WOLFRAM SYSTEMMODELER

RelativeAngularVelocity

Measure relative angular velocity between two frame connectors

Diagram

Wolfram Language

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

Information

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.

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 shall be resolved (world, frame_a, frame_b, or frame_resolve)

Connectors (4)

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

Components (2)

relativeAngularVelocity

Type: BasicRelativeAngularVelocity

zeroPosition

Type: ZeroPosition

Used in Components (1)

RelativeSensor

Modelica.Mechanics.MultiBody.Sensors

Measure relative kinematic quantities between two frame connectors