Package 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 Contents

NameDescription
BasicAbsoluteAngularVelocityBasic sensor to measure absolute angular velocity
BasicAbsolutePositionBasic sensor to measure absolute position vector
BasicCutForceBasic sensor to measure cut force vector (frame_resolve must be connected)
BasicCutTorqueBasic sensor to measure cut torque vector (frame_resolve must be connected)
BasicRelativeAngularVelocityBasic sensor to measure relative angular velocity
BasicRelativePositionBasic sensor to measure relative position vector
BasicTransformAbsoluteVectorTransform absolute vector into another frame
BasicTransformRelativeVectorTransform relative vector into another frame
PartialAbsoluteBaseSensorBase class for absolute sensor models defined by equations (frame_resolve must be connected exactly once)
PartialAbsoluteSensorBase class for absolute sensor models
PartialCutForceBaseSensorBase class to measure cut force and/or torque between two frames, defined by equations (frame_resolve must be connected exactly once)
PartialCutForceSensorBase class to measure cut force and/or torque between two frames, defined by components
PartialRelativeBaseSensorBase class for relative sensor models defined by equations (frame_resolve must be connected exactly once)
PartialRelativeSensorBase class for relative sensor models
ZeroForceAndTorqueSet force and torque to zero

Partial Model 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

TypeNameDescription
Frame_aframe_aCoordinate system a of which the absolute kinematic quantities are measured

Model 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

TypeNameDescription
Frame_aframe_aCoordinate system from which kinematic quantities are measured
Frame_resolveframe_resolveCoordinate system in which output vector(s) is optionally resolved

Partial Model 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

TypeNameDescription
Frame_aframe_aCoordinate system a
Frame_bframe_bCoordinate system b

Model 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

TypeNameDescription
Frame_aframe_aCoordinate system a (measurement is between frame_a and frame_b)
Frame_bframe_bCoordinate system b (measurement is between frame_a and frame_b)
Frame_resolveframe_resolveCoordinate system in which vector is optionally resolved

Model 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:

resolveInFrame =
Types.ResolveInFrameA.		Meaning
world Resolve vector in world frame
frame_a Resolve vector in frame_a
frame_resolve Resolve vector in frame_resolve

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

TypeNameDefaultDescription
ResolveInFrameAresolveInFrameModelica.​Mechanics.​MultiBody.​Types.​ResolveInFrameA.​frame_aFrame in which output vector r is resolved (world, frame_a, or frame_resolve)

Connectors

TypeNameDescription
Frame_aframe_aCoordinate system from which kinematic quantities are measured
Frame_resolveframe_resolveCoordinate system in which output vector(s) is optionally resolved
output RealOutputr[3]Absolute position vector frame_a.r_0 resolved in frame defined by resolveInFrame

Model 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:

resolveInFrame =
Types.ResolveInFrameA.		Meaning
world Resolve vector in world frame
frame_a Resolve vector in frame_a
frame_resolve Resolve vector in frame_resolve

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

TypeNameDefaultDescription
ResolveInFrameAresolveInFrameModelica.​Mechanics.​MultiBody.​Types.​ResolveInFrameA.​frame_aFrame in which output vector w is resolved (world, frame_a, or frame_resolve)

Connectors

TypeNameDescription
Frame_aframe_aCoordinate system from which kinematic quantities are measured
Frame_resolveframe_resolveCoordinate system in which output vector(s) is optionally resolved
output RealOutputw[3]Absolute angular velocity vector

Model 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:

resolveInFrame =
Types.ResolveInFrameAB.		Meaning
world Resolve vector in world frame
frame_a Resolve vector in frame_a
frame_b Resolve vector in frame_b
frame_resolve Resolve vector in frame_resolve

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

TypeNameDefaultDescription
ResolveInFrameABresolveInFrameModelica.​Mechanics.​MultiBody.​Types.​ResolveInFrameAB.​frame_aFrame in which output vector r_rel is resolved (world, frame_a, frame_b, or frame_resolve)

Connectors

TypeNameDescription
Frame_aframe_aCoordinate system a (measurement is between frame_a and frame_b)
Frame_bframe_bCoordinate system b (measurement is between frame_a and frame_b)
Frame_resolveframe_resolveCoordinate system in which vector is optionally resolved
output RealOutputr_rel[3]Relative position vector frame_b.r_0 - frame_a.r_0 resolved in frame defined by resolveInFrame

Model 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:

resolveInFrame =
Types.ResolveInFrameAB.		Meaning
world Resolve vector in world frame
frame_a Resolve vector in frame_a
frame_b Resolve vector in frame_b
frame_resolve Resolve vector in frame_resolve

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

TypeNameDefaultDescription
ResolveInFrameABresolveInFrameModelica.​Mechanics.​MultiBody.​Types.​ResolveInFrameAB.​frame_aFrame in which output vector w_rel is resolved (world, frame_a, frame_b, or frame_resolve)

Connectors

TypeNameDescription
Frame_aframe_aCoordinate system a (measurement is between frame_a and frame_b)
Frame_bframe_bCoordinate system b (measurement is between frame_a and frame_b)
Frame_resolveframe_resolveCoordinate system in which vector is optionally resolved
output RealOutputw_rel[3]Relative angular velocity vector

Model 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:

resolveInFrame =
Types.ResolveInFrameA.		Meaning
world Resolve vector in world frame
frame_a Resolve vector in frame_a
frame_resolve Resolve vector in frame_resolve

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

TypeNameDefaultDescription
ResolveInFrameAframe_r_inModelica.​Mechanics.​MultiBody.​Types.​ResolveInFrameA.​frame_aFrame in which vector r_in is resolved (world, frame_a, or frame_resolve)
ResolveInFrameAframe_r_outframe_r_inFrame in which vector r_out (= r_in in other frame) is resolved (world, frame_a, or frame_resolve)

Connectors

TypeNameDescription
Frame_aframe_aCoordinate system from which absolute kinematic quantities are measured
Frame_resolveframe_resolveCoordinate system in which vector is optionally resolved
input RealInputr_in[3]Input vector resolved in frame defined by frame_r_in
output RealOutputr_out[3]Input vector r_in resolved in frame defined by frame_r_out

Model 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:

resolveInFrame =
Types.ResolveInFrameAB.		Meaning
world Resolve vector in world frame
frame_a Resolve vector in frame_a
frame_b Resolve vector in frame_b
frame_resolve Resolve vector in frame_resolve

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

TypeNameDefaultDescription
ResolveInFrameABframe_r_inModelica.​Mechanics.​MultiBody.​Types.​ResolveInFrameAB.​frame_aFrame in which vector r_in is resolved (world, frame_a, frame_b, or frame_resolve)
ResolveInFrameABframe_r_outframe_r_inFrame in which vector r_out (= r_in in other frame) is resolved (world, frame_a, frame_b, or frame_resolve)

Connectors

TypeNameDescription
Frame_aframe_aCoordinate system a (measurement is between frame_a and frame_b)
Frame_bframe_bCoordinate system b (measurement is between frame_a and frame_b)
Frame_resolveframe_resolveCoordinate system in which vector is optionally resolved
input RealInputr_in[3]Input vector resolved in frame defined by frame_r_in
output RealOutputr_out[3]Input vector r_in resolved in frame defined by frame_r_out

Model 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

TypeNameDescription
Frame_aframe_a 

Partial Model 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

TypeNameDefaultDescription
ResolveInFrameAresolveInFrameModelica.​Mechanics.​MultiBody.​Types.​ResolveInFrameA.​frame_aFrame in which output vector(s) is/are resolved (world, frame_a, or frame_resolve)

Connectors

TypeNameDescription
Frame_aframe_aCoordinate system a
Frame_bframe_bCoordinate system b
Frame_resolveframe_resolveOutput vectors are optionally resolved in this frame (cut-force/-torque are set to zero)

Partial Model 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

TypeNameDefaultDescription
ResolveInFrameAresolveInFrameModelica.​Mechanics.​MultiBody.​Types.​ResolveInFrameA.​frame_aFrame in which output vector is resolved (world, frame_a, or frame_resolve)

Connectors

TypeNameDescription
Frame_aframe_aCoordinate system a
Frame_bframe_bCoordinate system b
Frame_resolveframe_resolveThe output vector is optionally resolved in this frame (cut-force/-torque are set to zero)

Model 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:

resolveInFrame =
Types.ResolveInFrameA.		Meaning
world Resolve vector in world frame
frame_a Resolve vector in frame_a
frame_resolve Resolve vector in frame_resolve

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

TypeNameDefaultDescription
ResolveInFrameAresolveInFrameModelica.​Mechanics.​MultiBody.​Types.​ResolveInFrameA.​frame_aFrame in which output vector is resolved (world, frame_a, or frame_resolve)
BooleanpositiveSigntrue= true, if force with positive sign is returned (= frame_a.f), otherwise with negative sign (= frame_b.f)

Connectors

TypeNameDescription
Frame_aframe_aCoordinate system a
Frame_bframe_bCoordinate system b
Frame_resolveframe_resolveThe output vector is optionally resolved in this frame (cut-force/-torque are set to zero)
output RealOutputforce[3]Cut force resolved in frame defined by resolveInFrame

Model 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:

resolveInFrame =
Types.ResolveInFrameA.		Meaning
world Resolve vector in world frame
frame_a Resolve vector in frame_a
frame_resolve Resolve vector in frame_resolve

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

TypeNameDefaultDescription
ResolveInFrameAresolveInFrameModelica.​Mechanics.​MultiBody.​Types.​ResolveInFrameA.​frame_aFrame in which output vector is resolved (world, frame_a, or frame_resolve)
BooleanpositiveSigntrue= true, if torque with positive sign is returned (= frame_a.t), otherwise with negative sign (= frame_b.t)

Connectors

TypeNameDescription
Frame_aframe_aCoordinate system a
Frame_bframe_bCoordinate system b
Frame_resolveframe_resolveThe output vector is optionally resolved in this frame (cut-force/-torque are set to zero)
output RealOutputtorque[3]Cut torque resolved in frame defined by resolveInFrame

Generated 2018-12-12 12:12:54 EST by MapleSim.