RelativeVelocitySensor IconRelativeVelocitySensor
Ideal sensor for measuring the relative angular velocity between two rotational splines.
This component models an ideal sensor that measures the relative angular velocity between two mechanical rotational splines, named spline_a and spline_b The relative angle, $\phi_{rel}$, is calculated as the difference between the absolute angles of these two splines:
\[\\phi_{rel} = \\phi_{b} - \\phi_{a}\]
The primary output, $w_{rel}$, which represents the relative angular velocity, is then determined by the time derivative of this relative angle:
\[w_{rel} = \frac{d\\phi_{rel}}{dt}\]
The sensor is considered ideal as it does not exert any torque on the splines it measures.
This component extends from PartialRelativeSensor
Usage
RotationalComponents.RelativeVelocitySensor()
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)w_rel- This connector represents a real signal as an output from a component (RealOutput)
Variables
| Name | Description | Units |
|---|---|---|
phi_rel | Internal variable representing the relative angle between splineb and splinea. | rad |
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 for measuring the relative angular velocity between two rotational splines.
This component models an ideal sensor that measures the relative angular velocity
between two mechanical rotational splines, named `spline_a` and `spline_b`
The relative angle, \$\\phi_{rel}\$, is calculated as the difference
between the absolute angles of these two splines:math \phi{rel} = \phi{b} - \phi_{a}
The primary output, \$w_{rel}\$, which represents the relative angular velocity,
is then determined by the time derivative of this relative angle:
math w{rel} = \frac{d\phi{rel}}{dt}
The sensor is considered ideal as it does not exert any torque on the splines
it measures.
"""</span>
<span class="hljs-keyword">component</span> RelativeVelocitySensor
<span class="hljs-keyword">extends</span> <span class="hljs-link"><a href="https://help.juliahub.com/dyad/dev/stdlib/RotationalComponents/types/PartialRelativeSensor.html">PartialRelativeSensor</a></span>
<span class="hljs-comment">"Output signal representing the relative angular velocity between spline_b and spline_a."</span>
<span class="hljs-symbol">w_rel</span> = <span class="hljs-link"><a href="https://help.juliahub.com/dyad/dev/stdlib/Dyad/connectors/RealOutput.html">RealOutput</a></span>() {
"Dyad": {
"placement": {"icon": {"x1": 450, "y1": 950, "x2": 550, "y2": 1050, "rot": 90}}
}
}
<span class="hljs-comment">"Internal variable representing the relative angle between spline_b and spline_a."</span>
<span class="hljs-keyword">variable</span> <span class="hljs-symbol">phi_rel</span>::<span class="hljs-link"><a href="https://help.juliahub.com/dyad/dev/stdlib/Dyad/types/Angle.html">Angle</a></span>
<span class="hljs-keyword">relations</span>
phi_rel = spline_b.phi - spline_a.phi
w_rel = der(phi_rel)
0 = spline_a.tau
<span class="hljs-keyword">metadata</span> {
"Dyad": {
"icons": {"default": "dyad://RotationalComponents/RelSensor-Angle-Vel-Acc.svg"}
}
}
<span class="hljs-keyword">end</span></code></pre>
Flattened Source
"""
Ideal sensor for measuring the relative angular velocity between two rotational splines.
This component models an ideal sensor that measures the relative angular velocity
between two mechanical rotational splines, named `spline_a` and `spline_b`
The relative angle, \$\\phi_{rel}\$, is calculated as the difference
between the absolute angles of these two splines:math \phi{rel} = \phi{b} - \phi_{a}
The primary output, \$w_{rel}\$, which represents the relative angular velocity,
is then determined by the time derivative of this relative angle:
math w{rel} = \frac{d\phi{rel}}{dt}
The sensor is considered ideal as it does not exert any torque on the splines
it measures.
"""</span>
<span class="hljs-keyword">component</span> RelativeVelocitySensor
<span class="hljs-comment">"Left spline connector for the sensor."</span>
<span class="hljs-symbol">spline_a</span> = <span>Spline</span>() {"Dyad": {"placement": {"icon": {"x1": -50, "y1": 450, "x2": 50, "y2": 550}}}}
<span class="hljs-comment">"Right spline connector for the sensor."</span>
<span class="hljs-symbol">spline_b</span> = <span>Spline</span>() {"Dyad": {"placement": {"icon": {"x1": 950, "y1": 450, "x2": 1050, "y2": 550}}}}
<span class="hljs-comment">"Output signal representing the relative angular velocity between spline_b and spline_a."</span>
<span class="hljs-symbol">w_rel</span> = <span>RealOutput</span>() {
"Dyad": {
"placement": {"icon": {"x1": 450, "y1": 950, "x2": 550, "y2": 1050, "rot": 90}}
}
}
<span class="hljs-comment">"Internal variable representing the relative angle between spline_b and spline_a."</span>
<span class="hljs-keyword">variable</span> <span class="hljs-symbol">phi_rel</span>::<span>Angle</span>
<span class="hljs-keyword">relations</span>
0 = spline_a.tau + spline_b.tau
phi_rel = spline_b.phi - spline_a.phi
w_rel = der(phi_rel)
0 = spline_a.tau
<span class="hljs-keyword">metadata</span> {
"Dyad": {
"icons": {"default": "dyad://RotationalComponents/RelSensor-Angle-Vel-Acc.svg"}
}
}
<span class="hljs-keyword">end</span></code></pre>
Test Cases
No test cases defined.
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