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

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

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

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

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

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:

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

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:

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

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:

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

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:

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

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:

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

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:

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

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

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

Connectors

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

Connectors

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:

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

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:

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