TorqueSensor

Ideal sensor measuring the torque transmitted between two rotational splines.

This ideal sensor measures the torque exchanged between two coaxial rotational splines, spline_a and spline_b It enforces that the splines are rigidly connected, meaning there is no relative angular displacement between them. The relationship is described by the equation:

$$\text{text{spline\_a}.phi = text{spline\_b}.phi}$$

The sensor provides an output signal, tau, which represents the torque transmitted through the splines. This output is set equal to the torque acting on spline_a (denoted ${\tau }_a$):

$$\text{tau = text{spline\_a}.tau}$$

where ${\tau }_a$ is the torque variable of the spline_a connector. This is an ideal component as it introduces no mechanical losses, inertia, or backlash.

This component extends from PartialRelativeSensor

Usage

TorqueSensor()

Connectors

• spline_a - (Spline)

• spline_b - (Spline)

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

Behavior

$$\begin{array}{rl}0& =\mathtt{spline}\mathtt{\_}\mathtt{b}\mathtt{.}\mathtt{tau}\left(t\right)+\mathtt{spline}\mathtt{\_}\mathtt{a}\mathtt{.}\mathtt{tau}\left(t\right)\\ \mathtt{spline}\mathtt{\_}\mathtt{a}\mathtt{.}\mathtt{phi}\left(t\right)& =\mathtt{spline}\mathtt{\_}\mathtt{b}\mathtt{.}\mathtt{phi}\left(t\right)\\ \mathtt{spline}\mathtt{\_}\mathtt{a}\mathtt{.}\mathtt{tau}\left(t\right)& =\mathtt{tau}\left(t\right)\end{array}$$

Source

# Ideal sensor measuring the torque transmitted between two rotational splines.
#
# This ideal sensor measures the torque exchanged between two coaxial rotational splines,
# `spline_a` and `spline_b` It enforces that the splines are rigidly connected,
# meaning there is no relative angular displacement between them. The relationship
# is described by the equation:
# ```math
# \text{spline\\_a}.\\phi = \text{spline\\_b}.\\phi
# ```
# The sensor provides an output signal, `tau`, which represents the torque transmitted
# through the splines.
# This output is set equal to the torque acting on `spline_a` (denoted \$\tau_a\$):
# ```math
# \tau = \text{spline\\_a}.\tau
# ```
# where \$\tau_a\$ is the torque variable of the `spline_a` connector. This is an
# ideal component as it introduces no mechanical losses, inertia, or backlash.
component TorqueSensor
  extends PartialRelativeSensor
  # Output signal representing the measured torque transmitted between the splines.
  tau = RealOutput() [{
    "Dyad": {
      "placement": {"icon": {"x1": 100, "y1": 950, "x2": 200, "y2": 1050, "rot": 90}}
    }
  }]
relations
  spline_a.phi = spline_b.phi
  spline_a.tau = tau
metadata {
  "Dyad": {"icons": {"default": "dyad://RotationalComponents/Sensor-Power-Torque.svg"}}
}
end

Flattened Source

# Ideal sensor measuring the torque transmitted between two rotational splines.
#
# This ideal sensor measures the torque exchanged between two coaxial rotational splines,
# `spline_a` and `spline_b` It enforces that the splines are rigidly connected,
# meaning there is no relative angular displacement between them. The relationship
# is described by the equation:
# ```math
# \text{spline\\_a}.\\phi = \text{spline\\_b}.\\phi
# ```
# The sensor provides an output signal, `tau`, which represents the torque transmitted
# through the splines.
# This output is set equal to the torque acting on `spline_a` (denoted \$\tau_a\$):
# ```math
# \tau = \text{spline\\_a}.\tau
# ```
# where \$\tau_a\$ is the torque variable of the `spline_a` connector. This is an
# ideal component as it introduces no mechanical losses, inertia, or backlash.
component TorqueSensor
  # Left spline connector for the sensor.
  spline_a = Spline() [{"Dyad": {"placement": {"icon": {"x1": -50, "y1": 450, "x2": 50, "y2": 550}}}}]
  # Right spline connector for the sensor.
  spline_b = Spline() [{"Dyad": {"placement": {"icon": {"x1": 950, "y1": 450, "x2": 1050, "y2": 550}}}}]
  # Output signal representing the measured torque transmitted between the splines.
  tau = RealOutput() [{
    "Dyad": {
      "placement": {"icon": {"x1": 100, "y1": 950, "x2": 200, "y2": 1050, "rot": 90}}
    }
  }]
relations
  0 = spline_a.tau+spline_b.tau
  spline_a.phi = spline_b.phi
  spline_a.tau = tau
metadata {
  "Dyad": {"icons": {"default": "dyad://RotationalComponents/Sensor-Power-Torque.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