refactor: Mechanical/Rotational

Author: ven-k

src/Mechanical/Rotational/components.jl

@@ -1,5 +1,5 @@
 """
-    Fixed(;name, phi0=0.0)
+    Fixed(;name, phi0 = 0.0)
 
 Flange fixed in housing at a given angle.
 
@@ -11,15 +11,20 @@ Flange fixed in housing at a given angle.
 
   - `phi0`: [`rad`] Fixed offset angle of housing
 """
-@component function Fixed(; name, phi0 = 0.0)
-    @named flange = Flange()
-    @parameters phi0=phi0 [description = "Fixed offset angle of flange"]
-    eqs = [flange.phi ~ phi0]
-    return compose(ODESystem(eqs, t, [], [phi0]; name = name), flange)
+@mtkmodel Fixed begin
+    @components begin
+        flange = Flange()
+    end
+    @parameters begin
+        phi0 = 0.0, [description = "Fixed offset angle of flange"]
+    end
+    @equations begin
+        flange.phi ~ phi0
+    end
 end
 
 """
-    Inertia(;name, J, phi_start=0.0, w_start=0.0, a_start=0.0)
+    Inertia(;name, J, phi = 0.0, w = 0.0, a = 0.0)
 
 1D-rotational component with inertia.
 
@@ -37,29 +42,34 @@ end
 # Parameters:
 
   - `J`: [`kg·m²`] Moment of inertia
-  - `phi_start`: [`rad`] Initial value of absolute rotation angle of component
-  - `w_start`: [`rad/s`] Initial value of absolute angular velocity of component
-  - `a_start`: [`rad/s²`] Initial value of absolute angular acceleration of component
 """
-@component function Inertia(; name, J, phi_start = 0.0, w_start = 0.0, a_start = 0.0)
-    @named flange_a = Flange()
-    @named flange_b = Flange()
-    @symcheck J > 0 || throw(ArgumentError("Expected `J` to be positive"))
-    @parameters J=J [description = "Moment of inertia of $name"]
-    sts = @variables(phi(t)=phi_start, [description = "Absolute rotation angle of $name"],
-        w(t)=w_start, [description = "Absolute angular velocity of $name"],
-        a(t)=a_start,
-        [description = "Absolute angular acceleration of $name"],)
-    eqs = [phi ~ flange_a.phi
+@mtkmodel Inertia begin
+    @parameters begin
+        J, [description = "Moment of inertia"]
+    end
+    @components begin
+        flange_a = Flange()
+        flange_b = Flange()
+    end
+    begin
+        @symcheck J > 0 || throw(ArgumentError("Expected `J` to be positive"))
+    end
+    @variables begin
+        phi(t) = 0.0, [description = "Absolute rotation angle"]
+        w(t) = 0.0, [description = "Absolute angular velocity"]
+        a(t) = 0.0, [description = "Absolute angular acceleration"]
+    end
+    @equations begin
+        phi ~ flange_a.phi
         phi ~ flange_b.phi
         D(phi) ~ w
         D(w) ~ a
-        J * a ~ flange_a.tau + flange_b.tau]
-    return compose(ODESystem(eqs, t, sts, [J]; name = name), flange_a, flange_b)
+        J * a ~ flange_a.tau + flange_b.tau
+    end
 end
 
 """
-    Spring(;name, c, phi_rel0=0.0)
+    Spring(; name, c, phi_rel0 = 0.0)
 
 Linear 1D rotational spring
 
@@ -78,19 +88,22 @@ Linear 1D rotational spring
   - `c`: [`N.m/rad`] Spring constant
   - `phi_rel0`: [`rad`] Unstretched spring angle
 """
-@component function Spring(; name, c, phi_rel0 = 0.0)
-    @named partial_comp = PartialCompliant()
-    @unpack phi_rel, tau = partial_comp
-    @symcheck c > 0 || throw(ArgumentError("Expected `c` to be positive"))
-    pars = @parameters(c=c, [description = "Spring constant of $name"],
-        phi_rel0=phi_rel0,
-        [description = "Unstretched spring angle of $name"],)
-    eqs = [tau ~ c * (phi_rel - phi_rel0)]
-    extend(ODESystem(eqs, t, [], pars; name = name), partial_comp)
+@mtkmodel Spring begin
+    @extend phi_rel, tau = partial_comp = PartialCompliant()
+    begin
+        @symcheck c > 0 || throw(ArgumentError("Expected `c` to be positive"))
+    end
+    @parameters begin
+        c, [description = "Spring constant"]
+        phi_rel0 = 0.0, [description = "Unstretched spring angle"]
+    end
+    @equations begin
+        tau ~ c * (phi_rel - phi_rel0)
+    end
 end
 
 """
-    Damper(;name, d)
+    Damper(; name, d)
 
 Linear 1D rotational damper
 
@@ -110,17 +123,20 @@ Linear 1D rotational damper
 
   - `d`: [`N.m.s/rad`] Damping constant
 """
-@component function Damper(; name, d)
-    @named partial_comp = PartialCompliantWithRelativeStates()
-    @unpack w_rel, tau = partial_comp
-    @symcheck d > 0 || throw(ArgumentError("Expected `d` to be positive"))
-    pars = @parameters d=d [description = "Damping constant of $name"]
-    eqs = [tau ~ d * w_rel]
-    extend(ODESystem(eqs, t, [], pars; name = name), partial_comp)
+@mtkmodel Damper begin
+    @extend w_rel, tau = partial_comp = PartialCompliantWithRelativeStates()
+    begin
+        @symcheck d > 0 || throw(ArgumentError("Expected `d` to be positive"))
+    end
+    @parameters begin
+        d, [description = "Damping constant"]
+    end
+    @equations begin
+        tau ~ d * w_rel
+    end
 end
-
 """
-    SpringDamper(;name, d)
+    SpringDamper(; name, d)
 
 Linear 1D rotational spring and damper
 
@@ -140,23 +156,28 @@ Linear 1D rotational spring and damper
 
   - `d`: [`N.m.s/rad`] Damping constant
   - `c`: [`N.m/rad`] Spring constant
+  - `phi_rel0`: [`rad`] Unstretched spring angle
 """
-@component function SpringDamper(; name, c, d, phi_rel0 = 0.0)
-    @named partial_comp = PartialCompliantWithRelativeStates()
-    @unpack phi_rel, w_rel, tau = partial_comp
-    @variables tau_c(t) [description = "Spring torque"]
-    @variables tau_d(t) [description = "Damper torque"]
-    @parameters d=d [description = "Damping constant"]
-    @parameters c=c [description = "Spring constant"]
-    @parameters phi_rel0=phi_rel0 [description = "Unstretched spring angle"]
-    eqs = [tau_c ~ c * (phi_rel - phi_rel0)
+@mtkmodel SpringDamper begin
+    @extend phi_rel, w_rel, tau = partial_comp = PartialCompliantWithRelativeStates()
+    @variables begin
+        tau_c(t), [description = "Spring torque"]
+        tau_d(t), [description = "Damper torque"]
+    end
+    @parameters begin
+        d, [description = "Damping constant"]
+        c, [description = "Spring constant"]
+        phi_rel0 = 0.0, [description = "Unstretched spring angle"]
+    end
+    @equations begin
+        tau_c ~ c * (phi_rel - phi_rel0)
         tau_d ~ d * w_rel
-        tau ~ tau_c + tau_d]
-    extend(ODESystem(eqs, t; name = name), partial_comp)
+        tau ~ tau_c + tau_d
+    end
 end
 
 """
-    IdealGear(;name, ratio, use_support=false)
+    IdealGear(; name, ratio, use_support = false)
 
 Ideal gear without inertia.
 
@@ -178,22 +199,28 @@ This element characterizes any type of gear box which is fixed in the ground and
   - `ratio`: Transmission ratio (flange_a.phi/flange_b.phi)
   - `use_support`: If support flange enabled, otherwise implicitly grounded
 """
-@component function IdealGear(; name, ratio, use_support = false)
-    @named partial_element = PartialElementaryTwoFlangesAndSupport2(use_support = use_support)
-    @unpack phi_support, flange_a, flange_b = partial_element
-    @parameters ratio=ratio [description = "Transmission ratio of $name"]
-    sts = @variables phi_a(t)=0.0 [
-        description = "Relative angle between shaft a and the support of $name",
-    ] phi_b(t)=0.0 [description = "Relative angle between shaft b and the support of $name"]
-    eqs = [phi_a ~ flange_a.phi - phi_support
+@mtkmodel IdealGear begin#(; name, ratio, use_support = false)
+    @parameters begin
+        use_support
+    end
+    @extend phi_support, flange_a, flange_b = partial_element = PartialElementaryTwoFlangesAndSupport2(use_support = use_support)
+    @parameters begin
+        ratio, [description = "Transmission ratio"]
+    end
+    @variables begin
+        phi_a(t) = 0.0, [description = "Relative angle between shaft a and the support"]
+        phi_b(t) = 0.0, [description = "Relative angle between shaft b and the support"]
+    end
+    @equations begin
+        phi_a ~ flange_a.phi - phi_support
         phi_b ~ flange_b.phi - phi_support
         phi_a ~ ratio * phi_b
-        0 ~ ratio * flange_a.tau + flange_b.tau]
-    extend(ODESystem(eqs, t, sts, [ratio]; name = name), partial_element)
+        0 ~ ratio * flange_a.tau + flange_b.tau
+    end
 end
 
 """
-    RotationalFriction(;name, f, tau_c, w_brk, tau_brk)
+    RotationalFriction(; name, f, tau_c, w_brk, tau_brk)
 
 Models rotational friction with Stribeck effect, Coulomb friction and viscous friction between the two flanges.
 The friction torque is a function of the relative angular velocity between `flange_a` and `flange_b`.
@@ -219,22 +246,22 @@ Friction model: "Armstrong, B. and C.C. de Wit, Friction Modeling and Compensati
   - `w_brk`: [`rad/s`] Breakaway friction velocity
   - `tau_brk`: [`N⋅m`] Breakaway friction torque
 """
-@component function RotationalFriction(; name, f, tau_c, w_brk, tau_brk)
-    @named partial_comp = PartialCompliantWithRelativeStates()
-    @unpack w_rel, tau = partial_comp
-    pars = @parameters(f=f, [description = "Viscous friction coefficient of $name"],
-        tau_c=tau_c, [description = "Coulomb friction torque of $name"],
-        w_brk=w_brk, [description = "Breakaway friction velocity of $name"],
-        tau_brk=tau_brk,
-        [description = "Breakaway friction torque of $name"],)
-
-    str_scale = sqrt(2 * exp(1)) * (tau_brk - tau_c)
-    w_st = w_brk * sqrt(2)
-    w_coul = w_brk / 10
-
-    eqs = [
+@mtkmodel RotationalFriction begin
+    @extend w_rel, tau = partial_comp = PartialCompliantWithRelativeStates()
+    @parameters begin
+        f, [description = "Viscous friction coefficient"]
+        tau_c, [description = "Coulomb friction torque"]
+        w_brk, [description = "Breakaway friction velocity"]
+        tau_brk, [description = "Breakaway friction torque"]
+    end
+
+    begin
+        str_scale = sqrt(2 * exp(1)) * (tau_brk - tau_c)
+        w_st = w_brk * sqrt(2)
+        w_coul = w_brk / 10
+    end
+    @equations begin
         tau ~ str_scale * (exp(-(w_rel / w_st)^2) * w_rel / w_st) +
-              tau_c * tanh(w_rel / w_coul) + f * w_rel, # Stribeck friction + Coulomb friction + Viscous friction
-    ]
-    extend(ODESystem(eqs, t, [], pars; name = name), partial_comp)
+              tau_c * tanh(w_rel / w_coul) + f * w_rel # Stribeck friction + Coulomb friction + Viscous friction
+    end
 end

src/Mechanical/Rotational/sensors.jl

@@ -1,5 +1,5 @@
 """
-    AngleSensor(;name)
+    AngleSensor(; name)
 
 Ideal sensor to measure the absolute flange angle
 
@@ -8,16 +8,19 @@ Ideal sensor to measure the absolute flange angle
   - `flange`: [Flange](@ref) Flange of shaft from which sensor information shall be measured
   - `phi`: [RealOutput](@ref) Absolute angle of flange
 """
-@component function AngleSensor(; name)
-    @named flange = Flange()
-    @named phi = RealOutput()
-    eqs = [phi.u ~ flange.phi
-        flange.tau ~ 0]
-    return ODESystem(eqs, t, [], []; name = name, systems = [flange, phi])
+@mtkmodel AngleSensor begin
+    @components begin
+        flange = Flange()
+        phi = RealOutput()
+    end
+    @equations begin
+        phi.u ~ flange.phi
+        flange.tau ~ 0
+    end
 end
 
 """
-    SpeedSensor(;name)
+    SpeedSensor(; name)
 
 Ideal sensor to measure the absolute flange angular velocity
 
@@ -26,12 +29,15 @@ Ideal sensor to measure the absolute flange angular velocity
   - `flange`: [Flange](@ref) Flange of shaft from which sensor information shall be measured
   - `w`: [RealOutput](@ref) Absolute angular velocity of flange
 """
-@component function SpeedSensor(; name)
-    @named flange = Flange()
-    @named w = RealOutput()
-    eqs = [D(flange.phi) ~ w.u
-        flange.tau ~ 0]
-    return ODESystem(eqs, t, [], []; name = name, systems = [flange, w])
+@mtkmodel SpeedSensor begin
+    @components begin
+        flange = Flange()
+        w = RealOutput()
+    end
+    @equations begin
+        D(flange.phi) ~ w.u
+        flange.tau ~ 0
+    end
 end
 
 """
@@ -45,17 +51,20 @@ Ideal sensor to measure the torque between two flanges (`= flange_a.tau`)
   - `flange_b`: [Flange](@ref) Left flange of shaft
   - `tau`: [RealOutput](@ref) Torque in flange flange_a and flange_b (`tau = flange_a.tau = -flange_b.tau`)
 """
-@component function TorqueSensor(; name)
-    @named flange_a = Flange()
-    @named flange_b = Flange()
-    @named tau = RealOutput()
-    eqs = [flange_a.phi ~ flange_b.phi
-        tau.u ~ flange_a.tau]
-    return ODESystem(eqs, t, [], []; name = name, systems = [flange_a, flange_b, tau])
+@mtkmodel TorqueSensor begin
+    @components begin
+        flange_a = Flange()
+        flange_b = Flange()
+        tau = RealOutput()
+    end
+    @equations begin
+        flange_a.phi ~ flange_b.phi
+        tau.u ~ flange_a.tau
+    end
 end
 
 """
-    RelSpeedSensor(;name)
+    RelSpeedSensor(; name)
 
 Ideal sensor to measure the relative angular velocity
 
@@ -65,15 +74,19 @@ Ideal sensor to measure the relative angular velocity
   - `flange_b`: [Flange](@ref) Flange of shaft from which sensor information shall be measured
   - `w`: [RealOutput](@ref) Absolute angular velocity of flange
 """
-@component function RelSpeedSensor(; name)
-    @named flange_a = Flange()
-    @named flange_b = Flange()
-    @named w_rel = RealOutput()
-    @variables phi_rel(t) = 0.0
-    eqs = [0 ~ flange_a.tau + flange_b.tau
+@mtkmodel RelSpeedSensor begin
+    @components begin
+        flange_a = Flange()
+        flange_b = Flange()
+        w_rel = RealOutput()
+    end
+    @variables begin
+        phi_rel(t) = 0.0
+    end
+    @equations begin
+        0 ~ flange_a.tau + flange_b.tau
         phi_rel ~ flange_b.phi - flange_a.phi
         D(phi_rel) ~ w_rel.u
-        0 ~ flange_a.tau]
-    return ODESystem(eqs, t, [phi_rel], []; name = name,
-        systems = [flange_a, flange_b, w_rel])
+        0 ~ flange_a.tau
+    end
 end