${\mathrm{\τ}}_R \= r \cdot f_T \cdot \mathrm{dir}$

${\stackrel{\.}{s}}_T \= r \cdot {\stackrel{\.}{\mathrm{\φ}}}_R \cdot \mathrm{dir}$

Name

Description

Modelica ID

rflange

Rotational connection

rflange

tflange

Translational connection

tflange

Symbol

Units

Description

${\mathrm{\τ}}_R$

$N\cdot m$

Torque at rflange 

${\mathrm{\φ}}_R$

$\mathrm{rad}$

Angle of rflange

${\mathrm{f}}_T$

$N$

Force at tflange

$s_T$

$m$

Position of tflange

Symbol

Default

Units

Description

$r$

$0.05$

$m$

Radius of the wheel.

$\mathrm{dir}$

$1$

-

Direction of the wheel. This is either 1 or -1.

Symbol

Units

Description

Modelica ID

${\mathrm{\ω}}_0$

-

Initial or guess value of the angular velocity, $\mathrm{\ω}\=\mathrm{der}\left(\mathrm{\φ}\right)$

omega(0)

${\mathrm{sr}}_0$

-

Initial position of $\mathrm{tflange}$

sr(0)

${\mathrm{Fr}}_0$

-

Initial force out of $\mathrm{tflange}$

Fr(0)

${\mathrm{Tc}}_0$

-

Initial torque at $\mathrm{rflange}$

Tc(0)