modelAbsoluteVelocity

Measure absolute velocity of origin of frame connector
Diagram of AbsoluteVelocityOpen the diagram
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Extends from Internal.PartialAbsoluteSensor (Partial absolute sensor model for sensors defined by components).

Information

The absolute velocity vector of the origin of frame_a is determined and provided at the output signal connector v.

Via parameter resolveInFrame it is defined, in which frame the velocity vector is resolved.

Options of parameter resolveInFrame
resolveInFrame = … Output vector resolved in
Types.ResolveInFrameA.world world frame
Types.ResolveInFrameA.frame_a frame_a
Types.ResolveInFrameA.frame_resolve frame_resolve (must be connected)

If resolveInFrame = Types.ResolveInFrameA.frame_resolve, the conditional connector frame_resolve is enabled and v is resolved in the frame, to which frame_resolve is connected. Note, if this connector is enabled, it must be connected.

Example: If resolveInFrame = Types.ResolveInFrameA.frame_resolve, the output vector is computed as:

v0 = der([x,y,phi])
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]]

where [x y φ] is position and angle vector of origin of frame_a resolved in world frame.

Parameters

TypeNameDefaultDescription
Modelica.Mechanics.MultiBody.Types.ResolveInFrameAresolveInFrameModelica.Mechanics.MultiBody.Types.ResolveInFrameA.frame_aFrame in which output vector v shall be resolved (1: world, 2: frame_a, 3: frame_resolve)

Connectors

TypeNameDefaultDescription
Interfaces.Frame_aframe_a (from PartialAbsoluteSensor)Coordinate system at which the kinematic quantities are measured
Modelica.Blocks.Interfaces.RealOutput[3]vVector of absolute measurements of frame_a on velocity level, resolved in frame defined by resolveInFrame
Interfaces.Frame_resolveframe_resolveCoordinate system in which output vector v is optionally resolved

Revisions

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