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Modelling a torque limiter in Simscape, "Equations of one or more components may be dependent or inconsistent."
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Hello.
I'm trying to modell a torque limiter. Use-case: car drives over a pothole, motor is commanded the same torque as before, wheel accelerates and is rapidly braked again after the pothole, then overload-clutch should open.
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/1300970/image.png)
I'm getting following error:
An error occurred while running the simulation and the simulation was terminated
Caused by: all components and nodal across variables involvedCannot solve for one or more variables, including dynamic variable derivatives: Time derivative of 'Ideal_Rotational_Motion_Sensor1.phi' (Angle) 'Disk_Friction_Clutch.F.w' (Rotational velocity) 'Disk_Friction_Clutch.damper.C.w' (Rotational velocity) 'Disk_Friction_Clutch.damper.w' (Rotational velocity) 'Disk_Friction_Clutch.fundamental_clutch.F.w' (Rotational velocity) 'Disk_Friction_Clutch.fundamental_clutch.S' (S) 'Disk_Friction_Clutch.fundamental_clutch.clutch.F.w' (Rotational velocity) 'Disk_Friction_Clutch.fundamental_clutch.clutch.S' (S) 'Disk_Friction_Clutch.fundamental_clutch.clutch.w' (Rotational velocity) 'Ideal_Rotational_Motion_Sensor1.R.w' (Rotational velocity) 'Ideal_Rotational_Motion_Sensor1.W' (W) 'Ideal_Rotational_Motion_Sensor1_W' (Ideal_Rotational_Motion_Sensor1_W) 'Ideal_Torque_Sensor.C.w' (Rotational velocity) 'Ideal_Torque_Sensor.R.w' (Rotational velocity) 'Tire_Friction_Parameterized.A.w' (Rotational velocity) 'Tire_Friction_Parameterized.S' (S) 'Tire_Friction_Parameterized.fundamental_clutch.B.w' (Rotational velocity) 'Tire_Friction_Parameterized.fundamental_clutch.S' (S) 'Tire_Friction_Parameterized.fundamental_clutch.clutch.B.w' (Rotational velocity) 'Tire_Friction_Parameterized.fundamental_clutch.clutch.S' (S) 'Tire_Friction_Parameterized.fundamental_clutch.clutch.w' (Rotational velocity) 'Tire_Friction_Parameterized_S' (Tire_Friction_Parameterized_S) Equations (including switched-linear and nonlinear equations) of one or more components may be dependent or inconsistent. This can cause problems in transient initialization. Here is the set of components involved: all components involved'torque_limiter/Disk Friction Clutch'Equation locations are: 'C:\Program Files\MATLAB\R2022a\toolbox\physmod\simscape\library\m\+foundation\+mechanical\+rotational\damper.ssc' (line 21) 'C:\Program Files\MATLAB\R2022a\toolbox\physmod\sdl\sdl\+sdl\+clutches\+fundamental_components\two_way_clutch.sscp' (no line number info) 'C:\Program Files\MATLAB\R2022a\toolbox\physmod\sdl\sdl\+sdl\+clutches\disk_friction_clutch.ssc' (line 353) 'torque_limiter/PS Constant1'Equation location is: 'C:\Program Files\MATLAB\R2022a\toolbox\physmod\simscape\library\m\+foundation\+signal\+sources\constant.ssc' (line 21) 'torque_limiter/Tire (Friction Parameterized)'Equation locations are: 'C:\Program Files\MATLAB\R2022a\toolbox\physmod\sdl\sdl\+sdl\+clutches\+fundamental_components\two_way_clutch.sscp' (no line number info) 'C:\Program Files\MATLAB\R2022a\toolbox\physmod\sdl\sdl\+sdl\+tires\tire_friction.ssc' (line 123)
But the simulation even runs until there is again normal force acting on the tire but then it stops.
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/1300975/image.png)
Hopefully someone can help me, thanks and best regards...
Paul
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采纳的回答
Steve Miller
2023-3-27
Hi Paul - typically, this error message occurs when there is a node with no inertia directly connected to it. Once the clutch opens, the node to the right only has inertia connected to it via the tire, and the tire has a compliance in it. This means the node to the right of the clutch can accelerate infinitely fast (Torque = Inertia * Acceleration), which is bad for numerical solvers.
Add an inertia to the right of the clutch and the simulation will run.
See image below.
--Steve
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/1337119/image.png)
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