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Joppe Blondel
2026-03-09 18:27:26 +01:00
parent fbc61e9fb2
commit 1312baa41d
14 changed files with 905 additions and 304 deletions
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.gitignore vendored
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build/
__pycache__*

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BondGraph/_1D/package.mo
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within BondGraph;
package _1D
connector BondPort "Bond graph power port"
Real e "Effort variable";
flow Real f "Flow variable";annotation(
Icon(graphics = {Rectangle(lineColor = {0, 0, 127}, fillColor = {0, 0, 127},fillPattern = FillPattern.Solid, extent = {{-60, 60}, {60, -60}})}));
end BondPort;
model J1 "Bond graph 1-junction (common flow, efforts sum to zero)"
parameter Integer N(min=1) = 2 "# of power ports";
parameter Real s[N] = fill(1.0, N)
"Bond orientation signs used in the effort balance";
BondPort P[N] "Power ports" annotation(
Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(extent = {{-10, -10}, {10, 10}})));
Real f;
equation
// Efforts sum to zero, with signs from bond directions
sum(s[i] * P[i].e for i in 1:N) = 0;
// Flows are all equal
for i in 2:N loop
P[i].f = P[i-1].f;
end for;
f = P[1].f;
annotation(
Icon(graphics = {Text(extent = {{-100, 100}, {100, -100}}, textString = "1"), Text(origin = {50, 80}, textColor = {0, 0, 255}, extent = {{-50, 20}, {50, -20}}, textString = "%name")}),
Diagram(graphics));
end J1;
model J0 "Bond graph 0-junction (common effort, flows sum to zero)"
parameter Integer N(min=1) = 2 "# of power ports";
parameter Real s[N] = fill(1.0, N)
"Bond orientation signs used in the effort balance";
BondPort P[N] "Power ports" annotation(
Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(extent = {{-10, -10}, {10, 10}})));
Real e;
equation
// Flows sum to zero, with signs from bond directions
sum(s[i] * P[i].f for i in 1:N) = 0;
// Efforts are all equal
for i in 2:N loop
P[i].e = P[1].e;
end for;
e = P[1].e;
annotation(
Icon(graphics = {Text(extent = {{-100, 100}, {100, -100}}, textString = "0"), Text(origin = {50, 80}, textColor = {0, 0, 255}, extent = {{-50, 20}, {50, -20}}, textString = "%name")}),
Diagram(graphics));
end J0;
partial model OnePortPassive "One-port passive bond graph element"
BondPort p "Generic power port" annotation(
Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(extent = {{-10, -10}, {10, 10}})));
end OnePortPassive;
partial model OnePortEnergetic "One-port storage element"
extends OnePortPassive annotation(
Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {0, 80}, extent = {{-10, -10}, {10, 10}})));
Real state "Conserved quantity";
end OnePortEnergetic;
model C "Bond graph C element"
extends OnePortEnergetic(state(start=q0, fixed=true));
parameter Real c(min=0) = 1 "Capacitance";
parameter Real q0 = 0 "Initial stored quantity (charge)";
equation
der(state) = p.f;
p.e = state / c;
annotation(
Icon(graphics = {Text(extent = {{-100, 100}, {100, -100}}, textString = "C"), Text(origin = {50, 80}, textColor = {0, 0, 255}, extent = {{-50, 20}, {50, -20}}, textString = "%name")}),
Diagram(graphics));
end C;
model I "Bond graph I element"
extends OnePortEnergetic(state(start=p0, fixed=true));
parameter Real I(min=0) = 1 "Inertance / inductance / mass";
parameter Real p0 = 0 "Initial stored quantity (momentum / flux)";
equation
der(state) = p.e;
p.f = state / I;
annotation(
Icon(graphics = {Text(extent = {{-100, 100}, {100, -100}}, textString = "I"), Text(origin = {50, 80}, textColor = {0, 0, 255}, extent = {{-50, 20}, {50, -20}}, textString = "%name")}),
Diagram(graphics));
end I;
model R "Bond graph resistor"
extends OnePortPassive;
parameter Real R(min=0) = 1 "Resistance";
equation
p.e = R * p.f;
annotation(
Icon(graphics = {Text(extent = {{-100, 100}, {100, -100}}, textString = "R"), Text(origin = {50, 80}, textColor = {0, 0, 255}, extent = {{-50, 20}, {50, -20}}, textString = "%name")}),
Diagram(graphics));
end R;
model Se "Effort source"
BondPort p annotation(
Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {80, 0}, extent = {{-10, -10}, {10, 10}})));
parameter Real e0 "Imposed effort";
equation
p.e = e0;
annotation(
Icon(graphics = {Text(origin = {-20, 0}, extent = {{-80, 100}, {80, -100}}, textString = "Se"), Text(origin = {50, 80}, textColor = {0, 0, 255}, extent = {{-50, 20}, {50, -20}}, textString = "%name")}),
Diagram(graphics));
end Se;
model Sf "Flow source"
BondPort p annotation(
Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {80, 0}, extent = {{-10, -10}, {10, 10}})));
parameter Real f0 "Imposed flow";
equation
p.f = f0;
annotation(
Icon(graphics = {Text(origin = {-20, 0}, extent = {{-80, 100}, {80, -100}}, textString = "Sf"), Text(origin = {50, 80}, textColor = {0, 0, 255}, extent = {{-50, 20}, {50, -20}}, textString = "%name")}),
Diagram(graphics));
end Sf;
model TF "Bond graph transformer"
BondPort p1 "Port 1" annotation(
Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {-80, 0}, extent = {{-10, -10}, {10, 10}})));
BondPort p2 "Port 2" annotation(
Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {80, 0}, extent = {{-10, -10}, {10, 10}})));
parameter Real n = 1 "Transformer ratio";
equation
p1.e = n * p2.e;
p2.f = n * p1.f;
annotation(
Icon(graphics = {Text(extent = {{-80, 100}, {80, -100}}, textString = "TF"), Text(origin = {50, 80}, textColor = {0, 0, 255}, extent = {{-50, 20}, {50, -20}}, textString = "%name")}),
Diagram(graphics));
end TF;
model GY "Bond graph gyrator"
BondPort p1 "Port 1" annotation(
Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {-80, 0}, extent = {{-10, -10}, {10, 10}})));
BondPort p2 "Port 2" annotation(
Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {80, 0}, extent = {{-10, -10}, {10, 10}})));
parameter Real r = 1 "Gyrator modulus";
equation
p1.e = r * p2.f;
p2.e = r * p1.f;
annotation(
Icon(graphics = {Text(extent = {{-80, 100}, {80, -100}}, textString = "GY"), Text(origin = {50, 80}, textColor = {0, 0, 255}, extent = {{-50, 20}, {50, -20}}, textString = "%name")}),
Diagram(graphics));
end GY;
model mSe "Bond graph modulated effort source"
BondPort p annotation(
Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {80, 0}, extent = {{-10, -10}, {10, 10}})));
Modelica.Blocks.Interfaces.RealInput e0 "Imposed effort" annotation(
Placement(transformation(origin = {-8, -64}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {0, -78}, extent = {{-8, -8}, {8, 8}}, rotation = 90)));
equation
p.e = e0;
annotation(
Icon(graphics = {Text(origin = {-20, 0}, extent = {{-80, 100}, {80, -100}}, textString = "mSe"), Text(origin = {50, 80}, textColor = {0, 0, 255}, extent = {{-50, 20}, {50, -20}}, textString = "%name")}),
Diagram(graphics));
end mSe;
model mSf "Bond graph modulated flow source"
BondPort p annotation(
Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {80, 0}, extent = {{-10, -10}, {10, 10}})));
Modelica.Blocks.Interfaces.RealInput f0 "Imposed flow" annotation(
Placement(transformation(origin = {-8, -64}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {0, -78}, extent = {{-8, -8}, {8, 8}}, rotation = 90)));
equation
p.f = f0;
annotation(
Icon(graphics = {Text(origin = {-20, 0}, extent = {{-80, 100}, {80, -100}}, textString = "mSf"), Text(origin = {50, 80}, textColor = {0, 0, 255}, extent = {{-50, 20}, {50, -20}}, textString = "%name")}),
Diagram(graphics));
end mSf;
model mTF "Bond graph modulated transformer"
BondPort p1 "Port 1" annotation(
Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {-80, 0}, extent = {{-10, -10}, {10, 10}})));
BondPort p2 "Port 2" annotation(
Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {80, 0}, extent = {{-10, -10}, {10, 10}})));
Modelica.Blocks.Interfaces.RealInput m "Modulation" annotation(
Placement(transformation(origin = {-8, -64}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {0, -78}, extent = {{-8, -8}, {8, 8}}, rotation = 90)));
equation
p1.e = m * p2.e;
p2.f = m * p1.f;
annotation(
Diagram(graphics),
Icon(graphics = {Text(extent = {{-60, 100}, {60, -100}}, textString = "mTF"), Text(origin = {50, 80}, textColor = {0, 0, 255}, extent = {{-50, 20}, {50, -20}}, textString = "%name")}));
end mTF;
model mGY "Bond graph modulated gyrator"
BondPort p1 "Port 1" annotation(
Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {-80, 0}, extent = {{-10, -10}, {10, 10}})));
BondPort p2 "Port 2" annotation(
Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {80, 0}, extent = {{-10, -10}, {10, 10}})));
Modelica.Blocks.Interfaces.RealInput m "Modulation" annotation(
Placement(transformation(origin = {-8, -64}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {0, -78}, extent = {{-8, -8}, {8, 8}}, rotation = 90)));
equation
p1.e = m * p2.f;
p2.e = m * p1.f;
annotation(
Diagram(graphics),
Icon(graphics = {Text(extent = {{-60, 100}, {60, -100}}, textString = "mGY"), Text(origin = {50, 80}, textColor = {0, 0, 255}, extent = {{-50, 20}, {50, -20}}, textString = "%name")}));
end mGY;
model fsensor
BondPort p annotation(
Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {-52, 0}, extent = {{-10, -10}, {10, 10}})));
Modelica.Blocks.Interfaces.RealOutput f "Flow output" annotation(
Placement(transformation(origin = {-8, -64}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {58, 0}, extent = {{-8, -8}, {8, 8}})));
equation
// Ideal flow sensor in bond-graph form: zero effort loading.
p.e = 0;
f = p.f;
annotation(
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}})}));
end fsensor;
model esensor
BondPort p annotation(
Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {-52, 0}, extent = {{-10, -10}, {10, 10}})));
Modelica.Blocks.Interfaces.RealOutput e "Effort output" annotation(
Placement(transformation(origin = {-8, -64}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {58, 0}, extent = {{-8, -8}, {8, 8}})));
equation
// Ideal effort sensor in bond-graph form: zero flow loading.
p.f = 0;
e = p.e;
annotation(
Icon(graphics = {Text(origin = {-10, 0}, extent = {{-50, 60}, {50, -60}}, textString = "e", textStyle = {TextStyle.Italic}), Ellipse(origin = {-2, 0}, lineThickness = 5, extent = {{-50, 50}, {50, -50}})}),
Diagram(graphics));
end esensor;
annotation(
Icon(graphics = {Text(origin = {50, 0}, extent = {{-50, 100}, {50, -100}}, textString = "R"), 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)}),
uses(Modelica(version = "4.1.0")));
end _1D;

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BondGraph/package.mo
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@@ -2,9 +2,223 @@ within ;
package BondGraph
extends Modelica.Icons.Package;
connector BondPort "Bond graph power port"
Real e "Effort variable";
flow Real f "Flow variable";
annotation(
Icon(graphics = {Rectangle(lineColor = {0, 0, 127}, fillColor = {0, 0, 127},fillPattern = FillPattern.Solid, extent = {{-60, 60}, {60, -60}})}));
end BondPort;
model J1 "Bond graph 1-junction (common flow, efforts sum to zero)"
parameter Integer N(min=1) = 2 "# of power ports";
parameter Real s[N] = fill(1.0, N) "Bond orientation signs used in the effort balance";
BondPort P[N] "Power ports"
annotation(
Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(extent = {{-10, -10}, {10, 10}})));
Modelica.Blocks.Interfaces.RealOutput f "Flow in junction"
annotation(
Placement(transformation(origin = {-100, -6}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {60, -60}, extent = {{-10, -10}, {10, 10}})));
equation
// Efforts sum to zero, with signs from bond directions
sum(s[i] * P[i].e for i in 1:N) = 0;
// Flows are all equal
for i in 2:N loop
P[i].f = P[i-1].f;
end for;
f = P[1].f * s[1];
annotation(
Icon(graphics = {Text(extent = {{-100, 100}, {100, -100}}, textString = "1"), Text(origin = {50, 80}, textColor = {0, 0, 255}, extent = {{-50, 20}, {50, -20}}, textString = "%name")}),
Diagram(graphics));
end J1;
model J0 "Bond graph 1-junction (common effort, flows sum to zero)"
parameter Integer N(min=1) = 2 "# of power ports";
parameter Real s[N] = fill(1.0, N) "Bond orientation signs used in the effort balance";
BondPort P[N] "Power ports"
annotation(
Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(extent = {{-10, -10}, {10, 10}})));
Modelica.Blocks.Interfaces.RealOutput e "Flow in junction"
annotation(
Placement(transformation(origin = {-100, -6}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {60, -60}, extent = {{-10, -10}, {10, 10}})));
equation
// Flows sum to zero, with signs from bond directions
sum(s[i] * P[i].f for i in 1:N) = 0;
// Efforts are all equal
for i in 2:N loop
P[i].f = P[i-1].f;
end for;
e = P[1].e * s[1];
annotation(
Icon(graphics = {Text(extent = {{-100, 100}, {100, -100}}, textString = "0"), Text(origin = {50, 80}, textColor = {0, 0, 255}, extent = {{-50, 20}, {50, -20}}, textString = "%name")}),
Diagram(graphics));
end J0;
partial model OnePortPassive "One-port passive bond graph element"
BondPort p "Generic power port" annotation(
Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(extent = {{-10, -10}, {10, 10}})));
end OnePortPassive;
partial model OnePortEnergetic "One-port storage element"
extends OnePortPassive annotation(
Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {0, 80}, extent = {{-10, -10}, {10, 10}})));
Real state "Conserved quantity";
end OnePortEnergetic;
model C "Bond graph C element"
extends OnePortEnergetic(state(start=q0, fixed=true));
parameter Real c(min=0) = 1 "Capacitance";
parameter Real q0 = 0 "Initial stored quantity (charge)";
equation
der(state) = p.f;
p.e = state / c;
annotation(
Icon(graphics = {Text(extent = {{-100, 100}, {100, -100}}, textString = "C"), Text(origin = {50, 80}, textColor = {0, 0, 255}, extent = {{-50, 20}, {50, -20}}, textString = "%name")}),
Diagram(graphics));
end C;
model I "Bond graph I element"
extends OnePortEnergetic(state(start=p0, fixed=true));
parameter Real I(min=0) = 1 "Inertance / inductance / mass";
parameter Real p0 = 0 "Initial stored quantity (momentum / flux)";
equation
der(state) = p.e;
p.f = state / I;
annotation(
Icon(graphics = {Text(extent = {{-100, 100}, {100, -100}}, textString = "I"), Text(origin = {50, 80}, textColor = {0, 0, 255}, extent = {{-50, 20}, {50, -20}}, textString = "%name")}),
Diagram(graphics));
end I;
model R "Bond graph resistor"
extends OnePortPassive;
parameter Real R(min=0) = 1 "Resistance";
equation
p.e = R * p.f;
annotation(
Icon(graphics = {Text(extent = {{-100, 100}, {100, -100}}, textString = "R"), Text(origin = {50, 80}, textColor = {0, 0, 255}, extent = {{-50, 20}, {50, -20}}, textString = "%name")}),
Diagram(graphics));
end R;
model Se "Effort source"
BondPort p annotation(
Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {80, 0}, extent = {{-10, -10}, {10, 10}})));
parameter Real e0 "Imposed effort";
equation
p.e = e0;
annotation(
Icon(graphics = {Text(origin = {-20, 0}, extent = {{-80, 100}, {80, -100}}, textString = "Se"), Text(origin = {50, 80}, textColor = {0, 0, 255}, extent = {{-50, 20}, {50, -20}}, textString = "%name")}),
Diagram(graphics));
end Se;
model Sf "Flow source"
BondPort p annotation(
Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {80, 0}, extent = {{-10, -10}, {10, 10}})));
parameter Real f0 "Imposed flow";
equation
p.f = f0;
annotation(
Icon(graphics = {Text(origin = {-20, 0}, extent = {{-80, 100}, {80, -100}}, textString = "Sf"), Text(origin = {50, 80}, textColor = {0, 0, 255}, extent = {{-50, 20}, {50, -20}}, textString = "%name")}),
Diagram(graphics));
end Sf;
model TF "Bond graph transformer"
BondPort p1 "Port 1" annotation(
Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {-80, 0}, extent = {{-10, -10}, {10, 10}})));
BondPort p2 "Port 2" annotation(
Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {80, 0}, extent = {{-10, -10}, {10, 10}})));
parameter Real n = 1 "Transformer ratio";
equation
p1.e = n * p2.e;
p2.f = n * p1.f;
annotation(
Icon(graphics = {Text(extent = {{-80, 100}, {80, -100}}, textString = "TF"), Text(origin = {50, 80}, textColor = {0, 0, 255}, extent = {{-50, 20}, {50, -20}}, textString = "%name")}),
Diagram(graphics));
end TF;
model GY "Bond graph gyrator"
BondPort p1 "Port 1" annotation(
Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {-80, 0}, extent = {{-10, -10}, {10, 10}})));
BondPort p2 "Port 2" annotation(
Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {80, 0}, extent = {{-10, -10}, {10, 10}})));
parameter Real r = 1 "Gyrator modulus";
equation
p1.e = r * p2.f;
p2.e = r * p1.f;
annotation(
Icon(graphics = {Text(extent = {{-80, 100}, {80, -100}}, textString = "GY"), Text(origin = {50, 80}, textColor = {0, 0, 255}, extent = {{-50, 20}, {50, -20}}, textString = "%name")}),
Diagram(graphics));
end GY;
model mSe "Bond graph modulated effort source"
BondPort p annotation(
Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {80, 0}, extent = {{-10, -10}, {10, 10}})));
Modelica.Blocks.Interfaces.RealInput e0 "Imposed effort" annotation(
Placement(transformation(origin = {-8, -64}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {0, -78}, extent = {{-8, -8}, {8, 8}}, rotation = 90)));
equation
p.e = e0;
annotation(
Icon(graphics = {Text(origin = {-20, 0}, extent = {{-80, 100}, {80, -100}}, textString = "mSe"), Text(origin = {50, 80}, textColor = {0, 0, 255}, extent = {{-50, 20}, {50, -20}}, textString = "%name")}),
Diagram(graphics));
end mSe;
model mSf "Bond graph modulated flow source"
BondPort p annotation(
Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {80, 0}, extent = {{-10, -10}, {10, 10}})));
Modelica.Blocks.Interfaces.RealInput f0 "Imposed flow" annotation(
Placement(transformation(origin = {-8, -64}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {0, -78}, extent = {{-8, -8}, {8, 8}}, rotation = 90)));
equation
p.f = f0;
annotation(
Icon(graphics = {Text(origin = {-20, 0}, extent = {{-80, 100}, {80, -100}}, textString = "mSf"), Text(origin = {50, 80}, textColor = {0, 0, 255}, extent = {{-50, 20}, {50, -20}}, textString = "%name")}),
Diagram(graphics));
end mSf;
model mTF "Bond graph modulated transformer"
BondPort p1 "Port 1" annotation(
Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {-80, 0}, extent = {{-10, -10}, {10, 10}})));
BondPort p2 "Port 2" annotation(
Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {80, 0}, extent = {{-10, -10}, {10, 10}})));
Modelica.Blocks.Interfaces.RealInput m "Modulation" annotation(
Placement(transformation(origin = {-8, -64}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {0, -78}, extent = {{-8, -8}, {8, 8}}, rotation = 90)));
equation
p1.e = m * p2.e;
p2.f = m * p1.f;
annotation(
Diagram(graphics),
Icon(graphics = {Text(extent = {{-60, 100}, {60, -100}}, textString = "mTF"), Text(origin = {50, 80}, textColor = {0, 0, 255}, extent = {{-50, 20}, {50, -20}}, textString = "%name")}));
end mTF;
model mGY "Bond graph modulated gyrator"
BondPort p1 "Port 1" annotation(
Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {-80, 0}, extent = {{-10, -10}, {10, 10}})));
BondPort p2 "Port 2" annotation(
Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {80, 0}, extent = {{-10, -10}, {10, 10}})));
Modelica.Blocks.Interfaces.RealInput m "Modulation" annotation(
Placement(transformation(origin = {-8, -64}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {0, -78}, extent = {{-8, -8}, {8, 8}}, rotation = 90)));
equation
p1.e = m * p2.f;
p2.e = m * p1.f;
annotation(
Diagram(graphics),
Icon(graphics = {Text(extent = {{-60, 100}, {60, -100}}, textString = "mGY"), Text(origin = {50, 80}, textColor = {0, 0, 255}, extent = {{-50, 20}, {50, -20}}, textString = "%name")}));
end mGY;
annotation(
Diagram(graphics),
Icon(graphics = {Line(origin = {-45.22, 20.19}, points = {{-50.7774, -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 = {156.78, 20.19}, points = {{-60.7774, -20.1934}, {-134.777, -20.1934}, {-76.7774, 19.8066}}, thickness = 5), Line(origin = {28.19, -8.19}, points = {{-10.1934, 48.1934}, {-10.1934, -31.8066}}, thickness = 5), Line(origin = {66, 12}, points = {{-26, 0}, {30, 0}}, thickness = 5)}));
Icon(graphics = {Line(origin = {-45.22, 20.19}, points = {{-50.7774, -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 = {156.78, 20.19}, points = {{-60.7774, -20.1934}, {-134.777, -20.1934}, {-76.7774, 19.8066}}, thickness = 5), Line(origin = {28.19, -8.19}, points = {{-10.1934, 48.1934}, {-10.1934, -31.8066}}, thickness = 5), Line(origin = {66, 12}, points = {{-26, 0}, {30, 0}}, thickness = 5)}),
uses(Modelica(version = "4.1.0")));
end BondGraph;

1
BondGraph/package.order
View File

@@ -1,2 +1 @@
_1D
_2D

0
BondGraph/_2D/package.mo → _2D/package.mo
View File

0
BondGraph/_2D/package.order → _2D/package.order
View File

275
_3D/package.mo Normal file
View File

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

4
BondGraph/_1D/package.order → _3D/package.order
View File

@@ -14,5 +14,5 @@ mSe
mSf
mTF
mGY
fsensor
esensor
TransRotUtils
fsensor3d

9
formatter.py
View File

@@ -24,7 +24,9 @@ END_RE = re.compile(r"^\s*end\b")
def format_modelica(text: str) -> str:
lines = text.replace("\t", " ").splitlines()
normalized = text.replace("\r\n", "\n").replace("\r", "\n").replace("\t", " ")
had_trailing_newline = normalized.endswith("\n")
lines = normalized.split("\n")
out = []
indent = 0
@@ -63,7 +65,10 @@ def format_modelica(text: str) -> str:
elif SECTION_RE.match(stripped):
indent += 1
return "\n".join(out) + "\n"
formatted = "\n".join(out)
if had_trailing_newline:
return formatted
return formatted + "\n"
def main():

17
test1d.mo Normal file
View File

@@ -0,0 +1,17 @@
model test1d
BondGraph.J1 j1(N = 3, s = {-1, -1, 1}) annotation(
Placement(transformation(extent = {{-10, -10}, {10, 10}})));
BondGraph.R r1(R = 1) annotation(
Placement(transformation(origin = {0, 40}, extent = {{-10, -10}, {10, 10}})));
BondGraph.R r2(R = 1) annotation(
Placement(transformation(origin = {0, -40}, extent = {{-10, -10}, {10, 10}})));
BondGraph.Se se(e0 = 1) annotation(
Placement(transformation(origin = {-40, 0}, extent = {{-10, -10}, {10, 10}})));
equation
connect(j1.P[1], r1.p) annotation(
Line(points = {{0, 0}, {0, 40}}, color = {0, 0, 127}));
connect(j1.P[2], r2.p) annotation(
Line(points = {{0, 0}, {0, -40}}, color = {0, 0, 127}));
connect(se.p, j1.P[3]) annotation(
Line(points = {{-32, 0}, {0, 0}}, color = {0, 0, 127}));
end test1d;

103
test2d.mo
View File

@@ -1,94 +1,99 @@
model test2d
import _1D = BondGraph._1D;
import _2D = BondGraph._2D;
_1D.J1 w_com(N = 4, s = {1, -1, -1, -1}) annotation(
import _1D = BondGraph._1D;
import _2D = BondGraph._2D;
_1D.J1 w_com(N = 4, s = {1, -1, -1, -1}) annotation(
Placement(transformation(origin = {0, 120}, extent = {{-10, -10}, {10, 10}})));
_2D.TransRotUtils.mTFrot2lin mTFrot2lin(r_body = {0.5, 0}) annotation(
_2D.TransRotUtils.mTFrot2lin mTFrot2lin(r_body = {0.5, 0}) annotation(
Placement(transformation(origin = {0, 80}, extent = {{-10, -10}, {10, 10}}, rotation = -90)));
_2D.J0 j0(N = 3, s = {1, 1, -1}) annotation(
_2D.J0 j0(N = 3, s = {1, 1, -1}) annotation(
Placement(transformation(origin = {0, 40}, extent = {{-10, -10}, {10, 10}})));
_2D.J1 v_p_bff(N = 2, s = {1, 1}) annotation(
_2D.J1 v_p_bff(N = 2, s = {1, 1}) annotation(
Placement(transformation(origin = {-40, 40}, extent = {{-10, -10}, {10, 10}})));
_2D.J1 v_com_bff(N = 2, s = {-1, -1}) annotation(
_2D.J1 v_com_bff(N = 2, s = {-1, -1}) annotation(
Placement(transformation(origin = {40, 40}, extent = {{-10, -10}, {10, 10}})));
_2D.TransRotUtils.rTF rTF annotation(
_2D.TransRotUtils.rTF rTF annotation(
Placement(transformation(origin = {40, 0}, extent = {{-10, -10}, {10, 10}}, rotation = 90)));
_1D.fsensor wsensor annotation(
_1D.fsensor wsensor annotation(
Placement(transformation(origin = {50, 90}, extent = {{-10, -10}, {10, 10}})));
Modelica.Blocks.Continuous.Integrator w2phi(k = 1) annotation(
Modelica.Blocks.Continuous.Integrator w2phi(k = 1) annotation(
Placement(transformation(origin = {90, 90}, extent = {{-10, -10}, {10, 10}})));
_2D.J1 v_com_in(N = 4, s = {1, -1, -1, 1}) annotation(
_2D.J1 v_com_in(N = 4, s = {1, -1, 1, 1}) annotation(
Placement(transformation(origin = {40, -40}, extent = {{-10, -10}, {10, 10}})));
_2D.I mass(I = [1, 0; 0, 1]) annotation(
_2D.I mass(I = [1, 0; 0, 1]) annotation(
Placement(transformation(origin = {80, -40}, extent = {{-10, -10}, {10, 10}})));
BondGraph._2D.Sf ground(f0 = {0, 0}) annotation(
BondGraph._2D.Sf ground(f0 = {0, 0}) annotation(
Placement(transformation(origin = {-80, 40}, extent = {{-10, -10}, {10, 10}})));
BondGraph._1D.I m_inertial(I = 0.001) annotation(
BondGraph._1D.I m_inertial(I = 0.001) annotation(
Placement(transformation(origin = {40, 120}, extent = {{-10, -10}, {10, 10}})));
BondGraph._1D.Sf ground2(f0 = 0) annotation(
BondGraph._1D.Sf ground2(f0 = 0) annotation(
Placement(transformation(origin = {-80, 120}, extent = {{-10, -10}, {10, 10}})));
BondGraph._1D.J0 j1(N = 3, s = {1, -1, -1}) annotation(
BondGraph._1D.J0 j1(N = 3, s = {1, -1, -1}) annotation(
Placement(transformation(origin = {-40, 120}, extent = {{-10, -10}, {10, 10}})));
BondGraph._1D.J1 w_hinge(N = 2, s = {1, -11}) annotation(
BondGraph._1D.J1 w_hinge(N = 2, s = {1, -1}) annotation(
Placement(transformation(origin = {-40, 90}, extent = {{-10, -10}, {10, 10}})));
BondGraph._1D.R hinge_r(R = 0.01) annotation(
BondGraph._1D.R hinge_r(R = 0.08) annotation(
Placement(transformation(origin = {-80, 90}, extent = {{-10, -10}, {10, 10}})));
BondGraph._2D.Se g(e0 = {0, 9.81}) annotation(
BondGraph._2D.Se g(e0 = {0, -9.81}) annotation(
Placement(transformation(origin = {2, -40}, extent = {{-10, -10}, {10, 10}})));
BondGraph._2D.fsensor2d v_inertial annotation(
BondGraph._2D.fsensor2d v_inertial annotation(
Placement(transformation(origin = {40, -60}, extent = {{-10, -10}, {10, 10}}, rotation = -90)));
Modelica.Blocks.Continuous.Integrator vx_to_x(k = -1, y_start = -0.5) annotation(
Modelica.Blocks.Continuous.Integrator vx_to_x(k = 1, y_start = -0.5) annotation(
Placement(transformation(origin = {70, -70}, extent = {{-10, -10}, {10, 10}})));
Modelica.Blocks.Continuous.Integrator vy_to_y annotation(
Modelica.Blocks.Continuous.Integrator vy_to_y(k = 1) annotation(
Placement(transformation(origin = {70, -100}, extent = {{-10, -10}, {10, 10}})));
vis2d link;
vis2d vis2d1 annotation(
Placement(transformation(origin = {150, -6}, extent = {{-10, -10}, {10, 10}})));
equation
connect(w_com.P[2], mTFrot2lin.pR) annotation(
connect(w_com.P[2], mTFrot2lin.pR) annotation(
Line(points = {{0, 120}, {0, 88}}, color = {0, 0, 127}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
connect(mTFrot2lin.pT, j0.P[1]) annotation(
connect(mTFrot2lin.pT, j0.P[1]) annotation(
Line(points = {{0, 72}, {0, 40}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
connect(v_com_bff.P[1], j0.P[2]) annotation(
connect(v_com_bff.P[1], j0.P[2]) annotation(
Line(points = {{40, 40}, {0, 40}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
connect(j0.P[3], v_p_bff.P[1]) annotation(
connect(j0.P[3], v_p_bff.P[1]) annotation(
Line(origin = {-1, 0}, points = {{0, 40}, {-40, 40}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
connect(wsensor.f, w2phi.u) annotation(
connect(wsensor.f, w2phi.u) annotation(
Line(points = {{58, 90}, {78, 90}}, color = {0, 0, 127}));
connect(w2phi.y, rTF.phi) annotation(
connect(w2phi.y, rTF.phi) annotation(
Line(points = {{102, 90}, {110, 90}, {110, 0}, {48, 0}}, color = {0, 0, 127}, arrow = {Arrow.None, Arrow.Filled}));
connect(v_com_in.P[2], mass.p) annotation(
connect(v_com_in.P[2], mass.p) annotation(
Line(points = {{40, -40}, {80, -40}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
connect(w_com.P[3], wsensor.p) annotation(
Line(points = {{0, 120}, {44, 90}}, color = {0, 0, 127}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
connect(w_com.P[1], m_inertial.p) annotation(
connect(w_com.P[3], wsensor.p) annotation(
Line(points = {{0, 120}, {44, 90}}, color = {0, 0, 127}, pattern = LinePattern.Dash, thickness = 0.75, arrow = {Arrow.None, Arrow.Open}, arrowSize = 6));
connect(w_com.P[1], m_inertial.p) annotation(
Line(points = {{0, 120}, {40, 120}}, color = {0, 0, 127}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
connect(ground2.p, j1.P[1]) annotation(
connect(ground2.p, j1.P[1]) annotation(
Line(points = {{-72, 120}, {-40, 120}}, color = {0, 0, 127}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
connect(j1.P[2], w_com.P[4]) annotation(
connect(j1.P[2], w_com.P[4]) annotation(
Line(points = {{-40, 120}, {0, 120}}, color = {0, 0, 127}, thickness = 0.75, arrow = {Arrow.Half, Arrow.None}, arrowSize = 6));
connect(ground.p, v_p_bff.P[2]) annotation(
connect(ground.p, v_p_bff.P[2]) annotation(
Line(points = {{-72, 40}, {-40, 40}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
connect(j1.P[3], w_hinge.P[1]) annotation(
connect(j1.P[3], w_hinge.P[1]) annotation(
Line(points = {{-40, 120}, {-40, 90}}, color = {0, 0, 127}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
connect(w_hinge.P[2], hinge_r.p) annotation(
connect(w_hinge.P[2], hinge_r.p) annotation(
Line(points = {{-40, 90}, {-80, 90}}, color = {0, 0, 127}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
connect(g.p, v_com_in.P[3]) annotation(
connect(g.p, v_com_in.P[3]) annotation(
Line(points = {{10, -40}, {40, -40}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
connect(v_com_bff.P[2], rTF.p2) annotation(
connect(v_com_bff.P[2], rTF.p2) annotation(
Line(points = {{40, 40}, {40, 8}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
connect(rTF.p1, v_com_in.P[1]) annotation(
connect(rTF.p1, v_com_in.P[1]) annotation(
Line(points = {{40, -8}, {40, -40}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
connect(v_com_in.P[4], v_inertial.p) annotation(
Line(points = {{40, -40}, {40, -54}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
connect(v_inertial.f0, vx_to_x.u) annotation(
connect(v_com_in.P[4], v_inertial.p) annotation(
Line(points = {{40, -40}, {40, -54}}, color = {0, 85, 0}, pattern = LinePattern.Dash, thickness = 0.75, arrow = {Arrow.None, Arrow.Open}, arrowSize = 6));
connect(v_inertial.f0, vx_to_x.u) annotation(
Line(points = {{42, -66}, {42, -70}, {58, -70}}, color = {0, 0, 127}));
connect(v_inertial.f1, vy_to_y.u) annotation(
connect(v_inertial.f1, vy_to_y.u) annotation(
Line(points = {{38, -66}, {38, -100}, {58, -100}}, color = {0, 0, 127}));
link.r = {vx_to_x.y, vy_to_y.y, 0};
link.phi = w2phi.y;
annotation(
connect(w2phi.y, vis2d1.phi) annotation(
Line(points = {{102, 90}, {110, 90}, {110, 0}, {141, 0}}, color = {0, 0, 127}));
connect(vx_to_x.y, vis2d1.x) annotation(
Line(points = {{82, -70}, {110, -70}, {110, -6}, {141, -6}}, color = {0, 0, 127}));
connect(vy_to_y.y, vis2d1.y) annotation(
Line(points = {{82, -100}, {118, -100}, {118, -12}, {141, -12}}, color = {0, 0, 127}));
annotation(
uses(Modelica(version = "4.1.0")),
experiment(StartTime = 0, StopTime = 10, Tolerance = 1e-06, Interval = 0.02),
Diagram(coordinateSystem(extent = {{-100, 140}, {120, -120}})),
Diagram(coordinateSystem(extent = {{-100, 140}, {160, -120}})),
Icon(coordinateSystem(extent = {{-200, -200}, {200, 200}})),
version = "");
end test2d;

158
test3d.mo Normal file
View File

@@ -0,0 +1,158 @@
model test3d
import _3D = BondGraph._3D;
// ---------------------------------------------------------------------------
// Parameters
// ---------------------------------------------------------------------------
parameter Real J[3,3] = [0.05, 0, 0;
0, 0.06, 0;
0, 0, 0.02] "Body inertia tensor in body frame";
parameter Real m[3,3] = [1, 0, 0;
0, 1, 0;
0, 0, 1] "Translational inertia (mass matrix)";
parameter Real r_body[3] = {0.5, 0, 0} "Vector from hinge point to COM in body frame";
parameter Real R_rot[3,3] = [0.02, 0, 0;
0, 0.02, 0;
0, 0, 0.02] "Rotational damping matrix";
parameter Real g = 9.81 "Gravity magnitude";
// ---------------------------------------------------------------------------
// Rotational dynamics (body frame)
// ---------------------------------------------------------------------------
_3D.J1 w_com(N = 6, s = {1, -1, -1, -1, -1, -1}) "Common angular velocity junction";
_3D.I J_inertial(I = J) "Angular momentum storage";
_3D.R hinge_r(R = R_rot) "Rotational damping";
_3D.fsensor3d wsensor "Measures body angular velocity omega";
// Gyroscopic term implementation (power-conserving structure):
// - TF maps omega -> h = J*omega (angular momentum)
// - mGY with modulation S(omega) generates tau_g = omega x h
_3D.TF Hmap(n = J) "Maps between omega and angular-momentum port";
_3D.mGY gyro "Modulated gyrator for omega x h coupling";
// ---------------------------------------------------------------------------
// Kinematics and frame transforms
// ---------------------------------------------------------------------------
_3D.TransRotUtils.mTFrot3lin mTFrot3lin(r_body = r_body) "v = omega x r_body coupling";
_3D.J0 j0(N = 3, s = {1, 1, -1}) "Velocity composition at COM in body frame";
_3D.J1 v_p_bff(N = 2, s = {1, 1}) "Hinge-point velocity (body frame)";
_3D.J1 v_com_bff(N = 2, s = {-1, -1}) "COM velocity (body frame)";
_3D.TransRotUtils.rTF3D rTF3D "Body <-> inertial frame transform";
// ---------------------------------------------------------------------------
// Translational dynamics (inertial frame)
// ---------------------------------------------------------------------------
_3D.J1 v_com_in(N = 4, s = {1, -1, -1, 1}) "COM velocity in inertial frame";
_3D.I mass(I = m) "Translational momentum storage";
_3D.Sf ground(f0 = {0, 0, 0}) "Ground translational velocity";
_3D.mSe gravity "Gravity effort source";
_3D.fsensor3d v_inertial "Measures inertial COM velocity";
// ---------------------------------------------------------------------------
// States and signals
// ---------------------------------------------------------------------------
Real omega[3] "Body angular velocity";
Real h[3] "Body angular momentum J*omega";
Real S_omega[3,3] "Skew matrix of omega";
Real phi(start = 0) "Roll";
Real theta(start = 0.1) "Pitch";
Real psi(start = 0) "Yaw";
Real euler_dot[3] "{phi_dot, theta_dot, psi_dot}";
Real x(start = -0.5) "COM x (inertial)";
Real y(start = 0) "COM y (inertial)";
Real z(start = -0.2) "COM z (inertial)";
Modelica.Blocks.Sources.RealExpression xSig(y = x);
Modelica.Blocks.Sources.RealExpression ySig(y = y);
Modelica.Blocks.Sources.RealExpression zSig(y = z);
Modelica.Blocks.Sources.RealExpression phiSig(y = phi);
Modelica.Blocks.Sources.RealExpression thetaSig(y = theta);
Modelica.Blocks.Sources.RealExpression psiSig(y = psi);
vis3d vis3d1;
equation
// ---------------------------------------------------------------------------
// Rotational network connections
// ---------------------------------------------------------------------------
connect(w_com.P[1], J_inertial.p);
connect(w_com.P[2], mTFrot3lin.pR);
connect(w_com.P[3], wsensor.p);
connect(w_com.P[4], hinge_r.p);
connect(w_com.P[5], gyro.p1);
connect(w_com.P[6], Hmap.p1);
connect(Hmap.p2, gyro.p2);
// ---------------------------------------------------------------------------
// Body-frame COM kinematics and frame transform
// ---------------------------------------------------------------------------
connect(mTFrot3lin.pT, j0.P[1]);
connect(v_com_bff.P[1], j0.P[2]);
connect(j0.P[3], v_p_bff.P[1]);
connect(ground.p, v_p_bff.P[2]);
connect(v_com_bff.P[2], rTF3D.p2);
connect(rTF3D.p1, v_com_in.P[1]);
// Feed frame-transform angles from state variables.
connect(phiSig.y, rTF3D.phi);
connect(thetaSig.y, rTF3D.theta);
connect(psiSig.y, rTF3D.psi);
connect(phiSig.y, vis3d1.phi);
connect(thetaSig.y, vis3d1.theta);
connect(psiSig.y, vis3d1.psi);
// ---------------------------------------------------------------------------
// Translational dynamics connections
// ---------------------------------------------------------------------------
connect(v_com_in.P[2], mass.p);
connect(gravity.p, v_com_in.P[3]);
connect(v_com_in.P[4], v_inertial.p);
// Gravity as effort in inertial frame.
gravity.e0 = 0;
gravity.e1 = 0;
gravity.e2 = g;
// ---------------------------------------------------------------------------
// Gyroscopic modulation and H-map related equations
// ---------------------------------------------------------------------------
omega = {wsensor.f0, wsensor.f1, wsensor.f2};
h = J * omega;
// Skew matrix S(omega) so that S(omega)*x = omega x x.
S_omega = [0, -omega[3], omega[2];
omega[3], 0, -omega[1];
-omega[2], omega[1], 0];
gyro.m = S_omega;
// ---------------------------------------------------------------------------
// 3D attitude kinematics (explicit H(q) mapping form)
// Using ZYX convention with body rates omega -> Euler rates.
// Note: singular at cos(theta)=0.
// ---------------------------------------------------------------------------
euler_dot[1] = omega[1] + sin(phi) * tan(theta) * omega[2] + cos(phi) * tan(theta) * omega[3];
euler_dot[2] = cos(phi) * omega[2] - sin(phi) * omega[3];
euler_dot[3] = sin(phi) / cos(theta) * omega[2] + cos(phi) / cos(theta) * omega[3];
der(phi) = euler_dot[1];
der(theta) = euler_dot[2];
der(psi) = euler_dot[3];
// ---------------------------------------------------------------------------
// Position integration
// ---------------------------------------------------------------------------
der(x) = v_inertial.f0;
der(y) = v_inertial.f1;
der(z) = v_inertial.f2;
connect(xSig.y, vis3d1.x);
connect(ySig.y, vis3d1.y);
connect(zSig.y, vis3d1.z);
annotation(
uses(Modelica(version = "4.1.0")),
experiment(StartTime = 0, StopTime = 10, Tolerance = 1e-06, Interval = 0.02),
Diagram(coordinateSystem(extent = {{-140, 160}, {200, -160}})));
end test3d;

82
vis2d.mo
View File

@@ -5,9 +5,21 @@ model vis2d
parameter Real L = 1;
parameter Real w = 0.02;
parameter Real orbRadius = 0.04;
parameter Real axisLength = 0.25;
parameter Real axisWidth = 0.01;
parameter Real planeSize = 2.0;
parameter Real planeThickness = 0.002;
parameter Real planeOffset = -0.001;
input Real r[3];
input Real phi;
Modelica.Blocks.Interfaces.RealInput phi annotation(
Placement(transformation(origin = {-98, -42}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-94, 60}, extent = {{-10, -10}, {10, 10}})));
Modelica.Blocks.Interfaces.RealInput y annotation(
Placement(transformation(origin = {-98, 0}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-94, -60}, extent = {{-10, -10}, {10, 10}})));
Modelica.Blocks.Interfaces.RealInput x annotation(
Placement(transformation(origin = {-98, 40}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-94, 0}, extent = {{-10, -10}, {10, 10}})));
protected
Real Rz[3,3];
Real r[3];
Visualizers.Advanced.Shape link(
shapeType = "cylinder",
@@ -18,11 +30,7 @@ model vis2d
lengthDirection = {1, 0, 0},
widthDirection = {0, 1, 0},
r = r,
R = Frames.from_T(
[cos(phi), -sin(phi), 0;
sin(phi), cos(phi), 0;
0, 0, 1],
zeros(3)));
R = Frames.from_T(Rz, zeros(3)));
Visualizers.Advanced.Shape orb(
shapeType = "sphere",
@@ -33,9 +41,59 @@ model vis2d
lengthDirection = {1, 0, 0},
widthDirection = {0, 1, 0},
r = r,
R = Frames.from_T(
[cos(phi), -sin(phi), 0;
sin(phi), cos(phi), 0;
0, 0, 1],
zeros(3)));
R = Frames.from_T(Rz, zeros(3)));
Visualizers.Advanced.Shape xAxis(
shapeType = "cylinder",
length = axisLength,
width = axisWidth,
height = axisWidth,
color = {255, 0, 0},
specularCoefficient = 0.1,
r_shape = {axisLength / 2, 0, 0},
lengthDirection = {1, 0, 0},
widthDirection = {0, 1, 0},
r = zeros(3),
R = Frames.from_T([1, 0, 0;
0, 1, 0;
0, 0, 1], zeros(3)));
Visualizers.Advanced.Shape yAxis(
shapeType = "cylinder",
length = axisLength,
width = axisWidth,
height = axisWidth,
color = {0, 200, 0},
specularCoefficient = 0.1,
r_shape = {0, axisLength / 2, 0},
lengthDirection = {0, 1, 0},
widthDirection = {0, 0, 1},
r = zeros(3),
R = Frames.from_T([1, 0, 0;
0, 1, 0;
0, 0, 1], zeros(3)));
Visualizers.Advanced.Shape zAxis(
shapeType = "cylinder",
length = axisLength,
width = axisWidth,
height = axisWidth,
color = {0, 90, 255},
specularCoefficient = 0.1,
r_shape = {0, 0, axisLength / 2},
lengthDirection = {0, 0, 1},
widthDirection = {1, 0, 0},
r = zeros(3),
R = Frames.from_T([1, 0, 0;
0, 1, 0;
0, 0, 1], zeros(3)));
equation
r = {x, y, 0};
Rz = [cos(phi), -sin(phi), 0;
sin(phi), cos(phi), 0;
0, 0, 1];
annotation(
uses(Modelica(version = "4.1.0")),
Icon(graphics = {Rectangle(lineColor = {204, 204, 204}, fillColor = {255, 255, 255}, fillPattern = FillPattern.Sphere, extent = {{-100, 100}, {100, -100}}, radius = 10), Text(extent = {{-100, 100}, {100, -100}}, textString = "VIS")}));
end vis2d;

103
vis3d.mo Normal file
View File

@@ -0,0 +1,103 @@
model vis3d
import Modelica.Mechanics.MultiBody.Visualizers;
import Modelica.Mechanics.MultiBody.Frames;
parameter Real L = 1;
parameter Real w = 0.02;
parameter Real orbRadius = 0.04;
parameter Real axisLength = 0.25;
parameter Real axisWidth = 0.01;
Modelica.Blocks.Interfaces.RealInput psi annotation(
Placement(transformation(origin = {-98, -70}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-94, 20}, extent = {{-10, -10}, {10, 10}})));
Modelica.Blocks.Interfaces.RealInput theta annotation(
Placement(transformation(origin = {-98, -42}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-94, 50}, extent = {{-10, -10}, {10, 10}})));
Modelica.Blocks.Interfaces.RealInput phi annotation(
Placement(transformation(origin = {-98, -14}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-94, 80}, extent = {{-10, -10}, {10, 10}})));
Modelica.Blocks.Interfaces.RealInput z annotation(
Placement(transformation(origin = {-98, 14}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-94, -80}, extent = {{-10, -10}, {10, 10}})));
Modelica.Blocks.Interfaces.RealInput y annotation(
Placement(transformation(origin = {-98, 42}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-94, -50}, extent = {{-10, -10}, {10, 10}})));
Modelica.Blocks.Interfaces.RealInput x annotation(
Placement(transformation(origin = {-98, 70}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-94, -20}, extent = {{-10, -10}, {10, 10}})));
protected
Real R[3,3];
Real r[3];
Visualizers.Advanced.Shape link(
shapeType = "cylinder",
length = L,
width = w,
height = w,
r_shape = {-L / 2, 0, 0},
lengthDirection = {1, 0, 0},
widthDirection = {0, 1, 0},
r = r,
R = Frames.from_T(R, zeros(3)));
Visualizers.Advanced.Shape orb(
shapeType = "sphere",
length = 2 * orbRadius,
width = 2 * orbRadius,
height = 2 * orbRadius,
r_shape = {L / 2 - orbRadius, 0, 0},
lengthDirection = {1, 0, 0},
widthDirection = {0, 1, 0},
r = r,
R = Frames.from_T(R, zeros(3)));
Visualizers.Advanced.Shape xAxis(
shapeType = "cylinder",
length = axisLength,
width = axisWidth,
height = axisWidth,
color = {255, 0, 0},
specularCoefficient = 0.1,
r_shape = {axisLength / 2, 0, 0},
lengthDirection = {1, 0, 0},
widthDirection = {0, 1, 0},
r = zeros(3),
R = Frames.from_T([1, 0, 0;
0, 1, 0;
0, 0, 1], zeros(3)));
Visualizers.Advanced.Shape yAxis(
shapeType = "cylinder",
length = axisLength,
width = axisWidth,
height = axisWidth,
color = {0, 200, 0},
specularCoefficient = 0.1,
r_shape = {0, axisLength / 2, 0},
lengthDirection = {0, 1, 0},
widthDirection = {0, 0, 1},
r = zeros(3),
R = Frames.from_T([1, 0, 0;
0, 1, 0;
0, 0, 1], zeros(3)));
Visualizers.Advanced.Shape zAxis(
shapeType = "cylinder",
length = axisLength,
width = axisWidth,
height = axisWidth,
color = {0, 90, 255},
specularCoefficient = 0.1,
r_shape = {0, 0, axisLength / 2},
lengthDirection = {0, 0, 1},
widthDirection = {1, 0, 0},
r = zeros(3),
R = Frames.from_T([1, 0, 0;
0, 1, 0;
0, 0, 1], zeros(3)));
equation
r = {x, y, z};
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)];
annotation(
uses(Modelica(version = "4.1.0")),
Icon(graphics = {Rectangle(lineColor = {204, 204, 204}, fillColor = {255, 255, 255}, fillPattern = FillPattern.Sphere, extent = {{-100, 100}, {100, -100}}, radius = 10), Text(extent = {{-100, 100}, {100, -100}}, textString = "VIS")}));
end vis3d;