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simscape.multibody.TorsionalSpringDamper class

Package: simscape.multibody
Superclasses: simscape.multibody.JointForceLaw

Construct torsional spring-damper force law

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=ks·(qq0)kdq˙,

where:

SymbolDescription
TApplied torque
q0Equilibrium position of the spring
ksSpring stiffness
kdDamping coefficient
qRevolute primitive position
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

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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

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

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