TorqueSensor Icon

`TorqueSensor`

Ideal sensor measuring the torque transmitted between two rotational splines.

This ideal sensor measures the torque exchanged between two coaxial rotational splines, spline_a and spline_b It enforces that the splines are rigidly connected, meaning there is no relative angular displacement between them. The relationship is described by the equation:

\[\text{spline\\_a}.\\phi = \text{spline\\_b}.\\phi\]

The sensor provides an output signal, tau, which represents the torque transmitted through the splines. This output is set equal to the torque acting on spline_a (denoted $\tau_a$):

\[\tau = \text{spline\\_a}.\tau\]

where $\taua$ is the torque variable of the `splinea` connector. This is an ideal component as it introduces no mechanical losses, inertia, or backlash.

PartialRelativeSensor

Usage

TorqueSensor()

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)
tau - This connector represents a real signal as an output from a component (RealOutput)

Behavior

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

Source

# Ideal sensor measuring the torque transmitted between two rotational splines.
#
# This ideal sensor measures the torque exchanged between two coaxial rotational splines,
# `spline_a` and `spline_b` It enforces that the splines are rigidly connected,
# meaning there is no relative angular displacement between them. The relationship
# is described by the equation:
# ```math
# \text{spline\\_a}.\\phi = \text{spline\\_b}.\\phi
# ```
# The sensor provides an output signal, `tau`, which represents the torque transmitted
# through the splines.
# This output is set equal to the torque acting on `spline_a` (denoted \$\tau_a\$):
# ```math
# \tau = \text{spline\\_a}.\tau
# ```
# where \$\tau_a\$ is the torque variable of the `spline_a` connector. This is an
# ideal component as it introduces no mechanical losses, inertia, or backlash.
component TorqueSensor
  extends PartialRelativeSensor
  # Output signal representing the measured torque transmitted between the splines.
  tau = RealOutput() [{
    "Dyad": {
      "placement": {"icon": {"x1": 100, "y1": 950, "x2": 200, "y2": 1050, "rot": 90}}
    }
  }]
relations
  spline_a.phi = spline_b.phi
  spline_a.tau = tau
metadata {
  "Dyad": {"icons": {"default": "dyad://RotationalComponents/Sensor-Power-Torque.svg"}}
}
end

Flattened Source

# Ideal sensor measuring the torque transmitted between two rotational splines.
#
# This ideal sensor measures the torque exchanged between two coaxial rotational splines,
# `spline_a` and `spline_b` It enforces that the splines are rigidly connected,
# meaning there is no relative angular displacement between them. The relationship
# is described by the equation:
# ```math
# \text{spline\\_a}.\\phi = \text{spline\\_b}.\\phi
# ```
# The sensor provides an output signal, `tau`, which represents the torque transmitted
# through the splines.
# This output is set equal to the torque acting on `spline_a` (denoted \$\tau_a\$):
# ```math
# \tau = \text{spline\\_a}.\tau
# ```
# where \$\tau_a\$ is the torque variable of the `spline_a` connector. This is an
# ideal component as it introduces no mechanical losses, inertia, or backlash.
component TorqueSensor
  # 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}}}}]
  # Output signal representing the measured torque transmitted between the splines.
  tau = 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
  spline_a.tau = tau
metadata {
  "Dyad": {"icons": {"default": "dyad://RotationalComponents/Sensor-Power-Torque.svg"}}
}
end

Test Cases

No test cases defined.

Examples
Experiments
Analyses

TorqueSensor