CMPP_BodyShape Coselica block
Rigid body with mass, inertia tensor and two frame connectors (no states)
r [m] : Vector from frame_a to frame_b resolved in frame_a
Properties : Type 'vec' of size 2.
Default value : [0,0]
r_CM [m] : Vector from frame_a to center of mass, resolved in frame_a
Properties : Type 'vec' of size 2.
Default value : [0,0]
m [kg] : Mass of rigid body (m >= 0)
Properties : Type 'vec' of size 1.
Default value : 1
I [kg.m2] : Inertia of rigid body (I >= 0)
Properties : Type 'vec' of size 1.
Default value : 0.001
initType [-] : Type of initial value for [r_0,v_0,a_0,phi,w,z] (0=guess,1=fixed)
Properties : Type 'vec' of size 6.
Default value : [0,0,0,0,0,0]
r_0_start [m] : Initial values of frame_a.r_0 (position origin of frame_a resolved in world frame)
Properties : Type 'vec' of size 2.
Default value : [0,0]
v_0_start [m/s] : Initial values of velocity v = der(frame_a.r_0)
Properties : Type 'vec' of size 2.
Default value : [0,0]
a_0_start [m/s2] : Initial values of acceleration a = der(v)
Properties : Type 'vec' of size 2.
Default value : [0,0]
phi_start [rad] : Initial value of angle phi to rotate world frame into frame_a
Properties : Type 'vec' of size 1.
Default value : 0
w_start [rad/s] : Initial value of angular velocity w = der(phi) of frame_a
Properties : Type 'vec' of size 1.
Default value : 0
z_start [rad/s2] : Initial value of angular acceleration z = der(w) of frame_a
Properties : Type 'vec' of size 1.
Default value : 0
Inputs :
Modelica variable name : 'frame_a'
Implicit variable (Mechanics Planar type).
Outputs :
Modelica variable name : 'frame_b'
Implicit variable (Mechanics Planar type).
Parameters :
Modelica parameter name : 'r'
Default value : [0,0]
Modelica parameter name : 'r_CM'
Default value : [0,0]
Modelica parameter name : 'm'
Default value : 1
Modelica parameter name : 'I'
Default value : 0.001
Modelica parameter name : 'initType'
Default value : [0,0,0,0,0,0]
Modelica parameter name : 'r_0_start'
Default value : [0,0]
Modelica parameter name : 'v_0_start'
Default value : [0,0]
Modelica parameter name : 'a_0_start'
Default value : [0,0]
Modelica parameter name : 'phi_start'
Default value : 0
Modelica parameter name : 'w_start'
Default value : 0
Modelica parameter name : 'z_start'
Default value : 0
CMPP_BodyShape.sci
Coselica.Mechanics.Planar.Parts.BodyShape in COSELICA/macros/Coselica.mo file