Rotational.RelAngleSensor

This component extends from PartialRelativeSensor

Usage

TranslatedComponents.Rotational.RelAngleSensor()

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)

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

Behavior

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

Source

component RelAngleSensor
  extends PartialRelativeSensor
  phi_rel = RealOutput()
relations
  phi_rel = flange_b.phi - flange_a.phi
  0 = flange_a.tau
end

Flattened Source

component RelAngleSensor
  flange_a = Spline()
  flange_b = Spline()
  phi_rel = RealOutput()
relations
  0 = flange_a.tau + flange_b.tau
  phi_rel = flange_b.phi - flange_a.phi
  0 = flange_a.tau
metadata {}
end

Test Cases

No test cases defined.

Related

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