WOLFRAM SYSTEM MODELER
AbsoluteAccelerationMeasure absolute acceleration of origin of frame connector |
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Diagram
Wolfram Language
In[1]:=
SystemModel["PlanarMechanics.Sensors.AbsoluteAcceleration"]
Out[1]:=
Information
The absolute acceleration vector of the origin of frame_a
is determined and provided at the output signal connector a.
Via parameter resolveInFrame it is defined, in which frame
the acceleration vector is resolved.
| resolveInFrame = … | Output vector resolved in |
|---|---|
| Types.ResolveInFrameA.world | world frame |
| Types.ResolveInFrameA.frame_a | frame_a |
| Types.ResolveInFrameA.frame_resolve | frame_resolve (must be connected) |
If resolveInFrame = Types.ResolveInFrameA.frame_resolve,
the conditional connector frame_resolve is enabled
and a is resolved in the frame, to which
frame_resolve is connected.
Note, if this connector is enabled, it must be connected.
Example: If resolveInFrame = Types.ResolveInFrameA.frame_resolve,
the output vector is computed as:
![v0 = der([x,y,phi])](resources/PlanarMechanics.Sensors.AbsoluteAcceleration_info_001.png)
![v = [cos(frame_resolve.phi), sin(frame_resolve.phi),0;-sin(frame_resolve.phi),cos(frame_resolve.phi),0;0,0,1] * [v0[1];v0[2];v0[3]]](resources/PlanarMechanics.Sensors.AbsoluteAcceleration_info_002.png)
where [x y φ]
is position and angle vector of origin of frame_a resolved
in world frame.
Parameters (1)
| resolveInFrame |
Value: Modelica.Mechanics.MultiBody.Types.ResolveInFrameA.frame_a Type: ResolveInFrameA Description: Frame in which output vector v shall be resolved (1: world, 2: frame_a, 3: frame_resolve) |
|---|
Connectors (3)
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frame_a |
Type: Frame_a Description: Coordinate system at which the kinematic quantities are measured |
|---|---|---|
 |
a |
Type: RealOutput[3] Description: Vector of absolute measurements of frame_a on acceleration level, resolved in frame defined by resolveInFrame |
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frame_resolve |
Type: Frame_resolve Description: Coordinate system in which output vector v is optionally resolved |
Components (6)
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position |
Type: BasicAbsolutePosition Description: Measure absolute position and orientation (same as Sensors.AbsolutePosition, but frame_resolve is not conditional and must be connected) |
|---|---|---|
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der1 |
Type: Der[3] Description: Derivative of input (= analytic differentiations) |
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transformAbsoluteVector |
Type: TransformAbsoluteVector Description: Transform absolute vector in to another frame |
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zeroPosition |
Type: ZeroPosition Description: Set zero position vector and orientation object of frame_resolve |
|
zeroPosition1 |
Type: ZeroPosition Description: Set zero position vector and orientation object of frame_resolve |
|
der2 |
Type: Der[3] Description: Derivative of input (= analytic differentiations) |
Used in Examples (1)
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PlanarMechanics.Examples Measure demo |
Revisions
Developed 2010 at the DLR Institute of System Dynamics and Control