WOLFRAM SYSTEM MODELER

RelativeAcceleration

Measure relative acceleration between the origins of two frame connectors

Diagram

Wolfram Language

In[1]:=
SystemModel["PlanarMechanics.Sensors.RelativeAcceleration"]
Out[1]:=

Information

The relative acceleration vector between the origins of frame_a and of frame_b are determined and provided at the output signal connector a_rel.

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

Options of parameter resolveInFrame
resolveInFrame = … Output vector resolved in
Types.ResolveInFrameAB.world world frame
Types.ResolveInFrameAB.frame_a frame_a
Types.ResolveInFrameAB.frame_b frame_b
Types.ResolveInFrameAB.frame_resolve frame_resolve (must be connected)

If resolveInFrame = Types.ResolveInFrameAB.frame_resolve, the conditional connector frame_resolve is enabled and a_rel 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.ResolveInFrameAB.frame_resolve, the output vector is computed as:

r_rel = transpose([cos(frame_resolve.phi), -sin(frame_resolve.phi), 0; sin(frame_resolve.phi),cos(frame_resolve.phi), 0;0,0,1]) * [frame_b.x - frame_a.x;frame_b.y - frame_a.y;frame_b.phi - frame_a.phi]
v_rela = der(r_rel)
v_rel = transpose([cos(frame_resolve.phi), -sin(frame_resolve.phi),0;sin(frame_resolve.phi),cos(frame_resolve.phi),0;0,0,1]) * [cos(frame_a.phi),-sin(frame_a.phi), 0;sin(frame_a.phi), cos(frame_a.phi),0;0,0,1] * r_rela
a_rel = der(v_rel)

Parameters (1)

resolveInFrame

Value: Modelica.Mechanics.MultiBody.Types.ResolveInFrameAB.frame_a

Type: ResolveInFrameAB

Description: Frame in which output vector v_rel shall be resolved (1: world, 2: frame_a, 3: frame_b, 4: frame_resolve)

Connectors (4)

frame_a

Type: Frame_a

Description: Coordinate system a

frame_b

Type: Frame_b

Description: Coordinate system b

a_rel

Type: RealOutput[3]

Description: Vector of relative measurements from frame_a to frame_b on acceleration level, resolved in frame defined by resolveInFrame

frame_resolve

Type: Frame_resolve

Description: Coordinate system in which v_rel is optionally resolved

Components (5)

relativePosition

Type: RelativePosition

Description: Measure relative position and orientation between the origins of two frame connectors

zeroPosition

Type: ZeroPosition

Description: Set zero position vector and orientation object of frame_resolve

der_r_rel

Type: Der[3]

Description: Derivative of input (= analytic differentiations)

transformRelativeVector

Type: TransformRelativeVector

Description: Transform relative vector in to another frame

der_r_rel1

Type: Der[3]

Description: Derivative of input (= analytic differentiations)

Used in Examples (1)

MeasureDemo

PlanarMechanics.Examples

Measure demo

Revisions

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