Initial commit R2024a

Author: smiller01985

MML_Core/Libraries/+forcesPS/+hydraulic/PS_force_hydraulic_chamber_trans_comp.ssc

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+component PS_force_hydraulic_chamber_trans_comp
+% Translational Hydraulic Chamber Force Compressible
+% This block models an ideal transducer that converts hydraulic
+% energy in a chamber with a translational output member (e.g., a piston 
+% head) into a mechanical force on the output member.  Fluid 
+% compressibility is accounted for and the pressure variation due to 
+% density fluctuations dynamically solved.
+%
+% Port A is a hydraulic conserving port associated with the chamber 
+% inlet. Input ports pos and vel are the respective position and velocity 
+% of the output member.  Output port f is the force acting on the output 
+% member.
+
+% Copyright 2016-2024 The MathWorks, Inc.
+
+nodes
+    A = foundation.hydraulic.hydraulic; % A:right
+end
+
+inputs
+    velocity = {0, 'm/s'}; % v:left
+    position = {0, 'm'};   % p:left
+end
+
+outputs
+    force = {0, 'N'}; % f:left
+end
+
+parameters
+    area             = {5e-4,  'm^2'}; % Piston area
+    V_dead           = {1e-4,  'm^3'}; % Chamber dead volume
+    k_sh             = {1.4,   '1'	}; % Specific heat ratio
+    initial_pressure = {0,     'Pa' }; % Initial pressure  
+end
+
+parameters (Access = private)
+    p_atm   = {1,	 'atm'  }; % Atmospheric pressure
+    rho_g0  = {1.2, 'kg/m^3'}; % Gas density at reference pressure
+end
+
+variables (Access = private)
+    pressure_chamber = {0,	  'Pa'   };	% Fluid pressure in the chamber
+    volume           = {1e-4, 'm^3'  }; % Chamber volume
+    q                = {0,    'm^3/s'}; % Flow rate leaving the converter
+    qV               = {0,    'm^3/s'}; % Flow rate leaving the converter due to volume changes
+    qrho             = {0,    'm^3/s'}; % Flow rate leaving the converter due to density changes
+end
+
+function setup
+    % Parameter range checking
+    if area <= 0
+        pm_error('simscape:GreaterThanZero','Piston area');
+    end
+    if V_dead <= 0
+        pm_error('simscape:GreaterThanZero','Chamber dead volume')
+    end
+    if k_sh < 1
+        pm_error('simscape:GreaterThanOrEqual','Specific heat ratio','1')
+    end
+    if k_sh >= 2
+        pm_error('simscape:LessThan','Specific heat ratio','2')
+    end
+    if initial_pressure <= {-1, 'atm'}
+        pm_error('simscape:GreaterThanOrEqual','Initial pressure','absolute zero')
+    end
+    
+    % Derived parameters
+    rho_g0 = (initial_pressure + {1, 'atm'}) / ( {287.04, 'J/kg/K'} * {293.15, 'K'} );
+    
+    % Initial conditions
+    pressure_chamber = initial_pressure; 
+end
+
+branches
+    q: A.q -> *;
+end
+
+equations
+    assert((A.range_error == 1) | (pressure_chamber > {-1,'atm'}), 'Pressure fell below absolute zero');
+    assert((A.range_error == 2) | (pressure_chamber > {-1,'atm'}), 'Pressure fell below absolute zero',Warn=true);
+    
+    let
+        % The fluid mixture density at node P is calculated to know exactly
+        % how much fluid is actually displaced.
+        p_abs  = pressure_chamber + p_atm;
+        p_0abs = initial_pressure + p_atm;
+        
+        % Full fluid mixture density model
+        rho_l0 = A.density;
+        beta_l = A.bulk;
+        rho_over_rho0 = (A.alpha/(1-A.alpha) * rho_g0/rho_l0 + 1)/( A.alpha/(1-A.alpha)*(p_atm/p_abs)^(1/k_sh) + exp(-pressure_chamber/beta_l) );
+        drho_over_rho0dp = (A.alpha/(1-A.alpha) * rho_g0/rho_l0 + 1) * (A.alpha/(1-A.alpha)/p_atm/k_sh*(p_atm/p_abs)^(1/k_sh+1) + exp(-pressure_chamber/beta_l)/beta_l)/( A.alpha/(1-A.alpha)*(p_atm/p_abs)^(1/k_sh) + exp(-pressure_chamber/beta_l) )^2;
+
+        % Chamber volume
+        vol_ref = area*position + V_dead;
+    in
+        % Fluid mechanical interface
+        if vol_ref > V_dead
+            volume == vol_ref;
+        else
+            volume == V_dead;
+        end
+        
+        force == pressure_chamber * area;
+
+      	% Flow rate exiting the chamber
+        pressure_chamber == A.p;
+        qV == rho_over_rho0*area * velocity;
+        qrho ==drho_over_rho0dp  * pressure_chamber.der * volume;
+        q == qV + qrho;
+    end
+end
+end

MML_Core/Libraries/+forcesPS/+hydraulic/PS_force_hydraulic_chamber_trans_comp.svg

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+component PS_force_hydraulic_chamber_trans_incomp
+% Translational Hydraulic Chamber Force Incompressible
+% The block models an ideal transducer that converts hydraulic
+% energy into mechanical energy in the form of translational motion of the
+% converter output member.
+
+% Copyright 2016-2024 The MathWorks, Inc.
+
+nodes
+    A = foundation.hydraulic.hydraulic;                    % A:right
+end
+
+inputs
+    velocity = {0, 'm/s'}; % v:left
+    position = {0, 'm'};   % p:left
+end
+
+outputs
+    force = {0, 'N'}; % f:left
+end
+
+parameters
+    area        = { 5e-4,   'm^2'	};	% Piston area
+end
+
+variables
+    q = { 0, 'm^3/s'    }; % Flow rate leaving the converter
+end
+
+function setup %#simple
+    % Parameter range checking
+    if area <= 0
+        pm_error('simscape:GreaterThanZero','Piston area');
+    end
+end
+
+branches
+    q: A.q -> *;
+end
+
+equations
+    % Fluid mechanical interface
+    force == area*A.p;
+        
+	% Flow rate exiting the converter
+	q == area*velocity;
+end
+end

MML_Core/Libraries/+forcesPS/+hydraulic/PS_force_hydraulic_chamber_trans_incomp.ssc

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+function lib( libInfo )
+% Customize library
+% Copyright 2005-2024 The MathWorks, Inc
+
+libInfo.Name = 'Hydraulic';
+end

MML_Core/Libraries/+forcesPS/+hydraulic/PS_force_hydraulic_chamber_trans_incomp.svg

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+component PS_q_axs_to_qz   
+% PS Calculate qz
+% This block calculates the rotational angle about the z axis using Angle
+% and Axis outputs of the Transform Sensor block
+
+% Copyright 2016-2024 The MathWorks, Inc.
+
+inputs
+    q = {0, 'rad'}; % q:left
+    axs = {[0 0 0]','1'} %axs:left
+end
+
+outputs
+    qz = {0, 'rad'}; %qz:right
+end
+
+equations
+	qz == q*sign(axs(3));
+end
+
+end

MML_Core/Libraries/+forcesPS/+hydraulic/lib.m

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+function lib( libInfo )
+% Customize library
+% Copyright 2005-2024 The MathWorks, Inc
+
+libInfo.Name = 'Math';
+end

MML_Core/Libraries/+forcesPS/+math/PS_q_axs_to_qz.ssc

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+component PS_force_friction_rot
+% Rotational Friction Force
+% The block represents friction in the contact between moving bodies. The 
+% friction force is simulated as a function of relative velocity and 
+% assumed to be the sum of Stribeck, Coulomb, and viscous components. The
+% sum of the Coulomb and Stribeck frictions at zero velocity is often 
+% referred to as the breakaway friction.
+
+% Copyright 2016-2024 The MathWorks, Inc.
+
+inputs
+    w = {0, 'rad/s'}; % w:left
+end
+
+outputs
+    t = {0, 'N*m'}; %t:right
+end
+
+parameters
+    brkwy_trq = { 25, 'N*m' };          % Breakaway friction torque
+    brkwy_vel = { 0.1, 'rad/s' };       % Breakaway friction velocity
+    Col_trq = { 20, 'N*m' };            % Coulomb friction torque
+    visc_coef = { 0.001, 'N*m*s/rad' }; % Viscous friction coefficient
+end
+
+parameters (Access=private)
+    static_scale = sqrt(2*exp(1))*(brkwy_trq-Col_trq);  % Scale factor for static torque
+    static_thr = sqrt(2)*brkwy_vel;                     % Velocity threshold for static torque
+    Col_thr = brkwy_vel/10;                             % Velocity threshold for Coulomb torque
+end
+
+equations
+    % Parameter range checking
+    assert(brkwy_trq>0)
+    assert(brkwy_vel>0)
+    assert(Col_trq>0)
+    assert(Col_trq<=brkwy_trq)
+    assert(visc_coef>=0)
+    % Torque is a combination of viscous, static, and Coulomb losses
+    t == visc_coef * w ...
+         + static_scale * (w/static_thr*exp(-(w/static_thr)^2)) ...
+         + Col_trq * tanh(w/Col_thr);
+end
+
+end