ABSAssembly Icon

`Examples.ABSAssembly`

ABSAssembly(; name, mass, g_acc, R, v0, target_slip, dt_sample)

Anti-lock Braking System assembly with discrete-time controller and continuous vehicle dynamics.

Parameters

mass: Vehicle mass in kg (default: 75)
g_acc: Gravitational acceleration in m/s² (default: 9.81)
R: Wheel radius in m (default: 1.25)
v0: Initial velocity in m/s (default: 70)
target_slip: Target wheel slip ratio (default: 0.2)
dt_sample: Controller sampling period in s (default: 0.1)

Connectors

TrueOmega: Actual wheel angular velocity output
NoSlipOmega: Theoretical no-slip angular velocity output

Description

Complete ABS system combining:

Continuous vehicle dynamics with friction and wheel slip
Discrete-time bang-bang controller (sampled at dt_sample)
Hydraulic actuator for brake torque generation
Slip error feedback control targeting optimal slip ratio

The controller samples the slip error at regular intervals, applies bang-bang control logic, and outputs a held control signal to the hydraulic actuator.

Usage

PrimitiveComponents.Examples.ABSAssembly(mass=75, g_acc=9.81, R=1.25, v0=70, target_slip=0.2, dt_sample=0.1)

Parameters:

Name	Units	Default value
`mass`	kg	75
`g_acc`	m/s2	9.81
`R`	m	1.25
`v0`	m/s	70
`target_slip`	–	0.2
`dt_sample`	–	0.1

Connectors

TrueOmega - This connector represents a real signal as an output from a component (RealOutput)
NoSlipOmega - This connector represents a real signal as an output from a component (RealOutput)

Behavior

Behavior of this component cannot be rendered because it includes path variables.

Source

"""
    ABSAssembly(; name, mass, g_acc, R, v0, target_slip, dt_sample)

Anti-lock Braking System assembly with discrete-time controller and continuous vehicle dynamics.

# Parameters
- `mass`: Vehicle mass in kg (default: 75)
- `g_acc`: Gravitational acceleration in m/s² (default: 9.81)
- `R`: Wheel radius in m (default: 1.25)
- `v0`: Initial velocity in m/s (default: 70)
- `target_slip`: Target wheel slip ratio (default: 0.2)
- `dt_sample`: Controller sampling period in s (default: 0.1)

# Connectors
- `TrueOmega`: Actual wheel angular velocity output
- `NoSlipOmega`: Theoretical no-slip angular velocity output

# Description
Complete ABS system combining:
- Continuous vehicle dynamics with friction and wheel slip
- Discrete-time bang-bang controller (sampled at dt_sample)
- Hydraulic actuator for brake torque generation
- Slip error feedback control targeting optimal slip ratio

The controller samples the slip error at regular intervals, applies
bang-bang control logic, and outputs a held control signal to the
hydraulic actuator.
"""
component ABSAssembly
  TrueOmega = Dyad.RealOutput() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 690, "y1": 250, "x2": 750, "y2": 310, "rot": 0}
      },
      "tags": []
    }
  }
  NoSlipOmega = Dyad.RealOutput() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 690, "y1": 380, "x2": 750, "y2": 440, "rot": 0}
      },
      "tags": []
    }
  }
  vehicle = PrimitiveComponents.Examples.VehicleDynamics(mass = 75, g_acc = 9.81, R = 1.25, v0 = 70) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 400, "y1": 260, "x2": 570, "y2": 430, "rot": 0}
      },
      "tags": []
    }
  }
  wheel_slip_des = BlockComponents.Constant(k = target_slip) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 426, "y1": 20, "x2": 526, "y2": 120, "rot": 0}
      },
      "tags": []
    }
  }
  sub1 = BlockComponents.Add(k1 = 1, k2 = -1) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 640, "y1": 50, "x2": 740, "y2": 150, "rot": 0}
      },
      "tags": []
    }
  }
  sampler = PrimitiveComponents.DiscretePrimitives.Sampler() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 820, "y1": 50, "x2": 920, "y2": 150, "rot": 0}
      },
      "tags": []
    }
  }
  binaryC = PrimitiveComponents.Examples.BinaryController() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 31, "y1": 227, "x2": 131, "y2": 327, "rot": 0}
      },
      "tags": []
    }
  }
  periodicclock = PrimitiveComponents.DiscretePrimitives.PeriodicClock(dt = 0.1, offset = 0) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 250, "y1": 160, "x2": 330, "y2": 240, "rot": 0}
      },
      "tags": []
    }
  }
  zeroorderhold = PrimitiveComponents.DiscretePrimitives.ZeroOrderHold(initial_condition = 0) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 170, "y1": 390, "x2": 270, "y2": 490, "rot": 0}
      },
      "tags": []
    }
  }
  hydraulicactuator = PrimitiveComponents.Examples.HydraulicActuator() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 286, "y1": 415, "x2": 386, "y2": 515, "rot": 0}
      },
      "tags": []
    }
  }
  parameter mass::Mass = 75
  parameter g_acc::Acceleration = 9.81
  parameter R::Length = 1.25
  parameter v0::Velocity = 70
  parameter target_slip::Real = 0.2
  parameter dt_sample::Real = 0.1
relations
  initial hydraulicactuator.y = 0.0
  connect(wheel_slip_des.y, sub1.u1) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(sub1.y, sampler.u) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(sampler.y, binaryC.u) {
    "Dyad": {
      "edges": [
        {
          "S": 1,
          "M": [
            {"x": 960, "y": 100},
            {"x": 960, "y": 565},
            {"x": 20, "y": 565},
            {"x": 20, "y": 277}
          ],
          "E": 2
        }
      ],
      "renderStyle": "standard"
    }
  }
  connect(binaryC.y, zeroorderhold.u) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 150, "y": 277}, {"x": 150, "y": 440}], "E": 2}],
      "renderStyle": "standard"
    }
  }
  connect(periodicclock.y, binaryC.y) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 147, "y": 200}, {"x": 147, "y": 277}], "E": 2}],
      "renderStyle": "standard"
    }
  }
  connect(zeroorderhold.y, hydraulicactuator.u) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 268, "y": 440}, {"x": 268, "y": 442}], "E": 2}],
      "renderStyle": "standard"
    }
  }
  connect(hydraulicactuator.y, vehicle.brake_torque) {
    "Dyad": {
      "renderStyle": "standard",
      "edges": [{"S": 1, "M": [{"x": 348, "y": 345}], "E": 2}]
    }
  }
  connect(vehicle.TrueOmega, TrueOmega) {
    "Dyad": {
      "renderStyle": "standard",
      "edges": [{"S": 1, "M": [{"x": 720, "y": 280.4}], "E": 2}]
    }
  }
  connect(vehicle.wheel_slip, sub1.u2) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 610, "y": 345}, {"x": 610, "y": 130}], "E": 2}],
      "renderStyle": "standard"
    }
  }
  connect(vehicle.NoSlipOmega, NoSlipOmega) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 720, "y": 406.2}], "E": 2}],
      "renderStyle": "standard"
    }
  }
metadata {"Dyad": {"doc": {"behavior": false}}}
end

Flattened Source

"""
    ABSAssembly(; name, mass, g_acc, R, v0, target_slip, dt_sample)

Anti-lock Braking System assembly with discrete-time controller and continuous vehicle dynamics.

# Parameters
- `mass`: Vehicle mass in kg (default: 75)
- `g_acc`: Gravitational acceleration in m/s² (default: 9.81)
- `R`: Wheel radius in m (default: 1.25)
- `v0`: Initial velocity in m/s (default: 70)
- `target_slip`: Target wheel slip ratio (default: 0.2)
- `dt_sample`: Controller sampling period in s (default: 0.1)

# Connectors
- `TrueOmega`: Actual wheel angular velocity output
- `NoSlipOmega`: Theoretical no-slip angular velocity output

# Description
Complete ABS system combining:
- Continuous vehicle dynamics with friction and wheel slip
- Discrete-time bang-bang controller (sampled at dt_sample)
- Hydraulic actuator for brake torque generation
- Slip error feedback control targeting optimal slip ratio

The controller samples the slip error at regular intervals, applies
bang-bang control logic, and outputs a held control signal to the
hydraulic actuator.
"""
component ABSAssembly
  TrueOmega = Dyad.RealOutput() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 690, "y1": 250, "x2": 750, "y2": 310, "rot": 0}
      },
      "tags": []
    }
  }
  NoSlipOmega = Dyad.RealOutput() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 690, "y1": 380, "x2": 750, "y2": 440, "rot": 0}
      },
      "tags": []
    }
  }
  vehicle = PrimitiveComponents.Examples.VehicleDynamics(mass = 75, g_acc = 9.81, R = 1.25, v0 = 70) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 400, "y1": 260, "x2": 570, "y2": 430, "rot": 0}
      },
      "tags": []
    }
  }
  wheel_slip_des = BlockComponents.Constant(k = target_slip) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 426, "y1": 20, "x2": 526, "y2": 120, "rot": 0}
      },
      "tags": []
    }
  }
  sub1 = BlockComponents.Add(k1 = 1, k2 = -1) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 640, "y1": 50, "x2": 740, "y2": 150, "rot": 0}
      },
      "tags": []
    }
  }
  sampler = PrimitiveComponents.DiscretePrimitives.Sampler() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 820, "y1": 50, "x2": 920, "y2": 150, "rot": 0}
      },
      "tags": []
    }
  }
  binaryC = PrimitiveComponents.Examples.BinaryController() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 31, "y1": 227, "x2": 131, "y2": 327, "rot": 0}
      },
      "tags": []
    }
  }
  periodicclock = PrimitiveComponents.DiscretePrimitives.PeriodicClock(dt = 0.1, offset = 0) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 250, "y1": 160, "x2": 330, "y2": 240, "rot": 0}
      },
      "tags": []
    }
  }
  zeroorderhold = PrimitiveComponents.DiscretePrimitives.ZeroOrderHold(initial_condition = 0) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 170, "y1": 390, "x2": 270, "y2": 490, "rot": 0}
      },
      "tags": []
    }
  }
  hydraulicactuator = PrimitiveComponents.Examples.HydraulicActuator() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 286, "y1": 415, "x2": 386, "y2": 515, "rot": 0}
      },
      "tags": []
    }
  }
  parameter mass::Mass = 75
  parameter g_acc::Acceleration = 9.81
  parameter R::Length = 1.25
  parameter v0::Velocity = 70
  parameter target_slip::Real = 0.2
  parameter dt_sample::Real = 0.1
relations
  initial hydraulicactuator.y = 0.0
  connect(wheel_slip_des.y, sub1.u1) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(sub1.y, sampler.u) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(sampler.y, binaryC.u) {
    "Dyad": {
      "edges": [
        {
          "S": 1,
          "M": [
            {"x": 960, "y": 100},
            {"x": 960, "y": 565},
            {"x": 20, "y": 565},
            {"x": 20, "y": 277}
          ],
          "E": 2
        }
      ],
      "renderStyle": "standard"
    }
  }
  connect(binaryC.y, zeroorderhold.u) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 150, "y": 277}, {"x": 150, "y": 440}], "E": 2}],
      "renderStyle": "standard"
    }
  }
  connect(periodicclock.y, binaryC.y) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 147, "y": 200}, {"x": 147, "y": 277}], "E": 2}],
      "renderStyle": "standard"
    }
  }
  connect(zeroorderhold.y, hydraulicactuator.u) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 268, "y": 440}, {"x": 268, "y": 442}], "E": 2}],
      "renderStyle": "standard"
    }
  }
  connect(hydraulicactuator.y, vehicle.brake_torque) {
    "Dyad": {
      "renderStyle": "standard",
      "edges": [{"S": 1, "M": [{"x": 348, "y": 345}], "E": 2}]
    }
  }
  connect(vehicle.TrueOmega, TrueOmega) {
    "Dyad": {
      "renderStyle": "standard",
      "edges": [{"S": 1, "M": [{"x": 720, "y": 280.4}], "E": 2}]
    }
  }
  connect(vehicle.wheel_slip, sub1.u2) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 610, "y": 345}, {"x": 610, "y": 130}], "E": 2}],
      "renderStyle": "standard"
    }
  }
  connect(vehicle.NoSlipOmega, NoSlipOmega) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 720, "y": 406.2}], "E": 2}],
      "renderStyle": "standard"
    }
  }
metadata {"Dyad": {"doc": {"behavior": false}}}
end

Test Cases

No test cases defined.

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