LIBRARY

Sources.Tests.Position

Test of the Position source component with all ReferenceType enum variants, matching MSL ModelicaTest.Rotational.TestBearingConversion and TranslationalComponents pattern.

Three Position instances are driven by a common Sine reference (amplitude=0.1, frequency=1 Hz) and each drives an Inertia (J=1) with support grounded to Fixed:

• pos_filtered: default Filtered mode (f_crit=50 Hz, af=1.3617, bf=0.6180)

• pos_exact: Exact mode — spline angle equals input directly

• pos_filtered_low: Filtered mode with low critical frequency (f_crit=5 Hz) to show visible filtering

Usage

RotationalComponents.Sources.Tests.Position()

Behavior

using RotationalComponents #hide
using ModelingToolkit #hide
@named sys = RotationalComponents.Sources.Tests.Position() #hide
full_equations(sys) #hide

<< @example-block not executed in draft mode >>

Source

"""
Test of the Position source component with all ReferenceType enum variants,
matching MSL ModelicaTest.Rotational.TestBearingConversion and TranslationalComponents pattern.

Three Position instances are driven by a common Sine reference (amplitude=0.1, frequency=1 Hz)
and each drives an Inertia (J=1) with support grounded to Fixed:

- pos_filtered: default Filtered mode (f_crit=50 Hz, af=1.3617, bf=0.6180)
- pos_exact: Exact mode — spline angle equals input directly
- pos_filtered_low: Filtered mode with low critical frequency (f_crit=5 Hz) to show visible filtering
"""
test component Position
  "Sine reference angle signal (amplitude=0.1, frequency=1 Hz)"
  sine = BlockComponents.Sources.Sine(amplitude = 0.1, frequency = 1.0)
  "Position source — Filtered with default Bessel filter (f_crit=50 Hz)"
  pos_filtered = RotationalComponents.Sources.Position()
  "Inertia driven by filtered position source"
  inertia_filtered = RotationalComponents.Components.Inertia(J = 1)
  "Position source — Exact (spline tracks input directly)"
  pos_exact = RotationalComponents.Sources.Position(ref_type = RotationalComponents.Sources.ReferenceType.Exact())
  "Inertia driven by exact position source"
  inertia_exact = RotationalComponents.Components.Inertia(J = 1)
  "Position source — Filtered with low critical frequency (f_crit=5 Hz)"
  pos_filtered_low = RotationalComponents.Sources.Position(ref_type = RotationalComponents.Sources.ReferenceType.Filtered(f_crit = 5.0))
  "Inertia driven by low-f_crit filtered position source"
  inertia_filtered_low = RotationalComponents.Components.Inertia(J = 1)
  "Fixed ground for all supports"
  fixed = RotationalComponents.Components.Fixed()
relations
  connect(sine.y, pos_filtered.phi_ref)
  connect(pos_filtered.spline, inertia_filtered.spline_a)
  connect(pos_filtered.support, fixed.spline)
  initial pos_filtered.w = 0
  connect(sine.y, pos_exact.phi_ref)
  connect(pos_exact.spline, inertia_exact.spline_a)
  connect(pos_exact.support, fixed.spline)
  connect(sine.y, pos_filtered_low.phi_ref)
  connect(pos_filtered_low.spline, inertia_filtered_low.spline_a)
  connect(pos_filtered_low.support, fixed.spline)
  initial pos_filtered_low.w = 0
metadata {
  "Dyad": {
    "icons": {"default": "dyad://RotationalComponents/Example.svg"},
    "tests": {
      "case1": {
        "stop": 1.1,
        "atol": {
          "inertia_filtered.phi": 0.001,
          "inertia_exact.phi": 0.001,
          "inertia_filtered_low.phi": 0.001
        },
        "expect": {
          "initial": {
            "inertia_exact.phi": 0,
            "inertia_filtered.phi": 0,
            "inertia_filtered_low.phi": 0
          },
          "signals": ["inertia_filtered.phi", "inertia_exact.phi", "inertia_filtered_low.phi"]
        }
      }
    }
  }
}
end

Flattened Source

"""
Test of the Position source component with all ReferenceType enum variants,
matching MSL ModelicaTest.Rotational.TestBearingConversion and TranslationalComponents pattern.

Three Position instances are driven by a common Sine reference (amplitude=0.1, frequency=1 Hz)
and each drives an Inertia (J=1) with support grounded to Fixed:

- pos_filtered: default Filtered mode (f_crit=50 Hz, af=1.3617, bf=0.6180)
- pos_exact: Exact mode — spline angle equals input directly
- pos_filtered_low: Filtered mode with low critical frequency (f_crit=5 Hz) to show visible filtering
"""
test component Position
  "Sine reference angle signal (amplitude=0.1, frequency=1 Hz)"
  sine = BlockComponents.Sources.Sine(amplitude = 0.1, frequency = 1.0)
  "Position source — Filtered with default Bessel filter (f_crit=50 Hz)"
  pos_filtered = RotationalComponents.Sources.Position()
  "Inertia driven by filtered position source"
  inertia_filtered = RotationalComponents.Components.Inertia(J = 1)
  "Position source — Exact (spline tracks input directly)"
  pos_exact = RotationalComponents.Sources.Position(ref_type = RotationalComponents.Sources.ReferenceType.Exact())
  "Inertia driven by exact position source"
  inertia_exact = RotationalComponents.Components.Inertia(J = 1)
  "Position source — Filtered with low critical frequency (f_crit=5 Hz)"
  pos_filtered_low = RotationalComponents.Sources.Position(ref_type = RotationalComponents.Sources.ReferenceType.Filtered(f_crit = 5.0))
  "Inertia driven by low-f_crit filtered position source"
  inertia_filtered_low = RotationalComponents.Components.Inertia(J = 1)
  "Fixed ground for all supports"
  fixed = RotationalComponents.Components.Fixed()
relations
  connect(sine.y, pos_filtered.phi_ref)
  connect(pos_filtered.spline, inertia_filtered.spline_a)
  connect(pos_filtered.support, fixed.spline)
  initial pos_filtered.w = 0
  connect(sine.y, pos_exact.phi_ref)
  connect(pos_exact.spline, inertia_exact.spline_a)
  connect(pos_exact.support, fixed.spline)
  connect(sine.y, pos_filtered_low.phi_ref)
  connect(pos_filtered_low.spline, inertia_filtered_low.spline_a)
  connect(pos_filtered_low.support, fixed.spline)
  initial pos_filtered_low.w = 0
metadata {
  "Dyad": {
    "icons": {"default": "dyad://RotationalComponents/Example.svg"},
    "tests": {
      "case1": {
        "stop": 1.1,
        "atol": {
          "inertia_filtered.phi": 0.001,
          "inertia_exact.phi": 0.001,
          "inertia_filtered_low.phi": 0.001
        },
        "expect": {
          "initial": {
            "inertia_exact.phi": 0,
            "inertia_filtered.phi": 0,
            "inertia_filtered_low.phi": 0
          },
          "signals": ["inertia_filtered.phi", "inertia_exact.phi", "inertia_filtered_low.phi"]
        }
      }
    }
  }
}
end

Test Cases

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")

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Test Case case1

@named model_case1 = RotationalComponents.Sources.Tests.Position()
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 = 1.1e+0, abstol=1e-6, reltol=1e-6)
sol_case1 = rebuild_sol(result_case1)

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df_case1 = DataFrame(:t => sol_case1[:t], :actual => sol_case1[model_case1.inertia_filtered.phi])
dfr_case1 = try CSV.read(joinpath(snapshotsdir, "RotationalComponents.Sources.Tests.Position_case1_sig0.ref"), DataFrame); catch e; nothing; end
plt = plot(sol_case1, idxs=[model_case1.inertia_filtered.phi], width=2, label="Actual value of inertia_filtered.phi")
if !isnothing(dfr_case1)
  scatter!(plt, dfr_case1.t, dfr_case1.expected, mc=:red, ms=3, label="Expected value of inertia_filtered.phi")
end
scatter!(plt, [df_case1.t[1]], [0], label="Initial Condition for `inertia_filtered.phi`")

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plt

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df_case1 = DataFrame(:t => sol_case1[:t], :actual => sol_case1[model_case1.inertia_exact.phi])
dfr_case1 = try CSV.read(joinpath(snapshotsdir, "RotationalComponents.Sources.Tests.Position_case1_sig1.ref"), DataFrame); catch e; nothing; end
plt = plot(sol_case1, idxs=[model_case1.inertia_exact.phi], width=2, label="Actual value of inertia_exact.phi")
if !isnothing(dfr_case1)
  scatter!(plt, dfr_case1.t, dfr_case1.expected, mc=:red, ms=3, label="Expected value of inertia_exact.phi")
end
scatter!(plt, [df_case1.t[1]], [0], label="Initial Condition for `inertia_exact.phi`")

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plt

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df_case1 = DataFrame(:t => sol_case1[:t], :actual => sol_case1[model_case1.inertia_filtered_low.phi])
dfr_case1 = try CSV.read(joinpath(snapshotsdir, "RotationalComponents.Sources.Tests.Position_case1_sig2.ref"), DataFrame); catch e; nothing; end
plt = plot(sol_case1, idxs=[model_case1.inertia_filtered_low.phi], width=2, label="Actual value of inertia_filtered_low.phi")
if !isnothing(dfr_case1)
  scatter!(plt, dfr_case1.t, dfr_case1.expected, mc=:red, ms=3, label="Expected value of inertia_filtered_low.phi")
end
scatter!(plt, [df_case1.t[1]], [0], label="Initial Condition for `inertia_filtered_low.phi`")

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plt

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Related

• Examples

• Experiments

• Analyses

• Tests

  • AllComponents

  • Fixed

  • Inertia

  • Position

  • Position

  • Sine