WOLFRAM SYSTEM MODELER
AbsoluteVelocityMeasure absolute velocity vector of origin of frame connector |
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Diagram
Wolfram Language
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SystemModel["Modelica.Mechanics.MultiBody.Sensors.AbsoluteVelocity"]
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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) |
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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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v |
Type: RealOutput[3] Description: Absolute velocity vector resolved in frame defined by resolveInFrame |
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frame_resolve |
Type: Frame_resolve Description: Coordinate system in which output vector v is optionally resolved |
Components (5)
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position |
Type: BasicAbsolutePosition Description: Basic sensor to measure absolute position vector |
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der1 |
Type: Der[3] Description: Derivative of input (= analytic differentiations) |
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transformAbsoluteVector |
Type: TransformAbsoluteVector Description: Transform absolute vector in to another frame |
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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 |
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zeroPosition1 |
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 |