WOLFRAM SYSTEMMODELER

BasicAbsoluteAngularVelocity

Basic sensor to measure absolute angular velocity

Wolfram Language

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

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)

Connectors (3)

frame_a

Type: Frame_a

Description: Coordinate system from which kinematic quantities are measured

frame_resolve

Type: Frame_resolve

Description: Coordinate system in which output vector(s) is optionally resolved

w

Type: RealOutput[3]

Description: Absolute angular velocity vector

Used in Components (1)

AbsoluteAngularVelocity

Modelica.Mechanics.MultiBody.Sensors

Measure absolute angular velocity of frame connector