LIBRARY
Sources.Tests.AllComponents
Tests Position, VelocitySource, AccelerationSource, and Torque2 components, matching the source-related subsystems from MSL ModelicaTest.Rotational.AllComponents.
Three subsystems from AllComponents are replicated here:
Position (Filtered default, f_crit=50 Hz): Sine(f=1) → Position → Inertia(J=3)
Velocity + Torque2 (Filtered default): Sine(f=1) → VelocitySource → Inertia(J=3) → Torque2(Sine f=1) → Inertia(J=3)
Accelerate: Sine(f=1) → AccelerationSource → Inertia(J=3)
All supports are grounded to Fixed. Stop time = 0.9 s.
Usage
RotationalComponents.Sources.Tests.AllComponents()
Behavior
Source
dyad
"""
Tests Position, VelocitySource, AccelerationSource, and Torque2 components,
matching the source-related subsystems from MSL ModelicaTest.Rotational.AllComponents.
Three subsystems from AllComponents are replicated here:
1. Position (Filtered default, f_crit=50 Hz): Sine(f=1) → Position → Inertia(J=3)
2. Velocity + Torque2 (Filtered default): Sine(f=1) → VelocitySource → Inertia(J=3) → Torque2(Sine f=1) → Inertia(J=3)
3. Accelerate: Sine(f=1) → AccelerationSource → Inertia(J=3)
All supports are grounded to Fixed. Stop time = 0.9 s.
"""
test component AllComponents
"Fixed ground for all supports"
fixed = RotationalComponents.Components.Fixed() {
"Dyad": {"placement": {"diagram": {"x1": 285, "x2": 385, "y1": 225, "y2": 325}}}
}
"Sine reference for position source (f=1 Hz)"
sine_pos = BlockComponents.Sources.Sine(amplitude = 1, frequency = 1) {"Dyad": {"placement": {"diagram": {"x1": 20, "x2": 120, "y1": 20, "y2": 120}}}}
"Position source — default Filtered mode (f_crit=50 Hz)"
position = RotationalComponents.Sources.Position() {
"Dyad": {"placement": {"diagram": {"x1": 155, "x2": 255, "y1": 20, "y2": 120}}}
}
"Inertia driven by position source (MSL inertia9, J=3)"
inertia_pos = RotationalComponents.Components.Inertia(J = 3) {
"Dyad": {"placement": {"diagram": {"x1": 285, "x2": 385, "y1": 20, "y2": 120}}}
}
"Sine reference for velocity source (f=1 Hz)"
sine_velocity = BlockComponents.Sources.Sine(amplitude = 1, frequency = 1) {
"Dyad": {"placement": {"diagram": {"x1": 20, "x2": 120, "y1": 670, "y2": 770}}}
}
"VelocitySource — default Filtered mode (f_crit=50 Hz)"
velocity = RotationalComponents.Sources.VelocitySource() {
"Dyad": {"placement": {"diagram": {"x1": 155, "x2": 255, "y1": 670, "y2": 770}}}
}
"Inertia driven by velocity source (MSL inertia10, J=3)"
inertia_velocity = RotationalComponents.Components.Inertia(J = 3) {
"Dyad": {"placement": {"diagram": {"x1": 285, "x2": 385, "y1": 670, "y2": 770}}}
}
"Sine input for Torque2 (f=1 Hz)"
sine_torque2 = BlockComponents.Sources.Sine(amplitude = 1, frequency = 1) {
"Dyad": {"placement": {"diagram": {"x1": 280, "x2": 380, "y1": 345, "y2": 445}}}
}
"Torque2 — acts between velocity inertia and output inertia"
torque2 = RotationalComponents.Sources.Torque2() {
"Dyad": {"placement": {"diagram": {"x1": 415, "x2": 515, "y1": 670, "y2": 770}}}
}
"Inertia driven by Torque2 (MSL inertia13, J=3)"
inertia13 = RotationalComponents.Components.Inertia(J = 3) {
"Dyad": {"placement": {"diagram": {"x1": 560, "x2": 660, "y1": 670, "y2": 770}}}
}
"Sine reference for accelerate source (f=1 Hz)"
sine_acc = BlockComponents.Sources.Sine(amplitude = 1, frequency = 1) {
"Dyad": {"placement": {"diagram": {"x1": 20, "x2": 120, "y1": 465, "y2": 565}}}
}
"AccelerationSource"
accelerate = RotationalComponents.Sources.AccelerationSource() {
"Dyad": {"placement": {"diagram": {"x1": 155, "x2": 255, "y1": 465, "y2": 565}}}
}
"Inertia driven by accelerate source (MSL inertia11, J=3)"
inertia_acc = RotationalComponents.Components.Inertia(J = 3) {
"Dyad": {"placement": {"diagram": {"x1": 285, "x2": 385, "y1": 465, "y2": 565}}}
}
relations
# Position subsystem
initial position.w = 0
initial inertia_velocity.phi = 0
connect(sine_pos.y, position.phi_ref) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "path": {}}}
connect(position.spline, inertia_pos.spline_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "path": {}}}
connect(position.support, fixed.spline) {
"Dyad": {
"edges": [
{"S": 1, "M": [{"x": 205, "y": 415}], "E": -1},
{"S": -1, "M": [{"x": 270, "y": 170}, {"x": 335, "y": 170}], "E": 2}
],
"junctions": [{"x": 270, "y": 415}],
"path": {}
}
}
# Velocity + Torque2 subsystem
initial inertia13.phi = 0
initial inertia13.w = 0
connect(sine_velocity.y, velocity.w_ref) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "path": {}}}
connect(velocity.spline, inertia_velocity.spline_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "path": {}}}
connect(velocity.support, fixed.spline) {
"Dyad": {
"edges": [
{
"S": 1,
"M": [
{"x": 205, "y": 825},
{"x": 270, "y": 825},
{"x": 270, "y": 170},
{"x": 335, "y": 170}
],
"E": 2
}
],
"path": {}
}
}
connect(inertia_velocity.spline_b, torque2.spline_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "path": {}}}
connect(torque2.spline_b, inertia13.spline_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "path": {}}}
connect(sine_torque2.y, torque2.tau) {"Dyad": {"edges": [{"S": 1, "M": [{"x": 465, "y": 395}], "E": 2}], "path": {}}}
# Accelerate subsystem
initial accelerate.phi = 0
initial accelerate.w = 0
connect(sine_acc.y, accelerate.a_ref) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "path": {}}}
connect(accelerate.spline, inertia_acc.spline_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "path": {}}}
connect(accelerate.support, fixed.spline) {
"Dyad": {
"edges": [
{"S": 1, "M": [{"x": 205, "y": 620}], "E": -1},
{"S": -1, "M": [{"x": 270, "y": 170}, {"x": 335, "y": 170}], "E": 2}
],
"junctions": [{"x": 270, "y": 620}],
"path": {}
}
}
metadata {
"Dyad": {
"icons": {"default": "dyad://RotationalComponents/Example.svg"},
"tests": {
"case1": {
"stop": 0.9,
"expect": {
"signals": [
"position.phi",
"position.w",
"velocity.phi",
"velocity.w",
"accelerate.phi",
"accelerate.w",
"inertia13.phi",
"inertia13.w"
]
}
}
}
}
}
endFlattened Source
dyad
"""
Tests Position, VelocitySource, AccelerationSource, and Torque2 components,
matching the source-related subsystems from MSL ModelicaTest.Rotational.AllComponents.
Three subsystems from AllComponents are replicated here:
1. Position (Filtered default, f_crit=50 Hz): Sine(f=1) → Position → Inertia(J=3)
2. Velocity + Torque2 (Filtered default): Sine(f=1) → VelocitySource → Inertia(J=3) → Torque2(Sine f=1) → Inertia(J=3)
3. Accelerate: Sine(f=1) → AccelerationSource → Inertia(J=3)
All supports are grounded to Fixed. Stop time = 0.9 s.
"""
test component AllComponents
"Fixed ground for all supports"
fixed = RotationalComponents.Components.Fixed() {
"Dyad": {"placement": {"diagram": {"x1": 285, "x2": 385, "y1": 225, "y2": 325}}}
}
"Sine reference for position source (f=1 Hz)"
sine_pos = BlockComponents.Sources.Sine(amplitude = 1, frequency = 1) {"Dyad": {"placement": {"diagram": {"x1": 20, "x2": 120, "y1": 20, "y2": 120}}}}
"Position source — default Filtered mode (f_crit=50 Hz)"
position = RotationalComponents.Sources.Position() {
"Dyad": {"placement": {"diagram": {"x1": 155, "x2": 255, "y1": 20, "y2": 120}}}
}
"Inertia driven by position source (MSL inertia9, J=3)"
inertia_pos = RotationalComponents.Components.Inertia(J = 3) {
"Dyad": {"placement": {"diagram": {"x1": 285, "x2": 385, "y1": 20, "y2": 120}}}
}
"Sine reference for velocity source (f=1 Hz)"
sine_velocity = BlockComponents.Sources.Sine(amplitude = 1, frequency = 1) {
"Dyad": {"placement": {"diagram": {"x1": 20, "x2": 120, "y1": 670, "y2": 770}}}
}
"VelocitySource — default Filtered mode (f_crit=50 Hz)"
velocity = RotationalComponents.Sources.VelocitySource() {
"Dyad": {"placement": {"diagram": {"x1": 155, "x2": 255, "y1": 670, "y2": 770}}}
}
"Inertia driven by velocity source (MSL inertia10, J=3)"
inertia_velocity = RotationalComponents.Components.Inertia(J = 3) {
"Dyad": {"placement": {"diagram": {"x1": 285, "x2": 385, "y1": 670, "y2": 770}}}
}
"Sine input for Torque2 (f=1 Hz)"
sine_torque2 = BlockComponents.Sources.Sine(amplitude = 1, frequency = 1) {
"Dyad": {"placement": {"diagram": {"x1": 280, "x2": 380, "y1": 345, "y2": 445}}}
}
"Torque2 — acts between velocity inertia and output inertia"
torque2 = RotationalComponents.Sources.Torque2() {
"Dyad": {"placement": {"diagram": {"x1": 415, "x2": 515, "y1": 670, "y2": 770}}}
}
"Inertia driven by Torque2 (MSL inertia13, J=3)"
inertia13 = RotationalComponents.Components.Inertia(J = 3) {
"Dyad": {"placement": {"diagram": {"x1": 560, "x2": 660, "y1": 670, "y2": 770}}}
}
"Sine reference for accelerate source (f=1 Hz)"
sine_acc = BlockComponents.Sources.Sine(amplitude = 1, frequency = 1) {
"Dyad": {"placement": {"diagram": {"x1": 20, "x2": 120, "y1": 465, "y2": 565}}}
}
"AccelerationSource"
accelerate = RotationalComponents.Sources.AccelerationSource() {
"Dyad": {"placement": {"diagram": {"x1": 155, "x2": 255, "y1": 465, "y2": 565}}}
}
"Inertia driven by accelerate source (MSL inertia11, J=3)"
inertia_acc = RotationalComponents.Components.Inertia(J = 3) {
"Dyad": {"placement": {"diagram": {"x1": 285, "x2": 385, "y1": 465, "y2": 565}}}
}
relations
# Position subsystem
initial position.w = 0
initial inertia_velocity.phi = 0
connect(sine_pos.y, position.phi_ref) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "path": {}}}
connect(position.spline, inertia_pos.spline_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "path": {}}}
connect(position.support, fixed.spline) {
"Dyad": {
"edges": [
{"S": 1, "M": [{"x": 205, "y": 415}], "E": -1},
{"S": -1, "M": [{"x": 270, "y": 170}, {"x": 335, "y": 170}], "E": 2}
],
"junctions": [{"x": 270, "y": 415}],
"path": {}
}
}
# Velocity + Torque2 subsystem
initial inertia13.phi = 0
initial inertia13.w = 0
connect(sine_velocity.y, velocity.w_ref) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "path": {}}}
connect(velocity.spline, inertia_velocity.spline_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "path": {}}}
connect(velocity.support, fixed.spline) {
"Dyad": {
"edges": [
{
"S": 1,
"M": [
{"x": 205, "y": 825},
{"x": 270, "y": 825},
{"x": 270, "y": 170},
{"x": 335, "y": 170}
],
"E": 2
}
],
"path": {}
}
}
connect(inertia_velocity.spline_b, torque2.spline_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "path": {}}}
connect(torque2.spline_b, inertia13.spline_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "path": {}}}
connect(sine_torque2.y, torque2.tau) {"Dyad": {"edges": [{"S": 1, "M": [{"x": 465, "y": 395}], "E": 2}], "path": {}}}
# Accelerate subsystem
initial accelerate.phi = 0
initial accelerate.w = 0
connect(sine_acc.y, accelerate.a_ref) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "path": {}}}
connect(accelerate.spline, inertia_acc.spline_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "path": {}}}
connect(accelerate.support, fixed.spline) {
"Dyad": {
"edges": [
{"S": 1, "M": [{"x": 205, "y": 620}], "E": -1},
{"S": -1, "M": [{"x": 270, "y": 170}, {"x": 335, "y": 170}], "E": 2}
],
"junctions": [{"x": 270, "y": 620}],
"path": {}
}
}
metadata {
"Dyad": {
"icons": {"default": "dyad://RotationalComponents/Example.svg"},
"tests": {
"case1": {
"stop": 0.9,
"expect": {
"signals": [
"position.phi",
"position.w",
"velocity.phi",
"velocity.w",
"accelerate.phi",
"accelerate.w",
"inertia13.phi",
"inertia13.w"
]
}
}
}
}
}
endTest Cases
Test Case case1
julia
plt
julia
plt
julia
plt
julia
plt
julia
plt
julia
plt
julia
plt
julia
plt
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