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WOLFRAM SYSTEM MODELER

AbsoluteVelocity

Measure absolute velocity of origin of frame connector

Diagram

Wolfram Language

In[1]:=

SystemModel["PlanarMechanics.Sensors.AbsoluteVelocity"]

Out[1]:=

Information

The absolute velocity vector of the origin of frame_a is determined and provided at the output signal connector v.

Via parameter resolveInFrame it is defined, in which frame the velocity vector is resolved.

Options of parameter **resolveInFrame**
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 v 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:

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]]

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)

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)

	frame_a	Type: Frame_a Description: Coordinate system at which the kinematic quantities are measured
	v	Type: RealOutput[3] Description: Vector of absolute measurements of frame_a on velocity level, resolved in frame defined by resolveInFrame
	frame_resolve	Type: Frame_resolve Description: Coordinate system in which output vector v is optionally resolved

frame_a

Type: Frame_a

Description: Coordinate system at which the kinematic quantities are measured

Type: RealOutput[3]

Description: Vector of absolute measurements of frame_a on velocity level, resolved in frame defined by resolveInFrame

frame_resolve

Type: Frame_resolve

Description: Coordinate system in which output vector v is optionally resolved

Components (5)

	position	Type: BasicAbsolutePosition Description: Measure absolute position and orientation (same as Sensors.AbsolutePosition, but frame_resolve is not conditional and must be connected)
	der1	Type: Der[3] Description: Derivative of input (= analytic differentiations)
	transformAbsoluteVector	Type: TransformAbsoluteVector Description: Transform absolute vector in to another frame
	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