LIBRARY

Sources.Tests.VelocitySource

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

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

1. velocity_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. velocity_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.VelocitySource()

Behavior

Source

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

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

1. velocity_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. velocity_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 VelocitySource
  "Fixed ground for all supports"
  fixed = RotationalComponents.Components.Fixed() {
    "Dyad": {"placement": {"diagram": {"x1": 285, "x2": 385, "y1": 230, "y2": 330}}}
  }
  "Step signal for filtered velocity source (step at t=0.5)"
  step = BlockComponents.Sources.Step(height = 1.0, start_time = 0.5) {"Dyad": {"placement": {"diagram": {"x1": 10, "x2": 110, "y1": 20, "y2": 120}}}}
  "VelocitySource — Filtered mode with low f_crit=5 Hz"
  velocity_filtered = RotationalComponents.Sources.VelocitySource(ref_type = RotationalComponents.Sources.ReferenceType.Filtered(f_crit = 5.0)) {
    "Dyad": {"placement": {"diagram": {"x1": 155, "x2": 255, "y1": 20, "y2": 120}}}
  }
  "Inertia driven by filtered velocity source"
  inertia_filtered = RotationalComponents.Components.Inertia(J = 1) {
    "Dyad": {"placement": {"diagram": {"x1": 285, "x2": 385, "y1": 20, "y2": 120}}}
  }
  "Sine signal for exact velocity source (f=1 Hz)"
  sine = BlockComponents.Sources.Sine(amplitude = 1, frequency = 1) {
    "Dyad": {"placement": {"diagram": {"x1": 20, "x2": 120, "y1": 350, "y2": 450}}}
  }
  "VelocitySource — Exact mode"
  velocity_exact = RotationalComponents.Sources.VelocitySource(ref_type = RotationalComponents.Sources.ReferenceType.Exact()) {
    "Dyad": {"placement": {"diagram": {"x1": 155, "x2": 255, "y1": 350, "y2": 450}}}
  }
  "Inertia driven by exact velocity source"
  inertia_exact = RotationalComponents.Components.Inertia(J = 1) {
    "Dyad": {"placement": {"diagram": {"x1": 285, "x2": 385, "y1": 350, "y2": 450}}}
  }
relations
  initial inertia_exact.phi = 0
  initial inertia_filtered.phi = 0
  connect(step.y, velocity_filtered.w_ref) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "path": {}}}
  connect(velocity_filtered.spline, inertia_filtered.spline_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "path": {}}}
  connect(velocity_filtered.support, fixed.spline) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 205, "y": 175}, {"x": 335, "y": 175}], "E": 2}],
      "path": {}
    }
  }
  connect(sine.y, velocity_exact.w_ref) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "path": {}}}
  connect(velocity_exact.spline, inertia_exact.spline_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "path": {}}}
  connect(velocity_exact.support, fixed.spline) {
    "Dyad": {
      "edges": [
        {"S": 1, "M": [{"x": 205, "y": 505}, {"x": 270, "y": 505}], "E": -1},
        {"S": -1, "M": [{"x": 335, "y": 175}], "E": 2}
      ],
      "junctions": [{"x": 270, "y": 175}],
      "path": {}
    }
  }
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

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

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

1. velocity_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. velocity_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 VelocitySource
  "Fixed ground for all supports"
  fixed = RotationalComponents.Components.Fixed() {
    "Dyad": {"placement": {"diagram": {"x1": 285, "x2": 385, "y1": 230, "y2": 330}}}
  }
  "Step signal for filtered velocity source (step at t=0.5)"
  step = BlockComponents.Sources.Step(height = 1.0, start_time = 0.5) {"Dyad": {"placement": {"diagram": {"x1": 10, "x2": 110, "y1": 20, "y2": 120}}}}
  "VelocitySource — Filtered mode with low f_crit=5 Hz"
  velocity_filtered = RotationalComponents.Sources.VelocitySource(ref_type = RotationalComponents.Sources.ReferenceType.Filtered(f_crit = 5.0)) {
    "Dyad": {"placement": {"diagram": {"x1": 155, "x2": 255, "y1": 20, "y2": 120}}}
  }
  "Inertia driven by filtered velocity source"
  inertia_filtered = RotationalComponents.Components.Inertia(J = 1) {
    "Dyad": {"placement": {"diagram": {"x1": 285, "x2": 385, "y1": 20, "y2": 120}}}
  }
  "Sine signal for exact velocity source (f=1 Hz)"
  sine = BlockComponents.Sources.Sine(amplitude = 1, frequency = 1) {
    "Dyad": {"placement": {"diagram": {"x1": 20, "x2": 120, "y1": 350, "y2": 450}}}
  }
  "VelocitySource — Exact mode"
  velocity_exact = RotationalComponents.Sources.VelocitySource(ref_type = RotationalComponents.Sources.ReferenceType.Exact()) {
    "Dyad": {"placement": {"diagram": {"x1": 155, "x2": 255, "y1": 350, "y2": 450}}}
  }
  "Inertia driven by exact velocity source"
  inertia_exact = RotationalComponents.Components.Inertia(J = 1) {
    "Dyad": {"placement": {"diagram": {"x1": 285, "x2": 385, "y1": 350, "y2": 450}}}
  }
relations
  initial inertia_exact.phi = 0
  initial inertia_filtered.phi = 0
  connect(step.y, velocity_filtered.w_ref) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "path": {}}}
  connect(velocity_filtered.spline, inertia_filtered.spline_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "path": {}}}
  connect(velocity_filtered.support, fixed.spline) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 205, "y": 175}, {"x": 335, "y": 175}], "E": 2}],
      "path": {}
    }
  }
  connect(sine.y, velocity_exact.w_ref) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "path": {}}}
  connect(velocity_exact.spline, inertia_exact.spline_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "path": {}}}
  connect(velocity_exact.support, fixed.spline) {
    "Dyad": {
      "edges": [
        {"S": 1, "M": [{"x": 205, "y": 505}, {"x": 270, "y": 505}], "E": -1},
        {"S": -1, "M": [{"x": 335, "y": 175}], "E": 2}
      ],
      "junctions": [{"x": 270, "y": 175}],
      "path": {}
    }
  }
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

plt

plt

plt

plt

Related

• Examples

• Experiments

• Analyses

• Tests

  • AllComponents

  • Fixed

  • Inertia

  • Sine

  • Step

  • Torque2

  • VelocitySource

  • VelocitySource