WOLFRAM SYSTEM MODELER
AbsoluteAngularVelocityMeasure absolute angular velocity of frame connector |
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Diagram
Wolfram Language
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SystemModel["Modelica.Mechanics.MultiBody.Sensors.AbsoluteAngularVelocity"]
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Information
This information is part of the Modelica Standard Library maintained by the Modelica Association.
The absolute angular velocity of frame_a with respect to the world frame is determined and provided at the output signal connector w.
Via parameter resolveInFrame it is defined, in which frame the angular velocity is resolved:
| resolveInFrame = Types.ResolveInFrameA. | Meaning |
|---|---|
| world | Resolve vector in world frame |
| frame_a | Resolve vector in frame_a |
| frame_resolve | Resolve vector in frame_resolve |
If resolveInFrame = Types.ResolveInFrameA.frame_resolve, the conditional connector "frame_resolve" is enabled and w is resolved in the frame, to which frame_resolve is connected. Note, if this connector is enabled, it must be connected.
Example
If resolveInFrame = Types.ResolveInFrameA.frame_a, the output vector is computed as:
w = MultiBody.Frames.angularVelocity2(frame_a.R);
Parameters (1)
| resolveInFrame |
Value: Modelica.Mechanics.MultiBody.Types.ResolveInFrameA.frame_a Type: ResolveInFrameA Description: Frame in which output vector w shall be resolved (world, frame_a, or frame_resolve) |
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Connectors (3)
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frame_a |
Type: Frame_a Description: Coordinate system a of which the absolute kinematic quantities are measured |
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w |
Type: RealOutput[3] Description: Absolute angular velocity vector of frame_a with respect to world frame, resolved in frame defined by resolveInFrame |
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frame_resolve |
Type: Frame_resolve Description: Coordinate system in which w is optionally resolved |
Components (2)
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angularVelocity |
Type: BasicAbsoluteAngularVelocity Description: Basic sensor to measure absolute angular velocity |
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zeroPosition |
Type: ZeroPosition Description: Set absolute position vector of frame_resolve to a zero vector and the orientation object to a null rotation |
Used in Components (1)
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Modelica.Mechanics.MultiBody.Sensors Measure absolute kinematic quantities of frame connector |