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Sources.mo
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within Modelica.Blocks;
package Sources
"Library of signal source blocks generating Real, Integer and Boolean signals"
import Modelica.Blocks.Interfaces;
extends Modelica.Icons.SourcesPackage;
block RealExpression "Set output signal to a time varying Real expression"
Modelica.Blocks.Interfaces.RealOutput y=0.0 "Value of Real output"
annotation (Dialog(group="Time varying output signal"), Placement(
transformation(extent={{100,-10},{120,10}})));
annotation (Icon(coordinateSystem(
preserveAspectRatio=false,
extent={{-100,-100},{100,100}}), graphics={
Rectangle(
extent={{-100,40},{100,-40}},
fillColor={235,235,235},
fillPattern=FillPattern.Solid,
borderPattern=BorderPattern.Raised),
Text(
extent={{-96,15},{96,-15}},
textString="%y"),
Text(
extent={{-150,90},{150,50}},
textString="%name",
textColor={0,0,255})}), Documentation(info="<html>
<p>
The (time varying) Real output signal of this block can be defined in its
parameter menu via variable <strong>y</strong>. The purpose is to support the
easy definition of Real expressions in a block diagram. For example,
in the y-menu the definition \"if time < 1 then 0 else 1\" can be given in order
to define that the output signal is one, if time ≥ 1 and otherwise
it is zero. Note, that \"time\" is a built-in variable that is always
accessible and represents the \"model time\" and that
variable <strong>y</strong> is both a variable and a connector.
</p>
</html>"));
end RealExpression;
block IntegerExpression
"Set output signal to a time varying Integer expression"
Modelica.Blocks.Interfaces.IntegerOutput y=0 "Value of Integer output"
annotation (Dialog(group="Time varying output signal"), Placement(
transformation(extent={{100,-10},{120,10}})));
annotation (Icon(coordinateSystem(
preserveAspectRatio=false,
extent={{-100,-100},{100,100}}), graphics={
Rectangle(
extent={{-100,40},{100,-40}},
fillColor={235,235,235},
fillPattern=FillPattern.Solid,
borderPattern=BorderPattern.Raised),
Text(
extent={{-96,15},{96,-15}},
textString="%y"),
Text(
extent={{-150,90},{150,50}},
textString="%name",
textColor={0,0,255})}), Documentation(info="<html>
<p>
The (time varying) Integer output signal of this block can be defined in its
parameter menu via variable <strong>y</strong>. The purpose is to support the
easy definition of Integer expressions in a block diagram. For example,
in the y-menu the definition \"if time < 1 then 0 else 1\" can be given in order
to define that the output signal is one, if time ≥ 1 and otherwise
it is zero. Note, that \"time\" is a built-in variable that is always
accessible and represents the \"model time\" and that
variable <strong>y</strong> is both a variable and a connector.
</p>
</html>"));
end IntegerExpression;
block BooleanExpression
"Set output signal to a time varying Boolean expression"
Modelica.Blocks.Interfaces.BooleanOutput y=false "Value of Boolean output"
annotation (Dialog(group="Time varying output signal"), Placement(
transformation(extent={{100,-10},{120,10}})));
annotation (Icon(coordinateSystem(
preserveAspectRatio=false,
extent={{-100,-100},{100,100}}), graphics={
Rectangle(
extent={{-100,40},{100,-40}},
fillColor={235,235,235},
fillPattern=FillPattern.Solid,
borderPattern=BorderPattern.Raised),
Text(
extent={{-96,15},{96,-15}},
textString="%y"),
Text(
extent={{-150,90},{150,50}},
textString="%name",
textColor={0,0,255}),
Polygon(
points={{100,10},{120,0},{100,-10},{100,10}},
lineColor=DynamicSelect({255,0,255}, if y then {0,255,0} else {255,0,255}),
fillColor=DynamicSelect({255,255,255}, if y then {0,255,0} else {255,255,255}),
fillPattern=FillPattern.Solid)}), Documentation(info="<html>
<p>
The (time varying) Boolean output signal of this block can be defined in its
parameter menu via variable <strong>y</strong>. The purpose is to support the
easy definition of Boolean expressions in a block diagram. For example,
in the y-menu the definition \"time >= 1 and time <= 2\" can be given in order
to define that the output signal is <strong>true</strong> in the time interval
1 ≤ time ≤ 2 and otherwise it is <strong>false</strong>.
Note, that \"time\" is a built-in variable that is always
accessible and represents the \"model time\" and that
variable <strong>y</strong> is both a variable and a connector.
</p>
</html>"));
end BooleanExpression;
block ContinuousClock "Generate current time signal"
extends Interfaces.SignalSource;
equation
y = offset + (if time < startTime then 0 else time - startTime);
annotation (
Icon(coordinateSystem(
preserveAspectRatio=true,
extent={{-100,-100},{100,100}}), graphics={
Ellipse(extent={{-80,80},{80,-80}}, lineColor={160,160,164}),
Line(points={{0,80},{0,60}}, color={160,160,164}),
Line(points={{80,0},{60,0}}, color={160,160,164}),
Line(points={{0,-80},{0,-60}}, color={160,160,164}),
Line(points={{-80,0},{-60,0}}, color={160,160,164}),
Line(points={{37,70},{26,50}}, color={160,160,164}),
Line(points={{70,38},{49,26}}, color={160,160,164}),
Line(points={{71,-37},{52,-27}}, color={160,160,164}),
Line(points={{39,-70},{29,-51}}, color={160,160,164}),
Line(points={{-39,-70},{-29,-52}}, color={160,160,164}),
Line(points={{-71,-37},{-50,-26}}, color={160,160,164}),
Line(points={{-71,37},{-54,28}}, color={160,160,164}),
Line(points={{-38,70},{-28,51}}, color={160,160,164}),
Line(
points={{0,0},{-50,50}},
thickness=0.5),
Line(
points={{0,0},{40,0}},
thickness=0.5),
Text(
extent={{-150,-150},{150,-110}},
textString="startTime=%startTime")}),
Documentation(info="<html>
<p>
The Real output y is a clock signal:
</p>
<div>
<img src=\"modelica://Modelica/Resources/Images/Blocks/Sources/ContinuousClock.png\"
alt=\"ContinuousClock.png\">
</div>
</html>"));
end ContinuousClock;
block Constant "Generate constant signal of type Real"
parameter Real k(start=1) "Constant output value"
annotation(Dialog(groupImage="modelica://Modelica/Resources/Images/Blocks/Sources/Constant.png"));
extends Interfaces.SO;
equation
y = k;
annotation (
defaultComponentName="const",
Icon(coordinateSystem(
preserveAspectRatio=true,
extent={{-100,-100},{100,100}}), graphics={
Line(points={{-80,68},{-80,-80}}, color={192,192,192}),
Polygon(
points={{-80,90},{-88,68},{-72,68},{-80,90}},
lineColor={192,192,192},
fillColor={192,192,192},
fillPattern=FillPattern.Solid),
Line(points={{-90,-70},{82,-70}}, color={192,192,192}),
Polygon(
points={{90,-70},{68,-62},{68,-78},{90,-70}},
lineColor={192,192,192},
fillColor={192,192,192},
fillPattern=FillPattern.Solid),
Line(points={{-80,0},{80,0}}),
Text(
extent={{-150,-150},{150,-110}},
textString="k=%k")}),
Documentation(info="<html>
<p>
The Real output y is a constant signal:
</p>
<div>
<img src=\"modelica://Modelica/Resources/Images/Blocks/Sources/Constant.png\"
alt=\"Constant.png\">
</div>
</html>"));
end Constant;
block Step "Generate step signal of type Real"
parameter Real height=1 "Height of step"
annotation(Dialog(groupImage="modelica://Modelica/Resources/Images/Blocks/Sources/Step.png"));
extends Interfaces.SignalSource;
equation
y = offset + (if time < startTime then 0 else height);
annotation (
Icon(coordinateSystem(
preserveAspectRatio=true,
extent={{-100,-100},{100,100}}), graphics={
Line(points={{-80,68},{-80,-80}}, color={192,192,192}),
Polygon(
points={{-80,90},{-88,68},{-72,68},{-80,90}},
lineColor={192,192,192},
fillColor={192,192,192},
fillPattern=FillPattern.Solid),
Line(points={{-90,-70},{82,-70}}, color={192,192,192}),
Polygon(
points={{90,-70},{68,-62},{68,-78},{90,-70}},
lineColor={192,192,192},
fillColor={192,192,192},
fillPattern=FillPattern.Solid),
Line(points={{-80,-70},{0,-70},{0,50},{80,50}}),
Text(
extent={{-150,-150},{150,-110}},
textString="startTime=%startTime")}),
Documentation(info="<html>
<p>
The Real output y is a step signal:
</p>
<div>
<img src=\"modelica://Modelica/Resources/Images/Blocks/Sources/Step.png\"
alt=\"Step.png\">
</div>
</html>"));
end Step;
block Ramp "Generate ramp signal"
parameter Real height=1 "Height of ramps"
annotation(Dialog(groupImage="modelica://Modelica/Resources/Images/Blocks/Sources/Ramp.png"));
parameter SI.Time duration(min=0.0, start=2)
"Duration of ramp (= 0.0 gives a Step)";
extends Interfaces.SignalSource;
equation
y = offset + (if time < startTime then 0 else if time < (startTime +
duration) then (time - startTime)*height/duration else height);
annotation (
Icon(coordinateSystem(
preserveAspectRatio=true,
extent={{-100,-100},{100,100}}), graphics={
Line(points={{-80,68},{-80,-80}}, color={192,192,192}),
Polygon(
points={{-80,90},{-88,68},{-72,68},{-80,90}},
lineColor={192,192,192},
fillColor={192,192,192},
fillPattern=FillPattern.Solid),
Line(points={{-90,-70},{82,-70}}, color={192,192,192}),
Polygon(
points={{90,-70},{68,-62},{68,-78},{90,-70}},
lineColor={192,192,192},
fillColor={192,192,192},
fillPattern=FillPattern.Solid),
Line(points={{-80,-70},{-40,-70},{31,38}}),
Text(
extent={{-150,-150},{150,-110}},
textString="duration=%duration"),
Line(points={{31,38},{86,38}})}),
Documentation(info="<html>
<p>
The Real output y is a ramp signal:
</p>
<div>
<img src=\"modelica://Modelica/Resources/Images/Blocks/Sources/Ramp.png\"
alt=\"Ramp.png\">
</div>
<p>
If parameter duration is set to 0.0, the limiting case of a Step signal is achieved.
</p>
</html>"));
end Ramp;
block Sine "Generate sine signal"
import Modelica.Constants.pi;
parameter Real amplitude=1 "Amplitude of sine wave"
annotation(Dialog(groupImage="modelica://Modelica/Resources/Images/Blocks/Sources/Sine.png"));
parameter SI.Frequency f(start=1) "Frequency of sine wave";
parameter SI.Angle phase=0 "Phase of sine wave";
extends Interfaces.SignalSource;
equation
y = offset + (if time < startTime then 0 else amplitude*Modelica.Math.sin(2
*pi*f*(time - startTime) + phase));
annotation (
Icon(coordinateSystem(
preserveAspectRatio=true,
extent={{-100,-100},{100,100}}), graphics={
Line(points={{-80,68},{-80,-80}}, color={192,192,192}),
Polygon(
points={{-80,90},{-88,68},{-72,68},{-80,90}},
lineColor={192,192,192},
fillColor={192,192,192},
fillPattern=FillPattern.Solid),
Line(points={{-90,0},{68,0}}, color={192,192,192}),
Polygon(
points={{90,0},{68,8},{68,-8},{90,0}},
lineColor={192,192,192},
fillColor={192,192,192},
fillPattern=FillPattern.Solid),
Line(points={{-80,0},{-68.7,34.2},{-61.5,53.1},{-55.1,66.4},{-49.4,
74.6},{-43.8,79.1},{-38.2,79.8},{-32.6,76.6},{-26.9,69.7},{-21.3,
59.4},{-14.9,44.1},{-6.83,21.2},{10.1,-30.8},{17.3,-50.2},{23.7,
-64.2},{29.3,-73.1},{35,-78.4},{40.6,-80},{46.2,-77.6},{51.9,-71.5},
{57.5,-61.9},{63.9,-47.2},{72,-24.8},{80,0}}, smooth = Smooth.Bezier),
Text(
extent={{-147,-152},{153,-112}},
textString="f=%f")}),
Documentation(info="<html>
<p>
The Real output y is a sine signal:
</p>
<div>
<img src=\"modelica://Modelica/Resources/Images/Blocks/Sources/Sine.png\"
alt=\"Sine.png\">
</div>
</html>"));
end Sine;
block Cosine "Generate cosine signal"
import Modelica.Constants.pi;
parameter Real amplitude=1 "Amplitude of cosine wave"
annotation(Dialog(groupImage="modelica://Modelica/Resources/Images/Blocks/Sources/Cosine.png"));
parameter SI.Frequency f(start=1) "Frequency of cosine wave";
parameter SI.Angle phase=0 "Phase of cosine wave";
extends Interfaces.SignalSource;
equation
y = offset + (if time < startTime then 0 else amplitude*Modelica.Math.cos(2
*pi*f*(time - startTime) + phase));
annotation (
Icon(coordinateSystem(
preserveAspectRatio=true,
extent={{-100,-100},{100,100}}), graphics={
Line(points={{-80,68},{-80,-80}}, color={192,192,192}),
Polygon(
points={{-80,90},{-88,68},{-72,68},{-80,90}},
lineColor={192,192,192},
fillColor={192,192,192},
fillPattern=FillPattern.Solid),
Line(points={{-90,0},{68,0}}, color={192,192,192}),
Polygon(
points={{90,0},{68,8},{68,-8},{90,0}},
lineColor={192,192,192},
fillColor={192,192,192},
fillPattern=FillPattern.Solid),
Line(points={{-80,80},{-76.2,79.8},{-70.6,76.6},{-64.9,69.7},{-59.3,
59.4},{-52.9,44.1},{-44.83,21.2},{-27.9,-30.8},{-20.7,-50.2},{-14.3,
-64.2},{-8.7,-73.1},{-3,-78.4},{2.6,-80},{8.2,-77.6},{13.9,-71.5},
{19.5,-61.9},{25.9,-47.2},{34,-24.8},{42,0}}, smooth=Smooth.Bezier),
Text(
extent={{-147,-152},{153,-112}},
textString="f=%f"),
Line(points={{42,1},{53.3,35.2},{60.5,54.1},{66.9,67.4},{72.6,75.6},{
78.2,80.1},{83.8,80.8}})}),
Documentation(info="<html>
<p>
The Real output y is a cosine signal:
</p>
<div>
<img src=\"modelica://Modelica/Resources/Images/Blocks/Sources/Cosine.png\"
alt=\"Cosine.png\">
</div>
</html>"));
end Cosine;
block SineVariableFrequencyAndAmplitude
"Generate sine signal with variable frequency and amplitude"
extends Interfaces.SO;
import Modelica.Constants.pi;
parameter Boolean useConstantAmplitude=false "Enable constant amplitude";
parameter Real constantAmplitude=1 "Constant amplitude"
annotation(Dialog(enable=useConstantAmplitude));
parameter Boolean useConstantFrequency=false "Enable constant frequency";
parameter SI.Frequency constantFrequency=1 "Constant frequency"
annotation(Dialog(enable=useConstantFrequency));
parameter Real offset=0 "Offset of the sine wave"
annotation(Dialog(groupImage="modelica://Modelica/Resources/Images/Blocks/Sources/SineVariableFrequencyAndAmplitude.png"));
SI.Angle phi(start=0) "Phase of the sine wave";
Blocks.Interfaces.RealInput amplitude if not useConstantAmplitude "Amplitude"
annotation (Placement(
transformation(
extent={{-20,-20},{20,20}},
origin={-120,60})));
Blocks.Interfaces.RealInput f(unit="Hz") if not useConstantFrequency
"Frequency" annotation (Placement(
transformation(
extent={{-20,-20},{20,20}},
origin={-120,-60})));
protected
Blocks.Interfaces.RealInput amplitude_internal "Amplitude" annotation (Placement(
transformation(
extent={{-2,-2},{2,2}},
origin={-80,60})));
Blocks.Interfaces.RealInput f_internal(unit="Hz") "Frequency" annotation (Placement(
transformation(
extent={{-2,-2},{2,2}},
origin={-80,-60})));
Blocks.Sources.Constant amplitude_constant(final k=constantAmplitude) if
useConstantAmplitude
annotation (Placement(transformation(extent={{-10,-10},{10,10}},
rotation=90,
origin={-80,30})));
Blocks.Sources.Constant f_constant(final k=constantFrequency) if
useConstantFrequency
annotation (Placement(transformation(extent={{10,-10},{-10,10}},
rotation=90,
origin={-80,-30})));
equation
der(phi) = 2*pi*f_internal;
y = offset + amplitude_internal*sin(phi);
connect(f, f_internal)
annotation (Line(points={{-120,-60},{-80,-60}}, color={0,0,127}));
connect(amplitude, amplitude_internal)
annotation (Line(points={{-120,60},{-80,60}}, color={0,0,127}));
connect(amplitude_constant.y, amplitude_internal)
annotation (Line(points={{-80,41},{-80,60}}, color={0,0,127}));
connect(f_constant.y, f_internal)
annotation (Line(points={{-80,-41},{-80,-60}}, color={0,0,127}));
annotation (defaultComponentName="sine",
Icon(coordinateSystem(
preserveAspectRatio=true,
extent={{-100,-100},{100,100}}), graphics={
Line(points={{-80,68},{-80,-80}}, color={192,192,192}),
Polygon(
points={{-80,90},{-88,68},{-72,68},{-80,90}},
lineColor={192,192,192},
fillColor={192,192,192},
fillPattern=FillPattern.Solid),
Line(points={{-90,0},{68,0}}, color={192,192,192}),
Polygon(
points={{90,0},{68,8},{68,-8},{90,0}},
lineColor={192,192,192},
fillColor={192,192,192},
fillPattern=FillPattern.Solid),
Line(points={
{-80,0},{-78.4,0},{-76.8,0},{-75.2,0},{-73.6,0.1},
{-72,0.1},{-70.4,0.2},{-68.8,0.3},{-67.2,0.4},{-65.6,0.6},
{-64,0.8},{-62.4,1.1},{-60.8,1.4},{-59.2,1.8},{-57.6,2.2},
{-56,2.7},{-54.4,3.3},{-52.8,3.9},{-51.2,4.6},{-49.6,5.4},
{-48,6.2},{-46.4,7.2},{-44.8,8.2},{-43.2,9.2},{-41.6,10.4},
{-40,11.6},{-38.4,12.9},{-36.8,14.2},{-35.2,15.6},{-33.6,17.1},
{-32,18.6},{-30.4,20.1},{-28.8,21.6},{-27.2,23.1},{-25.6,24.6},
{-24,26.1},{-22.4,27.5},{-20.8,28.8},{-19.2,30},{-17.6,31.1},
{-16,32},{-14.4,32.7},{-12.8,33.2},{-11.2,33.5},{-9.6,33.5},
{-8,33.2},{-6.4,32.5},{-4.8,31.5},{-3.2,30.1},{-1.6,28.4},
{0,26.2},{1.6,23.6},{3.2,20.6},{4.8,17.2},{6.4,13.3},
{8,9.1},{9.6,4.6},{11.2,-0.3},{12.8,-5.4},{14.4,-10.7},
{16,-16.1},{17.6,-21.6},{19.2,-27.1},{20.8,-32.3},{22.4,-37.4},
{24,-42.1},{25.6,-46.3},{27.2,-49.9},{28.8,-52.8},{30.4,-54.8},
{32,-56},{33.6,-56.1},{35.2,-55.2},{36.8,-53.1},{38.4,-49.8},
{40,-45.3},{41.6,-39.7},{43.2,-33},{44.8,-25.3},{46.4,-16.6},
{48,-7.3},{49.6,2.6},{51.2,12.8},{52.8,23},{54.4,33},
{56,42.5},{57.6,51.2},{59.2,58.8},{60.8,64.9},{62.4,69.3},
{64,71.9},{65.6,72.3},{67.2,70.5},{68.8,66.4},{70.4,60},
{72,51.4},{73.6,40.8},{75.2,28.4},{76.8,14.7},{78.4,0},
{80,-15.1}}, smooth = Smooth.Bezier)}),
Documentation(info="<html>
<p>
This signal source provides a sinusoidal signal with variable frequency <code>f</code> and variable <code>amplitude</code>,
i.e. the phase angle of the sine wave is integrated from 2*π*f.
</p>
<p>
Note that the initial value of the phase angle <code>phi</code> defines the initial phase shift,
and that the parameter <code>startTime</code> is omitted since the voltage can be kept equal to offset with setting the input <code>amplitude</code> to zero.
</p>
</html>"));
end SineVariableFrequencyAndAmplitude;
block CosineVariableFrequencyAndAmplitude
"Generate cosine signal with variable frequency and amplitude"
extends Interfaces.SO;
import Modelica.Constants.pi;
parameter Boolean useConstantAmplitude=false "Enable constant amplitude";
parameter Real constantAmplitude=1 "Constant amplitude"
annotation(Dialog(enable=useConstantAmplitude));
parameter Boolean useConstantFrequency=false "Enable constant frequency";
parameter SI.Frequency constantFrequency=1 "Constant frequency"
annotation(Dialog(enable=useConstantFrequency));
parameter Real offset=0 "Offset of the sine wave"
annotation(Dialog(groupImage="modelica://Modelica/Resources/Images/Blocks/Sources/CosineVariableFrequencyAndAmplitude.png"));
SI.Angle phi(start=0) "Phase of the sine wave";
Blocks.Interfaces.RealInput amplitude if not useConstantAmplitude "Amplitude"
annotation (Placement(
transformation(
extent={{-20,-20},{20,20}},
origin={-120,60})));
Blocks.Interfaces.RealInput f(unit="Hz") if not useConstantFrequency
"Frequency" annotation (Placement(
transformation(
extent={{-20,-20},{20,20}},
origin={-120,-60})));
protected
Blocks.Interfaces.RealInput amplitude_internal "Amplitude" annotation (Placement(
transformation(
extent={{-2,-2},{2,2}},
origin={-80,60})));
Blocks.Interfaces.RealInput f_internal(unit="Hz") "Frequency" annotation (Placement(
transformation(
extent={{-2,-2},{2,2}},
origin={-80,-60})));
Blocks.Sources.Constant amplitude_constant(final k=constantAmplitude) if
useConstantAmplitude
annotation (Placement(transformation(extent={{-10,-10},{10,10}},
rotation=90,
origin={-80,30})));
Blocks.Sources.Constant f_constant(final k=constantFrequency) if
useConstantFrequency
annotation (Placement(transformation(extent={{10,-10},{-10,10}},
rotation=90,
origin={-80,-30})));
equation
der(phi) = 2*pi*f_internal;
y = offset + amplitude_internal*cos(phi);
connect(f, f_internal)
annotation (Line(points={{-120,-60},{-80,-60}}, color={0,0,127}));
connect(amplitude, amplitude_internal)
annotation (Line(points={{-120,60},{-80,60}}, color={0,0,127}));
connect(amplitude_constant.y, amplitude_internal)
annotation (Line(points={{-80,41},{-80,60}}, color={0,0,127}));
connect(f_constant.y, f_internal)
annotation (Line(points={{-80,-41},{-80,-60}}, color={0,0,127}));
annotation (defaultComponentName="cosine",
Icon(coordinateSystem(
preserveAspectRatio=true,
extent={{-100,-100},{100,100}}), graphics={
Line(points={{-80,68},{-80,-80}}, color={192,192,192}),
Polygon(
points={{-80,90},{-88,68},{-72,68},{-80,90}},
lineColor={192,192,192},
fillColor={192,192,192},
fillPattern=FillPattern.Solid),
Line(points={{-90,0},{68,0}}, color={192,192,192}),
Polygon(
points={{90,0},{68,8},{68,-8},{90,0}},
lineColor={192,192,192},
fillColor={192,192,192},
fillPattern=FillPattern.Solid),
Line(points={
{-80,80},{-78.4,79.6},{-76.8,79.2},{-75.2,78.8},{-73.6,78.4},{-72,78},
{-70.4,77.5},{-68.8,77.1},{-67.2,76.6},{-65.6,76.1},{-64,75.6},
{-62.4,75},{-60.8,74.4},{-59.2,73.7},{-57.6,73},{-56,72.2},
{-54.4,71.3},{-52.8,70.3},{-51.2,69.2},{-49.6,68},{-48,66.6},
{-46.4,65.2},{-44.8,63.6},{-43.2,61.8},{-41.6,59.9},{-40,57.7},
{-38.4,55.5},{-36.8,53},{-35.2,50.3},{-33.6,47.5},{-32,44.4},
{-30.4,41.1},{-28.8,37.7},{-27.2,34},{-25.6,30.1},{-24,26.1},
{-22.4,21.9},{-20.8,17.5},{-19.2,13},{-17.6,8.3},{-16,3.5},
{-14.4,-1.3},{-12.8,-6.2},{-11.2,-11.1},{-9.6,-16},{-8,-20.8},
{-6.4,-25.5},{-4.8,-30.1},{-3.2,-34.5},{-1.6,-38.6},{0,-42.4},
{1.6,-45.9},{3.2,-49},{4.8,-51.7},{6.4,-53.9},{8,-55.5},
{9.6,-56.5},{11.2,-57},{12.8,-56.8},{14.4,-55.9},{16,-54.4},
{17.6,-52.2},{19.2,-49.3},{20.8,-45.7},{22.4,-41.5},{24,-36.7},
{25.6,-31.4},{27.2,-25.6},{28.8,-19.4},{30.4,-12.9},{32,-6.2},
{33.6,0.6},{35.2,7.4},{36.8,14},{38.4,20.4},{40,26.3},
{41.6,31.8},{43.2,36.5},{44.8,40.6},{46.4,43.7},{48,45.9},
{49.6,47.1},{51.2,47.2},{52.8,46.2},{54.4,44.1},{56,41},
{57.6,36.8},{59.2,31.8},{60.8,25.9},{62.4,19.4},{64,12.4},
{65.6,5.1},{67.2,-2.2},{68.8,-9.5},{70.4,-16.4},{72,-22.8},
{73.6,-28.4},{75.2,-33},{76.8,-36.6},{78.4,-38.9},{80,-39.8}},
smooth = Smooth.Bezier)}),
Documentation(info="<html>
<p>
This signal source provides a cosine signal with variable frequency <code>f</code> and variable <code>amplitude</code>,
i.e. the phase angle of the cosine wave is integrated from 2*π*f.
</p>
<p>
Note that the initial value of the phase angle <code>phi</code> defines the initial phase shift,
and that the parameter <code>startTime</code> is omitted since the voltage can be kept equal to offset with setting the input <code>amplitude</code> to zero.
</p>
</html>"));
end CosineVariableFrequencyAndAmplitude;
block Sinc "Generate sinc signal"
import Modelica.Constants.pi;
import Modelica.Constants.eps;
parameter Real amplitude=1 "Amplitude of sine wave"
annotation(Dialog(groupImage="modelica://Modelica/Resources/Images/Blocks/Sources/Sinc.png"));
parameter SI.Frequency f(start=1) "Frequency of sine wave";
extends Interfaces.SignalSource;
protected
SI.Angle x=2*pi*f*(time - startTime);
equation
y = offset + (if time < startTime then 0 else amplitude*
(if noEvent(time - startTime < eps) then 1 else (sin(x))/x));
annotation (
Icon(coordinateSystem(
preserveAspectRatio=true,
extent={{-100,-100},{100,100}}), graphics={
Line(points={{-80,68},{-80,-80}}, color={192,192,192}),
Polygon(
points={{-80,90},{-88,68},{-72,68},{-80,90}},
lineColor={192,192,192},
fillColor={192,192,192},
fillPattern=FillPattern.Solid),
Line(points={{-90,0},{68,0}}, color={192,192,192}),
Polygon(
points={{90,0},{68,8},{68,-8},{90,0}},
lineColor={192,192,192},
fillColor={192,192,192},
fillPattern=FillPattern.Solid),
Text(
extent={{-147,-152},{153,-112}},
textString="f=%f",
textColor={0,0,0}),
Line(points={
{-80, 80.0},{-76, 78.7},{-72, 74.8},{-68, 68.7},{-64, 60.5},
{-60, 50.9},{-56, 40.4},{-52, 29.4},{-48, 18.7},{-44, 8.7},
{-40, 0.0},{-36, -7.2},{-32,-12.5},{-28,-15.8},{-24,-17.3},
{-20,-17.0},{-16,-15.1},{-12,-12.1},{ -8, -8.3},{ -4, -4.1},
{ 0, 0.0},{ 4, 3.7},{ 8, 6.8},{ 12, 9.0},{ 16, 10.1},
{ 20, 10.2},{ 24, 9.3},{ 28, 7.6},{ 32, 5.3},{ 36, 2.7},
{ 40, 0.0},{ 44, -2.5},{ 48, -4.7},{ 52, -6.2},{ 56, -7.1},
{ 60, -7.3},{ 64, -6.7},{ 68, -5.6},{ 72, -3.9},{ 76, -2.0},
{ 80, 0.0}}, smooth = Smooth.Bezier)}),
Documentation(info="<html>
<p>
The Real output y is a sinc signal: <code> amplitude*(sin(2*π*f*t))/((2*π*f*t))</code>
</p>
<div>
<img src=\"modelica://Modelica/Resources/Images/Blocks/Sources/Sinc.png\"
alt=\"Sinc.png\">
</div>
</html>"));
end Sinc;
block ExpSine "Generate exponentially damped sine signal"
import Modelica.Constants.pi;
parameter Real amplitude=1 "Amplitude of sine wave"
annotation(Dialog(groupImage="modelica://Modelica/Resources/Images/Blocks/Sources/ExpSine.png"));
parameter SI.Frequency f(start=2) "Frequency of sine wave";
parameter SI.Angle phase=0 "Phase of sine wave";
parameter SI.Damping damping(start=1)
"Damping coefficient of sine wave";
extends Interfaces.SignalSource;
equation
y = offset + (if time < startTime then 0 else amplitude*Modelica.Math.exp(-
(time - startTime)*damping)*Modelica.Math.sin(2*pi*f*(time -
startTime) + phase));
annotation (
Icon(coordinateSystem(
preserveAspectRatio=true,
extent={{-100,-100},{100,100}}), graphics={
Line(points={{-80,68},{-80,-80}}, color={192,192,192}),
Polygon(
points={{-80,90},{-88,68},{-72,68},{-80,90}},
lineColor={192,192,192},
fillColor={192,192,192},
fillPattern=FillPattern.Solid),
Line(points={{-90,0},{68,0}}, color={192,192,192}),
Polygon(
points={{90,0},{68,8},{68,-8},{90,0}},
lineColor={192,192,192},
fillColor={192,192,192},
fillPattern=FillPattern.Solid),
Line(points={{-80,0},{-75.2,32.3},{-72,50.3},{-68.7,64.5},{-65.5,74.2},
{-62.3,79.3},{-59.1,79.6},{-55.9,75.3},{-52.7,67.1},{-48.6,52.2},
{-43,25.8},{-35,-13.9},{-30.2,-33.7},{-26.1,-45.9},{-22.1,-53.2},
{-18.1,-55.3},{-14.1,-52.5},{-10.1,-45.3},{-5.23,-32.1},{8.44,
13.7},{13.3,26.4},{18.1,34.8},{22.1,38},{26.9,37.2},{31.8,31.8},
{38.2,19.4},{51.1,-10.5},{57.5,-21.2},{63.1,-25.9},{68.7,-25.9},
{75.2,-20.5},{80,-13.8}}, smooth = Smooth.Bezier),
Text(
extent={{-147,-152},{153,-112}},
textString="f=%f")}),
Documentation(info="<html>
<p>
The Real output y is a sine signal with exponentially changing amplitude:
</p>
<div>
<img src=\"modelica://Modelica/Resources/Images/Blocks/Sources/ExpSine.png\"
alt=\"ExpSine.png\">
</div>
</html>"));
end ExpSine;
block Exponentials "Generate a rising and falling exponential signal"
parameter Real outMax=1 "Height of output for infinite riseTime"
annotation(Dialog(groupImage="modelica://Modelica/Resources/Images/Blocks/Sources/Exponentials.png"));
parameter SI.Time riseTime(min=0,start=0.5) "Rise time";
parameter SI.Time riseTimeConst(min=Modelica.Constants.small) = 0.1
"Rise time constant; rising is defined as outMax*(1-exp(-riseTime/riseTimeConst))";
parameter SI.Time fallTimeConst(min=Modelica.Constants.small)=
riseTimeConst "Fall time constant";
extends Interfaces.SignalSource;
protected
Real y_riseTime;
equation
y_riseTime = outMax*(1 - Modelica.Math.exp(-riseTime/riseTimeConst));
y = offset + (if (time < startTime) then 0 else if (time < (startTime +
riseTime)) then outMax*(1 - Modelica.Math.exp(-(time - startTime)/
riseTimeConst)) else y_riseTime*Modelica.Math.exp(-(time - startTime -
riseTime)/fallTimeConst));
annotation (
Icon(coordinateSystem(
preserveAspectRatio=true,
extent={{-100,-100},{100,100}}), graphics={
Line(points={{-90,-70},{68,-70}}, color={192,192,192}),
Polygon(
points={{90,-70},{68,-62},{68,-78},{90,-70}},
lineColor={192,192,192},
fillColor={192,192,192},
fillPattern=FillPattern.Solid),
Line(points={{-80,-70},{-77.2,-55.3},{-74.3,-42.1},{-70.8,-27.6},{-67.3,
-15},{-63.7,-4.08},{-59.5,7.18},{-55.3,16.7},{-50.3,26},{-44.6,
34.5},{-38.3,42.1},{-31.2,48.6},{-22.7,54.3},{-12.1,59.2},{-10,
60},{-7.88,47.5},{-5.05,32.7},{-2.22,19.8},{0.606,8.45},{4.14,-3.7},
{7.68,-14},{11.9,-24.2},{16.2,-32.6},{21.1,-40.5},{26.8,-47.4},
{33.1,-53.3},{40.9,-58.5},{50.8,-62.8},{60,-65.4}}),
Polygon(
points={{-80,90},{-88,68},{-72,68},{-80,90}},
lineColor={192,192,192},
fillColor={192,192,192},
fillPattern=FillPattern.Solid),
Line(points={{-80,68},{-80,-80}}, color={192,192,192}),
Text(
extent={{-150,-150},{150,-110}},
textString="riseTime=%riseTime")}),
Documentation(info="<html>
<p>
The Real output y is a rising exponential followed
by a falling exponential signal:
</p>
<div>
<img src=\"modelica://Modelica/Resources/Images/Blocks/Sources/Exponentials.png\"
alt=\"Exponentials.png\">
</div>
</html>"));
end Exponentials;
block Pulse "Generate pulse signal of type Real"
parameter Real amplitude=1 "Amplitude of pulse"
annotation(Dialog(groupImage="modelica://Modelica/Resources/Images/Blocks/Sources/Pulse.png"));
parameter Real width(
final min=Modelica.Constants.small,
final max=100) = 50 "Width of pulse in % of period";
parameter SI.Time period(final min=Modelica.Constants.small,
start=1) "Time for one period";
parameter Integer nperiod=-1
"Number of periods (< 0 means infinite number of periods)";
extends Interfaces.SignalSource;
protected
SI.Time T_width=period*width/100;
SI.Time T_start "Start time of current period";
Integer count "Period count";
initial algorithm
count := integer((time - startTime)/period);
T_start := startTime + count*period;
equation
when integer((time - startTime)/period) > pre(count) then
count = pre(count) + 1;
T_start = time;
end when;
y = offset + (if (time < startTime or nperiod == 0 or (nperiod > 0 and
count >= nperiod)) then 0 else if time < T_start + T_width then amplitude
else 0);
annotation (
Icon(coordinateSystem(
preserveAspectRatio=true,
extent={{-100,-100},{100,100}}), graphics={
Line(points={{-80,68},{-80,-80}}, color={192,192,192}),
Polygon(
points={{-80,90},{-88,68},{-72,68},{-80,90}},
lineColor={192,192,192},
fillColor={192,192,192},
fillPattern=FillPattern.Solid),
Line(points={{-90,-70},{82,-70}}, color={192,192,192}),
Polygon(
points={{90,-70},{68,-62},{68,-78},{90,-70}},
lineColor={192,192,192},
fillColor={192,192,192},
fillPattern=FillPattern.Solid),
Line(points={{-80,-70},{-40,-70},{-40,44},{0,44},{0,-70},{40,-70},{40,
44},{79,44}}),
Text(
extent={{-147,-152},{153,-112}},
textString="period=%period")}),
Documentation(info="<html>
<p>
The Real output y is a pulse signal:
</p>
<div>
<img src=\"modelica://Modelica/Resources/Images/Blocks/Sources/Pulse.png\"
alt=\"Pulse.png\">
</div>
</html>"));
end Pulse;
block SawTooth "Generate saw tooth signal"
parameter Real amplitude=1 "Amplitude of saw tooth"
annotation(Dialog(groupImage="modelica://Modelica/Resources/Images/Blocks/Sources/SawTooth.png"));
parameter SI.Time period(final min=Modelica.Constants.small,start=1)
"Time for one period";
parameter Integer nperiod=-1
"Number of periods (< 0 means infinite number of periods)";
extends Interfaces.SignalSource;
protected
SI.Time T_start(final start=startTime) "Start time of current period";
Integer count "Period count";
initial algorithm
count := integer((time - startTime)/period);
T_start := startTime + count*period;
equation
when integer((time - startTime)/period) > pre(count) then
count = pre(count) + 1;
T_start = time;
end when;
y = offset + (if (time < startTime or nperiod == 0 or (nperiod > 0 and
count >= nperiod)) then 0 else amplitude*(time - T_start)/period);
annotation (
Icon(coordinateSystem(
preserveAspectRatio=true,
extent={{-100,-100},{100,100}}), graphics={
Line(points={{-80,68},{-80,-80}}, color={192,192,192}),
Polygon(
points={{-80,90},{-88,68},{-72,68},{-80,90}},
lineColor={192,192,192},
fillColor={192,192,192},
fillPattern=FillPattern.Solid),
Line(points={{-90,-70},{82,-70}}, color={192,192,192}),
Polygon(
points={{90,-70},{68,-62},{68,-78},{90,-70}},
lineColor={192,192,192},
fillColor={192,192,192},
fillPattern=FillPattern.Solid),
Line(points={{-80,-70},{-60,-70},{0,40},{0,-70},{60,41},{60,-70}}),
Text(
extent={{-147,-152},{153,-112}},
textString="period=%period")}),
Documentation(info="<html>
<p>
The Real output y is a saw tooth signal:
</p>
<div>
<img src=\"modelica://Modelica/Resources/Images/Blocks/Sources/SawTooth.png\"
alt=\"SawTooth.png\">
</div>
</html>"));
end SawTooth;
block Trapezoid "Generate trapezoidal signal of type Real"
parameter Real amplitude=1 "Amplitude of trapezoid"
annotation(Dialog(groupImage="modelica://Modelica/Resources/Images/Blocks/Sources/Trapezoid.png"));
parameter SI.Time rising(final min=0) = 0
"Rising duration of trapezoid";
parameter SI.Time width(final min=0) = 0.5
"Width duration of trapezoid";
parameter SI.Time falling(final min=0) = 0
"Falling duration of trapezoid";
parameter SI.Time period(final min=Modelica.Constants.small, start=1)
"Time for one period";
parameter Integer nperiod=-1
"Number of periods (< 0 means infinite number of periods)";
extends Interfaces.SignalSource;
protected
parameter SI.Time T_rising=rising
"End time of rising phase within one period";
parameter SI.Time T_width=T_rising + width
"End time of width phase within one period";
parameter SI.Time T_falling=T_width + falling
"End time of falling phase within one period";
SI.Time T_start "Start time of current period";
Integer count "Period count";
initial algorithm
count := integer((time - startTime)/period);
T_start := startTime + count*period;
equation
when integer((time - startTime)/period) > pre(count) then
count = pre(count) + 1;
T_start = time;
end when;
y = offset + (if (time < startTime or nperiod == 0 or (nperiod > 0 and
count >= nperiod)) then 0 else if (time < T_start + T_rising) then
amplitude*(time - T_start)/rising else if (time < T_start + T_width)
then amplitude else if (time < T_start + T_falling) then amplitude*(
T_start + T_falling - time)/falling else 0);
annotation (
Icon(coordinateSystem(
preserveAspectRatio=true,
extent={{-100,-100},{100,100}}), graphics={
Line(points={{-80,68},{-80,-80}}, color={192,192,192}),
Polygon(
points={{-80,90},{-88,68},{-72,68},{-80,90}},
lineColor={192,192,192},
fillColor={192,192,192},
fillPattern=FillPattern.Solid),
Line(points={{-90,-70},{82,-70}}, color={192,192,192}),
Polygon(
points={{90,-70},{68,-62},{68,-78},{90,-70}},
lineColor={192,192,192},
fillColor={192,192,192},
fillPattern=FillPattern.Solid),
Text(
extent={{-147,-152},{153,-112}},
textString="period=%period"),
Line(points={{-81,-70},{-60,-70},{-30,40},{9,40},{39,-70},{61,-70},{
90,40}})}),
Documentation(info="<html>
<p>
The Real output y is a trapezoid signal:
</p>
<div>
<img src=\"modelica://Modelica/Resources/Images/Blocks/Sources/Trapezoid.png\"
alt=\"Trapezoid\">
</div>
</html>"));
end Trapezoid;
block LogFrequencySweep "Logarithmic frequency sweep"
extends Modelica.Blocks.Interfaces.SO;
import Modelica.Constants.eps;
parameter Real wMin(final min=eps) "Start frequency"
annotation(Dialog(groupImage="modelica://Modelica/Resources/Images/Blocks/Sources/LogFrequencySweep.png"));
parameter Real wMax(final min=eps) "End frequency";
parameter SI.Time startTime=0 "Start time of frequency sweep";
parameter SI.Time duration(min=0.0, start=1) "Duration of ramp (= 0.0 gives a Step)";
equation
y = if time < startTime then wMin else
if time < (startTime + max(duration,eps)) then
wMin * (wMax/wMin)^min(1, (time-startTime)/max(duration,eps))
else
wMax;
annotation (defaultComponentName="logSweep",
Documentation(info="<html>
<p>The output <code>y</code> performs a logarithmic frequency sweep.
The logarithm of frequency <code>w</code> performs a linear ramp from <code>log10(wMin)</code> to <code>log10(wMax)</code>.
It uses <code>wMin*(wMax/wMin)^x</code> instead of the equivalent <code>10^(log10(wMin)+log10(wMax)-log10(wMin)*x)</code> to help with unit-checking.
The output is the decimal power of this logarithmic ramp.
</p>
<p>For <code>time < startTime</code> the output is equal to <code>wMin</code>.</p>
<p>For <code>time > startTime+duration</code> the output is equal to <code>wMax</code>.</p>
<div>
<img src=\"modelica://Modelica/Resources/Images/Blocks/Sources/LogFrequencySweep.png\"
alt=\"LogFrequencySweep.png\">
</div>
</html>"),
Icon(graphics={
Line(points={{-78,44},{80,44}}, color={192,192,192}),
Line(points={{-78,34},{80,34}}, color={192,192,192}),
Line(points={{-78,20},{80,20}}, color={192,192,192}),
Line(points={{-78,-2},{80,-2}}, color={192,192,192}),
Line(points={{-78,-48},{80,-48}}, color={192,192,192}),
Line(
points={{-70,-48},{-50,-48},{50,44},{70,44}},
color={0,0,127},
thickness=0.5),
Line(points={{-50,-48},{-50,44}}, color={192,192,192}),
Line(points={{50,-48},{50,44}}, color={192,192,192}),
Line(points={{-78,40},{80,40}}, color={192,192,192}),
Polygon(
points={{90,-48},{68,-40},{68,-56},{90,-48}},
lineColor={192,192,192},
fillColor={192,192,192},
fillPattern=FillPattern.Solid),
Polygon(
points={{-70,90},{-78,68},{-62,68},{-70,90}},
lineColor={192,192,192},
fillColor={192,192,192},
fillPattern=FillPattern.Solid),
Line(points={{-70,-56},{-70,68}}, color={192,192,192})}));
end LogFrequencySweep;
block KinematicPTP
"Move as fast as possible along a distance within given kinematic constraints"
parameter Real deltaq[:]={1} "Distance to move"
annotation(Dialog(groupImage="modelica://Modelica/Resources/Images/Blocks/Sources/KinematicPTP.png"));
parameter Real qd_max[:](each final min=Modelica.Constants.small) = {1}
"Maximum velocities der(q)";
parameter Real qdd_max[:](each final min=Modelica.Constants.small) = {1}
"Maximum accelerations der(qd)";
parameter SI.Time startTime=0 "Time instant at which movement starts";
extends Interfaces.MO(final nout=max([size(deltaq, 1); size(qd_max, 1); size(qdd_max, 1)]));