Start met EmbeddedControl lib
This commit is contained in:
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.gitignore
vendored
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build/
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build/
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__pycache__*
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__pycache__*
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exporttest/out
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121
EmbeddedControl.mo
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121
EmbeddedControl.mo
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package EmbeddedControl
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extends Modelica.Icons.Package;
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package Boundary
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model ADC
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extends Modelica.Blocks.Icons.DiscreteBlock;
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parameter Real stepSize = 0.1;
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parameter Real scale = 1;
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Modelica.Blocks.Interfaces.RealInput u annotation(
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Placement(transformation(origin = {-122, 2}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-120, 0}, extent = {{-20, -20}, {20, 20}})));
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Modelica.Blocks.Interfaces.IntegerOutput y annotation(
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Placement(transformation(origin = {86, -34}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {110, 0}, extent = {{-10, -10}, {10, 10}})));
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protected
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discrete Integer yInt(start=0, fixed=true);
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algorithm
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yInt := integer(floor((scale*u)/stepSize+ 0.5));
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equation
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y = yInt;
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annotation(
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Documentation(info = "<html>
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<p>Integer analog-to-digital conversion block.</p>
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<p>The real-valued input <code>u</code> is quantized to an integer code using:</p>
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<p><code>y = floor((scale*u)/stepSize + 0.5)</code></p>
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<p>This produces a rounded integer representation of the scaled input, intended for embedded-style control chains that operate on integer counts.</p>
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<p>Parameters:</p>
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<ul>
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<li><code>stepSize</code>: physical value represented by one integer step</li>
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<li><code>scale</code>: additional scaling applied before quantization</li>
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</ul>
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</html>"),
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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")}));
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end ADC;
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model DAC
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extends Modelica.Blocks.Icons.DiscreteBlock;
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parameter Real stepSize = 0.1;
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parameter Real scale = 1;
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Modelica.Blocks.Interfaces.IntegerInput u annotation(
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Placement(transformation(origin = {-136, -2}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-120, 0}, extent = {{-20, -20}, {20, 20}})));
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Modelica.Blocks.Interfaces.RealOutput y annotation(
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Placement(transformation(origin = {126, 10}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {110, 0}, extent = {{-10, -10}, {10, 10}})));
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equation
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// Convert integer DAC code back to physical Real value.
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y = (stepSize * scale) * u;
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annotation(
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Documentation(info = "<html>
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<p>Integer digital-to-analog conversion block.</p>
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<p>The integer input <code>u</code> is mapped back to a real-valued physical signal using:</p>
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<p><code>y = (stepSize*scale)*u</code></p>
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<p>When used with matching parameter values, this block acts as the inverse conversion of the ADC block.</p>
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<p>Parameters:</p>
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<ul>
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<li><code>stepSize</code>: physical value represented by one integer step</li>
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<li><code>scale</code>: output scaling factor</li>
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</ul>
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</html>"),
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Diagram(graphics),
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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")}));
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end DAC;
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extends Modelica.Icons.Package;
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annotation(
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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)}));
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end Boundary;
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package Math
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extends Modelica.Icons.Package;
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model DDifference
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extends EmbeddedControl.icons.discreteIntegerSISO;
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discrete Integer x(start=0, fixed=true) "Initial or guess value of state";
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protected
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discrete Integer y_internal(start=0, fixed=true);
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algorithm
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x := u;
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if x <> pre(x) then
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y_internal := x - pre(x);
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else
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y_internal := pre(y_internal);
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end if;
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equation
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y = y_internal;
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annotation(
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Documentation(info = "<html>
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<p>Discrete integer difference block.</p>
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<p>Whenever the integer input changes, the block outputs the increment between the current and previous sample:</p>
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<p><code>y = u[k] - u[k-1]</code></p>
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<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>
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<p>The output updates only when <code>u</code> changes.</p>
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</html>"),
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Diagram(graphics),
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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)}));
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end DDifference;
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annotation(
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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)}));
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end Math;
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model icons
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extends Modelica.Icons.IconsPackage;
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model discreteIntegerSISO
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extends Modelica.Blocks.Icons.DiscreteBlock;
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Modelica.Blocks.Interfaces.IntegerInput u annotation(
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Placement(transformation(origin = {-194, 2}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-120, 0}, extent = {{-20, -20}, {20, 20}})));
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Modelica.Blocks.Interfaces.IntegerOutput y annotation(
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Placement(transformation(origin = {128, 0}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {110, 0}, extent = {{-10, -10}, {10, 10}})));
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equation
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end discreteIntegerSISO;
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equation
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end icons;
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annotation(
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Icon(graphics = {Text(origin = {1, 1}, textColor = {255, 170, 0}, extent = {{-99, 99}, {99, -99}}, textString = "EC", textStyle = {TextStyle.Bold})}),
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uses(Modelica(version = "4.1.0")));
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end EmbeddedControl;
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14
exporttest/export_controller.log
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14
exporttest/export_controller.log
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true
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true
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"Check of EmbeddedControl.Math.DDifference completed successfully.
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Class EmbeddedControl.Math.DDifference has 4 equation(s) and 4 variable(s).
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1 of these are trivial equation(s)."
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Notification: Automatically loaded package Modelica 4.1.0 due to uses annotation from EmbeddedControl.
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Notification: Automatically loaded package Complex 4.1.0 due to uses annotation from Modelica.
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Notification: Automatically loaded package ModelicaServices 4.1.0 due to uses annotation from Modelica.
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true
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translateModel(test2d.Dcontroller) = true
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exporttest/export_controller.mos
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exporttest/export_controller.mos
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setCommandLineOptions("--simCodeTarget=ExperimentalEmbeddedC");
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loadFile("/work/EmbeddedControl.mo");
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okCheck := checkModel(EmbeddedControl.Math.DDifference);
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print("checkModel(EmbeddedControl.Math.DDifference) = " + String(okCheck) + "\n");
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print(getErrorString());
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okTranslate := translateModel(EmbeddedControl.Math.DDifference, fileNamePrefix="difference");
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print("translateModel(test2d.Dcontroller) = " + String(okTranslate) + "\n");
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print(getErrorString());
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exporttest/run_mos_docker.sh
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exporttest/run_mos_docker.sh
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#!/usr/bin/env bash
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set -euo pipefail
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ROOT_DIR="$(cd "$(dirname "$0")/.." && pwd)"
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MOS_FILE="/work/exporttest/export_controller.mos"
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LOG_FILE="$ROOT_DIR/exporttest/export_controller.log"
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docker run --rm \
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-v "$ROOT_DIR:/work" \
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-v "$HOME/.openmodelica/libraries:/home/ubuntu/.openmodelica/libraries:ro" \
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-w /work/exporttest/out \
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openmodelica omc "$MOS_FILE" 2>&1 | tee "$LOG_FILE"
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if grep -E "Error:|= false" "$LOG_FILE" >/dev/null; then
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echo "Failed. See: $LOG_FILE" >&2
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exit 1
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fi
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echo "Success. Log: $LOG_FILE"
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27
test.mo
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test.mo
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model test
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Modelica.Blocks.Sources.Sine sine(amplitude = 1) annotation(
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Placement(transformation(origin = {-100, 0}, extent = {{-10, -10}, {10, 10}})));
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EmbeddedControl.Math.DDifference dDifferentiate(x(start = 0)) annotation(
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Placement(transformation(origin = {20, 0}, extent = {{-10, -10}, {10, 10}})));
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EmbeddedControl.Boundary.DAC dac(stepSize = 0.02) annotation(
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Placement(transformation(origin = {60, 0}, extent = {{-10, -10}, {10, 10}})));
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EmbeddedControl.Boundary.ADC adc(stepSize = 0.02) annotation(
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Placement(transformation(origin = {-20, 0}, extent = {{-10, -10}, {10, 10}})));
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Modelica.Blocks.Discrete.Sampler sampler(samplePeriod(displayUnit = "ms") = 0.01) annotation(
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Placement(transformation(origin = {-60, 0}, extent = {{-10, -10}, {10, 10}})));
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Modelica.Blocks.Discrete.ZeroOrderHold zeroOrderHold(samplePeriod(displayUnit = "ms") = 0.01) annotation(
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Placement(transformation(origin = {100, 0}, extent = {{-10, -10}, {10, 10}})));
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equation
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connect(adc.y, dDifferentiate.u) annotation(
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Line(points = {{-9, 0}, {7, 0}}, color = {255, 127, 0}));
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connect(sine.y, sampler.u) annotation(
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Line(points = {{-89, 0}, {-73, 0}}, color = {0, 0, 127}));
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connect(sampler.y, adc.u) annotation(
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Line(points = {{-49, 0}, {-33, 0}}, color = {0, 0, 127}));
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connect(dDifferentiate.y, dac.u) annotation(
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Line(points = {{31, 0}, {47, 0}}, color = {255, 127, 0}));
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connect(dac.y, zeroOrderHold.u) annotation(
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Line(points = {{71, 0}, {87, 0}}, color = {0, 0, 127}));
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annotation(
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uses(Modelica(version = "4.1.0")));
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end test;
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