LIBRARY
Sources.Tests.TestBraking
Test for braking torque sources, matching MSL ModelicaTest.Rotational.TestBraking.
Five inertias (J=1) each start at w=100 rad/s and are braked by a different source. EddyCurrentTorque is omitted (depends on ThermalComponents).
Expected behavior (all with TorqueDirection=true, the default):
LinearSpeedDependentTorque: tau = -|w| → w(t) = 100·exp(-t) → w(2) ≈ 13.534
QuadraticSpeedDependentTorque: tau = -w²/100 → w = 100/(1+t) → w(2) ≈ 33.333
ConstantTorque: tau = -100 → w = 100-100t → w(2) = -100
SignTorque (Exp): tau ≈ -100·sign(w) → brakes to 0, then regularizes near w=0
InverseSpeedDependentTorque: tau = -10000/|w| → w = 100·√(1-2t) → w hits 0 at t=0.5
Usage
RotationalComponents.Sources.Tests.TestBraking()
Behavior
Source
dyad
"""
Test for braking torque sources, matching MSL ModelicaTest.Rotational.TestBraking.
Five inertias (J=1) each start at w=100 rad/s and are braked by a different
source. EddyCurrentTorque is omitted (depends on ThermalComponents).
Expected behavior (all with TorqueDirection=true, the default):
1. LinearSpeedDependentTorque: tau = -|w| → w(t) = 100·exp(-t) → w(2) ≈ 13.534
2. QuadraticSpeedDependentTorque: tau = -w²/100 → w = 100/(1+t) → w(2) ≈ 33.333
3. ConstantTorque: tau = -100 → w = 100-100t → w(2) = -100
4. SignTorque (Exp): tau ≈ -100·sign(w) → brakes to 0, then regularizes near w=0
5. InverseSpeedDependentTorque: tau = -10000/|w| → w = 100·√(1-2t) → w hits 0 at t=0.5
"""
test component TestBraking
"Fixed ground for all source supports"
fixed = RotationalComponents.Components.Fixed() {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": -90, "y1": 760, "x2": 10, "y2": 860, "rot": 90}
},
"tags": []
}
}
"Inertia 1 for linear speed dependent braking"
inertia1 = RotationalComponents.Components.Inertia(J = 1) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 560, "y1": 720, "x2": 660, "y2": 820, "rot": 0}
},
"tags": []
}
}
"Linear speed dependent torque (tau_nominal=-100, w_nominal=100)"
linear_speed = RotationalComponents.Sources.LinearSpeedDependentTorque(tau_nominal = -100, w_nominal = 100) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 190, "y1": 720, "x2": 290, "y2": 820, "rot": 0}
},
"tags": []
}
}
"Inertia 2 for quadratic speed dependent braking"
inertia2 = RotationalComponents.Components.Inertia(J = 1) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 570, "y1": 450, "x2": 670, "y2": 550, "rot": 0}
},
"tags": []
}
}
"Quadratic speed dependent torque (tau_nominal=-100, w_nominal=100)"
quadratic_speed = RotationalComponents.Sources.QuadraticSpeedDependentTorque(tau_nominal = -100, w_nominal = 100) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 180, "y1": 450, "x2": 280, "y2": 550, "rot": 0}
},
"tags": []
}
}
"Inertia 3 for constant torque braking"
inertia3 = RotationalComponents.Components.Inertia(J = 1) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 560, "y1": 950, "x2": 660, "y2": 1050, "rot": 0}
},
"tags": []
}
}
"Constant torque (tau_constant=-100)"
constant_torque = RotationalComponents.Sources.ConstantTorque(tau_constant = -100) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 190, "y1": 950, "x2": 290, "y2": 1050, "rot": 0}
},
"tags": []
}
}
"Inertia 4 for sign torque braking"
inertia4 = RotationalComponents.Components.Inertia(J = 1) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 560, "y1": 200, "x2": 660, "y2": 300, "rot": 0}
},
"tags": []
}
}
"Sign torque with Exp regularization (tau_nominal=-100, w0=1)"
sign_torque = RotationalComponents.Sources.SignTorque(tau_nominal = -100, w0 = 1) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 180, "y1": 200, "x2": 280, "y2": 300, "rot": 0}
},
"tags": []
}
}
"Inertia 5 for inverse speed dependent braking"
inertia5 = RotationalComponents.Components.Inertia(J = 1) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 550, "y1": 0, "x2": 650, "y2": 100, "rot": 0}
},
"tags": []
}
}
"Inverse speed dependent torque (tau_nominal=-100, w_nominal=100, w0=1)"
inverse_speed = RotationalComponents.Sources.InverseSpeedDependentTorque(tau_nominal = -100, w_nominal = 100, w0 = 1) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 180, "y1": 0, "x2": 280, "y2": 100, "rot": 0}
},
"tags": []
}
}
relations
initial inertia1.phi = 0
initial inertia1.w = 100
initial inertia2.phi = 0
initial inertia2.w = 100
initial inertia3.phi = 0
initial inertia3.w = 100
initial inertia4.phi = 0
initial inertia4.w = 100
initial inertia5.phi = 0
initial inertia5.w = 100
connect(inertia1.spline_b, linear_speed.spline) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
connect(linear_speed.support, fixed.spline) {
"Dyad": {
"edges": [
{"S": 1, "M": [{"x": 240, "y": 870}, {"x": 50, "y": 870}], "E": -1},
{"S": -1, "M": [{"x": 50, "y": 810}], "E": 2}
],
"junctions": [{"x": 50, "y": 750}],
"renderStyle": "standard"
}
}
connect(inertia2.spline_b, quadratic_speed.spline) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
connect(quadratic_speed.support, fixed.spline) {
"Dyad": {
"edges": [
{
"S": 1,
"M": [{"x": 230, "y": 670}, {"x": 50, "y": 670}, {"x": 50, "y": 810}],
"E": 2
}
],
"renderStyle": "standard"
}
}
connect(inertia3.spline_b, constant_torque.spline) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
connect(constant_torque.support, fixed.spline) {
"Dyad": {
"edges": [
{
"S": 1,
"M": [{"x": 240, "y": 1120}, {"x": 50, "y": 1120}, {"x": 50, "y": 810}],
"E": 2
}
],
"renderStyle": "standard"
}
}
connect(inertia4.spline_b, sign_torque.spline) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
connect(sign_torque.support, fixed.spline) {
"Dyad": {
"edges": [
{"S": 1, "M": [{"x": 230, "y": 380}, {"x": 50, "y": 380}], "E": -1},
{"S": -1, "M": [{"x": 50, "y": 810}], "E": 2}
],
"junctions": [{"x": 50, "y": 500}],
"renderStyle": "standard"
}
}
connect(inertia5.spline_b, inverse_speed.spline) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
connect(inverse_speed.support, fixed.spline) {
"Dyad": {
"edges": [
{
"S": 1,
"M": [{"x": 230, "y": 160}, {"x": 50, "y": 160}, {"x": 50, "y": 810}],
"E": -1
},
{"S": -1, "M": [], "E": 2}
],
"junctions": [{"x": 20, "y": 810}],
"renderStyle": "standard"
}
}
metadata {
"Dyad": {
"icons": {"default": "dyad://RotationalComponents/Example.svg"},
"tests": {
"case1": {
"stop": 2,
"abstol": 1e-8,
"reltol": 1e-8,
"atol": {"inertia1.w": 0.01, "inertia2.w": 0.01, "inertia3.w": 0.01},
"expect": {
"initial": {
"inertia1.w": 100,
"inertia2.w": 100,
"inertia3.w": 100,
"inertia4.w": 100,
"inertia5.w": 100,
"inertia1.phi": 0,
"inertia2.phi": 0,
"inertia3.phi": 0,
"inertia4.phi": 0,
"inertia5.phi": 0
},
"final": {"inertia1.w": 13.534, "inertia2.w": 33.333, "inertia3.w": -100},
"signals": ["inertia1.w", "inertia2.w", "inertia3.w", "inertia4.w", "inertia5.w"]
}
}
}
}
}
endFlattened Source
dyad
"""
Test for braking torque sources, matching MSL ModelicaTest.Rotational.TestBraking.
Five inertias (J=1) each start at w=100 rad/s and are braked by a different
source. EddyCurrentTorque is omitted (depends on ThermalComponents).
Expected behavior (all with TorqueDirection=true, the default):
1. LinearSpeedDependentTorque: tau = -|w| → w(t) = 100·exp(-t) → w(2) ≈ 13.534
2. QuadraticSpeedDependentTorque: tau = -w²/100 → w = 100/(1+t) → w(2) ≈ 33.333
3. ConstantTorque: tau = -100 → w = 100-100t → w(2) = -100
4. SignTorque (Exp): tau ≈ -100·sign(w) → brakes to 0, then regularizes near w=0
5. InverseSpeedDependentTorque: tau = -10000/|w| → w = 100·√(1-2t) → w hits 0 at t=0.5
"""
test component TestBraking
"Fixed ground for all source supports"
fixed = RotationalComponents.Components.Fixed() {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": -90, "y1": 760, "x2": 10, "y2": 860, "rot": 90}
},
"tags": []
}
}
"Inertia 1 for linear speed dependent braking"
inertia1 = RotationalComponents.Components.Inertia(J = 1) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 560, "y1": 720, "x2": 660, "y2": 820, "rot": 0}
},
"tags": []
}
}
"Linear speed dependent torque (tau_nominal=-100, w_nominal=100)"
linear_speed = RotationalComponents.Sources.LinearSpeedDependentTorque(tau_nominal = -100, w_nominal = 100) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 190, "y1": 720, "x2": 290, "y2": 820, "rot": 0}
},
"tags": []
}
}
"Inertia 2 for quadratic speed dependent braking"
inertia2 = RotationalComponents.Components.Inertia(J = 1) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 570, "y1": 450, "x2": 670, "y2": 550, "rot": 0}
},
"tags": []
}
}
"Quadratic speed dependent torque (tau_nominal=-100, w_nominal=100)"
quadratic_speed = RotationalComponents.Sources.QuadraticSpeedDependentTorque(tau_nominal = -100, w_nominal = 100) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 180, "y1": 450, "x2": 280, "y2": 550, "rot": 0}
},
"tags": []
}
}
"Inertia 3 for constant torque braking"
inertia3 = RotationalComponents.Components.Inertia(J = 1) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 560, "y1": 950, "x2": 660, "y2": 1050, "rot": 0}
},
"tags": []
}
}
"Constant torque (tau_constant=-100)"
constant_torque = RotationalComponents.Sources.ConstantTorque(tau_constant = -100) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 190, "y1": 950, "x2": 290, "y2": 1050, "rot": 0}
},
"tags": []
}
}
"Inertia 4 for sign torque braking"
inertia4 = RotationalComponents.Components.Inertia(J = 1) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 560, "y1": 200, "x2": 660, "y2": 300, "rot": 0}
},
"tags": []
}
}
"Sign torque with Exp regularization (tau_nominal=-100, w0=1)"
sign_torque = RotationalComponents.Sources.SignTorque(tau_nominal = -100, w0 = 1) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 180, "y1": 200, "x2": 280, "y2": 300, "rot": 0}
},
"tags": []
}
}
"Inertia 5 for inverse speed dependent braking"
inertia5 = RotationalComponents.Components.Inertia(J = 1) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 550, "y1": 0, "x2": 650, "y2": 100, "rot": 0}
},
"tags": []
}
}
"Inverse speed dependent torque (tau_nominal=-100, w_nominal=100, w0=1)"
inverse_speed = RotationalComponents.Sources.InverseSpeedDependentTorque(tau_nominal = -100, w_nominal = 100, w0 = 1) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 180, "y1": 0, "x2": 280, "y2": 100, "rot": 0}
},
"tags": []
}
}
relations
initial inertia1.phi = 0
initial inertia1.w = 100
initial inertia2.phi = 0
initial inertia2.w = 100
initial inertia3.phi = 0
initial inertia3.w = 100
initial inertia4.phi = 0
initial inertia4.w = 100
initial inertia5.phi = 0
initial inertia5.w = 100
connect(inertia1.spline_b, linear_speed.spline) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
connect(linear_speed.support, fixed.spline) {
"Dyad": {
"edges": [
{"S": 1, "M": [{"x": 240, "y": 870}, {"x": 50, "y": 870}], "E": -1},
{"S": -1, "M": [{"x": 50, "y": 810}], "E": 2}
],
"junctions": [{"x": 50, "y": 750}],
"renderStyle": "standard"
}
}
connect(inertia2.spline_b, quadratic_speed.spline) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
connect(quadratic_speed.support, fixed.spline) {
"Dyad": {
"edges": [
{
"S": 1,
"M": [{"x": 230, "y": 670}, {"x": 50, "y": 670}, {"x": 50, "y": 810}],
"E": 2
}
],
"renderStyle": "standard"
}
}
connect(inertia3.spline_b, constant_torque.spline) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
connect(constant_torque.support, fixed.spline) {
"Dyad": {
"edges": [
{
"S": 1,
"M": [{"x": 240, "y": 1120}, {"x": 50, "y": 1120}, {"x": 50, "y": 810}],
"E": 2
}
],
"renderStyle": "standard"
}
}
connect(inertia4.spline_b, sign_torque.spline) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
connect(sign_torque.support, fixed.spline) {
"Dyad": {
"edges": [
{"S": 1, "M": [{"x": 230, "y": 380}, {"x": 50, "y": 380}], "E": -1},
{"S": -1, "M": [{"x": 50, "y": 810}], "E": 2}
],
"junctions": [{"x": 50, "y": 500}],
"renderStyle": "standard"
}
}
connect(inertia5.spline_b, inverse_speed.spline) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
connect(inverse_speed.support, fixed.spline) {
"Dyad": {
"edges": [
{
"S": 1,
"M": [{"x": 230, "y": 160}, {"x": 50, "y": 160}, {"x": 50, "y": 810}],
"E": -1
},
{"S": -1, "M": [], "E": 2}
],
"junctions": [{"x": 20, "y": 810}],
"renderStyle": "standard"
}
}
metadata {
"Dyad": {
"icons": {"default": "dyad://RotationalComponents/Example.svg"},
"tests": {
"case1": {
"stop": 2,
"abstol": 1e-8,
"reltol": 1e-8,
"atol": {"inertia1.w": 0.01, "inertia2.w": 0.01, "inertia3.w": 0.01},
"expect": {
"initial": {
"inertia1.w": 100,
"inertia2.w": 100,
"inertia3.w": 100,
"inertia4.w": 100,
"inertia5.w": 100,
"inertia1.phi": 0,
"inertia2.phi": 0,
"inertia3.phi": 0,
"inertia4.phi": 0,
"inertia5.phi": 0
},
"final": {"inertia1.w": 13.534, "inertia2.w": 33.333, "inertia3.w": -100},
"signals": ["inertia1.w", "inertia2.w", "inertia3.w", "inertia4.w", "inertia5.w"]
}
}
}
}
}
endTest Cases
Test Case case1
julia
plt
julia
plt
julia
plt
julia
plt
julia
plt
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