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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 ​

julia
using TranslationalComponents #hide
using ModelingToolkit #hide
@named sys = SensorsTest() #hide
full_equations(sys) #hide
<< @example-block not executed in draft mode >>

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 ​

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

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

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)
<< @setup-block not executed in draft mode >>