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ObsoleteModelica4.mo
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ObsoleteModelica4.mo
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within ;
package ObsoleteModelica4 "Library that contains components from Modelica Standard Library 3.2.3 that have been removed from version 4.0.0"
extends Modelica.Icons.Package;
import Modelica.Units.SI;
package Blocks "Library of basic input/output control blocks (continuous, discrete, logical, table blocks)"
extends Modelica.Icons.Package;
package Interfaces "Library of connectors and partial models for input/output blocks"
extends Modelica.Icons.Package;
package Adaptors "Package with adaptors"
extends Modelica.Icons.Package;
block SendReal "Obsolete block to send Real signal to bus"
extends Modelica.Icons.ObsoleteModel;
Modelica.Blocks.Interfaces.RealOutput toBus "Output signal to be connected to bus" annotation (Placement(transformation(extent={{100,-10},{120,10}})));
Modelica.Blocks.Interfaces.RealInput u "Input signal to be send to bus" annotation (Placement(transformation(extent={{-140,-20},{-100,20}})));
equation
toBus = u;
annotation (Icon(coordinateSystem(preserveAspectRatio=true, extent={{-100,
-100},{100,100}}), graphics={Rectangle(
extent={{-100,40},{100,-40}},
lineColor={0,0,127},
fillColor={255,255,255},
fillPattern=FillPattern.Solid),Text(
extent={{-150,90},{150,50}},
textString="%name",
lineColor={0,0,255}), Text(
extent={{-100,30},{100,-30}},
lineColor={0,0,127},
textString="send")}), Documentation(info="<html>
<p>
Obsolete block that was previously used to connect a Real signal
to a signal in a connector. This block is only provided for
backward compatibility.
</p>
<p>
It is much more convenient and more powerful to use \"expandable connectors\"
for signal buses, see example
<a href=\"modelica://Modelica.Blocks.Examples.BusUsage\">BusUsage</a>.
</p>
</html>"),
obsolete = "Obsolete block - use expandable connectors instead");
end SendReal;
block SendBoolean "Obsolete block to send Boolean signal to bus"
extends Modelica.Icons.ObsoleteModel;
Modelica.Blocks.Interfaces.BooleanOutput toBus "Output signal to be connected to bus" annotation (Placement(transformation(extent={{100,-10},{120,10}})));
Modelica.Blocks.Interfaces.BooleanInput u "Input signal to be send to bus" annotation (Placement(transformation(extent={{-140,-20},{-100,20}})));
equation
toBus = u;
annotation (Icon(coordinateSystem(preserveAspectRatio=true, extent={{-100,
-100},{100,100}}), graphics={Rectangle(
extent={{-100,40},{100,-40}},
lineColor={255,0,255},
fillColor={255,255,255},
fillPattern=FillPattern.Solid),Text(
extent={{-150,90},{150,50}},
textString="%name",
lineColor={0,0,255}), Text(
extent={{-100,30},{100,-30}},
lineColor={255,0,255},
textString="send")}), Documentation(info="<html>
<p>
Obsolete block that was previously used to connect a Boolean signal
to a signal in a connector. This block is only provided for
backward compatibility.
</p>
<p>
It is much more convenient and more powerful to use \"expandable connectors\"
for signal buses, see example
<a href=\"modelica://Modelica.Blocks.Examples.BusUsage\">BusUsage</a>.
</p>
</html>"),
obsolete = "Obsolete block - use expandable connectors instead");
end SendBoolean;
block SendInteger "Obsolete block to send Integer signal to bus"
extends Modelica.Icons.ObsoleteModel;
Modelica.Blocks.Interfaces.IntegerOutput toBus "Output signal to be connected to bus" annotation (Placement(transformation(extent={{100,-10},{120,10}})));
Modelica.Blocks.Interfaces.IntegerInput u "Input signal to be send to bus" annotation (Placement(transformation(extent={{-140,-20},{-100,20}})));
equation
toBus = u;
annotation (Icon(coordinateSystem(preserveAspectRatio=true, extent={{-100,
-100},{100,100}}), graphics={Rectangle(
extent={{-100,40},{100,-40}},
lineColor={255,127,0},
fillColor={255,255,255},
fillPattern=FillPattern.Solid),Text(
extent={{-150,90},{150,50}},
textString="%name",
lineColor={0,0,255}), Text(
extent={{-100,30},{100,-30}},
lineColor={255,127,0},
textString="send")}), Documentation(info="<html>
<p>
Obsolete block that was previously used to connect an Integer signal
to a signal in a connector. This block is only provided for
backward compatibility.
</p>
<p>
It is much more convenient and more powerful to use \"expandable connectors\"
for signal buses, see example
<a href=\"modelica://Modelica.Blocks.Examples.BusUsage\">BusUsage</a>.
</p>
</html>"),
obsolete = "Obsolete block - use expandable connectors instead");
end SendInteger;
block ReceiveReal "Obsolete block to receive Real signal from bus"
extends Modelica.Icons.ObsoleteModel;
Modelica.Blocks.Interfaces.RealInput fromBus "To be connected with signal on bus" annotation (Placement(transformation(extent={{-120,-10},{-100,10}})));
Modelica.Blocks.Interfaces.RealOutput y "Output signal to be received from bus" annotation (Placement(transformation(extent={{100,-10},{120,10}})));
equation
y = fromBus;
annotation (Icon(coordinateSystem(preserveAspectRatio=true, extent={{-100,
-100},{100,100}}), graphics={Rectangle(
extent={{-100,40},{100,-40}},
lineColor={0,0,127},
fillColor={255,255,255},
fillPattern=FillPattern.Solid),Text(
extent={{-100,30},{100,-30}},
lineColor={0,0,127},
textString="receive"),Text(
extent={{-150,90},{150,50}},
textString="%name",
lineColor={0,0,255})}), Documentation(info="<html>
<p>
Obsolete block that was previously used to connect a Real signal
in a connector to an input of a block. This block is only provided for
backward compatibility.
</p>
<p>
It is much more convenient and more powerful to use \"expandable connectors\"
for signal buses, see example
<a href=\"modelica://Modelica.Blocks.Examples.BusUsage\">BusUsage</a>.
</p>
</html>"),
obsolete = "Obsolete block - use expandable connectors instead");
end ReceiveReal;
block ReceiveBoolean "Obsolete block to receive Boolean signal from bus"
extends Modelica.Icons.ObsoleteModel;
Modelica.Blocks.Interfaces.BooleanInput fromBus "To be connected with signal on bus" annotation (Placement(transformation(extent={{-120,-10},{-100,10}})));
Modelica.Blocks.Interfaces.BooleanOutput y "Output signal to be received from bus" annotation (Placement(transformation(extent={{100,-10},{120,10}})));
equation
y = fromBus;
annotation (Icon(coordinateSystem(preserveAspectRatio=true, extent={{-100,
-100},{100,100}}), graphics={Rectangle(
extent={{-100,40},{100,-40}},
lineColor={255,0,255},
fillColor={255,255,255},
fillPattern=FillPattern.Solid),Text(
extent={{-100,30},{100,-30}},
lineColor={255,0,255},
textString="receive"),Text(
extent={{-150,90},{150,50}},
textString="%name",
lineColor={0,0,255})}), Documentation(info="<html>
<p>
Obsolete block that was previously used to connect a Boolean signal
in a connector to an input of a block. This block is only provided for
backward compatibility.
</p>
<p>
It is much more convenient and more powerful to use \"expandable connectors\"
for signal buses, see example
<a href=\"modelica://Modelica.Blocks.Examples.BusUsage\">BusUsage</a>.
</p>
</html>"),
obsolete = "Obsolete block - use expandable connectors instead");
end ReceiveBoolean;
block ReceiveInteger "Obsolete block to receive Integer signal from bus"
extends Modelica.Icons.ObsoleteModel;
Modelica.Blocks.Interfaces.IntegerInput fromBus "To be connected with signal on bus" annotation (Placement(transformation(extent={{-120,-10},{-100,10}})));
Modelica.Blocks.Interfaces.IntegerOutput y "Output signal to be received from bus" annotation (Placement(transformation(extent={{100,-10},{120,10}})));
equation
y = fromBus;
annotation (Icon(coordinateSystem(preserveAspectRatio=true, extent={{-100,
-100},{100,100}}), graphics={Rectangle(
extent={{-100,40},{100,-40}},
lineColor={255,127,0},
fillColor={255,255,255},
fillPattern=FillPattern.Solid),Text(
extent={{-100,30},{100,-30}},
lineColor={255,127,0},
textString="receive"),Text(
extent={{-150,90},{150,50}},
textString="%name",
lineColor={0,0,255})}), Documentation(info="<html>
<p>
Obsolete block that was previously used to connect an Integer signal
in a connector to an input of a block. This block is only provided for
backward compatibility.
</p>
<p>
It is much more convenient and more powerful to use \"expandable connectors\"
for signal buses, see example
<a href=\"modelica://Modelica.Blocks.Examples.BusUsage\">BusUsage</a>.
</p>
</html>"),
obsolete = "Obsolete block - use expandable connectors instead");
end ReceiveInteger;
end Adaptors;
end Interfaces;
package Tables "Library of blocks to interpolate in one and two-dimensional tables"
extends Modelica.Icons.Package;
package Internal "Internal external object definitions for table functions that should not be directly utilized by the user"
extends Modelica.Icons.InternalPackage;
function readTimeTableData "Read table data from text or MATLAB MAT-file"
extends Modelica.Icons.Function;
extends Modelica.Icons.ObsoleteModel;
input Modelica.Blocks.Types.ExternalCombiTimeTable tableID "External table object";
input Boolean forceRead = false
"= true: Force reading of table data; = false: Only read, if not yet read.";
output Real readSuccess "Table read success";
input Boolean verboseRead = true
"= true: Print info message; = false: No info message";
external "C" readSuccess = ModelicaStandardTables_CombiTimeTable_read(tableID, forceRead, verboseRead)
annotation (IncludeDirectory="modelica://Modelica/Resources/C-Sources", Include="#include \"ModelicaStandardTables.h\"", Library={"ModelicaStandardTables", "ModelicaIO", "ModelicaMatIO", "zlib"});
annotation(__ModelicaAssociation_Impure=true);
end readTimeTableData;
function readTable1DData "Read table data from text or MATLAB MAT-file"
extends Modelica.Icons.Function;
extends Modelica.Icons.ObsoleteModel;
input Modelica.Blocks.Types.ExternalCombiTable1D tableID "External table object";
input Boolean forceRead = false
"= true: Force reading of table data; = false: Only read, if not yet read.";
input Boolean verboseRead = true
"= true: Print info message; = false: No info message";
output Real readSuccess "Table read success";
external "C" readSuccess = ModelicaStandardTables_CombiTable1D_read(tableID, forceRead, verboseRead)
annotation (IncludeDirectory="modelica://Modelica/Resources/C-Sources", Include="#include \"ModelicaStandardTables.h\"", Library={"ModelicaStandardTables", "ModelicaIO", "ModelicaMatIO", "zlib"});
annotation(__ModelicaAssociation_Impure=true);
end readTable1DData;
function readTable2DData "Read table data from text or MATLAB MAT-file"
extends Modelica.Icons.Function;
extends Modelica.Icons.ObsoleteModel;
input Modelica.Blocks.Types.ExternalCombiTable2D tableID "External table object";
input Boolean forceRead = false
"= true: Force reading of table data; = false: Only read, if not yet read.";
input Boolean verboseRead = true
"= true: Print info message; = false: No info message";
output Real readSuccess "Table read success";
external "C" readSuccess = ModelicaStandardTables_CombiTable2D_read(tableID, forceRead, verboseRead)
annotation (IncludeDirectory="modelica://Modelica/Resources/C-Sources", Include="#include \"ModelicaStandardTables.h\"", Library={"ModelicaStandardTables", "ModelicaIO", "ModelicaMatIO", "zlib"});
annotation(__ModelicaAssociation_Impure=true);
end readTable2DData;
end Internal;
end Tables;
end Blocks;
package Electrical "Library of electrical models (analog, digital, machines, polyphase)"
extends Modelica.Icons.Package;
package PowerConverters "Rectifiers, Inverters and DC/DC converters"
extends Modelica.Icons.Package;
package DCDC "DC to DC converters"
extends Modelica.Icons.Package;
package Control "Control components for DC to DC converters"
extends Modelica.Icons.Package;
block VoltageToDutyCycle "Obsolete block - use Modelica.Electrical.PowerConverters.DCDC.Control.Voltage2DutyCycle instead"
extends Modelica.Icons.ObsoleteModel;
parameter Boolean useBipolarVoltage = true
"Enables bipolar input voltage range";
parameter Boolean useConstantMaximumVoltage=true
"Enables constant maximum voltage";
parameter SI.Voltage vMax=0
"Maximum voltage range mapped to dutyCycle = 1"
annotation(Dialog(enable=useConstantMaximumVoltage));
Modelica.Blocks.Interfaces.RealInput v "Voltage" annotation (Placement(
transformation(extent={{-140,-20},{-100,20}}), iconTransformation(
extent={{-140,-20},{-100,20}})));
Modelica.Blocks.Interfaces.RealOutput dutyCycle "Duty cycle" annotation (
Placement(transformation(extent={{100,-10},{120,10}}), iconTransformation(
extent={{100,-10},{120,10}})));
Modelica.Blocks.Math.Division divisionUnipolar if not useBipolarVoltage
annotation (Placement(transformation(extent={{-40,20},{-20,40}})));
Modelica.Blocks.Math.Division divisionBipolar if useBipolarVoltage
annotation (Placement(transformation(extent={{-40,-40},{-20,-20}})));
Modelica.Blocks.Math.Add add(k1=0.5, k2=1) if useBipolarVoltage
annotation (Placement(transformation(extent={{0,-60},{20,-40}})));
Modelica.Blocks.Sources.Constant offset(final k=0.5) if useBipolarVoltage
"Offset of 0.5 in case of bipolar operation"
annotation (Placement(transformation(extent={{-40,-80},{-20,-60}})));
Modelica.Blocks.Interfaces.RealInput vMaxExt if not useConstantMaximumVoltage
"External maximum voltage" annotation (Placement(transformation(
extent={{-20,-20},{20,20}},
rotation=270,
origin={0,120}), iconTransformation(
extent={{-20,-20},{20,20}},
rotation=270,
origin={0,120})));
Modelica.Blocks.Sources.Constant vMaxConst(final k=vMax) if
useConstantMaximumVoltage "Offset of 0.5 in case of bipolar operation"
annotation (Placement(transformation(extent={{40,70},{20,90}})));
protected
Modelica.Blocks.Interfaces.RealInput vMaxInt "External maximum voltage"
annotation (Placement(transformation(
extent={{-4,-4},{4,4}},
rotation=180,
origin={0,80})));
equation
connect(divisionBipolar.y, add.u1) annotation (Line(points={{-19,-30},{-10,-30},
{-10,-44},{-2,-44}}, color={0,0,127}));
connect(offset.y, add.u2) annotation (Line(
points={{-19,-70},{-10,-70},{-10,-56},{-2,-56}}, color={0,0,127}));
connect(divisionUnipolar.y, dutyCycle) annotation (Line(points={{-19,30},{40,30},
{40,0},{110,0}}, color={0,0,127}));
connect(add.y, dutyCycle) annotation (Line(
points={{21,-50},{40,-50},{40,0},{110,0}}, color={0,0,127}));
connect(v, divisionUnipolar.u1) annotation (Line(points={{-120,0},{-80,0},{-80,
36},{-42,36}}, color={0,0,127}));
connect(v, divisionBipolar.u1) annotation (Line(points={{-120,0},{-80,0},{-80,
-24},{-42,-24}}, color={0,0,127}));
connect(vMaxExt, vMaxInt)
annotation (Line(points={{0,120},{0,80}}, color={0,0,127}));
connect(vMaxInt, divisionUnipolar.u2) annotation (Line(points={{0,80},{-60,80},
{-60,24},{-42,24}}, color={0,0,127}));
connect(vMaxInt, vMaxConst.y)
annotation (Line(points={{0,80},{19,80}}, color={0,0,127}));
connect(vMaxInt, divisionBipolar.u2) annotation (Line(points={{0,80},{-60,80},
{-60,-36},{-42,-36}}, color={0,0,127}));
annotation (obsolete="Obsolete block - use Modelica.Electrical.PowerConverters.DCDC.Control.Voltage2DutyCycle instead",
defaultComponentName="adaptor", Icon(graphics={
Rectangle(
extent={{-100,100},{100,-100}},
fillColor={255,255,255},
fillPattern=FillPattern.Solid),
Line(
points={{0,-60},{60,60}},
pattern=LinePattern.Dash),
Line(
points={{-60,-60},{60,60}}),
Polygon(
points={{-78,-60},{-76,-60},{62,-60},{62,-54},{82,-60},{62,-66},{62,-60},
{62,-60},{-78,-60}},
fillPattern=FillPattern.Solid),
Polygon(
points={{0,-80},{0,60},{-6,60},{0,80},{6,60},{0,60},{0,-80}},
fillPattern=FillPattern.Solid), Text(extent={{
-150,-120},{150,-160}}, textString = "%name", lineColor = {0, 0, 255})}),
Documentation(info="<html>
<p>
This model linearly transforms the input voltage signal into a duty cycle. For the unipolar case the input voltage range is between zero and <code>vMax</code>. In case of bipolar input the input voltage is in the range between <code>-vMax</code> and <code>vMax</code>.
</p>
<p>
Note: This block is replaced by the improved <a href=\"modelica://Modelica.Electrical.PowerConverters.DCDC.Control.Voltage2DutyCycle\">Voltage2DutyCycle</a> block.
</p>
</html>"));
end VoltageToDutyCycle;
end Control;
end DCDC;
annotation (Icon(graphics={
Line(
points={{-78,0},{80,0}},
color={95,95,95}),
Polygon(points={{36,0},{-34,50},{-34,-50},{36,0}}, lineColor={95,95,95}),
Line(
points={{36,50},{36,-52}},
color={95,95,95})}));
end PowerConverters;
package QuasiStationary "Library for quasi-stationary electrical singlephase and multiphase AC simulation"
extends Modelica.Icons.Package;
package SinglePhase "Single phase AC library"
extends Modelica.Icons.Package;
package Interfaces "Interfaces"
extends Modelica.Icons.InterfacesPackage;
partial model RelativeSensor "Obsolete model - use Modelica.Electrical.QuasiStatic.SinglePhase.Interfaces.RelativeSensorElementary instead"
extends Modelica.Icons.ObsoleteModel;
extends Modelica.Icons.RoundSensor;
extends Modelica.Electrical.QuasiStatic.SinglePhase.Interfaces.OnePort;
Modelica.ComplexBlocks.Interfaces.ComplexOutput y annotation (Placement(
transformation(
origin={0,-110},
extent={{-10,-10},{10,10}},
rotation=270)));
annotation (obsolete="Obsolete block - use Modelica.Electrical.QuasiStatic.SinglePhase.Interfaces.RelativeSensorElementary instead",
Icon(graphics={
Line(points={{-70,0},{-94,0}}, color={85,170,255}),
Line(points={{70,0},{94,0}}, color={85,170,255}),
Text(
extent={{-160,120},{160,80}},
lineColor={0,0,255},
textString="%name"),
Line(points={{0,-70},{0,-80},{0,-90},{0,-100}})}),
Documentation(info="<html>
<p>
The relative sensor partial model relies on the
<a href=\"modelica://Modelica.Electrical.QuasiStatic.SinglePhase.Interfaces.OnePort\">OnePort</a> to measure the complex voltage or current. Additionally this model contains a proper icon and a definition of the angular velocity.
</p>
<h4>See also</h4>
<p>
<a href=\"modelica://Modelica.Electrical.QuasiStatic.SinglePhase.Interfaces.AbsoluteSensor\">AbsoluteSensor</a>,
<a href=\"modelica://Modelica.Electrical.QuasiStatic.SinglePhase.Sensors.VoltageSensor\">VoltageSensor</a>,
<a href=\"modelica://Modelica.Electrical.QuasiStatic.SinglePhase.Sensors.CurrentSensor\">CurrentSensor</a>,
<a href=\"modelica://Modelica.Electrical.QuasiStatic.SinglePhase.Sensors.PowerSensor\">PowerSensor</a>,
<a href=\"modelica://Modelica.Electrical.QuasiStatic.Polyphase.Interfaces.AbsoluteSensor\">Polyphase.Interfaces.AbsoluteSensor</a>,
<a href=\"modelica://Modelica.Electrical.QuasiStatic.Polyphase.Interfaces.RelativeSensorElementary\">Polyphase.Interfaces.RelativeSensorElementary</a>
</p>
</html>"));
end RelativeSensor;
end Interfaces;
end SinglePhase;
package MultiPhase "Polyphase AC library"
extends Modelica.Icons.Package;
package Interfaces "Interfaces"
extends Modelica.Icons.InterfacesPackage;
partial model RelativeSensor "Obsolete model - use Modelica.Electrical.QuasiStatic.Polyphase.Interfaces.RelativeSensorElementary instead"
extends Modelica.Icons.ObsoleteModel;
extends Modelica.Icons.RoundSensor;
extends Modelica.Electrical.QuasiStatic.Polyphase.Interfaces.TwoPlug;
Modelica.ComplexBlocks.Interfaces.ComplexOutput y[m] annotation (
Placement(transformation(
origin={0,-110},
extent={{-10,-10},{10,10}},
rotation=270)));
annotation (obsolete="Obsolete block - use Modelica.Electrical.QuasiStatic.Polyphase.Interfaces.RelativeSensorElementary instead",
Icon(graphics={
Line(points={{-70,0},{-94,0}}, color={85,170,255}),
Line(points={{70,0},{94,0}}, color={85,170,255}),
Line(points={{0,-70},{0,-80},{0,-90},{0,-100}}, color={85,170,255}),
Text(
extent={{150,-100},{-150,-70}},
textString="m=%m"),
Text(
lineColor={0,0,255},
extent={{-150,80},{150,120}},
textString="%name")}), Documentation(info="<html>
<p>
The relative sensor partial model relies on the
<a href=\"modelica://Modelica.Electrical.QuasiStatic.Polyphase.Interfaces.TwoPlug\">TwoPlug</a> to measure the complex voltages and currents. Additionally this model contains a proper icon and a definition of the angular velocity.
</p>
<h4>See also</h4>
<p>
<a href=\"modelica://Modelica.Electrical.QuasiStatic.Polyphase.Interfaces.AbsoluteSensor\">AbsoluteSensor</a>,
<a href=\"modelica://Modelica.Electrical.QuasiStatic.SinglePhase.Interfaces.AbsoluteSensor\">SinglePhase.Interfaces.AbsoluteSensor</a>,
<a href=\"modelica://Modelica.Electrical.QuasiStatic.SinglePhase.Interfaces.RelativeSensorElementary\">SinglePhase.Interfaces.RelativeSensorElementary</a>
</p>
</html>"));
end RelativeSensor;
end Interfaces;
end MultiPhase;
end QuasiStationary;
annotation (Icon(graphics={
Rectangle(
origin={20.3125,82.8571},
extent={{-45.3125,-57.8571},{4.6875,-27.8571}}),
Line(
origin={7.0,50.0},
points={{18.0,-10.0},{53.0,-10.0},{53.0,-45.0}}),
Line(
origin={9.0,54.0},
points={{31.0,-49.0},{71.0,-49.0}}),
Line(
origin={8.0,48.0},
points={{32.0,-58.0},{72.0,-58.0}}),
Line(
origin={6.2593,48.0},
points={{53.7407,-58.0},{53.7407,-93.0},{-66.2593,-93.0},{-66.2593,-58.0}}),
Line(
origin={-3.0,45.0},
points={{-72.0,-55.0},{-42.0,-55.0}}),
Line(
origin={-2.0,55.0},
points={{-83.0,-50.0},{-33.0,-50.0}}),
Line(
origin={1.0,50.0},
points={{-61.0,-45.0},{-61.0,-10.0},{-26.0,-10.0}})}));
end Electrical;
package Mechanics "Library of 1-dim. and 3-dim. mechanical components (multi-body, rotational, translational)"
extends Modelica.Icons.Package;
package MultiBody "Library to model 3-dimensional mechanical systems"
extends Modelica.Icons.Package;
package Joints "Components that constrain the motion between two frames"
extends Modelica.Icons.Package;
model Prismatic "Prismatic joint (1 translational degree-of-freedom, 2 potential states, optional axis flange, optional distance offset)"
extends Modelica.Icons.ObsoleteModel;
extends Modelica.Mechanics.MultiBody.Interfaces.PartialElementaryJoint;
Modelica.Mechanics.Translational.Interfaces.Flange_a axis if useAxisFlange
"1-dim. translational flange that drives the joint"
annotation (Placement(transformation(extent={{90,50},{70,70}})));
Modelica.Mechanics.Translational.Interfaces.Flange_b support if useAxisFlange
"1-dim. translational flange of the drive support (assumed to be fixed in the world frame, NOT in the joint)"
annotation (Placement(transformation(extent={{-30,50},{-50,70}})));
parameter Boolean useAxisFlange=false "= true, if axis flange is enabled"
annotation(Evaluate=true, HideResult=true, choices(checkBox=true));
parameter Boolean animation=true "= true, if animation shall be enabled";
parameter Modelica.Mechanics.MultiBody.Types.Axis n={1,0,0}
"Axis of translation resolved in frame_a (= same as in frame_b)"
annotation (Evaluate=true);
parameter SI.Position s_offset=0
"Relative distance offset (distance between frame_a and frame_b = s_offset + s)";
parameter Modelica.Mechanics.MultiBody.Types.Axis boxWidthDirection={0,1,0}
"Vector in width direction of box, resolved in frame_a"
annotation (Evaluate=true, Dialog(tab="Animation", group=
"if animation = true", enable=animation));
parameter SI.Distance boxWidth=world.defaultJointWidth
"Width of prismatic joint box"
annotation (Dialog(tab="Animation", group="if animation = true", enable=animation));
parameter SI.Distance boxHeight=boxWidth "Height of prismatic joint box"
annotation (Dialog(tab="Animation", group="if animation = true", enable=animation));
input Modelica.Mechanics.MultiBody.Types.Color boxColor=Modelica.Mechanics.MultiBody.Types.Defaults.JointColor
"Color of prismatic joint box"
annotation (Dialog(colorSelector=true, tab="Animation", group="if animation = true", enable=animation));
input Modelica.Mechanics.MultiBody.Types.SpecularCoefficient specularCoefficient = world.defaultSpecularCoefficient
"Reflection of ambient light (= 0: light is completely absorbed)"
annotation (Dialog(tab="Animation", group="if animation = true", enable=animation));
parameter StateSelect stateSelect=StateSelect.prefer
"Priority to use distance s and v=der(s) as states" annotation(Dialog(tab="Advanced"));
final parameter Real e[3](each final unit="1")=
Modelica.Math.Vectors.normalizeWithAssert(n)
"Unit vector in direction of prismatic axis n";
SI.Position s(start=0, final stateSelect=stateSelect)
"Relative distance between frame_a and frame_b"
annotation (unassignedMessage="
The relative distance s of a prismatic joint cannot be determined.
Possible reasons:
- A non-zero mass might be missing on either side of the parts
connected to the prismatic joint.
- Too many StateSelect.always are defined and the model
has less degrees of freedom as specified with this setting
(remove all StateSelect.always settings).
");
SI.Velocity v(start=0,final stateSelect=stateSelect)
"First derivative of s (relative velocity)";
SI.Acceleration a(start=0) "Second derivative of s (relative acceleration)";
SI.Force f "Actuation force in direction of joint axis";
protected
Modelica.Mechanics.MultiBody.Visualizers.Advanced.Shape box(
shapeType="box",
color=boxColor,
specularCoefficient=specularCoefficient,
length=if noEvent(abs(s + s_offset) > 1.e-6) then s + s_offset else 1.e-6,
width=boxWidth,
height=boxHeight,
lengthDirection=e,
widthDirection=boxWidthDirection,
r=frame_a.r_0,
R=frame_a.R) if world.enableAnimation and animation;
Modelica.Mechanics.Translational.Components.Fixed fixed
annotation (Placement(transformation(extent={{-50,30},{-30,50}})));
Modelica.Mechanics.Translational.Interfaces.InternalSupport internalAxis(f = f)
annotation (Placement(transformation(extent={{70,50},{90,30}})));
Modelica.Mechanics.Translational.Sources.ConstantForce constantForce(f_constant=0) if not useAxisFlange
annotation (Placement(transformation(extent={{40,30},{60,50}})));
equation
v = der(s);
a = der(v);
// relationships between kinematic quantities of frame_a and of frame_b
frame_b.r_0 = frame_a.r_0 + Modelica.Mechanics.MultiBody.Frames.resolve1(frame_a.R, e*(s_offset + s));
frame_b.R = frame_a.R;
// Force and torque balance
zeros(3) = frame_a.f + frame_b.f;
zeros(3) = frame_a.t + frame_b.t + cross(e*(s_offset + s), frame_b.f);
// d'Alemberts principle
f = -e*frame_b.f;
// Connection to internal connectors
s = internalAxis.s;
connect(fixed.flange, support) annotation (Line(
points={{-40,40},{-40,60}}, color={0,127,0}));
connect(internalAxis.flange, axis) annotation (Line(
points={{80,40},{80,60}}, color={0,127,0}));
connect(constantForce.flange, internalAxis.flange) annotation (Line(
points={{60,40},{80,40}}, color={0,127,0}));
annotation (obsolete = "Obsolete model - use Modelica.Mechanics.MultiBody.Joints.Prismatic instead",
Icon(coordinateSystem(
preserveAspectRatio=true,
extent={{-100,-100},{100,100}}), graphics={
Rectangle(
extent={{-100,-50},{-30,41}},
pattern=LinePattern.None,
fillColor={192,192,192},
fillPattern=FillPattern.Solid,
lineColor={0,0,255}),
Rectangle(
extent={{-100,40},{-30,50}},
pattern=LinePattern.None,
fillPattern=FillPattern.Solid,
lineColor={0,0,255}),
Rectangle(
extent={{-30,-30},{100,20}},
pattern=LinePattern.None,
fillColor={192,192,192},
fillPattern=FillPattern.Solid,
lineColor={0,0,255}),
Rectangle(
extent={{-30,20},{100,30}},
pattern=LinePattern.None,
fillPattern=FillPattern.Solid,
lineColor={0,0,255}),
Line(points={{-30,-50},{-30,50}}),
Line(points={{100,-30},{100,21}}),
Text(
extent={{60,12},{96,-13}},
lineColor={128,128,128},
textString="b"),
Text(
extent={{-95,13},{-60,-9}},
lineColor={128,128,128},
textString="a"),
Text(
visible=useAxisFlange,
extent={{-150,-135},{150,-95}},
textString="%name",
lineColor={0,0,255}),
Text(
extent={{-150,-90},{150,-60}},
textString="n=%n"),
Rectangle(
visible=useAxisFlange,
extent={{90,30},{100,70}},
pattern=LinePattern.None,
fillColor={192,192,192},
fillPattern=FillPattern.Solid,
lineColor={0,0,255}),
Text(
visible=not useAxisFlange,
extent={{-150,60},{150,100}},
textString="%name",
lineColor={0,0,255})}),
Documentation(info="<html>
<p>
Joint where frame_b is translated along axis n which is fixed in frame_a.
The two frames coincide when the relative distance \"s = 0\".
</p>
<p>
Optionally, two additional 1-dimensional mechanical flanges
(flange \"axis\" represents the driving flange and
flange \"support\" represents the bearing) can be enabled via
parameter <strong>useAxisFlange</strong>. The enabled axis flange can be
driven with elements of the
<a href=\"modelica://Modelica.Mechanics.Translational\">Modelica.Mechanics.Translational</a>
library.
</p>
<p>
In the \"Advanced\" menu it can be defined via parameter <strong>stateSelect</strong>
that the relative distance \"s\" and its derivative shall be definitely
used as states by setting stateSelect=StateSelect.always.
Default is StateSelect.prefer to use the relative distance and its
derivative as preferred states. The states are usually selected automatically.
In certain situations, especially when closed kinematic loops are present,
it might be slightly more efficient, when using the StateSelect.always setting.
</p>
<p>
In the following figure the animation of a prismatic
joint is shown. The light blue coordinate system is
frame_a and the dark blue coordinate system is
frame_b of the joint. The black arrow is parameter
vector \"n\" defining the translation axis
(here: n = {1,1,0}).
</p>
<p>
<img src=\"modelica://Modelica/Resources/Images/Mechanics/MultiBody/Joints/Prismatic.png\">
</p>
</html>"));
end Prismatic;
model Revolute "Revolute joint (1 rotational degree-of-freedom, 2 potential states, optional axis flange, optional angle offset)"
extends Modelica.Icons.ObsoleteModel;
Modelica.Mechanics.Rotational.Interfaces.Flange_a axis if useAxisFlange
"1-dim. rotational flange that drives the joint"
annotation (Placement(transformation(extent={{10,90},{-10,110}})));
Modelica.Mechanics.Rotational.Interfaces.Flange_b support if useAxisFlange
"1-dim. rotational flange of the drive support (assumed to be fixed in the world frame, NOT in the joint)"
annotation (Placement(transformation(extent={{-70,90},{-50,110}})));
Modelica.Mechanics.MultiBody.Interfaces.Frame_a frame_a
"Coordinate system fixed to the joint with one cut-force and cut-torque"
annotation (Placement(transformation(extent={{-116,-16},{-84,16}})));
Modelica.Mechanics.MultiBody.Interfaces.Frame_b frame_b
"Coordinate system fixed to the joint with one cut-force and cut-torque"
annotation (Placement(transformation(extent={{84,-16},{116,16}})));
parameter Boolean useAxisFlange=false "= true, if axis flange is enabled"
annotation(Evaluate=true, HideResult=true, choices(checkBox=true));
parameter Boolean animation=true
"= true, if animation shall be enabled (show axis as cylinder)";
parameter Modelica.Mechanics.MultiBody.Types.Axis n={0,0,1}
"Axis of rotation resolved in frame_a (= same as in frame_b)"
annotation (Evaluate=true);
parameter SI.Angle phi_offset=0
"Relative angle offset (angle = phi_offset + phi)";
parameter SI.Distance cylinderLength=world.defaultJointLength
"Length of cylinder representing the joint axis"
annotation (Dialog(tab="Animation", group="if animation = true", enable=animation));
parameter SI.Distance cylinderDiameter=world.defaultJointWidth
"Diameter of cylinder representing the joint axis"
annotation (Dialog(tab="Animation", group="if animation = true", enable=animation));
input Modelica.Mechanics.MultiBody.Types.Color cylinderColor=Modelica.Mechanics.MultiBody.Types.Defaults.JointColor
"Color of cylinder representing the joint axis"
annotation (Dialog(colorSelector=true, tab="Animation", group="if animation = true", enable=animation));
input Modelica.Mechanics.MultiBody.Types.SpecularCoefficient
specularCoefficient = world.defaultSpecularCoefficient
"Reflection of ambient light (= 0: light is completely absorbed)"
annotation (Dialog(tab="Animation", group="if animation = true", enable=animation));
parameter StateSelect stateSelect=StateSelect.prefer
"Priority to use joint angle phi and w=der(phi) as states" annotation(Dialog(tab="Advanced"));
SI.Angle phi(start=0, final stateSelect=stateSelect)
"Relative rotation angle from frame_a to frame_b"
annotation (unassignedMessage="
The rotation angle phi of a revolute joint cannot be determined.
Possible reasons:
- A non-zero mass might be missing on either side of the parts
connected to the revolute joint.
- Too many StateSelect.always are defined and the model
has less degrees of freedom as specified with this setting
(remove all StateSelect.always settings).
");
SI.AngularVelocity w(start=0, stateSelect=stateSelect)
"First derivative of angle phi (relative angular velocity)";
SI.AngularAcceleration a(start=0)
"Second derivative of angle phi (relative angular acceleration)";
SI.Torque tau "Driving torque in direction of axis of rotation";
SI.Angle angle "= phi_offset + phi";
protected
outer Modelica.Mechanics.MultiBody.World world;
parameter Real e[3](each final unit="1")=Modelica.Math.Vectors.normalizeWithAssert(n)
"Unit vector in direction of rotation axis, resolved in frame_a (= same as in frame_b)";
Modelica.Mechanics.MultiBody.Frames.Orientation R_rel
"Relative orientation object from frame_a to frame_b or from frame_b to frame_a";
Modelica.Mechanics.MultiBody.Visualizers.Advanced.Shape cylinder(
shapeType="cylinder",
color=cylinderColor,
specularCoefficient=specularCoefficient,
length=cylinderLength,
width=cylinderDiameter,
height=cylinderDiameter,
lengthDirection=e,
widthDirection={0,1,0},
r_shape=-e*(cylinderLength/2),
r=frame_a.r_0,
R=frame_a.R) if world.enableAnimation and animation;
protected
Modelica.Mechanics.Rotational.Components.Fixed fixed
"support flange is fixed to ground"
annotation (Placement(transformation(extent={{-70,70},{-50,90}})));
Modelica.Mechanics.Rotational.Interfaces.InternalSupport internalAxis(tau=tau)
annotation (Placement(transformation(extent={{-10,90},{10,70}})));
Modelica.Mechanics.Rotational.Sources.ConstantTorque constantTorque(tau_constant=0) if not useAxisFlange
annotation (Placement(transformation(extent={{40,70},{20,90}})));
equation
Connections.branch(frame_a.R, frame_b.R);
assert(cardinality(frame_a) > 0,
"Connector frame_a of revolute joint is not connected");
assert(cardinality(frame_b) > 0,
"Connector frame_b of revolute joint is not connected");
angle = phi_offset + phi;
w = der(phi);
a = der(w);
// relationships between quantities of frame_a and of frame_b
frame_b.r_0 = frame_a.r_0;
if Connections.rooted(frame_a.R) then
R_rel = Modelica.Mechanics.MultiBody.Frames.planarRotation(e, phi_offset + phi, w);
frame_b.R = Modelica.Mechanics.MultiBody.Frames.absoluteRotation(frame_a.R, R_rel);
frame_a.f = -Modelica.Mechanics.MultiBody.Frames.resolve1(R_rel, frame_b.f);
frame_a.t = -Modelica.Mechanics.MultiBody.Frames.resolve1(R_rel, frame_b.t);
else
R_rel = Modelica.Mechanics.MultiBody.Frames.planarRotation(-e, phi_offset + phi, w);
frame_a.R = Modelica.Mechanics.MultiBody.Frames.absoluteRotation(frame_b.R, R_rel);
frame_b.f = -Modelica.Mechanics.MultiBody.Frames.resolve1(R_rel, frame_a.f);
frame_b.t = -Modelica.Mechanics.MultiBody.Frames.resolve1(R_rel, frame_a.t);
end if;
// d'Alemberts principle
tau = -frame_b.t*e;
// Connection to internal connectors
phi = internalAxis.phi;
connect(fixed.flange, support) annotation (Line(
points={{-60,80},{-60,100}}));
connect(internalAxis.flange, axis) annotation (Line(
points={{0,80},{0,100}}));
connect(constantTorque.flange, internalAxis.flange) annotation (Line(
points={{20,80},{0,80}}));
annotation (obsolete = "Obsolete model - use Modelica.Mechanics.MultiBody.Joints.Revolute instead",
Icon(coordinateSystem(
preserveAspectRatio=true,
extent={{-100,-100},{100,100}}), graphics={
Rectangle(
extent={{-100,-60},{-30,60}},
lineColor={64,64,64},
fillPattern=FillPattern.HorizontalCylinder,
fillColor={255,255,255},
radius=10),
Rectangle(
extent={{30,-60},{100,60}},
lineColor={64,64,64},
fillPattern=FillPattern.HorizontalCylinder,
fillColor={255,255,255},
radius=10),
Rectangle(extent={{-100,60},{-30,-60}}, lineColor={64,64,64}, radius=10),
Rectangle(extent={{30,60},{100,-60}}, lineColor={64,64,64}, radius=10),
Text(
extent={{-90,14},{-54,-11}},
lineColor={128,128,128},
textString="a"),
Text(
extent={{51,11},{87,-14}},
lineColor={128,128,128},
textString="b"),
Line(
visible=useAxisFlange,
points={{-20,80},{-20,60}}),
Line(
visible=useAxisFlange,
points={{20,80},{20,60}}),
Rectangle(
visible=useAxisFlange,
extent={{-10,100},{10,50}},
fillPattern=FillPattern.VerticalCylinder,
fillColor={192,192,192}),
Polygon(
visible=useAxisFlange,
points={{-10,30},{10,30},{30,50},{-30,50},{-10,30}},
lineColor={64,64,64},
fillColor={192,192,192},
fillPattern=FillPattern.Solid),
Rectangle(
extent={{-30,11},{30,-10}},
lineColor={64,64,64},
fillColor={192,192,192},
fillPattern=FillPattern.Solid),
Polygon(
visible=useAxisFlange,
points={{10,30},{30,50},{30,-50},{10,-30},{10,30}},
lineColor={64,64,64},
fillColor={192,192,192},
fillPattern=FillPattern.Solid),
Text(
extent={{-150,-110},{150,-80}},
textString="n=%n"),
Text(
visible=useAxisFlange,
extent={{-150,-155},{150,-115}},
textString="%name",
lineColor={0,0,255}),
Line(
visible=useAxisFlange,
points={{-20,70},{-60,70},{-60,60}}),
Line(
visible=useAxisFlange,
points={{20,70},{50,70},{50,60}}),
Line(
visible=useAxisFlange,
points={{-90,100},{-30,100}}),
Line(
visible=useAxisFlange,
points={{-30,100},{-50,80}}),
Line(
visible=useAxisFlange,
points={{-49,100},{-70,80}}),
Line(
visible=useAxisFlange,
points={{-70,100},{-90,80}}),
Text(
visible=not useAxisFlange,
extent={{-150,70},{150,110}},
textString="%name",
lineColor={0,0,255})}),
Documentation(info="<html>
<p>
Joint where frame_b rotates around axis n which is fixed in frame_a.
The two frames coincide when the rotation angle \"phi = 0\".
</p>
<p>
Optionally, two additional 1-dimensional mechanical flanges
(flange \"axis\" represents the driving flange and
flange \"support\" represents the bearing) can be enabled via
parameter <strong>useAxisFlange</strong>. The enabled axis flange can be
driven with elements of the
<a href=\"modelica://Modelica.Mechanics.Rotational\">Modelica.Mechanics.Rotational</a>
library.
</p>
<p>
In the \"Advanced\" menu it can be defined via parameter <strong>stateSelect</strong>
that the rotation angle \"phi\" and its derivative shall be definitely
used as states by setting stateSelect=StateSelect.always.
Default is StateSelect.prefer to use the joint angle and its
derivative as preferred states. The states are usually selected automatically.
In certain situations, especially when closed kinematic loops are present,
it might be slightly more efficient, when using the StateSelect.always setting.
</p>
<p>
If a <strong>planar loop</strong> is present, e.g., consisting of 4 revolute joints
where the joint axes are all parallel to each other, then there is no
longer a unique mathematical solution and the symbolic algorithms will
fail. Usually, an error message will be printed pointing out this
situation. In this case, one revolute joint of the loop has to be replaced
by a Joints.RevolutePlanarLoopConstraint joint. The
effect is that from the 5 constraints of a usual revolute joint,
3 constraints are removed and replaced by appropriate known
variables (e.g., the force in the direction of the axis of rotation is
treated as known with value equal to zero; for standard revolute joints,
this force is an unknown quantity).
</p>
<p>
In the following figure the animation of a revolute
joint is shown. The light blue coordinate system is
frame_a and the dark blue coordinate system is
frame_b of the joint. The black arrow is parameter
vector \"n\" defining the translation axis
(here: n = {0,0,1}, phi.start = 45<sup>o</sup>).
</p>
<p>
<img src=\"modelica://Modelica/Resources/Images/Mechanics/MultiBody/Joints/Revolute.png\">
</p>
</html>"));
end Revolute;
end Joints;
package Visualizers "3-dimensional visual objects used for animation"
extends Modelica.Icons.Package;
model Ground "Visualizing the ground (box in z=0)"
extends Modelica.Icons.ObsoleteModel;
parameter Boolean animation=true
"= true, if animation of ground shall be enabled";
parameter SI.Position length = 10
"Length and width of box (center is at x=y=0)" annotation (Dialog(enable=animation));
parameter SI.Position height = 0.02
"Height of box (upper surface is at z=0, lower surface is at z=-height)" annotation (Dialog(enable=animation));
parameter Modelica.Mechanics.MultiBody.Types.Color groundColor={0,255,0}
"Color of box" annotation (Dialog(colorSelector=true, enable=animation));
Modelica.Mechanics.MultiBody.Visualizers.FixedShape ground(
lengthDirection={1,0,0},
widthDirection={0,1,0},
animation=animation,
r_shape={-length/2,0,-height},
length=length,
height=height,
color=groundColor,
width=length)
annotation (Placement(transformation(extent={{-20,0},{0,20}})));
Modelica.Mechanics.MultiBody.Parts.Fixed fixed
annotation (Placement(transformation(extent={{-60,0},{-40,20}})));
equation
connect(fixed.frame_b, ground.frame_a) annotation (Line(
points={{-40,10},{-20,10}},
color={95,95,95},
thickness=0.5));
annotation (
obsolete = "Obsolete model - use ground visualization feature in Modelica.Mechanics.MultiBody.World, or use model Modelica.Mechanics.MultiBody.Visualizers.Rectangle instead",
Icon(
coordinateSystem(preserveAspectRatio = true, extent = {{-100, -100}, {100, 100}}),
graphics = {
Polygon(lineColor = {255, 255, 255}, fillColor = {126, 181, 78}, fillPattern = FillPattern.Solid, points = {{-100, -30}, {20, -90}, {100, 0}, {-10, 40}}),
Text(lineColor = {64, 64, 64}, extent = {{20, 70}, {60, 100}}, textString = "z", horizontalAlignment = TextAlignment.Left),
Polygon(lineColor = {255, 255, 255}, fillColor = {14, 111, 1}, fillPattern = FillPattern.Solid, points = {{100, -10}, {20, -100}, {20, -90}, {100, 0}}),
Polygon(lineColor = {255, 255, 255}, fillColor = {14, 111, 1}, fillPattern = FillPattern.Solid, points = {{-100, -40}, {20, -100}, {20, -90}, {-100, -30}}), Line(origin = {6, -8}, points={{-6,-10},{-6,108}}),
Polygon(origin = {6, 0}, points={{-6,102},{-14,72},{2,72},{-6,102}}, fillPattern=FillPattern.Solid),
Text(lineColor = {0,0,255}, extent = {{-150, -145}, {150, -105}}, textString = "%name")}),
Documentation(info = "<html>
<p>
This shape visualizes the x-y plane by a box.
</p>