model CutTorque "Measure cut torque"
extends Internal.PartialCutTorqueSensor;
Modelica.Blocks.Interfaces.RealOutput torque(final quantity = "Torque", final unit = "N.m") "Cut torque resolved in frame defined by resolveInFrame"
annotation (Placement(transformation(
origin = {-80, -110},
extent = {
{10, -10},
{-10, 10}},
rotation = 90)));
parameter Boolean animation = true "= true, if animation shall be enabled (show arrow)";
parameter Boolean positiveSign = true "= true, if torque with positive sign is returned (= frame_a.t), otherwise with negative sign (= frame_b.t)";
input Real Nm_to_m(unit = "N.m/m") = planarWorld.defaultNm_to_m "Torque arrow scaling (length = torque/Nm_to_m)"
annotation (Dialog(
group = "if animation = true",
enable = animation));
input SI.Diameter torqueDiameter = planarWorld.defaultArrowDiameter "Has no longer an effect and is only kept for backwards compatibility (arrow visualization by Vector now)"
annotation (Dialog(
group = "if animation = true",
enable = animation));
input MB.Types.Color torqueColor = Modelica.Mechanics.MultiBody.Types.Defaults.TorqueColor "Color of torque arrow"
annotation (
HideResult = true,
Dialog(
colorSelector = true,
group = "if animation = true",
enable = animation));
input MB.Types.SpecularCoefficient specularCoefficient = planarWorld.defaultSpecularCoefficient "Reflection of ambient light (= 0: light is completely absorbed)"
annotation (
HideResult = true,
Dialog(
group = "if animation = true",
enable = animation));
protected
SI.Position t_in_m[3] = {0, 0, frame_a.t} * (if positiveSign then 1 else -1) / Nm_to_m "Torque mapped from Nm to m for animation";
MB.Visualizers.Advanced.Vector arrowTorque(coordinates = t_in_m, color = torqueColor, specularCoefficient = specularCoefficient, r = MB.Frames.resolve1(planarWorld.R, {frame_b.x, frame_b.y, 0}) + planarWorld.r_0, quantity = MB.Types.VectorQuantity.Torque, headAtOrigin = true, R = planarWorld.R) if planarWorld.enableAnimation and animation;
Internal.BasicCutTorque cutTorque(positiveSign = positiveSign) annotation (Placement(transformation(extent = {
{-10, -10},
{10, 10}})));
equation
connect(cutTorque.frame_a,frame_a) annotation (Line(
points = {
{-10, 0},
{-100, 0}},
color = {95, 95, 95},
thickness = 0.5));
connect(cutTorque.frame_b,frame_b) annotation (Line(
points = {
{10, 0},
{100, 0}},
color = {95, 95, 95},
thickness = 0.5));
connect(cutTorque.torque,torque) annotation (Line(
points = {
{-8, -11},
{-8, -60},
{-80, -60},
{-80, -110}},
color = {0, 0, 127}));
annotation (
Icon(
coordinateSystem(
preserveAspectRatio = true,
extent = {
{-100, -100},
{100, 100}}),
graphics = {
Text(
extent = {
{-180, -72},
{-64, -98}},
textString = "torque"),
Line(
points = {
{-80, -100},
{-80, 0}},
color = {0, 0, 127})}),
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 cut-torque acting between the two frames to which this model\nis connected, is determined and provided at the output signal\nconnector <code>torque</code> (= <code>frame_a.t</code>).\nIf parameter <code>positiveSign = false</code>, the negative\ncut-torque is provided (= <code>frame_b.t</code>).\n</p>\n<p>\nIn the following figure the modeling and animation of this\nsensor is shown.\n</p>\n<div>\n<img src=\"modelica://PlanarMechanics/Resources/Images/Sensors/CutTorque1.png\" alt=\"Modelica diagram\">\n<br>\n<img src=\"modelica://PlanarMechanics/Resources/Images/Sensors/CutTorque2.png\" alt=\"CutTorque2 animation\">\n</div>\n</html>"));
end CutTorque;