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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 ​

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

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 ​

julia
using TranslationalComponents
using DyadInterface: TransientAnalysis, rebuild_sol, ODEAlg
using ModelingToolkit: toggle_namespacing, get_initial_conditions, @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 = TranslationalComponents.Sources.Tests.TestBraking()
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 = 2e+0, abstol=1e-6, reltol=1e-6)
sol_case1 = rebuild_sol(result_case1)
<< @setup-block not executed in draft mode >>
julia
df_case1 = DataFrame(:t => sol_case1[:t], :actual => sol_case1[model_case1.mass1.v])
dfr_case1 = try CSV.read(joinpath(snapshotsdir, "TranslationalComponents.Sources.Tests.TestBraking_case1_sig0.ref"), DataFrame); catch e; nothing; end
plt = plot(sol_case1, idxs=[model_case1.mass1.v], width=2, label="Actual value of mass1.v")
if !isnothing(dfr_case1)
  scatter!(plt, dfr_case1.t, dfr_case1.expected, mc=:red, ms=3, label="Expected value of mass1.v")
end
scatter!(plt, [df_case1.t[end]], [13.53353], label="Final Condition for `mass1.v`")
<< @setup-block not executed in draft mode >>
julia
plt
<< @example-block not executed in draft mode >>
julia
df_case1 = DataFrame(:t => sol_case1[:t], :actual => sol_case1[model_case1.mass2.v])
dfr_case1 = try CSV.read(joinpath(snapshotsdir, "TranslationalComponents.Sources.Tests.TestBraking_case1_sig1.ref"), DataFrame); catch e; nothing; end
plt = plot(sol_case1, idxs=[model_case1.mass2.v], width=2, label="Actual value of mass2.v")
if !isnothing(dfr_case1)
  scatter!(plt, dfr_case1.t, dfr_case1.expected, mc=:red, ms=3, label="Expected value of mass2.v")
end
scatter!(plt, [df_case1.t[end]], [33.333344], label="Final Condition for `mass2.v`")
<< @setup-block not executed in draft mode >>
julia
plt
<< @example-block not executed in draft mode >>
julia
df_case1 = DataFrame(:t => sol_case1[:t], :actual => sol_case1[model_case1.mass3.v])
dfr_case1 = try CSV.read(joinpath(snapshotsdir, "TranslationalComponents.Sources.Tests.TestBraking_case1_sig2.ref"), DataFrame); catch e; nothing; end
plt = plot(sol_case1, idxs=[model_case1.mass3.v], width=2, label="Actual value of mass3.v")
if !isnothing(dfr_case1)
  scatter!(plt, dfr_case1.t, dfr_case1.expected, mc=:red, ms=3, label="Expected value of mass3.v")
end
scatter!(plt, [df_case1.t[end]], [-100], label="Final Condition for `mass3.v`")
<< @setup-block not executed in draft mode >>
julia
plt
<< @example-block not executed in draft mode >>
julia
df_case1 = DataFrame(:t => sol_case1[:t], :actual => sol_case1[model_case1.mass4.v])
dfr_case1 = try CSV.read(joinpath(snapshotsdir, "TranslationalComponents.Sources.Tests.TestBraking_case1_sig3.ref"), DataFrame); catch e; nothing; end
plt = plot(sol_case1, idxs=[model_case1.mass4.v], width=2, label="Actual value of mass4.v")
if !isnothing(dfr_case1)
  scatter!(plt, dfr_case1.t, dfr_case1.expected, mc=:red, ms=3, label="Expected value of mass4.v")
end
scatter!(plt, [df_case1.t[end]], [0], label="Final Condition for `mass4.v`")
<< @setup-block not executed in draft mode >>
julia
plt
<< @example-block not executed in draft mode >>
julia
df_case1 = DataFrame(:t => sol_case1[:t], :actual => sol_case1[model_case1.mass5.v])
dfr_case1 = try CSV.read(joinpath(snapshotsdir, "TranslationalComponents.Sources.Tests.TestBraking_case1_sig4.ref"), DataFrame); catch e; nothing; end
plt = plot(sol_case1, idxs=[model_case1.mass5.v], width=2, label="Actual value of mass5.v")
if !isnothing(dfr_case1)
  scatter!(plt, dfr_case1.t, dfr_case1.expected, mc=:red, ms=3, label="Expected value of mass5.v")
end
scatter!(plt, [df_case1.t[end]], [-173.19913], label="Final Condition for `mass5.v`")
<< @setup-block not executed in draft mode >>
julia
plt
<< @example-block not executed in draft mode >>