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Rotational Clutch
Rotational Clutch
Purpose
Ideal rotational clutch
Library
Mechanical / Rotational / Components
Description
The Rotational Clutch models an ideal clutch in a rotational system. When
engaged, it makes an ideally rigid connection between the flanges; when dis-
engaged, it transmits zero torque. The clutch engages when the input signal
becomes non-zero and disengages when the input signal becomes zero.
Parameters
Initial state
The initial state (engaged/disengaged) of the clutch.
Initial displacement
The initial displacement of the flanges, in radians. May be specified in or-
der to provide proper initial conditions if absolute angles are measured
anywhere in the system. Otherwise, this parameter can be left blank.
479
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13
Component Reference
Rotational Damper
Purpose
Ideal viscous rotational damper
Library
Mechanical / Rotational / Components
Description
The Rotational Damper models an ideal linear damper in a rotational system
described with the following equations:
=  D !
where  is the torque flow from the unmarked towards the marked flange and
!is the angular speed of the marked flange with respect to the unmarked
one.
Parameters
Damper constant
The damping (viscous friction) constant D, in
Nms
rad
.
Initial displacement
The initial displacement of the flanges, in radians. May be specified in or-
der to provide proper initial conditions if absolute angles are measured
anywhere in the system. Otherwise, this parameter can be left blank.
480
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Rotational Friction
Rotational Friction
Purpose
Ideal rotational stick/slip friction
Library
Mechanical / Rotational / Components
Description
The Rotational Friction models any combination of static, Coulomb and vis-
cous friction between two flanges in a rotational system. While the compo-
nent is stuck, it exerts whatever force is necessary in order to maintain zero
relative speed between the flanges, up to the limit of the breakaway torque
brk
.When the breakaway torque is exceeded, the flanges begin sliding against
each other, and the component exerts a torque that consists of the Coulomb
friction torque 
C
and a speed-dependent viscous friction torque c
v
!.
The figure below shows the speed/torque characteristic and the state chart
of the component. Note that the friction torque is opposed to the movement,
hence the negative sign.
Sticking
Sliding
backward
Sliding
forward
τ 
τ
brk
τ 
< -
τ
brk
ω 
> 0
ω 
< 0
τ
brk
ω
τ
C
c
v
⋅ω
Parameters
Breakawayfrictiontorque
The maximum magnitude of the stiction torque 
brk
,in Netwon meters
Nm. Must be greater than or equal to zero.
Coulomb friction torque
The magnitude of the (constant) Coulomb friction torque 
C
,in Netwon
meters Nm. Must be greater than or equal to zero and less than or equal
to the breakaway friction torque.
Viscous friction coefficient
The proportionality coefficient c
v
that determines the speed dependent vis-
cous friction torque, in
Nms
rad
.
481
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13
Component Reference
Probe Signals
Torque
The transmitted torque  flowing from the unmarked to the marked
flange, in Newton meters (Nm).
Speed
The angular speed ! of the marked flange with respect to the unmarked
flange, in
rad
s
.
State
The internal state of the component:
-1
sliding backward,
0
stuck,
+1
slid-
ing forward.
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Rotational Hard Stop
Rotational Hard Stop
Purpose
Ideal rotational hard stop
Library
Mechanical / Rotational / Components
Description
The Rotational Hard Stop models an ideal one- or two-sided hard stop in a ro-
tational system, which restricts the relative displacement of the two flanges
between an upper and lower limit. While the displacement is within the lim-
its, no torque is transmitted. When the displacement hits either limit, the dis-
placement is clamped at the limit and the flanges become rigidly connected
until the transmitted torque reverses.
The figure below shows the displacement/torque characteristic and the state
chart of the component.
Inside
limits
Lower
limit
Upper
limit
θ 
θ
min
θ 
:= 
θ
min
θ 
:= 
θ
max
θ 
θ
max
τ 
< 0
τ 
> 0
τ 
:= 0
θ
min
θ
max
θ
τ
Parameters
Upper limit
The maximum displacement 
max
between the flanges. Set to
inf
to dis-
able this limit.
Lower limit
The minimum displacement 
min
between the flanges. Set to
-inf
to dis-
able this limit.
Initial displacement
The initial displacement of the flanges, in radians. May be specified in or-
der to provide proper initial conditions if absolute angles are measured
anywhere in the system. Otherwise, this parameter can be left blank.
483
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13
Component Reference
Probe Signals
Torque
The transmitted torque  flowing from the unmarked to the marked
flange, in Newton meters (Nm).
Displacement
The displacement  of the marked flange with respect to the unmarked
flange, in radians.
State
The internal state of the component:
-1
in lower limit,
0
inside limits,
+1
in upper limit.
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Rotational Port
Rotational Port
Purpose
Add rotational flange to subsystem
Library
Mechanical / Rotational / Components
Description
Rotational ports are used to establish rotational mechanical connections be-
tween a schematic and the subschematic of a subsystem (see page 533). If you
copy a Rotational Port block into the schematic of a subsystem, a terminal will
be created on the subsystem block. The name of the port block will appear as
the terminal label. If you choose to hide the block name by unselecting the
show name option in the block menu, the terminal label will also disappear.
Terminals can be moved around the edges of the subsystem by holding down
the Shift key while dragging the terminal with the left mouse button or by
using the middle mouse button.
Rotational Ports in a Top-Level Schematic
In the PLECS Blockset, if a Rotational Port is placed in a top-level schematic,
the PLECS Circuit block in the Simulink model will show a corresponding ro-
tational terminal, which may be connected with other rotational terminals of
the same or a different PLECS Circuit block. The Rotational Port is also as-
signed a unique physical port number. Together with the parameter Location
on circuit block the port number determines the position of the rotational
terminal of the PLECS Circuit block.
For compatibility reasons you can also place an Rotational Port in a top-level
schematic in PLECS Standalone. However, since there is no parent system to
connect to, such a port will act like an isolated node.
Parameter
Port number
If a Rotational Port is placed in a top-level schematic in the PLECS Block-
set, this parameter determines the position, at which the corresponding
terminal appears on the PLECS Circuit block.
Locationoncircuit block
If a Rotational Port is placed in a top-level schematic in the PLECS Block-
set, this parameter specifies the side of the PLECS Circuit block, on which
the corresponding terminal appears. By convention,
left
refers to the side,
on which also input terminals are shown, and
right
refers to the side, on
which also output terminals are shown.
485
13
Component Reference
Rotational Reference
Purpose
Connect to common rotational reference frame
Library
Mechanical / Rotational / Components
Description
The Rotational Reference implements a connection to the rotational reference
frame that has a fixed absolute angle of zero.
486
Rotational Speed (Constant)
Rotational Speed (Constant)
Purpose
Maintain constant rotational speed
Library
Mechanical / Rotational / Sources
Description
The Constant Rotational Speed maintains a constant angular speed between
its two flanges regardless of the torque required. The speed is considered posi-
tive at the flange marked with a “+”.
Note A speed source may not be short-circuited or connected in parallel with
other speed sources, nor may a speed source directly drive an inertia.
Parameters
Second flange
Controls whether the second flange is accessible or connected to the rota-
tional reference frame.
Speed
The magnitude of the speed, in
rad
s
.The default value is
1
.
Probe Signals
Torque
The generated torque  flowing from the unmarked to the marked flange,
in Newton meters (Nm).
Speed
The angular speed, in
rad
s
.
487
13
Component Reference
Rotational Speed (Controlled)
Purpose
Maintain variable rotational speed
Library
Mechanical / Rotational / Sources
Description
The Controlled Rotational Speed maintains a variable angular speed between
its two flanges regardless of the torque required. The speed is considered pos-
itive at the flange marked with a “+”. The momentary speed is determined by
the signal fed into the input of the component.
Note A speed source may not be short-circuited or connected in parallel with
other speed sources, nor may a speed source directly drive an inertia.
Parameters
Second flange
Controls whether the second flange is accessible or connected to the rota-
tional reference frame.
Allow state-space inlining
For expert use only! When set to
on
and the input signal is a linear com-
bination of mechanical measurements, PLECS will eliminate the input
variable from the state-space equations and substitute it with the corre-
sponding output variables. The default is
off
.
Probe Signals
Torque
The generated torque  flowing from the unmarked to the marked flange,
in Newton meters (Nm).
Speed
The angular speed, in
rad
s
.
488
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