This example shows a capstan represented by a Belt Pulley block from the Simscape™ Driveline™ library. A 100-N tension applied to belt end B holds a variable load at end A in place, even as the load increases. When the load force increases past the friction limit, the belt slips. Increasing the friction by using a higher friction coefficient or wrap angle allows the pulley to hold an even greater load force. This example also shows how suddenly turning the capstan, starting at 3 seconds, causes momentary slip, which is quickly recovered.
The plots show:
1. The relative velocity between the capstan and the belt along with the holding force speed.
2. The capstan torque required to produce a change in the rotational speed and to resist the holding and load forces.
3. How the load force eventually exceeds the capstan force limit and causes slip.