model BasicAbsoluteAngularVelocity "Basic sensor to measure absolute angular velocity"
import Modelica.Mechanics.MultiBody.Frames;
import Modelica.Mechanics.MultiBody.Types.ResolveInFrameA;
extends Modelica.Mechanics.MultiBody.Sensors.Internal.PartialAbsoluteBaseSensor;
Modelica.Blocks.Interfaces.RealOutput w[3](each final quantity = "AngularVelocity", each final unit = "rad/s") "Absolute angular velocity vector"
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parameter Modelica.Mechanics.MultiBody.Types.ResolveInFrameA resolveInFrame = Modelica.Mechanics.MultiBody.Types.ResolveInFrameA.frame_a "Frame in which output vector w is resolved (world, frame_a, or frame_resolve)";
equation
if resolveInFrame == ResolveInFrameA.world then
w = Frames.angularVelocity1(frame_a.R);
elseif resolveInFrame == ResolveInFrameA.frame_a then
w = Frames.angularVelocity2(frame_a.R);
elseif resolveInFrame == ResolveInFrameA.frame_resolve then
w = Frames.resolveRelative(Frames.angularVelocity1(frame_a.R), frame_a.R, frame_resolve.R);
else
assert(false, "Wrong value for parameter resolveInFrame");
w = zeros(3);
end if;
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Documentation(info = "<html>\n<p>\nThis basic sensor is aimed to be used within advanced sensors where\nthe absolute angular velocity of frame_a should be determined.\nThis vector is provided at the output signal connector <strong>w</strong>.\n</p>\n\n<p>\nVia parameter <strong>resolveInFrame</strong> it is defined, in which frame\nthe angular velocity is resolved:\n</p>\n\n<table border=1 cellspacing=0 cellpadding=2>\n<tr><th><strong>resolveInFrame =<br>Types.ResolveInFrameA.</strong></th><th><strong>Meaning</strong></th></tr>\n<tr><td>world</td>\n <td>Resolve vector in world frame</td></tr>\n\n<tr><td>frame_a</td>\n <td>Resolve vector in frame_a</td></tr>\n\n<tr><td>frame_resolve</td>\n <td>Resolve vector in frame_resolve</td></tr>\n</table>\n\n<p>\nIn this basic sensor model, <strong>the connector frame_resolve\nis always enabled and must be connected</strong>.\nIf resolveInFrame = Types.ResolveInFrameA.frame_resolve, the vector w is\nresolved in the frame to which frame_resolve is connected.\n</p>\n\n<h4>Example</h4>\n<p>\nIf resolveInFrame = Types.ResolveInFrameA.frame_a, the output vector is\ncomputed as:\n</p>\n\n<blockquote><pre>\nw = MultiBody.Frames.angularVelocity2(frame_a.R);\n</pre></blockquote>\n</html>"));
end BasicAbsoluteAngularVelocity;