WOLFRAM SYSTEMMODELER

BasicRelativeAngularVelocity

Basic sensor to measure relative angular velocity

Wolfram Language

In[1]:=
SystemModel["Modelica.Mechanics.MultiBody.Sensors.Internal.BasicRelativeAngularVelocity"]
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 relative angular velocity between frame_a and frame_b should be determined. This vector is provided at the output signal connector w_rel.

Via parameter resolveInFrame it is defined, in which frame the angular velocity is resolved:

resolveInFrame =
Types.ResolveInFrameAB.
Meaning
world Resolve vector in world frame
frame_a Resolve vector in frame_a
frame_b Resolve vector in frame_b
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.ResolveInFrameAB.frame_resolve, the vector w_rel is resolved in the frame to which frame_resolve is connected.

Example

If resolveInFrame = Types.ResolveInFrameAB.frame_a, the output vector is computed as:

// Relative orientation object from frame_a to frame_b
R_rel = MultiBody.Frames.relativeRotation(frame_a.R, frame_b.R);

// Angular velocity resolved in frame_a
w_rel = MultiBody.Frames.angularVelocity1(R_rel);

Parameters (1)

resolveInFrame

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

Type: ResolveInFrameAB

Description: Frame in which output vector w_rel is resolved (world, frame_a, frame_b, or frame_resolve)

Connectors (4)

frame_a

Type: Frame_a

Description: Coordinate system a (measurement is between frame_a and frame_b)

frame_b

Type: Frame_b

Description: Coordinate system b (measurement is between frame_a and frame_b)

frame_resolve

Type: Frame_resolve

Description: Coordinate system in which vector is optionally resolved

w_rel

Type: RealOutput[3]

Description: Relative angular velocity vector

Components (1)

R_rel

Type: Orientation

Description: Relative orientation object from frame_a to frame_b

Used in Components (1)

RelativeAngularVelocity

Modelica.Mechanics.MultiBody.Sensors

Measure relative angular velocity between two frame connectors