-- c:\epd\SystemVision.1\sim\2003.2\systemvision\win32\edulib\v3.0_2.1\Rotational/stop_r.vhd
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-- Copyright (c) 2003 Mentor Graphics Corporation
--
-- This model is a component of the Mentor Graphics VHDL-AMS educational open 
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-- File       : stop_r.vhd
-- Author     : Mentor Graphics
-- Created    : 2001/10/10
-- Last update: 2003-05-13
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-- Description: Mechanical Hard Stop (ROTATIONAL domain)
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-- Revisions  :
-- Date        Version     Author              Description
-- 2001/06/16  1.0         Mentor Graphics     Created
-- 2002/05/24  1.1         Mentor Graphics     Changed constants to type angle
-- 2003-04-02  1.2         Mentor Graphics     IEEE package update v1.3
-------------------------------------------------------------------------------

library IEEE;
use IEEE.MATH_REAL.all;
use IEEE.MECHANICAL_SYSTEMS.all;

entity stop_r is

  generic (
    k_stop    : stiffness;              -- Stiffness of hard stop [N/m]
    damp_stop : damping := 1.0e-9;      -- Damping of hard stop [N-sec/m]
    ang_max   : angle;                  -- Max angle [Radians]
    ang_min   : angle   := 0.0          -- Min angle [Radians]
    );

  port ( terminal ang1, ang2 : rotational);

end entity stop_r;

architecture ideal of stop_r is

  quantity velocity : velocity;
  quantity ang across trq through ang1 to ang2;

begin

  velocity == ang'dot;

  if ang'above(ang_max) use
    trq == k_stop * (ang - ang_max) + (damp_stop * velocity);
  elsif ang'above(ang_min) use
    trq   == 0.0;
  else
    trq   == k_stop * (ang - ang_min) + (damp_stop * velocity);
  end use;

break on ang'above(ang_min), ang'above(ang_max);

end architecture ideal;

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-- Copyright (c) 2003 Mentor Graphics Corporation
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