diff --git a/test2d.mo b/test2d.mo index 95ed07d..2106672 100644 --- a/test2d.mo +++ b/test2d.mo @@ -1,398 +1,568 @@ package test2d -model vis2d - import Modelica.Mechanics.MultiBody.Visualizers; - import Modelica.Mechanics.MultiBody.Frames; + model vis2d + 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; - parameter Real planeSize = 2.0; - parameter Real planeThickness = 0.002; - parameter Real planeOffset = -0.001; + 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; - 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]; + 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", - length = L/2, - width = w, - height = w, - r_shape = {L / 2, 0, 0}, - lengthDirection = {-1, 0, 0}, - widthDirection = {0, 1, 0}, - r = r, - R = Frames.from_T(Rz, zeros(3))); + Visualizers.Advanced.Shape link( + shapeType = "cylinder", + length = L/2, + width = w, + height = w, + r_shape = {L / 2, 0, 0}, + lengthDirection = {-1, 0, 0}, + widthDirection = {0, 1, 0}, + r = r, + R = Frames.from_T(Rz, zeros(3))); - Visualizers.Advanced.Shape orb( - shapeType = "sphere", - length = 2 * orbRadius, - width = 2 * orbRadius, - height = 2 * orbRadius, - r_shape = {0, 0, 0}, - lengthDirection = {1, 0, 0}, - widthDirection = {0, 1, 0}, - r = r, - R = Frames.from_T(Rz, zeros(3))); + Visualizers.Advanced.Shape orb( + shapeType = "sphere", + length = 2 * orbRadius, + width = 2 * orbRadius, + height = 2 * orbRadius, + r_shape = {0, 0, 0}, + lengthDirection = {1, 0, 0}, + widthDirection = {0, 1, 0}, + r = r, + 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 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 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}; - // Negate phi here since shapes use inverse frame-mapping - Rz = [cos(-phi), -sin(-phi), 0; + 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}; + // Negate phi here since shapes use inverse frame-mapping + 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")}), - experiment(StartTime = 0, StopTime = 1, Tolerance = 1e-06, Interval = 0.002)); -end vis2d; - model pendulum - parameter Modelica.Units.SI.Mass mass; - parameter Modelica.Units.SI.Length length; - parameter Modelica.Units.SI.MomentOfInertia momentOfInertia; - parameter Modelica.Units.SI.Angle startAngle; - - BondGraph.J1 w_com(N = 3, s = {-1, -1, 1}) annotation( - Placement(transformation(origin = {0, 100}, extent = {{-10, -10}, {10, 10}}))); - BondGraph.I moi(I = momentOfInertia, state(fixed = false)) annotation( - Placement(transformation(origin = {40, 100}, extent = {{-10, -10}, {10, 10}}))); - mTFrot2lin mTFrot2lin1(r_body = {-0.5*length, 0}) annotation( - Placement(transformation(origin = {0, 70}, extent = {{-10, -10}, {10, 10}}, rotation = -90))); - BondGraph._2D.J0 j0(N = 3, s = {1, 1, -1}) annotation( - Placement(transformation(origin = {0, 40}, extent = {{-10, -10}, {10, 10}}))); - BondGraph._2D.J1 v_com_i(N = 3, s = {1, -1, 1}) annotation( - Placement(transformation(origin = {40, -20}, extent = {{-10, -10}, {10, 10}}))); - BondGraph._2D.J1 v_P_bff(N = 2, s = {1, -1}) annotation( - Placement(transformation(origin = {-40, 40}, extent = {{-10, -10}, {10, 10}}))); - BondGraph._2D.J1 v_com_bff(N = 2, s = {-1, -1}) annotation( - Placement(transformation(origin = {40, 40}, extent = {{-10, -10}, {10, 10}}))); - rTF rTF1 annotation( - Placement(transformation(origin = {40, 10}, extent = {{-10, -10}, {10, 10}}, rotation = 90))); - Modelica.Blocks.Continuous.Integrator w2phi(y_start=startAngle) annotation( - Placement(transformation(origin = {30, 70}, extent = {{-10, -10}, {10, 10}}))); - BondGraph._2D.I m(I = [mass, 0; 0, mass]) annotation( - Placement(transformation(origin = {80, -20}, extent = {{-10, -10}, {10, 10}}))); - BondGraph._2D.Se g(e0 = {0, -9.81*mass}) annotation( - Placement(transformation(origin = {0, -20}, extent = {{-10, -10}, {10, 10}}))); - Modelica.Blocks.Continuous.Integrator vx2x(y_start=-0.5*length*cos(startAngle)) annotation( - Placement(transformation(origin = {70, -50}, extent = {{-10, -10}, {10, 10}}))); - Modelica.Blocks.Continuous.Integrator vy2y(y_start=-0.5*length*sin(startAngle)) annotation( - Placement(transformation(origin = {70, -80}, extent = {{-10, -10}, {10, 10}}))); - vis2d vis2d1 annotation( - Placement(transformation(origin = {118, -64}, extent = {{-10, -10}, {10, 10}}))); - rTF rTF2 annotation( - Placement(transformation(origin = {-40, 10}, extent = {{-10, -10}, {10, 10}}, rotation = 90))); - BondGraph._2D.J1 v_P_i(N = 2, s = {1, 1}) annotation( - Placement(transformation(origin = {-40, -20}, extent = {{-10, -10}, {10, 10}}))); - BondGraph.BondPort rotIn annotation( - Placement(transformation(origin = {-30, 100}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {0, 198}, extent = {{-10, -10}, {10, 10}}))); - BondGraph._2D.BondPort trans_i annotation( - Placement(transformation(origin = {-80, -20}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {0, -198}, extent = {{-10, -10}, {10, 10}}))); - Modelica.Blocks.Interfaces.RealOutput phi annotation( - Placement(transformation(origin = {120, 70}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {202, 80}, extent = {{-10, -10}, {10, 10}}))); - equation - connect(w_com.f, w2phi.u) annotation( - Line(points = {{6, 94}, {18, 70}}, color = {0, 0, 127})); - connect(w2phi.y, rTF1.phi) annotation( - Line(points = {{41, 70}, {100, 70}, {100, 10}, {48, 10}}, color = {0, 0, 127})); - connect(w_com.P[1], moi.p) annotation( - Line(points = {{0, 100}, {40, 100}}, color = {0, 0, 127}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6)); - connect(w_com.P[2], mTFrot2lin1.pR) annotation( - Line(points = {{0, 100}, {0, 78}}, color = {0, 0, 127}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6)); - connect(v_com_bff.P[1], j0.P[1]) annotation( - Line(points = {{40, 40}, {0, 40}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6)); - connect(mTFrot2lin1.pT, j0.P[2]) annotation( - Line(points = {{0, 62}, {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( - Line(points = {{0, 40}, {-40, 40}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6)); - connect(v_com_bff.P[2], rTF1.p2) annotation( - Line(points = {{40, 40}, {40, 18}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6)); - connect(rTF1.p1, v_com_i.P[1]) annotation( - Line(points = {{40, 2}, {40, -20}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6)); - connect(g.p, v_com_i.P[3]) annotation( - Line(points = {{8, -20}, {40, -20}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6)); - connect(v_com_i.P[2], m.p) annotation( - Line(points = {{40, -20}, {80, -20}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6)); - connect(v_com_i.f[1], vx2x.u) annotation( - Line(points = {{46, -26}, {50, -50}, {58, -50}}, color = {0, 0, 127})); - connect(v_com_i.f[2], vy2y.u) annotation( - Line(points = {{46, -26}, {50, -80}, {58, -80}}, color = {0, 0, 127})); - connect(vy2y.y, vis2d1.y) annotation( - Line(points = {{82, -80}, {94, -80}, {94, -70}, {108, -70}}, color = {0, 0, 127})); - connect(vx2x.y, vis2d1.x) annotation( - Line(points = {{82, -50}, {94, -50}, {94, -64}, {108, -64}}, color = {0, 0, 127})); - connect(w2phi.y, vis2d1.phi) annotation( - Line(points = {{42, 70}, {100, 70}, {100, -58}, {108, -58}}, color = {0, 0, 127})); - connect(w2phi.y, rTF2.phi) annotation( - Line(points = {{42, 70}, {100, 70}, {100, 26}, {-20, 26}, {-20, 10}, {-32, 10}}, color = {0, 0, 127})); - connect(v_P_bff.P[2], rTF2.p2) annotation( - Line(points = {{-40, 40}, {-40, 18}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6)); - connect(rTF2.p1, v_P_i.P[1]) annotation( - Line(points = {{-40, 2}, {-40, -20}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6)); - connect(rotIn, w_com.P[3]) annotation( - Line(points = {{-30, 100}, {0, 100}}, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6)); - connect(trans_i, v_P_i.P[2]) annotation( - Line(points = {{-80, -20}, {-40, -20}}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6)); - connect(w2phi.y, phi) annotation( - Line(points = {{42, 70}, {120, 70}}, color = {0, 0, 127})); - annotation( - uses(Modelica(version = "4.1.0")), - Diagram(coordinateSystem(extent = {{-100, 120}, {140, -100}})), - Icon(coordinateSystem(extent = {{-200, -200}, {200, 200}}), graphics = {Rectangle(lineColor = {204, 204, 204}, fillColor = {255, 255, 255}, fillPattern = FillPattern.Sphere, lineThickness = 2, extent = {{-200, 200}, {200, -200}}, radius = 50), Ellipse(origin = {0, -60},lineColor = {255, 0, 0}, fillColor = {255, 0, 0}, fillPattern = FillPattern.Solid, extent = {{-15, 15}, {15, -15}}), Line(origin = {29, 19}, points = {{-29, -79}, {29, 79}}, color = {255, 0, 0}, thickness = 5), Line(origin = {0, -76}, points = {{-130, 0}, {130, 0}}, thickness = 1.25)}), - version = "", - experiment(StartTime = 0, StopTime = 1, Tolerance = 1e-06, Interval = 0.002)); - end pendulum; + 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")}), + experiment(StartTime = 0, StopTime = 1, Tolerance = 1e-06, Interval = 0.002)); + end vis2d; - model mTFrot2lin - BondGraph.BondPort pR annotation( - Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {-80, 0}, extent = {{-10, -10}, {10, 10}}))); - BondGraph._2D.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[2] = {1, 0}; - protected - Real B[2]; - equation - B = {-r_body[2], r_body[1]}; - pT.f = B*pR.f; - pR.e = B[1]*pT.e[1] + B[2]*pT.e[2]; - annotation( - Icon(graphics = {Text(extent = {{-70, 100}, {70, -100}}, textString = "rlTF", textStyle = {TextStyle.Bold, TextStyle.UnderLine})})); - end mTFrot2lin; + model pendulum + parameter Modelica.Units.SI.Mass mass; + parameter Modelica.Units.SI.Length length; + parameter Modelica.Units.SI.MomentOfInertia momentOfInertia; + parameter Modelica.Units.SI.Angle startAngle; - model rTF - BondGraph._2D.BondPort p1 "Port 1" annotation( - Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {-80, 0}, extent = {{-10, -10}, {10, 10}}))); - BondGraph._2D.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 "angle" annotation( - Placement(transformation(origin = {-8, -64}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {0, -78}, extent = {{-8, -8}, {8, 8}}, rotation = 90))); - protected - Real R[2, 2]; - equation - R = [cos(phi), -sin(phi); sin(phi), 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.UnderLine})})); - end rTF; + BondGraph.J1 w_com(N = 3, s = {-1, -1, 1}) annotation( + Placement(transformation(origin = {0, 100}, extent = {{-10, -10}, {10, 10}}))); + BondGraph.I moi(I = momentOfInertia, state(fixed = false)) annotation( + Placement(transformation(origin = {40, 100}, extent = {{-10, -10}, {10, 10}}))); + mTFrot2lin mTFrot2lin1(r_body = {-0.5*length, 0}) annotation( + Placement(transformation(origin = {0, 70}, extent = {{-10, -10}, {10, 10}}, rotation = -90))); + BondGraph._2D.J0 j0(N = 3, s = {1, 1, -1}) annotation( + Placement(transformation(origin = {0, 40}, extent = {{-10, -10}, {10, 10}}))); + BondGraph._2D.J1 v_com_i(N = 3, s = {1, -1, 1}) annotation( + Placement(transformation(origin = {40, -20}, extent = {{-10, -10}, {10, 10}}))); + BondGraph._2D.J1 v_P_bff(N = 2, s = {1, -1}) annotation( + Placement(transformation(origin = {-40, 40}, extent = {{-10, -10}, {10, 10}}))); + BondGraph._2D.J1 v_com_bff(N = 2, s = {-1, -1}) annotation( + Placement(transformation(origin = {40, 40}, extent = {{-10, -10}, {10, 10}}))); + rTF rTF1 annotation( + Placement(transformation(origin = {40, 10}, extent = {{-10, -10}, {10, 10}}, rotation = 90))); + Modelica.Blocks.Continuous.Integrator w2phi(y_start=startAngle) annotation( + Placement(transformation(origin = {30, 70}, extent = {{-10, -10}, {10, 10}}))); + BondGraph._2D.I m(I = [mass, 0; 0, mass]) annotation( + Placement(transformation(origin = {80, -20}, extent = {{-10, -10}, {10, 10}}))); + BondGraph._2D.Se g(e0 = {0, -9.81*mass}) annotation( + Placement(transformation(origin = {0, -20}, extent = {{-10, -10}, {10, 10}}))); + Modelica.Blocks.Continuous.Integrator vx2x(y_start=-0.5*length*cos(startAngle)) annotation( + Placement(transformation(origin = {70, -50}, extent = {{-10, -10}, {10, 10}}))); + Modelica.Blocks.Continuous.Integrator vy2y(y_start=-0.5*length*sin(startAngle)) annotation( + Placement(transformation(origin = {70, -80}, extent = {{-10, -10}, {10, 10}}))); + vis2d vis2d1 annotation( + Placement(transformation(origin = {118, -64}, extent = {{-10, -10}, {10, 10}}))); + rTF rTF2 annotation( + Placement(transformation(origin = {-40, 10}, extent = {{-10, -10}, {10, 10}}, rotation = 90))); + BondGraph._2D.J1 v_P_i(N = 2, s = {1, 1}) annotation( + Placement(transformation(origin = {-40, -20}, extent = {{-10, -10}, {10, 10}}))); + BondGraph.BondPort rotIn annotation( + Placement(transformation(origin = {-30, 100}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {0, 198}, extent = {{-10, -10}, {10, 10}}))); + BondGraph._2D.BondPort trans_i annotation( + Placement(transformation(origin = {-80, -20}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {0, -198}, extent = {{-10, -10}, {10, 10}}))); + Modelica.Blocks.Interfaces.RealOutput phi annotation( + Placement(transformation(origin = {120, 70}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {202, 80}, extent = {{-10, -10}, {10, 10}}))); + equation + connect(w_com.f, w2phi.u) annotation( + Line(points = {{6, 94}, {18, 70}}, color = {0, 0, 127})); + connect(w2phi.y, rTF1.phi) annotation( + Line(points = {{41, 70}, {100, 70}, {100, 10}, {48, 10}}, color = {0, 0, 127})); + connect(w_com.P[1], moi.p) annotation( + Line(points = {{0, 100}, {40, 100}}, color = {0, 0, 127}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6)); + connect(w_com.P[2], mTFrot2lin1.pR) annotation( + Line(points = {{0, 100}, {0, 78}}, color = {0, 0, 127}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6)); + connect(v_com_bff.P[1], j0.P[1]) annotation( + Line(points = {{40, 40}, {0, 40}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6)); + connect(mTFrot2lin1.pT, j0.P[2]) annotation( + Line(points = {{0, 62}, {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( + Line(points = {{0, 40}, {-40, 40}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6)); + connect(v_com_bff.P[2], rTF1.p2) annotation( + Line(points = {{40, 40}, {40, 18}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6)); + connect(rTF1.p1, v_com_i.P[1]) annotation( + Line(points = {{40, 2}, {40, -20}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6)); + connect(g.p, v_com_i.P[3]) annotation( + Line(points = {{8, -20}, {40, -20}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6)); + connect(v_com_i.P[2], m.p) annotation( + Line(points = {{40, -20}, {80, -20}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6)); + connect(v_com_i.f[1], vx2x.u) annotation( + Line(points = {{46, -26}, {50, -50}, {58, -50}}, color = {0, 0, 127})); + connect(v_com_i.f[2], vy2y.u) annotation( + Line(points = {{46, -26}, {50, -80}, {58, -80}}, color = {0, 0, 127})); + connect(vy2y.y, vis2d1.y) annotation( + Line(points = {{82, -80}, {94, -80}, {94, -70}, {108, -70}}, color = {0, 0, 127})); + connect(vx2x.y, vis2d1.x) annotation( + Line(points = {{82, -50}, {94, -50}, {94, -64}, {108, -64}}, color = {0, 0, 127})); + connect(w2phi.y, vis2d1.phi) annotation( + Line(points = {{42, 70}, {100, 70}, {100, -58}, {108, -58}}, color = {0, 0, 127})); + connect(w2phi.y, rTF2.phi) annotation( + Line(points = {{42, 70}, {100, 70}, {100, 26}, {-20, 26}, {-20, 10}, {-32, 10}}, color = {0, 0, 127})); + connect(v_P_bff.P[2], rTF2.p2) annotation( + Line(points = {{-40, 40}, {-40, 18}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6)); + connect(rTF2.p1, v_P_i.P[1]) annotation( + Line(points = {{-40, 2}, {-40, -20}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6)); + connect(rotIn, w_com.P[3]) annotation( + Line(points = {{-30, 100}, {0, 100}}, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6)); + connect(trans_i, v_P_i.P[2]) annotation( + Line(points = {{-80, -20}, {-40, -20}}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6)); + connect(w2phi.y, phi) annotation( + Line(points = {{42, 70}, {120, 70}}, color = {0, 0, 127})); + annotation( + uses(Modelica(version = "4.1.0")), + Diagram(coordinateSystem(extent = {{-100, 120}, {140, -100}})), + Icon(coordinateSystem(extent = {{-200, -200}, {200, 200}}), graphics = {Rectangle(lineColor = {204, 204, 204}, fillColor = {255, 255, 255}, fillPattern = FillPattern.Sphere, lineThickness = 2, extent = {{-200, 200}, {200, -200}}, radius = 50), Ellipse(origin = {0, -60},lineColor = {255, 0, 0}, fillColor = {255, 0, 0}, fillPattern = FillPattern.Solid, extent = {{-15, 15}, {15, -15}}), Line(origin = {29, 19}, points = {{-29, -79}, {29, 79}}, color = {255, 0, 0}, thickness = 5), Line(origin = {0, -76}, points = {{-130, 0}, {130, 0}}, thickness = 1.25)}), + version = "", + experiment(StartTime = 0, StopTime = 1, Tolerance = 1e-06, Interval = 0.002)); + end pendulum; - model test - import Modelica.Constants.pi; - pendulum pendulum1(mass = 1, length = 1, momentOfInertia = 0.001, startAngle = 1.5707963267948966) annotation( - Placement(transformation(origin = {60, 0}, extent = {{-20, -20}, {20, 20}}))); - BondGraph.J0 j1(N = 3, s = {1, -1, 1}) annotation( - Placement(transformation(origin = {60, 40}, extent = {{-10, -10}, {10, 10}}))); - BondGraph.J1 w_hinge(N = 2, s = {-1, -1}) annotation( - Placement(transformation(origin = {20, 40}, extent = {{-10, -10}, {10, 10}}))); - BondGraph.R r(R = 0.02) annotation( - Placement(transformation(origin = {-18, 40}, extent = {{-10, -10}, {10, 10}}))); - //BondGraph._2D.Sf sf(f0 = {0, 0}) annotation( - // Placement(transformation(origin = {60, -58}, extent = {{-10, -10}, {10, 10}}, rotation = 90))); - BondGraph._2D.J1 j2(N = 2, s = {-1, 1}) annotation( - Placement(transformation(origin = {60, -40}, extent = {{-10, -10}, {10, 10}}))); - BondGraph._2D.MuxDemux muxDemux annotation( - Placement(transformation(origin = {30, -40}, extent = {{-10, -10}, {10, 10}}))); - BondGraph.J1 j3(N = 2, s = {1, -1}) annotation( - Placement(transformation(origin = {-20, -60}, extent = {{-10, -10}, {10, 10}}))); - BondGraph.J1 j4(N = 2, s = {-1, 1}) annotation( - Placement(transformation(origin = {-20, -20}, extent = {{-10, -10}, {10, 10}}))); - BondGraph.Sf sf(f0 = 0) annotation( - Placement(transformation(origin = {-58, -60}, extent = {{-10, -10}, {10, 10}}))); - BondGraph.Sf sf1(f0 = 0) annotation( - Placement(transformation(origin = {-56, -20}, extent = {{-10, -10}, {10, 10}}))); - BondGraph.J1 w_maxle(N = 2, s = {-1, 1}) annotation( - Placement(transformation(origin = {60, 80}, extent = {{-10, -10}, {10, 10}}))); - BondGraph.mSe T_motor annotation( - Placement(transformation(origin = {20, 80}, extent = {{-10, -10}, {10, 10}}))); - controller controller1(g_P = 50, g_I = 7.5, g_D = 5, sampleTime(displayUnit = "ms") = 0.01, limit = 20) annotation( - Placement(transformation(origin = {16, 110}, extent = {{10, -10}, {-10, 10}}))); - Modelica.Blocks.Sources.TimeTable timeTable(table = [ - 0, 0; 4,0; - 5, 1.5*pi; 9, 1.5*pi; - 10, pi; 14, pi; - 15, 0.5*pi; 19, 0.5*pi; - 20, 0; 25, 0 - ]) annotation( - Placement(transformation(origin = {50, 130}, extent = {{-10, -10}, {10, 10}}, rotation = 180))); - equation - connect(w_hinge.P[1], j1.P[1]) annotation( - Line(points = {{20, 40}, {60, 40}}, color = {0, 0, 127}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6)); - connect(r.p, w_hinge.P[2]) annotation( - Line(points = {{-18, 40}, {20, 40}}, color = {0, 0, 127}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6)); - connect(j1.P[2], pendulum1.rotIn) annotation( - Line(points = {{60, 40}, {60, 20}}, color = {0, 0, 127}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6)); -//connect(sf.p, pendulum1.trans_i) annotation( -// Line(points = {{60, -50}, {60, -20}}, color = {0, 85, 0}, thickness = 0.75, arrow = //{Arrow.None, Arrow.Half}, arrowSize = 6)); - connect(j2.P[1], pendulum1.trans_i) annotation( - Line(points = {{60, -40}, {60, -20}}, color = {0, 85, 0})); - connect(muxDemux.p, j2.P[2]) annotation( - Line(points = {{40, -40}, {60, -40}}, color = {0, 85, 0})); - connect(j3.P[2], muxDemux.p2) annotation( - Line(points = {{-20, -60}, {8, -60}, {8, -44}, {20, -44}}, color = {0, 0, 127})); - connect(j4.P[1], muxDemux.p1) annotation( - Line(points = {{-20, -20}, {8, -20}, {8, -36}, {20, -36}}, color = {0, 0, 127})); - connect(sf.p, j3.P[1]) annotation( - Line(points = {{-50, -60}, {-20, -60}}, color = {0, 0, 127})); - connect(sf1.p, j4.P[2]) annotation( - Line(points = {{-48, -20}, {-20, -20}}, color = {0, 0, 127})); - connect(w_maxle.P[1], j1.P[3]) annotation( - Line(points = {{60, 80}, {60, 40}}, color = {0, 0, 127}, thickness = 0.5)); - connect(T_motor.p, w_maxle.P[2]) annotation( - Line(points = {{28, 80}, {60, 80}}, color = {0, 0, 127})); - connect(pendulum1.phi, controller1.angle) annotation( - Line(points = {{80, 8}, {92, 8}, {92, 110}, {26, 110}}, color = {0, 0, 127})); - connect(controller1.motor, T_motor.e0) annotation( - Line(points = {{6, 110}, {6, 109}, {0, 109}, {0, 80}, {20, 80}, {20, 72}}, color = {0, 0, 127})); - connect(timeTable.y, controller1.setpoint) annotation( - Line(points = {{39, 130}, {39, 117}, {26, 117}}, color = {0, 0, 127})); - annotation( - experiment(StartTime = 0, StopTime = 25, Tolerance = 1e-06, Interval = 0.02), - Diagram(coordinateSystem(extent = {{-80, 140}, {100, -80}}))); -end test; + model mTFrot2lin + BondGraph.BondPort pR annotation( + Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {-80, 0}, extent = {{-10, -10}, {10, 10}}))); + BondGraph._2D.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[2] = {1, 0}; + protected + Real B[2]; + equation + B = {-r_body[2], r_body[1]}; + pT.f = B*pR.f; + pR.e = B[1]*pT.e[1] + B[2]*pT.e[2]; + annotation( + Icon(graphics = {Text(extent = {{-70, 100}, {70, -100}}, textString = "rlTF", textStyle = {TextStyle.Bold, TextStyle.UnderLine})})); + end mTFrot2lin; - model controller - import Modelica.Blocks.Interfaces.RealInput; - import Modelica.Blocks.Interfaces.RealOutput; - - parameter Real g_P = 1; - parameter Real g_I = 1; - parameter Real g_D = 1; - parameter Modelica.Units.SI.Time sampleTime = 0.0025; - parameter Real limit = 100; - - RealInput setpoint(quantity="Angle") "Setpoint" annotation( - Placement(transformation(origin = {-158, 20}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {-96, 70}, extent = {{-10, -10}, {10, 10}}))); - RealInput angle(quantity="Angle") "Angle of the pendulum" annotation( - Placement(transformation(origin = {-158, -6}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {-96, 0}, extent = {{-10, -10}, {10, 10}}))); - RealOutput motor(quantity="Torque") "Motor drive" annotation( - Placement(transformation(origin = {226, 0}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {104, 0}, extent = {{-10, -10}, {10, 10}}))); - Modelica.Blocks.Discrete.Sampler sampler(samplePeriod = sampleTime) annotation( - Placement(transformation(origin = {-126, -6}, extent = {{-10, -10}, {10, 10}}))); - Modelica.Blocks.Math.Add add(k1 = 1, k2 = -1) annotation( - Placement(transformation(origin = {-86, 0}, extent = {{-10, -10}, {10, 10}}))); - Modelica.Blocks.Math.Gain gain(k = g_P) annotation( - Placement(transformation(origin = {-30, 0}, extent = {{-10, -10}, {10, 10}}))); - Modelica.Blocks.Discrete.UnitDelay unitDelay(samplePeriod = sampleTime) annotation( - Placement(transformation(origin = {-36, 32}, extent = {{-10, -10}, {10, 10}}))); - Modelica.Blocks.Math.MultiSum multiSum(nu = 3) annotation( - Placement(transformation(origin = {122, 0}, extent = {{-10, -10}, {10, 10}}))); - Modelica.Blocks.Math.Gain gain1(k = g_D / sampleTime) annotation( - Placement(transformation(origin = {56, 38}, extent = {{-10, -10}, {10, 10}}))); - Modelica.Blocks.Math.Add add1(k1 = +1, k2 = -1) annotation( - Placement(transformation(origin = {8, 38}, extent = {{-10, -10}, {10, 10}}))); - Modelica.Blocks.Discrete.Sampler sampler1(samplePeriod = sampleTime) annotation( - Placement(transformation(origin = {-126, 20}, extent = {{-10, -10}, {10, 10}}))); - Modelica.Blocks.Discrete.ZeroOrderHold zeroOrderHold(samplePeriod = sampleTime) annotation( - Placement(transformation(origin = {192, 0}, extent = {{-10, -10}, {10, 10}}))); - Modelica.Blocks.Nonlinear.Limiter limiter(uMax = limit) annotation( - Placement(transformation(origin = {158, 0}, extent = {{-10, -10}, {10, 10}}))); - Modelica.Blocks.Discrete.UnitDelay unitDelay1(samplePeriod = sampleTime) annotation( - Placement(transformation(origin = {50, -50}, extent = {{-10, -10}, {10, 10}}))); - Modelica.Blocks.Math.Gain gain11(k = g_I*sampleTime) annotation( - Placement(transformation(origin = {-30, -44}, extent = {{10, -10}, {-10, 10}}, rotation = 180))); - Modelica.Blocks.Math.Add add11(k1 = +1, k2 = +1) annotation( - Placement(transformation(origin = {14, -50}, extent = {{-10, -10}, {10, 10}}, rotation = -0))); - equation - connect(angle, sampler.u) annotation( - Line(points = {{-158, -6}, {-138, -6}}, color = {0, 0, 127})); - connect(sampler.y, add.u2) annotation( - Line(points = {{-115, -6}, {-99, -6}}, color = {0, 0, 127})); - connect(add.y, gain.u) annotation( - Line(points = {{-75, 0}, {-42, 0}}, color = {0, 0, 127})); - connect(gain.y, multiSum.u[1]) annotation( - Line(points = {{-19, 0}, {112, 0}}, color = {0, 0, 127})); - connect(gain1.y, multiSum.u[2]) annotation( - Line(points = {{67, 38}, {95, 38}, {95, 0}, {111, 0}}, color = {0, 0, 127})); - connect(unitDelay.y, add1.u2) annotation( - Line(points = {{-25, 32}, {-4, 32}}, color = {0, 0, 127})); - connect(add.y, add1.u1) annotation( - Line(points = {{-74, 0}, {-62, 0}, {-62, 54}, {-12, 54}, {-12, 44}, {-4, 44}}, color = {0, 0, 127})); - connect(add.y, unitDelay.u) annotation( - Line(points = {{-74, 0}, {-62, 0}, {-62, 32}, {-48, 32}}, color = {0, 0, 127})); - connect(add1.y, gain1.u) annotation( - Line(points = {{20, 38}, {44, 38}}, color = {0, 0, 127})); - connect(setpoint, sampler1.u) annotation( - Line(points = {{-158, 20}, {-138, 20}}, color = {0, 0, 127})); - connect(sampler1.y, add.u1) annotation( - Line(points = {{-114, 20}, {-110, 20}, {-110, 6}, {-98, 6}}, color = {0, 0, 127})); - connect(multiSum.y, limiter.u) annotation( - Line(points = {{134, 0}, {146, 0}}, color = {0, 0, 127})); - connect(limiter.y, zeroOrderHold.u) annotation( - Line(points = {{170, 0}, {180, 0}}, color = {0, 0, 127})); - connect(zeroOrderHold.y, motor) annotation( - Line(points = {{204, 0}, {226, 0}}, color = {0, 0, 127})); - connect(unitDelay1.y, multiSum.u[3]) annotation( - Line(points = {{61, -50}, {94, -50}, {94, 0}, {112, 0}}, color = {0, 0, 127})); - connect(unitDelay1.y, add11.u2) annotation( - Line(points = {{62, -50}, {80, -50}, {80, -74}, {-10, -74}, {-10, -56}, {2, -56}}, color = {0, 0, 127})); - connect(gain11.y, add11.u1) annotation( - Line(points = {{-19, -44}, {2, -44}}, color = {0, 0, 127})); - connect(add.y, gain11.u) annotation( - Line(points = {{-74, 0}, {-62, 0}, {-62, -44}, {-42, -44}}, color = {0, 0, 127})); - connect(add11.y, unitDelay1.u) annotation( - Line(points = {{26, -50}, {38, -50}}, color = {0, 0, 127})); + model rTF + BondGraph._2D.BondPort p1 "Port 1" annotation( + Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {-80, 0}, extent = {{-10, -10}, {10, 10}}))); + BondGraph._2D.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 "angle" annotation( + Placement(transformation(origin = {-8, -64}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {0, -78}, extent = {{-8, -8}, {8, 8}}, rotation = 90))); + protected + Real R[2, 2]; + equation + R = [cos(phi), -sin(phi); sin(phi), 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.UnderLine})})); + end rTF; + + model test + import Modelica.Constants.pi; + pendulum pendulum1(mass = 1, length = 1, momentOfInertia = 0.001, startAngle = 1.5707963267948966) annotation( + Placement(transformation(origin = {60, 0}, extent = {{-20, -20}, {20, 20}}))); + BondGraph.J0 j1(N = 3, s = {1, -1, 1}) annotation( + Placement(transformation(origin = {60, 40}, extent = {{-10, -10}, {10, 10}}))); + BondGraph.J1 w_hinge(N = 2, s = {-1, -1}) annotation( + Placement(transformation(origin = {20, 40}, extent = {{-10, -10}, {10, 10}}))); + BondGraph.R r(R = 0.02) annotation( + Placement(transformation(origin = {-18, 40}, extent = {{-10, -10}, {10, 10}}))); + //BondGraph._2D.Sf sf(f0 = {0, 0}) annotation( + // Placement(transformation(origin = {60, -58}, extent = {{-10, -10}, {10, 10}}, rotation = 90))); + BondGraph._2D.J1 j2(N = 2, s = {-1, 1}) annotation( + Placement(transformation(origin = {60, -40}, extent = {{-10, -10}, {10, 10}}))); + BondGraph._2D.MuxDemux muxDemux annotation( + Placement(transformation(origin = {30, -40}, extent = {{-10, -10}, {10, 10}}))); + BondGraph.J1 j3(N = 2, s = {1, -1}) annotation( + Placement(transformation(origin = {-20, -60}, extent = {{-10, -10}, {10, 10}}))); + BondGraph.J1 j4(N = 2, s = {-1, 1}) annotation( + Placement(transformation(origin = {-20, -20}, extent = {{-10, -10}, {10, 10}}))); + BondGraph.Sf sf(f0 = 0) annotation( + Placement(transformation(origin = {-58, -60}, extent = {{-10, -10}, {10, 10}}))); + BondGraph.Sf sf1(f0 = 0) annotation( + Placement(transformation(origin = {-56, -20}, extent = {{-10, -10}, {10, 10}}))); + BondGraph.J1 w_maxle(N = 2, s = {-1, 1}) annotation( + Placement(transformation(origin = {60, 80}, extent = {{-10, -10}, {10, 10}}))); + BondGraph.mSe T_motor annotation( + Placement(transformation(origin = {20, 80}, extent = {{-10, -10}, {10, 10}}))); + Modelica.Blocks.Sources.TimeTable timeTable(table = [ + 0, 0.5*pi; 1,0; 4,0; + 5, 1.5*pi; 9, 1.5*pi; + 10, pi; 14, pi; + 15, 0.5*pi; 19, 0.5*pi; + 20, 0; 25, 0 + ]) annotation( + Placement(transformation(origin = {-50, 62}, extent = {{10, -10}, {-10, 10}}, rotation = -180))); + controller2 controller(g_P = 400, g_I = 15, g_D = 20, sampleTime(displayUnit = "ms") = 0.01, limit = 20, quantizerDelta = 0.01, dacDelta = 0.01, quantizerScale = 1, dacScale = 1) annotation( + Placement(transformation(origin = {-8, 80}, extent = {{-10, 10}, {10, -10}}, rotation = -0))); + equation + connect(w_hinge.P[1], j1.P[1]) annotation( + Line(points = {{20, 40}, {60, 40}}, color = {0, 0, 127}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6)); + connect(r.p, w_hinge.P[2]) annotation( + Line(points = {{-18, 40}, {20, 40}}, color = {0, 0, 127}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6)); + connect(j1.P[2], pendulum1.rotIn) annotation( + Line(points = {{60, 40}, {60, 20}}, color = {0, 0, 127}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6)); + //connect(sf.p, pendulum1.trans_i) annotation( + // Line(points = {{60, -50}, {60, -20}}, color = {0, 85, 0}, thickness = 0.75, arrow = //{Arrow.None, Arrow.Half}, arrowSize = 6)); + connect(j2.P[1], pendulum1.trans_i) annotation( + Line(points = {{60, -40}, {60, -20}}, color = {0, 85, 0})); + connect(muxDemux.p, j2.P[2]) annotation( + Line(points = {{40, -40}, {60, -40}}, color = {0, 85, 0})); + connect(j3.P[2], muxDemux.p2) annotation( + Line(points = {{-20, -60}, {8, -60}, {8, -44}, {20, -44}}, color = {0, 0, 127})); + connect(j4.P[1], muxDemux.p1) annotation( + Line(points = {{-20, -20}, {8, -20}, {8, -36}, {20, -36}}, color = {0, 0, 127})); + connect(sf.p, j3.P[1]) annotation( + Line(points = {{-50, -60}, {-20, -60}}, color = {0, 0, 127})); + connect(sf1.p, j4.P[2]) annotation( + Line(points = {{-48, -20}, {-20, -20}}, color = {0, 0, 127})); + connect(w_maxle.P[1], j1.P[3]) annotation( + Line(points = {{60, 80}, {60, 40}}, color = {0, 0, 127}, thickness = 0.5)); + connect(T_motor.p, w_maxle.P[2]) annotation( + Line(points = {{28, 80}, {60, 80}}, color = {0, 0, 127})); + connect(controller.motor, T_motor.e0) annotation( + Line(points = {{2, 80}, {20, 80}, {20, 72}}, color = {0, 0, 127})); + connect(timeTable.y, controller.setpoint) annotation( + Line(points = {{-39, 62}, {-24, 62}, {-24, 73}, {-18, 73}}, color = {0, 0, 127})); + connect(pendulum1.phi, controller.angle) annotation( + Line(points = {{80, 8}, {86, 8}, {86, 104}, {-32, 104}, {-32, 80}, {-18, 80}}, color = {0, 0, 127})); + annotation( + experiment(StartTime = 0, StopTime = 25, Tolerance = 1e-06, Interval = 0.02), + Diagram(coordinateSystem(extent = {{-80, 100}, {100, -80}}))); + end test; + + model controller + import Modelica.Blocks.Interfaces.RealInput; + import Modelica.Blocks.Interfaces.RealOutput; + + parameter Real g_P = 1; + parameter Real g_I = 1; + parameter Real g_D = 1; + parameter Real g_G = 1; + parameter Modelica.Units.SI.Time sampleTime = 0.0025; + parameter Real limit = 100; + + parameter Modelica.Units.SI.Mass mass = 1; + parameter Modelica.Units.SI.Length lCOM = 0.5; + + RealInput setpoint(quantity="Angle") "Setpoint" annotation( + Placement(transformation(origin = {-158, 20}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {-96, 70}, extent = {{-10, -10}, {10, 10}}))); + RealInput angle(quantity="Angle") "Angle of the pendulum" annotation( + Placement(transformation(origin = {-158, -6}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {-96, 0}, extent = {{-10, -10}, {10, 10}}))); + RealOutput motor(quantity="Torque") "Motor drive" annotation( + Placement(transformation(origin = {226, 0}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {104, 0}, extent = {{-10, -10}, {10, 10}}))); + Modelica.Blocks.Discrete.Sampler sampler(samplePeriod = sampleTime) annotation( + Placement(transformation(origin = {-126, -6}, extent = {{-10, -10}, {10, 10}}))); + Modelica.Blocks.Math.Add add(k1 = 1, k2 = -1) annotation( + Placement(transformation(origin = {-86, 0}, extent = {{-10, -10}, {10, 10}}))); + Modelica.Blocks.Math.Gain gain(k = g_P) annotation( + Placement(transformation(origin = {-30, 0}, extent = {{-10, -10}, {10, 10}}))); + Modelica.Blocks.Discrete.UnitDelay unitDelay(samplePeriod = sampleTime) annotation( + Placement(transformation(origin = {-36, 32}, extent = {{-10, -10}, {10, 10}}))); + Modelica.Blocks.Math.MultiSum multiSum(nu = 4) annotation( + Placement(transformation(origin = {122, 0}, extent = {{-10, -10}, {10, 10}}))); + Modelica.Blocks.Math.Gain gain1(k = g_D / sampleTime) annotation( + Placement(transformation(origin = {56, 38}, extent = {{-10, -10}, {10, 10}}))); + Modelica.Blocks.Math.Add add1(k1 = +1, k2 = -1) annotation( + Placement(transformation(origin = {8, 38}, extent = {{-10, -10}, {10, 10}}))); + Modelica.Blocks.Discrete.Sampler sampler1(samplePeriod = sampleTime) annotation( + Placement(transformation(origin = {-126, 20}, extent = {{-10, -10}, {10, 10}}))); + Modelica.Blocks.Discrete.ZeroOrderHold zeroOrderHold(samplePeriod = sampleTime) annotation( + Placement(transformation(origin = {192, 0}, extent = {{-10, -10}, {10, 10}}))); + Modelica.Blocks.Nonlinear.Limiter limiter(uMax = limit) annotation( + Placement(transformation(origin = {158, 0}, extent = {{-10, -10}, {10, 10}}))); + Modelica.Blocks.Discrete.UnitDelay unitDelay1(samplePeriod = sampleTime) annotation( + Placement(transformation(origin = {50, -50}, extent = {{-10, -10}, {10, 10}}))); + Modelica.Blocks.Math.Gain gain11(k = g_I*sampleTime) annotation( + Placement(transformation(origin = {-30, -44}, extent = {{10, -10}, {-10, 10}}, rotation = 180))); + Modelica.Blocks.Math.Add add11(k1 = +1, k2 = +1) annotation( + Placement(transformation(origin = {14, -50}, extent = {{-10, -10}, {10, 10}}, rotation = -0))); + Modelica.Blocks.Math.Sin sin annotation( + Placement(transformation(origin = {-36, 110}, extent = {{-10, -10}, {10, 10}}))); + Modelica.Blocks.Math.Gain gain12(k = -9.81*mass*lCOM*g_G) annotation( + Placement(transformation(origin = {10, 110}, extent = {{-10, -10}, {10, 10}}))); + equation + connect(angle, sampler.u) annotation( + Line(points = {{-158, -6}, {-138, -6}}, color = {0, 0, 127})); + connect(sampler.y, add.u2) annotation( + Line(points = {{-115, -6}, {-99, -6}}, color = {0, 0, 127})); + connect(add.y, gain.u) annotation( + Line(points = {{-75, 0}, {-42, 0}}, color = {0, 0, 127})); + connect(gain.y, multiSum.u[1]) annotation( + Line(points = {{-19, 0}, {112, 0}}, color = {0, 0, 127})); + connect(gain1.y, multiSum.u[2]) annotation( + Line(points = {{67, 38}, {95, 38}, {95, 0}, {111, 0}}, color = {0, 0, 127})); + connect(unitDelay.y, add1.u2) annotation( + Line(points = {{-25, 32}, {-4, 32}}, color = {0, 0, 127})); + connect(add.y, add1.u1) annotation( + Line(points = {{-74, 0}, {-62, 0}, {-62, 54}, {-12, 54}, {-12, 44}, {-4, 44}}, color = {0, 0, 127})); + connect(add.y, unitDelay.u) annotation( + Line(points = {{-74, 0}, {-62, 0}, {-62, 32}, {-48, 32}}, color = {0, 0, 127})); + connect(add1.y, gain1.u) annotation( + Line(points = {{20, 38}, {44, 38}}, color = {0, 0, 127})); + connect(setpoint, sampler1.u) annotation( + Line(points = {{-158, 20}, {-138, 20}}, color = {0, 0, 127})); + connect(sampler1.y, add.u1) annotation( + Line(points = {{-114, 20}, {-110, 20}, {-110, 6}, {-98, 6}}, color = {0, 0, 127})); + connect(multiSum.y, limiter.u) annotation( + Line(points = {{134, 0}, {146, 0}}, color = {0, 0, 127})); + connect(limiter.y, zeroOrderHold.u) annotation( + Line(points = {{170, 0}, {180, 0}}, color = {0, 0, 127})); + connect(zeroOrderHold.y, motor) annotation( + Line(points = {{204, 0}, {226, 0}}, color = {0, 0, 127})); + connect(unitDelay1.y, multiSum.u[3]) annotation( + Line(points = {{61, -50}, {94, -50}, {94, 0}, {112, 0}}, color = {0, 0, 127})); + connect(unitDelay1.y, add11.u2) annotation( + Line(points = {{62, -50}, {80, -50}, {80, -74}, {-10, -74}, {-10, -56}, {2, -56}}, color = {0, 0, 127})); + connect(gain11.y, add11.u1) annotation( + Line(points = {{-19, -44}, {2, -44}}, color = {0, 0, 127})); + connect(add.y, gain11.u) annotation( + Line(points = {{-74, 0}, {-62, 0}, {-62, -44}, {-42, -44}}, color = {0, 0, 127})); + connect(add11.y, unitDelay1.u) annotation( + Line(points = {{26, -50}, {38, -50}}, color = {0, 0, 127})); + connect(sampler.y, sin.u) annotation( + Line(points = {{-114, -6}, {-104, -6}, {-104, 110}, {-48, 110}}, color = {0, 0, 127})); + connect(sin.y, gain12.u) annotation( + Line(points = {{-24, 110}, {-2, 110}}, color = {0, 0, 127})); + connect(gain12.y, multiSum.u[4]) annotation( + Line(points = {{22, 110}, {94, 110}, {94, 0}, {112, 0}}, color = {0, 0, 127})); + annotation( + Icon(graphics = {Rectangle(lineColor = {211, 211, 211}, fillColor = {255, 255, 255}, fillPattern = FillPattern.Sphere, lineThickness = 2, extent = {{-100, 100}, {100, -100}}, radius = 25)}), + experiment(StartTime = 0, StopTime = 1, Tolerance = 1e-06, Interval = 0.002), + Diagram(coordinateSystem(extent = {{-180, 120}, {240, -80}}))); + end controller; + + model Dcontroller + + parameter Integer g_P = 1; + parameter Integer g_I = 1; + parameter Integer g_D = 1; + parameter Integer limit = 100; + + parameter Modelica.Units.SI.Time sampleTime = 0.0025; + + Modelica.Blocks.Interfaces.IntegerOutput motor annotation( + Placement(transformation(origin = {100, 0}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {100, 0}, extent = {{-10, -10}, {10, 10}}))); + Modelica.Blocks.Interfaces.IntegerInput setpoint annotation( + Placement(transformation(origin = {-100, 20}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-92, 60}, extent = {{-20, -20}, {20, 20}}))); + Modelica.Blocks.Interfaces.IntegerInput angle annotation( + Placement(transformation(origin = {-100, -20}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-90, -60}, extent = {{-20, -20}, {20, 20}}))); + + Integer error; + Integer pOutput; + Integer iOutput; + Integer dOutput; + Integer drive; + Integer iInternal; + Integer motorInt; + + protected + + parameter Integer D = integer(g_D/sampleTime); + parameter Integer I = integer(g_I*sampleTime); + + equation + when sample(0, sampleTime) then + error = setpoint - angle; + + pOutput = error * g_P; + iInternal = (error * I) + pre(iOutput); + iOutput = iInternal; + dOutput = (error - pre(error)) * D; + + drive = pOutput + iOutput + dOutput; + motorInt = min(limit, max(-1*limit, drive)); + end when; + + motor = motorInt; + + annotation( + Icon(graphics = {Rectangle(lineColor = {189, 189, 189}, fillColor = {255, 255, 255}, fillPattern = FillPattern.Sphere, lineThickness = 1.5, extent = {{-100, 100}, {100, -100}}, radius = 5)})); + end Dcontroller; + + model Quantizer + parameter Real Delta = 1; + parameter Real Scale = 1; + parameter Modelica.Units.SI.Time sampleTime = 0.01; + Modelica.Blocks.Interfaces.RealInput u annotation( + Placement(transformation(origin = {-122, 2}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-90, 0}, extent = {{-20, -20}, {20, 20}}))); + Modelica.Blocks.Interfaces.IntegerOutput y annotation( + Placement(transformation(origin = {86, -34}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {100, 0}, extent = {{-10, -10}, {10, 10}}))); + protected + discrete Integer yInt(start=0, fixed=true); + equation + when sample(0, sampleTime) then + yInt = integer(floor((Scale*u)/Delta + 0.5)); + end when; + y = yInt; + annotation( + Icon(graphics = {Rectangle(lineColor = {202, 202, 202}, fillColor = {255, 255, 255}, fillPattern = FillPattern.Sphere, lineThickness = 1.25, extent = {{-100, 100}, {100, -100}}, radius = 25), 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 = {170, 0, 0}, thickness = 1.25), Text(origin = {49, -50}, extent = {{-51, 50}, {51, -50}}, textString = "Q")})); + + end Quantizer; + + model controller2 + import Modelica.Blocks.Interfaces.RealInput; + import Modelica.Blocks.Interfaces.RealOutput; + + parameter Real g_P = 1; + parameter Real g_I = 1; + parameter Real g_D = 1; + parameter Real g_G = 1; + parameter Modelica.Units.SI.Time sampleTime = 0.0025; + parameter Real limit = 100; + + parameter Real quantizerDelta = 0.1; + parameter Real dacDelta = 0.1; + parameter Real quantizerScale = 1; + parameter Real dacScale = 1; + + parameter Real quantizerQ = quantizerScale/quantizerDelta; + parameter Real dacQ = dacScale/dacDelta; + + parameter Modelica.Units.SI.Mass mass = 1; + parameter Modelica.Units.SI.Length lCOM = 0.5; + + RealInput setpoint(quantity="Angle") "Setpoint" annotation( + Placement(transformation(origin = {-124, 16}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {-96, 70}, extent = {{-10, -10}, {10, 10}}))); + RealInput angle(quantity="Angle") "Angle of the pendulum" annotation( + Placement(transformation(origin = {-124, -10}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {-96, 0}, extent = {{-10, -10}, {10, 10}}))); + RealOutput motor(quantity="Torque") "Motor drive" annotation( + Placement(transformation(origin = {124, 0}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {104, 0}, extent = {{-10, -10}, {10, 10}}))); + Modelica.Blocks.Discrete.Sampler sampler1(samplePeriod = sampleTime) annotation( + Placement(transformation(origin = {-90, -10}, extent = {{-10, -10}, {10, 10}}))); + Modelica.Blocks.Discrete.Sampler sampler2(samplePeriod = sampleTime) annotation( + Placement(transformation(origin = {-90, 16}, extent = {{-10, -10}, {10, 10}}))); + Modelica.Blocks.Discrete.ZeroOrderHold zeroOrderHold(samplePeriod = sampleTime) annotation( + Placement(transformation(origin = {90, 0}, extent = {{-10, -10}, {10, 10}}))); + Dcontroller dcontroller( + g_P = integer(g_P*quantizerQ/dacQ), + g_I = integer(g_I*quantizerQ/dacQ), + g_D = integer(g_D*quantizerQ/dacQ), + limit = integer(limit*dacQ), sampleTime = sampleTime) annotation( + Placement(transformation(extent = {{-10, -10}, {10, 10}}))); + Quantizer quantizer1(sampleTime = sampleTime, Delta = quantizerDelta, Scale = quantizerScale) annotation( + Placement(transformation(origin = {-50, 16}, extent = {{-10, -10}, {10, 10}}))); + Quantizer quantizer2(sampleTime = sampleTime, Delta = quantizerDelta, Scale = quantizerScale) annotation( + Placement(transformation(origin = {-50, -10}, extent = {{-10, -10}, {10, 10}}))); + DAC dac(sampleTime = sampleTime, Delta = dacDelta, Scale = dacScale) annotation( + Placement(transformation(origin = {50, 0}, extent = {{-10, -10}, {10, 10}}))); + equation + connect(zeroOrderHold.y, motor) annotation( + Line(points = {{101, 0}, {123, 0}}, color = {0, 0, 127})); + connect(setpoint, sampler2.u) annotation( + Line(points = {{-124, 16}, {-102, 16}}, color = {0, 0, 127})); + connect(sampler2.y, quantizer1.u) annotation( + Line(points = {{-79, 16}, {-58, 16}}, color = {0, 0, 127})); + connect(quantizer1.y, dcontroller.setpoint) annotation( + Line(points = {{-40, 16}, {-20, 16}, {-20, 6}, {-10, 6}}, color = {255, 127, 0})); + connect(angle, sampler1.u) annotation( + Line(points = {{-124, -10}, {-102, -10}}, color = {0, 0, 127})); + connect(sampler1.y, quantizer2.u) annotation( + Line(points = {{-79, -10}, {-58, -10}}, color = {0, 0, 127})); + connect(quantizer2.y, dcontroller.angle) annotation( + Line(points = {{-40, -10}, {-20, -10}, {-20, -6}, {-8, -6}}, color = {255, 127, 0})); + connect(dcontroller.motor, dac.u) annotation( + Line(points = {{10, 0}, {41, 0}}, color = {255, 127, 0})); + connect(dac.y, zeroOrderHold.u) annotation( + Line(points = {{60, 0}, {78, 0}}, color = {0, 0, 127})); + annotation( + Icon(graphics = {Rectangle(lineColor = {211, 211, 211}, fillColor = {255, 255, 255}, fillPattern = FillPattern.Sphere, lineThickness = 2, extent = {{-100, 100}, {100, -100}}, radius = 25), Text(extent = {{-80, 80}, {80, -80}}, textString = "QDc")}), + experiment(StartTime = 0, StopTime = 1, Tolerance = 1e-06, Interval = 0.002), + Diagram(coordinateSystem(extent = {{-140, 40}, {140, -20}}))); + end controller2; + + model DAC + parameter Real Delta = 1; + parameter Real Scale = 1; + parameter Modelica.Units.SI.Time sampleTime = 0.01; + Modelica.Blocks.Interfaces.IntegerInput u annotation( + Placement(transformation(origin = {-136, -2}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-90, 0}, extent = {{-20, -20}, {20, 20}}))); + Modelica.Blocks.Interfaces.RealOutput y annotation( + Placement(transformation(origin = {126, 10}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {100, 0}, extent = {{-10, -10}, {10, 10}}))); + equation + // Convert integer DAC code back to physical Real value. + y = (Delta / Scale) * u; + + annotation( + Diagram(graphics), + Icon(graphics = {Rectangle(lineColor = {202, 202, 202}, fillColor = {255, 255, 255}, fillPattern = FillPattern.Sphere, lineThickness = 1.25, extent = {{-100, 100}, {100, -100}}, radius = 25), 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 = {170, 0, 0}, thickness = 1.25, smooth = Smooth.Bezier), Text(origin = {49, -50}, extent = {{-51, 50}, {51, -50}}, textString = "DA")})); + end DAC; annotation( - Icon(graphics = {Rectangle(lineColor = {211, 211, 211}, fillColor = {255, 255, 255}, fillPattern = FillPattern.Sphere, lineThickness = 2, extent = {{-100, 100}, {100, -100}}, radius = 25)}), - experiment(StartTime = 0, StopTime = 1, Tolerance = 1e-06, Interval = 0.002), - Diagram(coordinateSystem(extent = {{-180, 60}, {240, -20}}))); -end controller; - annotation( uses(Modelica(version = "4.1.0"))); -end test2d; \ No newline at end of file +end test2d;