Rotational Mechanical Converter (MA)

Interface between moist air and mechanical rotational networks

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Libraries:
Simscape / Foundation Library / Moist Air / Elements

Description

The Rotational Mechanical Converter (MA) block models an interface between a moist air network and a mechanical rotational network. The block converts moist air pressure into mechanical torque and vice versa. You can use it as a building block for rotary actuators.

The converter contains a variable volume of moist air. The pressure and temperature evolve based on the compressibility and thermal capacity of this moist air volume. Liquid water condenses out of the moist air volume when it reaches saturation. The Mechanical orientation parameter lets you specify whether an increase in the moist air volume inside the converter results in a positive or negative rotation of port R relative to port C.

The block equations use these symbols. Subscripts a, w, g, and d indicate the properties of dry air, water vapor, trace gas, and water droplets, respectively. Subscript ws indicates water vapor at saturation. Subscripts A, H, and S indicate the appropriate port. Subscript I indicates the properties of the internal moist air volume.

$$\dot{m}$$	Mass flow rate
Φ	Energy flow rate
Q	Heat flow rate
p	Pressure
ρ	Density
R	Specific gas constant
V	Volume of moist air inside the converter
cp	Specific heat at constant volume
h	Specific enthalpy
u	Specific internal energy
x	Mass fraction (xw is specific humidity, which is another term for water vapor mass fraction)
y	Mole fraction
φ	Relative humidity
r	Humidity ratio
rd	Mass ratio of water droplets to moist air
T	Temperature
t	Time

The net flow rates into the moist air volume inside the converter are

$$\begin{array}{l}{\dot{m}}_{net}={\dot{m}}_A-{\dot{m}}_{condense}+{\dot{m}}_{wS}+{\dot{m}}_{gS}+{\dot{m}}_{d,evap}\\ {\Phi }_{net}={\Phi }_A+Q_H+{\Phi }_S-(1-{\lambda }_d){\dot{m}}_{condense}{h}_d\\ {\dot{m}}_{w,net}={\dot{m}}_{wA}-{\dot{m}}_{condense}+{\dot{m}}_{wS}+{\dot{m}}_{d,evap}\\ {\dot{m}}_{g,net}={\dot{m}}_{gA}+{\dot{m}}_{gS}\\ {\dot{m}}_{d,net}={\dot{m}}_{dA}+{\dot{m}}_{dS}+{\lambda }_d{\dot{m}}_{condense}-{\dot{m}}_{d,evap}\end{array}$$

where:

• $$\dot{m}$$_condense is the rate of condensation.

• $$\dot{m}$$_d,evap is the rate of water droplet evaporation.

• Φ_condense is the rate of energy loss from the condensed water.

• λ_d is the value of the Fraction of condensate entrained as water droplets parameter.

• Φ_S is the rate of energy added by the sources of moisture and trace gas. $${\dot{m}}_{wS}$$ and $${\dot{m}}_{gS}$$ are the mass flow rates of water and gas, respectively, through port S. The values of $${\dot{m}}_{wS}$$, $${\dot{m}}_{gS}$$, and Φ_S are determined by the moisture and trace gas sources connected to port S of the converter.

Water vapor mass conservation relates the water vapor mass flow rate to the dynamics of the humidity level in the internal moist air volume

$$\frac{d{x}_{wI}}{dt}{\rho }_{I}V+x_{wI}{\dot{m}}_{net}={\dot{m}}_{w,net}$$

Similarly, trace gas mass conservation relates the trace gas mass flow rate to the dynamics of the trace gas level in the internal moist air volume

$$\frac{d{x}_{gI}}{dt}{\rho }_{I}V+x_{gI}{\dot{m}}_{net}={\dot{m}}_{g,net}$$

The water droplets mass conservation equation relates the water droplet mass flow rate to the entrained water droplet dynamics in the internal moist air volume

$$\frac{d{r}_{dI}}{dt}{\rho }_{I}V+r_{dI}{\dot{m}}_{net}={\dot{m}}_{d,net}.$$

Mixture mass conservation relates the mixture mass flow rate to the dynamics of the pressure, temperature, and mass fractions of the internal moist air volume:

$$\left(\frac{1}{p_I}\frac{d{p}_I}{dt}-\frac{1}{T_I}\frac{d{T}_I}{dt}\right){\rho }_{I}V+\frac{R_a-R_w}{R_I}\left({\dot{m}}_{w,net}-x_w{\dot{m}}_{net}\right)+\frac{R_a-R_g}{R_I}\left({\dot{m}}_{g,net}-x_g{\dot{m}}_{net}\right)+{\rho }_I\dot{V}={\dot{m}}_{net}$$

where $$\dot{V}$$ is the rate of change of the converter volume.

Finally, energy conservation relates the energy flow rate to the dynamics of the pressure, temperature, and mass fractions of the internal moist air volume:

$$\left(c_{pI}-R_I+r_d{c}_{pd}\right)V{\rho }_I\frac{d{T}_I}{dt}+u_{aI}{\dot{m}}_{MA,net}+\left(u_{wI}-u_{aI}\right){\dot{m}}_{w,net}+\left(u_{gI}-u_{aI}\right){\dot{m}}_{g,net}+h_d{\dot{m}}_{d,net}={\Phi }_{net}-p_I\dot{V}$$

The equation of state relates the mixture density to the pressure and temperature:

$$p_I={\rho }_I{R}_I{T}_I$$

The mixture specific gas constant is

$$R_I=x_{aI}{R}_a+x_{wI}{R}_w+x_{gI}{R}_g$$

The converter volume depends on the rotation of the moving interface:

$$V=V_{dead}+D_{\mathrm{int}}{\theta }_{\mathrm{int}}{\epsilon }_{\mathrm{int}}$$

where:

• V_dead is the dead volume.

• D_int is the interface volume displacement.

• θ_int is the interface rotation.

• ε_int is the mechanical orientation coefficient. If Mechanical orientation is Pressure at A causes positive rotation of R relative to C, ε_int = 1. If Mechanical orientation is Pressure at A causes negative rotation of R relative to C, ε_int = –1.

If you connect the converter to a Multibody joint, use the physical signal input port q to specify the rotation of port R relative to port C. Otherwise, the block calculates the interface rotation from relative port angular velocities. The interface rotation is zero when the moist air volume inside the converter is equal to the dead volume. Then, depending on the Mechanical orientation parameter value:

• If Pressure at A causes positive rotation of R relative to C, the interface rotation increases when the moist air volume increases from dead volume.

• If Pressure at A causes negative rotation of R relative to C, the interface rotation decreases when the moist air volume increases from dead volume.

The torque balance on the mechanical interface is

$${\tau }_{\mathrm{int}}=\left(p_{env}-p_I\right)D_{\mathrm{int}}{\epsilon }_{\mathrm{int}}$$

where:

• τ_int is the torque from port R to port C.

• p_env is the environment pressure.

Flow resistance and thermal resistance are not modeled in the converter:

$$\begin{array}{l}{p}_A=p_I\\ T_H=T_I\end{array}$$

When the moist air volume reaches saturation, condensation may occur. The specific humidity at saturation is

$$x_{wsI}={\phi }_{ws}\frac{R_I}{R_w}\frac{p_{wsI}}{p_I}$$

where:

• φ_ws is the relative humidity at saturation (typically 1).

• p_wsI is the water vapor saturation pressure evaluated at T_I.

The rate of condensation is

$${\dot{m}}_{condense}=\{\begin{array}{ll}0,\hfill & \text{if }{x}_{wI}\le x_{wsI}\hfill \\ \frac{x_{wI}-x_{wsI}}{{\tau }_{condense}}{\rho }_{I}V,\hfill & \text{if }{x}_{wI}>x_{wsI}\hfill \end{array}$$

where τ_condense is the value of the Water vapor condensation time constant parameter.

The rate of evaporation is

$${\dot{m}}_{d,evap}=\frac{x_{wsI}-x_{wI}}{x_{wsI}{\tau }_{evap}}{r}_{dI}{\rho }_{I}V,$$

where τ_evap is the value of the Water droplets evaporation time constant parameter.

Assumptions and Limitations

• The converter casing is perfectly rigid.

• Flow resistance between the converter inlet and the moist air volume is not modeled. Connect a Local Restriction (MA) block or a Flow Resistance (MA) block to port A to model pressure losses associated with the inlet.

• Thermal resistance between port H and the moist air volume is not modeled. Use Thermal library blocks to model thermal resistances between the moist air mixture and the environment, including any thermal effects of a chamber wall.

• The moving interface is perfectly sealed.

• The block does not model the mechanical effects of the moving interface, such as hard stops, friction, and inertia.

Ports

Input

q — Rotation of port R relative to port C, rad

physical signal

Input physical signal that passes the position information from a Simscape™ Multibody™ joint. Connect this port to the position sensing port q of the joint. For more information, see Connecting Simscape Networks to Simscape Multibody Joints.

Dependencies

To enable this port, set the Interface rotation parameter to Provide input signal from Multibody joint.

Output

W — Rate of condensation leaving system, kg/s

physical signal

Physical signal output port that measures the rate of condensation that leaves the system. This value does not include the portion of condensation that is entrained as water droplets.

F — Vector physical signal containing pressure, temperature, humidity, and trace gas levels data

physical signal vector

Physical signal output port that outputs a vector signal. The vector contains the pressure (in Pa), temperature (in K), moisture level, and trace gas level measurements inside the component. Use the Measurement Selector (MA) block to unpack this vector signal.

Conserving

A — Converter inlet

moist air

Moist air conserving port associated with the converter inlet.

H — Temperature inside converter

thermal

Thermal conserving port associated with the temperature of the moist air mixture inside the converter.

R — Rod

mechanical rotational

Mechanical rotational conserving port associated with the moving interface.

C — Case

mechanical rotational

Mechanical rotational conserving port associated with the converter casing.

S — Inject or extract moisture and trace gas

moist air source

Connect this port to port S of a block from the Moisture & Trace Gas Sources library to add or remove moisture and trace gas. For more information, see Using Moisture and Trace Gas Sources.

Dependencies

This port is visible only if you set the Moisture and trace gas source parameter to Controlled.

Parameters

Main

Mechanical orientation — Select the converter orientation

Pressure at A causes positive rotation of R relative to C (default) | Pressure at A causes negative rotation of R relative to C

Select the alignment of moving interface with respect to the volume of moist air inside the converter:

• Pressure at A causes positive rotation of R relative to C — Increase in the moist air volume results in a positive rotation of port R relative to port C.

• Pressure at A causes negative rotation of R relative to C — Increase in the moist air volume results in a negative rotation of port R relative to port C.

Interface rotation — Select method to determine relative port positions

Calculate from angular velocity of port R relative to port C (default) | Provide input signal from Multibody joint

Select method to determine rotation of port R relative to port C:

• Calculate from angular velocity of port R relative to port C — Calculate rotation from relative port angular velocities, based on the block equations. This is the default method.

• Provide input signal from Multibody joint — Enable the input physical signal port q to pass the rotation information from a Multibody joint. Use this method only when you connect the converter to a Multibody joint by using a Rotational Multibody Interface block. For more information, see How to Pass Position Information.

Initial interface rotation — Rotational offset of port R relative to port C at the start of simulation

0 m (default)

Rotational offset of port R relative to port C at the start of simulation. A value of 0 corresponds to an initial moist air volume equal to Dead volume.

Dependencies

Enabled when the Interface rotation parameter is set to Calculate from angular velocity of port R relative to port C.

• If Mechanical orientation is Pressure at A causes positive rotation of R relative to C, the parameter value must be greater than or equal to 0.

• If Mechanical orientation is Pressure at A causes negative rotation of R relative to C, the parameter value must be less than or equal to 0.

Interface volume displacement — Displaced moist air volume per unit rotation

0.01 m^3/rad (default)

Displaced moist air volume per unit rotation of the moving interface.

Dead volume — Volume of moist air when the interface rotation is 0

1e-5 m^3 (default)

Volume of moist air when the interface rotation is 0.

Cross-sectional area at port A — Area normal to flow path at the converter inlet

0.01 m^2 (default)

Cross-sectional area of the converter inlet, in the direction normal to the moist air flow path.

Environment pressure specification — Select a specification method for the environment pressure

Atmospheric pressure (default) | Specified pressure

Select a specification method for the environment pressure:

• Atmospheric pressure — Use the atmospheric pressure, specified by the Moist Air Properties (MA) block connected to the circuit.

• Specified pressure — Specify a value by using the Environment pressure parameter.

Environment pressure — Pressure outside the converter

0.101325 MPa (default)

Pressure outside the converter acting against the pressure of the converter moist air volume. A value of 0 indicates that the converter expands into vacuum.

Dependencies

Enabled when the Environment pressure specification parameter is set to Specified pressure.

Moisture and Trace Gas

Relative humidity at saturation — Relative humidity above which condensation occurs

1 (default)

Relative humidity above which condensation occurs.

Water vapor condensation time constant — Time scale for condensation

1e-3 s (default) | positive scalar

Characteristic time scale at which an oversaturated moist air volume returns to saturation by condensing out excess moisture.

Water droplets evaporation time constant — Time scale for evaporation

1e-3 s (default) | positive scalar

Characteristic time scale at which water droplets evaporate to vapor.

Fraction of condensate entrained as water droplets — Fraction of condensate in water droplets

1 (default) | scalar in the range [0,1]

Fraction of the condensate in the moist air that is entrained as water droplets.

Moisture and trace gas source — Model moisture and trace gas levels

None (default) | Constant | Controlled

This parameter controls visibility of port S and provides these options for modeling moisture and trace gas levels inside the component:

• None — No moisture or trace gas is injected into or extracted from the block. Port S is hidden. This is the default.

• Constant — Moisture and trace gas are injected into or extracted from the block at a constant rate. The same parameters as in the Moisture Source (MA) and Trace Gas Source (MA) blocks become available in the Moisture and Trace Gas section of the block interface. Port S is hidden.

• Controlled — Moisture and trace gas are injected into or extracted from the block at a time-varying rate. Port S is exposed. Connect the Controlled Moisture Source (MA) and Controlled Trace Gas Source (MA) blocks to this port.

Moisture added or removed — Select whether the block adds or removes moisture as water vapor or water droplets

Water vapor (default) | Water droplets

Select whether the block adds or removes moisture as water vapor or water droplets.

Dependencies

To enable this parameter, set Moisture and trace gas source to Constant.

Water vapor evaporated from liquid or condensed to liquid — How the block adds or removes water vapor

off (default) | on

Select how the block adds or removes water vapor. If you clear this check box, the enthalpy of the added or removed moisture corresponds to the enthalpy of water vapor, which is greater than that of liquid water.

If you select this check box, the enthalpy of the added or removed moisture corresponds to the enthalpy of liquid water, which is less than that of water vapor. When water vapor is added, it evaporates from liquid and the latent heat is contributed by the connected fluid volume. When water vapor is removed, it condenses to liquid and the latent heat is released to the connected fluid volume.

Dependencies

To enable this parameter, set Moisture and trace gas source to Constant and Moisture added or removed to Water vapor.

Rate of moisture added — Constant mass flow rate through the block

0 kg/s (default)

Water vapor or water droplets mass flow rate through the block. A positive value adds moisture to the connected moist air volume. A negative value extracts moisture from that volume.

Dependencies

To enable this parameter, set Moisture and trace gas source to Constant.

Added moisture temperature specification — Select specification method for the temperature of added moisture

Atmospheric temperature (default) | Specified temperature

Select a specification method for the moisture temperature:

• Atmospheric temperature — Use the atmospheric temperature, specified by the Moist Air Properties (MA) block connected to the circuit.

• Specified temperature — Specify a value by using the Temperature of added moisture parameter.

Dependencies

To enable this parameter, set Moisture and trace gas source to Constant.

Temperature of added moisture — Moisture temperature

293.15 K (default)

Enter the desired temperature of added moisture. This temperature remains constant during simulation. The block uses this value to evaluate the specific enthalpy of the added moisture only. The specific enthalpy of removed moisture is based on the temperature of the connected moist air volume.

Dependencies

To enable this parameter, set Added moisture temperature specification to Specified temperature.

Rate of trace gas added — Constant mass flow rate through the block

0 kg/s (default)

Trace gas mass flow rate through the block. A positive value adds trace gas to the connected moist air volume. A negative value extracts trace gas from that volume.

Dependencies

To enable this parameter, set Moisture and trace gas source to Constant.

Added trace gas temperature specification — Select specification method for the temperature of added trace gas

Atmospheric temperature (default) | Specified temperature

Select a specification method for the trace gas temperature:

• Atmospheric temperature — Use the atmospheric temperature, specified by the Moist Air Properties (MA) block connected to the circuit.

• Specified temperature — Specify a value by using the Temperature of added trace gas parameter.

Dependencies

To enable this parameter, set Moisture and trace gas source to Constant.

Temperature of added trace gas — Trace gas temperature

293.15 K (default)

Enter the desired temperature of added trace gas. This temperature remains constant during simulation. The block uses this value to evaluate the specific enthalpy of the added trace gas only. The specific enthalpy of removed trace gas is based on the temperature of the connected moist air volume.

Dependencies

To enable this parameter, set Added trace gas temperature specification to Specified temperature.

Initial Conditions

Initial pressure — Moist air pressure at the start of simulation

0.101325 MPa (default) | positive scalar

Moist air pressure at the start of the simulation.

Initial pressure priority — Pressure parameter priority

High (default) | Low | None

Priority the solver assigns to the Initial pressure parameter when initializing the block.

Set this parameter to High to define your initial conditions. You may need to set this parameter to Low or None if this initial condition conflicts with the initial conditions of another block.

Initial temperature — Temperature at the start of simulation

293.15 K (default) | positive scalar

Initial moist air temperature.

Initial temperature priority — Temperature parameter priority

High (default) | Low | None

Priority the solver assigns to the Initial temperature parameter when initializing the block.

Set this parameter to High to define your initial conditions. You may need to set this parameter to Low or None if this initial condition conflicts with the initial conditions of another block.

Initial humidity specification — Humidity specification

Relative humidity (default) | Specific humidity | Mole fraction | Humidity ratio | Wet-bulb temperature

Method to specify the initial moist air humidity.

Initial relative humidity — Relative humidity at the start of simulation

0.5 (default) | scalar in the range of [0,1]

Relative humidity in the moist air at the start of the simulation. The relative humidity is the ratio of the water vapor partial pressure to the water vapor saturation pressure, or the ratio of the water vapor mole fraction to the water vapor mole fraction at saturation.

Dependencies

To enable this parameter, set Initial humidity specification to Relative humidity.

Initial relative humidity priority — Relative humidity parameter priority

High (default) | Low | None

Priority the solver assigns to the Initial relative humidity parameter when initializing the block.

Set this parameter to High to define your initial conditions. You may need to set this parameter to Low or None if this initial condition conflicts with the initial conditions of another block.

Dependencies

To enable this parameter, set Initial humidity specification to Relative humidity.

Initial specific humidity — Specific humidity at the start of simulation

0.01 (default) | scalar in the range of [0,1]

Specific humidity in the moist air at the start of simulation. The specific humidity is the mass fraction of water vapor to the combined total mass of water vapor, trace gas, and dry air.

Dependencies

To enable this parameter, set Initial humidity specification to Specific humidity.

Initial specific humidity priority — Specific humidity parameter priority

High (default) | Low | None

Priority the solver assigns to the Initial specific humidity parameter when initializing the block.

Set this parameter to High to define your initial conditions. You may need to set this parameter to Low or None if this initial condition conflicts with the initial conditions of another block.

Dependencies

To enable this parameter, set Initial humidity specification to Specific humidity.

Initial water vapor mole fraction — Mole fraction of water vapor at the start of simulation

0.01 (default) | scalar in the range [0,1]

Mole fraction of the water vapor in the moist air channel at the start of simulation. The water vapor mole fraction is relative to the combined molar quantity of water vapor, trace species, and dry air.

Dependencies

To enable this parameter, set Initial humidity specification to Mole fraction.

Initial water vapor mole fraction priority — Water vapor mole fraction humidity parameter priority

High (default) | Low | None

Priority the solver assigns to the Initial water vapor mole fraction parameter when initializing the block.

Set this parameter to High to define your initial conditions. You may need to set this parameter to Low or None if this initial condition conflicts with the initial conditions of another block.

Dependencies

To enable this parameter, set Initial humidity specification to Mole fraction.

Initial humidity ratio — Humidity ratio at the start of simulation

0.01 (default) | scalar in the range [0,1]

Humidity ratio in the moist air channel at the start of the simulation. The humidity ratio is the ratio of the mass of water vapor to the mass of dry air and trace gas.

Dependencies

To enable this parameter, set Initial humidity specification to Humidity ratio.

Initial humidity ratio priority — Humidity ratio parameter priority

High (default) | Low | None

Priority the solver assigns to the Initial humidity ratio humidity parameter when initializing the block.

Set this parameter to High to define your initial conditions. You may need to set this parameter to Low or None if this initial condition conflicts with the initial conditions of another block.

Dependencies

To enable this parameter, set Initial humidity specification to Humidity ratio.

Initial wet-bulb temperature — Wet-bulb temperature at the start of simulation

287 K (default) | scalar in the range [0,1]

Wet-bulb temperature at the start of the simulation. The block uses this value to calculate humidity.

Dependencies

To enable this parameter, set Initial humidity specification to Wet-bulb temperature.

Initial wet-bulb temperature priority — Wet-bulb temperature parameter priority

High (default) | Low | None

Priority the solver assigns to the Initial wet-bulb temperature parameter when initializing the block.

Set this parameter to High to define your initial conditions. You may need to set this parameter to Low or None if this initial condition conflicts with the initial conditions of another block.

Dependencies

To enable this parameter, set Initial humidity specification to Wet-bulb temperature.

Initial trace gas specification — Measurement type of trace gas

Mass fraction (default) | Mole fraction

Measurement type of trace gas.

Initial trace gas mass fraction — Amount of trace gas in the moist air channel

0.001 (default) | scalar in the range [0,1]

Amount of trace gas in the moist air by mass fraction at the start of the simulation. The mass fraction is relative to the combined total mass of water vapor, trace gas, and dry air.

The block ignores this parameter if the Trace gas model parameter in the Moist Air Properties (MA) block is None.

Dependencies

To enable this parameter, set Initial trace gas specification to Mass fraction.

Initial trace gas mass fraction priority — Trace gas mass fraction parameter priority

High (default) | Low | None

Priority the solver assigns to the Initial trace gas mass fraction priority parameter when initializing the block.

Set this parameter to High to define your initial conditions. You may need to set this parameter to Low or None if this initial condition conflicts with the initial conditions of another block.

Dependencies

To enable this parameter, set Initial trace gas specification to Mass fraction.

Initial trace gas mole fraction — Mole fraction of trace gas at the start of simulation

0.001 (default) | scalar in the range [0,1]

Amount of trace gas in the moist air channel by mole fraction at the start of the simulation. The mole fraction is relative to the combined molar total of water vapor, trace gas, and dry air.

The block ignores this parameter if the Trace gas model parameter in the Moist Air Properties (MA) block is None.

Dependencies

To enable this parameter, set Initial trace gas specification to Mole fraction.

Initial trace gas mole fraction priority — Trace gas mole fraction parameter priority

High (default) | Low | None

Priority the solver assigns to the Initial trace gas mole fraction priority parameter when initializing the block.

Set this parameter to High to define your initial conditions. You may need to set this parameter to Low or None if this initial condition conflicts with the initial conditions of another block.

Dependencies

To enable this parameter, set Initial trace gas specification to Mole fraction.

Initial mass ratio of water droplets to moist air — Ratio of water droplets to moist air

0 (default) | positive scalar

Initial mass ratio of water droplets to moist air.

Initial mass ratio of water droplets to moist air priority — Mass ratio of water droplets to moist air parameter priority

High (default) | Low | None

Priority the solver assigns to the Initial mass ratio of water droplets to moist air priority parameter when initializing the block.

Set this parameter to High to define your initial conditions. You may need to set this parameter to Low or None if this initial condition conflicts with the initial conditions of another block.

Extended Capabilities

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

Version History

Introduced in R2018a

R2024b: Updated options for initial conditions

You can now specify initial conditions for the block as parameters.

R2024b: Model water droplets suspended in moist air flow

Blocks in the moist air domain can now model water droplets suspended in a moist air flow. To model water droplets, select Enable entrained water droplets in the Moist Air Properties (MA) block connected to your moist air network.