|
|
| C | |
| in the palette |
on the schematic |
The block calculates the parameters of the relative motion profile of two rotary moving bodies, calculated by the following formulas:
where:
- φ – relative angular position, rad
- φC and φR – turn angles at the ports "C" and "R", respectively, rad
- ω – relative angular speed, rad/s
- ωC and ωR – angular speeds at ports "C" and "R", respectively, rad/s
- ε – relative angular acceleration, rad/s2
- εC and εR – angular accelerations at ports "C" and "R", respectively, rad/s2
Thus, the sensor determines the motion parameters of the body connected to the "
R" port relative to the body connected to the "
C" port. Changing the sides of the port location is available in the block properties.
Inputs
| Name |
Description |
Connection line type |
| C |
Port for connecting a conditionally fixed case (case) |
Rotary mechanics |
| R |
Port for connecting a conditionally moving shaft (rotor) |
Rotary mechanics |
Outputs
| Name |
Description |
Connection line type |
| Fi |
Relative angular position |
Mathematical |
| W |
Relative angular speed |
Mathematical |
| Eps |
Relative angular acceleration |
Mathematical |
Properties
| Title |
Parameter |
Description |
By default |
Data type |
| Change sides of C and R ports |
ChangePortSide |
Allows you to change the location of ports "C" and "R" to the opposite |
None |
Двоичное |
Parameters
| Name |
Parameter |
Description |
Data type |
| Turn angle, rad |
Fi |
Relative angular position |
Вещественное |
| Angular speed, rad/s |
W |
Relative angular speed |
Вещественное |
| Angular acceleration, rad/s2 |
Eps |
Relative angular acceleration |
Вещественное |
Examples
Examples of block application:
