modelRelativeAngularVelocity
Measure relative angular velocity between two frame connectors
Extends from Internal.PartialRelativeSensor (Base class for relative sensor models).
Information
The relative angular velocity between frame_a and frame_b is determined and 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. 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
| Type | Name | Default | Description |
|---|---|---|---|
| Modelica.Mechanics.MultiBody.Types.ResolveInFrameAB | resolveInFrame | Modelica.Mechanics.MultiBody.Types.ResolveInFrameAB.frame_a | Frame in which output vector w_rel shall be resolved (world, frame_a, frame_b, or frame_resolve) |
Connectors
| Type | Name | Default | Description |
|---|---|---|---|
| Modelica.Mechanics.MultiBody.Interfaces.Frame_a | frame_a (from PartialRelativeSensor) | Coordinate system a | |
| Modelica.Mechanics.MultiBody.Interfaces.Frame_b | frame_b (from PartialRelativeSensor) | Coordinate system b | |
| Blocks.Interfaces.RealOutput[3] | w_rel | Relative angular velocity vector between frame_a and frame_b resolved in frame defined by resolveInFrame | |
| Modelica.Mechanics.MultiBody.Interfaces.Frame_resolve | frame_resolve | Coordinate system in which w_rel is optionally resolved |