pre-big change
This commit is contained in:
275
_3D/package.mo
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275
_3D/package.mo
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within BondGraph;
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package _3D
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connector BondPort "Bond graph 3D multibond power port"
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Real e[3] "Effort vector";
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flow Real f[3] "Flow vector";
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annotation(
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Icon(graphics = {Rectangle(lineColor = {170, 0, 0}, fillColor = {170, 0, 0}, fillPattern = FillPattern.Solid, extent = {{-60, 60}, {60, -60}})}));
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end BondPort;
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model J1 "Bond graph 3D 1-junction (common flow, efforts sum to zero)"
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parameter Integer N(min = 1) = 2 "# of power ports";
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parameter Real s[N] = fill(1.0, N) "Bond orientation signs used in the effort balance";
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BondPort P[N] "Power ports" annotation(
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Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(extent = {{-10, -10}, {10, 10}})));
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Real f[3];
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equation
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// Efforts sum to zero, with signs from bond directions
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for j in 1:3 loop
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sum(s[i]*P[i].e[j] for i in 1:N) = 0;
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end for;
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// Flows are all equal
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for i in 2:N loop
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P[i].f = P[i - 1].f;
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end for;
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f = P[1].f;
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annotation(
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Icon(graphics = {Text(extent = {{-100, 100}, {100, -100}}, textString = "1", textStyle = {TextStyle.Bold, TextStyle.UnderLine, TextStyle.Italic}), Text(origin = {50, 80}, textColor = {0, 0, 255}, extent = {{-50, 20}, {50, -20}}, textString = "%name", textStyle = {TextStyle.Italic})}));
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end J1;
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model J0 "Bond graph 3D 0-junction (common effort, flows sum to zero)"
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parameter Integer N(min = 1) = 2 "# of power ports";
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parameter Real s[N] = fill(1.0, N) "Bond orientation signs used in the effort balance";
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BondPort P[N] "Power ports" annotation(
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Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(extent = {{-10, -10}, {10, 10}})));
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Real e[3];
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equation
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// Flows sum to zero, with signs from bond directions
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for j in 1:3 loop
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sum(s[i]*P[i].f[j] for i in 1:N) = 0;
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end for;
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// Efforts are all equal
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for i in 2:N loop
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P[i].e = P[1].e;
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end for;
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e = P[1].e;
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annotation(
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Icon(graphics = {Text(extent = {{-100, 100}, {100, -100}}, textString = "0", textStyle = {TextStyle.Bold, TextStyle.UnderLine, TextStyle.Italic}), Text(origin = {50, 80}, textColor = {0, 0, 255}, extent = {{-50, 20}, {50, -20}}, textString = "%name", textStyle = {TextStyle.Italic})}),
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Diagram(graphics));
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end J0;
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partial model OnePortPassive "One-port passive 3D multibond element"
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BondPort p "Generic power port" annotation(
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Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(extent = {{-10, -10}, {10, 10}})));
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end OnePortPassive;
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partial model OnePortEnergetic "One-port 3D multibond storage element"
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extends OnePortPassive annotation(
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Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {0, 80}, extent = {{-10, -10}, {10, 10}})));
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Real state[3] "Conserved quantity";
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end OnePortEnergetic;
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model C "Bond graph 3D C element"
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extends OnePortEnergetic(state(start = q0, each fixed = true));
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parameter Real c[3, 3] = [1, 0, 0; 0, 1, 0; 0, 0, 1] "Capacitance matrix inverse denominator form";
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parameter Real q0[3] = {0, 0, 0} "Initial stored quantity (charge)";
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equation
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der(state) = p.f;
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c*p.e = state;
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annotation(
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Icon(graphics = {Text(extent = {{-100, 100}, {100, -100}}, textString = "C", textStyle = {TextStyle.Bold, TextStyle.UnderLine, TextStyle.Italic}), Text(origin = {50, 80}, textColor = {0, 0, 255}, extent = {{-50, 20}, {50, -20}}, textString = "%name", textStyle = {TextStyle.Italic})}),
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Diagram(graphics));
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end C;
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model I "Bond graph 3D I element"
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extends OnePortEnergetic(state(start = p0, each fixed = true));
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parameter Real I[3, 3] = [1, 0, 0; 0, 1, 0; 0, 0, 1] "Inertance / inductance / mass matrix";
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parameter Real p0[3] = {0, 0, 0} "Initial stored quantity (momentum / flux)";
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equation
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der(state) = p.e;
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I*p.f = state;
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annotation(
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Icon(graphics = {Text(extent = {{-100, 100}, {100, -100}}, textString = "I", textStyle = {TextStyle.Bold, TextStyle.UnderLine, TextStyle.Italic}), Text(origin = {50, 80}, textColor = {0, 0, 255}, extent = {{-50, 20}, {50, -20}}, textString = "%name", textStyle = {TextStyle.Italic})}),
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Diagram(graphics));
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end I;
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model R "Bond graph 3D resistor"
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extends OnePortPassive;
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parameter Real R[3, 3] = [1, 0, 0; 0, 1, 0; 0, 0, 1] "Resistance matrix";
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equation
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p.e = R*p.f;
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annotation(
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Icon(graphics = {Text(extent = {{-100, 100}, {100, -100}}, textString = "R", textStyle = {TextStyle.Bold, TextStyle.UnderLine, TextStyle.Italic}), Text(origin = {50, 80}, textColor = {0, 0, 255}, extent = {{-50, 20}, {50, -20}}, textString = "%name", textStyle = {TextStyle.Italic})}),
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Diagram(graphics));
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end R;
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model Se "Effort source"
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BondPort p annotation(
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Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {80, 0}, extent = {{-10, -10}, {10, 10}})));
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parameter Real e0[3] "Imposed effort";
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equation
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p.e = e0;
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annotation(
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Icon(graphics = {Text(origin = {-20, 0}, extent = {{-80, 100}, {80, -100}}, textString = "Se", textStyle = {TextStyle.Bold, TextStyle.UnderLine, TextStyle.Italic}), Text(origin = {50, 80}, textColor = {0, 0, 255}, extent = {{-50, 20}, {50, -20}}, textString = "%name", textStyle = {TextStyle.Italic})}),
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Diagram(graphics));
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end Se;
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model Sf "Flow source"
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BondPort p annotation(
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Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {80, 0}, extent = {{-10, -10}, {10, 10}})));
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parameter Real f0[3] "Imposed flow";
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equation
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p.f = f0;
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annotation(
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Icon(graphics = {Text(origin = {-20, 0}, extent = {{-80, 100}, {80, -100}}, textString = "Sf", textStyle = {TextStyle.Bold, TextStyle.UnderLine, TextStyle.Italic}), Text(origin = {50, 80}, textColor = {0, 0, 255}, extent = {{-50, 20}, {50, -20}}, textString = "%name", textStyle = {TextStyle.Italic})}),
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Diagram(graphics));
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end Sf;
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model TF "Bond graph 3D transformer"
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BondPort p1 "Port 1" annotation(
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Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {-80, 0}, extent = {{-10, -10}, {10, 10}})));
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BondPort p2 "Port 2" annotation(
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Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {80, 0}, extent = {{-10, -10}, {10, 10}})));
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parameter Real n[3, 3] = [1, 0, 0; 0, 1, 0; 0, 0, 1] "Transformer ratio matrix";
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equation
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p1.e = n*p2.e;
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transpose(n)*p1.f = p2.f;
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annotation(
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Icon(graphics = {Text(extent = {{-80, 100}, {80, -100}}, textString = "TF", textStyle = {TextStyle.Bold, TextStyle.UnderLine, TextStyle.Italic}), Text(origin = {50, 80}, textColor = {0, 0, 255}, extent = {{-50, 20}, {50, -20}}, textString = "%name", textStyle = {TextStyle.Italic})}),
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Diagram(graphics));
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end TF;
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model GY "Bond graph 3D gyrator"
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BondPort p1 "Port 1" annotation(
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Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {-80, 0}, extent = {{-10, -10}, {10, 10}})));
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BondPort p2 "Port 2" annotation(
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Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {80, 0}, extent = {{-10, -10}, {10, 10}})));
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parameter Real r[3, 3] = [1, 0, 0; 0, 1, 0; 0, 0, 1] "Gyrator modulus matrix";
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equation
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p1.e = r*p2.f;
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p2.e = transpose(r)*p1.f;
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annotation(
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Icon(graphics = {Text(extent = {{-80, 100}, {80, -100}}, textString = "GY", textStyle = {TextStyle.Bold, TextStyle.UnderLine, TextStyle.Italic}), Text(origin = {50, 80}, textColor = {0, 0, 255}, extent = {{-50, 20}, {50, -20}}, textString = "%name", textStyle = {TextStyle.Italic})}),
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Diagram(graphics));
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end GY;
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model mSe "Bond graph modulated effort source"
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BondPort p annotation(
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Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {80, 0}, extent = {{-10, -10}, {10, 10}})));
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Modelica.Blocks.Interfaces.RealInput e0 "Imposed effort" annotation(
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Placement(transformation(origin = {-8, -64}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-30, -78}, extent = {{-8, -8}, {8, 8}}, rotation = 90)));
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Modelica.Blocks.Interfaces.RealInput e1 "Imposed effort" annotation(
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Placement(transformation(origin = {-8, -64}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {0, -78}, extent = {{-8, -8}, {8, 8}}, rotation = 90)));
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Modelica.Blocks.Interfaces.RealInput e2 "Imposed effort" annotation(
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Placement(transformation(origin = {-8, -64}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {30, -78}, extent = {{-8, -8}, {8, 8}}, rotation = 90)));
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equation
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p.e = {e0, e1, e2};
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annotation(
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Icon(graphics = {Text(origin = {-20, 0}, extent = {{-80, 100}, {80, -100}}, textString = "mSe", textStyle = {TextStyle.Bold, TextStyle.UnderLine, TextStyle.Italic}), Text(origin = {50, 80}, textColor = {0, 0, 255}, extent = {{-50, 20}, {50, -20}}, textString = "%name", textStyle = {TextStyle.Italic})}),
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Diagram(graphics));
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end mSe;
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model mSf "Bond graph modulated flow source"
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BondPort p annotation(
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Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {80, 0}, extent = {{-10, -10}, {10, 10}})));
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Modelica.Blocks.Interfaces.RealInput f0 "Imposed flow" annotation(
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Placement(transformation(origin = {-8, -64}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-30, -78}, extent = {{-8, -8}, {8, 8}}, rotation = 90)));
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Modelica.Blocks.Interfaces.RealInput f1 "Imposed flow" annotation(
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Placement(transformation(origin = {-8, -64}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {0, -78}, extent = {{-8, -8}, {8, 8}}, rotation = 90)));
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Modelica.Blocks.Interfaces.RealInput f2 "Imposed flow" annotation(
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Placement(transformation(origin = {-8, -64}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {30, -78}, extent = {{-8, -8}, {8, 8}}, rotation = 90)));
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equation
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p.f = {f0, f1, f2};
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annotation(
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Icon(graphics = {Text(origin = {-20, 0}, extent = {{-80, 100}, {80, -100}}, textString = "mSf", textStyle = {TextStyle.Bold, TextStyle.UnderLine, TextStyle.Italic}), Text(origin = {50, 80}, textColor = {0, 0, 255}, extent = {{-50, 20}, {50, -20}}, textString = "%name", textStyle = {TextStyle.Italic})}),
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Diagram(graphics));
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end mSf;
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model mTF "Bond graph modulated transformer"
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BondPort p1 "Port 1" annotation(
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Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {-80, 0}, extent = {{-10, -10}, {10, 10}})));
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BondPort p2 "Port 2" annotation(
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Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {80, 0}, extent = {{-10, -10}, {10, 10}})));
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Modelica.Blocks.Interfaces.RealInput m[3, 3] "Modulation" annotation(
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Placement(transformation(origin = {-8, -64}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {0, -78}, extent = {{-8, -8}, {8, 8}}, rotation = 90)));
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equation
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p1.e = m*p2.e;
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transpose(m)*p1.f = p2.f;
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annotation(
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Diagram(graphics),
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Icon(graphics = {Text(extent = {{-60, 100}, {60, -100}}, textString = "mTF", textStyle = {TextStyle.Bold, TextStyle.UnderLine, TextStyle.Italic}), Text(origin = {50, 80}, textColor = {0, 0, 255}, extent = {{-50, 20}, {50, -20}}, textString = "%name", textStyle = {TextStyle.Italic})}));
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end mTF;
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model mGY "Bond graph modulated gyrator"
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BondPort p1 "Port 1" annotation(
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Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {-80, 0}, extent = {{-10, -10}, {10, 10}})));
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BondPort p2 "Port 2" annotation(
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Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {80, 0}, extent = {{-10, -10}, {10, 10}})));
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Modelica.Blocks.Interfaces.RealInput m[3, 3] "Modulation" annotation(
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Placement(transformation(origin = {-8, -64}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {0, -78}, extent = {{-8, -8}, {8, 8}}, rotation = 90)));
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equation
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p1.e = m*p2.f;
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p2.e = transpose(m)*p1.f;
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annotation(
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Diagram(graphics),
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Icon(graphics = {Text(extent = {{-60, 100}, {60, -100}}, textString = "mGY", textStyle = {TextStyle.Bold, TextStyle.UnderLine, TextStyle.Italic}), Text(origin = {50, 80}, textColor = {0, 0, 255}, extent = {{-50, 20}, {50, -20}}, textString = "%name", textStyle = {TextStyle.Italic})}));
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end mGY;
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package TransRotUtils
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model mTFrot3lin
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BondPort pR annotation(
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Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {-80, 0}, extent = {{-10, -10}, {10, 10}})));
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BondPort pT annotation(
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Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {80, 0}, extent = {{-10, -10}, {10, 10}})));
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parameter Real r_body[3] = {1, 0, 0} "Vector from rotational reference to translational point (body frame)";
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protected
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Real S[3, 3];
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equation
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// Skew matrix such that S*x = r_body x x
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S = [0, -r_body[3], r_body[2]; r_body[3], 0, -r_body[1]; -r_body[2], r_body[1], 0];
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// v = w x r_body = -S*w
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pT.f = transpose(S)*pR.f;
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// tau = r_body x F = S*F
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pR.e = S*pT.e;
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annotation(
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Icon(graphics = {Text(extent = {{-70, 100}, {70, -100}}, textString = "rlTF", textStyle = {TextStyle.Bold, TextStyle.UnderLine, TextStyle.Italic})}));
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end mTFrot3lin;
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model rTF3D
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BondPort p1 "Port 1" annotation(
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Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {-80, 0}, extent = {{-10, -10}, {10, 10}})));
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BondPort p2 "Port 2" annotation(
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Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {80, 0}, extent = {{-10, -10}, {10, 10}})));
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Modelica.Blocks.Interfaces.RealInput phi "roll angle" annotation(
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Placement(transformation(origin = {-8, -64}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-30, -78}, extent = {{-8, -8}, {8, 8}}, rotation = 90)));
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Modelica.Blocks.Interfaces.RealInput theta "pitch angle" annotation(
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Placement(transformation(origin = {-8, -64}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {0, -78}, extent = {{-8, -8}, {8, 8}}, rotation = 90)));
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Modelica.Blocks.Interfaces.RealInput psi "yaw angle" annotation(
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Placement(transformation(origin = {-8, -64}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {30, -78}, extent = {{-8, -8}, {8, 8}}, rotation = 90)));
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protected
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Real R[3, 3];
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equation
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// ZYX rotation matrix from body to inertial frame.
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R = [cos(psi)*cos(theta), cos(psi)*sin(theta)*sin(phi) - sin(psi)*cos(phi), cos(psi)*sin(theta)*cos(phi) + sin(psi)*sin(phi); sin(psi)*cos(theta), sin(psi)*sin(theta)*sin(phi) + cos(psi)*cos(phi), sin(psi)*sin(theta)*cos(phi) - cos(psi)*sin(phi); -sin(theta), cos(theta)*sin(phi), cos(theta)*cos(phi)];
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p1.e = R*p2.e;
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transpose(R)*p1.f = p2.f;
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annotation(
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Diagram(graphics),
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Icon(graphics = {Text(extent = {{-60, 100}, {60, -100}}, textString = "rTF", textStyle = {TextStyle.Bold, TextStyle.Italic, TextStyle.UnderLine})}));
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end rTF3D;
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end TransRotUtils;
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model fsensor3d
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BondPort p annotation(
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Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {-52, 0}, extent = {{-10, -10}, {10, 10}})));
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Modelica.Blocks.Interfaces.RealOutput f0 "Flow output" annotation(
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Placement(transformation(origin = {-8, -64}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {54, 26}, extent = {{-8, -8}, {8, 8}})));
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Modelica.Blocks.Interfaces.RealOutput f1 "Flow output" annotation(
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Placement(transformation(origin = {-8, -64}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {54, 0}, extent = {{-8, -8}, {8, 8}})));
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Modelica.Blocks.Interfaces.RealOutput f2 "Flow output" annotation(
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Placement(transformation(origin = {-8, -64}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {54, -26}, extent = {{-8, -8}, {8, 8}})));
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equation
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// Ideal flow sensor in bond-graph form: zero effort loading.
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p.e = {0, 0, 0};
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f0 = p.f[1];
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f1 = p.f[2];
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f2 = p.f[3];
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annotation(
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Icon(graphics = {Text(origin = {-10, 0}, extent = {{-50, 60}, {50, -60}}, textString = "f", textStyle = {TextStyle.Italic}), Ellipse(origin = {-2, 0}, lineThickness = 5, extent = {{-50, 50}, {50, -50}})}));
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end fsensor3d;
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annotation(
|
||||
Icon(graphics = {Text(origin = {50, 0}, extent = {{-50, 100}, {50, -100}}, textString = "R", textStyle = {TextStyle.Bold, TextStyle.Italic}), Line(origin = {-45.22, 20.19}, points = {{-58.7774, -20.1934}, {21.2226, -20.1934}, {-38.7774, 19.8066}}, thickness = 5), Line(origin = {-9.81, -8.19}, points = {{-10.1934, 48.1934}, {-10.1934, -31.8066}}, thickness = 5), Line(origin = {-78, 16}, points = {{-26, 0}, {30, 0}}, thickness = 5), Line(origin = {-78, -16}, points = {{-26, 0}, {30, 0}}, thickness = 5)}),
|
||||
uses(Modelica(version = "4.1.0")),
|
||||
Diagram(graphics));
|
||||
end _3D;
|
||||
18
_3D/package.order
Normal file
18
_3D/package.order
Normal file
@@ -0,0 +1,18 @@
|
||||
BondPort
|
||||
J1
|
||||
J0
|
||||
OnePortPassive
|
||||
OnePortEnergetic
|
||||
C
|
||||
I
|
||||
R
|
||||
Se
|
||||
Sf
|
||||
TF
|
||||
GY
|
||||
mSe
|
||||
mSf
|
||||
mTF
|
||||
mGY
|
||||
TransRotUtils
|
||||
fsensor3d
|
||||
Reference in New Issue
Block a user