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Sources.Tests.Speed.md

Sources.Tests.Speed ​

Test for SpeedSource with Filtered and Exact modes, matching MSL ModelicaTest.Rotational.TestSpeed.

Two SpeedSource instances are driven by different reference signals and each drives an Inertia (J=1):

  1. speed_filtered: Filtered mode (f_crit=5 Hz), step input at t=0.5 The first-order filter smooths the step — w tracks the step with a time constant of 1/(2π·5) ≈ 0.0318s. At t=1.1, w should be ≈1.0 (fully settled).

  2. speed_exact: Exact mode, sine input (f=1 Hz) w tracks sin(2πt) exactly. At t=1.1: w = sin(2π·1.1) = sin(0.2π) ≈ 0.5878.

Usage ​

RotationalComponents.Sources.Tests.Speed()

Behavior ​

[connect(step+y,speedfiltered+w_ref)connect(speedfiltered+spline,inertiafiltered+spline_a)connect(speedfiltered+support,fixed+spline)connect(sine+y,speedexact+w_ref)connect(speedexact+spline,inertiaexact+spline_a)connect(speedexact+support,fixed+spline)fixed.spline.phi(t)=fixed.phi0step.y(t)=ifelse(t≥step.starttime,step.height+step.offset,step.offset)speedfiltered.support.phi(t)=speedfiltered.phi_support(t)speedfiltered.support.tau(t)=−speedfiltered.spline.tau(t)speedfiltered.phi(t)=−speedfiltered.phi_support(t)+speedfiltered.spline.phi(t)speedfiltered.w(t)=d⋅speedfiltered.phi(t)dtspeedfiltered.a(t)=d⋅speedfiltered.w(t)dtspeedfiltered.a(t)=10.0⋅(−speedfiltered.w(t)+speedfiltered.w_ref(t))⋅πinertiafiltered.phi(t)=inertiafiltered.spline_a.phi(t)inertiafiltered.phi(t)=inertiafiltered.spline_b.phi(t)d⋅inertiafiltered.phi(t)dt=inertiafiltered.w(t)d⋅inertiafiltered.w(t)dt=inertiafiltered.a(t)inertiafiltered.J⋅inertiafiltered.a(t)=inertiafiltered.spline_b.tau(t)+inertiafiltered.spline_a.tau(t)sine.y(t)=sine.offset+sine.amplitude⋅ifelse(t≥sine.starttime,sin⁡(sine.phase+6.283185307179586⋅sine.frequency⋅(−sine.starttime+t)),sin⁡(sine.phase))speedexact.support.phi(t)=speedexact.phi_support(t)speedexact.support.tau(t)=−speedexact.spline.tau(t)speedexact.phi(t)=−speedexact.phi_support(t)+speedexact.spline.phi(t)speedexact.w(t)=d⋅speedexact.phi(t)dtspeedexact.w(t)=speedexact.w_ref(t)speedexact.a(t)=0inertiaexact.phi(t)=inertiaexact.spline_a.phi(t)inertiaexact.phi(t)=inertiaexact.spline_b.phi(t)d⋅inertiaexact.phi(t)dt=inertiaexact.w(t)d⋅inertiaexact.w(t)dt=inertiaexact.a(t)inertiaexact.J⋅inertiaexact.a(t)=inertiaexact.spline_a.tau(t)+inertiaexact.spline_b.tau(t)]

Source ​

dyad
"""
Test for SpeedSource with Filtered and Exact modes, matching MSL ModelicaTest.Rotational.TestSpeed.

Two SpeedSource instances are driven by different reference signals and each
drives an Inertia (J=1):

1. speed_filtered: Filtered mode (f_crit=5 Hz), step input at t=0.5
   The first-order filter smooths the step — w tracks the step with a time constant
   of 1/(2π·5) ≈ 0.0318s. At t=1.1, w should be ≈1.0 (fully settled).

2. speed_exact: Exact mode, sine input (f=1 Hz)
   w tracks sin(2πt) exactly. At t=1.1: w = sin(2π·1.1) = sin(0.2π) ≈ 0.5878.
"""
test component Speed
  "Fixed ground for all supports"
  fixed = RotationalComponents.Components.Fixed()
  "Step signal for filtered speed source (step at t=0.5)"
  step = BlockComponents.Sources.Step(height = 1.0, start_time = 0.5)
  "SpeedSource — Filtered mode with low f_crit=5 Hz"
  speed_filtered = RotationalComponents.Sources.SpeedSource(ref_type = RotationalComponents.Sources.ReferenceType.Filtered(f_crit = 5.0))
  "Inertia driven by filtered speed source"
  inertia_filtered = RotationalComponents.Components.Inertia(J = 1)
  "Sine signal for exact speed source (f=1 Hz)"
  sine = BlockComponents.Sources.Sine(amplitude = 1, frequency = 1)
  "SpeedSource — Exact mode"
  speed_exact = RotationalComponents.Sources.SpeedSource(ref_type = RotationalComponents.Sources.ReferenceType.Exact())
  "Inertia driven by exact speed source"
  inertia_exact = RotationalComponents.Components.Inertia(J = 1)
relations
  initial inertia_exact.phi = 0
  initial inertia_filtered.phi = 0
  connect(step.y, speed_filtered.w_ref)
  connect(speed_filtered.spline, inertia_filtered.spline_a)
  connect(speed_filtered.support, fixed.spline)
  connect(sine.y, speed_exact.w_ref)
  connect(speed_exact.spline, inertia_exact.spline_a)
  connect(speed_exact.support, fixed.spline)
metadata {
  "Dyad": {
    "icons": {"default": "dyad://RotationalComponents/Example.svg"},
    "tests": {
      "case1": {
        "stop": 1.1,
        "atol": {"inertia_filtered.w": 0.01, "inertia_exact.w": 0.001},
        "expect": {
          "initial": {
            "inertia_filtered.phi": 0,
            "inertia_exact.phi": 0,
            "inertia_filtered.w": 0,
            "inertia_exact.w": 0
          },
          "final": {"inertia_exact.w": 0.5878},
          "signals": [
            "inertia_filtered.w",
            "inertia_exact.w",
            "inertia_filtered.phi",
            "inertia_exact.phi"
          ]
        }
      }
    }
  }
}
end
Flattened Source
dyad
"""
Test for SpeedSource with Filtered and Exact modes, matching MSL ModelicaTest.Rotational.TestSpeed.

Two SpeedSource instances are driven by different reference signals and each
drives an Inertia (J=1):

1. speed_filtered: Filtered mode (f_crit=5 Hz), step input at t=0.5
   The first-order filter smooths the step — w tracks the step with a time constant
   of 1/(2π·5) ≈ 0.0318s. At t=1.1, w should be ≈1.0 (fully settled).

2. speed_exact: Exact mode, sine input (f=1 Hz)
   w tracks sin(2πt) exactly. At t=1.1: w = sin(2π·1.1) = sin(0.2π) ≈ 0.5878.
"""
test component Speed
  "Fixed ground for all supports"
  fixed = RotationalComponents.Components.Fixed()
  "Step signal for filtered speed source (step at t=0.5)"
  step = BlockComponents.Sources.Step(height = 1.0, start_time = 0.5)
  "SpeedSource — Filtered mode with low f_crit=5 Hz"
  speed_filtered = RotationalComponents.Sources.SpeedSource(ref_type = RotationalComponents.Sources.ReferenceType.Filtered(f_crit = 5.0))
  "Inertia driven by filtered speed source"
  inertia_filtered = RotationalComponents.Components.Inertia(J = 1)
  "Sine signal for exact speed source (f=1 Hz)"
  sine = BlockComponents.Sources.Sine(amplitude = 1, frequency = 1)
  "SpeedSource — Exact mode"
  speed_exact = RotationalComponents.Sources.SpeedSource(ref_type = RotationalComponents.Sources.ReferenceType.Exact())
  "Inertia driven by exact speed source"
  inertia_exact = RotationalComponents.Components.Inertia(J = 1)
relations
  initial inertia_exact.phi = 0
  initial inertia_filtered.phi = 0
  connect(step.y, speed_filtered.w_ref)
  connect(speed_filtered.spline, inertia_filtered.spline_a)
  connect(speed_filtered.support, fixed.spline)
  connect(sine.y, speed_exact.w_ref)
  connect(speed_exact.spline, inertia_exact.spline_a)
  connect(speed_exact.support, fixed.spline)
metadata {
  "Dyad": {
    "icons": {"default": "dyad://RotationalComponents/Example.svg"},
    "tests": {
      "case1": {
        "stop": 1.1,
        "atol": {"inertia_filtered.w": 0.01, "inertia_exact.w": 0.001},
        "expect": {
          "initial": {
            "inertia_filtered.phi": 0,
            "inertia_exact.phi": 0,
            "inertia_filtered.w": 0,
            "inertia_exact.w": 0
          },
          "final": {"inertia_exact.w": 0.5878},
          "signals": [
            "inertia_filtered.w",
            "inertia_exact.w",
            "inertia_filtered.phi",
            "inertia_exact.phi"
          ]
        }
      }
    }
  }
}
end


Test Cases ​

Test Case case1 ​

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julia
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julia
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