Rotational.RelAccSensor

This component extends from PartialRelativeSensor

Usage

TranslatedComponents.Rotational.RelAccSensor()

Connectors

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

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

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

Variables

Name	Description	Units
phi_rel		rad
w_rel		rad/s

Behavior

$$\begin{array}{rl}0& =\mathtt{flange}\mathtt{\_}\mathtt{a}\mathtt{.}\mathtt{tau}\left(t\right)+\mathtt{flange}\mathtt{\_}\mathtt{b}\mathtt{.}\mathtt{tau}\left(t\right)\\ \mathtt{phi}\mathtt{\_}\mathtt{rel}\left(t\right)& =\mathtt{flange}\mathtt{\_}\mathtt{b}\mathtt{.}\mathtt{phi}\left(t\right)-\mathtt{flange}\mathtt{\_}\mathtt{a}\mathtt{.}\mathtt{phi}\left(t\right)\\ \mathtt{w}\mathtt{\_}\mathtt{rel}\left(t\right)& =\frac{\mathrm{d}\mathtt{phi}\mathtt{\_}\mathtt{rel}\left(t\right)}{\mathrm{d}t}\\ \mathtt{a}\mathtt{\_}\mathtt{rel}\left(t\right)& =\frac{\mathrm{d}\mathtt{w}\mathtt{\_}\mathtt{rel}\left(t\right)}{\mathrm{d}t}\\ 0& =\mathtt{flange}\mathtt{\_}\mathtt{a}\mathtt{.}\mathtt{tau}\left(t\right)\end{array}$$

Source

component RelAccSensor
  extends PartialRelativeSensor
  a_rel = RealOutput()
  variable phi_rel::Dyad.Angle
  variable w_rel::Dyad.AngularVelocity
relations
  phi_rel = flange_b.phi - flange_a.phi
  w_rel = der(phi_rel)
  a_rel = der(w_rel)
  0 = flange_a.tau
end

Flattened Source

component RelAccSensor
  flange_a = Spline()
  flange_b = Spline()
  a_rel = RealOutput()
  variable phi_rel::Dyad.Angle
  variable w_rel::Dyad.AngularVelocity
relations
  0 = flange_a.tau + flange_b.tau
  phi_rel = flange_b.phi - flange_a.phi
  w_rel = der(phi_rel)
  a_rel = der(w_rel)
  0 = flange_a.tau
metadata {}
end

Test Cases

No test cases defined.

Related

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