Bouncing Ball
This example is taken from the PowerDEVS software. It simulates a
ball bouncing down a stair.
The model represents the following equations:
dx/dt=vx
dvx/dt= -ba/m*vx
dy/dt=vy
dvy/dt=-g-ba/m*vy-sw*[b/m*vy+k/m*(y-int(h+1-x))]
where x and y are the horizontal and vertical position of the ball,
respectively, sw is equal to 0 if the ball is in the
air, and 0 if it touches the floor, ba is the air
friction constant, k is the spring constant, and b is a damping
constant. The function int(h+1-x) gives the height of the floor at
a given position. Note that h is the height of the first (top)
step, and we assume steps of 1m by 1m height and length.
The current ModelicaDEVS stairball model features the following
parameters: m=1, ba=0.1, k=100000, b=30, and the initial
conditions: x(0)=0.575, vx(0)=0.5, y(0)=10.5,
vy=0.
Output:
There are three output variables present: BallTrajectory,
BallTrajectoryDEVS and Stairs. The Stairs variable represents the
stairs, or in other words, it gives the current height of the
stairs. The BallTrajectoryDEVS variable shows the actual DEVS
simulation output, and the BallTrajectory is the interpolated
version of BallTrajectoryDEVS.
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.ModelicaDEVS.Examples.Miscellaneous.Stairball