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Blocks.mo
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Blocks.mo
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within ModelicaTest;
package Blocks "Test models for Modelica.Blocks"
extends Modelica.Icons.ExamplesPackage;
model Continuous
extends Modelica.Icons.Example;
Modelica.Blocks.Continuous.Integrator integrator annotation (Placement(
transformation(extent={{-60,100},{-40,120}})));
Modelica.Blocks.Continuous.LimIntegrator limIntegrator(outMax=1)
annotation (Placement(transformation(extent={{-60,60},{-40,80}})));
Modelica.Blocks.Continuous.Derivative derivative(x_start=0, initType=
Modelica.Blocks.Types.Init.InitialState) annotation (Placement(
transformation(extent={{-60,20},{-40,40}})));
Modelica.Blocks.Continuous.FirstOrder firstOrder(T=1, initType=Modelica.Blocks.Types.Init.InitialState)
annotation (Placement(transformation(extent={{-60,-20},{-40,0}})));
Modelica.Blocks.Continuous.SecondOrder secondOrder(
w=1,
D=1,
initType=Modelica.Blocks.Types.Init.InitialState) annotation (Placement(
transformation(extent={{-60,-60},{-40,-40}})));
Modelica.Blocks.Continuous.PI pI(T=1, initType=Modelica.Blocks.Types.Init.InitialState)
annotation (Placement(transformation(extent={{-60,-100},{-40,-80}})));
Modelica.Blocks.Continuous.PID pID(
Ti=0.5,
Td=0.1,
initType=Modelica.Blocks.Types.Init.InitialState) annotation (
Placement(transformation(extent={{-60,-140},{-40,-120}})));
Modelica.Blocks.Continuous.LimPID limPID(
Ti=0.5,
Td=0.1,
yMax=1,
initType=Modelica.Blocks.Types.Init.InitialState) annotation (
Placement(transformation(extent={{40,100},{60,120}})));
Modelica.Blocks.Continuous.TransferFunction transferFunction(
a={1,1},
b={1},
initType=Modelica.Blocks.Types.Init.InitialState) annotation (Placement(
transformation(extent={{40,20},{60,40}})));
Modelica.Blocks.Continuous.StateSpace stateSpace(
A=[1, 0; 0, 1],
B=[1; 1],
C=[1, 1],
initType=Modelica.Blocks.Types.Init.InitialState) annotation (Placement(
transformation(extent={{40,-20},{60,0}})));
Modelica.Blocks.Continuous.LowpassButterworth lowpassButterworth(f=1,
initType=Modelica.Blocks.Types.Init.InitialState) annotation (Placement(
transformation(extent={{40,-60},{60,-40}})));
Modelica.Blocks.Continuous.CriticalDamping criticalDamping(
normalized=false,
f=1,
initType=Modelica.Blocks.Types.Init.InitialState) annotation (Placement(
transformation(extent={{40,-100},{60,-80}})));
Modelica.Blocks.Sources.Ramp ramp(
offset=0.5,
startTime=0.5,
duration=2) annotation (Placement(transformation(extent={{-100,100},{-80,
120}})));
Modelica.Blocks.Sources.Ramp ramp1(
offset=0.5,
startTime=0.5,
duration=2) annotation (Placement(transformation(extent={{0,100},{20,120}})));
Modelica.Blocks.Sources.Constant const(k=1.5) annotation (Placement(
transformation(
origin={50,70},
extent={{-10,-10},{10,10}},
rotation=90)));
Modelica.Blocks.Continuous.Der der1 annotation (Placement(transformation(
extent={{40,-140},{60,-120}})));
Modelica.Blocks.Sources.Sine sine(f=1) annotation (Placement(
transformation(extent={{0,-140},{20,-120}})));
equation
connect(ramp.y, integrator.u)
annotation (Line(points={{-79,110},{-62,110}}, color={0,0,127}));
connect(ramp.y, limIntegrator.u) annotation (Line(points={{-79,110},{-72,
110},{-72,70},{-62,70}}, color={0,0,127}));
connect(ramp.y, derivative.u) annotation (Line(points={{-79,110},{-72,110},
{-72,30},{-62,30}}, color={0,0,127}));
connect(ramp.y, firstOrder.u) annotation (Line(points={{-79,110},{-72,110},
{-72,-10},{-62,-10}}, color={0,0,127}));
connect(ramp.y, secondOrder.u) annotation (Line(points={{-79,110},{-72,110},
{-72,-50},{-62,-50}}, color={0,0,127}));
connect(ramp.y, pI.u) annotation (Line(points={{-79,110},{-72,110},{-72,-90},
{-62,-90}}, color={0,0,127}));
connect(ramp.y, pID.u) annotation (Line(points={{-79,110},{-72,110},{-72,-130},
{-62,-130}}, color={0,0,127}));
connect(ramp1.y, limPID.u_s)
annotation (Line(points={{21,110},{38,110}}, color={0,0,127}));
connect(ramp1.y, transferFunction.u) annotation (Line(points={{21,110},{28,
110},{28,30},{38,30}}, color={0,0,127}));
connect(ramp1.y, stateSpace.u[1]) annotation (Line(points={{21,110},{28,110},
{28,-10},{38,-10}}, color={0,0,127}));
connect(ramp1.y, lowpassButterworth.u) annotation (Line(points={{21,110},{
28,110},{28,-50},{38,-50}}, color={0,0,127}));
connect(ramp1.y, criticalDamping.u) annotation (Line(points={{21,110},{28,
110},{28,-90},{38,-90}}, color={0,0,127}));
connect(const.y, limPID.u_m)
annotation (Line(points={{50,81},{50,98}}, color={0,0,127}));
connect(sine.y, der1.u) annotation (Line(
points={{21,-130},{38,-130}}, color={0,0,127}));
annotation (experiment(StopTime=1.1), Diagram(coordinateSystem(
preserveAspectRatio=true, extent={{-100,-140},{100,140}})));
end Continuous;
model Continuous_SteadyState
extends ModelicaTest.Blocks.Continuous(
derivative(initType=Modelica.Blocks.Types.Init.SteadyState),
firstOrder(initType=Modelica.Blocks.Types.Init.SteadyState),
secondOrder(initType=Modelica.Blocks.Types.Init.SteadyState),
transferFunction(
initType=Modelica.Blocks.Types.Init.SteadyState,
a={1,1},
b={1}),
stateSpace(
initType=Modelica.Blocks.Types.Init.SteadyState,
A=[1, 0; 0, 1],
B=[1; 1],
C=[1, 1]),
lowpassButterworth(initType=Modelica.Blocks.Types.Init.SteadyState),
criticalDamping(initType=Modelica.Blocks.Types.Init.SteadyState,
normalized=false));
annotation (experiment(StopTime=1.1));
end Continuous_SteadyState;
model Continuous_InitialState
extends ModelicaTest.Blocks.Continuous(
integrator(initType=Modelica.Blocks.Types.Init.InitialState),
limIntegrator(initType=Modelica.Blocks.Types.Init.InitialState),
derivative(initType=Modelica.Blocks.Types.Init.InitialState),
firstOrder(initType=Modelica.Blocks.Types.Init.InitialState),
secondOrder(initType=Modelica.Blocks.Types.Init.InitialState),
pI(initType=Modelica.Blocks.Types.Init.InitialState),
pID(initType=Modelica.Blocks.Types.Init.InitialState),
limPID(initType=Modelica.Blocks.Types.Init.InitialState),
transferFunction(
initType=Modelica.Blocks.Types.Init.InitialState,
a={1,1},
b={1}),
stateSpace(
initType=Modelica.Blocks.Types.Init.InitialState,
A=[1, 0; 0, 1],
B=[1; 1],
C=[1, 1]),
lowpassButterworth(initType=Modelica.Blocks.Types.Init.InitialState),
criticalDamping(initType=Modelica.Blocks.Types.Init.InitialState,
normalized=false));
annotation (experiment(StopTime=1.1));
end Continuous_InitialState;
model Continuous_InitialOutput
extends ModelicaTest.Blocks.Continuous(
integrator(initType=Modelica.Blocks.Types.Init.InitialOutput, y_start=2),
limIntegrator(initType=Modelica.Blocks.Types.Init.InitialOutput, y_start=
0.5),
derivative(initType=Modelica.Blocks.Types.Init.InitialOutput, y_start=2),
firstOrder(initType=Modelica.Blocks.Types.Init.InitialOutput, y_start=2),
secondOrder(initType=Modelica.Blocks.Types.Init.InitialOutput, y_start=2),
pI(initType=Modelica.Blocks.Types.Init.InitialOutput, y_start=2),
pID(initType=Modelica.Blocks.Types.Init.InitialOutput, y_start=2),
limPID(
initType=Modelica.Blocks.Types.Init.InitialOutput,
yMax=3,
y_start=2),
transferFunction(
initType=Modelica.Blocks.Types.Init.InitialOutput,
y_start=2,
a={1,1},
b={1}),
stateSpace(
initType=Modelica.Blocks.Types.Init.InitialOutput,
y_start={2},
A=[1, 0; 0, 1],
B=[1; 1],
C=[1, 1]),
lowpassButterworth(initType=Modelica.Blocks.Types.Init.InitialOutput,
y_start=2),
criticalDamping(
initType=Modelica.Blocks.Types.Init.InitialOutput,
y_start=2,
normalized=false));
annotation (experiment(StopTime=1.1));
end Continuous_InitialOutput;
model SelfResettingIntegrator
extends Modelica.Icons.Example;
Modelica.Blocks.Continuous.Integrator integrator(
k=1.0,
use_reset=true) annotation(Placement(transformation(extent={{-20,60},{0,80}})));
Modelica.Blocks.Sources.Constant const(k=1.0) annotation(Placement(transformation(extent={{-60,60},{-40,80}})));
Modelica.Blocks.Logical.GreaterEqualThreshold greaterEqualThreshold(threshold=1.0) annotation(Placement(transformation(extent={{20,60},{40,80}})));
equation
connect(const.y, integrator.u) annotation(Line(
points={{-39,70},{-34,70},{-27,70},{-22,70}},
color={0,0,127}));
connect(integrator.y, greaterEqualThreshold.u) annotation(Line(
points={{1,70},{6,70},{13,70},{18,70}},
color={0,0,127}));
connect(greaterEqualThreshold.y, integrator.reset) annotation(Line(
points={{41,70},{46,70},{46,53},{-4,53},{-4,58}},
color={255,0,255}));
annotation(experiment(StopTime=5));
end SelfResettingIntegrator;
model ResetHoldIntegrator
extends Modelica.Icons.Example;
Modelica.Blocks.Continuous.Integrator integrator(
k=2.0,
use_reset=true) annotation(Placement(transformation(extent={{40,20},{60,40}})));
Modelica.Blocks.Sources.Constant const1(k=1.0) annotation(Placement(transformation(extent={{-40,40},{-20,60}})));
Modelica.Blocks.Logical.Switch switch annotation(Placement(transformation(extent={{0,20},{20,40}})));
Modelica.Blocks.Sources.Constant const0(k=0.0) annotation(Placement(transformation(extent={{-40,0},{-20,20}})));
Modelica.Blocks.Sources.BooleanPulse booleanPulse(
period=1.0) annotation(Placement(transformation(extent={{-80,20},{-60,40}})));
Modelica.Blocks.Logical.FallingEdge fallingEdge annotation(Placement(transformation(extent={{0,-20},{20,0}})));
equation
connect(switch.y, integrator.u) annotation(Line(
points={{21,30},{38,30}},
color={0,0,127}));
connect(integrator.reset, fallingEdge.y) annotation(Line(
points={{56,18},{56,-10},{21,-10}},
color={255,0,255}));
connect(const1.y, switch.u1) annotation(Line(
points={{-19,50},{-10,50},{-10,38},{-2,38}},
color={0,0,127}));
connect(const0.y, switch.u3) annotation(Line(
points={{-19,10},{-12,10},{-12,22},{-2,22}},
color={0,0,127}));
connect(booleanPulse.y, switch.u2) annotation(Line(
points={{-59,30},{-2,30}},
color={255,0,255}));
connect(fallingEdge.u, booleanPulse.y) annotation(Line(
points={{-2,-10},{-50,-10},{-50,30},{-59,30}},
color={255,0,255}));
annotation(experiment(StopTime=5));
end ResetHoldIntegrator;
model LimResetIntegrator
extends Modelica.Icons.Example;
Modelica.Blocks.Continuous.LimIntegrator integrator(
k=2.0,
use_reset=true,
outMax=0.75) annotation(Placement(transformation(extent={{40,20},{60,40}})));
Modelica.Blocks.Sources.Constant const1(k=1.0) annotation(Placement(transformation(extent={{-40,40},{-20,60}})));
Modelica.Blocks.Logical.Switch switch annotation(Placement(transformation(extent={{0,20},{20,40}})));
Modelica.Blocks.Sources.Constant constMinus1(k=-1.0) annotation(Placement(transformation(extent={{-40,0},{-20,20}})));
Modelica.Blocks.Sources.BooleanPulse booleanPulse(
period=1.0) annotation(Placement(transformation(extent={{-80,20},{-60,40}})));
Modelica.Blocks.Logical.Change change annotation(Placement(transformation(extent={{0,-20},{20,0}})));
equation
connect(switch.y, integrator.u) annotation(Line(
points={{21,30},{38,30}},
color={0,0,127}));
connect(integrator.reset, change.y) annotation(Line(
points={{56,18},{56,-10},{21,-10}},
color={255,0,255}));
connect(const1.y, switch.u1) annotation(Line(
points={{-19,50},{-10,50},{-10,38},{-2,38}},
color={0,0,127}));
connect(constMinus1.y, switch.u3) annotation(Line(
points={{-19,10},{-12,10},{-12,22},{-2,22}},
color={0,0,127}));
connect(booleanPulse.y, switch.u2) annotation(Line(
points={{-59,30},{-2,30}},
color={255,0,255}));
connect(change.u, booleanPulse.y) annotation(Line(
points={{-2,-10},{-50,-10},{-50,30},{-59,30}},
color={255,0,255}));
annotation(experiment(StopTime=5));
end LimResetIntegrator;
model IntegratorForceState "Force state (Ticket #2640)"
extends Modelica.Icons.Example;
Modelica.Blocks.Continuous.Integrator integrator
annotation (Placement(transformation(extent={{-40,0},{-20,20}})));
Modelica.Blocks.Sources.ContinuousClock clock
annotation (Placement(transformation(extent={{-80,0},{-60,20}})));
Modelica.Blocks.Math.Gain gain(k=2, y(stateSelect=StateSelect.always))
annotation (Placement(transformation(extent={{0,0},{20,20}})));
equation
connect(integrator.u, clock.y)
annotation (Line(points={{-42,10},{-59,10}}, color={0,0,127}));
connect(integrator.y, gain.u)
annotation (Line(points={{-19,10},{-2,10}}, color={0,0,127}));
annotation(experiment(StopTime=1));
end IntegratorForceState;
model Limiters
extends Modelica.Icons.Example;
Modelica.Blocks.Nonlinear.Limiter limiter(uMax=1)
annotation (Placement(transformation(extent={{0,0},{20,20}})));
Modelica.Blocks.Nonlinear.VariableLimiter variableLimiter
annotation (Placement(transformation(extent={{0,-40},{20,-20}})));
Modelica.Blocks.Nonlinear.DeadZone deadZone(uMax=1)
annotation (Placement(transformation(extent={{0,-80},{20,-60}})));
Modelica.Blocks.Sources.Sine sine(amplitude=2, f=1) annotation (
Placement(transformation(extent={{-80,20},{-60,40}})));
Modelica.Blocks.Sources.Constant constPos(k=+1) annotation (Placement(
transformation(extent={{-80,-20},{-60,0}})));
Modelica.Blocks.Sources.Constant constNeg(k=-1) annotation (Placement(
transformation(extent={{-80,-60},{-60,-40}})));
Modelica.Blocks.Nonlinear.SlewRateLimiter slewRateLimiter(Rising=10)
annotation (Placement(transformation(extent={{0,40},{20,60}})));
Modelica.Blocks.Continuous.Der idealDerivative
annotation (Placement(transformation(extent={{40,40},{60,60}})));
equation
assert(idealDerivative.y <= slewRateLimiter.Rising +0.01*abs(slewRateLimiter.Rising) and
idealDerivative.y >= slewRateLimiter.Falling-0.01*abs(slewRateLimiter.Falling),
"Test of Modelica.Blocks.Nonlinear.SlewRateLimiter failed!");
assert(limiter.y <= limiter.uMax + 0.01*abs(limiter.uMax) and
limiter.y >= limiter.uMin - 0.01*abs(limiter.uMin),
"Test of Modelica.Blocks.Nonlinear.Limiter failed!");
assert(variableLimiter.y <= constPos.y + 0.01*abs(constPos.y) and
variableLimiter.y >= constNeg.y - 0.01*abs(constNeg.y),
"Test of Modelica.Blocks.Nonlinear.VariableLimiter failed!");
connect(sine.y, limiter.u) annotation (Line(points={{-59,30},{-20,30},{-20,
10},{-2,10}}, color={0,0,127}));
connect(constPos.y, variableLimiter.limit1) annotation (Line(points={{-59,-10},
{-40,-10},{-40,-22},{-2,-22}}, color={0,0,127}));
connect(constNeg.y, variableLimiter.limit2) annotation (Line(points={{-59,-50},
{-40,-50},{-40,-38},{-2,-38}}, color={0,0,127}));
connect(sine.y, variableLimiter.u) annotation (Line(points={{-59,30},{-20,
30},{-20,-30},{-2,-30}}, color={0,0,127}));
connect(sine.y, deadZone.u) annotation (Line(points={{-59,30},{-20,30},{-20,
-70},{-2,-70}}, color={0,0,127}));
connect(sine.y, slewRateLimiter.u) annotation (Line(
points={{-59,30},{-20,30},{-20,50},{-2,50}}, color={0,0,127}));
connect(slewRateLimiter.y, idealDerivative.u) annotation (Line(
points={{21,50},{38,50}}, color={0,0,127}));
annotation (experiment(StopTime=1.1));
end Limiters;
model StrictLimiters
extends Modelica.Icons.Example;
Modelica.Blocks.Nonlinear.Limiter limiter1(uMax=1.1)
annotation (Placement(transformation(extent={{-40,60},{-20,80}})));
Modelica.Blocks.Sources.Sine sine1(amplitude=1.5, f=2)
annotation (Placement(transformation(extent={{-80,60},{-60,80}})));
Modelica.Blocks.Nonlinear.Limiter limiter2(uMax=1.1, strict=true)
annotation (Placement(transformation(extent={{-40,20},{-20,40}})));
Modelica.Blocks.Nonlinear.VariableLimiter variableLimiter1
annotation (Placement(transformation(extent={{-20,-40},{0,-20}})));
Modelica.Blocks.Sources.Sine sine2(amplitude=1.5, f=2)
annotation (Placement(transformation(extent={{-80,-40},{-60,-20}})));
Modelica.Blocks.Sources.Sine sine2a(
amplitude=0.3,
f=4,
offset=1.0)
annotation (Placement(transformation(extent={{-80,-8},{-60,12}})));
Modelica.Blocks.Sources.Sine sine2ab(
amplitude=0.3,
f=4,
offset=-1.0)
annotation (Placement(transformation(extent={{-80,-80},{-60,-60}})));
Modelica.Blocks.Nonlinear.VariableLimiter variableLimiter2(strict=true)
annotation (Placement(transformation(extent={{-20,-80},{0,-60}})));
Modelica.Blocks.Nonlinear.SlewRateLimiter slewRateLimiter1(Rising=13)
annotation (Placement(transformation(extent={{40,60},{60,80}})));
Modelica.Blocks.Sources.Sine sine3(amplitude=1.5, f=2)
annotation (Placement(transformation(extent={{0,60},{20,80}})));
Modelica.Blocks.Continuous.Der der1
annotation (Placement(transformation(extent={{72,60},{92,80}})));
Modelica.Blocks.Nonlinear.SlewRateLimiter slewRateLimiter2(strict=true,
Rising=13)
annotation (Placement(transformation(extent={{40,30},{60,50}})));
Modelica.Blocks.Continuous.Der der2
annotation (Placement(transformation(extent={{72,30},{92,50}})));
Modelica.Blocks.Continuous.LimIntegrator limIntegrator1(k=5.0, outMax=0.9)
annotation (Placement(transformation(extent={{40,0},{60,20}})));
Modelica.Blocks.Continuous.LimIntegrator limIntegrator2(
strict=true,
k=5.0,
outMax=0.9)
annotation (Placement(transformation(extent={{40,-30},{60,-10}})));
Modelica.Blocks.Continuous.LimPID PID1(yMax=0.4, initType=Modelica.Blocks.Types.Init.InitialOutput)
annotation (Placement(transformation(extent={{38,-60},{58,-40}})));
Modelica.Blocks.Continuous.LimPID PID2(
yMax=0.4,
strict=true,
initType=Modelica.Blocks.Types.Init.InitialOutput)
annotation (Placement(transformation(extent={{40,-100},{60,-80}})));
equation
connect(sine1.y, limiter1.u) annotation (Line(
points={{-59,70},{-42,70}}, color={0,0,127}));
connect(sine1.y, limiter2.u) annotation (Line(
points={{-59,70},{-52,70},{-52,30},{-42,30}}, color={0,0,127}));
connect(sine2.y, variableLimiter1.u) annotation (Line(
points={{-59,-30},{-22,-30}}, color={0,0,127}));
connect(sine2a.y, variableLimiter1.limit1) annotation (Line(
points={{-59,2},{-50,2},{-50,-22},{-22,-22}}, color={0,0,127}));
connect(sine2ab.y, variableLimiter1.limit2) annotation (Line(
points={{-59,-70},{-52,-70},{-52,-38},{-22,-38}}, color={0,0,127}));
connect(variableLimiter2.limit1, variableLimiter1.limit1) annotation (Line(
points={{-22,-62},{-34,-62},{-34,-22},{-22,-22}}, color={0,0,127}));
connect(variableLimiter2.limit2, variableLimiter1.limit2) annotation (Line(
points={{-22,-78},{-46,-78},{-46,-38},{-22,-38}}, color={0,0,127}));
connect(variableLimiter2.u, variableLimiter1.u) annotation (Line(
points={{-22,-70},{-40,-70},{-40,-30},{-22,-30}}, color={0,0,127}));
connect(sine3.y, slewRateLimiter1.u) annotation (Line(
points={{21,70},{38,70}}, color={0,0,127}));
connect(slewRateLimiter1.y, der1.u) annotation (Line(
points={{61,70},{70,70}}, color={0,0,127}));
connect(sine3.y, slewRateLimiter2.u) annotation (Line(
points={{21,70},{28,70},{28,40},{38,40}}, color={0,0,127}));
connect(slewRateLimiter2.y, der2.u) annotation (Line(
points={{61,40},{70,40}}, color={0,0,127}));
connect(sine3.y, limIntegrator1.u) annotation (Line(
points={{21,70},{28,70},{28,10},{38,10}}, color={0,0,127}));
connect(limIntegrator2.u, limIntegrator1.u) annotation (Line(
points={{38,-20},{28,-20},{28,10},{38,10}}, color={0,0,127}));
connect(PID1.u_s, limIntegrator1.u) annotation (Line(
points={{36,-50},{28,-50},{28,10},{38,10}}, color={0,0,127}));
connect(variableLimiter2.y, PID1.u_m) annotation (Line(
points={{1,-70},{48,-70},{48,-62}}, color={0,0,127}));
connect(PID2.u_s, limIntegrator1.u) annotation (Line(
points={{38,-90},{28,-90},{28,10},{38,10}}, color={0,0,127}));
connect(PID2.u_m, PID1.u_m) annotation (Line(
points={{50,-102},{50,-110},{16,-110},{16,-70},{48,-70},{48,-62}}, color={0,0,127}));
annotation (experiment(StopTime=1.1));
end StrictLimiters;
model LimitersHomotopy
"Tests the homotopy-based initialization options of the limiter blocks"
extends Modelica.Icons.Example;
encapsulated model MustUseHomotopy "Only works with homotopy-based initialization"
Real x(start = 0);
equation
0 = homotopy(sin(x)*(x - 100),
x - 100);
assert(abs(x - 100) < 1e-6, "Wrong solution selected");
end MustUseHomotopy;
MustUseHomotopy mustUseHomotopy
annotation (Placement(transformation(extent={{320,180},{340,200}})));
Modelica.Blocks.Continuous.FirstOrder controllerFeedbackPart1(
T=1,
initType=Modelica.Blocks.Types.Init.SteadyState,
k=-1) annotation (Placement(transformation(extent={{-140,100},{-160,120}})));
Modelica.Blocks.Nonlinear.Limiter limiter1(
uMax=0.99, uMin=-0.99,
homotopyType=Modelica.Blocks.Types.LimiterHomotopy.UpperLimit)
annotation (Placement(transformation(extent={{-160,140},{-140,160}})));
Modelica.Blocks.Math.Feedback internalFeedback1
annotation (Placement(transformation(extent={{-200,140},{-180,160}})));
Modelica.Blocks.Math.Asin asin1
annotation (Placement(transformation(extent={{-100,140},{-80,160}})));
Modelica.Blocks.Sources.Ramp ramp1(
duration=100,
startTime=1,
height=-9.5,
offset=10)
annotation (Placement(transformation(extent={{-280,140},{-260,160}})));
Modelica.Blocks.Continuous.FirstOrder firstOrder1(
T=1,
initType=Modelica.Blocks.Types.Init.SteadyState,
k=2/Modelica.Constants.pi)
annotation (Placement(transformation(extent={{-60,140},{-40,160}})));
Modelica.Blocks.Math.Feedback feedback1
annotation (Placement(transformation(extent={{-240,140},{-220,160}})));
Modelica.Blocks.Continuous.FirstOrder controllerFeedbackPart2(
T=1,
initType=Modelica.Blocks.Types.Init.SteadyState,
k=-1) annotation (Placement(transformation(extent={{-140,-50},{-160,-30}})));
Modelica.Blocks.Nonlinear.Limiter limiter2(
uMax=0.99, uMin=-0.99,
homotopyType=Modelica.Blocks.Types.LimiterHomotopy.LowerLimit)
annotation (Placement(transformation(extent={{-160,-10},{-140,10}})));
Modelica.Blocks.Math.Feedback internalFeedback2
annotation (Placement(transformation(extent={{-200,-10},{-180,10}})));
Modelica.Blocks.Math.Asin asin2
annotation (Placement(transformation(extent={{-100,-10},{-80,10}})));
Modelica.Blocks.Sources.Ramp ramp2(
duration=100,
startTime=1,
height=9.5,
offset=-10)
annotation (Placement(transformation(extent={{-280,-10},{-260,10}})));
Modelica.Blocks.Continuous.FirstOrder firstOrder2(
T=1,
initType=Modelica.Blocks.Types.Init.SteadyState,
k=2/Modelica.Constants.pi)
annotation (Placement(transformation(extent={{-60,-10},{-40,10}})));
Modelica.Blocks.Math.Feedback feedback2
annotation (Placement(transformation(extent={{-240,-10},{-220,10}})));
Modelica.Blocks.Continuous.FirstOrder controllerFeedbackPart3(
T=1,
initType=Modelica.Blocks.Types.Init.SteadyState,
k=-1) annotation (Placement(transformation(extent={{-140,-160},{-160,-140}})));
Modelica.Blocks.Nonlinear.Limiter limiter3(
uMax=0.99, uMin=-0.99,
homotopyType=Modelica.Blocks.Types.LimiterHomotopy.NoHomotopy)
annotation (Placement(transformation(extent={{-160,-120},{-140,-100}})));
Modelica.Blocks.Math.Feedback internalFeedback3
annotation (Placement(transformation(extent={{-200,-120},{-180,-100}})));
Modelica.Blocks.Math.Asin asin3
annotation (Placement(transformation(extent={{-100,-120},{-80,-100}})));
Modelica.Blocks.Sources.Ramp ramp3(
duration=100,
startTime=1,
height=-9.5,
offset=10)
annotation (Placement(transformation(extent={{-280,-120},{-260,-100}})));
Modelica.Blocks.Continuous.FirstOrder firstOrder3(
T=1,
initType=Modelica.Blocks.Types.Init.SteadyState,
k=2/Modelica.Constants.pi)
annotation (Placement(transformation(extent={{-60,-120},{-40,-100}})));
Modelica.Blocks.Math.Feedback feedback3
annotation (Placement(transformation(extent={{-240,-120},{-220,-100}})));
Modelica.Blocks.Continuous.FirstOrder controllerFeedbackPart4(
T=1,
initType=Modelica.Blocks.Types.Init.SteadyState,
k=-1) annotation (Placement(transformation(extent={{160,100},{140,120}})));
Modelica.Blocks.Nonlinear.VariableLimiter
limiter4(homotopyType=Modelica.Blocks.Types.VariableLimiterHomotopy.Fixed,
ySimplified=0.99)
annotation (Placement(transformation(extent={{180,140},{200,160}})));
Modelica.Blocks.Math.Feedback internalFeedback4
annotation (Placement(transformation(extent={{100,140},{120,160}})));
Modelica.Blocks.Math.Asin asin4
annotation (Placement(transformation(extent={{240,140},{260,160}})));
Modelica.Blocks.Sources.Ramp ramp4(
duration=100,
startTime=1,
height=-9.5,
offset=10)
annotation (Placement(transformation(extent={{20,140},{40,160}})));
Modelica.Blocks.Continuous.FirstOrder firstOrder4(
T=1,
initType=Modelica.Blocks.Types.Init.SteadyState,
k=2/Modelica.Constants.pi)
annotation (Placement(transformation(extent={{280,140},{300,160}})));
Modelica.Blocks.Math.Feedback feedback4
annotation (Placement(transformation(extent={{60,140},{80,160}})));
Modelica.Blocks.Continuous.FirstOrder controllerFeedbackPart5(
T=1,
initType=Modelica.Blocks.Types.Init.SteadyState,
k=-1) annotation (Placement(transformation(extent={{160,-50},{140,-30}})));
Modelica.Blocks.Nonlinear.VariableLimiter
limiter5(homotopyType=Modelica.Blocks.Types.VariableLimiterHomotopy.Fixed,
ySimplified=-0.99)
annotation (Placement(transformation(extent={{180,-10},{200,10}})));
Modelica.Blocks.Math.Feedback internalFeedback5
annotation (Placement(transformation(extent={{100,-10},{120,10}})));
Modelica.Blocks.Math.Asin asin5
annotation (Placement(transformation(extent={{240,-10},{260,10}})));
Modelica.Blocks.Sources.Ramp ramp5(
duration=100,
startTime=1,
height=9.5,
offset=-10)
annotation (Placement(transformation(extent={{20,-10},{40,10}})));
Modelica.Blocks.Continuous.FirstOrder firstOrder5(
T=1,
initType=Modelica.Blocks.Types.Init.SteadyState,
k=2/Modelica.Constants.pi)
annotation (Placement(transformation(extent={{280,-10},{300,10}})));
Modelica.Blocks.Math.Feedback feedback5
annotation (Placement(transformation(extent={{60,-10},{80,10}})));
Modelica.Blocks.Continuous.FirstOrder controllerFeedbackPart6(
T=1,
initType=Modelica.Blocks.Types.Init.SteadyState,
k=-1) annotation (Placement(transformation(extent={{160,-160},{140,-140}})));
Modelica.Blocks.Nonlinear.VariableLimiter
limiter6(homotopyType=Modelica.Blocks.Types.VariableLimiterHomotopy.NoHomotopy)
annotation (Placement(transformation(extent={{180,-120},{200,-100}})));
Modelica.Blocks.Math.Feedback internalFeedback6
annotation (Placement(transformation(extent={{100,-120},{120,-100}})));
Modelica.Blocks.Math.Asin asin6
annotation (Placement(transformation(extent={{240,-120},{260,-100}})));
Modelica.Blocks.Sources.Ramp ramp6(
duration=100,
startTime=1,
height=-9.5,
offset=10)
annotation (Placement(transformation(extent={{20,-120},{40,-100}})));
Modelica.Blocks.Continuous.FirstOrder firstOrder6(
T=1,
initType=Modelica.Blocks.Types.Init.SteadyState,
k=2/Modelica.Constants.pi)
annotation (Placement(transformation(extent={{280,-120},{300,-100}})));
Modelica.Blocks.Math.Feedback feedback6
annotation (Placement(transformation(extent={{60,-120},{80,-100}})));
Modelica.Blocks.Sources.RealExpression uMax1(y=0.99)
annotation (Placement(transformation(extent={{146,148},{166,168}})));
Modelica.Blocks.Sources.RealExpression uMax2(y=0.99)
annotation (Placement(transformation(extent={{148,-2},{168,18}})));
Modelica.Blocks.Sources.RealExpression uMax3(y=0.99)
annotation (Placement(transformation(extent={{146,-112},{166,-92}})));
Modelica.Blocks.Sources.RealExpression uMin1(y=-0.99)
annotation (Placement(transformation(extent={{146,130},{166,150}})));
Modelica.Blocks.Sources.RealExpression uMin2(y=-0.99)
annotation (Placement(transformation(extent={{148,-22},{168,-2}})));
Modelica.Blocks.Sources.RealExpression uMin3(y=-0.99)
annotation (Placement(transformation(extent={{146,-134},{166,-114}})));
equation
connect(limiter1.u, internalFeedback1.y)
annotation (Line(points={{-162,150},{-181,150}}, color={0,0,127}));
connect(controllerFeedbackPart1.y, internalFeedback1.u2) annotation (Line(
points={{-161,110},{-190,110},{-190,142}}, color={0,0,127}));
connect(limiter1.y, asin1.u)
annotation (Line(points={{-139,150},{-102,150}}, color={0,0,127}));
connect(asin1.y, firstOrder1.u)
annotation (Line(points={{-79,150},{-62,150}}, color={0,0,127}));
connect(limiter1.y, controllerFeedbackPart1.u) annotation (Line(points={{-139,
150},{-120,150},{-120,110},{-138,110}}, color={0,0,127}));
connect(feedback1.y, internalFeedback1.u1)
annotation (Line(points={{-221,150},{-198,150}}, color={0,0,127}));
connect(ramp1.y, feedback1.u1)
annotation (Line(points={{-259,150},{-238,150}}, color={0,0,127}));
connect(firstOrder1.y, feedback1.u2) annotation (Line(points={{-39,150},{-20,150},
{-20,90},{-230,90},{-230,142}}, color={0,0,127}));
connect(limiter2.u, internalFeedback2.y)
annotation (Line(points={{-162,0},{-181,0}}, color={0,0,127}));
connect(controllerFeedbackPart2.y, internalFeedback2.u2) annotation (Line(
points={{-161,-40},{-190,-40},{-190,-8}}, color={0,0,127}));
connect(limiter2.y, asin2.u)
annotation (Line(points={{-139,0},{-102,0}}, color={0,0,127}));
connect(asin2.y, firstOrder2.u)
annotation (Line(points={{-79,0},{-62,0}}, color={0,0,127}));
connect(limiter2.y, controllerFeedbackPart2.u) annotation (Line(points={{-139,
0},{-120,0},{-120,-40},{-138,-40}}, color={0,0,127}));
connect(feedback2.y, internalFeedback2.u1)
annotation (Line(points={{-221,0},{-198,0}}, color={0,0,127}));
connect(ramp2.y, feedback2.u1)
annotation (Line(points={{-259,0},{-238,0}}, color={0,0,127}));
connect(firstOrder2.y, feedback2.u2) annotation (Line(points={{-39,0},{-16,0},
{-16,-60},{-230,-60},{-230,-8}}, color={0,0,127}));
connect(limiter3.u, internalFeedback3.y)
annotation (Line(points={{-162,-110},{-181,-110}}, color={0,0,127}));
connect(controllerFeedbackPart3.y, internalFeedback3.u2) annotation (Line(
points={{-161,-150},{-190,-150},{-190,-118}}, color={0,0,127}));
connect(limiter3.y, asin3.u)
annotation (Line(points={{-139,-110},{-102,-110}}, color={0,0,127}));
connect(asin3.y, firstOrder3.u)
annotation (Line(points={{-79,-110},{-62,-110}}, color={0,0,127}));
connect(limiter3.y, controllerFeedbackPart3.u) annotation (Line(points={{-139,
-110},{-120,-110},{-120,-150},{-138,-150}}, color={0,0,127}));
connect(feedback3.y, internalFeedback3.u1)
annotation (Line(points={{-221,-110},{-198,-110}}, color={0,0,127}));
connect(ramp3.y, feedback3.u1)
annotation (Line(points={{-259,-110},{-238,-110}}, color={0,0,127}));
connect(firstOrder3.y, feedback3.u2) annotation (Line(points={{-39,-110},{-20,
-110},{-20,-170},{-230,-170},{-230,-118}}, color={0,0,127}));
connect(limiter4.u, internalFeedback4.y)
annotation (Line(points={{178,150},{119,150}}, color={0,0,127}));
connect(controllerFeedbackPart4.y, internalFeedback4.u2)
annotation (Line(points={{139,110},{110,110},{110,142}}, color={0,0,127}));
connect(limiter4.y, asin4.u)
annotation (Line(points={{201,150},{238,150}}, color={0,0,127}));
connect(asin4.y, firstOrder4.u)
annotation (Line(points={{261,150},{278,150}}, color={0,0,127}));
connect(limiter4.y, controllerFeedbackPart4.u) annotation (Line(points={{201,150},
{220,150},{220,110},{162,110}}, color={0,0,127}));
connect(feedback4.y, internalFeedback4.u1)
annotation (Line(points={{79,150},{102,150}}, color={0,0,127}));
connect(ramp4.y, feedback4.u1) annotation (Line(points={{41,150},{54,150},{54,
150},{54,150},{54,150},{62,150}}, color={0,0,127}));
connect(firstOrder4.y, feedback4.u2) annotation (Line(points={{301,150},{320,150},
{320,90},{70,90},{70,142}}, color={0,0,127}));
connect(limiter5.u, internalFeedback5.y)
annotation (Line(points={{178,0},{119,0}}, color={0,0,127}));
connect(controllerFeedbackPart5.y, internalFeedback5.u2)
annotation (Line(points={{139,-40},{110,-40},{110,-8}}, color={0,0,127}));
connect(limiter5.y, asin5.u)
annotation (Line(points={{201,0},{238,0}}, color={0,0,127}));
connect(asin5.y, firstOrder5.u)
annotation (Line(points={{261,0},{278,0}}, color={0,0,127}));
connect(limiter5.y, controllerFeedbackPart5.u) annotation (Line(points={{201,0},
{220,0},{220,-40},{162,-40}}, color={0,0,127}));
connect(feedback5.y, internalFeedback5.u1)
annotation (Line(points={{79,0},{102,0}}, color={0,0,127}));
connect(ramp5.y, feedback5.u1)
annotation (Line(points={{41,0},{62,0}}, color={0,0,127}));
connect(firstOrder5.y, feedback5.u2) annotation (Line(points={{301,0},{320,0},
{320,-60},{70,-60},{70,-8}}, color={0,0,127}));
connect(limiter6.u, internalFeedback6.y)
annotation (Line(points={{178,-110},{119,-110}}, color={0,0,127}));
connect(controllerFeedbackPart6.y, internalFeedback6.u2) annotation (Line(
points={{139,-150},{110,-150},{110,-118}}, color={0,0,127}));
connect(limiter6.y, asin6.u)
annotation (Line(points={{201,-110},{238,-110}}, color={0,0,127}));
connect(asin6.y, firstOrder6.u)
annotation (Line(points={{261,-110},{278,-110}}, color={0,0,127}));
connect(limiter6.y, controllerFeedbackPart6.u) annotation (Line(points={{201,-110},
{220,-110},{220,-150},{162,-150}}, color={0,0,127}));
connect(feedback6.y, internalFeedback6.u1)
annotation (Line(points={{79,-110},{102,-110}}, color={0,0,127}));
connect(ramp6.y, feedback6.u1)
annotation (Line(points={{41,-110},{62,-110}}, color={0,0,127}));
connect(firstOrder6.y, feedback6.u2) annotation (Line(points={{301,-110},{320,
-110},{320,-170},{70,-170},{70,-118}}, color={0,0,127}));
connect(uMax1.y, limiter4.limit1)
annotation (Line(points={{167,158},{178,158}}, color={0,0,127}));
connect(uMin1.y, limiter4.limit2) annotation (Line(points={{167,140},{172,140},
{172,142},{178,142}}, color={0,0,127}));
connect(uMax2.y, limiter5.limit1)
annotation (Line(points={{169,8},{178,8}}, color={0,0,127}));
connect(uMin2.y, limiter5.limit2) annotation (Line(points={{169,-12},{172,-12},
{172,-8},{178,-8}}, color={0,0,127}));
connect(uMax3.y, limiter6.limit1)
annotation (Line(points={{167,-102},{178,-102}}, color={0,0,127}));
connect(uMin3.y, limiter6.limit2) annotation (Line(points={{167,-124},{172,-124},
{172,-118},{178,-118}}, color={0,0,127}));
annotation (
Diagram(coordinateSystem(preserveAspectRatio=false,
extent={{-300,-200},{340,200}})),
experiment(StopTime=100),
Documentation(info="<html>
<p>These test models demonstrate the use of the advanced homotopy options <code>homotopyType</code>
of the <code>Limiter</code> and <code>VariableLimiter blocks</code>.</p>
<p>The models represent a basic control system using a PI with anti-windup in three different configurations:</p>
<ol>
<li>The loop is initialized in steady-state with the upper saturation active and <code>homotopyType=UpperLimit</code></li>
<li>The loop is initialized in steady-state with the lower saturation active and <code>homotopyType=LowerLimit</code></li>
<li>The loop is initialized in steady-state with the upper saturation active and <code>homotopyType=NoHomotopy</code></li>
</ol>
<p>The <code>mustUseHomotopy</code>block forces the tool to use homotopy-based initialization; in order to do so,
a system with two solutions x = 0 and x = 100 is provided. The start value leads to the convergence to x = 0; only
if homotopy is active, the solution accepted by the assert statement (x = 100) is obtained.</p>
</html>"));
end LimitersHomotopy;
model KinematicPTP
extends Modelica.Icons.Example;
Modelica.Blocks.Sources.KinematicPTP kinematicPTP1a(
qd_max={3},
qdd_max={4},
startTime=0.5,
deltaq={1}) annotation (Placement(transformation(extent={{-60,60},{-40,80}})));
Modelica.Blocks.Continuous.Integrator integrator annotation (Placement(
transformation(extent={{-20,60},{2,80}})));
Modelica.Blocks.Continuous.Integrator integrator1(y_start=1) annotation (
Placement(transformation(extent={{20,60},{42,80}})));
Modelica.Blocks.Sources.KinematicPTP kinematicPTP2a(
qd_max={3},
qdd_max={4},
startTime=0.5,
deltaq={4}) annotation (Placement(transformation(extent={{-60,-20},{-40,0}})));
Modelica.Blocks.Continuous.Integrator integrator2 annotation (Placement(
transformation(extent={{-20,-20},{2,0}})));
Modelica.Blocks.Continuous.Integrator integrator3(y_start=1) annotation (
Placement(transformation(extent={{20,-20},{42,0}})));
Modelica.Blocks.Sources.KinematicPTP2 kinematicPTP1b(
qd_max={3},
qdd_max={4},
startTime=0.5,
q_end={2},
q_begin={1})
annotation (Placement(transformation(extent={{-60,22},{-40,42}})));
Modelica.Blocks.Sources.KinematicPTP2 kinematicPTP2b(
qd_max={3},
qdd_max={4},
startTime=0.5,
q_end={5},
q_begin={1})
annotation (Placement(transformation(extent={{-60,-58},{-40,-38}})));
Modelica.Blocks.Math.Feedback diff1
annotation (Placement(transformation(extent={{56,60},{76,80}})));
Modelica.Blocks.Math.Feedback diff2
annotation (Placement(transformation(extent={{60,-20},{80,0}})));
equation
connect(kinematicPTP1a.y[1], integrator.u)
annotation (Line(points={{-39,70},{-22.2,70}}, color={0,0,127}));
connect(integrator.y, integrator1.u)
annotation (Line(points={{3.1,70},{17.8,70}}, color={0,0,127}));
connect(kinematicPTP2a.y[1], integrator2.u)
annotation (Line(points={{-39,-10},{-22.2,-10}}, color={0,0,127}));
connect(integrator2.y, integrator3.u)
annotation (Line(points={{3.1,-10},{17.8,-10}}, color={0,0,127}));
connect(integrator1.y, diff1.u1) annotation (Line(
points={{43.1,70},{58,70}}, color={0,0,127}));
connect(kinematicPTP1b.q[1], diff1.u2) annotation (Line(
points={{-39,40},{66,40},{66,62}}, color={0,0,127}));
connect(integrator3.y, diff2.u1) annotation (Line(
points={{43.1,-10},{62,-10}}, color={0,0,127}));
connect(kinematicPTP2b.q[1], diff2.u2) annotation (Line(
points={{-39,-40},{70,-40},{70,-18}}, color={0,0,127}));
annotation (experiment(StopTime=3));
end KinematicPTP;
model UnitDeduction "Test unit deduction"
extends Modelica.Icons.Example;
parameter Real k(unit="1")=1 "Propagated to relevant blocks";
Modelica.Blocks.Continuous.Integrator integrator
annotation (Placement(transformation(extent={{0,30},{20,50}})));
Modelica.Mechanics.Rotational.Components.Inertia inertia(
J=1,
w(start=1, fixed=true),
phi(fixed=true, start=0))
annotation (Placement(transformation(extent={{-80,60},{-60,80}})));
Modelica.Mechanics.Rotational.Sensors.SpeedSensor speedSensor
annotation (Placement(transformation(extent={{-50,60},{-30,80}})));
Modelica.Blocks.Math.Gain gain(k=2*k)
annotation (Placement(transformation(extent={{0,80},{20,100}})));
Modelica.Blocks.Continuous.LimIntegrator limIntegrator(outMax=3, k=k)
annotation (Placement(transformation(extent={{0,0},{20,20}})));
Modelica.Blocks.Continuous.Derivative derivative(k=k, initType=Modelica.Blocks.Types.Init.InitialState)
annotation (Placement(transformation(extent={{0,-30},{20,-10}})));
Modelica.Blocks.Continuous.FirstOrder firstOrder(k=k, T=2, initType=Modelica.Blocks.Types.Init.InitialState)
annotation (Placement(transformation(extent={{0,-60},{20,-40}})));
Modelica.Blocks.Continuous.SecondOrder secondOrder(
k=k,
w=2,
D=3,
initType=Modelica.Blocks.Types.Init.InitialState)
annotation (Placement(transformation(extent={{0,-90},{20,-70}})));
Modelica.Blocks.Continuous.PI PI(T=2, k=k, initType=Modelica.Blocks.Types.Init.InitialState)
annotation (Placement(transformation(extent={{60,60},{80,80}})));
Modelica.Blocks.Continuous.PID PID(
k=k,
Ti=2,
Td=3,
initType=Modelica.Blocks.Types.Init.InitialState)
annotation (Placement(transformation(extent={{60,30},{80,50}})));
Modelica.Blocks.Continuous.LimPID PID1(
k=k,
Ti=2,
Td=3,
yMax=4,
initType=Modelica.Blocks.Types.Init.InitialState)
annotation (Placement(transformation(extent={{60,0},{80,20}})));
Modelica.Electrical.Analog.Sources.SineVoltage sineVoltage(V=10, f=2)
annotation (Placement(transformation(
extent={{-10,-10},{10,10}},
rotation=270,
origin={120,-20})));
Modelica.Electrical.Analog.Basic.Resistor resistor(R=100) annotation (
Placement(transformation(
extent={{-10,-10},{10,10}},
rotation=270,
origin={168,-20})));
Modelica.Electrical.Analog.Basic.Ground ground
annotation (Placement(transformation(extent={{110,-70},{130,-50}})));
Modelica.Electrical.Analog.Sensors.VoltageSensor voltageSensor annotation (
Placement(transformation(
extent={{-10,10},{10,-10}},
rotation=270,
origin={190,-20})));
Modelica.Electrical.Analog.Sensors.CurrentSensor currentSensor
annotation (Placement(transformation(extent={{138,10},{158,-10}})));
Modelica.Blocks.Math.Product product
annotation (Placement(transformation(extent={{225,15},{235,25}})));
Modelica.Blocks.Continuous.Integrator Wsec(k(unit="1"))
annotation (Placement(transformation(extent={{249,15},{259,25}})));
Modelica.Blocks.Continuous.Integrator Vsec(k(unit="1"))
annotation (Placement(transformation(extent={{246,-26},{258,-14}})));
Modelica.Blocks.Continuous.Integrator Asec(k(unit="1")) annotation (
Placement(transformation(extent={{183.5,43.5},{196.5,56.5}})));
equation
connect(inertia.flange_b, speedSensor.flange) annotation (Line(
points={{-60,70},{-50,70}}));
connect(speedSensor.w, integrator.u) annotation (Line(
points={{-29,70},{-16,70},{-16,40},{-2,40}}, color={0,0,127}));
connect(speedSensor.w, gain.u) annotation (Line(
points={{-29,70},{-16,70},{-16,90},{-2,90}}, color={0,0,127}));
connect(speedSensor.w, limIntegrator.u) annotation (Line(
points={{-29,70},{-16,70},{-16,10},{-2,10}}, color={0,0,127}));
connect(derivative.u, speedSensor.w) annotation (Line(
points={{-2,-20},{-16,-20},{-16,70},{-29,70}}, color={0,0,127}));
connect(firstOrder.u, speedSensor.w) annotation (Line(
points={{-2,-50},{-16,-50},{-16,70},{-29,70}}, color={0,0,127}));
connect(secondOrder.u, speedSensor.w) annotation (Line(
points={{-2,-80},{-16,-80},{-16,70},{-29,70}}, color={0,0,127}));
connect(speedSensor.w, PI.u) annotation (Line(
points={{-29,70},{58,70}}, color={0,0,127}));
connect(speedSensor.w, PID.u) annotation (Line(
points={{-29,70},{40,70},{40,40},{58,40}}, color={0,0,127}));
connect(speedSensor.w, PID1.u_s) annotation (Line(
points={{-29,70},{40,70},{40,10},{58,10}}, color={0,0,127}));
connect(gain.y, PID1.u_m) annotation (Line(
points={{21,90},{94,90},{94,-8},{70,-8},{70,-2}}, color={0,0,127}));
connect(sineVoltage.n, ground.p) annotation (Line(
points={{120,-30},{120,-50}}, color={0,0,255}));
connect(sineVoltage.p, currentSensor.p) annotation (Line(
points={{120,-10},{120,0},{138,0}}, color={0,0,255}));
connect(voltageSensor.p, resistor.p) annotation (Line(
points={{190,-10},{190,0},{168,0},{168,-10}}, color={0,0,255}));
connect(resistor.p, currentSensor.n) annotation (Line(
points={{168,-10},{168,0},{158,0}}, color={0,0,255}));
connect(voltageSensor.n, resistor.n) annotation (Line(
points={{190,-30},{190,-40},{168,-40},{168,-30}}, color={0,0,255}));
connect(resistor.n, sineVoltage.n) annotation (Line(
points={{168,-30},{168,-40},{120,-40},{120,-30}}, color={0,0,255}));
connect(currentSensor.i, product.u1) annotation (Line(
points={{148,10},{172,10},{172,23},{224,23}}, color={0,0,127}));
connect(voltageSensor.v, product.u2) annotation (Line(
points={{200,-20},{210.5,-20},{210.5,17},{224,17}}, color={0,0,127}));
connect(currentSensor.i, Asec.u) annotation (Line(
points={{148,10},{172,10},{172,50},{182.2,50}}, color={0,0,127}));
connect(product.y, Wsec.u) annotation (Line(
points={{235.5,20},{248,20}}, color={0,0,127}));
connect(Vsec.u, voltageSensor.v) annotation (Line(
points={{244.8,-20},{222.4,-20},{222.4,-20},{200,-20}}, color={0,0,127}));
annotation (experiment(StopTime=1.01));
end UnitDeduction;
model Logical
extends Modelica.Icons.Example;
Modelica.Blocks.Sources.BooleanTable
table1(table={2,4,6,8}) annotation (Placement(
transformation(extent={{-100,100},{-80,120}})));
Modelica.Blocks.Sources.BooleanTable
table2(table={1,3,5,7}) annotation (Placement(
transformation(extent={{-100,60},{-80,80}})));
Modelica.Blocks.Logical.And and1
annotation (Placement(transformation(extent={{-60,100},{-40,120}})));
Modelica.Blocks.Logical.Or or1
annotation (Placement(transformation(extent={{-20,100},{0,120}})));
Modelica.Blocks.Logical.Xor xor
annotation (Placement(transformation(extent={{-20,140},{0,160}})));
Modelica.Blocks.Logical.Nor nor
annotation (Placement(transformation(extent={{20,140},{40,160}})));
Modelica.Blocks.Logical.Nand nand
annotation (Placement(transformation(extent={{60,140},{80,160}})));
Modelica.Blocks.Logical.Not not1
annotation (Placement(transformation(extent={{20,100},{40,120}})));
Modelica.Blocks.Logical.Pre pre1
annotation (Placement(transformation(extent={{60,100},{80,120}})));
Modelica.Blocks.Logical.Edge edge1
annotation (Placement(transformation(extent={{20,0},{40,20}})));
Modelica.Blocks.Logical.FallingEdge fallingEdge
annotation (Placement(transformation(extent={{20,-40},{40,-20}})));
Modelica.Blocks.Logical.Change change1
annotation (Placement(transformation(extent={{20,-80},{40,-60}})));
Modelica.Blocks.Logical.GreaterThreshold greaterThreshold(threshold=0.1)
annotation (Placement(transformation(extent={{-60,-20},{-40,0}})));
Modelica.Blocks.Sources.Sine sine(amplitude=2, f=0.5)
annotation (Placement(transformation(extent={{-100,-20},{-80,0}})));
Modelica.Blocks.Logical.GreaterEqualThreshold greaterEqualThreshold(
threshold=-0.1)
annotation (Placement(transformation(extent={{-60,-48},{-40,-28}})));
Modelica.Blocks.Logical.LessThreshold lessThreshold(threshold=0.1)
annotation (Placement(transformation(extent={{-60,-76},{-40,-56}})));
Modelica.Blocks.Logical.LessEqualThreshold lessEqualThreshold(threshold=-0.1)
annotation (Placement(transformation(extent={{-60,-104},{-40,-84}})));
Modelica.Blocks.Logical.Greater greater
annotation (Placement(transformation(extent={{-60,-140},{-40,-120}})));
Modelica.Blocks.Sources.Ramp ramp(height=5, duration=8)
annotation (Placement(transformation(extent={{-102,-148},{-82,-128}})));
Modelica.Blocks.Logical.GreaterEqual greaterEqual
annotation (Placement(transformation(extent={{-20,-140},{0,-120}})));
Modelica.Blocks.Logical.Less less
annotation (Placement(transformation(extent={{20,-140},{40,-120}})));
Modelica.Blocks.Logical.LessEqual lessEqual
annotation (Placement(transformation(extent={{60,-140},{80,-120}})));
Modelica.Blocks.Logical.ZeroCrossing zeroCrossing
annotation (Placement(transformation(extent={{-60,12},{-40,32}})));
Modelica.Blocks.Logical.LogicalSwitch logicalSwitch
annotation (Placement(transformation(extent={{100,120},{120,140}})));
Modelica.Blocks.Logical.Switch switch1
annotation (Placement(transformation(extent={{80,-80},{100,-60}})));
Modelica.Blocks.Logical.Hysteresis hysteresis(uLow=-0.5, uHigh=0.5)
annotation (Placement(transformation(extent={{-60,40},{-40,60}})));
Modelica.Blocks.Logical.OnOffController onOffController(bandwidth=0.5)
annotation (Placement(transformation(extent={{100,-140},{120,-120}})));
Modelica.Blocks.Logical.TriggeredTrapezoid triggeredTrapezoid(rising=1,
falling=0.5)
annotation (Placement(transformation(extent={{106,60},{126,80}})));
Modelica.Blocks.Logical.Timer timer
annotation (Placement(transformation(extent={{100,20},{120,40}})));
Modelica.Blocks.Logical.RSFlipFlop rSFlipFlop
annotation (Placement(transformation(extent={{140,120},{160,140}})));
Modelica.Blocks.Logical.AssertCondition assertCondition(assertionLevel=AssertionLevel.warning) annotation (Placement(transformation(extent={{100,-20},{120,0}})));
Modelica.Blocks.Sources.BooleanPulse booleanPulse(
width=50,
period=0.5,
startTime=0) annotation (Placement(transformation(extent={{60,-20},{80,0}})));
equation
connect(table1.y, and1.u1) annotation (Line(
points={{-79,110},{-62,110}}, color={255,0,255}));
connect(table2.y, and1.u2) annotation (Line(
points={{-79,70},{-72,70},{-72,102},{-62,102}}, color={255,0,255}));
connect(and1.y, or1.u1) annotation (Line(
points={{-39,110},{-22,110}}, color={255,0,255}));
connect(table2.y, or1.u2) annotation (Line(
points={{-79,70},{-34,70},{-34,102},{-22,102}}, color={255,0,255}));
connect(table1.y, xor.u1) annotation (Line(
points={{-79,110},{-72,110},{-72,150},{-22,150}}, color={255,0,255}));
connect(and1.y, xor.u2) annotation (Line(
points={{-39,110},{-32,110},{-32,142},{-22,142}}, color={255,0,255}));
connect(xor.y, nor.u1) annotation (Line(
points={{1,150},{18,150}}, color={255,0,255}));
connect(or1.y, nor.u2) annotation (Line(
points={{1,110},{10,110},{10,142},{18,142}}, color={255,0,255}));
connect(nor.y, nand.u1) annotation (Line(
points={{41,150},{58,150}}, color={255,0,255}));
connect(table2.y, nand.u2) annotation (Line(
points={{-79,70},{46,70},{46,142},{58,142}}, color={255,0,255}));
connect(or1.y, not1.u) annotation (Line(
points={{1,110},{18,110}}, color={255,0,255}));
connect(not1.y, pre1.u) annotation (Line(
points={{41,110},{58,110}}, color={255,0,255}));
connect(or1.y, edge1.u) annotation (Line(
points={{1,110},{10,110},{10,10},{18,10}}, color={255,0,255}));
connect(or1.y, fallingEdge.u) annotation (Line(
points={{1,110},{10,110},{10,-30},{18,-30}}, color={255,0,255}));
connect(or1.y, change1.u) annotation (Line(
points={{1,110},{10,110},{10,-70},{18,-70}}, color={255,0,255}));
connect(sine.y, greaterThreshold.u) annotation (Line(
points={{-79,-10},{-62,-10}}, color={0,0,127}));