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New version of InvertedCraneCrab and Ideas for Step1-3 #9

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87 changes: 87 additions & 0 deletions Tutorial2024/AuxiliaryComponents/CraneCrab.mo
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within Tutorial2024.AuxiliaryComponents;
model CraneCrab
extends Modelica.Blocks.Icons.Block;
Modelica.Mechanics.MultiBody.Parts.Body body(r_CM={0,0,0},
m=1) annotation (Placement(transformation(extent={{12,12},{32,32}})));
Modelica.Mechanics.MultiBody.Parts.Body body1(r_CM={0,0,0},
m=1) annotation (Placement(transformation(
extent={{-10,-10},{10,10}},
rotation=270,
origin={0,-60})));
Modelica.Mechanics.MultiBody.Parts.FixedTranslation fixedTranslation(r={1,0,0}) annotation (Placement(transformation(
extent={{-10,-10},{10,10}},
rotation=270,
origin={0,-26})));
Modelica.Mechanics.MultiBody.Parts.Fixed fixed annotation (Placement(transformation(extent={{-64,12},{-44,32}})));
Modelica.Mechanics.MultiBody.Joints.Prismatic x(useAxisFlange=true,
s(fixed=true),
v(fixed=true)) annotation (Placement(transformation(extent={{-30,12},
{-10,32}})));
Modelica.Mechanics.MultiBody.Joints.Revolute revolute(useAxisFlange=true,
phi(fixed=true, start=1.3962634015955),
w(fixed=true)) annotation (Placement(transformation(
extent={{-10,-10},{10,10}},
rotation=270)));
Modelica.Mechanics.Rotational.Sensors.AngleSensor angleSensor annotation (Placement(transformation(extent={{30,-10},{
50,10}})));
Modelica.Mechanics.Translational.Sources.Force force annotation (Placement(transformation(
extent={{-10,-10},{10,10}},
rotation=0,
origin={-40,50})));
Modelica.Blocks.Interfaces.RealInput f "Force" annotation (Placement(transformation(extent={{-140,-20},{-100,20}}),
iconTransformation(extent={{-140,-20},{-100,20}})));
Modelica.Blocks.Interfaces.RealOutput phi "Angle" annotation (Placement(transformation(extent={{100,-10},{120,10}}),
iconTransformation(extent={{100,-10},{120,10}})));
equation
connect(fixed.frame_b, x.frame_a) annotation (Line(
points={{-44,22},{-30,22}},
color={95,95,95},
thickness=0.5));
connect(x.frame_b, body.frame_a) annotation (Line(
points={{-10,22},{12,22}},
color={95,95,95},
thickness=0.5));
connect(body.frame_a, revolute.frame_a) annotation (Line(
points={{12,22},{0,22},{0,10}},
color={95,95,95},
thickness=0.5));
connect(revolute.frame_b, fixedTranslation.frame_a) annotation (Line(
points={{0,-10},{0,-16}},
color={95,95,95},
thickness=0.5));
connect(fixedTranslation.frame_b, body1.frame_a) annotation (Line(
points={{0,-36},{0,-50}},
color={95,95,95},
thickness=0.5));
connect(force.flange, x.axis) annotation (Line(points={{-30,50},{-12,50},{-12,28}},
color={0,127,0}));
connect(f, force.f) annotation (Line(points={{-120,0},{-70,0},{-70,50},{-52,50}}, color={0,0,127}));
connect(angleSensor.phi, phi) annotation (Line(points={{51,0},{110,0}}, color={0,0,127}));
connect(revolute.axis, angleSensor.flange) annotation (Line(points={{10,0},{30,0}}, color={0,0,0}));
annotation (Icon(coordinateSystem(preserveAspectRatio=false), graphics={
Rectangle(
extent={{-44,-18},{46,-62}},
lineColor={28,108,200},
fillColor={0,0,0},
fillPattern=FillPattern.Solid),
Line(
points={{20,58},{-2,-40}},
color={0,0,0},
thickness=1),
Ellipse(
extent={{8,78},{36,48}},
lineColor={28,108,200},
fillColor={0,0,0},
fillPattern=FillPattern.Solid),
Line(points={{-72,-66},{78,-66}}, color={0,0,0}),
Line(points={{-84,-86},{-56,-70}}, color={0,0,0}),
Line(points={{-46,-86},{-18,-70}}, color={0,0,0}),
Line(points={{-4,-86},{24,-70}}, color={0,0,0}),
Line(points={{38,-86},{66,-70}}, color={0,0,0})}), Diagram(coordinateSystem(preserveAspectRatio=false)),
experiment(__Dymola_NumberOfIntervals=5000, __Dymola_Algorithm="Dassl"),
Documentation(info="<html>
<p>
Model of an inverse pendulum.
</p>
</html>"));
end CraneCrab;
46 changes: 46 additions & 0 deletions Tutorial2024/AuxiliaryComponents/CraneCrab2.mo
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within Tutorial2024.AuxiliaryComponents;

model CraneCrab2
extends Modelica.Blocks.Icons.Block;
PlanarMechanics.Parts.Fixed fixed annotation(
Placement(transformation(origin = {-70, 0}, extent = {{-10, -10}, {10, 10}}, rotation = 180)));
PlanarMechanics.Parts.Body carriage(I = 0.001, m = 1) annotation(
Placement(transformation(origin = {10, 0}, extent = {{0, -10}, {20, 10}})));
Modelica.Mechanics.Translational.Sources.Force force(useSupport = false) annotation(
Placement(transformation(origin = {-80, 0}, extent = {{20, 30}, {40, 50}}, rotation = -0)));
PlanarMechanics.Joints.Prismatic prismatic(r = {1, 0}, useFlange = true) annotation(
Placement(transformation(origin = {10, 0}, extent = {{-54, 10}, {-34, -10}})));
PlanarMechanics.Parts.FixedTranslation rod(r = {0, 0.5}) annotation(
Placement(transformation(origin = {10, 0}, extent = {{-10, -60}, {10, -40}})));
PlanarMechanics.Parts.Body pendulum(I = 0.001, m = 0.5) annotation(
Placement(transformation(origin = {10, 0}, extent = {{20, -60}, {40, -40}})));
Modelica.Mechanics.Rotational.Sensors.AngleSensor angleSensor annotation(
Placement(transformation(origin = {10, 0}, extent = {{-4, -40}, {16, -20}})));
PlanarMechanics.Joints.Revolute revolute1(useFlange = true, phi(start = 0.1745329251994329, fixed = true), w(start = 0, fixed = true)) annotation(
Placement(transformation(origin = {-10, -30}, extent = {{-10, 10}, {10, -10}}, rotation = 270)));
Modelica.Blocks.Interfaces.RealInput u annotation(
Placement(transformation(origin = {-120, 0}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-120, 0}, extent = {{-20, -20}, {20, 20}})));
Modelica.Blocks.Interfaces.RealOutput y annotation(
Placement(transformation(origin = {110, 0}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {110, -2}, extent = {{-10, -10}, {10, 10}})));
equation
connect(prismatic.frame_b, carriage.frame_a) annotation(
Line(points = {{-24, 0}, {10, 0}}, color = {95, 95, 95}));
connect(revolute1.frame_b, rod.frame_a) annotation(
Line(points = {{-10, -40}, {-10, -50}, {0, -50}}, color = {95, 95, 95}));
connect(fixed.frame, prismatic.frame_a) annotation(
Line(points = {{-60, 0}, {-44, 0}}, color = {95, 95, 95}));
connect(revolute1.frame_a, carriage.frame_a) annotation(
Line(points = {{-10, -20}, {-10, 0}, {10, 0}}, color = {95, 95, 95}));
connect(force.flange, prismatic.flange_a) annotation(
Line(points = {{-40, 40}, {-34, 40}, {-34, 10}}, color = {0, 127, 0}));
connect(revolute1.flange_a, angleSensor.flange) annotation(
Line(points = {{0, -30}, {6, -30}}));
connect(rod.frame_b, pendulum.frame_a) annotation(
Line(points = {{20, -50}, {30, -50}}, color = {95, 95, 95}));
connect(u, force.f) annotation(
Line(points = {{-120, 0}, {-92, 0}, {-92, 40}, {-62, 40}}, color = {0, 0, 127}));
connect(angleSensor.phi, y) annotation(
Line(points = {{28, -30}, {60, -30}, {60, 0}, {110, 0}}, color = {0, 0, 127}));
annotation(
Icon(graphics = {Line(points = {{-4, -86}, {24, -70}}), Line(points = {{-46, -86}, {-18, -70}}), Line(points = {{20, 58}, {-2, -40}}), Line(points = {{38, -86}, {66, -70}}), Line(points = {{-72, -66}, {78, -66}}), Rectangle(lineColor = {28, 108, 200}, fillPattern = FillPattern.Solid, extent = {{-44, -18}, {46, -62}}), Line(points = {{-84, -86}, {-56, -70}}), Ellipse(lineColor = {28, 108, 200}, fillPattern = FillPattern.Solid, extent = {{8, 78}, {36, 48}})}));
end CraneCrab2;
5 changes: 0 additions & 5 deletions Tutorial2024/AuxiliaryComponents/DryFriction.bak-mo
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2 changes: 2 additions & 0 deletions Tutorial2024/AuxiliaryComponents/package.order
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IdealDryFriction
ThermalCollector
CraneCrab
CraneCrab2
5 changes: 0 additions & 5 deletions Tutorial2024/StepByStep/AuxiliaryComponents/DryFriction.mo
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5 changes: 0 additions & 5 deletions Tutorial2024/StepByStep/AuxiliaryComponents/ThermalCollector.mo
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4 changes: 0 additions & 4 deletions Tutorial2024/StepByStep/AuxiliaryComponents/package.bak-mo
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2 changes: 0 additions & 2 deletions Tutorial2024/StepByStep/AuxiliaryComponents/package.order
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13 changes: 13 additions & 0 deletions Tutorial2024/StepByStep/Step1_FreeBody2.mo
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within Tutorial2024.StepByStep;
model Step1_FreeBody2 "free falling body"
extends Modelica.Icons.Example;

inner PlanarMechanics.PlanarWorld planarWorld
annotation (Placement(transformation(extent={{-80,-80},{-60,-60}})));
PlanarMechanics.Parts.Body body(m=1, I=0.001, r(start = {0, 0}), v(start = {5, 5}))
annotation (Placement(transformation(extent={{-8,-10},{12,10}})));
annotation (experiment(
StopTime=1,
__Dymola_NumberOfIntervals=1500,
__Dymola_Algorithm="Dassl"));
end Step1_FreeBody2;
24 changes: 24 additions & 0 deletions Tutorial2024/StepByStep/Step2_FixedBody2.mo
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within Tutorial2024.StepByStep;
model Step2_FixedBody2 "fixated body"
extends Modelica.Icons.Example;

inner PlanarMechanics.PlanarWorld planarWorld
annotation (Placement(transformation(extent={{-80,-80},{-60,-60}})));
PlanarMechanics.Parts.Body body(m=1, I=0.001, r(start = {0, 0}))
annotation (Placement(transformation(extent={{20,-10},{40,10}})));
PlanarMechanics.Parts.Fixed fixed annotation (Placement(transformation(
extent={{-10,-10},{10,10}},
rotation=180,
origin={-30,0})));
PlanarMechanics.Parts.SpringDamper springDamper(c_y = 10, d_y = 2*sqrt(10)/2) annotation (
Placement(transformation(extent = {{-10, -10}, {10, 10}})));
equation
connect(fixed.frame, springDamper.frame_a) annotation (
Line(points = {{-20, 0}, {-10, 0}}, color = {95, 95, 95}));
connect(springDamper.frame_b, body.frame_a) annotation (
Line(points = {{10, 0}, {20, 0}}, color = {95, 95, 95}));
annotation (experiment(
StopTime=5,
__Dymola_NumberOfIntervals=1500,
__Dymola_Algorithm="Dassl"));
end Step2_FixedBody2;
77 changes: 77 additions & 0 deletions Tutorial2024/StepByStep/Step3_Pendulum2.mo
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within Tutorial2024.StepByStep;
model Step3_Pendulum2 "Pendulum"
extends Modelica.Icons.Example;
inner PlanarMechanics.PlanarWorld planarWorld annotation (
Placement(transformation(origin = {240, -20}, extent = {{-160, -60}, {-140, -40}})));
PlanarMechanics.Parts.Body body(m = 1, I = 0.001) annotation (
Placement(transformation(origin = {40, 30}, extent = {{20, -10}, {40, 10}})));
PlanarMechanics.Parts.Fixed fixed annotation (
Placement(transformation(origin = {-50, 30}, extent = {{-10, -10}, {10, 10}}, rotation = 180)));
PlanarMechanics.Parts.FixedTranslation rod(r = {2, 0}) annotation (
Placement(transformation(origin = {10, 30}, extent = {{-10, -10}, {10, 10}})));
PlanarMechanics.Joints.Revolute revolute(phi(start = 0, fixed = true)) annotation (
Placement(transformation(origin = {10, 30}, extent = {{-40, -10}, {-20, 10}})));
PlanarMechanics.Parts.Fixed fixed1 annotation (
Placement(transformation(origin = {-50, 70}, extent = {{-10, -10}, {10, 10}}, rotation = 180)));
PlanarMechanics.Joints.Revolute revolute1 annotation (
Placement(transformation(origin = {10, 70}, extent = {{-40, -10}, {-20, 10}})));
PlanarMechanics.Parts.FixedTranslation fixedTranslation(r = {1, 0}) annotation (
Placement(transformation(origin = {10, 70}, extent = {{-10, -10}, {10, 10}})));
PlanarMechanics.Parts.Body body1(I = 0.001, m = 1) annotation (
Placement(transformation(origin = {12, 70}, extent = {{20, -10}, {40, 10}})));
PlanarMechanics.Joints.Prismatic prismatic1(r = {0, -1}, useFlange = false) annotation (
Placement(transformation(origin = {-36, 4}, extent = {{-10, -10}, {10, 10}}, rotation = -90)));
Modelica.Mechanics.Translational.Components.Spring spring(c = 100) annotation (
Placement(transformation(origin = {-10, -40}, extent = {{-10, -10}, {10, 10}})));
PlanarMechanics.Joints.Prismatic prismatic(useFlange = true, r = {1, 0}) annotation (
Placement(transformation(origin = {-10, -10}, extent = {{-10, -10}, {10, 10}})));
PlanarMechanics.Joints.Revolute revolute2(phi(fixed = false)) annotation (
Placement(transformation(origin = {0, 30}, extent = {{20, -50}, {40, -30}})));
PlanarMechanics.Parts.Spring spring1(c_x = 100, c_y = 1e-9, c_phi = 1e-9) annotation (
Placement(transformation(origin = {20, 60}, extent = {{-40, -160}, {-20, -140}})));
PlanarMechanics.Parts.Body body2(m = 1, I = 0.001) annotation (
Placement(transformation(origin = {20, -70}, extent = {{20, -10}, {40, 10}})));
PlanarMechanics.Parts.Fixed fixed2 annotation (
Placement(transformation(origin = {-70, -70}, extent = {{-10, -10}, {10, 10}}, rotation = 180)));
PlanarMechanics.Parts.FixedTranslation rod1(r = {2, 0}) annotation (
Placement(transformation(origin = {10, 40}, extent = {{-30, -120}, {-10, -100}})));
PlanarMechanics.Joints.Revolute revolute3(phi(start = 0, fixed = true)) annotation (
Placement(transformation(origin = {10, 40}, extent = {{-60, -120}, {-40, -100}})));
equation
connect(rod.frame_b, body.frame_a) annotation (
Line(points = {{20, 30}, {60, 30}}, color = {95, 95, 95}));
connect(fixed.frame, revolute.frame_a) annotation (
Line(points = {{-40, 30}, {-30, 30}}, color = {95, 95, 95}));
connect(revolute.frame_b, rod.frame_a) annotation (
Line(points = {{-10, 30}, {0, 30}}, color = {95, 95, 95}));
connect(fixed1.frame, revolute1.frame_a) annotation (
Line(points = {{-40, 70}, {-30, 70}}, color = {95, 95, 95}));
connect(fixedTranslation.frame_b, body1.frame_a) annotation (
Line(points = {{20, 70}, {32, 70}}, color = {95, 95, 95}));
connect(revolute1.frame_b, fixedTranslation.frame_a) annotation (
Line(points = {{-10, 70}, {0, 70}}, color = {95, 95, 95}));
connect(fixed.frame, prismatic1.frame_a) annotation (
Line(points = {{-40, 30}, {-36, 30}, {-36, 14}}, color = {95, 95, 95}));
connect(prismatic1.frame_b, prismatic.frame_a) annotation (
Line(points = {{-36, -6}, {-35.5, -6}, {-35.5, -4}, {-37, -4}, {-37, -10}, {-20, -10}}, color = {95, 95, 95}));
connect(prismatic.support, spring.flange_a) annotation (
Line(points = {{-16, -20}, {-16, -30}, {-20, -30}, {-20, -40}}, color = {0, 127, 0}));
connect(prismatic.flange_a, spring.flange_b) annotation (
Line(points = {{-10, -20}, {0, -20}, {0, -40}}, color = {0, 127, 0}));
connect(prismatic.frame_b, revolute2.frame_a) annotation (
Line(points = {{0, -10}, {20, -10}}, color = {95, 95, 95}));
connect(revolute2.frame_b, body.frame_a) annotation (
Line(points = {{40, -10}, {54, -10}, {54, 30}, {60, 30}}, color = {95, 95, 95}));
connect(rod1.frame_b, body2.frame_a) annotation (
Line(points = {{0, -70}, {40, -70}}, color = {95, 95, 95}));
connect(fixed2.frame, revolute3.frame_a) annotation (
Line(points = {{-60, -70}, {-50, -70}}, color = {95, 95, 95}));
connect(revolute3.frame_b, rod1.frame_a) annotation (
Line(points = {{-30, -70}, {-20, -70}}, color = {95, 95, 95}));
connect(spring1.frame_b, body2.frame_a) annotation (
Line(points = {{0, -90}, {20, -90}, {20, -70}, {40, -70}}, color = {95, 95, 95}));
connect(fixed2.frame, spring1.frame_a) annotation (
Line(points = {{-60, -70}, {-60, -90}, {-20, -90}}, color = {95, 95, 95}));
annotation (
experiment(StopTime = 5, Tolerance = 1e-09, __Dymola_Algorithm = "Dassl"));
end Step3_Pendulum2;
53 changes: 0 additions & 53 deletions Tutorial2024/StepByStep/Step5_ActuatedCraneCrab.bak-mo
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