SpeedSource

Forced movement of a spline according to a reference angular velocity signal

This component extends from PartialElementaryOneSplineAndSupport

Usage

SpeedSource()

Connectors

• spline - (Spline)
• support - (Spline)
• w_ref - This connector represents a real signal as an input to a component (RealInput)

Variables

Behavior

\[ \begin{align} \mathtt{support.phi}\left( t \right) &= \mathtt{phi\_support}\left( t \right) \\ \mathtt{support.tau}\left( t \right) &= - \mathtt{spline.tau}\left( t \right) \\ \mathtt{phi}\left( t \right) &= \mathtt{spline.phi}\left( t \right) - \mathtt{phi\_support}\left( t \right) \\ w\left( t \right) &= \frac{\mathrm{d} \mathtt{phi}\left( t \right)}{\mathrm{d}t} \\ w\left( t \right) &= \mathtt{w\_ref}\left( t \right) \end{align} \]

Source

# Forced movement of a spline according to a reference angular velocity signal
component SpeedSource
  extends PartialElementaryOneSplineAndSupport
  # Reference angular velocity of spline with respect to support as input signal
  w_ref = RealInput() [{"Dyad": {"placement": {"icon": {"x1": -50, "y1": 450, "x2": 50, "y2": 550}}}}]
  # Rotation angle of spline with respect to support
  variable phi::Angle
  # Angular velocity of spline with respect to support
  variable w::AngularVelocity
relations
  phi = spline.phi-phi_support
  w = der(phi)
  w = w_ref
metadata {
  "Dyad": {"icons": {"default": "dyad://RotationalComponents/Pos-Speed-Acc-Move.svg"}}
}
end

# Forced movement of a spline according to a reference angular velocity signal
component SpeedSource
  spline = Spline() [{"Dyad": {"placement": {"icon": {"x1": 950, "y1": 450, "x2": 1050, "y2": 550}}}}]
  support = Spline() [{
    "Dyad": {
      "placement": {"icon": {"iconName": "support", "x1": 450, "y1": 950, "x2": 550, "y2": 1050}}
    }
  }]
  # Absolute angle of support spline
  variable phi_support::Angle
  # Reference angular velocity of spline with respect to support as input signal
  w_ref = RealInput() [{"Dyad": {"placement": {"icon": {"x1": -50, "y1": 450, "x2": 50, "y2": 550}}}}]
  # Rotation angle of spline with respect to support
  variable phi::Angle
  # Angular velocity of spline with respect to support
  variable w::AngularVelocity
relations
  support.phi = phi_support
  support.tau = -spline.tau
  phi = spline.phi-phi_support
  w = der(phi)
  w = w_ref
metadata {
  "Dyad": {"icons": {"default": "dyad://RotationalComponents/Pos-Speed-Acc-Move.svg"}}
}
end

Test Cases

Related

• Examples
• Experiments
• Analyses