DriveTrain/ManualClutch.openplx
ManualClutch

ManualClutch is Physics1D.Interactions.Mate:
    with Physics.Signals.Torque1DOutputTrait
    with Physics.Signals.RelativeVelocity1DOutputTrait
    with Physics.Signals.FractionInputTrait
    with Physics.Signals.FractionOutputTrait
    .doc: """
Single disk plate clutch with dry friction. Input and output shafts are
connected to plates with rough surfaces.  A spring loaded mechanism increases
the normal force between the plates between a minimum and maximum, giving rise
to the concept of torque capacity.  When the plates are at maximum distance
from each other, no force is transmitted.  When they are at zero distance,
maximum pressure is applied.

Together with Coulomb friction, this keeps the plates rotating at nearly the
same angular velocity untill the stick-slip transition is reached,
alternately, when the torque required to move the output shaft at the same
velocity as the input shaft reaches the torque capacity.  This happens when
the load on the output shaft is too difficult to move.  If the two disks move
relative to each other, this is called slipping and is measured with a
ClutchSlipVelocity1DOutput at any time.

The engagement_fraction here represents the value of the torque capacity in
proportion to the maximum capacity, i.e., when the plates are fully closed,
i.e., maximum normal force is achieved.  As for most clutches, this model
includes a "locked" mode in which a clamp is activated to prevent any slip.
This stays "ON" until the clutch is disengaged, or if the output shaft starts
to move faster but in the same direction as the input shaft, as in the case of
dynamic breaking.

For a small enough relative slip ratio, when the slip velocity is small
in proportion to the input shaft velocity, defined by min_relative_slip_ratio.
The copuling is considered perfect, and no slip is anymore possible.
The Clutch may slip again either when it is disengaged or when
the clutch torque is negative -> dynamic braking.
"""

    initial_engagement_fraction is Real
    torque_capacity is Real
    min_relative_slip_ratio is Real

    slip_velocity_output is Physics.Signals.RelativeVelocity1DOutput:
        source: this
        enabled: false
    torque_output is Physics.Signals.Torque1DOutput:
        source: this
        enabled: false
    engagement_fraction_input is Physics.Signals.FractionInput:
        source: this
    engagement_fraction_output is Physics.Signals.FractionOutput:
        source: this
        enabled: false