External Force and Torque

Apply external force and/or torque to connected frame

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Libraries:
Simscape / Multibody / Forces and Torques

Description

The External Force and Torque block applies the external force and/or torque to the frame that connects to the F port of the block. The forces act at the origin of the frame and the torques act about the corresponding axes of the frame. The block accepts physical signals to specify the forces and torques. The signal can be a constant or time-varying value throughout a simulation.

You can specify the resolution frame to resolve the force and torque inputs. A force input with a positive value acts along the positive direction of the associated frame axis. A torque input with a positive value acts about the associated frame axis according to the right-hand rule.

Ports

Frame

F — Follower frame

frame

Follower frame at which the external forces and torques apply.

Input

Force

fx — External force along x-axis

physical signal

Physical signal port that accepts the external force in the x-direction of the force resolution frame. The input signal is a scalar that can vary over time.

Dependencies

To enable this port, under Force, select Force (X).

fy — External force along y-axis

physical signal

Physical signal port that accepts the external force in the y-direction of the force resolution frame. The input signal is a scalar that can vary over time.

Dependencies

To enable this port, under Force, select Force (Y).

fz — External force along z-axis

physical signal

Physical signal port that accepts the external force in the z-direction of the force resolution frame. The input signal is a scalar that can vary over time.

Dependencies

To enable this port, under Force, select Force (Z).

f — External force vector

physical signal

Physical signal port that accepts the external force. The input signal is a 1-by-3 or 3-by-1 vector, [F_x F_y F_z], that can vary over time.

Dependencies

To enable this port, under Force, select Force.

Torque

tx — External torque about x-axis

physical signal

Physical signal port that accepts the external torque about the x-axis of the torque resolution frame. The input signal is a scalar that can vary over time.

Dependencies

To enable this port, under Torque, select Torque (X).

ty — External torque about y-axis

physical signal

Physical signal port that accepts the external torque about the y-axis of the torque resolution frame. The input signal is a scalar that can vary over time.

Dependencies

To enable this port, under Torque, select Torque (Y).

tz — External torque about z-axis

physical signal

Physical signal port that accepts the external torque about the z-axis of the torque resolution frame. The input signal is a scalar that can vary over time.

Dependencies

To enable this port, under Torque, select Torque (Z).

t — External torque vector

physical signal

Physical signal port that accepts the external torque. The input signal is a 1-by-3 or 3-by-1 vector, [T_x T_y T_z], that can vary over time.

Dependencies

To enable this port, under Torque, select Torque.

Parameters

Force

Force Resolution Frame — Frame to use to resolve each force input

Attached Frame (default) | World

Frame used to resolve the force inputs, specified as:

• Attached Frame — The block resolves the inputs in the frame that connects to the follower frame of the External Force and Torque block.

• World — The block resolves the inputs in the world frame of the model.

Torque

Torque Resolution Frame — Frame to use to resolve each torque input

Attached Frame (default) | World

Frame used to resolve the torque inputs, specified as:

• Attached Frame — The block resolves the inputs in the frame that connects to the follower frame of the External Force and Torque block.

• World — The block resolves the inputs in the world frame of the model.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.

Version History

Introduced in R2012a