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Rotational Spring - Simulate ideal spring in mechanical rotational systems

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Mechanical Rotational Elements

The Rotational Spring block represents an ideal mechanical rotational linear spring, described with the following equations:

where

`T`	Torque transmitted through the spring
`K`	Spring rate
φ	Relative displacement angle (spring deformation)
φ_init	Spring preliminary winding (spring offset)
φ_R,φ_C	Absolute angular displacements of terminals R and C, respectively
ω	Relative angular velocity
`t`	Time

The block positive direction is from port R to port C. This means that the torque is positive if it acts in the direction from R to C.

Spring rate: Spring rate. The default value is 10 N*m/rad.
Initial deformation: Spring initial deformation, or offset, in angular units. The deformation is determined as φ = φ_init + φ_R – φ_C, where φ_init is the initial deformation, and φ_R,φ_Care the absolute angular displacements of terminals R and C in the globally assigned positive direction. The spring can be initially compressed (φ_init > 0) or stretched (φ_init< 0). This parameter specifies the initial condition for use in computing the block's initial state at the beginning of a simulation run. For more information, see Computing Initial Conditions. The default value is 0.

The block has the following ports: