Dyad

Appearance

LIBRARY
SpeedSource.md

SpeedSource ​

Forced movement of a spline according to a reference angular velocity signal

This component extends from PartialElementaryOneSplineAndSupport

Usage ​

SpeedSource()

Connectors ​

  • spline - (Spline)

  • support - (Spline)

  • w_ref - This connector represents a real signal as an input to a component (RealInput)

Variables ​

NameDescriptionUnits
phi_supportAbsolute angle of support splinerad
phiRotation angle of spline with respect to supportrad
wAngular velocity of spline with respect to supportrad/s

Behavior ​

Source ​

dyad
# Forced movement of a spline according to a reference angular velocity signal
component SpeedSource
  extends PartialElementaryOneSplineAndSupport
  # Reference angular velocity of spline with respect to support as input signal
  w_ref = RealInput() [{
    "JuliaSim": {"placement": {"icon": {"x1": -50, "y1": 450, "x2": 50, "y2": 550}}}
  }]
  # Rotation angle of spline with respect to support
  variable phi::Angle
  # Angular velocity of spline with respect to support
  variable w::AngularVelocity
relations
  phi = spline.phi-phi_support
  w = der(phi)
  w = w_ref
metadata {
  "JuliaSim": {"icons": {"default": "jsml://RotationalComponents/Pos-Speed-Acc-Move.svg"}}
}
end
Flattened Source
# Forced movement of a spline according to a reference angular velocity signal
component SpeedSource
  spline = Spline() [{
    "JuliaSim": {"placement": {"icon": {"x1": 950, "y1": 450, "x2": 1050, "y2": 550}}}
  }]
  support = Spline() [{
    "JuliaSim": {
      "placement": {"icon": {"iconName": "support", "x1": 450, "y1": 950, "x2": 550, "y2": 1050}}
    }
  }]
  # Absolute angle of support spline
  variable phi_support::Angle
  # Reference angular velocity of spline with respect to support as input signal
  w_ref = RealInput() [{
    "JuliaSim": {"placement": {"icon": {"x1": -50, "y1": 450, "x2": 50, "y2": 550}}}
  }]
  # Rotation angle of spline with respect to support
  variable phi::Angle
  # Angular velocity of spline with respect to support
  variable w::AngularVelocity
relations
  support.phi = phi_support
  support.tau = -spline.tau
  phi = spline.phi-phi_support
  w = der(phi)
  w = w_ref
metadata {
  "JuliaSim": {"icons": {"default": "jsml://RotationalComponents/Pos-Speed-Acc-Move.svg"}}
}
end

Test Cases ​

  • Examples

  • Experiments

  • Analyses