Measures the absolute angle of a flange.
Manifestmodules/nflow_blocks/libraries/acausal_rotational/library.json
{
"id": "builtin.acausal_rotational",
"title": "Rotational (acausal)",
"version": "1.0.0",
"format": "nflow-2",
"metadata": {
"author": "Allan CORNET",
"tool": "Nelson nflow"
},
"comment": "Acausal rotational components (physical pins); lower to physicalIsland.",
"license": "LGPL-3.0",
"builtin": true,
"renderModule": false,
"blocks": [
{
"type": "EMF",
"label": "EMF",
"acausal": true,
"domain": "rotational",
"width": 100,
"height": 80,
"physicalPins": [
{
"name": "p",
"x": 0,
"y": 40,
"side": "left",
"domain": "rotational"
},
{
"name": "n",
"x": 100,
"y": 40,
"side": "right",
"domain": "rotational"
},
{
"name": "flange",
"x": 50,
"y": 0,
"side": "top",
"domain": "rotational"
}
],
"inputs": [],
"outputs": [],
"defaultParams": {
"k": 1
},
"icon": "EMF.svg",
"render": {
"type": "image",
"src": "EMF.svg"
},
"help": "Electro-mechanical converter (motor/generator): back-emf v = k w, torque tau = k i."
},
{
"type": "Inertia",
"label": "Inertia",
"acausal": true,
"domain": "rotational",
"width": 100,
"height": 80,
"physicalPins": [
{
"name": "flange",
"x": 0,
"y": 40,
"side": "left",
"domain": "rotational"
}
],
"inputs": [],
"outputs": [],
"defaultParams": {
"J": 1,
"phi0": 0,
"w0": 0
},
"icon": "Inertia.svg",
"render": {
"type": "image",
"src": "Inertia.svg"
},
"help": "Rotational inertia: J dw/dt = tau_net."
},
{
"type": "RotSpring",
"label": "RotSpring",
"acausal": true,
"domain": "rotational",
"width": 100,
"height": 80,
"physicalPins": [
{
"name": "a",
"x": 0,
"y": 40,
"side": "left",
"domain": "rotational"
},
{
"name": "b",
"x": 100,
"y": 40,
"side": "right",
"domain": "rotational"
}
],
"inputs": [],
"outputs": [],
"defaultParams": {
"c": 1
},
"icon": "RotSpring.svg",
"render": {
"type": "image",
"src": "RotSpring.svg"
},
"help": "Rotational spring: tau = c (phi_a - phi_b)."
},
{
"type": "RotDamper",
"label": "RotDamper",
"acausal": true,
"domain": "rotational",
"width": 100,
"height": 80,
"physicalPins": [
{
"name": "a",
"x": 0,
"y": 40,
"side": "left",
"domain": "rotational"
},
{
"name": "b",
"x": 100,
"y": 40,
"side": "right",
"domain": "rotational"
}
],
"inputs": [],
"outputs": [],
"defaultParams": {
"d": 1
},
"icon": "RotDamper.svg",
"render": {
"type": "image",
"src": "RotDamper.svg"
},
"help": "Rotational damper: tau = d (w_a - w_b)."
},
{
"type": "ElastoBacklash",
"label": "ElastoBacklash",
"acausal": true,
"domain": "rotational",
"width": 100,
"height": 80,
"physicalPins": [
{
"name": "a",
"x": 0,
"y": 40,
"side": "left",
"domain": "rotational"
},
{
"name": "b",
"x": 100,
"y": 40,
"side": "right",
"domain": "rotational"
}
],
"inputs": [],
"outputs": [],
"defaultParams": {
"c": 1,
"b": 0
},
"icon": "ElastoBacklash.svg",
"render": {
"type": "image",
"src": "ElastoBacklash.svg"
},
"help": "Rotational backlash: elastic torque with a dead zone of total play b."
},
{
"type": "RotSpringDamper",
"label": "RotSpringDamper",
"acausal": true,
"domain": "rotational",
"width": 100,
"height": 80,
"physicalPins": [
{
"name": "a",
"x": 0,
"y": 40,
"side": "left",
"domain": "rotational"
},
{
"name": "b",
"x": 100,
"y": 40,
"side": "right",
"domain": "rotational"
}
],
"inputs": [],
"outputs": [],
"defaultParams": {
"c": 1,
"d": 1
},
"icon": "RotSpringDamper.svg",
"render": {
"type": "image",
"src": "RotSpringDamper.svg"
},
"help": "Parallel rotational spring and damper: tau = c (phi_a - phi_b) + d (w_a - w_b)."
},
{
"type": "RotBrake",
"label": "RotBrake",
"acausal": true,
"domain": "rotational",
"width": 100,
"height": 80,
"physicalPins": [
{
"name": "flange",
"x": 0,
"y": 40,
"side": "left",
"domain": "rotational"
}
],
"inputs": [
{
"x": 50,
"y": 0,
"side": "top",
"name": "f"
}
],
"outputs": [],
"defaultParams": {
"w_eps": 0.001
},
"icon": "RotBrake.svg",
"render": {
"type": "image",
"src": "RotBrake.svg"
},
"help": "Signal-actuated rotational brake to ground: the input sets the peak braking torque."
},
{
"type": "BearingFriction",
"label": "BearingFriction",
"acausal": true,
"domain": "rotational",
"width": 100,
"height": 80,
"physicalPins": [
{
"name": "flange",
"x": 0,
"y": 40,
"side": "left",
"domain": "rotational"
}
],
"inputs": [],
"outputs": [],
"defaultParams": {
"tau_c": 1,
"w_eps": 0.001
},
"icon": "BearingFriction.svg",
"render": {
"type": "image",
"src": "BearingFriction.svg"
},
"help": "Regularised bearing friction (event-free): tau = -tau_c tanh(w / w_eps)."
},
{
"type": "LinearSpeedDependentTorque",
"label": "LinearSpeedDependentTorque",
"acausal": true,
"domain": "rotational",
"width": 100,
"height": 80,
"physicalPins": [
{
"name": "flange",
"x": 0,
"y": 40,
"side": "left",
"domain": "rotational"
}
],
"inputs": [],
"outputs": [],
"defaultParams": {
"d": 1
},
"icon": "LinearSpeedDependentTorque.svg",
"render": {
"type": "image",
"src": "LinearSpeedDependentTorque.svg"
},
"help": "Speed-proportional resistance to ground: tau = -d w."
},
{
"type": "QuadraticSpeedDependentTorque",
"label": "QuadraticSpeedDependentTorque",
"acausal": true,
"domain": "rotational",
"width": 100,
"height": 80,
"physicalPins": [
{
"name": "flange",
"x": 0,
"y": 40,
"side": "left",
"domain": "rotational"
}
],
"inputs": [],
"outputs": [],
"defaultParams": {
"d": 1
},
"icon": "QuadraticSpeedDependentTorque.svg",
"render": {
"type": "image",
"src": "QuadraticSpeedDependentTorque.svg"
},
"help": "Quadratic (drag) resistance to ground: tau = -d w |w|."
},
{
"type": "Freewheel",
"label": "Freewheel",
"acausal": true,
"domain": "rotational",
"width": 100,
"height": 80,
"physicalPins": [
{
"name": "a",
"x": 0,
"y": 40,
"side": "left",
"domain": "rotational"
},
{
"name": "b",
"x": 100,
"y": 40,
"side": "right",
"domain": "rotational"
}
],
"inputs": [],
"outputs": [],
"defaultParams": {
"d": 100,
"w_eps": 0.001
},
"icon": "Freewheel.svg",
"render": {
"type": "image",
"src": "Freewheel.svg"
},
"help": "One-way clutch: couples flange a to b only while a overruns b (freewheels otherwise)."
},
{
"type": "Clutch",
"label": "Clutch",
"acausal": true,
"domain": "rotational",
"width": 100,
"height": 80,
"physicalPins": [
{
"name": "a",
"x": 0,
"y": 40,
"side": "left",
"domain": "rotational"
},
{
"name": "b",
"x": 100,
"y": 40,
"side": "right",
"domain": "rotational"
}
],
"inputs": [],
"outputs": [],
"defaultParams": {
"tau_max": 1,
"w_eps": 0.001
},
"icon": "Clutch.svg",
"render": {
"type": "image",
"src": "Clutch.svg"
},
"help": "Rotational clutch (event-free stick-slip): tau = tau_max tanh((w_a - w_b) / w_eps) reduces the slip toward a common speed."
},
{
"type": "RotFixed",
"label": "RotFixed",
"acausal": true,
"domain": "rotational",
"width": 100,
"height": 80,
"physicalPins": [
{
"name": "flange",
"x": 0,
"y": 40,
"side": "left",
"domain": "rotational"
}
],
"inputs": [],
"outputs": [],
"defaultParams": {
"phi0": 0
},
"icon": "RotFixed.svg",
"render": {
"type": "image",
"src": "RotFixed.svg"
},
"help": "Flange fixed at a prescribed angle phi0."
},
{
"type": "IdealGear",
"label": "IdealGear",
"acausal": true,
"domain": "rotational",
"width": 100,
"height": 80,
"physicalPins": [
{
"name": "a",
"x": 0,
"y": 40,
"side": "left",
"domain": "rotational"
},
{
"name": "b",
"x": 100,
"y": 40,
"side": "right",
"domain": "rotational"
}
],
"inputs": [],
"outputs": [],
"defaultParams": {
"ratio": 1
},
"icon": "IdealGear.svg",
"render": {
"type": "image",
"src": "IdealGear.svg"
},
"help": "Ideal gear phi_a = ratio phi_b (structural node merge, inertia folded)."
},
{
"type": "Torque",
"label": "Torque",
"acausal": true,
"domain": "rotational",
"width": 100,
"height": 80,
"physicalPins": [
{
"name": "flange",
"x": 0,
"y": 40,
"side": "left",
"domain": "rotational"
}
],
"inputs": [
{
"x": 50,
"y": 0,
"side": "top",
"name": "F"
}
],
"outputs": [],
"defaultParams": {},
"icon": "Torque.svg",
"render": {
"type": "image",
"src": "Torque.svg"
},
"help": "External torque on a flange, driven by the input signal."
},
{
"type": "Torque2",
"label": "Torque2",
"acausal": true,
"domain": "rotational",
"width": 100,
"height": 80,
"physicalPins": [
{
"name": "a",
"x": 0,
"y": 40,
"side": "left",
"domain": "rotational"
},
{
"name": "b",
"x": 100,
"y": 40,
"side": "right",
"domain": "rotational"
}
],
"inputs": [
{
"x": 50,
"y": 0,
"side": "top",
"name": "F"
}
],
"outputs": [],
"defaultParams": {},
"icon": "Torque2.svg",
"render": {
"type": "image",
"src": "Torque2.svg"
},
"help": "Equal and opposite torque between two flanges: +tau on a, -tau on b (signal-driven)."
},
{
"type": "ConstantTorque",
"label": "ConstantTorque",
"acausal": true,
"domain": "rotational",
"width": 100,
"height": 80,
"physicalPins": [
{
"name": "flange",
"x": 0,
"y": 40,
"side": "left",
"domain": "rotational"
}
],
"inputs": [],
"outputs": [],
"defaultParams": {
"tau": 0
},
"icon": "ConstantTorque.svg",
"render": {
"type": "image",
"src": "ConstantTorque.svg"
},
"help": "Constant torque on a flange."
},
{
"type": "SineTorque",
"label": "SineTorque",
"acausal": true,
"domain": "rotational",
"width": 100,
"height": 80,
"physicalPins": [
{
"name": "flange",
"x": 0,
"y": 40,
"side": "left",
"domain": "rotational"
}
],
"inputs": [],
"outputs": [],
"defaultParams": {
"Amplitude": 1,
"Frequency": 1,
"Phase": 0
},
"icon": "SineTorque.svg",
"render": {
"type": "image",
"src": "SineTorque.svg"
},
"help": "Sine torque on a flange: tau = Amplitude sin(2 pi Frequency t + Phase)."
},
{
"type": "RampTorque",
"label": "RampTorque",
"acausal": true,
"domain": "rotational",
"width": 100,
"height": 80,
"physicalPins": [
{
"name": "flange",
"x": 0,
"y": 40,
"side": "left",
"domain": "rotational"
}
],
"inputs": [],
"outputs": [],
"defaultParams": {
"Slope": 1,
"StartTime": 0
},
"icon": "RampTorque.svg",
"render": {
"type": "image",
"src": "RampTorque.svg"
},
"help": "Ramp torque on a flange: tau = Slope (t - StartTime) for t >= StartTime, else 0."
},
{
"type": "ExpSineTorque",
"label": "ExpSineTorque",
"acausal": true,
"domain": "rotational",
"width": 100,
"height": 80,
"physicalPins": [
{
"name": "flange",
"x": 0,
"y": 40,
"side": "left",
"domain": "rotational"
}
],
"inputs": [],
"outputs": [],
"defaultParams": {
"Amplitude": 1,
"Frequency": 2,
"Damping": 0.5,
"Phase": 0
},
"icon": "ExpSineTorque.svg",
"render": {
"type": "image",
"src": "ExpSineTorque.svg"
},
"help": "Exponentially damped sine torque on a flange."
},
{
"type": "TrapezoidTorque",
"label": "TrapezoidTorque",
"acausal": true,
"domain": "rotational",
"width": 100,
"height": 80,
"physicalPins": [
{
"name": "flange",
"x": 0,
"y": 40,
"side": "left",
"domain": "rotational"
}
],
"inputs": [],
"outputs": [],
"defaultParams": {
"Amplitude": 1,
"Rising": 0.2,
"Width": 0.3,
"Falling": 0.2,
"Period": 1
},
"icon": "TrapezoidTorque.svg",
"render": {
"type": "image",
"src": "TrapezoidTorque.svg"
},
"help": "Trapezoidal torque on a flange (continuous ramp-up / hold / ramp-down)."
},
{
"type": "RotAccelerate",
"label": "RotAccelerate",
"acausal": true,
"domain": "rotational",
"width": 100,
"height": 80,
"physicalPins": [
{
"name": "flange",
"x": 0,
"y": 40,
"side": "left",
"domain": "rotational"
}
],
"inputs": [
{
"x": 50,
"y": 0,
"side": "top",
"name": "a"
}
],
"outputs": [],
"defaultParams": {
"phi0": 0,
"w0": 0
},
"icon": "RotAccelerate.svg",
"render": {
"type": "image",
"src": "RotAccelerate.svg"
},
"help": "Prescribed motion: the flange angular acceleration follows the input signal."
},
{
"type": "RotSpeed",
"label": "RotSpeed",
"acausal": true,
"domain": "rotational",
"width": 100,
"height": 80,
"physicalPins": [
{
"name": "flange",
"x": 0,
"y": 40,
"side": "left",
"domain": "rotational"
}
],
"inputs": [
{
"x": 50,
"y": 0,
"side": "top",
"name": "w"
}
],
"outputs": [],
"defaultParams": {
"phi0": 0
},
"icon": "RotSpeed.svg",
"render": {
"type": "image",
"src": "RotSpeed.svg"
},
"help": "Prescribed motion: the flange angular velocity follows the input signal."
},
{
"type": "ConstantRotSpeed",
"label": "ConstantRotSpeed",
"acausal": true,
"domain": "rotational",
"width": 100,
"height": 80,
"physicalPins": [
{
"name": "flange",
"x": 0,
"y": 40,
"side": "left",
"domain": "rotational"
}
],
"inputs": [],
"outputs": [],
"defaultParams": {
"w": 1,
"phi0": 0
},
"icon": "ConstantRotSpeed.svg",
"render": {
"type": "image",
"src": "ConstantRotSpeed.svg"
},
"help": "Prescribed motion: the flange rotates at a constant angular velocity w."
},
{
"type": "AngleSensor",
"label": "AngleSensor",
"acausal": true,
"domain": "rotational",
"width": 100,
"height": 80,
"physicalPins": [
{
"name": "flange",
"x": 0,
"y": 40,
"side": "left",
"domain": "rotational"
}
],
"inputs": [],
"outputs": [
{
"x": 50,
"y": 80,
"side": "bottom",
"name": "angle"
}
],
"defaultParams": {},
"icon": "AngleSensor.svg",
"render": {
"type": "image",
"src": "AngleSensor.svg"
},
"help": "Measures the absolute angle of a flange."
},
{
"type": "RotSpeedSensor",
"label": "RotSpeedSensor",
"acausal": true,
"domain": "rotational",
"width": 100,
"height": 80,
"physicalPins": [
{
"name": "flange",
"x": 0,
"y": 40,
"side": "left",
"domain": "rotational"
}
],
"inputs": [],
"outputs": [
{
"x": 50,
"y": 80,
"side": "bottom",
"name": "speed"
}
],
"defaultParams": {},
"icon": "RotSpeedSensor.svg",
"render": {
"type": "image",
"src": "RotSpeedSensor.svg"
},
"help": "Measures the absolute angular velocity of a flange."
},
{
"type": "RelAngleSensor",
"label": "RelAngleSensor",
"acausal": true,
"domain": "rotational",
"width": 100,
"height": 80,
"physicalPins": [
{
"name": "a",
"x": 0,
"y": 40,
"side": "left",
"domain": "rotational"
},
{
"name": "b",
"x": 100,
"y": 40,
"side": "right",
"domain": "rotational"
}
],
"inputs": [],
"outputs": [
{
"x": 50,
"y": 80,
"side": "bottom",
"name": "angle"
}
],
"defaultParams": {},
"icon": "RelAngleSensor.svg",
"render": {
"type": "image",
"src": "RelAngleSensor.svg"
},
"help": "Measures the relative angle phi_a - phi_b between two flanges."
},
{
"type": "RelRotSpeedSensor",
"label": "RelRotSpeedSensor",
"acausal": true,
"domain": "rotational",
"width": 100,
"height": 80,
"physicalPins": [
{
"name": "a",
"x": 0,
"y": 40,
"side": "left",
"domain": "rotational"
},
{
"name": "b",
"x": 100,
"y": 40,
"side": "right",
"domain": "rotational"
}
],
"inputs": [],
"outputs": [
{
"x": 50,
"y": 80,
"side": "bottom",
"name": "speed"
}
],
"defaultParams": {},
"icon": "RelRotSpeedSensor.svg",
"render": {
"type": "image",
"src": "RelRotSpeedSensor.svg"
},
"help": "Measures the relative angular velocity w_a - w_b between two flanges."
}
]
}
