simscape.multibody.AxialSpringDamper Class

Namespace: simscape.multibody
Superclasses: simscape.multibody.JointForceLaw

Construct axial spring-damper force law

Since R2022a

Description

Use an object of the simscape.multibody.AxialSpringDamper class to construct an axial spring-damper force law. You can use the force law to apply a pure axial force to a simscape.multibody.PrismaticPrimitive object. The force is based on the current position and velocity of the primitive

$F = - k_{s} \cdot (p - p_{0}) - k_{d} \dot{p}$ ,

where:

Symbol	Description
$F$	Applied axial force
$p_{0}$	Equilibrium position of the spring
$k_{s}$	Spring stiffness
$k_{d}$	Damping coefficient
$p$	Prismatic primitive position
$\dot{p}$	Prismatic primitive velocity

Class Attributes

`Sealed`	`true`
`ConstructOnLoad`	`true`
`RestrictsSubclassing`	`true`

For information on class attributes, see Class Attributes.

Creation

Description

asd = simscape.multibody.AxialSpringDamper constructs an axial spring-damper force law and sets the parameters to simscape.Value objects with a value of zero.

Properties

expand all

`EquilibriumPosition` — Equilibrium position of spring
`simscape.Value(0,"m")` (default) | `simscape.Value(`p₀`,"Length unit")`

Equilibrium position of the spring, specified as a simscape.Value object that represents a scalar with a unit of length. The scalar can be positive, negative, or zero. The axial spring force is zero when the primitive position is at the equilibrium position.

Example: simscape.Value(1,"mm")

Attributes:

`GetAccess`	`public`
`SetAccess`	`public`
`NonCopyable`	`true`

`SpringStiffness` — Stiffness of spring
`simscape.Value(0,"N/m")` (default) | `simscape.Value(`k_s`,"Force/length unit")`

Stiffness of the spring, specified as a simscape.Value object that represents a scalar with a unit of force/length. The scalar is a measure of how hard the spring pushes the primitive position toward the equilibrium position and must be nonnegative.

Example: simscape.Value(1,"N/m")

Attributes:

`GetAccess`	`public`
`SetAccess`	`public`
`NonCopyable`	`true`

`DampingCoefficient` — Damping coefficient of damper
`simscape.Value(0,"N/(m/s)")` (default) | `simscape.Value(`k_d`,"Force/linear velocity unit")`

Damping coefficient of the damper, specified as a simscape.Value object that represents a scalar with a unit of force/linear velocity. The scalar is a measure of how hard the damper resists the motion of a primitive and must be nonnegative.

Example: simscape.Value(1,"N/(m/s)")

Attributes:

`GetAccess`	`public`
`SetAccess`	`public`
`NonCopyable`	`true`

Version History

Introduced in R2022a

simscape.multibody.AxialSpringDamper Class

Description

Class Attributes

Creation

Description

Properties

EquilibriumPosition — Equilibrium position of spring simscape.Value(0,"m") (default) | simscape.Value(p0,"Length unit")

Attributes:

SpringStiffness — Stiffness of spring simscape.Value(0,"N/m") (default) | simscape.Value(ks,"Force/length unit")

Attributes:

DampingCoefficient — Damping coefficient of damper simscape.Value(0,"N/(m/s)") (default) | simscape.Value(kd,"Force/linear velocity unit")

Attributes:

Version History

See Also

`EquilibriumPosition` — Equilibrium position of spring
`simscape.Value(0,"m")` (default) | `simscape.Value(`p₀`,"Length unit")`

`SpringStiffness` — Stiffness of spring
`simscape.Value(0,"N/m")` (default) | `simscape.Value(`k_s`,"Force/length unit")`

`DampingCoefficient` — Damping coefficient of damper
`simscape.Value(0,"N/(m/s)")` (default) | `simscape.Value(`k_d`,"Force/linear velocity unit")`