WOLFRAM SYSTEM MODELER
RelativeVelocityMeasure relative velocity vector between the origins of two frame connectors |
SystemModel["Modelica.Mechanics.MultiBody.Sensors.RelativeVelocity"]
This information is part of the Modelica Standard Library maintained by the Modelica Association.
The relative velocity vector between the origins of frame_a and of frame_b are determined and provided at the output signal connector v_rel. This vector is defined as:
r_rel = MultiBody.Frames.resolve2(frame_a.R, frame_b.r_0 - frame_a.r_0); v_rel = der(r_rel);
Via parameter resolveInFrame it is defined, in which frame the velocity vector is resolved:
resolveInFrame = Types.ResolveInFrameAB. | Meaning |
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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 |
If resolveInFrame = Types.ResolveInFrameAB.frame_resolve, the conditional connector "frame_resolve" is enabled and v_rel is resolved in the frame, to which frame_resolve is connected. Note, if this connector is enabled, it must be connected.
If resolveInFrame = Types.ResolveInFrameAB.frame_b, the output vector is computed as:
r_rel = MultiBody.Frames.resolve2(frame_a.R, frame_b.r_0 - frame_a.r_0); v_rel_a = der(r_rel); v_rel = MultiBody.Frames.resolveRelative(frame_a.R, frame_b.R, v_rel_a);
resolveInFrame |
Value: Modelica.Mechanics.MultiBody.Types.ResolveInFrameAB.frame_a Type: ResolveInFrameAB Description: Frame in which output vector v_rel shall be resolved (world, frame_a, frame_b, or frame_resolve) |
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frame_a |
Type: Frame_a Description: Coordinate system a |
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frame_b |
Type: Frame_b Description: Coordinate system b |
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v_rel |
Type: RealOutput[3] Description: Relative velocity vector resolved in frame defined by resolveInFrame |
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frame_resolve |
Type: Frame_resolve Description: Coordinate system in which v_rel is optionally resolved |
relativePosition |
Type: RelativePosition Description: Measure relative position vector between the origins of two frame connectors |
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zeroPosition |
Type: ZeroPosition Description: Set absolute position vector of frame_resolve to a zero vector and the orientation object to a null rotation |
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der_r_rel |
Type: Der[3] Description: Derivative of input (= analytic differentiations) |
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transformRelativeVector |
Type: TransformRelativeVector Description: Transform relative vector in to another frame |