Modelica.Mechanics.Translational.Examples.Utilities

Information

Utility models and functions used in the Examples

Extends from Modelica.Icons.Package (Icon for standard packages).

Package Content

Name	Description
GenerateStribeckFrictionTable	Generate stribeck friction table for example Friction for the SupportFriction

Modelica.Mechanics.Translational.Examples.Utilities.GenerateStribeckFrictionTable

Information

Returns a table with the friction characteristic table[nTable,2] = [0, f1; ....; v_max, fn], where the first column is the velocity v in the range 0..v_max and the second column is the friction force according to the stribeck curve:

  F_Coulomb + F_prop*v + F_Stribeck*exp(-fexp*v);

Inputs

Type	Name	Default	Description
Real	F_prop		Velocity dependent friction coefficient [N.s/m]
Force	F_Coulomb		Constant friction: Coulomb force [N]
Force	F_Stribeck		Stribeck effect [N]
Real	fexp		Exponential decay [s/m]
Real	v_max		Generate table from v=0 ... v_max
Integer	nTable	100	Number of table points

Outputs

Type	Name	Description
Real	table[nTable, 2]	Friction table

Modelica definition

function GenerateStribeckFrictionTable 
  "Generate stribeck friction table for example Friction for the SupportFriction"
   input Real F_prop(final unit="N.s/m", final min=0) 
    "Velocity dependent friction coefficient";
   input Modelica.SIunits.Force F_Coulomb "Constant friction: Coulomb force";
   input Modelica.SIunits.Force F_Stribeck "Stribeck effect";
   input Real fexp(final unit="s/m", final min=0) "Exponential decay";
   input Real v_max "Generate table from v=0 ... v_max";
   input Integer nTable(min=2)=100 "Number of table points";
   output Real table[nTable,2] "Friction table";
algorithm 
   for i in 1:nTable loop
      table[i,1] :=v_max*(i - 1)/(nTable - 1);
      table[i,2] :=F_Coulomb + F_prop*table[i, 1] +
                   F_Stribeck*exp(-fexp*table[i, 1]);
   end for;
end GenerateStribeckFrictionTable;