RelativeVelocitySensor

Ideal sensor to measure the relative angular velocity between two splines

This component extends from PartialRelativeSensor

Usage

RelativeVelocitySensor()

Connectors

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

Variables

Behavior

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

Source

# Ideal sensor to measure the relative angular velocity between two splines
component RelativeVelocitySensor
  extends PartialRelativeSensor
  # Relative angular velocity between two splines as output signal
  w_rel = RealOutput() [{
    "Dyad": {
      "placement": {"icon": {"x1": 450, "y1": 950, "x2": 550, "y2": 1050, "rot": 90}}
    }
  }]
  # Relative angle between two splines
  variable phi_rel::Angle
relations
  phi_rel = spline_b.phi-spline_a.phi
  w_rel = der(phi_rel)
  0 = spline_a.tau
metadata {
  "Dyad": {
    "icons": {"default": "dyad://RotationalComponents/RelSensor-Angle-Vel-Acc.svg"}
  }
}
end

# Ideal sensor to measure the relative angular velocity between two splines
component RelativeVelocitySensor
  # 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}}}}]
  # Relative angular velocity between two splines as output signal
  w_rel = RealOutput() [{
    "Dyad": {
      "placement": {"icon": {"x1": 450, "y1": 950, "x2": 550, "y2": 1050, "rot": 90}}
    }
  }]
  # Relative angle between two splines
  variable phi_rel::Angle
relations
  0 = spline_a.tau+spline_b.tau
  phi_rel = spline_b.phi-spline_a.phi
  w_rel = der(phi_rel)
  0 = spline_a.tau
metadata {
  "Dyad": {
    "icons": {"default": "dyad://RotationalComponents/RelSensor-Angle-Vel-Acc.svg"}
  }
}
end

Test Cases

Related

• Examples
• Experiments
• Analyses