BasicRelativeAngularVelocity
Basic sensor to measure relative angular velocity
Library
Modelica/Mechanics/MultiBody/Sensors/Internal
Description
This basic sensor is aimed to be used within advanced sensors where the relative angular velocity between frame_a and frame_b should be determined. This vector is 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 and must be connected. 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
| Name | Label | Description | Data Type | Valid Values |
|---|---|---|---|---|
mo_resolveInFrame | resolveInFrame | Frame in which output vector w_rel is resolved (world, frame_a, frame_b, or frame_resolve) | Structure | |
mo_resolveInFrame/choice1 | Resolve in world frame | Number | 0 | |
mo_resolveInFrame/choice2 | Resolve in frame_a | Number | 0 | |
mo_resolveInFrame/choice3 | Resolve in frame_b | Number | 0 | |
mo_resolveInFrame/choice4 | Resolve in frame_resolve (frame_resolve must be connected) | Number | 0 |
| Name | Label | Description | Data Type | Valid Values |
|---|---|---|---|---|
mo_w_rel | w_rel | w_rel | Structure | |
mo_w_rel/fixed | fixed | Cell of vectors of size 3 | true | |
mo_w_rel/start | start | Cell of vectors of size 3 |
Ports
| Name | Type | Description | IO Type | Number |
|---|---|---|---|---|
frame_a | implicit | Coordinate system a (measurement is between frame_a and frame_b) | input | 1 |
frame_b | implicit | Coordinate system b (measurement is between frame_a and frame_b) | output | 1 |
frame_resolve | implicit | Coordinate system in which vector is optionally resolved | output | 2 |
w_rel | implicit | Relative angular velocity vector | output | 3 |