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 $\tau \ast a$ 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

RotationalComponents.TorqueSensor()

Connectors

• spline_a - This connector represents a rotational spline with angle and torque as the potential and flow variables, respectively. (Spline)

• spline_b - This connector represents a rotational spline with angle and torque as the potential and flow variables, respectively. (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{splinea}.\phi = \text{splineb}.\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{splinea}.\phi = \text{splineb}.\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

No test cases defined.

Related

• Examples

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