simscape.multibody.TorsionalSpringDamper Class

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

Construct torsional spring-damper force law

Since R2022a

Description

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

$T = - k_{s} \cdot (q - q_{0}) - k_{d} \dot{q}$ ,

where:

Symbol	Description
$T$	Applied torque
$q_{0}$	Equilibrium position of the spring
$k_{s}$	Spring stiffness
$k_{d}$	Damping coefficient
$q$	Revolute primitive position
$\dot{q}$	Revolute primitive velocity

Class Attributes

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

For information on class attributes, see Class Attributes.

Creation

Description

tsd = simscape.multibody.TorsionalSpringDamper constructs a torsional 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,"deg")` (default) | `simscape.Value(`q₀`,"Angle unit")`

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

Example: simscape.Value(10,"deg")

Attributes:

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

`SpringStiffness` — Stiffness of spring
`simscape.Value(0,"N*m/deg")` (default) | `simscape.Value(`k_s`,"Torque/angle unit")`

Stiffness of the torsional spring, specified as a simscape.Value object that represents a scalar with a unit of torque/angle. 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(5,"N*m/deg")

Attributes:

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

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

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

Example: simscape.Value(10,"N*m/(deg/s))

Attributes:

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

Version History

Introduced in R2022a

simscape.multibody.TorsionalSpringDamper Class

Description

Class Attributes

Creation

Description

Properties

EquilibriumPosition — Equilibrium position of spring simscape.Value(0,"deg") (default) | simscape.Value(q0,"Angle unit")

Attributes:

SpringStiffness — Stiffness of spring simscape.Value(0,"N*m/deg") (default) | simscape.Value(ks,"Torque/angle unit")

Attributes:

DampingCoefficient — Damping coefficient of damper simscape.Value(0,"N*m/(deg/s)") (default) | simscape.Value(kd,"Torque/angular velocity unit")

Attributes:

Version History

See Also

`EquilibriumPosition` — Equilibrium position of spring
`simscape.Value(0,"deg")` (default) | `simscape.Value(`q₀`,"Angle unit")`

`SpringStiffness` — Stiffness of spring
`simscape.Value(0,"N*m/deg")` (default) | `simscape.Value(`k_s`,"Torque/angle unit")`

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