MultiSensor
IconMultiSensor
Ideal sensor to measure the absolute angular velocity, torque, and power between two splines.
This component serves as an ideal sensor for rotational mechanical systems. It provides output signals for the absolute angular velocity of its primary connection point (spline_a
), the torque flowing through this connection, and the instantaneous mechanical power. As an ideal sensor, it introduces no parasitic effects like inertia or damping and its measurements are exact. The key relationships are: The absolute angular velocity w
of spline_a
:
\[w = \frac{d\\phi_a}{dt}\]
The measured torque $\tau$ is the torque at spline_a
:
\[\tau = \text{spline\\_a}.\\tau\]
The mechanical power $P$:
\[P = \tau \\cdot w\]
The component ensures that its two connection splines, spline_a
and spline_b
, have the same absolute angle (spline_a.phi = spline_b.phi
), indicating a rigid passthrough.
Usage
MultiSensor()
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
)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.
#
# This component serves as an ideal sensor for rotational mechanical systems.
# It provides output signals for the absolute angular velocity of its primary connection
# point (`spline_a`), the torque flowing through this connection, and the instantaneous
# mechanical power. As an ideal sensor, it introduces no parasitic effects like inertia
# or damping and its measurements are exact. The key relationships are:
# The absolute angular velocity `w` of `spline_a`:
# ```math
# w = \frac{d\\phi_a}{dt}
# ```
# The measured torque \$\tau\$ is the torque at `spline_a`:
# ```math
# \tau = \text{spline\\_a}.\\tau
# ```
# The mechanical power \$P\$:
# ```math
# P = \tau \\cdot w
# ```
# The component ensures that its two connection splines, `spline_a` and `spline_b`,
# have the same absolute angle (`spline_a.phi = spline_b.phi`), indicating a rigid passthrough.
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
Flattened Source
# Ideal sensor to measure the absolute angular velocity, torque, and power between two splines.
#
# This component serves as an ideal sensor for rotational mechanical systems.
# It provides output signals for the absolute angular velocity of its primary connection
# point (`spline_a`), the torque flowing through this connection, and the instantaneous
# mechanical power. As an ideal sensor, it introduces no parasitic effects like inertia
# or damping and its measurements are exact. The key relationships are:
# The absolute angular velocity `w` of `spline_a`:
# ```math
# w = \frac{d\\phi_a}{dt}
# ```
# The measured torque \$\tau\$ is the torque at `spline_a`:
# ```math
# \tau = \text{spline\\_a}.\\tau
# ```
# The mechanical power \$P\$:
# ```math
# P = \tau \\cdot w
# ```
# The component ensures that its two connection splines, `spline_a` and `spline_b`,
# have the same absolute angle (`spline_a.phi = spline_b.phi`), indicating a rigid passthrough.
component MultiSensor
# 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}}}}]
# 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
No test cases defined.
Related
- Examples
- Experiments
- Analyses