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Sources.Tests.AllComponents.md

Sources.Tests.AllComponents ​

Tests Position, SpeedSource, AccelerationSource, and Torque2 components, matching the source-related subsystems from MSL ModelicaTest.Rotational.AllComponents.

Three subsystems from AllComponents are replicated here:

  1. Position (Filtered default, f_crit=50 Hz): Sine(f=1) → Position → Inertia(J=3)

  2. Speed + Torque2 (Filtered default): Sine(f=1) → SpeedSource → Inertia(J=3) → Torque2(Sine f=1) → Inertia(J=3)

  3. Accelerate: Sine(f=1) → AccelerationSource → Inertia(J=3)

All supports are grounded to Fixed. Stop time = 0.9 s.

Usage ​

RotationalComponents.Sources.Tests.AllComponents()

Behavior ​

julia
using RotationalComponents #hide
using ModelingToolkit #hide
@named sys = RotationalComponents.Sources.Tests.AllComponents() #hide
full_equations(sys) #hide
<< @example-block not executed in draft mode >>

Source ​

dyad
"""
Tests Position, SpeedSource, AccelerationSource, and Torque2 components,
matching the source-related subsystems from MSL ModelicaTest.Rotational.AllComponents.

Three subsystems from AllComponents are replicated here:

1. Position (Filtered default, f_crit=50 Hz): Sine(f=1) → Position → Inertia(J=3)
2. Speed + Torque2 (Filtered default): Sine(f=1) → SpeedSource → Inertia(J=3) → Torque2(Sine f=1) → Inertia(J=3)
3. Accelerate: Sine(f=1) → AccelerationSource → Inertia(J=3)

All supports are grounded to Fixed. Stop time = 0.9 s.
"""
test component AllComponents
  "Fixed ground for all supports"
  fixed = RotationalComponents.Components.Fixed()
  "Sine reference for position source (f=1 Hz)"
  sine_pos = BlockComponents.Sources.Sine(amplitude = 1, frequency = 1)
  "Position source — default Filtered mode (f_crit=50 Hz)"
  position = RotationalComponents.Sources.Position()
  "Inertia driven by position source (MSL inertia9, J=3)"
  inertia_pos = RotationalComponents.Components.Inertia(J = 3)
  "Sine reference for speed source (f=1 Hz)"
  sine_speed = BlockComponents.Sources.Sine(amplitude = 1, frequency = 1)
  "SpeedSource — default Filtered mode (f_crit=50 Hz)"
  speed = RotationalComponents.Sources.SpeedSource()
  "Inertia driven by speed source (MSL inertia10, J=3)"
  inertia_speed = RotationalComponents.Components.Inertia(J = 3)
  "Sine input for Torque2 (f=1 Hz)"
  sine_torque2 = BlockComponents.Sources.Sine(amplitude = 1, frequency = 1)
  "Torque2 — acts between speed inertia and output inertia"
  torque2 = RotationalComponents.Sources.Torque2()
  "Inertia driven by Torque2 (MSL inertia13, J=3)"
  inertia13 = RotationalComponents.Components.Inertia(J = 3)
  "Sine reference for accelerate source (f=1 Hz)"
  sine_acc = BlockComponents.Sources.Sine(amplitude = 1, frequency = 1)
  "AccelerationSource"
  accelerate = RotationalComponents.Sources.AccelerationSource()
  "Inertia driven by accelerate source (MSL inertia11, J=3)"
  inertia_acc = RotationalComponents.Components.Inertia(J = 3)
relations
  # Position subsystem
  initial position.w = 0
  initial inertia_speed.phi = 0
  connect(sine_pos.y, position.phi_ref)
  connect(position.spline, inertia_pos.spline_a)
  connect(position.support, fixed.spline)
  # Speed + Torque2 subsystem
  initial inertia13.phi = 0
  initial inertia13.w = 0
  connect(sine_speed.y, speed.w_ref)
  connect(speed.spline, inertia_speed.spline_a)
  connect(speed.support, fixed.spline)
  connect(inertia_speed.spline_b, torque2.spline_a)
  connect(torque2.spline_b, inertia13.spline_a)
  connect(sine_torque2.y, torque2.tau)
  # Accelerate subsystem
  initial accelerate.phi = 0
  initial accelerate.w = 0
  connect(sine_acc.y, accelerate.a_ref)
  connect(accelerate.spline, inertia_acc.spline_a)
  connect(accelerate.support, fixed.spline)
metadata {
  "Dyad": {
    "icons": {"default": "dyad://RotationalComponents/Example.svg"},
    "tests": {
      "case1": {
        "stop": 0.9,
        "expect": {
          "signals": [
            "position.phi",
            "position.w",
            "speed.phi",
            "speed.w",
            "accelerate.phi",
            "accelerate.w",
            "inertia13.phi",
            "inertia13.w"
          ]
        }
      }
    }
  }
}
end
Flattened Source
dyad
"""
Tests Position, SpeedSource, AccelerationSource, and Torque2 components,
matching the source-related subsystems from MSL ModelicaTest.Rotational.AllComponents.

Three subsystems from AllComponents are replicated here:

1. Position (Filtered default, f_crit=50 Hz): Sine(f=1) → Position → Inertia(J=3)
2. Speed + Torque2 (Filtered default): Sine(f=1) → SpeedSource → Inertia(J=3) → Torque2(Sine f=1) → Inertia(J=3)
3. Accelerate: Sine(f=1) → AccelerationSource → Inertia(J=3)

All supports are grounded to Fixed. Stop time = 0.9 s.
"""
test component AllComponents
  "Fixed ground for all supports"
  fixed = RotationalComponents.Components.Fixed()
  "Sine reference for position source (f=1 Hz)"
  sine_pos = BlockComponents.Sources.Sine(amplitude = 1, frequency = 1)
  "Position source — default Filtered mode (f_crit=50 Hz)"
  position = RotationalComponents.Sources.Position()
  "Inertia driven by position source (MSL inertia9, J=3)"
  inertia_pos = RotationalComponents.Components.Inertia(J = 3)
  "Sine reference for speed source (f=1 Hz)"
  sine_speed = BlockComponents.Sources.Sine(amplitude = 1, frequency = 1)
  "SpeedSource — default Filtered mode (f_crit=50 Hz)"
  speed = RotationalComponents.Sources.SpeedSource()
  "Inertia driven by speed source (MSL inertia10, J=3)"
  inertia_speed = RotationalComponents.Components.Inertia(J = 3)
  "Sine input for Torque2 (f=1 Hz)"
  sine_torque2 = BlockComponents.Sources.Sine(amplitude = 1, frequency = 1)
  "Torque2 — acts between speed inertia and output inertia"
  torque2 = RotationalComponents.Sources.Torque2()
  "Inertia driven by Torque2 (MSL inertia13, J=3)"
  inertia13 = RotationalComponents.Components.Inertia(J = 3)
  "Sine reference for accelerate source (f=1 Hz)"
  sine_acc = BlockComponents.Sources.Sine(amplitude = 1, frequency = 1)
  "AccelerationSource"
  accelerate = RotationalComponents.Sources.AccelerationSource()
  "Inertia driven by accelerate source (MSL inertia11, J=3)"
  inertia_acc = RotationalComponents.Components.Inertia(J = 3)
relations
  # Position subsystem
  initial position.w = 0
  initial inertia_speed.phi = 0
  connect(sine_pos.y, position.phi_ref)
  connect(position.spline, inertia_pos.spline_a)
  connect(position.support, fixed.spline)
  # Speed + Torque2 subsystem
  initial inertia13.phi = 0
  initial inertia13.w = 0
  connect(sine_speed.y, speed.w_ref)
  connect(speed.spline, inertia_speed.spline_a)
  connect(speed.support, fixed.spline)
  connect(inertia_speed.spline_b, torque2.spline_a)
  connect(torque2.spline_b, inertia13.spline_a)
  connect(sine_torque2.y, torque2.tau)
  # Accelerate subsystem
  initial accelerate.phi = 0
  initial accelerate.w = 0
  connect(sine_acc.y, accelerate.a_ref)
  connect(accelerate.spline, inertia_acc.spline_a)
  connect(accelerate.support, fixed.spline)
metadata {
  "Dyad": {
    "icons": {"default": "dyad://RotationalComponents/Example.svg"},
    "tests": {
      "case1": {
        "stop": 0.9,
        "expect": {
          "signals": [
            "position.phi",
            "position.w",
            "speed.phi",
            "speed.w",
            "accelerate.phi",
            "accelerate.w",
            "inertia13.phi",
            "inertia13.w"
          ]
        }
      }
    }
  }
}
end


Test Cases ​

julia
using RotationalComponents
using DyadInterface: TransientAnalysis, rebuild_sol, ODEAlg
using ModelingToolkit: toggle_namespacing, get_initial_conditions, @named
using CSV, DataFrames, Plots

snapshotsdir = joinpath(dirname(dirname(pathof(RotationalComponents))), "test", "snapshots")
<< @setup-block not executed in draft mode >>

Test Case case1 ​

julia
@named model_case1 = RotationalComponents.Sources.Tests.AllComponents()
model_case1 = toggle_namespacing(model_case1, false)

model_case1 = toggle_namespacing(model_case1, true)
result_case1 = TransientAnalysis(; model = model_case1, alg = ODEAlg.Auto(), start = 0e+0, stop = 9e-1, abstol=1e-6, reltol=1e-6)
sol_case1 = rebuild_sol(result_case1)
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julia
df_case1 = DataFrame(:t => sol_case1[:t], :actual => sol_case1[model_case1.position.phi])
dfr_case1 = try CSV.read(joinpath(snapshotsdir, "RotationalComponents.Sources.Tests.AllComponents_case1_sig0.ref"), DataFrame); catch e; nothing; end
plt = plot(sol_case1, idxs=[model_case1.position.phi], width=2, label="Actual value of position.phi")
if !isnothing(dfr_case1)
  scatter!(plt, dfr_case1.t, dfr_case1.expected, mc=:red, ms=3, label="Expected value of position.phi")
end
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julia
plt
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julia
df_case1 = DataFrame(:t => sol_case1[:t], :actual => sol_case1[model_case1.position.w])
dfr_case1 = try CSV.read(joinpath(snapshotsdir, "RotationalComponents.Sources.Tests.AllComponents_case1_sig1.ref"), DataFrame); catch e; nothing; end
plt = plot(sol_case1, idxs=[model_case1.position.w], width=2, label="Actual value of position.w")
if !isnothing(dfr_case1)
  scatter!(plt, dfr_case1.t, dfr_case1.expected, mc=:red, ms=3, label="Expected value of position.w")
end
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julia
plt
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julia
df_case1 = DataFrame(:t => sol_case1[:t], :actual => sol_case1[model_case1.speed.phi])
dfr_case1 = try CSV.read(joinpath(snapshotsdir, "RotationalComponents.Sources.Tests.AllComponents_case1_sig2.ref"), DataFrame); catch e; nothing; end
plt = plot(sol_case1, idxs=[model_case1.speed.phi], width=2, label="Actual value of speed.phi")
if !isnothing(dfr_case1)
  scatter!(plt, dfr_case1.t, dfr_case1.expected, mc=:red, ms=3, label="Expected value of speed.phi")
end
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julia
plt
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julia
df_case1 = DataFrame(:t => sol_case1[:t], :actual => sol_case1[model_case1.speed.w])
dfr_case1 = try CSV.read(joinpath(snapshotsdir, "RotationalComponents.Sources.Tests.AllComponents_case1_sig3.ref"), DataFrame); catch e; nothing; end
plt = plot(sol_case1, idxs=[model_case1.speed.w], width=2, label="Actual value of speed.w")
if !isnothing(dfr_case1)
  scatter!(plt, dfr_case1.t, dfr_case1.expected, mc=:red, ms=3, label="Expected value of speed.w")
end
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julia
plt
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julia
df_case1 = DataFrame(:t => sol_case1[:t], :actual => sol_case1[model_case1.accelerate.phi])
dfr_case1 = try CSV.read(joinpath(snapshotsdir, "RotationalComponents.Sources.Tests.AllComponents_case1_sig4.ref"), DataFrame); catch e; nothing; end
plt = plot(sol_case1, idxs=[model_case1.accelerate.phi], width=2, label="Actual value of accelerate.phi")
if !isnothing(dfr_case1)
  scatter!(plt, dfr_case1.t, dfr_case1.expected, mc=:red, ms=3, label="Expected value of accelerate.phi")
end
<< @setup-block not executed in draft mode >>
julia
plt
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julia
df_case1 = DataFrame(:t => sol_case1[:t], :actual => sol_case1[model_case1.accelerate.w])
dfr_case1 = try CSV.read(joinpath(snapshotsdir, "RotationalComponents.Sources.Tests.AllComponents_case1_sig5.ref"), DataFrame); catch e; nothing; end
plt = plot(sol_case1, idxs=[model_case1.accelerate.w], width=2, label="Actual value of accelerate.w")
if !isnothing(dfr_case1)
  scatter!(plt, dfr_case1.t, dfr_case1.expected, mc=:red, ms=3, label="Expected value of accelerate.w")
end
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julia
plt
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julia
df_case1 = DataFrame(:t => sol_case1[:t], :actual => sol_case1[model_case1.inertia13.phi])
dfr_case1 = try CSV.read(joinpath(snapshotsdir, "RotationalComponents.Sources.Tests.AllComponents_case1_sig6.ref"), DataFrame); catch e; nothing; end
plt = plot(sol_case1, idxs=[model_case1.inertia13.phi], width=2, label="Actual value of inertia13.phi")
if !isnothing(dfr_case1)
  scatter!(plt, dfr_case1.t, dfr_case1.expected, mc=:red, ms=3, label="Expected value of inertia13.phi")
end
<< @setup-block not executed in draft mode >>
julia
plt
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julia
df_case1 = DataFrame(:t => sol_case1[:t], :actual => sol_case1[model_case1.inertia13.w])
dfr_case1 = try CSV.read(joinpath(snapshotsdir, "RotationalComponents.Sources.Tests.AllComponents_case1_sig7.ref"), DataFrame); catch e; nothing; end
plt = plot(sol_case1, idxs=[model_case1.inertia13.w], width=2, label="Actual value of inertia13.w")
if !isnothing(dfr_case1)
  scatter!(plt, dfr_case1.t, dfr_case1.expected, mc=:red, ms=3, label="Expected value of inertia13.w")
end
<< @setup-block not executed in draft mode >>
julia
plt
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