Fix redundant equations when resolveInFrame=frame_resolve

dzimmer · Jun 19, 2023 · 5163bbd · 5163bbd
2 parents 2168af8 + 167fcd8
commit 5163bbd
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Showing 2 changed files with 31 additions and 6 deletions.
diff --git a/PlanarMechanics/Sources/QuadraticSpeedDependentForce.mo b/PlanarMechanics/Sources/QuadraticSpeedDependentForce.mo
@@ -49,7 +49,7 @@ public
     "Coordinate system fixed to the component with one cut-force and cut-torque"
     annotation (Placement(transformation(extent={{84,-16},{116,16}})));
 
-  Interfaces.Frame_resolve frame_resolve(fx = 0, fy = 0, t = 0)
+  Interfaces.Frame_resolve frame_resolve
     if resolveInFrameB == Modelica.Mechanics.MultiBody.Types.ResolveInFrameB.frame_resolve
     "Coordinate system in which vector is optionally resolved, if useExtraFrame is true"
     annotation (
@@ -99,11 +99,11 @@ equation
   connect(worldForce.frame_resolve, frame_resolve) annotation (Line(
       points={{30,-10},{0,-10},{0,-100}},
       color={95,95,95},
-      pattern=LinePattern.Dot));
+      thickness=0.5));
   connect(absoluteVelocity.frame_resolve, frame_resolve) annotation (Line(
       points={{30,30},{30,20},{0,20},{0,-100}},
       color={95,95,95},
-      pattern=LinePattern.Dot));
+      thickness=0.5));
   connect(absoluteVelocity.v, normalizeSpeeds.u) annotation (Line(
       points={{19,40},{2,40}},
       color={0,0,127}));
@@ -152,10 +152,31 @@ equation
     Documentation(
       info="<html>
 <p>
-Model of a&nbsp;force quadratic dependent on the velocity of the flange.
-The force can be resolved in a&nbsp;world frame, or a&nbsp;relative speed
-can be used by selecting resolve_frame to use the extra frame_resolve.
+A&nbsp;force applied on <code>frame_b</code> which is quadratic dependent on
+the velocity of this frame. Both the measured velocity and the applied force
+are resolved in the same frame which is defined via parameter
+<code>resolveInFrame</code> as follows:
 </p>
+
+<table border=\"1\" cellspacing=\"0\" cellpadding=\"2\">
+  <tr>
+    <th>Types.ResolveInFrameA.</th>
+    <th>Meaning</th>
+  </tr>
+  <tr>
+    <td>world</td>
+    <td>Resolve input force in world frame (= default)</td>
+  </tr>
+  <tr>
+    <td>frame_a</td>
+    <td>Resolve input force in frame_b</td>
+  </tr>
+  <tr>
+    <td>frame_resolve</td>
+    <td>Resolve input force in frame_resolve (frame_resolve must be connected)</td>
+  </tr>
+</table>
+
 <p>
 This model is e.g. suitable to simulate aerodynamic drag forces.
 </p>

diff --git a/PlanarMechanics/UsersGuide/ReleaseNotes.mo b/PlanarMechanics/UsersGuide/ReleaseNotes.mo
@@ -21,6 +21,10 @@ It is backwards compatible to previous library versions.
 
 <p>Improvements in this version:</p>
 <ul>
+  <li>
+    <a href=\"modelica://PlanarMechanics.Sources.QuadraticSpeedDependentForce\">QuadraticSpeedDependentForce</a>
+    Fix redundant equations when <code>resolveInFrame&nbsp;= frame_resolve</code>.
+  </li>
   <li>
     Types <a href=\"modelica://PlanarMechanics.Types.Color\">Color</a>
     and <a href=\"modelica://PlanarMechanics.Types.SpecularCoefficient\">SpecularCoefficient</a>