MultiSensor

Ideal sensor to measure the absolute angular velocity, torque and power between two splines

This component extends from PartialRelativeSensor

Usage

MultiSensor()

Connectors

• spline_a - (Spline)
• spline_b - (Spline)
• power - This connector represents a real signal as an output from a component (RealOutput)
• tau - This connector represents a real signal as an output from a component (RealOutput)
• w - This connector represents a real signal as an output from a component (RealOutput)

Behavior

\[ \begin{align} 0 &= \mathtt{spline\_b.tau}\left( t \right) + \mathtt{spline\_a.tau}\left( t \right) \\ \mathtt{spline\_a.phi}\left( t \right) &= \mathtt{spline\_b.phi}\left( t \right) \\ w\left( t \right) &= \frac{\mathrm{d} \mathtt{spline\_a.phi}\left( t \right)}{\mathrm{d}t} \\ \mathtt{tau}\left( t \right) &= \mathtt{spline\_a.tau}\left( t \right) \\ \mathtt{power}\left( t \right) &= w\left( t \right) \mathtt{tau}\left( t \right) \end{align} \]

Source

# Ideal sensor to measure the absolute angular velocity, torque and power between two splines
component MultiSensor
  extends PartialRelativeSensor
  # Power in spline `spline_a` as output signal
  power = RealOutput() [{
    "Dyad": {
      "placement": {"icon": {"x1": 175, "y1": 950, "x2": 275, "y2": 1050, "rot": 90}}
    }
  }]
  # Torque in spline `spline_`a as output signal
  tau = RealOutput() [{
    "Dyad": {
      "placement": {"icon": {"x1": 450, "y1": 950, "x2": 550, "y2": 1050, "rot": 90}}
    }
  }]
  # Absolute angular velocity of spline `spline_a` as output signal
  w = RealOutput() [{
    "Dyad": {
      "placement": {"icon": {"x1": 725, "y1": 950, "x2": 825, "y2": 1050, "rot": 90}}
    }
  }]
relations
  spline_a.phi = spline_b.phi
  w = der(spline_a.phi)
  tau = spline_a.tau
  power = tau*w
end

# Ideal sensor to measure the absolute angular velocity, torque and power between two splines
component MultiSensor
  # Left spline of shaft
  spline_a = Spline() [{"Dyad": {"placement": {"icon": {"x1": -50, "y1": 450, "x2": 50, "y2": 550}}}}]
  # Right spline of shaft
  spline_b = Spline() [{"Dyad": {"placement": {"icon": {"x1": 950, "y1": 450, "x2": 1050, "y2": 550}}}}]
  # Power in spline `spline_a` as output signal
  power = RealOutput() [{
    "Dyad": {
      "placement": {"icon": {"x1": 175, "y1": 950, "x2": 275, "y2": 1050, "rot": 90}}
    }
  }]
  # Torque in spline `spline_`a as output signal
  tau = RealOutput() [{
    "Dyad": {
      "placement": {"icon": {"x1": 450, "y1": 950, "x2": 550, "y2": 1050, "rot": 90}}
    }
  }]
  # Absolute angular velocity of spline `spline_a` as output signal
  w = RealOutput() [{
    "Dyad": {
      "placement": {"icon": {"x1": 725, "y1": 950, "x2": 825, "y2": 1050, "rot": 90}}
    }
  }]
relations
  0 = spline_a.tau+spline_b.tau
  spline_a.phi = spline_b.phi
  w = der(spline_a.phi)
  tau = spline_a.tau
  power = tau*w
metadata {}
end

Test Cases

Related

• Examples
• Experiments
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