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MBDynモデル集

6. ジャイロモーメント実験装置

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gyro_moment_machine


plan_gyro_moment_machine

入力ファイル

gyro_moment.mbd
# gyro_moment.mbd

#-----------------------------------------------------------------------------
# [Data Block]

begin: data;
   problem: initial value;
end: data;

#-----------------------------------------------------------------------------
# [<Problem> Block]

begin: initial value;
   initial time:   0.;
   final time:     8.5;
   time step:      1.e-3;
   max iterations: 10;
   tolerance:      1.e-6;
end: initial value;

#-----------------------------------------------------------------------------
# [Control Data Block]

begin: control data;
   output frequency: 10;
   structural nodes: 3;
   rigid bodies:     3;
   joints:           4;
end: control data;

#-----------------------------------------------------------------------------
# Design Variables

set: real I_Stage = 0.1;   #[kg m^2]  Moment of Inertia of Stage
set: real M_Wheel = 3.;    #[kg] Mass of Wheel
set: real R_Wheel = 0.4;   #[m] Radius of Wheel
set: real H_Arm   = 1.;    #[m] Height of Arm
set: real L_Arm   = 0.6;   #[m] Length of Arm
set: real W_Wheel = 10*pi; #[rad/s] Angular Velocity of Wheel

#-----------------------------------------------------------------------------
# Reference Labels
set: integer Ref_Wheel_Spindle = 1;

# Node Labels
set: integer Node_Stage = 1;
set: integer Node_Arm   = 2;
set: integer Node_Wheel = 3;

# Body Labels
set: integer Body_Stage = 1;
set: integer Body_Arm   = 2;
set: integer Body_Wheel = 3;

# Joint Labels
set: integer JoRevp_Stage      = 1;
set: integer JoSphh_Stage_Arm  = 2;
set: integer JoDrivh_Stage_Arm = 3;
set: integer JoRevh_Arm_Wheel  = 4;

#-----------------------------------------------------------------------------
# Intermediate Variables
set: real Ixx_Wheel = M_Wheel*R_Wheel^2./4.;
set: real Iyy_Wheel = M_Wheel*R_Wheel^2./4.;
set: real Izz_Wheel = M_Wheel*R_Wheel^2./2.;

#-----------------------------------------------------------------------------
# References
reference: Ref_Wheel_Spindle,
   0., L_Arm, H_Arm,     # absolute position
   euler, 0., pi/2., 0., # absolute orientation
   null,                 # absolute velocity
   null;                 # absolute angular velocity

#-----------------------------------------------------------------------------
# [Nodes Block]

begin: nodes;

   #-----------------------------------------------------------------------------
   # Nodes
   structural: Node_Stage, dynamic,
      null, # absolute position
      eye,  # absolute orientation
      null, # absolute velocity
      null; # absolute angular velocity
      
   structural: Node_Arm, dynamic,
      0., 0., H_Arm,         # absolute position
      euler, -pi/2., 0., 0., # absolute orientation
      null,                  # absolute velocity
      null;                  # absolute angular velocity
      
   structural: Node_Wheel, dynamic,
      reference, Ref_Wheel_Spindle, null,             # absolute position
      reference, Ref_Wheel_Spindle, eye,              # absolute orientation
      reference, Ref_Wheel_Spindle, null,             # absolute velocity
      reference, Ref_Wheel_Spindle, 0., 0., -W_Wheel; # absolute angular velocity
      
end: nodes;

#-----------------------------------------------------------------------------
# [Elements Block]

begin: elements;

   #-----------------------------------------------------------------------------
   # Bodies
   body: Body_Stage, Node_Stage,
      1.,                    # mass
      null,                  # relative center of mass
      diag, 1., 1., I_Stage; # inertia matrix
      
   body: Body_Arm, Node_Arm,
      1.,                        # mass
      null,                      # relative center of mass
      diag, 1.e-6, 1.e-6, 1.e-6; # inertia matrix
      
   body: Body_Wheel, Node_Wheel,
      M_Wheel,                               # mass
      null,                                  # relative center of mass
      diag, Ixx_Wheel, Iyy_Wheel, Izz_Wheel; # inertia matrix  
              
   #-----------------------------------------------------------------------------
   # Joints
   joint: JoRevp_Stage, 
      revolute pin, 
         Node_Stage,
            null, # relative offset
            null; # absolute pin position
            
   joint: JoSphh_Stage_Arm, 
      spherical hinge, 
         Node_Stage,
            0., 0., H_Arm, # relative offset
         Node_Arm,
            null;          # relative offset
            
   joint: JoDrivh_Stage_Arm,
      drive hinge,
         Node_Stage,
            hinge, euler, -pi/2., 0., 0.,                      # relative axis orientation
         Node_Arm,
            hinge, eye,                                        # relative axis orientation
         single, 0., 0., 1., scalar function, "Fun_Arm_Input", # position
            multilinear,
               0.0, 0.,
               0.5, 0.,
               1.0, pi/4.,
               1.5, pi/4.,
               2.0, pi/2.,
               2.5, pi/2.,
               3.0, pi/4.,
               3.5, pi/4.,
               4.0, 0,
               4.5, 0,
               5.0, -pi/4.,
               5.5, -pi/4.,
               6.0, -pi/2.,
               6.5, -pi/2.,
               7.0, -pi/4.,
               7.5, -pi/4.,
               8.0, 0.,
               8.5, 0.; 
            
   joint: JoRevh_Arm_Wheel, 
      revolute hinge, 
         Node_Arm,
            reference, Ref_Wheel_Spindle, null,        # relative offset
            hinge, reference, Ref_Wheel_Spindle, eye,  # relative axis orientation
         Node_Wheel,
            reference, Ref_Wheel_Spindle, null,        # relative offset
            hinge, reference, Ref_Wheel_Spindle, eye;  # relative axis orientation 
                
end: elements;