From bda8c0ba405aa71bd1ccaa758b351c7897d486de Mon Sep 17 00:00:00 2001
From: Maximilian Kormann <maximilian.kormann@3ds.com>
Date: Thu, 11 May 2023 14:30:34 +0200
Subject: [PATCH] Add failing test for Rotational Friction

---
 ModelicaTest/Rotational.mo    | 48 +++++++++++++++++++++++++++++++++++
 ModelicaTest/Translational.mo |  4 +--
 2 files changed, 50 insertions(+), 2 deletions(-)

diff --git a/ModelicaTest/Rotational.mo b/ModelicaTest/Rotational.mo
index f2b4211f05..9b9d8b28c1 100644
--- a/ModelicaTest/Rotational.mo
+++ b/ModelicaTest/Rotational.mo
@@ -1623,6 +1623,54 @@ they were not deleted yet.")}));
     annotation (experiment(StopTime=1.1));
   end TestFriction;
 
+  model TestFrictionPosition
+    extends Modelica.Icons.Example;
+
+    parameter Real fric=155.9218;
+    Modelica.Mechanics.Rotational.Sources.Position    position(exact=true)
+      annotation (Placement(transformation(extent={{-10,30},{10,50}})));
+
+    Modelica.Blocks.Sources.Sine sine(
+      amplitude=0.1,
+      f=1,
+      phase=0.78539816339745,
+      offset=0.5) annotation (Placement(transformation(extent={{-70,30},{-50,50}})));
+
+    Modelica.Mechanics.Rotational.Components.BearingFriction    bearingFriction(tau_pos=[0,5; 100,5],
+               peak=1.001)
+      annotation (Placement(transformation(extent={{46,30},{66,50}})));
+    Modelica.Mechanics.Rotational.Sources.Torque      torque
+      annotation (Placement(transformation(extent={{-10,-50},{10,-30}})));
+    Modelica.Blocks.Sources.Sine sine1(
+      amplitude=25,
+      f=1,
+      phase=0.78539816339745,
+      offset=0.5) annotation (Placement(transformation(extent={{-70,-50},{-50,-30}})));
+    Modelica.Mechanics.Rotational.Components.BearingFriction    bearingFriction1(tau_pos=[0,5; 100,5], peak=1.001)
+      annotation (Placement(transformation(extent={{46,-50},{66,-30}})));
+    Modelica.Mechanics.Rotational.Components.Inertia inertia(J=1, w(start=-2, fixed=true))
+      annotation (Placement(transformation(extent={{74,-50},{94,-30}})));
+    Modelica.Mechanics.Rotational.Sources.Position    position1(exact=true)
+      annotation (Placement(transformation(extent={{-10,-10},{10,10}})));
+    Modelica.Blocks.Sources.Sine sine2(
+      amplitude=0.3,
+      f=1,
+      phase=0.78539816339745,
+      offset=0.5) annotation (Placement(transformation(extent={{-70,-10},{-50,10}})));
+    Modelica.Mechanics.Rotational.Components.BearingFriction    bearingFriction2(tau_pos=[0,5; 100,5], peak=1.001)
+      annotation (Placement(transformation(extent={{46,-10},{66,10}})));
+  equation
+
+    connect(sine.y, position.phi_ref) annotation (Line(points={{-49,40},{-12,40}}, color={0,0,127}));
+    connect(position.flange, bearingFriction.flange_a) annotation (Line(points={{10,40},{48,40},{48,40},{46,40}}, color={0,0,0}));
+    connect(sine1.y, torque.tau) annotation (Line(points={{-49,-40},{-12,-40}}, color={0,0,127}));
+    connect(torque.flange, bearingFriction1.flange_a) annotation (Line(points={{10,-40},{46,-40}}, color={0,0,0}));
+    connect(bearingFriction1.flange_b, inertia.flange_a) annotation (Line(points={{66,-40},{74,-40}}, color={0,0,0}));
+    connect(sine2.y, position1.phi_ref) annotation (Line(points={{-49,0},{-12,0}}, color={0,0,127}));
+    connect(position1.flange, bearingFriction2.flange_a) annotation (Line(points={{10,0},{46,0}}, color={0,0,0}));
+    annotation (Icon(coordinateSystem(preserveAspectRatio=false)), Diagram(coordinateSystem(preserveAspectRatio=false)));
+  end TestFrictionPosition;
+
   model TestBraking
     extends Modelica.Icons.Example;
     Modelica.Mechanics.Rotational.Components.Inertia inertia1(
diff --git a/ModelicaTest/Translational.mo b/ModelicaTest/Translational.mo
index 57739e73dd..d278f28245 100644
--- a/ModelicaTest/Translational.mo
+++ b/ModelicaTest/Translational.mo
@@ -314,7 +314,7 @@ extends Modelica.Icons.ExamplesPackage;
       experiment(StopTime=2));
   end Vehicles;
 
-  model Friction
+  model TestFrictionPosition
     extends Modelica.Icons.Example;
 
     parameter Real fric=155.9218;
@@ -382,5 +382,5 @@ extends Modelica.Icons.ExamplesPackage;
     connect(sine2.y, position1.s_ref) annotation (Line(points={{-49,0},{-12,0}}, color={0,0,127}));
     connect(position1.flange, supportFriction2.flange_a) annotation (Line(points={{10,0},{46,0}}, color={0,127,0}));
     annotation (Icon(coordinateSystem(preserveAspectRatio=false)), Diagram(coordinateSystem(preserveAspectRatio=false)));
-  end Friction;
+  end TestFrictionPosition;
 end Translational;