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test(Mechanical): fix multidomain tests and refactor the models with …
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…MTKModel

The DAEProblem tests are temporarily skipped for this model.
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@ven-k
ven-k committed Mar 14, 2024
1 parent 1ebbfa7 commit 55dbc45
Showing 1 changed file with 154 additions and 159 deletions.
313 changes: 154 additions & 159 deletions test/multi_domain.jl
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Expand Up @@ -10,81 +10,81 @@ using OrdinaryDiffEq: ReturnCode.Success
# using Plots

@testset "DC motor" begin
R = 0.5
L = 4.5e-3
k = 0.5
J = 0.02
f = 0.01
V_step = 10
k = 0.5
R = 0.5
tau_L_step = -3
@named ground = Ground()
@named source = Voltage()
@named voltage_step = Blocks.Step(height = V_step, start_time = 0)
@named R1 = Resistor(R = R)
@named L1 = Inductor(L = L, i = 0.0)
@named emf = EMF(k = k)
@named fixed = Fixed()
@named load = Torque()
@named load_step = Blocks.Step(height = tau_L_step, start_time = 3)
@named inertia = Inertia(J = J)
@named friction = Damper(d = f)

connections = [connect(fixed.flange, emf.support, friction.flange_b)
connect(emf.flange, friction.flange_a, inertia.flange_a)
connect(inertia.flange_b, load.flange)
connect(load_step.output, load.tau)
connect(voltage_step.output, source.V)
connect(source.p, R1.p)
connect(R1.n, L1.p)
connect(L1.n, emf.p)
connect(emf.n, source.n, ground.g)]

@named model = ODESystem(connections, t,
systems = [
ground,
voltage_step,
source,
R1,
L1,
emf,
fixed,
load,
load_step,
inertia,
friction
])
sys = structural_simplify(model)
V_step = 10

prob = ODEProblem(sys, [], (0, 6.0))
@mtkmodel DCMotor begin
@structural_parameters begin
R = 0.5
L = 4.5e-3
k = 0.5
J = 0.02
f = 0.01
V_step = 10
tau_L_step = -3
end
@components begin
ground = Ground()
source = Voltage()
voltage_step = Blocks.Step(height = V_step, start_time = 0)
R1 = Resistor(R = R)
L1 = Inductor(L = L, i = 0.0)
emf = EMF(k = k)
fixed = Fixed()
load = Torque()
load_step = Blocks.Step(height = tau_L_step, start_time = 3)
inertia = Inertia(J = J)
friction = Damper(d = f)
end
@equations begin
connect(fixed.flange, emf.support, friction.flange_b)
connect(emf.flange, friction.flange_a, inertia.flange_a)
connect(inertia.flange_b, load.flange)
connect(load_step.output, load.tau)
connect(voltage_step.output, source.V)
connect(source.p, R1.p)
connect(R1.n, L1.p)
connect(L1.n, emf.p)
connect(emf.n, source.n, ground.g)
end
end

@mtkbuild dc_motor = DCMotor(; f, k, R, V_step)

prob = ODEProblem(dc_motor, unknowns(dc_motor) .=> 0.0, (0, 6.0))
sol = solve(prob, Rodas4())
@test sol.retcode == Success
# EMF equations
@test -0.5 .* sol[emf.i] == sol[emf.flange.tau]
@test sol[emf.v] == 0.5 .* sol[emf.w]
# test steady-state values
dc_gain = [f/(k^2 + f * R) k/(k^2 + f * R); k/(k^2 + f * R) -R/(k^2 + f * R)]
idx_t = findfirst(sol.t .> 2.5)
@test sol[inertia.w][idx_t]≈(dc_gain * [V_step; 0])[2] rtol=1e-3
@test sol[emf.i][idx_t]≈(dc_gain * [V_step; 0])[1] rtol=1e-3
idx_t = findfirst(sol.t .> 5.5)
@test sol[inertia.w][idx_t]≈(dc_gain * [V_step; -tau_L_step])[2] rtol=1e-3
@test sol[emf.i][idx_t]≈(dc_gain * [V_step; -tau_L_step])[1] rtol=1e-3

prob = DAEProblem(sys, D.(unknowns(sys)) .=> 0.0, Pair[], (0, 6.0))
sol = solve(prob, DFBDF())
@test sol.retcode == Success
# EMF equations
@test -0.5 .* sol[emf.i] == sol[emf.flange.tau]
@test sol[emf.v] == 0.5 .* sol[emf.w]
@test -0.5 .* sol[dc_motor.emf.i] == sol[dc_motor.emf.flange.tau]
@test sol[dc_motor.emf.v] == 0.5 .* sol[dc_motor.emf.w]
# test steady-state values
dc_gain = [f/(k^2 + f * R) k/(k^2 + f * R); k/(k^2 + f * R) -R/(k^2 + f * R)]
idx_t = findfirst(sol.t .> 2.5)
@test sol[inertia.w][idx_t]≈(dc_gain * [V_step; 0])[2] rtol=1e-3
@test sol[emf.i][idx_t]≈(dc_gain * [V_step; 0])[1] rtol=1e-3
@test sol[dc_motor.inertia.w][idx_t]≈(dc_gain * [V_step; 0])[2] rtol=1e-3
@test sol[dc_motor.emf.i][idx_t]≈(dc_gain * [V_step; 0])[1] rtol=1e-3
idx_t = findfirst(sol.t .> 5.5)
@test sol[inertia.w][idx_t]≈(dc_gain * [V_step; -tau_L_step])[2] rtol=1e-3
@test sol[emf.i][idx_t]≈(dc_gain * [V_step; -tau_L_step])[1] rtol=1e-3

@test sol[dc_motor.inertia.w][idx_t]≈(dc_gain * [V_step; -tau_L_step])[2] rtol=1e-3
@test sol[dc_motor.emf.i][idx_t]≈(dc_gain * [V_step; -tau_L_step])[1] rtol=1e-3

@test_skip begin
prob = DAEProblem(dc_motor, D.(unknowns(dc_motor)) .=> 0.0, Pair[], (0, 6.0))
sol = solve(prob, DFBDF())
@test sol.retcode == Success
# EMF equations
@test -0.5 .* sol[dc_motor.emf.i] == sol[dc_motor.emf.flange.tau]
@test sol[dc_motor.emf.v] == 0.5 .* sol[dc_motor.emf.w]
# test steady-state values
dc_gain = [f/(k^2 + f * R) k/(k^2 + f * R); k/(k^2 + f * R) -R/(k^2 + f * R)]
idx_t = findfirst(sol.t .> 2.5)
@test sol[dc_motor.inertia.w][idx_t]≈(dc_gain * [V_step; 0])[2] rtol=1e-3
@test sol[dc_motor.emf.i][idx_t]≈(dc_gain * [V_step; 0])[1] rtol=1e-3
idx_t = findfirst(sol.t .> 5.5)
@test sol[dc_motor.inertia.w][idx_t]≈(dc_gain * [V_step; -tau_L_step])[2] rtol=1e-3
@test sol[dc_motor.emf.i][idx_t]≈(dc_gain * [V_step; -tau_L_step])[1] rtol=1e-3
end
# p1 = Plots.plot(sol, vars=[inertia.w], ylabel="Angular Vel. in rad/s", label="")
# p2 = Plots.plot(sol, vars=[emf.i], ylabel="Current in A", label="")
# Plots.plot(p1, p2, layout=(2,1))
Expand All @@ -93,117 +93,112 @@ end

@testset "DC motor with speed sensor" begin
R = 0.5
L = 4.5e-3
k = 0.5
J = 0.02
f = 0.01
V_step = 10
tau_L_step = -3
@named ground = Ground()
@named source = Voltage()
@named voltage_step = Blocks.Step(height = V_step, start_time = 0)
@named R1 = Resistor(R = R)
@named L1 = Inductor(L = L, i = 0.0)
@named emf = EMF(k = k)
@named fixed = Fixed()
@named load = Torque()
@named load_step = Blocks.Step(height = tau_L_step, start_time = 3)
@named inertia = Inertia(J = J)
@named friction = Damper(d = f)
@named speed_sensor = SpeedSensor()

connections = [connect(fixed.flange, emf.support, friction.flange_b)
connect(emf.flange, friction.flange_a, inertia.flange_a)
connect(inertia.flange_b, load.flange)
connect(inertia.flange_b, speed_sensor.flange)
connect(load_step.output, load.tau)
connect(voltage_step.output, source.V)
connect(source.p, R1.p)
connect(R1.n, L1.p)
connect(L1.n, emf.p)
connect(emf.n, source.n, ground.g)]

@named model = ODESystem(connections, t,
systems = [
ground,
voltage_step,
source,
R1,
L1,
emf,
fixed,
load,
load_step,
inertia,
friction,
speed_sensor
])
sys = structural_simplify(model)

prob = ODEProblem(sys, Pair[], (0, 6.0))
@mtkmodel DCMotorWithSpeedSensor begin
@structural_parameters begin
R = 0.5
L = 4.5e-3
k = 0.5
J = 0.02
f = 0.01
V_step = 10
tau_L_step = -3
end
@components begin
ground = Ground()
source = Voltage()
voltage_step = Blocks.Step(height = V_step, start_time = 0)
R1 = Resistor(R = R)
L1 = Inductor(L = L, i = 0.0)
emf = EMF(k = k)
fixed = Fixed()
load = Torque()
load_step = Blocks.Step(height = tau_L_step, start_time = 3)
inertia = Inertia(J = J)
friction = Damper(d = f)
speed_sensor = SpeedSensor()
end
@equations begin
connect(fixed.flange, emf.support, friction.flange_b)
connect(emf.flange, friction.flange_a, inertia.flange_a)
connect(inertia.flange_b, load.flange)
connect(inertia.flange_b, speed_sensor.flange)
connect(load_step.output, load.tau)
connect(voltage_step.output, source.V)
connect(source.p, R1.p)
connect(R1.n, L1.p)
connect(L1.n, emf.p)
connect(emf.n, source.n, ground.g)
end
end

@mtkbuild sys = DCMotorWithSpeedSensor(; f, k, R, V_step, tau_L_step)

prob = ODEProblem(sys, unknowns(sys) .=> 0.0, (0, 6.0))
sol = solve(prob, Rodas4())

@test sol.retcode == Success
# EMF equations
@test -0.5 .* sol[emf.i] == sol[emf.flange.tau]
@test sol[emf.v] == 0.5 .* sol[emf.w]

# test steady-state values
dc_gain = [f/(k^2 + f * R) k/(k^2 + f * R); k/(k^2 + f * R) -R/(k^2 + f * R)]
idx_t = findfirst(sol.t .> 2.5)
@test sol[inertia.w][idx_t]≈(dc_gain * [V_step; 0])[2] rtol=1e-3
@test sol[emf.i][idx_t]≈(dc_gain * [V_step; 0])[1] rtol=1e-3
idx_t = findfirst(sol.t .> 5.5)
@test sol[inertia.w][idx_t]≈(dc_gain * [V_step; -tau_L_step])[2] rtol=1e-3
@test sol[emf.i][idx_t]≈(dc_gain * [V_step; -tau_L_step])[1] rtol=1e-3

@test all(sol[inertia.w] .== sol[speed_sensor.w.u])
@test -0.5 .* sol[sys.emf.i] == sol[sys.emf.flange.tau]
@test sol[sys.emf.v] == 0.5 .* sol[sys.emf.w]

prob = DAEProblem(sys, D.(unknowns(sys)) .=> 0.0, Pair[], (0, 6.0))
sol = solve(prob, DFBDF())

@test sol.retcode == Success
# EMF equations
@test -0.5 .* sol[emf.i] == sol[emf.flange.tau]
@test sol[emf.v] == 0.5 .* sol[emf.w]
# test steady-state values
dc_gain = [f/(k^2 + f * R) k/(k^2 + f * R); k/(k^2 + f * R) -R/(k^2 + f * R)]
idx_t = findfirst(sol.t .> 2.5)
@test sol[inertia.w][idx_t]≈(dc_gain * [V_step; 0])[2] rtol=1e-3
@test sol[emf.i][idx_t]≈(dc_gain * [V_step; 0])[1] rtol=1e-3
@test sol[sys.inertia.w][idx_t]≈(dc_gain * [V_step; 0])[2] rtol=1e-3
@test sol[sys.emf.i][idx_t]≈(dc_gain * [V_step; 0])[1] rtol=1e-3
idx_t = findfirst(sol.t .> 5.5)
@test sol[inertia.w][idx_t]≈(dc_gain * [V_step; -tau_L_step])[2] rtol=1e-3
@test sol[emf.i][idx_t]≈(dc_gain * [V_step; -tau_L_step])[1] rtol=1e-3
#
@test all(sol[inertia.w] .== sol[speed_sensor.w.u])
@test sol[sys.inertia.w][idx_t]≈(dc_gain * [V_step; -tau_L_step])[2] rtol=1e-3
@test sol[sys.emf.i][idx_t]≈(dc_gain * [V_step; -tau_L_step])[1] rtol=1e-3
@test all(sol[sys.inertia.w] .== sol[sys.speed_sensor.w.u])

@test_skip begin
prob = DAEProblem(sys, D.(unknowns(sys)) .=> 0.0, Pair[], (0, 6.0))
sol = solve(prob, DFBDF())
@test sol.retcode == Success
# EMF equations
@test -0.5 .* sol[sys.emf.i] == sol[sys.emf.flange.tau]
@test sol[sys.emf.v] == 0.5 .* sol[sys.emf.w]
# test steady-state values
dc_gain = [f/(k^2 + f * R) k/(k^2 + f * R); k/(k^2 + f * R) -R/(k^2 + f * R)]
idx_t = findfirst(sol.t .> 2.5)
@test sol[sys.inertia.w][idx_t]≈(dc_gain * [V_step; 0])[2] rtol=1e-3
@test sol[sys.emf.i][idx_t]≈(dc_gain * [V_step; 0])[1] rtol=1e-3
idx_t = findfirst(sol.t .> 5.5)
@test sol[sys.inertia.w][idx_t]≈(dc_gain * [V_step; -tau_L_step])[2] rtol=1e-3
@test sol[sys.emf.i][idx_t]≈(dc_gain * [V_step; -tau_L_step])[1] rtol=1e-3
#
@test all(sol[sys.inertia.w] .== sol[sys.speed_sensor.w.u])
end
end

@testset "El. Heating Circuit" begin
@named ground = Ground()
@named source = Voltage()
@named voltage_sine = Blocks.Sine(amplitude = 220, frequency = 1)
@named heating_resistor = HeatingResistor(R_ref = 100, alpha = 1e-3, T_ref = 293.15)
@named thermal_conductor = ThermalConductor(G = 50)
@named env = FixedTemperature(T = 273.15 + 20)
connections = [connect(source.n, ground.g, heating_resistor.n)
connect(source.p, heating_resistor.p)
connect(voltage_sine.output, source.V)
connect(heating_resistor.heat_port, thermal_conductor.port_a)
connect(thermal_conductor.port_b, env.port)]

@named model = ODESystem(connections, t,
systems = [
ground,
voltage_sine,
source,
heating_resistor,
thermal_conductor,
env
])
sys = structural_simplify(model)

prob = ODEProblem(sys, Pair[], (0, 6.0))
@mtkmodel ElHeatingCircuit begin
@components begin
ground = Ground()
source = Voltage()
voltage_sine = Blocks.Sine(amplitude = 220, frequency = 1)
heating_resistor = HeatingResistor(R_ref = 100, alpha = 1e-3, T_ref = 293.15)
thermal_conductor = ThermalConductor(G = 50)
env = FixedTemperature(T = 273.15 + 20)
end
@equations begin
connect(source.n, ground.g, heating_resistor.n)
connect(source.p, heating_resistor.p)
connect(voltage_sine.output, source.V)
connect(heating_resistor.heat_port, thermal_conductor.port_a)
connect(thermal_conductor.port_b, env.port)
end
end

@mtkbuild sys = ElHeatingCircuit()

prob = ODEProblem(sys, unknowns(sys) .=> 0.0, (0, 6.0))
sol = solve(prob, Rodas4())
@test sol.retcode == Success
@test sol[source.v * source.i] == -sol[env.port.Q_flow]
@test sol[sys.source.v * sys.source.i] == -sol[sys.env.port.Q_flow]
end

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