refactor&test: Mechanical/TranslationalModelica with @mtkmodel

- And enable its tests.

Author: ven-k

src/Mechanical/TranslationalModelica/components.jl

@@ -1,5 +1,5 @@
 """
-    Fixed(;name, s0=0.0)
+    Fixed(; name, s0 = 0.0)
 
 Flange fixed in housing at a given position.
 
@@ -11,52 +11,57 @@ Flange fixed in housing at a given position.
 
   - `flange: 1-dim. translational flange`
 """
-function Fixed(; name, s0 = 0.0)
-    pars = @parameters s0 = s0
-    vars = []
-
-    @named flange = Flange()
-
-    eqs = [flange.s ~ s0]
-
-    return compose(ODESystem(eqs, t, vars, pars; name = name, defaults = [flange.s => s0]),
-        flange)
+@mtkmodel Fixed begin
+    @parameters begin
+      s0
+    end
+
+    @components begin
+      flange = Flange(; s = 0.0)
+    end
+
+    @equations begin
+      flange.s ~ s0
+    end
 end
 
 """
-    Mass(; name, m, s0 = 0.0, v0 = 0.0)
+    Mass(; name, m, s, v = 0.0)
 
 Sliding mass with inertia
 
 # Parameters:
 
   - `m`: [kg] Mass of sliding mass
-  - `s0`: [m] Initial value of absolute position of sliding mass
-  - `v0`: [m/s] Initial value of absolute linear velocity of sliding mass
 
 # States:
 
-  - `s`: [m] Absolute position of sliding mass
-  - `v`: [m/s] Absolute linear velocity of sliding mass (= D(s))
+  - `s`: [m] Absolute position of sliding mass. It accepts intial value and defaults to 0.0.
+  - `v`: [m/s] Absolute linear velocity of sliding mass (= D(s)). It accepts intial value and defaults to 0.0.
 
 # Connectors:
 
   - `flange: 1-dim. translational flange of mass`
 """
-function Mass(m; name, s0 = 0.0, v0 = 0.0)
-    @named pr = PartialRigid(; L = 0, s0)
-    @unpack flange_a, flange_b, s = pr
-    @parameters m=m [description = "Mass of sliding mass [kg]"]
-    @variables v(t)=v0 [description = "Absolute linear velocity of sliding mass [m/s]"]
-    @variables a(t)=0 [description = "Absolute linear acceleration of sliding mass [m/s^2]"]
-    eqs = [v ~ D(s)
+@mtkmodel Mass begin
+    @parameters begin
+      m = 0.0, [description = "Mass of sliding mass [kg]"]
+    end
+    @variables begin
+      s
+      v(t) = 0.0, [description = "Absolute linear velocity of sliding mass [m/s]"]
+      a(t) = 0.0, [description = "Absolute linear acceleration of sliding mass [m/s^2]"]
+    end
+    @extend flange_a, flange_b, s = pr = PartialRigid(; L = 0.0, s = s)
+    @equations begin
+        v ~ D(s)
         a ~ D(v)
-        m * a ~ flange_a.f + flange_b.f]
-    return extend(ODESystem(eqs, t; name), pr)
+        m * a ~ flange_a.f + flange_b.f
+    end
 end
 
 """
-    Spring(c; name, s_rel0=0)
+    Spring(; c= 0.0, name, s_rel0 = 0)
 
 Linear 1D translational spring
 
@@ -70,18 +75,20 @@ Linear 1D translational spring
   - `flange_a: 1-dim. translational flange on one side of spring`
   - `flange_b: 1-dim. translational flange on opposite side of spring` #default function
 """
-function Spring(c; name, s_rel0 = 0)
-    @named pc = PartialCompliant()
-    @unpack flange_a, flange_b, s_rel, f = pc
-    @parameters c=c [description = "Spring constant [N/m]"]
-    @parameters s_rel0=s_rel0 [description = "Unstretched spring length [m]"]
-
-    eqs = [f ~ c * (s_rel - s_rel0)]
-    return extend(ODESystem(eqs, t; name), pc)
+@mtkmodel Spring begin
+    @extend flange_a, flange_b, s_rel, f = pc = PartialCompliant()
+    @parameters begin
+      c = 0.0, [description = "Spring constant [N/m]"]
+      s_rel0 = 0.0, [description = "Unstretched spring length [m]"]
+    end
+
+    @equations begin
+      f ~ c * (s_rel - s_rel0)
+    end
 end
 
 """
-    Damper(d; name)
+    Damper(; name, d = 0.0)
 
 Linear 1D translational damper
 
@@ -94,11 +101,16 @@ 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`
 """
-function Damper(d; name)
-    @named pc = PartialCompliantWithRelativeStates()
-    @unpack flange_a, flange_b, v_rel, f = pc
-    @parameters d=d [description = "Damping constant [Ns/m]"]
-    @variables lossPower(t)=0 [description = "Power dissipated by the damper [W]"]
-    eqs = [f ~ d * v_rel; lossPower ~ f * v_rel]
-    return extend(ODESystem(eqs, t; name), pc)
+@mtkmodel Damper begin
+    @extend flange_a, flange_b, v_rel, f = pc = PartialCompliantWithRelativeStates()
+    @parameters begin
+      d = 0.0, [description = "Damping constant [Ns/m]"]
+    end
+    @variables begin
+      lossPower(t) = 0.0, [description = "Power dissipated by the damper [W]"]
+    end
+    @equations begin
+      f ~ d * v_rel
+      lossPower ~ f * v_rel
+    end
 end

src/Mechanical/TranslationalModelica/sources.jl

@@ -1,12 +1,17 @@
 """
-    Force(;name) 
+    Force(;name)
 
 Input signal acting as external force on a flange
 """
-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/TranslationalModelica/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)
@@ -15,9 +12,9 @@ Base.@doc """
 - `f`: [N] Cut force into the flange
 """ Flange
 
-@connector function Support(; name)
-    @named flange = Flange()
-    extend(ODESystem(Equation[], t, name = name), flange)
+@connector Support begin
+    s(t)
+    f(t), [connect = Flow]
 end
 Base.@doc """
     Support(;name)
@@ -29,78 +26,66 @@ Support/housing 1-dim. translational flange.
 - `f`: [N] Cut force into the flange
 """ Support
 
-function PartialTwoFlanges(; name)
-    @named flange_a = Flange() # (left) driving flange (flange axis directed into cut plane, e. g. from left to right)
-    @named flange_b = Flange() # (right) driven flange (flange axis directed out of cut plane)
-    compose(ODESystem([], t; name), flange_a, flange_b)
+@mtkmodel PartialTwoFlanges begin
+    @components begin
+        flange_a = Flange() # (left) driving flange (flange axis directed into cut plane, e. g. from left to right)
+        flange_b = Flange() # (right) driven flange (flange axis directed out of cut plane)
+    end
 end
 
 """
-    PartialCompliant(;name, s_rel_start=0.0, f_start=0.0)
+    PartialCompliant(; name, s_rel = 0.0, f = 0.0)
 
 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.
 """
-function PartialCompliant(; name, s_rel_start = 0.0, f_start = 0.0)
-    @named pt = PartialTwoFlanges()
-    @unpack flange_a, flange_b = pt
-    @variables s_rel(t)=s_rel_start [
-        description = "Relative distance between flanges flange_b.s - flange_a.s",
-    ]
-    @variables f(t)=f_start [
-        description = "Force between flanges (positive in direction of flange axis R)",
-    ]
+@mtkmodel PartialCompliant begin
+    @extend (flange_a, flange_b) = pt = PartialTwoFlanges()
+    @variables begin
+        s_rel(t) = 0.0, [description = "Relative distance between flanges flange_b.s - flange_a.s"]
+        f(t) = 0.0, [description = "Force between flanges (positive in direction of flange axis R)"]
+    end
 
-    eqs = [s_rel ~ flange_b.s - flange_a.s
+    @equations begin
+        s_rel ~ flange_b.s - flange_a.s
         flange_b.f ~ +f
-        flange_a.f ~ -f]
-    return extend(ODESystem(eqs, t; name = name), pt)
+        flange_a.f ~ -f
+    end
 end
 
 """
-    PartialCompliantWithRelativeStates(;name, s_rel_start=0.0, v_rel_start=0.0, f_start=0.0)
+    PartialCompliantWithRelativeStates(;name, s_rel = 0.0, v_rel = 0.0, f = 0.0)
 
 Partial model for the compliant connection of two translational 1-dim. flanges.
 
-# Parameters:
-
-  - `s_rel_start`: [m] Initial relative distance
-  - `v_rel_start`: [m/s] Initial relative linear velocity (= der(s_rel))
-
-# States:
+    # States:
 
-  - `s_rel`: [m] Relative distance (= flange_b.phi - flange_a.phi)
-  - `v_rel`: [m/s] Relative linear velocity (= der(s_rel))
-  - `f`: [N] Force between flanges (= flange_b.f)
+  - `s_rel`: [m] Relative distance (= flange_b.phi - flange_a.phi). It accepts intial value and defaults to 0.0.
+  - `v_rel`: [m/s] Relative linear velocity (= der(s_rel)). 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.
 """
-function PartialCompliantWithRelativeStates(; name, s_rel_start = 0, v_rel_start = 0,
-    f_start = 0)
-    @named pt = PartialTwoFlanges()
-    @unpack flange_a, flange_b = pt
-    @variables s_rel(t)=s_rel_start [
-        description = "Relative distance between flanges flange_b.s - flange_a.s",
-    ]
-    @variables v_rel(t)=v_rel_start [description = "Relative linear velocity (= D(s_rel))"]
-    @variables f(t)=f_start [description = "Forces between flanges (= flange_b.f)"]
+@mtkmodel PartialCompliantWithRelativeStates begin
+    @extend flange_a, flange_b = pt = PartialTwoFlanges()
+    @variables begin
+        s_rel(t) = 0.0, [description = "Relative distance between flanges flange_b.s - flange_a.s"]
+        v_rel(t) = 0.0, [description = "Relative linear velocity (= D(s_rel))"]
+        f(t) = 0.0, [description = "Forces between flanges (= flange_b.f)"]
+    end
 
-    eqs = [s_rel ~ flange_b.s - flange_a.s
+    @equations begin
+        s_rel ~ flange_b.s - flange_a.s
         v_rel ~ D(s_rel)
         flange_b.f ~ f
-        flange_a.f ~ -f]
-    return extend(ODESystem(eqs, t; name = name), pt)
+        flange_a.f ~ -f
+    end
 end
 
 """
-    PartialElementaryOneFlangeAndSupport2(;name, use_support=false)
+    PartialElementaryOneFlangeAndSupport2(; name, use_support = false)
 
 Partial model for a component with one translational 1-dim. shaft flange and a support used for textual modeling, i.e., for elementary models
 
@@ -130,7 +115,7 @@ function PartialElementaryOneFlangeAndSupport2(; name, use_support = false)
 end
 
 """
-    PartialElementaryTwoFlangesAndSupport2(;name, use_support=false)
+    PartialElementaryTwoFlangesAndSupport2(; name, use_support = false)
 
 Partial model for a component with two translational 1-dim. flanges and a support used for textual modeling, i.e., for elementary models
 
@@ -161,16 +146,16 @@ function PartialElementaryTwoFlangesAndSupport2(; name, use_support = false)
     end
 end
 
-function PartialRigid(; name, L = 0, s0 = 0)
-    @named ptf = PartialTwoFlanges()
-    @unpack flange_a, flange_b = ptf
-    @variables s(t)=s0 [
-        description = "Absolute position of center of component (s = flange_a.s + L/2 = flange_b.s - L/2)",
-    ]
-    @parameters L=L [
-        description = "Length of component, from left flange to right flange (= flange_b.s - flange_a.s)",
-    ]
-    eqs = [flange_a.s ~ s - L / 2
-        flange_b.s ~ s + L / 2]
-    return extend(ODESystem(eqs, t; name = name), ptf)
+@mtkmodel PartialRigid begin
+    @extend flange_a, flange_b = ptf = PartialTwoFlanges()
+    @variables begin
+        s(t) = 0.0, [description = "Absolute position of center of component (s = flange_a.s + L/2 = flange_b.s - L/2)"]
+    end
+    @parameters begin
+        L = 0.0, [description = "Length of component, from left flange to right flange (= flange_b.s - flange_a.s)"]
+    end
+    @equations begin
+        flange_a.s ~ s - L / 2
+        flange_b.s ~ s + L / 2
+    end
 end

test/Mechanical/translational_modelica.jl

@@ -7,12 +7,9 @@ import ModelingToolkitStandardLibrary.Mechanical.TranslationalModelica as TP
 D = Differential(t)
 
 @testset "spring damper mass fixed" begin
-    @named damper = TP.Damper(1)
-
-    @named spring = TP.Spring(1; s_rel0 = 1)
-
-    @named mass = TP.Mass(1, v0 = 1)
-
+    @named damper = TP.Damper(; d = 1)
+    @named spring = TP.Spring(; c = 1, s_rel0 = 1)
+    @named mass = TP.Mass(; m = 1, v = 1)
     @named fixed = TP.Fixed(s0 = 1)
 
     eqs = [connect(spring.flange_a, mass.flange_a, damper.flange_a)
@@ -32,16 +29,11 @@ D = Differential(t)
 end
 
 @testset "driven spring damper mass" begin
-    @named damper = TP.Damper(1)
-
-    @named spring = TP.Spring(1; s_rel0 = 1)
-
-    @named mass = TP.Mass(1, v0 = 1)
-
-    @named fixed = TP.Fixed(s0 = 1)
-
-    @named force = TP.Force()
-
+    @named damper = TP.Damper(; d = 1)
+    @named spring = TP.Spring(; c = 1, s_rel0 = 1)
+    @named mass = TP.Mass(; m = 1, v = 1)
+    @named fixed = TP.Fixed(; s0 = 1)
+    @named force = TP.Force(use_support = false)
     @named source = Sine(frequency = 3, amplitude = 2)
 
     eqs = [connect(force.f, source.output)

test/runtests.jl

@@ -51,6 +51,9 @@ end
 @safetestset "Mechanical Translation" begin
     include("Mechanical/translational.jl")
 end
+@safetestset "Mechanical Translation" begin
+    include("Mechanical/translational_modelica.jl")
+end
 @safetestset "Multi-Domain" begin
     include("multi_domain.jl")
 end