WOLFRAM SYSTEM MODELER
BasicAbsoluteAngularVelocityBasic sensor to measure absolute angular velocity |
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Wolfram Language
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SystemModel["Modelica.Mechanics.MultiBody.Sensors.Internal.BasicAbsoluteAngularVelocity"]
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Information
This information is part of the Modelica Standard Library maintained by the Modelica Association.
This basic sensor is aimed to be used within advanced sensors where the absolute angular velocity of frame_a should be determined. This vector is 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 |
In this basic sensor model, the connector frame_resolve is always enabled and must be connected. If resolveInFrame = Types.ResolveInFrameA.frame_resolve, the vector w is resolved in the frame to which frame_resolve is 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 is 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 from which kinematic quantities are measured |
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frame_resolve |
Type: Frame_resolve Description: Coordinate system in which output vector(s) is optionally resolved |
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w |
Type: RealOutput[3] Description: Absolute angular velocity vector |
Used in Components (1)
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Modelica.Mechanics.MultiBody.Sensors Measure absolute angular velocity of frame connector |