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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 ​

TranslationalComponents.SensorsTest()

Behavior ​

julia
using TranslationalComponents #hide
using ModelingToolkit #hide
@named sys = TranslationalComponents.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": {
    "icons": {"default": "dyad://TranslationalComponents/Example.svg"},
    "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": {
    "icons": {"default": "dyad://TranslationalComponents/Example.svg"},
    "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 DyadInterface: TransientAnalysis, rebuild_sol
using ModelingToolkit: toggle_namespacing, get_defaults, @named
using CSV, DataFrames, Plots

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

Test Case case1 ​

julia
@named model_case1 = SensorsTest()
model_case1 = toggle_namespacing(model_case1, false)
get_defaults(model_case1)[model_case1.body.s] = 0
model_case1 = toggle_namespacing(model_case1, true)
result_case1 = TransientAnalysis(; model = model_case1, alg = "auto", start = 0e+0, stop = 5e+0, abstol=1e-6, reltol=1e-6)
sol_case1 = rebuild_sol(result_case1)
<< @setup-block not executed in draft mode >>