modelBasicAbsoluteAngularVelocity
Extends from Modelica.Mechanics.MultiBody.Sensors.Internal.PartialAbsoluteBaseSensor (Base class for absolute sensor models defined by equations (frame_resolve must be connected exactly once)).
Information
This basic sensor is aimed to be used within advanced sensors where the absolute angular velocity of frame_a should be determined. This vector is provided at the output signal connector w.
Via parameter resolveInFrame it is defined, in which frame the angular velocity is resolved:
| resolveInFrame = Types.ResolveInFrameA. | Meaning |
|---|---|
| world | Resolve vector in world frame |
| frame_a | Resolve vector in frame_a |
| 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.ResolveInFrameA.frame_resolve, the vector w is resolved in the frame to which frame_resolve is connected.
Example
If resolveInFrame = Types.ResolveInFrameA.frame_a, the output vector is computed as:
w = MultiBody.Frames.angularVelocity2(frame_a.R);
Parameters
| Type | Name | Default | Description |
|---|---|---|---|
| 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) |
Connectors
| Type | Name | Default | Description |
|---|---|---|---|
| Modelica.Mechanics.MultiBody.Interfaces.Frame_a | frame_a (from PartialAbsoluteBaseSensor) | Coordinate system from which kinematic quantities are measured | |
| Modelica.Mechanics.MultiBody.Interfaces.Frame_resolve | frame_resolve (from PartialAbsoluteBaseSensor) | Coordinate system in which output vector(s) is optionally resolved | |
| Modelica.Blocks.Interfaces.RealOutput[3] | w | Absolute angular velocity vector |