Name

Condition

Description

ID

Loss Power

-

Real output port for power loss. Power loss is zero when clutch is 'free' or 'locked'.

lossPower

$\mathrm{locked}$

-

Boolean output port for the clutch state

state_locked

Symbol

Condition

Default

Units

Description

ID

$J_a$

-

$0.0001$

$\mathrm{kg}\cdot {\mathrm{m}}^2$

Added inertia to side a.

Ja

$J_b$

-

$J_a$

$\mathrm{kg}\cdot {\mathrm{m}}^2$

Added inertia to side b.

Jb

$\mathrm{\α}$

-

$\frac{\mathrm{\π}}{15}$

$\mathrm{rad}$

Cone half angle

alpha

$\mathrm{d\_\_i}$

-

$0.2$

$\mathrm{m}$

Inner diameter

di

$\mathrm{d\_\_o}$

-

$0.1$

$\mathrm{m}$

Outer diameter

do

Reduce Branching

$-$

false

$-$

When true, simplifies clutch equations (by adding a slight compliance in the locked state) so they may be treated as a piecewise.  This has the effect of reducing the resulting code size (and formulation time) with generally little affect on clutch performance and behavior.

reduceBranching

Symbol

Condition

Default

Units

Description

ID

${\mathrm{\ω}}_{\mathrm{a0}}$

$-$

$\frac{\mathrm{rad}}{s}$

Initial angular velocity of flange_a

w_a

${\mathrm{\ω}}_{\mathrm{b0}}$

$-$

$\frac{\mathrm{rad}}{s}$

Initial angular velocity of flange_b

w_b