WOLFRAM SYSTEMMODELER

AbsoluteVelocity

Measure absolute velocity vector of origin of frame connector

Diagram

Wolfram Language

In[1]:=
SystemModel["Modelica.Mechanics.MultiBody.Sensors.AbsoluteVelocity"]
Out[1]:=

Information

This information is part of the Modelica Standard Library maintained by the Modelica Association.

The absolute velocity vector of the origin of frame_a is determined and provided at the output signal connector v.

Via parameter resolveInFrame it is defined, in which frame the velocity vector 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 v 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:

v0 = der(frame_a.r_0);
v  = MultiBody.Frames.resolve2(frame_a.R, v0);

Parameters (1)

resolveInFrame

Value: Modelica.Mechanics.MultiBody.Types.ResolveInFrameA.frame_a

Type: ResolveInFrameA

Description: Frame in which output vector v shall be resolved (world, frame_a, or frame_resolve)

Connectors (3)

frame_a

Type: Frame_a

Description: Coordinate system a of which the absolute kinematic quantities are measured

v

Type: RealOutput[3]

Description: Absolute velocity vector resolved in frame defined by resolveInFrame

frame_resolve

Type: Frame_resolve

Description: Coordinate system in which output vector v is optionally resolved

Components (5)

position

Type: BasicAbsolutePosition

der1

Type: Der[3]

tansformAbsoluteVector

Type: TransformAbsoluteVector

zeroPosition

Type: ZeroPosition

zeroPosition1

Type: ZeroPosition

Used in Components (1)

AbsoluteSensor

Modelica.Mechanics.MultiBody.Sensors

Measure absolute kinematic quantities of frame connector