Dyad

Appearance

SensorsTest.md

SensorsTest ​

Test environment for verifying absolute position, speed, and acceleration sensors monitoring a mass driven by a constant force.

This test component simulates a one-dimensional translational mechanical system to validate the behavior of absolute sensors. A mass (body) is subjected to a constant force (force, driven by constant1). One side of the force element is connected to a fixed point (ground), and the other side acts on the mass. The sensors (position_sensor, speed_sensor, acceleration_sensor) are then attached to this mass to measure its absolute position, speed, and acceleration, respectively. The metadata section includes a test case that checks if the sensor outputs match these expected dynamics.

Usage ​

SensorsTest()

Behavior ​

[constant1.y(t)=force.f(t)connect(force+flangeb,body+flangea)connect(force+flangea,ground+flange)connect(body+flangeb,speedsensor+flange,positionsensor+flange,accelerationsensor+flange)body.flange_a.s(t)=−12body.L+body.s(t)body.flange_b.s(t)=12body.L+body.s(t)body.v(t)=dbody.s(t)dtbody.a(t)=dbody.v(t)dt(body.a(t)+body.gsin⁡(body.theta))body.m=body.flange_b.f(t)+body.flange_a.f(t)force.flange_a.f(t)=force.f(t)force.flange_b.f(t)=−force.f(t)constant1.y(t)=constant1.kground.flange.s(t)=ground.s00=speed_sensor.flange.f(t)speed_sensor.v(t)=dspeed_sensor.flange.s(t)dt0=position_sensor.flange.f(t)position_sensor.flange.s(t)=position_sensor.s(t)0=acceleration_sensor.flange.f(t)acceleration_sensor.v(t)=dacceleration_sensor.flange.s(t)dtacceleration_sensor.a(t)=dacceleration_sensor.v(t)dt]

Source ​

dyad
# Test environment for verifying absolute position, speed, and acceleration sensors monitoring a mass driven by a constant force.
#
# This test component simulates a one-dimensional translational mechanical system to validate the behavior of absolute sensors.
# A mass (`body`) is subjected to a constant force (`force`, driven by `constant1`). One side of the force element is connected to
# a fixed point (`ground`), and the other side acts on the mass. The sensors (`position_sensor`, `speed_sensor`, `acceleration_sensor`)
# are then attached to this mass to measure its absolute position, speed, and acceleration, respectively.
# The `metadata` section includes a test case that checks if the sensor outputs match these expected dynamics.
test component SensorsTest
  # Represents the translational mass being sensed.
  body = Mass(m=1, L=0)
  # Represents the force applied to the mass.
  force = Force()
  # Provides a constant signal input (k=1) to the force component.
  constant1 = BlockComponents.Constant(k=1)
  # Represents the fixed mechanical ground.
  ground = Fixed()
  # Sensor to measure the absolute speed of the connected flange.
  speed_sensor = SpeedSensor()
  # Sensor to measure the absolute position of the connected flange.
  position_sensor = PositionSensor()
  # Sensor to measure the absolute acceleration of the connected flange.
  acceleration_sensor = AccelerationSensor()
relations
  connect(constant1.y, force.f)
  connect(force.flange_b, body.flange_a)
  connect(force.flange_a, ground.flange)
  connect(body.flange_b, speed_sensor.flange, position_sensor.flange, acceleration_sensor.flange)
metadata {
  "Dyad": {
    "tests": {
      "case1": {
        "stop": 5,
        "initial": {"body.s": 0},
        "expect": {
          "final": {
            "body.s": 12.49999999,
            "body.v": 4.99999999,
            "body.a": 1,
            "position_sensor.s": 12.49999999,
            "speed_sensor.v": 4.99999999,
            "acceleration_sensor.a": 1
          }
        }
      }
    }
  }
}
end
Flattened Source
dyad
# Test environment for verifying absolute position, speed, and acceleration sensors monitoring a mass driven by a constant force.
#
# This test component simulates a one-dimensional translational mechanical system to validate the behavior of absolute sensors.
# A mass (`body`) is subjected to a constant force (`force`, driven by `constant1`). One side of the force element is connected to
# a fixed point (`ground`), and the other side acts on the mass. The sensors (`position_sensor`, `speed_sensor`, `acceleration_sensor`)
# are then attached to this mass to measure its absolute position, speed, and acceleration, respectively.
# The `metadata` section includes a test case that checks if the sensor outputs match these expected dynamics.
test component SensorsTest
  # Represents the translational mass being sensed.
  body = Mass(m=1, L=0)
  # Represents the force applied to the mass.
  force = Force()
  # Provides a constant signal input (k=1) to the force component.
  constant1 = BlockComponents.Constant(k=1)
  # Represents the fixed mechanical ground.
  ground = Fixed()
  # Sensor to measure the absolute speed of the connected flange.
  speed_sensor = SpeedSensor()
  # Sensor to measure the absolute position of the connected flange.
  position_sensor = PositionSensor()
  # Sensor to measure the absolute acceleration of the connected flange.
  acceleration_sensor = AccelerationSensor()
relations
  connect(constant1.y, force.f)
  connect(force.flange_b, body.flange_a)
  connect(force.flange_a, ground.flange)
  connect(body.flange_b, speed_sensor.flange, position_sensor.flange, acceleration_sensor.flange)
metadata {
  "Dyad": {
    "tests": {
      "case1": {
        "stop": 5,
        "initial": {"body.s": 0},
        "expect": {
          "final": {
            "body.s": 12.49999999,
            "body.v": 4.99999999,
            "body.a": 1,
            "position_sensor.s": 12.49999999,
            "speed_sensor.v": 4.99999999,
            "acceleration_sensor.a": 1
          }
        }
      }
    }
  }
}
end


Test Cases ​

This is setup code, that must be run before each test case.

julia
using TranslationalComponents
using ModelingToolkit, OrdinaryDiffEqDefault
using Plots
using CSV, DataFrames

snapshotsdir = joinpath(dirname(dirname(pathof(TranslationalComponents))), "test", "snapshots")
"/home/actions-runner-10/.julia/packages/TranslationalComponents/khJb7/test/snapshots"

Test Case case1 ​

julia
@mtkbuild model_case1 = SensorsTest()
u0_case1 = [model_case1.body.s => 0]
prob_case1 = ODEProblem(model_case1, u0_case1, (0, 5))
sol_case1 = solve(prob_case1)
retcode: Success
Interpolation: 3rd order Hermite
t: 7-element Vector{Float64}:
 0.0
 9.999999999999999e-5
 0.0010999999999999998
 0.011099999999999997
 0.11109999999999996
 1.1110999999999995
 5.0
u: 7-element Vector{Vector{Float64}}:
 [-0.0, 0.0]
 [9.999999999999996e-5, 4.9999999999999695e-9]
 [0.0010999999999999996, 6.049999999999966e-7]
 [0.011099999999999994, 6.160499999999969e-5]
 [0.11109999999999993, 0.00617160499999997]
 [1.1110999999999993, 0.6172716049999964]
 [4.999999999999999, 12.499999999999947]