

prismatic1

Structure

mo_prismatic1/fixed

fixed

Cell of scalars

mo_prismatic2

prismatic2

prismatic2

Structure

mo_prismatic2/fixed

fixed

Cell of scalars

mo_revolute

revolute

revolute

Structure

mo_revolute/fixed

fixed

Cell of scalars

mo_revolute1

revolute1

revolute1

Structure

mo_revolute1/fixed

fixed

Cell of scalars

mo_revolute2

revolute2

revolute2

Structure

mo_revolute2/fixed

fixed

Cell of scalars

Ports

NameTypeDescriptionIO TypeNumber

frameMiddle

implicit

Frame fixed in middle of axis connecting both wheels (y-axis: along wheel axis, z-Axis: upwards)

input

1

frame1

implicit

Frame fixed in center point of left wheel (y-axis: along wheel axis, z-Axis: upwards)

input

2

frame2

implicit

Frame fixed in center point of right wheel (y-axis: along wheel axis, z-Axis: upwards)

output

1

axis1

implicit

1-dim. rotational flange that drives the joint

input

3

axis2

implicit

1-dim. rotational flange that drives the joint

input

4

support

implicit

Support of 1D axes

output

2