WOLFRAM SYSTEM MODELER
RelativeAngularVelocityMeasure relative angular velocity between two frame connectors |
SystemModel["Modelica.Mechanics.MultiBody.Sensors.RelativeAngularVelocity"]
This information is part of the Modelica Standard Library maintained by the Modelica Association.
The relative angular velocity between frame_a and frame_b is determined and 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. If resolveInFrame = Types.ResolveInFrameAB.frame_resolve, the vector w_rel is resolved in the frame to which frame_resolve is connected.
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);
resolveInFrame |
Value: Modelica.Mechanics.MultiBody.Types.ResolveInFrameAB.frame_a Type: ResolveInFrameAB Description: Frame in which output vector w_rel shall be resolved (world, frame_a, frame_b, or frame_resolve) |
---|
frame_a |
Type: Frame_a Description: Coordinate system a |
|
---|---|---|
frame_b |
Type: Frame_b Description: Coordinate system b |
|
w_rel |
Type: RealOutput[3] Description: Relative angular velocity vector between frame_a and frame_b resolved in frame defined by resolveInFrame |
|
frame_resolve |
Type: Frame_resolve Description: Coordinate system in which w_rel is optionally resolved |
relativeAngularVelocity |
Type: BasicRelativeAngularVelocity Description: Basic sensor to measure relative angular velocity |
|
---|---|---|
zeroPosition |
Type: ZeroPosition Description: Set absolute position vector of frame_resolve to a zero vector and the orientation object to a null rotation |
Modelica.Mechanics.MultiBody.Sensors Measure relative kinematic quantities between two frame connectors |