Modelica.Mechanics.MultiBody.Sensors.Internal

Internal package, should not be used by user

Information

Package with classes that are used within package Sensors. The classes in this package should not be directly used by a user.

Extends from Modelica.Icons.InternalPackage (Icon for an internal package (indicating that the package should not be directly utilized by user)).

Package Content

Name	Description
PartialAbsoluteSensor	Base class for absolute sensor models
PartialAbsoluteBaseSensor	Base class for absolute sensor models defined by equations (frame_resolve must be connected exactly once)
PartialRelativeSensor	Base class for relative sensor models
PartialRelativeBaseSensor	Base class for relative sensor models defined by equations (frame_resolve must be connected exactly once)
BasicAbsolutePosition	Basic sensor to measure absolute position vector
BasicAbsoluteAngularVelocity	Basic sensor to measure absolute angular velocity
BasicRelativePosition	Basic sensor to measure relative position vector
BasicRelativeAngularVelocity	Basic sensor to measure relative angular velocity
BasicTransformAbsoluteVector	Transform absolute vector into another frame
BasicTransformRelativeVector	Transform relative vector into another frame
ZeroForceAndTorque	Set force and torque to zero
PartialCutForceSensor	Base class to measure cut force and/or torque between two frames, defined by components
PartialCutForceBaseSensor	Base class to measure cut force and/or torque between two frames, defined by equations (frame_resolve must be connected exactly once)
BasicCutForce	Basic sensor to measure cut force vector (frame_resolve must be connected)
BasicCutTorque	Basic sensor to measure cut torque vector (frame_resolve must be connected)

Modelica.Mechanics.MultiBody.Sensors.Internal.PartialAbsoluteSensor

Base class for absolute sensor models

Information

This is a base class of a 3-dim. mechanical component with one frame frame_a in order to measure an absolute quantity of this connector. This partial class can be used for sensors defined either by components or by equations.

Extends from Modelica.Icons.RotationalSensor (Icon representing a round measurement device).

Connectors

Modelica.Mechanics.MultiBody.Sensors.Internal.PartialAbsoluteBaseSensor

Base class for absolute sensor models defined by equations (frame_resolve must be connected exactly once)

Information

Partial base class for absolute sensor models defined by equations. The connector frame_resolve is always enabled and must be connected exactly once.

Extends from Modelica.Icons.RotationalSensor (Icon representing a round measurement device).

Connectors

Modelica.Mechanics.MultiBody.Sensors.Internal.PartialRelativeSensor

Base class for relative sensor models

Information

This is a base class of a 3-dim. mechanical component with two frames frame_a and frame_b in order to measure a relative quantity between these two connectors. This partial class can be used for sensors defined either by components or by equations.

Extends from Modelica.Icons.RotationalSensor (Icon representing a round measurement device).

Connectors

Modelica.Mechanics.MultiBody.Sensors.Internal.PartialRelativeBaseSensor

Base class for relative sensor models defined by equations (frame_resolve must be connected exactly once)

Information

Partial base class for relative sensor models defined by equations. The connector frame_resolve is always enabled and must be connected exactly once.

Extends from Modelica.Icons.RotationalSensor (Icon representing a round measurement device).

Connectors

Modelica.Mechanics.MultiBody.Sensors.Internal.BasicAbsolutePosition

Basic sensor to measure absolute position vector

Information

This basic sensor is aimed to be used within advanced sensors where the absolute position vector of the origin of frame_a should be determined. This vector is provided at the output signal connector r.

Via parameter resolveInFrame it is defined in which frame the position vector is resolved:

In this basic sensor model, the connector frame_resolve is always enabled and must be connected. If resolveInFrame = Types.ResolveInFrameA.frame_resolve, the vector r is resolved in the frame to which frame_resolve is connected.

Example

If resolveInFrame = Types.ResolveInFrameA.frame_a, the output vector is computed as:

r = MultiBody.Frames.resolve2(frame_a.R, frame_b.r_0);

Extends from Modelica.Mechanics.MultiBody.Sensors.Internal.PartialAbsoluteBaseSensor (Base class for absolute sensor models defined by equations (frame_resolve must be connected exactly once)).

Parameters

Connectors

Modelica.Mechanics.MultiBody.Sensors.Internal.BasicAbsoluteAngularVelocity

Basic sensor to measure absolute angular velocity

Information

This basic sensor is aimed to be used within advanced sensors where the absolute angular velocity of frame_a should be determined. This vector is provided at the output signal connector w.

Via parameter resolveInFrame it is defined, in which frame the angular velocity is resolved:

In this basic sensor model, the connector frame_resolve is always enabled and must be connected. If resolveInFrame = Types.ResolveInFrameA.frame_resolve, the vector w is resolved in the frame to which frame_resolve is connected.

Example

If resolveInFrame = Types.ResolveInFrameA.frame_a, the output vector is computed as:

w = MultiBody.Frames.angularVelocity2(frame_a.R);

Extends from Modelica.Mechanics.MultiBody.Sensors.Internal.PartialAbsoluteBaseSensor (Base class for absolute sensor models defined by equations (frame_resolve must be connected exactly once)).

Parameters

Connectors

Modelica.Mechanics.MultiBody.Sensors.Internal.BasicRelativePosition

Basic sensor to measure relative position vector

Information

This basic sensor is aimed to be used within advanced sensors where the relative position vector between the origins of frame_a and frame_b should be determined. This vector is provided at the output signal connector r_rel.

Via parameter resolveInFrame it is defined in which frame the position vector is resolved:

In this basic sensor model, the connector frame_resolve is always enabled and must be connected. If resolveInFrame = Types.ResolveInFrameAB.frame_resolve, the vector r_rel is resolved in the frame to which frame_resolve is connected.

Example

If resolveInFrame = Types.ResolveInFrameAB.frame_a, the output vector is computed as:

r_rel = MultiBody.Frames.resolve2(frame_a.R, frame_b.r_0 - frame_a.r_0);

Extends from Modelica.Mechanics.MultiBody.Sensors.Internal.PartialRelativeBaseSensor (Base class for relative sensor models defined by equations (frame_resolve must be connected exactly once)).

Parameters

Connectors

Modelica.Mechanics.MultiBody.Sensors.Internal.BasicRelativeAngularVelocity

Basic sensor to measure relative angular velocity

Information

This basic sensor is aimed to be used within advanced sensors where the relative angular velocity between frame_a and frame_b should be determined. This vector is provided at the output signal connector w_rel.

Via parameter resolveInFrame it is defined, in which frame the angular velocity is resolved:

In this basic sensor model, the connector frame_resolve is always enabled and must be connected. If resolveInFrame = Types.ResolveInFrameAB.frame_resolve, the vector w_rel is resolved in the frame to which frame_resolve is connected.

Example

If resolveInFrame = Types.ResolveInFrameAB.frame_a, the output vector is computed as:

// Relative orientation object from frame_a to frame_b
R_rel = MultiBody.Frames.relativeRotation(frame_a.R, frame_b.R);

// Angular velocity resolved in frame_a
w_rel = MultiBody.Frames.angularVelocity1(R_rel);

Extends from Modelica.Mechanics.MultiBody.Sensors.Internal.PartialRelativeBaseSensor (Base class for relative sensor models defined by equations (frame_resolve must be connected exactly once)).

Parameters

Connectors

Modelica.Mechanics.MultiBody.Sensors.Internal.BasicTransformAbsoluteVector

Transform absolute vector into another frame

Information

This basic sensor transforms an absolute vector r_in, resolved in frame defined by frame_r_in, into another frame specified by frame_r_out. This output vector is provided at the output signal connector r_out.

Via parameters frame_r_in and frame_r_out it is defined in which frame the position vector is resolved:

In this basic sensor model, the connector frame_resolve is always enabled and must be connected.

Extends from Modelica.Icons.RotationalSensor (Icon representing a round measurement device).

Parameters

Connectors

Modelica.Mechanics.MultiBody.Sensors.Internal.BasicTransformRelativeVector

Transform relative vector into another frame

Information

This basic sensor transforms a relative vector r_in, resolved in frame defined by frame_r_in, into another frame specified by frame_r_out. This output vector is provided at the output signal connector r_out.

Via parameters frame_r_in and frame_r_out it is defined in which frame the position vector is resolved:

In this basic sensor model, the connector frame_resolve is always enabled and must be connected.

Extends from Modelica.Mechanics.MultiBody.Sensors.Internal.PartialRelativeBaseSensor (Base class for relative sensor models defined by equations (frame_resolve must be connected exactly once)).

Parameters

Connectors

Modelica.Mechanics.MultiBody.Sensors.Internal.ZeroForceAndTorque

Set force and torque to zero

Information

Set force and torque vectors on frame connector frame_a to zero.

Extends from Modelica.Blocks.Icons.Block (Basic graphical layout of input/output block).

Connectors

Modelica.Mechanics.MultiBody.Sensors.Internal.PartialCutForceSensor

Base class to measure cut force and/or torque between two frames, defined by components

Information

This is a base class for 3-dim. mechanical components with two frames and one output port in order to measure the cut-force and/or cut-torque acting between the two frames and to provide the measured signals as output for further processing with the blocks of package Modelica.Blocks.

Extends from Modelica.Icons.RotationalSensor (Icon representing a round measurement device).

Parameters

Connectors

Modelica.Mechanics.MultiBody.Sensors.Internal.PartialCutForceBaseSensor

Base class to measure cut force and/or torque between two frames, defined by equations (frame_resolve must be connected exactly once)

Information

This is a base class for 3-dim. mechanical components with two frames and one output port in order to measure the cut-force and/or cut-torque acting between the two frames and to provide the measured signals as output for further processing with the blocks of package Modelica.Blocks.

Extends from Modelica.Icons.RotationalSensor (Icon representing a round measurement device).

Parameters

Connectors

Modelica.Mechanics.MultiBody.Sensors.Internal.BasicCutForce

Basic sensor to measure cut force vector (frame_resolve must be connected)

Information

This basic sensor is aimed to be used within advanced sensors where the cut-force acting between the two frames is determined to which this model is connected. This cut-force is provided at the output signal connector force (= frame_a.f). If parameter positiveSign = false, the negative cut-force is provided (= frame_b.f).

Via parameter resolveInFrame it is defined in which frame the force vector is resolved:

In this basic sensor model, the connector frame_resolve is always enabled and must be connected. If resolveInFrame = Types.ResolveInFrameA.frame_resolve, the vector force is resolved in the frame to which frame_resolve is connected.

In the following figure the animation of a CutForce sensor is shown. The dark blue coordinate system is frame_b, and the green arrow is the cut force acting at frame_b and with negative sign at frame_a.

Extends from Modelica.Mechanics.MultiBody.Sensors.Internal.PartialCutForceBaseSensor (Base class to measure cut force and/or torque between two frames, defined by equations (frame_resolve must be connected exactly once)).

Parameters

Connectors

Modelica.Mechanics.MultiBody.Sensors.Internal.BasicCutTorque

Basic sensor to measure cut torque vector (frame_resolve must be connected)

Information

This basic sensor is aimed to be used within advanced sensors where the cut-torque acting between the two frames is determined to which this model is connected. This cut-torque is provided at the output signal connector torque (= frame_a.f). If parameter positiveSign = false, the negative cut-torque is provided (= frame_b.f).

Via parameter resolveInFrame it is defined in which frame the torque vector is resolved:

In this basic sensor model, the connector frame_resolve is always enabled and must be connected. If resolveInFrame = Types.ResolveInFrameA.frame_resolve, the vector torque is resolved in the frame to which frame_resolve is connected.

In the following figure the animation of a CutTorque sensor is shown. The dark blue coordinate system is frame_b, and the green arrow is the cut torque acting at frame_b and with negative sign at frame_a.

Extends from Modelica.Mechanics.MultiBody.Sensors.Internal.PartialCutForceBaseSensor (Base class to measure cut force and/or torque between two frames, defined by equations (frame_resolve must be connected exactly once)).

Parameters

Connectors