LIBRARY

`Examples.Sensors`

Demonstrate sensors for translational systems.

Replicates the structure of Modelica.Mechanics.Translational.Examples.Sensors.

A sinusoidal force drives a mass. Various sensors measure the system response: force, position, speed, acceleration, and multi-sensor (combined).

Note: MSL uses a one-flange Force source with ForceSensor in series. Here we use the two-flange Force with flange_b connected to a Fixed ground. The ForceSensor is placed between the Force source and the mass.

Usage

TranslationalComponents.Examples.Sensors()

Behavior

[\begin{matrix} connect (s i n e_{f o r c e_{+} y}, f o r c e_{+} f) \\ connect (f o r c e_{+} f l a n g e_{a}, f o r c e_{g r o u n d_{+} f l a n g e}) \\ connect (f o r c e_{+} f l a n g e_{b}, f o r c e_{s e n s o r_{+} f l a n g e_a}) \\ connect (f o r c e_{s e n s o r_{+} f l a n g e_b}, m u l t i_{s e n s o r_{+} f l a n g e_a}) \\ connect (m u l t i_{s e n s o r_{+} f l a n g e_b}, m a s s_{+} f l a n g e_{a}) \\ connect (m a s s_{+} f l a n g e_{a}, p o s i t i o n_{s e n s o r 1_{+} f l a n g e}) \\ connect (m a s s_{+} f l a n g e_{a}, s p e e d_{s e n s o r 1_{+} f l a n g e}) \\ connect (m a s s_{+} f l a n g e_{a}, a c c_{s e n s o r 1_{+} f l a n g e}) \\ connect (m a s s_{+} f l a n g e_{b}, p o s i t i o n_{s e n s o r 2_{+} f l a n g e}) \\ {sine}_{force . y} (t) = {sine}_{force . offset} + {sine}_{force . amplitude} \cdot ifelse (t \geq {sine}_{force . start_time}, \sin ({sine}_{force . phase} + 6.283185307179586 \cdot {sine}_{force . frequency} \cdot (- {sine}_{force . start_time} + t)), \sin ({sine}_{force . phase})) \\ {force . flange}_{a . f} (t) = force . f (t) \\ {force . flange}_{b . f} (t) = - force . f (t) \\ {force}_{ground . flange . s} (t) = {force}_{ground . s 0} \\ 0 = {force}_{sensor . flange_a . f} (t) + {force}_{sensor . flange_b . f} (t) \\ {force}_{sensor . flange_a . s} (t) = {force}_{sensor . flange_b . s} (t) \\ {force}_{sensor . flange_a . f} (t) = {force}_{sensor . f} (t) \\ 0 = {multi}_{sensor . flange_b . f} (t) + {multi}_{sensor . flange_a . f} (t) \\ {multi}_{sensor . flange_a . s} (t) = {multi}_{sensor . flange_b . s} (t) \\ {multi}_{sensor . f} (t) = {multi}_{sensor . flange_a . f} (t) \\ {multi}_{sensor . v} (t) = \frac{d \cdot {multi}_{sensor . flange_a . s} (t)}{d t} \\ {multi}_{sensor . power} (t) = {multi}_{sensor . f} (t) \cdot {multi}_{sensor . v} (t) \\ {mass . flange}_{a . s} (t) = - \frac{1}{2} \cdot mass . L + mass . s (t) \\ {mass . flange}_{b . s} (t) = \frac{mass . L}{2} + mass . s (t) \\ mass . v (t) = \frac{d \cdot mass . s (t)}{d t} \\ mass . a (t) = \frac{d \cdot mass . v (t)}{d t} \\ (mass . a (t) + mass . g \cdot \sin (mass . theta)) \cdot mass . m = {mass . flange}_{b . f} (t) + {mass . flange}_{a . f} (t) \\ 0 = {position}_{sensor 1. flange . f} (t) \\ {position}_{sensor 1. flange . s} (t) = {position}_{sensor 1. s} (t) \\ 0 = {speed}_{sensor 1. flange . f} (t) \\ {speed}_{sensor 1. v} (t) = \frac{d \cdot {speed}_{sensor 1. flange . s} (t)}{d t} \\ 0 = {acc}_{sensor 1. flange . f} (t) \\ {acc}_{sensor 1. v} (t) = \frac{d \cdot {acc}_{sensor 1. flange . s} (t)}{d t} \\ {acc}_{sensor 1. a} (t) = \frac{d \cdot {acc}_{sensor 1. v} (t)}{d t} \\ 0 = {position}_{sensor 2. flange . f} (t) \\ {position}_{sensor 2. flange . s} (t) = {position}_{sensor 2. s} (t) \end{matrix}]

Source

dyad

"""
Demonstrate sensors for translational systems.

Replicates the structure of Modelica.Mechanics.Translational.Examples.Sensors.

A sinusoidal force drives a mass. Various sensors measure the system response:
force, position, speed, acceleration, and multi-sensor (combined).

Note: MSL uses a one-flange Force source with ForceSensor in series. Here we
use the two-flange Force with flange_b connected to a Fixed ground.
The ForceSensor is placed between the Force source and the mass.
"""
example component Sensors
  "Sinusoidal force signal"
  sine_force = BlockComponents.Sources.Sine(amplitude = 10, frequency = 4)
  "Force source"
  force = TranslationalComponents.Sources.Force()
  "Ground for force source"
  force_ground = TranslationalComponents.Components.Fixed()
  "Force sensor"
  force_sensor = TranslationalComponents.Sensors.ForceSensor()
  "Multi-sensor (force, position, speed, acceleration, power)"
  multi_sensor = TranslationalComponents.Sensors.MultiSensor()
  "Mass"
  mass = TranslationalComponents.Components.Mass(L = 1, m = 1, s = initial 0, v = initial 0)
  "Position sensor at flange_a"
  position_sensor1 = TranslationalComponents.Sensors.PositionSensor()
  "Speed sensor"
  speed_sensor1 = TranslationalComponents.Sensors.SpeedSensor()
  "Acceleration sensor"
  acc_sensor1 = TranslationalComponents.Sensors.AccelerationSensor()
  "Position sensor at flange_b"
  position_sensor2 = TranslationalComponents.Sensors.PositionSensor()
relations
  connect(sine_force.y, force.f)
  connect(force.flange_a, force_ground.flange)
  connect(force.flange_b, force_sensor.flange_a)
  connect(force_sensor.flange_b, multi_sensor.flange_a)
  connect(multi_sensor.flange_b, mass.flange_a)
  connect(mass.flange_a, position_sensor1.flange)
  connect(mass.flange_a, speed_sensor1.flange)
  connect(mass.flange_a, acc_sensor1.flange)
  connect(mass.flange_b, position_sensor2.flange)
metadata {
  "Dyad": {
    "icons": {"default": "dyad://TranslationalComponents/Example.svg"},
    "tests": {
      "case1": {
        "stop": 1,
        "atol": {
          "mass.s": 0.001,
          "mass.v": 0.001,
          "speed_sensor1.v": 0.001,
          "acc_sensor1.a": 0.01
        },
        "expect": {
          "final": {"mass.s": 0.3978874, "mass.v": 0, "speed_sensor1.v": 0, "acc_sensor1.a": 0},
          "signals": ["mass.s", "mass.v", "speed_sensor1.v", "acc_sensor1.a"]
        }
      }
    }
  }
}
end

Flattened Source

dyad

"""
Demonstrate sensors for translational systems.

Replicates the structure of Modelica.Mechanics.Translational.Examples.Sensors.

A sinusoidal force drives a mass. Various sensors measure the system response:
force, position, speed, acceleration, and multi-sensor (combined).

Note: MSL uses a one-flange Force source with ForceSensor in series. Here we
use the two-flange Force with flange_b connected to a Fixed ground.
The ForceSensor is placed between the Force source and the mass.
"""
example component Sensors
  "Sinusoidal force signal"
  sine_force = BlockComponents.Sources.Sine(amplitude = 10, frequency = 4)
  "Force source"
  force = TranslationalComponents.Sources.Force()
  "Ground for force source"
  force_ground = TranslationalComponents.Components.Fixed()
  "Force sensor"
  force_sensor = TranslationalComponents.Sensors.ForceSensor()
  "Multi-sensor (force, position, speed, acceleration, power)"
  multi_sensor = TranslationalComponents.Sensors.MultiSensor()
  "Mass"
  mass = TranslationalComponents.Components.Mass(L = 1, m = 1, s = initial 0, v = initial 0)
  "Position sensor at flange_a"
  position_sensor1 = TranslationalComponents.Sensors.PositionSensor()
  "Speed sensor"
  speed_sensor1 = TranslationalComponents.Sensors.SpeedSensor()
  "Acceleration sensor"
  acc_sensor1 = TranslationalComponents.Sensors.AccelerationSensor()
  "Position sensor at flange_b"
  position_sensor2 = TranslationalComponents.Sensors.PositionSensor()
relations
  connect(sine_force.y, force.f)
  connect(force.flange_a, force_ground.flange)
  connect(force.flange_b, force_sensor.flange_a)
  connect(force_sensor.flange_b, multi_sensor.flange_a)
  connect(multi_sensor.flange_b, mass.flange_a)
  connect(mass.flange_a, position_sensor1.flange)
  connect(mass.flange_a, speed_sensor1.flange)
  connect(mass.flange_a, acc_sensor1.flange)
  connect(mass.flange_b, position_sensor2.flange)
metadata {
  "Dyad": {
    "icons": {"default": "dyad://TranslationalComponents/Example.svg"},
    "tests": {
      "case1": {
        "stop": 1,
        "atol": {
          "mass.s": 0.001,
          "mass.v": 0.001,
          "speed_sensor1.v": 0.001,
          "acc_sensor1.a": 0.01
        },
        "expect": {
          "final": {"mass.s": 0.3978874, "mass.v": 0, "speed_sensor1.v": 0, "acc_sensor1.a": 0},
          "signals": ["mass.s", "mass.v", "speed_sensor1.v", "acc_sensor1.a"]
        }
      }
    }
  }
}
end

Test Cases

Test Case `case1`

julia

plt

julia

plt

julia

plt

julia

plt

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Examples.Sensors ​

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Test Case case1 ​

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`Examples.Sensors`

Usage

Behavior

Source

Test Cases

Test Case `case1`

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