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power$(instance)PowerSensor Icon

PowerSensor

Ideal sensor to measure the power between two splines

This component extends from PartialRelativeSensor

Usage

PowerSensor()

Connectors

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

Behavior

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

Source

# Ideal sensor to measure the power between two splines
component PowerSensor
  extends PartialRelativeSensor
  # Power in spline `spline_a` as output signal
  power = RealOutput() [{
    "Dyad": {
      "placement": {"icon": {"x1": 100, "y1": 950, "x2": 200, "y2": 1050, "rot": 90}}
    }
  }]
relations
  spline_a.phi = spline_b.phi
  power = spline_a.tau*der(spline_a.phi)
metadata {
  "Dyad": {"icons": {"default": "dyad://RotationalComponents/Sensor-Power-Torque.svg"}}
}
end
Flattened Source
# Ideal sensor to measure the power between two splines
component PowerSensor
  # 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": 100, "y1": 950, "x2": 200, "y2": 1050, "rot": 90}}
    }
  }]
relations
  0 = spline_a.tau+spline_b.tau
  spline_a.phi = spline_b.phi
  power = spline_a.tau*der(spline_a.phi)
metadata {
  "Dyad": {"icons": {"default": "dyad://RotationalComponents/Sensor-Power-Torque.svg"}}
}
end

Test Cases

  • Examples
  • Experiments
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