The Sign Torque component generates a constant torque that changes sign with direction of rotation.

The parameter reg selects the equation for the torque when the magnitude of the angular velocity is below $w_0$.

$\mathrm{\tau }\=-{\mathrm{\tau }}_{\mathrm{flange}}\={\mathrm{\tau }}_{\mathrm{const}}\{\begin{array}{cc}\frac{2}{1\+\exp \left(\mathrm{-100}\frac{w}{w_0}\right)}-1& \mathrm{reg}\=\mathrm{Exp}\\ \{\begin{array}{cc}1& w_0\le \left|w\right|\\ \sin \left(\frac{1}{2}\mathrm{\pi }\frac{w}{w_0}\right)& \mathrm{otherwise}\end{array}& \mathrm{reg}\=\mathrm{Sine}\\ \{\begin{array}{cc}1& w_0\le \left|w\right|\\ \frac{w}{w_0}& \mathrm{otherwise}\end{array}& \mathrm{reg}\=\mathrm{Linear}\\ \{\begin{array}{cc}1& w_0\le \left|w\right|\\ \left(1-\cos \left(\frac{1}{2}\mathrm{\pi }\frac{w}{w_0}\right)\right)& \mathrm{otherwise}\end{array}& \mathrm{otherwise}\end{array}$

$\mathrm{\phi }\={\mathrm{\phi }}_{\mathrm{flange}}-{\mathrm{\phi }}_{\mathrm{support}}$

$w\=\frac{d\mathrm{\phi }}{\mathrm{dt}}$

$\mathbf{if}\mathrm{Use\; Support\; Flange}\mathbf{then}{\mathrm{\tau }}_{\mathrm{support}}\=-\mathrm{\tau }$

$\mathrm{\phi }\={\mathrm{\phi }}_{\mathrm{flange}}-\{\begin{array}{cc}{\mathrm{\phi }}_{\mathrm{support}}& \mathrm{Use\; Support}\\ 0& \mathrm{otherwise}\end{array}$

The component described in this topic is from the Modelica Standard Library. To view the original documentation, which includes author and copyright information, click here.