Dog Clutch - MapleSim Help

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Dog Clutch

Dog Clutch component

The Dog Clutch component models a clutch where the coupling of the two sides is achieved by the engagement of toothed connections between the two shafts (as opposed to friction in normal clutches). A typical usage of dog clutches is in manual transmissions.

Geometry

The Dog Clutch geometry is defined by two parameters; and as shown in the figure below.

Equations

and

(`ϕ`)[rel ] = {[[0,state= 0],[`ϕ`[rel] - gap * floor((`ϕ`[rel])/(gap)), state <> 0 and `ϕ`[rel] >= 0],[`ϕ`[rel] - gap * ceil((`ϕ`[rel])/(gap)), state <> 0 and `ϕ`[rel] < 0]]

tau[b] = piecewise(state = 2, s*a, state <> 2, 0)

The contact between the teeth on the two sides of the Dog Clutch is modeled using linear angular springs and dampers:

where

tau[k] ={[[{[[c * ((`ϕ`)[rel ] + gap - epsilon), -gap < ((`ϕ`))[rel] <= -gap + epsilon ],[c * ((`ϕ`)[rel ] + epsilon), - epsilon <= (`ϕ`)[rel ] < 0],[c * ((`ϕ`)[rel ] - epsilon),0 <= ((`ϕ`))[rel ] <= epsilon],[c * ((`ϕ`)[rel ] - gap + epsilon),gap - epsilon <= ((`ϕ`))[rel] < gap]],state=2],[0,otherwise]]

and

State Machine Definition

The Dog Clutch has three distinct states as shown in the figure below.

The boolean output locked is defined as

locked = piecewise(state <> 2, 0, state = 2, 1)

Connections

Name	Condition	Description	ID
	-	Flange to side a	flange_a
	-	Flange to side b	flange_b
signal	-	Real input signal for clutch activation, from 0 (disengaged) to 1 (engaged)	signal
	-	Boolean output port for the clutch state false: free true: locked	state_locked

Parameters

Symbol	Condition	Default	Units	Description	ID
	-		rad	see "Geometry" section above	gap
			rad	see "Geometry" section above	epsilon
	-			Angular teeth stiffness	c
				Angular teeth damping	d