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Sources.Tests.TestBraking.md

Sources.Tests.TestBraking ​

Test of braking force models.

Tests five different braking force sources applied to individual masses, each starting at v=100 m/s from s=0. Replicates the structure of ModelicaTest.Translational.TestBraking (EddyCurrentForce omitted).

  • mass1 + LinearSpeedDependentForce (f_nominal=-100, v_nominal=100)

  • mass2 + QuadraticSpeedDependentForce (f_nominal=-100, v_nominal=100)

  • mass3 + ConstantForce (f_constant=-100)

  • mass4 + SignForce (f_nominal=-100, v0=1)

  • mass5 + InverseSpeedDependentForce (f_nominal=-100, v_nominal=100, v0=1)

Usage ​

TranslationalComponents.Sources.Tests.TestBraking()

Behavior ​

[connect(mass1+flangeb,linearSpeedDependentForce+flange)connect(mass2+flangeb,quadraticSpeedDependentForce+flange)connect(mass3+flangeb,constantForce+flange)connect(mass4+flangeb,signForce+flange)connect(mass5+flangeb,inverseSpeedDependentForce+flange)connect(inverseSpeedDependentForce+support,ground+flange)connect(signForce+support,ground+flange)connect(quadraticSpeedDependentForce+support,ground+flange)connect(linearSpeedDependentForce+support,ground+flange)connect(constantForce+support,ground+flange)mass1.flangea.s(t)=−12⋅mass1.L+mass1.s(t)mass1.flangeb.s(t)=mass1.L2+mass1.s(t)mass1.v(t)=d⋅mass1.s(t)dtmass1.a(t)=d⋅mass1.v(t)dt(mass1.a(t)+mass1.g⋅sin⁡(mass1.theta))⋅mass1.m=mass1.flangea.f(t)+mass1.flangeb.f(t)linearSpeedDependentForce.s(t)=−linearSpeedDependentForce.support.s(t)+linearSpeedDependentForce.flange.s(t)linearSpeedDependentForce.support.f(t)=−linearSpeedDependentForce.flange.f(t)linearSpeedDependentForce.f(t)=linearSpeedDependentForce.flange.f(t)linearSpeedDependentForce.v(t)=d⋅linearSpeedDependentForce.s(t)dtlinearSpeedDependentForce.f(t)=−linearSpeedDependentForce.fnominal⋅|linearSpeedDependentForce.v(t)linearSpeedDependentForce.vnominal|mass2.flangea.s(t)=−12⋅mass2.L+mass2.s(t)mass2.flangeb.s(t)=mass2.L2+mass2.s(t)mass2.v(t)=d⋅mass2.s(t)dtmass2.a(t)=d⋅mass2.v(t)dt(mass2.a(t)+mass2.g⋅sin⁡(mass2.theta))⋅mass2.m=mass2.flangea.f(t)+mass2.flangeb.f(t)quadraticSpeedDependentForce.s(t)=−quadraticSpeedDependentForce.support.s(t)+quadraticSpeedDependentForce.flange.s(t)quadraticSpeedDependentForce.support.f(t)=−quadraticSpeedDependentForce.flange.f(t)quadraticSpeedDependentForce.f(t)=quadraticSpeedDependentForce.flange.f(t)quadraticSpeedDependentForce.v(t)=d⋅quadraticSpeedDependentForce.s(t)dtquadraticSpeedDependentForce.f(t)=−(quadraticSpeedDependentForce.v(t)quadraticSpeedDependentForce.vnominal)2⋅quadraticSpeedDependentForce.fnominalmass3.flangea.s(t)=−12⋅mass3.L+mass3.s(t)mass3.flangeb.s(t)=mass3.L2+mass3.s(t)mass3.v(t)=d⋅mass3.s(t)dtmass3.a(t)=d⋅mass3.v(t)dt(mass3.a(t)+mass3.g⋅sin⁡(mass3.theta))⋅mass3.m=mass3.flangeb.f(t)+mass3.flangea.f(t)constantForce.s(t)=−constantForce.support.s(t)+constantForce.flange.s(t)constantForce.support.f(t)=−constantForce.flange.f(t)constantForce.f(t)=constantForce.flange.f(t)constantForce.f(t)=−constantForce.fconstantmass4.flangea.s(t)=−12⋅mass4.L+mass4.s(t)mass4.flangeb.s(t)=mass4.L2+mass4.s(t)mass4.v(t)=d⋅mass4.s(t)dtmass4.a(t)=d⋅mass4.v(t)dt(mass4.a(t)+mass4.g⋅sin⁡(mass4.theta))⋅mass4.m=mass4.flangea.f(t)+mass4.flangeb.f(t)signForce.s(t)=−signForce.support.s(t)+signForce.flange.s(t)signForce.support.f(t)=−signForce.flange.f(t)signForce.f(t)=signForce.flange.f(t)signForce.v(t)=d⋅signForce.s(t)dtsignForce.f(t)=−signForce.fnominal⋅(−1.0+2.01.0+e−signForce.v(t)0.01⋅signForce.v0)mass5.flangea.s(t)=−12⋅mass5.L+mass5.s(t)mass5.flangeb.s(t)=mass5.L2+mass5.s(t)mass5.v(t)=d⋅mass5.s(t)dtmass5.a(t)=d⋅mass5.v(t)dt(mass5.a(t)+mass5.g⋅sin⁡(mass5.theta))⋅mass5.m=mass5.flangea.f(t)+mass5.flangeb.f(t)inverseSpeedDependentForce.s(t)=−inverseSpeedDependentForce.support.s(t)+inverseSpeedDependentForce.flange.s(t)inverseSpeedDependentForce.support.f(t)=−inverseSpeedDependentForce.flange.f(t)inverseSpeedDependentForce.f(t)=inverseSpeedDependentForce.flange.f(t)inverseSpeedDependentForce.v(t)=d⋅inverseSpeedDependentForce.s(t)dtinverseSpeedDependentForce.f(t)=ifelse(|inverseSpeedDependentForce.v(t)|<inverseSpeedDependentForce.v0,−inverseSpeedDependentForce.fnominal⋅inverseSpeedDependentForce.vnominalinverseSpeedDependentForce.v0,−inverseSpeedDependentForce.fnominal⋅inverseSpeedDependentForce.vnominal|inverseSpeedDependentForce.v(t)|)ground.flange.s(t)=ground.s0]

Source ​

dyad
"""
Test of braking force models.

Tests five different braking force sources applied to individual masses,
each starting at v=100 m/s from s=0. Replicates the structure of
ModelicaTest.Translational.TestBraking (EddyCurrentForce omitted).

- mass1 + LinearSpeedDependentForce (f_nominal=-100, v_nominal=100)
- mass2 + QuadraticSpeedDependentForce (f_nominal=-100, v_nominal=100)
- mass3 + ConstantForce (f_constant=-100)
- mass4 + SignForce (f_nominal=-100, v0=1)
- mass5 + InverseSpeedDependentForce (f_nominal=-100, v_nominal=100, v0=1)
"""
test component TestBraking
  "Mass braked by linear speed-dependent force"
  mass1 = TranslationalComponents.Components.Mass(m = 1) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 160, "y1": 680, "x2": 260, "y2": 780, "rot": 0}
      },
      "tags": []
    }
  }
  linearSpeedDependentForce = TranslationalComponents.Sources.LinearSpeedDependentForce(f_nominal = -100.0, v_nominal = 100.0) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 500, "y1": 680, "x2": 400, "y2": 780, "rot": 0}
      },
      "tags": []
    }
  }
  "Mass braked by quadratic speed-dependent force"
  mass2 = TranslationalComponents.Components.Mass(m = 1) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 150, "y1": 450, "x2": 250, "y2": 550, "rot": 0}
      },
      "tags": []
    }
  }
  quadraticSpeedDependentForce = TranslationalComponents.Sources.QuadraticSpeedDependentForce(f_nominal = -100.0, v_nominal = 100.0) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 500, "y1": 450, "x2": 400, "y2": 550, "rot": 0}
      },
      "tags": []
    }
  }
  "Mass braked by constant force"
  mass3 = TranslationalComponents.Components.Mass(m = 1) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 170, "y1": 880, "x2": 270, "y2": 980, "rot": 0}
      },
      "tags": []
    }
  }
  constantForce = TranslationalComponents.Sources.ConstantForce(f_constant = -100.0) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 500, "y1": 880, "x2": 400, "y2": 980, "rot": 0}
      },
      "tags": []
    }
  }
  "Mass braked by sign force"
  mass4 = TranslationalComponents.Components.Mass(m = 1) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 140, "y1": 230, "x2": 240, "y2": 330, "rot": 0}
      },
      "tags": []
    }
  }
  signForce = TranslationalComponents.Sources.SignForce(f_nominal = -100.0, v0 = 1.0) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 510, "y1": 230, "x2": 410, "y2": 330, "rot": 0}
      },
      "tags": []
    }
  }
  "Mass braked by inverse speed-dependent force"
  mass5 = TranslationalComponents.Components.Mass(m = 1) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 140, "y1": 20, "x2": 240, "y2": 120, "rot": 0}
      },
      "tags": []
    }
  }
  inverseSpeedDependentForce = TranslationalComponents.Sources.InverseSpeedDependentForce(f_nominal = -100.0, v_nominal = 100.0, v0 = 1.0) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 500, "y1": 20, "x2": 400, "y2": 120, "rot": 0}
      },
      "tags": []
    }
  }
  "Fixed ground for all force supports"
  ground = TranslationalComponents.Components.Fixed() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 890, "y1": 450, "x2": 990, "y2": 550, "rot": 270}
      },
      "tags": []
    }
  }
relations
  initial mass1.s = 0
  initial mass1.v = 100
  initial mass2.s = 0
  initial mass2.v = 100
  initial mass3.s = 0
  initial mass3.v = 100
  initial mass4.s = 0
  initial mass4.v = 100
  initial mass5.s = 0
  initial mass5.v = 100
  connect(mass1.flange_b, linearSpeedDependentForce.flange) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(mass2.flange_b, quadraticSpeedDependentForce.flange) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(mass3.flange_b, constantForce.flange) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(mass4.flange_b, signForce.flange) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(mass5.flange_b, inverseSpeedDependentForce.flange) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(inverseSpeedDependentForce.support, ground.flange) {
    "Dyad": {
      "edges": [
        {
          "S": 1,
          "M": [{"x": 450, "y": 190}, {"x": 720, "y": 190}, {"x": 720, "y": 500}],
          "E": 2
        }
      ],
      "renderStyle": "standard"
    }
  }
  connect(signForce.support, ground.flange) {
    "Dyad": {
      "edges": [
        {
          "S": 1,
          "M": [{"x": 460, "y": 370}, {"x": 720, "y": 370}, {"x": 720, "y": 500}],
          "E": 2
        }
      ],
      "renderStyle": "standard"
    }
  }
  connect(quadraticSpeedDependentForce.support, ground.flange) {
    "Dyad": {
      "edges": [
        {
          "S": 1,
          "M": [{"x": 450, "y": 620}, {"x": 720, "y": 620}, {"x": 720, "y": 500}],
          "E": 2
        }
      ],
      "renderStyle": "standard"
    }
  }
  connect(linearSpeedDependentForce.support, ground.flange) {
    "Dyad": {
      "edges": [
        {
          "S": 1,
          "M": [{"x": 450, "y": 840}, {"x": 720, "y": 840}, {"x": 720, "y": 500}],
          "E": 2
        }
      ],
      "renderStyle": "standard"
    }
  }
  connect(constantForce.support, ground.flange) {
    "Dyad": {
      "edges": [
        {
          "S": 1,
          "M": [{"x": 450, "y": 1050}, {"x": 720, "y": 1050}, {"x": 720, "y": 500}],
          "E": 2
        }
      ],
      "renderStyle": "standard"
    }
  }
metadata {
  "Dyad": {
    "icons": {"default": "dyad://TranslationalComponents/Example.svg"},
    "tests": {
      "case1": {
        "stop": 2,
        "atol": {
          "mass1.v": 0.01,
          "mass2.v": 0.01,
          "mass3.v": 0.01,
          "mass4.v": 0.01,
          "mass5.v": 0.1
        },
        "expect": {
          "final": {
            "mass1.v": 13.53353,
            "mass2.v": 33.333344,
            "mass3.v": -100,
            "mass4.v": 0,
            "mass5.v": -173.19913
          },
          "signals": ["mass1.v", "mass2.v", "mass3.v", "mass4.v", "mass5.v"]
        }
      }
    }
  }
}
end
Flattened Source
dyad
"""
Test of braking force models.

Tests five different braking force sources applied to individual masses,
each starting at v=100 m/s from s=0. Replicates the structure of
ModelicaTest.Translational.TestBraking (EddyCurrentForce omitted).

- mass1 + LinearSpeedDependentForce (f_nominal=-100, v_nominal=100)
- mass2 + QuadraticSpeedDependentForce (f_nominal=-100, v_nominal=100)
- mass3 + ConstantForce (f_constant=-100)
- mass4 + SignForce (f_nominal=-100, v0=1)
- mass5 + InverseSpeedDependentForce (f_nominal=-100, v_nominal=100, v0=1)
"""
test component TestBraking
  "Mass braked by linear speed-dependent force"
  mass1 = TranslationalComponents.Components.Mass(m = 1) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 160, "y1": 680, "x2": 260, "y2": 780, "rot": 0}
      },
      "tags": []
    }
  }
  linearSpeedDependentForce = TranslationalComponents.Sources.LinearSpeedDependentForce(f_nominal = -100.0, v_nominal = 100.0) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 500, "y1": 680, "x2": 400, "y2": 780, "rot": 0}
      },
      "tags": []
    }
  }
  "Mass braked by quadratic speed-dependent force"
  mass2 = TranslationalComponents.Components.Mass(m = 1) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 150, "y1": 450, "x2": 250, "y2": 550, "rot": 0}
      },
      "tags": []
    }
  }
  quadraticSpeedDependentForce = TranslationalComponents.Sources.QuadraticSpeedDependentForce(f_nominal = -100.0, v_nominal = 100.0) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 500, "y1": 450, "x2": 400, "y2": 550, "rot": 0}
      },
      "tags": []
    }
  }
  "Mass braked by constant force"
  mass3 = TranslationalComponents.Components.Mass(m = 1) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 170, "y1": 880, "x2": 270, "y2": 980, "rot": 0}
      },
      "tags": []
    }
  }
  constantForce = TranslationalComponents.Sources.ConstantForce(f_constant = -100.0) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 500, "y1": 880, "x2": 400, "y2": 980, "rot": 0}
      },
      "tags": []
    }
  }
  "Mass braked by sign force"
  mass4 = TranslationalComponents.Components.Mass(m = 1) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 140, "y1": 230, "x2": 240, "y2": 330, "rot": 0}
      },
      "tags": []
    }
  }
  signForce = TranslationalComponents.Sources.SignForce(f_nominal = -100.0, v0 = 1.0) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 510, "y1": 230, "x2": 410, "y2": 330, "rot": 0}
      },
      "tags": []
    }
  }
  "Mass braked by inverse speed-dependent force"
  mass5 = TranslationalComponents.Components.Mass(m = 1) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 140, "y1": 20, "x2": 240, "y2": 120, "rot": 0}
      },
      "tags": []
    }
  }
  inverseSpeedDependentForce = TranslationalComponents.Sources.InverseSpeedDependentForce(f_nominal = -100.0, v_nominal = 100.0, v0 = 1.0) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 500, "y1": 20, "x2": 400, "y2": 120, "rot": 0}
      },
      "tags": []
    }
  }
  "Fixed ground for all force supports"
  ground = TranslationalComponents.Components.Fixed() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 890, "y1": 450, "x2": 990, "y2": 550, "rot": 270}
      },
      "tags": []
    }
  }
relations
  initial mass1.s = 0
  initial mass1.v = 100
  initial mass2.s = 0
  initial mass2.v = 100
  initial mass3.s = 0
  initial mass3.v = 100
  initial mass4.s = 0
  initial mass4.v = 100
  initial mass5.s = 0
  initial mass5.v = 100
  connect(mass1.flange_b, linearSpeedDependentForce.flange) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(mass2.flange_b, quadraticSpeedDependentForce.flange) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(mass3.flange_b, constantForce.flange) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(mass4.flange_b, signForce.flange) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(mass5.flange_b, inverseSpeedDependentForce.flange) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(inverseSpeedDependentForce.support, ground.flange) {
    "Dyad": {
      "edges": [
        {
          "S": 1,
          "M": [{"x": 450, "y": 190}, {"x": 720, "y": 190}, {"x": 720, "y": 500}],
          "E": 2
        }
      ],
      "renderStyle": "standard"
    }
  }
  connect(signForce.support, ground.flange) {
    "Dyad": {
      "edges": [
        {
          "S": 1,
          "M": [{"x": 460, "y": 370}, {"x": 720, "y": 370}, {"x": 720, "y": 500}],
          "E": 2
        }
      ],
      "renderStyle": "standard"
    }
  }
  connect(quadraticSpeedDependentForce.support, ground.flange) {
    "Dyad": {
      "edges": [
        {
          "S": 1,
          "M": [{"x": 450, "y": 620}, {"x": 720, "y": 620}, {"x": 720, "y": 500}],
          "E": 2
        }
      ],
      "renderStyle": "standard"
    }
  }
  connect(linearSpeedDependentForce.support, ground.flange) {
    "Dyad": {
      "edges": [
        {
          "S": 1,
          "M": [{"x": 450, "y": 840}, {"x": 720, "y": 840}, {"x": 720, "y": 500}],
          "E": 2
        }
      ],
      "renderStyle": "standard"
    }
  }
  connect(constantForce.support, ground.flange) {
    "Dyad": {
      "edges": [
        {
          "S": 1,
          "M": [{"x": 450, "y": 1050}, {"x": 720, "y": 1050}, {"x": 720, "y": 500}],
          "E": 2
        }
      ],
      "renderStyle": "standard"
    }
  }
metadata {
  "Dyad": {
    "icons": {"default": "dyad://TranslationalComponents/Example.svg"},
    "tests": {
      "case1": {
        "stop": 2,
        "atol": {
          "mass1.v": 0.01,
          "mass2.v": 0.01,
          "mass3.v": 0.01,
          "mass4.v": 0.01,
          "mass5.v": 0.1
        },
        "expect": {
          "final": {
            "mass1.v": 13.53353,
            "mass2.v": 33.333344,
            "mass3.v": -100,
            "mass4.v": 0,
            "mass5.v": -173.19913
          },
          "signals": ["mass1.v", "mass2.v", "mass3.v", "mass4.v", "mass5.v"]
        }
      }
    }
  }
}
end


Test Cases ​

Test Case case1 ​

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