Merge branch 'master' of https://github.com/dzimmer/PlanarMechanics

Conflicts: PlanarMechanics/GearComponents/Examples/PlanetaryGear.mo PlanarMechanics/GearComponents/Examples/SpurGear.mo
dzimmer · Jun 26, 2014 · f4c2c3f · f4c2c3f
2 parents 8931743 + 5f5e575
commit f4c2c3f
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diff --git a/PlanarMechanics/Examples/ControlledCraneCrab.mo b/PlanarMechanics/Examples/ControlledCraneCrab.mo
@@ -3,7 +3,6 @@ model ControlledCraneCrab
   extends Modelica.Icons.Example;
 
   Parts.Body body(
-    g={0,-9.81},
     m=70,
     I=0)   annotation (Placement(transformation(
         extent={{-10,-10},{10,10}},
@@ -54,51 +53,38 @@ equation
   connect(fixedTranslation.frame_b, body.frame_a) annotation (Line(
       points={{-10,-40},{-10,-45},{-10,-45},{-10,-50},{-10,-60},{-10,-60}},
       color={95,95,95},
-      thickness=0.5,
-      smooth=Smooth.None));
+      thickness=0.5));
   connect(force.f, PID.y) annotation (Line(
       points={{-30,72},{-30,80},{19,80}},
-      color={0,0,127},
-      smooth=Smooth.None));
+      color={0,0,127}));
   connect(angleSensor.phi, PID.u) annotation (Line(
-      points={{41,6.10623e-16},{70,6.10623e-16},{70,80},{42,80}},
-      color={0,0,127},
-      smooth=Smooth.None));
+      points={{41,0},{70,0},{70,80},{42,80}},
+      color={0,0,127}));
 
   connect(fixed.frame_a, prismatic.frame_a) annotation (Line(
       points={{-60,30},{-40,30}},
       color={95,95,95},
-      thickness=0.5,
-      smooth=Smooth.None));
+      thickness=0.5));
   connect(prismatic.frame_b, body1.frame_a) annotation (Line(
-      points={{-20,30},{-5.55112e-16,30}},
+      points={{-20,30},{0,30}},
       color={95,95,95},
-      thickness=0.5,
-      smooth=Smooth.None));
+      thickness=0.5));
   connect(prismatic.flange_a, force.flange) annotation (Line(
       points={{-30,39},{-30,50}},
-      color={0,127,0},
-      smooth=Smooth.None));
+      color={0,127,0}));
   connect(prismatic.frame_b, revolute.frame_a) annotation (Line(
       points={{-20,30},{-10,30},{-10,10}},
       color={95,95,95},
-      thickness=0.5,
-      smooth=Smooth.None));
+      thickness=0.5));
   connect(revolute.frame_b, fixedTranslation.frame_a) annotation (Line(
       points={{-10,-10},{-10,-20}},
       color={95,95,95},
-      thickness=0.5,
-      smooth=Smooth.None));
+      thickness=0.5));
   connect(revolute.flange_a, angleSensor.flange) annotation (Line(
-      points={{5.55112e-16,-1.33731e-15},{10,-1.33731e-15},{10,6.10623e-16},{20,
-          6.10623e-16}},
-      color={0,0,0},
-      smooth=Smooth.None));
-  annotation (Diagram(graphics),
-    experiment(StopTime=3),
-    __Dymola_experimentSetupOutput,
-    Documentation(revisions="<html><p><img src=\"modelica://PlanarMechanics/Resources/Images/dlr_logo.png\"/> <b>Developed 2010-2014 at the DLR Institute of System Dynamics and Control</b> </p></html>",  info="<html>
-<p><h4><font color=\"#008000\">A controlled crane crab. </font></h4></p>
+      points={{0,0},{10,0},{10,0},{20,0}}));
+  annotation (experiment(StopTime=3),
+    Documentation(revisions="<html><p><img src=\"modelica://PlanarMechanics/Resources/Images/dlr_logo.png\"/> <b>Developed 2010-2014 at the DLR Institute of System Dynamics and Control</b></p></html>",  info="<html>
+<h4><font color=\"#008000\">A controlled crane crab.</font></h4>
 <p>A simple PID (actually PD) controlles the pendulum into upright position.</p>
 <p><br/><img src=\"modelica://PlanarMechanics/Resources/Images/ControlledCraneCrab_1.png\"/></p>
 <p><img src=\"modelica://PlanarMechanics/Resources/Images/ControlledCraneCrab_2.png\"/></p>
@@ -113,7 +99,7 @@ equation
 </html>",
       revisions="<html>
 <p>(c) Copyright by Dirk Zimmer</p>
-<p>The library was creates and is owned by Dr. Dirk Zimmer. </p>
+<p>The library was created and is owned by Dr. Dirk Zimmer.</p>
 <p>dirk.zimmer@dlr.de</p>
 </html>"));
 end ControlledCraneCrab;
diff --git a/PlanarMechanics/Examples/CounterSpin.mo b/PlanarMechanics/Examples/CounterSpin.mo
@@ -3,7 +3,6 @@ model CounterSpin
   extends Modelica.Icons.Example;
 
   Parts.Body body(
-    g={0,-9.81},
     m=0.01,
     I=0.0005,
     animate=false,
@@ -30,13 +29,10 @@ equation
   connect(body.frame_a, slipBasedRolling1.frame_a) annotation (Line(
       points={{0,0},{20,0}},
       color={95,95,95},
-      thickness=0.5,
-      smooth=Smooth.None));
-  annotation (Diagram(graphics),
-    experiment(StopTime=3),
-    __Dymola_experimentSetupOutput,
-    Documentation(revisions="<html><p><img src=\"modelica://PlanarMechanics/Resources/Images/dlr_logo.png\"/> <b>Developed 2010-2014 at the DLR Institute of System Dynamics and Control</b> </p></html>",  info="<html>
-<p><h4><font color=\"#008000\">Wheel with counter-spin and dry-friction law.</font></h4></p>
+      thickness=0.5));
+  annotation (experiment(StopTime=3),
+    Documentation(revisions="<html><p><img src=\"modelica://PlanarMechanics/Resources/Images/dlr_logo.png\"/> <b>Developed 2010-2014 at the DLR Institute of System Dynamics and Control</b></p></html>",  info="<html>
+<h4><font color=\"#008000\">Wheel with counter-spin and dry-friction law.</font></h4>
 <p><img src=\"modelica://PlanarMechanics/Resources/Images/CounterSpin_1.png\"/></p>
 <p><img src=\"modelica://PlanarMechanics/Resources/Images/CounterSpin_2.png\"/></p>
 <p><br/><br/>The model contains a large local stiffness before 2s</p>
@@ -50,7 +46,7 @@ equation
 </html>",
       revisions="<html>
 <p>(c) Copyright by Dirk Zimmer</p>
-<p>The library was creates and is owned by Dr. Dirk Zimmer. </p>
+<p>The library was created and is owned by Dr. Dirk Zimmer.</p>
 <p>dirk.zimmer@dlr.de</p>
 </html>"));
 end CounterSpin;
diff --git a/PlanarMechanics/Examples/CraneCrab.mo b/PlanarMechanics/Examples/CraneCrab.mo
@@ -4,7 +4,6 @@ model CraneCrab
 
   Parts.Body body(
     I=0.1,
-    g={0,-9.81},
     m=0.5) annotation (Placement(transformation(
         extent={{-10,-10},{10,10}},
         rotation=270,
@@ -20,8 +19,7 @@ model CraneCrab
         origin={-70,50})));
   Parts.Body body1(
     m=1,
-    I=0.1,
-    g={0,-9.81})
+    I=0.1)
     annotation (Placement(transformation(extent={{0,40},{20,60}})));
   inner PlanarWorld planarWorld
     annotation (Placement(transformation(extent={{-80,0},{-60,20}})));
@@ -48,43 +46,32 @@ equation
   connect(fixedTranslation.frame_b, body.frame_a) annotation (Line(
       points={{-10,-20},{-10,-40}},
       color={95,95,95},
-      thickness=0.5,
-      smooth=Smooth.None));
+      thickness=0.5));
   connect(revolute1.frame_a, body1.frame_a) annotation (Line(
-      points={{-10,32},{-10,50},{-5.55112e-16,50}},
+      points={{-10,32},{-10,50},{0,50}},
       color={95,95,95},
-      thickness=0.5,
-      smooth=Smooth.None));
+      thickness=0.5));
   connect(revolute1.frame_b, fixedTranslation.frame_a) annotation (Line(
-      points={{-10,12},{-10,5.55112e-016}},
+      points={{-10,12},{-10,0}},
       color={95,95,95},
-      thickness=0.5,
-      smooth=Smooth.None));
+      thickness=0.5));
   connect(fixed.frame_a, prismatic1.frame_a) annotation (Line(
       points={{-60,50},{-40,50}},
       color={95,95,95},
-      thickness=0.5,
-      smooth=Smooth.None));
+      thickness=0.5));
   connect(prismatic1.frame_b, body1.frame_a) annotation (Line(
-      points={{-20,50},{-5.55112e-016,50}},
+      points={{-20,50},{0,50}},
       color={95,95,95},
-      thickness=0.5,
-      smooth=Smooth.None));
+      thickness=0.5));
   connect(damper1.flange_a, fixed1.flange) annotation (Line(
       points={{-50,80},{-66,80}},
-      color={0,127,0},
-      smooth=Smooth.None));
+      color={0,127,0}));
   connect(damper1.flange_b, prismatic1.flange_a) annotation (Line(
       points={{-30,80},{-30,59}},
-      color={0,127,0},
-      smooth=Smooth.None));
-  annotation (Diagram(coordinateSystem(preserveAspectRatio=false, extent={{-100,
-            -100},{100,100}}),
-                      graphics),
-    experiment(StopTime=10),
-    __Dymola_experimentSetupOutput,
-    Documentation(revisions="<html><p><img src=\"modelica://PlanarMechanics/Resources/Images/dlr_logo.png\"/> <b>Developed 2010-2014 at the DLR Institute of System Dynamics and Control</b> </p></html>",  info="<html>
-<p><h4><font color=\"#008000\">A damped crane crab </font></h4></p>
+      color={0,127,0}));
+  annotation (experiment(StopTime=10),
+    Documentation(revisions="<html><p><img src=\"modelica://PlanarMechanics/Resources/Images/dlr_logo.png\"/> <b>Developed 2010-2014 at the DLR Institute of System Dynamics and Control</b></p></html>",  info="<html>
+<h4><font color=\"#008000\">A damped crane crab </font></h4>
 <p><img src=\"modelica://PlanarMechanics/Resources/Images/CraneCrab_1.png\"/></p>
 <p><br/><img src=\"modelica://PlanarMechanics/Resources/Images/CraneCrab_2.png\"/></p>
 <p><br/>SELECTED&nbsp;CONTINUOUS&nbsp;TIME&nbsp;STATES</p>
@@ -95,7 +82,7 @@ equation
 </html>",
       revisions="<html>
 <p>(c) Copyright by Dirk Zimmer</p>
-<p>The library was creates and is owned by Dr. Dirk Zimmer. </p>
+<p>The library was created and is owned by Dr. Dirk Zimmer.</p>
 <p>dirk.zimmer@dlr.de</p>
 </html>"));
 end CraneCrab;
diff --git a/PlanarMechanics/Examples/DoublePendulum.mo b/PlanarMechanics/Examples/DoublePendulum.mo
@@ -4,8 +4,7 @@ model DoublePendulum
 
   Parts.Body body(
     m=1,
-    I=0.1,
-    g={0,-9.81})
+    I=0.1)
     annotation (Placement(transformation(extent={{20,60},{40,80}})));
   Parts.FixedTranslation fixedTranslation(r={1,0})
     annotation (Placement(transformation(extent={{-20,60},{0,80}})));
@@ -14,7 +13,6 @@ model DoublePendulum
         rotation=180,
         origin={-90,70})));
   Parts.Body body1(
-    g={0,-9.81},
     m=0.2,
     I=0.01)
     annotation (Placement(transformation(extent={{60,20},{80,40}})));
@@ -30,43 +28,33 @@ model DoublePendulum
     annotation (Placement(transformation(extent={{-18,20},{2,40}})));
 equation
   connect(fixedTranslation.frame_b, body.frame_a) annotation (Line(
-      points={{5.55112e-16,70},{20,70}},
+      points={{0,70},{20,70}},
       color={95,95,95},
-      thickness=0.5,
-      smooth=Smooth.None));
+      thickness=0.5));
   connect(fixedTranslation1.frame_b, body1.frame_a)
                                                   annotation (Line(
       points={{40,30},{60,30}},
       color={95,95,95},
-      thickness=0.5,
-      smooth=Smooth.None));
+      thickness=0.5));
   connect(fixed.frame_a, revolute.frame_a) annotation (Line(
       points={{-80,70},{-60,70}},
       color={95,95,95},
-      thickness=0.5,
-      smooth=Smooth.None));
+      thickness=0.5));
   connect(revolute.frame_b, fixedTranslation.frame_a) annotation (Line(
       points={{-40,70},{-20,70}},
       color={95,95,95},
-      thickness=0.5,
-      smooth=Smooth.None));
+      thickness=0.5));
   connect(revolute1.frame_b, fixedTranslation1.frame_a) annotation (Line(
       points={{2,30},{20,30}},
       color={95,95,95},
-      thickness=0.5,
-      smooth=Smooth.None));
+      thickness=0.5));
   connect(fixedTranslation.frame_b, revolute1.frame_a) annotation (Line(
-      points={{5.55112e-16,70},{5.55112e-16,50},{-36,50},{-36,30},{-18,30}},
+      points={{0,70},{0,50},{-36,50},{-36,30},{-18,30}},
       color={95,95,95},
-      thickness=0.5,
-      smooth=Smooth.None));
-  annotation (Diagram(coordinateSystem(extent={{-100,-100},{100,100}},
-          preserveAspectRatio=true),
-                      graphics),
-    experiment(StopTime=10),
-    __Dymola_experimentSetupOutput,
-    Documentation(revisions="<html><p><img src=\"modelica://PlanarMechanics/Resources/Images/dlr_logo.png\"/> <b>Developed 2010-2014 at the DLR Institute of System Dynamics and Control</b> </p></html>",  info="<html>
-<p><h4><font color=\"#008000\">A double pendulum.</font></h4></p>
+      thickness=0.5));
+  annotation (experiment(StopTime=10),
+    Documentation(revisions="<html><p><img src=\"modelica://PlanarMechanics/Resources/Images/dlr_logo.png\"/> <b>Developed 2010-2014 at the DLR Institute of System Dynamics and Control</b></p></html>",  info="<html>
+<h4><font color=\"#008000\">A double pendulum.</font></h4>
 <p><br/>Beware this is a chaotic system. However, the chatoic part should start after 10s.</p>
 <p><br/><img src=\"modelica://PlanarMechanics/Resources/Images/DoublePendulum_1.png\"/></p>
 <p><img src=\"modelica://PlanarMechanics/Resources/Images/DoublePendulum_2.png\"/></p>
@@ -78,8 +66,7 @@ equation
 </html>",
       revisions="<html>
 <p>(c) Copyright by Dirk Zimmer</p>
-<p>The library was creates and is owned by Dr. Dirk Zimmer. </p>
+<p>The library was created and is owned by Dr. Dirk Zimmer.</p>
 <p>dirk.zimmer@dlr.de</p>
-</html>"),
-    Icon(coordinateSystem(extent={{-100,-100},{100,100}})));
+</html>"));
 end DoublePendulum;
diff --git a/PlanarMechanics/Examples/FreeBody.mo b/PlanarMechanics/Examples/FreeBody.mo
@@ -2,9 +2,7 @@ within PlanarMechanics.Examples;
 model FreeBody "AcceleratingBody"
   extends Modelica.Icons.Example;
 
-  inner PlanarWorld planarWorld(g={0,-9.81},
-    animateGravity=true,
-    enableAnimation=true)
+  inner PlanarWorld planarWorld
     annotation (Placement(transformation(extent={{-28,-10},{-8,10}})));
   Parts.Body body(m=1, I=0.1,
     animate=true,
@@ -16,19 +14,17 @@ model FreeBody "AcceleratingBody"
     annotation (Placement(transformation(extent={{10,-10},{30,10}})));
   annotation (
     experiment(StopTime=3),
-    __Dymola_experimentSetupOutput,
     Documentation(revisions=
-          "<html><p><img src=\"modelica://PlanarMechanics/Resources/Images/dlr_logo.png\"/> <b>Developed 2010-2014 at the DLR Institute of System Dynamics and Control</b> </p></html>",
+          "<html><p><img src=\"modelica://PlanarMechanics/Resources/Images/dlr_logo.png\"/> <b>Developed 2010-2014 at the DLR Institute of System Dynamics and Control</b></p></html>",
                                                                                                     info="<html>
-<p><h4><font color=\"#008000\">A simple free falling body.</font></h4></p>
+<h4><font color=\"#008000\">A simple free falling body.</font></h4>
 <p><br/>The gravity is defined in the planarWorld component</p>
 <p><br/><img src=\"modelica://PlanarMechanics/Resources/Images/FreeBody_1.png\"/></p>
 <p><br/>The&nbsp;DAE&nbsp;has&nbsp;73&nbsp;scalar&nbsp;unknowns&nbsp;and&nbsp;73&nbsp;scalar&nbsp;equations.</p>
 </html>",
       revisions="<html>
 <p>(c) Copyright by Dirk Zimmer</p>
-<p>The library was creates and is owned by Dr. Dirk Zimmer. </p>
+<p>The library was created and is owned by Dr. Dirk Zimmer.</p>
 <p>dirk.zimmer@dlr.de</p>
-</html>"),
-    Diagram(graphics));
+</html>"));
 end FreeBody;