Start met EmbeddedControl lib

2026-03-11 11:57:48 +01:00
parent a23e051024
commit 71722127f1
6 changed files with 194 additions and 1 deletions
--- a/.gitignore
+++ b/.gitignore
@@ -1,2 +1,3 @@
 build/
-__pycache__*
+__pycache__*
+exporttest/out
--- a/EmbeddedControl.mo
+++ b/EmbeddedControl.mo
@@ -0,0 +1,121 @@
+package EmbeddedControl
+  extends Modelica.Icons.Package;
+
+  package Boundary
+    model ADC
+    	extends Modelica.Blocks.Icons.DiscreteBlock;
+        parameter Real stepSize = 0.1;
+        parameter Real scale = 1;
+        Modelica.Blocks.Interfaces.RealInput u annotation(
+        Placement(transformation(origin = {-122, 2}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-120, 0}, extent = {{-20, -20}, {20, 20}})));
+        Modelica.Blocks.Interfaces.IntegerOutput y annotation(
+        Placement(transformation(origin = {86, -34}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {110, 0}, extent = {{-10, -10}, {10, 10}})));
+    protected
+    	discrete Integer yInt(start=0, fixed=true);
+    
+    algorithm
+    	yInt := integer(floor((scale*u)/stepSize+ 0.5));
+    
+    equation
+    	y = yInt;
+        
+        annotation(
+        Documentation(info = "<html>
+<p>Integer analog-to-digital conversion block.</p>
+<p>The real-valued input <code>u</code> is quantized to an integer code using:</p>
+<p><code>y = floor((scale*u)/stepSize + 0.5)</code></p>
+<p>This produces a rounded integer representation of the scaled input, intended for embedded-style control chains that operate on integer counts.</p>
+<p>Parameters:</p>
+<ul>
+<li><code>stepSize</code>: physical value represented by one integer step</li>
+<li><code>scale</code>: additional scaling applied before quantization</li>
+</ul>
+</html>"),
+        Icon(graphics = {Line(origin = {5, 10}, points = {{-61, -68}, {-35, -68}, {-35, -22}, {-21, -22}, {-21, 38}, {7, 38}, {7, 68}, {41, 68}, {41, 24}, {61, 24}, {61, 24}}, color = {255, 85, 0}, thickness = 1.25), Text(origin = {49, -50}, extent = {{-51, 50}, {51, -50}}, textString = "AD")}));
+    end ADC;
+    
+    model DAC
+    	extends Modelica.Blocks.Icons.DiscreteBlock;
+        parameter Real stepSize = 0.1;
+        parameter Real scale = 1;
+        Modelica.Blocks.Interfaces.IntegerInput u annotation(
+        Placement(transformation(origin = {-136, -2}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-120, 0}, extent = {{-20, -20}, {20, 20}})));
+        Modelica.Blocks.Interfaces.RealOutput y annotation(
+        Placement(transformation(origin = {126, 10}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {110, 0}, extent = {{-10, -10}, {10, 10}})));
+    equation
+        // Convert integer DAC code back to physical Real value.
+        y = (stepSize * scale) * u;
+    
+        annotation(
+        Documentation(info = "<html>
+<p>Integer digital-to-analog conversion block.</p>
+<p>The integer input <code>u</code> is mapped back to a real-valued physical signal using:</p>
+<p><code>y = (stepSize*scale)*u</code></p>
+<p>When used with matching parameter values, this block acts as the inverse conversion of the ADC block.</p>
+<p>Parameters:</p>
+<ul>
+<li><code>stepSize</code>: physical value represented by one integer step</li>
+<li><code>scale</code>: output scaling factor</li>
+</ul>
+</html>"),
+        Diagram(graphics),
+        Icon(graphics = {Line(origin = {5, 10}, points = {{-61, -68}, {-35, -68}, {-35, -22}, {-21, -22}, {-21, 38}, {7, 38}, {7, 68}, {41, 68}, {41, 24}, {61, 24}, {61, 24}}, color = {0, 0, 127}, thickness = 1.25, smooth = Smooth.Bezier), Text(origin = {49, -50}, extent = {{-51, 50}, {51, -50}}, textString = "DA")}));
+    end DAC;
+  extends Modelica.Icons.Package;
+    annotation(
+      Icon(graphics = {Line(origin = {-48.92, -4.33}, points = {{-35.0829, -47.6744}, {-17.0829, 18.3256}, {-3.08288, -9.6744}, {10.9171, 48.3256}, {34.9171, 14.3256}, {34.9171, 14.3256}}, color = {0, 0, 127}, thickness = 1.5, smooth = Smooth.Bezier), Line( points = {{0, 81}, {0, -81}}, pattern = LinePattern.Dash, thickness = 2.75), Line(origin = {54, -10}, points = {{-36, -42}, {-36, -20}, {-30, -20}, {-30, -10}, {-20, -10}, {-20, 10}, {-6, 10}, {-6, 4}, {6, 4}, {6, 42}, {28, 42}, {28, 18}, {36, 18}, {36, 6}, {36, 6}}, color = {255, 85, 0}, thickness = 1.5)}));
+  end Boundary;
+
+  package Math
+  extends Modelica.Icons.Package;
+
+    model DDifference
+    	extends EmbeddedControl.icons.discreteIntegerSISO;
+    
+    	discrete Integer x(start=0, fixed=true) "Initial or guess value of state";
+    protected
+    	discrete Integer y_internal(start=0, fixed=true);
+    algorithm
+    	x := u;
+    	if x <> pre(x) then
+    		y_internal := x - pre(x);
+    	else
+    		y_internal := pre(y_internal);
+    	end if;
+    equation
+    	y = y_internal;
+    
+    annotation(
+        Documentation(info = "<html>
+    <p>Discrete integer difference block.</p>
+    <p>Whenever the integer input changes, the block outputs the increment between the current and previous sample:</p>
+    <p><code>y = u[k] - u[k-1]</code></p>
+    <p>This is a raw discrete difference, not a time-scaled derivative. If a discrete-time derivative is required, include the factor <code>1/Ts</code> in a downstream gain or in the controller gain.</p>
+    <p>The output updates only when <code>u</code> changes.</p>
+    </html>"),
+        Diagram(graphics),
+        Icon(graphics = {Text(textColor = {156, 156, 156}, extent = {{-30, 14}, {86, 60}}, textString = "DT1"), Line(points = {{-90, -80}, {82, -80}}, color = {156, 156, 156}), Line(points = {{-80, 78}, {-80, -90}}, color = {156, 156, 156}), Polygon(lineColor = {156, 156, 156}, fillColor = {156, 156, 156}, fillPattern = FillPattern.Solid, points = {{-80, 90}, {-88, 68}, {-72, 68}, {-80, 90}}), Polygon(lineColor = {156, 156, 156}, fillColor = {156, 156, 156}, fillPattern = FillPattern.Solid, points = {{90, -80}, {68, -72}, {68, -88}, {90, -80}}), Line(origin = {-9, -4}, points = {{-63, 66}, {-63, 40}, {-53, 40}, {-53, -20}, {-39, -20}, {-39, -54}, {3, -54}, {3, -66}, {63, -66}, {63, -66}}, color = {255, 85, 0}, thickness = 0.5)}));
+    end DDifference;
+  annotation(
+      Icon(graphics = {Line(origin = {-0.95, 0.62}, points = {{-75.0496, -68.6246}, {-61.0496, 1.37545}, {-29.0496, 69.3754}, {-5.04956, 1.37545}, {20.9504, -64.6246}, {50.9504, -2.62455}, {74.9504, 65.3754}, {74.9504, 65.3754}}, color = {255, 85, 0}, thickness = 2, smooth = Smooth.Bezier)}));
+  end Math;
+
+  model icons
+  	extends Modelica.Icons.IconsPackage;
+
+    model discreteIntegerSISO
+    extends Modelica.Blocks.Icons.DiscreteBlock;
+  Modelica.Blocks.Interfaces.IntegerInput u annotation(
+        Placement(transformation(origin = {-194, 2}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-120, 0}, extent = {{-20, -20}, {20, 20}})));
+  Modelica.Blocks.Interfaces.IntegerOutput y annotation(
+        Placement(transformation(origin = {128, 0}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {110, 0}, extent = {{-10, -10}, {10, 10}})));
+    equation
+
+    end discreteIntegerSISO;
+  equation
+
+  end icons;
+  annotation(
+    Icon(graphics = {Text(origin = {1, 1}, textColor = {255, 170, 0}, extent = {{-99, 99}, {99, -99}}, textString = "EC", textStyle = {TextStyle.Bold})}),
+  uses(Modelica(version = "4.1.0")));
+end EmbeddedControl;
--- a/exporttest/export_controller.log
+++ b/exporttest/export_controller.log
@@ -0,0 +1,14 @@
+true
+true
+"Check of EmbeddedControl.Math.DDifference completed successfully.
+Class EmbeddedControl.Math.DDifference has 4 equation(s) and 4 variable(s).
+1 of these are trivial equation(s)."
+
+Notification: Automatically loaded package Modelica 4.1.0 due to uses annotation from EmbeddedControl.
+Notification: Automatically loaded package Complex 4.1.0 due to uses annotation from Modelica.
+Notification: Automatically loaded package ModelicaServices 4.1.0 due to uses annotation from Modelica.
+
+true
+translateModel(test2d.Dcontroller) = true
+
+
--- a/exporttest/export_controller.mos
+++ b/exporttest/export_controller.mos
@@ -0,0 +1,11 @@
+setCommandLineOptions("--simCodeTarget=ExperimentalEmbeddedC");
+
+loadFile("/work/EmbeddedControl.mo");
+
+okCheck := checkModel(EmbeddedControl.Math.DDifference);
+print("checkModel(EmbeddedControl.Math.DDifference) = " + String(okCheck) + "\n");
+print(getErrorString());
+
+okTranslate := translateModel(EmbeddedControl.Math.DDifference, fileNamePrefix="difference");
+print("translateModel(test2d.Dcontroller) = " + String(okTranslate) + "\n");
+print(getErrorString());
--- a/exporttest/run_mos_docker.sh
+++ b/exporttest/run_mos_docker.sh
@@ -0,0 +1,19 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+ROOT_DIR="$(cd "$(dirname "$0")/.." && pwd)"
+MOS_FILE="/work/exporttest/export_controller.mos"
+LOG_FILE="$ROOT_DIR/exporttest/export_controller.log"
+
+docker run --rm \
+  -v "$ROOT_DIR:/work" \
+  -v "$HOME/.openmodelica/libraries:/home/ubuntu/.openmodelica/libraries:ro" \
+  -w /work/exporttest/out \
+  openmodelica omc "$MOS_FILE" 2>&1 | tee "$LOG_FILE"
+
+if grep -E "Error:|= false" "$LOG_FILE" >/dev/null; then
+  echo "Failed. See: $LOG_FILE" >&2
+  exit 1
+fi
+
+echo "Success. Log: $LOG_FILE"
--- a/test.mo
+++ b/test.mo
@@ -0,0 +1,27 @@
+model test
+  Modelica.Blocks.Sources.Sine sine(amplitude = 1)  annotation(
+    Placement(transformation(origin = {-100, 0}, extent = {{-10, -10}, {10, 10}})));
+  EmbeddedControl.Math.DDifference dDifferentiate(x(start = 0))  annotation(
+    Placement(transformation(origin = {20, 0}, extent = {{-10, -10}, {10, 10}})));
+  EmbeddedControl.Boundary.DAC dac(stepSize = 0.02)  annotation(
+    Placement(transformation(origin = {60, 0}, extent = {{-10, -10}, {10, 10}})));
+  EmbeddedControl.Boundary.ADC adc(stepSize = 0.02)  annotation(
+    Placement(transformation(origin = {-20, 0}, extent = {{-10, -10}, {10, 10}})));
+  Modelica.Blocks.Discrete.Sampler sampler(samplePeriod(displayUnit = "ms") = 0.01)  annotation(
+    Placement(transformation(origin = {-60, 0}, extent = {{-10, -10}, {10, 10}})));
+  Modelica.Blocks.Discrete.ZeroOrderHold zeroOrderHold(samplePeriod(displayUnit = "ms") = 0.01)  annotation(
+    Placement(transformation(origin = {100, 0}, extent = {{-10, -10}, {10, 10}})));
+equation
+  connect(adc.y, dDifferentiate.u) annotation(
+    Line(points = {{-9, 0}, {7, 0}}, color = {255, 127, 0}));
+  connect(sine.y, sampler.u) annotation(
+    Line(points = {{-89, 0}, {-73, 0}}, color = {0, 0, 127}));
+  connect(sampler.y, adc.u) annotation(
+    Line(points = {{-49, 0}, {-33, 0}}, color = {0, 0, 127}));
+  connect(dDifferentiate.y, dac.u) annotation(
+    Line(points = {{31, 0}, {47, 0}}, color = {255, 127, 0}));
+  connect(dac.y, zeroOrderHold.u) annotation(
+    Line(points = {{71, 0}, {87, 0}}, color = {0, 0, 127}));
+  annotation(
+    uses(Modelica(version = "4.1.0")));
+end test;