VelocitySensor

Measures the ideal absolute angular velocity of a rotational mechanical flange.

This sensor provides an ideal measurement of the absolute angular velocity of a connected rotational flange. It computes the angular velocity by taking the time derivative of the absolute angular position, $\text{spline}.\varphi$, of the flange. The angular position $\text{spline}.\varphi$ is accessed via a spline connector. The defining equation for the output angular velocity $w$ is:

$$\begin{gathered} w=\frac{d( \\ ph{i}_{spline})}{dt} \end{gathered}$$

This component extends from PartialAbsoluteSensor

Usage

VelocitySensor()

Connectors

• spline - (Spline)

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

Behavior

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

Source

# Measures the ideal absolute angular velocity of a rotational mechanical flange.
#
# This sensor provides an ideal measurement of the absolute angular velocity of a
# connected rotational flange. It computes the angular velocity by taking the time
# derivative of the absolute angular position, \$\text{spline}.\\phi\$, of the
# flange. The angular position \$\text{spline}.\\phi\$ is accessed via a
# `spline` connector. The defining equation for the output angular
# velocity \$w\$ is:
# ```math
# w = \frac{d(\\phi_{spline})}{dt}
# ```
component VelocitySensor
  extends PartialAbsoluteSensor
  # Absolute angular velocity of flange as output signal
  w = RealOutput() [{"Dyad": {"placement": {"icon": {"x1": 950, "y1": 450, "x2": 1050, "y2": 550}}}}]
relations
  w = der(spline.phi)
metadata {
  "Dyad": {"icons": {"default": "dyad://RotationalComponents/SingleSplineSensor.svg"}}
}
end

Flattened Source

# Measures the ideal absolute angular velocity of a rotational mechanical flange.
#
# This sensor provides an ideal measurement of the absolute angular velocity of a
# connected rotational flange. It computes the angular velocity by taking the time
# derivative of the absolute angular position, \$\text{spline}.\\phi\$, of the
# flange. The angular position \$\text{spline}.\\phi\$ is accessed via a
# `spline` connector. The defining equation for the output angular
# velocity \$w\$ is:
# ```math
# w = \frac{d(\\phi_{spline})}{dt}
# ```
component VelocitySensor
  # 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 velocity of flange as output signal
  w = RealOutput() [{"Dyad": {"placement": {"icon": {"x1": 950, "y1": 450, "x2": 1050, "y2": 550}}}}]
relations
  0 = spline.tau
  w = der(spline.phi)
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