refactor: Mechanical/TranslationalPosition with @mtkmodel

Author: ven-k

src/Mechanical/TranslationalPosition/components.jl

@@ -11,20 +11,20 @@ Flange fixed in housing at a given position.
 
   - `flange: 1-dim. translational flange`
 """
-@component function Fixed(; name, s_0 = 0.0)
-    pars = @parameters s_0 = s_0
-    vars = []
-
-    @named flange = Flange()
-
-    eqs = [flange.s ~ s_0]
-
-    return compose(ODESystem(eqs, t, vars, pars; name = name, defaults = [flange.s => s_0]),
-        flange)
+@mtkmodel Fixed begin#(; name, s_0 = 0.0)
+    @parameters begin
+        s_0
+    end
+    @components begin
+        flange = Flange(; s = s_0)
+    end
+    @equations begin
+        flange.s ~ s_0
+    end
 end
 
 """
-    Mass(; name, m, s_0 = 0.0, v_0 = 0.0)
+    Mass(; name, m, s = 0.0, v = 0.0)
 
 Sliding mass with inertia
 
@@ -43,24 +43,24 @@ Sliding mass with inertia
 
   - `flange: 1-dim. translational flange of mass`
 """
-@component function Mass(; name, m, s_0 = 0.0, v_0 = 0.0)
-    @named flange = Flange()
-    pars = @parameters begin
-        m = m
-        s_0 = s_0
-        v_0 = v_0
+@mtkmodel Mass begin
+    @parameters begin
+        m
     end
-    vars = @variables begin
-        s(t) = s_0
-        v(t) = v_0
-        f(t) = 0
+    @variables begin
+        s(t) = 0.0
+        v(t) = 0.0
+        f(t) = 0.0
     end
-    eqs = [flange.s ~ s
+    @components begin
+        flange = Flange(; s = s)
+    end
+    @equations begin
+        flange.s ~ s
         flange.f ~ f
         D(s) ~ v
-        D(v) ~ f / m]
-    return compose(ODESystem(eqs, t, vars, pars; name = name, defaults = [flange.s => s_0]),
-        flange)
+        D(v) ~ f / m
+    end
 end
 
 const REL = Val(:relative)
@@ -153,7 +153,7 @@ Spring(; name, k, s_a_0 = 0, s_b_0 = 0, l = 0) = Spring(ABS; name, k, s_a_0, s_b
 end
 
 """
-    Damper(; name, d, v_a_0=0.0, v_b_0=0.0, s_a_0 = 0, s_b_0 = 0)
+    Damper(; name, d, v1 =0.0, v2 = 0.0, flange_a.s = 0, flange_b.s = 0)
 
 Linear 1D translational damper
 
@@ -170,33 +170,26 @@ Linear 1D translational damper
   - `flange_a: 1-dim. translational flange on one side of damper`
   - `flange_b: 1-dim. translational flange on opposite side of damper`
 """
-@component function Damper(; name, d, v_a_0 = 0.0, v_b_0 = 0.0, s_a_0 = 0, s_b_0 = 0)
-    pars = @parameters begin
-        d = d
-        s_a_0 = s_a_0
-        s_b_0 = s_b_0
-        v_a_0 = v_a_0
-        v_b_0 = v_b_0
+@mtkmodel Damper begin#(; name, d, v_a_0 = 0.0, v_b_0 = 0.0, s_a_0 = 0, s_b_0 = 0)
+    @parameters begin
+        d
     end
-    vars = @variables begin
-        v1(t) = v_a_0
-        v2(t) = v_b_0
-        f(t) = +(v_a_0 - v_b_0) * d
+    @variables begin
+        v1(t) = 0.0
+        v2(t) = 0.0
+        f(t) = +(v1 - v2) * d
     end
 
-    @named flange_a = Flange()
-    @named flange_b = Flange()
+    @components begin
+        flange_a = Flange(; s = 0.0, f = (v1 - v2) * d)
+        flange_b = Flange(; s = 0.0, f = -(v1 - v2) * d)
+    end
 
-    eqs = [D(flange_a.s) ~ v1
+    @equations begin
+        D(flange_a.s) ~ v1
         D(flange_b.s) ~ v2
         f ~ (v1 - v2) * d
         flange_a.f ~ +f
-        flange_b.f ~ -f]
-    return compose(ODESystem(eqs, t, vars, pars; name = name,
-            defaults = [
-                flange_a.s => s_a_0,
-                flange_b.s => s_b_0,
-                flange_a.f => +(v_a_0 - v_b_0) * d,
-                flange_b.f => -(v_a_0 - v_b_0) * d,
-            ]), flange_a, flange_b)
+        flange_b.f ~ -f
+    end
 end

src/Mechanical/TranslationalPosition/sources.jl

@@ -1,13 +1,17 @@
 """
-    Force(;name)
+    Force(; name)
 
 Input signal acting as external force on a flange
 """
-@component function Force(; name, use_support = false)
-    @named partial_element = PartialElementaryOneFlangeAndSupport2(use_support = use_support)
-    @unpack flange = partial_element
-    @named f = RealInput() # Accelerating force acting at flange (= -flange.tau)
-    eqs = [flange.f ~ -f.u]
-    return extend(ODESystem(eqs, t, [], []; name = name, systems = [f]),
-        partial_element)
+@mtkmodel Force begin
+    @parameters begin
+        use_support
+    end
+    @extend (flange,) = partial_element = PartialElementaryOneFlangeAndSupport2(use_support = use_support)
+    @components begin
+        f = RealInput() # Accelerating force acting at flange (= -flange.tau)
+    end
+    @equations begin
+        flange.f ~ -f.u
+    end
 end

src/Mechanical/TranslationalPosition/utils.jl

@@ -1,9 +1,6 @@
-@connector function Flange(; name)
-    vars = @variables begin
-        s(t)
-        f(t), [connect = Flow]
-    end
-    ODESystem(Equation[], t, vars, [], name = name, defaults = Dict(f => 0.0))
+@connector Flange begin
+    s(t)
+    f(t), [connect = Flow]
 end
 Base.@doc """
     Flange(;name)
@@ -15,12 +12,9 @@ Base.@doc """
 - `f`: [N] Cut force into the flange
 """ Flange
 
-@connector function Support(; name)
-    sts = @variables begin
-        s(t)
-        f(t), [connect = Flow]
-    end
-    ODESystem(Equation[], t, sts, [], name = name, defaults = Dict(s => 0.0, f => 0.0))
+@connector Support begin
+    s(t)
+    f(t), [connect = Flow]
 end
 Base.@doc """
     Support(;name)
@@ -37,31 +31,29 @@ Support/housing 1-dim. translational flange.
 
 Partial model for the compliant connection of two translational 1-dim. flanges.
 
-# Parameters:
-
-  - `s_rel_start`: [m] Initial relative distance between the flanges
-  - `f_start`: [N] Initial force between flanges
-
 # States:
 
-  - `s_rel`: [m] Relative distance (= flange_b.s - flange_a.s)
-  - `f`: [N] Force between flanges (= flange_b.f)
+  - `s_rel`: [m] Relative distance (= flange_b.s - flange_a.s). It accepts intial value and defaults to 0.0.
+  - `f`: [N] Force between flanges (= flange_b.f). It accepts intial value and defaults to 0.0.
 """
-@component function PartialCompliant(; name, s_rel_start = 0.0, f_start = 0.0)
-    @named flange_a = Flange()
-    @named flange_b = Flange()
-    sts = @variables begin
-        v_a(t) = 0
-        v_b(t) = 0
-        s_rel(t) = s_rel_start
-        f(t) = f_start
+@mtkmodel PartialCompliant begin#(; name, s_rel_start = 0.0, f_start = 0.0)
+    @components begin
+        flange_a = Flange()
+        flange_b = Flange()
+    end
+    @variables begin
+        v_a(t) = 0.0
+        v_b(t) = 0.0
+        s_rel(t) = 0.0
+        f(t) = 0.0
     end
-    eqs = [D(flange_a.s) ~ v_a
+    @equations begin
+        D(flange_a.s) ~ v_a
         D(flange_b.s) ~ v_b
         D(s_rel) ~ v_b - v_a
         flange_b.f ~ +f
-        flange_a.f ~ -f]
-    return compose(ODESystem(eqs, t, sts, []; name = name), flange_a, flange_b)
+        flange_a.f ~ -f
+    end
 end
 
 """
@@ -83,17 +75,20 @@ Partial model for the compliant connection of two translational 1-dim. flanges.
   - `a_rel`: [m/s²] Relative linear acceleration (= der(v_rel))
   - `f`: [N] Force between flanges (= flange_b.f)
 """
-@component function PartialCompliantWithRelativeStates(; name, delta_s_0 = 0.0)
-    @named flange_a = Flange()
-    @named flange_b = Flange()
-    sts = @variables begin
-        delta_s(t) = delta_s_0
-        f(t) = 0
+@mtkmodel PartialCompliantWithRelativeStates begin
+   @components begin
+        flange_a = Flange()
+        flange_b = Flange()
+    end
+    @variables begin
+        delta_s(t) = 0.0
+        f(t) = 0.0
     end
-    eqs = [delta_s ~ flange_a.s - flange_b.s
+    @equations begin
+        delta_s ~ flange_a.s - flange_b.s
         flange_a.f ~ +f
-        flange_b.f ~ -f]
-    return compose(ODESystem(eqs, t, sts, []; name = name), flange_a, flange_b)
+        flange_b.f ~ -f
+    end
 end
 
 """

test/Mechanical/translational.jl

@@ -32,15 +32,15 @@ D = Differential(t)
     @test sol[s.free.f][end] ≈ 100 * 10
 end
 
-@testset "spring damper mass fixed" begin
+@testset "Spring, Damper, Mass, Fixed" begin
     @named dv = TV.Damper(d = 1, flange_a.v = 1)
-    @named dp = TP.Damper(d = 1, v_a_0 = 1, s_a_0 = 3, s_b_0 = 1)
+    @named dp = TP.Damper(d = 1, v1 = 1, v2 = 0.0, flange_a.s = 3, flange_b.s = 1)
 
     @named sv = TV.Spring(k = 1, v_a_0 = 1, delta_s_0 = 1)
     @named sp = TP.Spring(k = 1, s_a_0 = 3, s_b_0 = 1, l = 1)
 
     @named bv = TV.Mass(m = 1, v_0 = 1)
-    @named bp = TP.Mass(m = 1, v_0 = 1, s_0 = 3)
+    @named bp = TP.Mass(m = 1, v = 1, s = 3)
 
     @named gv = TV.Fixed()
     @named gp = TP.Fixed(s_0 = 1)
@@ -71,19 +71,19 @@ end
 
 @testset "driven spring damper mass" begin
     @named dv = TV.Damper(d = 1, flange_a.v = 1)
-    @named dp = TP.Damper(d = 1, v_a_0 = 1, s_a_0 = 3, s_b_0 = 1)
+    @named dp = TP.Damper(d = 1, v1 = 1.0, v2 = 0.0, flange_a.s = 3, flange_b.s = 1)
 
     @named sv = TV.Spring(k = 1, v_a_0 = 1, delta_s_0 = 1)
     @named sp = TP.Spring(k = 1, s_a_0 = 3, s_b_0 = 1, l = 1)
 
     @named bv = TV.Mass(m = 1, v_0 = 1)
-    @named bp = TP.Mass(m = 1, v_0 = 1, s_0 = 3)
+    @named bp = TP.Mass(m = 1, v = 1, s = 3)
 
     @named gv = TV.Fixed()
     @named gp = TP.Fixed(s_0 = 1)
 
     @named fv = TV.Force()
-    @named fp = TP.Force()
+    @named fp = TP.Force(use_support = false)
 
     @named source = Sine(frequency = 3, amplitude = 2)