model AbsoluteAcceleration "Measure absolute acceleration of origin of frame connector"
extends Internal.PartialAbsoluteSensor;
Modelica.Blocks.Interfaces.RealOutput a[3](final quantity = {"Acceleration", "Acceleration", "AngularAcceleration"}, final unit = {"m/s2", "m/s2", "rad/s2"}) "Vector of absolute measurements of frame_a on acceleration level, resolved in frame defined by resolveInFrame"
annotation (Placement(transformation(
extent = {
{-10, -10},
{10, 10}},
origin = {110, 0})));
Interfaces.Frame_resolve frame_resolve if resolveInFrame == Modelica.Mechanics.MultiBody.Types.ResolveInFrameA.frame_resolve "Coordinate system in which output vector v is optionally resolved"
annotation (Placement(transformation(
extent = {
{-16, -16},
{16, 16}},
rotation = -90,
origin = {0, -100})));
parameter Modelica.Mechanics.MultiBody.Types.ResolveInFrameA resolveInFrame = Modelica.Mechanics.MultiBody.Types.ResolveInFrameA.frame_a "Frame in which output vector v shall be resolved (1: world, 2: frame_a, 3: frame_resolve)";
protected
Internal.BasicAbsolutePosition position(resolveInFrame = Modelica.Mechanics.MultiBody.Types.ResolveInFrameA.world) annotation (Placement(transformation(extent = {
{-60, -10},
{-40, 10}})));
Modelica.Blocks.Continuous.Der der1[3] annotation (Placement(transformation(extent = {
{-30, -10},
{-10, 10}})));
TransformAbsoluteVector transformAbsoluteVector(frame_r_in = position.resolveInFrame, frame_r_out = resolveInFrame) annotation (Placement(transformation(
extent = {
{10, -10},
{-10, 10}},
rotation = 90,
origin = {50, 0})));
Interfaces.ZeroPosition zeroPosition annotation (Placement(transformation(extent = {
{-60, -60},
{-80, -40}})));
Interfaces.ZeroPosition zeroPosition1 if not resolveInFrame == Modelica.Mechanics.MultiBody.Types.ResolveInFrameA.frame_resolve annotation (Placement(transformation(extent = {
{60, -60},
{80, -40}})));
Modelica.Blocks.Continuous.Der der2[3] annotation (Placement(transformation(extent = {
{10, -10},
{30, 10}})));
equation
connect(der1.y,der2.u) annotation (Line(
points = {
{-9, 0},
{8, 0}},
color = {0, 0, 127}));
connect(der2.y,transformAbsoluteVector.r_in) annotation (Line(
points = {
{31, 0},
{38, 0}},
color = {0, 0, 127}));
connect(position.r,der1.u) annotation (Line(
points = {
{-39, 0},
{-32, 0}},
color = {0, 0, 127}));
connect(position.frame_a,frame_a) annotation (Line(
points = {
{-60, 0},
{-70, 0},
{-70, 0},
{-80, 0},
{-80, 0},
{-100, 0}},
color = {95, 95, 95},
thickness = 0.5));
connect(zeroPosition.frame_resolve,position.frame_resolve) annotation (Line(
points = {
{-60, -50},
{-50, -50},
{-50, -10}},
color = {95, 95, 95},
pattern = LinePattern.Dot));
connect(transformAbsoluteVector.frame_a,frame_a) annotation (Line(
points = {
{50, 10},
{50, 20},
{-70, 20},
{-70, 0},
{-100, 0}},
color = {95, 95, 95},
thickness = 0.5));
connect(transformAbsoluteVector.r_out,a) annotation (Line(
points = {
{61, 0},
{110, 0}},
color = {0, 0, 127}));
connect(transformAbsoluteVector.frame_resolve,frame_resolve) annotation (Line(
points = {
{49.9, -10},
{50, -10},
{50, -50},
{0, -50},
{0, -100}},
color = {95, 95, 95},
pattern = LinePattern.Dot));
connect(transformAbsoluteVector.frame_resolve,zeroPosition1.frame_resolve) annotation (Line(
points = {
{49.9, -10},
{50, -10},
{50, -50},
{60, -50}},
color = {95, 95, 95},
pattern = LinePattern.Dot));
annotation (
Icon(
coordinateSystem(
preserveAspectRatio = true,
extent = {
{-100, -100},
{100, 100}}),
graphics = {
Line(
points = {
{70, 0},
{100, 0}},
color = {0, 0, 127}),
Text(
extent = {
{58, 48},
{142, 18}},
textString = "acc",
textColor = {0, 0, 0}),
Text(
extent = {
{15, -67},
{146, -92}},
textColor = {95, 95, 95},
textString = "resolve"),
Line(
points = {
{0, -70},
{0, -95}},
color = {95, 95, 95},
pattern = LinePattern.Dot),
Text(
extent = {
{-150, 120},
{150, 80}},
textString = "%name",
textColor = {0, 0, 255})}),
Documentation(
revisions = "<html>\n<p>\n<img src=\"modelica://PlanarMechanics/Resources/Images/dlr_logo.png\" alt=\"DLR logo\">\n<strong>Developed 2010 at the DLR Institute of System Dynamics and Control</strong>\n</p>\n</html>",
info = "<html>\n<p>\nThe absolute acceleration vector of the origin of <code>frame_a</code>\nis determined and provided at the output signal connector <code>a</code>.\n</p>\n<p>\nVia parameter <code>resolveInFrame</code> it is defined, in which frame\nthe acceleration vector is resolved.\n</p>\n\n<table border=\"1\" cellspacing=\"0\" cellpadding=\"2\">\n <caption align=\"bottom\">Options of parameter <strong>resolveInFrame</strong></caption>\n <tr>\n <th>resolveInFrame = …</th>\n <th>Output vector resolved in</th>\n </tr>\n <tr>\n <td valign=\"top\">Types.ResolveInFrameA.world</td>\n <td valign=\"top\">world frame</td>\n </tr>\n <tr>\n <td valign=\"top\">Types.ResolveInFrameA.frame_a</td>\n <td valign=\"top\">frame_a</td>\n </tr>\n <tr>\n <td valign=\"top\">Types.ResolveInFrameA.frame_resolve</td>\n <td valign=\"top\">frame_resolve (must be connected)</td>\n </tr>\n</table>\n\n<p>\nIf <code>resolveInFrame = Types.ResolveInFrameA.frame_resolve</code>,\nthe conditional connector <code>frame_resolve</code> is enabled\nand <code>a</code> is resolved in the frame, to which\n<code>frame_resolve</code> is connected.\nNote, if this connector is enabled, it must be connected.\n</p>\n<p>\nExample: If <code>resolveInFrame = Types.ResolveInFrameA.frame_resolve</code>,\nthe output vector is computed as:\n</p>\n<div>\n<img src=\"modelica://PlanarMechanics/Resources/Images/equations/equation-x2brh9fX.png\" alt=\"v0 = der([x,y,phi])\"/>\n</div>\n<div>\n<img src=\"modelica://PlanarMechanics/Resources/Images/equations/equation-Kgd1NoyE.png\" alt=\"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]]\"/>\n</div>\n<div>\n<img src=\"modelica://PlanarMechanics/Resources/Images/equations/equation-FoL9Qy7b.png\" alt=\"a = der(v)\"/>\n</div>\n<p>\nwhere [<var>x</var> <var>y</var> <var>φ</var>]\nis position and angle vector of origin of <code>frame_a</code> resolved\nin world frame.\n</p>\n</html>"));
end AbsoluteAcceleration;