AccelerationSensor

Measures the absolute angular acceleration of a rotational spline.

This sensor determines the absolute angular acceleration of its spline connector, leveraging properties inherited from PartialAbsoluteSensor, such as the spline's angle (spline.phi). The absolute angular velocity (w) is first calculated as the time derivative of this angle:

$$\begin{gathered} w=\frac{d\text{spline}. \\ phi}{dt} \end{gathered}$$

Then, the absolute angular acceleration (a) is computed as the time derivative of the angular velocity:

$$\begin{gathered} a=\frac{dw}{dt}=\frac{d^2\text{spline}. \\ phi}{d{t}^2} \end{gathered}$$

This resulting acceleration is provided as the output a.

This component extends from PartialAbsoluteSensor

Usage

AccelerationSensor()

Connectors

• spline - (Spline)

• a - This connector represents a real signal as an output from a component (RealOutput)

Variables

Name	Description	Units
w	Absolute angular velocity of flange	rad/s

Behavior

$$\begin{array}{rl}0& =\mathtt{spline}\mathtt{.}\mathtt{tau}\left(t\right)\\ w\left(t\right)& =\frac{\mathrm{d}\mathtt{spline}\mathtt{.}\mathtt{phi}\left(t\right)}{\mathrm{d}t}\\ a\left(t\right)& =\frac{\mathrm{d}w\left(t\right)}{\mathrm{d}t}\end{array}$$

Source

# Measures the absolute angular acceleration of a rotational spline.
#
# This sensor determines the absolute angular acceleration of its `spline` connector, leveraging properties inherited from `PartialAbsoluteSensor`, such as the spline's angle (`spline.phi`).
# The absolute angular velocity (`w`) is first calculated as the time derivative of this angle:
# ```math
# w = \frac{d\text{spline}.\\phi}{dt}
# ```
# Then, the absolute angular acceleration (`a`) is computed as the time derivative of the angular velocity:
# ```math
# a = \frac{dw}{dt} = \frac{d^2\text{spline}.\\phi}{dt^2}
# ```
# This resulting acceleration is provided as the output `a`.
component AccelerationSensor
  extends PartialAbsoluteSensor
  # Absolute angular acceleration of flange as output signal
  a = RealOutput() [{"Dyad": {"placement": {"icon": {"x1": 950, "y1": 450, "x2": 1050, "y2": 550}}}}]
  # Absolute angular velocity of flange
  variable w::AngularVelocity
relations
  w = der(spline.phi)
  a = der(w)
metadata {
  "Dyad": {"icons": {"default": "dyad://RotationalComponents/SingleSplineSensor.svg"}}
}
end

Flattened Source

# Measures the absolute angular acceleration of a rotational spline.
#
# This sensor determines the absolute angular acceleration of its `spline` connector, leveraging properties inherited from `PartialAbsoluteSensor`, such as the spline's angle (`spline.phi`).
# The absolute angular velocity (`w`) is first calculated as the time derivative of this angle:
# ```math
# w = \frac{d\text{spline}.\\phi}{dt}
# ```
# Then, the absolute angular acceleration (`a`) is computed as the time derivative of the angular velocity:
# ```math
# a = \frac{dw}{dt} = \frac{d^2\text{spline}.\\phi}{dt^2}
# ```
# This resulting acceleration is provided as the output `a`.
component AccelerationSensor
  # Spline of the shaft from which sensor information shall be measured
  spline = Spline() [{"Dyad": {"placement": {"icon": {"x1": -50, "y1": 450, "x2": 50, "y2": 550}}}}]
  # Absolute angular acceleration of flange as output signal
  a = RealOutput() [{"Dyad": {"placement": {"icon": {"x1": 950, "y1": 450, "x2": 1050, "y2": 550}}}}]
  # Absolute angular velocity of flange
  variable w::AngularVelocity
relations
  0 = spline.tau
  w = der(spline.phi)
  a = der(w)
metadata {
  "Dyad": {"icons": {"default": "dyad://RotationalComponents/SingleSplineSensor.svg"}}
}
end

Test Cases

This is setup code, that must be run before each test case.

using RotationalComponents
using ModelingToolkit, OrdinaryDiffEqDefault
using Plots
using CSV, DataFrames

snapshotsdir = joinpath(dirname(dirname(pathof(RotationalComponents))), "test", "snapshots")

"/home/actions-runner-10/.julia/packages/RotationalComponents/0VPxm/test/snapshots"

Related

• Examples

• Experiments

• Analyses