Tiller examples
Architectures
Examples of speed measurement

Tiller examples

From Modelica by Example

These examples are from the online book Modelica by Example by Michael M. Tiller. Michael explains modeling and simulations very well, and it's easy to compare FunctionalModels.jl results to those online.

These are available in FunctionalModels.Examples.Tiller. Here is an example of use:

using FunctionalModels
m = FunctionalModels.Examples.Tiller.SecondOrderSystem()
y = dasslsim(m, tstop = 5.0)


plot(y)

Architectures

These examples from the following sections from the Architectures chapter:

In Modelica by Example, Tiller shows how components can be connected together in a reusable fashion. This is also possible in FunctionalModels.jl. Because FunctionalModels.jl is functional, the approach is different than Modelica's object-oriented approach. The functional approach is generally cleaner.

FlatSystem

Main.Examples.Tiller.FlatSystem — Function

Sensor comparison for a rotational example

http://mbe.modelica.university/components/architectures/sensor_comparison/

diagram

BasicPlant

Main.Examples.Tiller.BasicPlant — Function

Basic plant for the example

IdealSensor

Main.Examples.Tiller.IdealSensor — Function

Ideal sensor for angular velocity

SampleHoldSensor

Main.Examples.Tiller.SampleHoldSensor — Function

Sample-and-hold velocity sensor

IdealActuator

Main.Examples.Tiller.IdealActuator — Function

Ideal actuator

LimitedActuator

Main.Examples.Tiller.LimitedActuator — Function

Actuator with lag and saturation

ProportionalController

Main.Examples.Tiller.ProportionalController — Function

Proportional controller

PIDController

Main.Examples.Tiller.PIDController — Function

PID controller

BaseSystem

Main.Examples.Tiller.BaseSystem — Function

Base system with replaceable components

This is the same example as FlatSystem, but Plant, Sensor, Actuator, and Controller can all be changed by passing in optional keyword arguments.

Here is an example where several components are modified. The replacement components like SampleHoldSensor are based on closures (functions that return functions).

Variant2  = BaseSystem(Sensor = SampleHoldSensor(sampletime = 0.01),
                       Controller = PIDController(yMax=15, Td=0.1, k=20, Ti=0.1),
                       Actuator = LimitedActuator(delayTime=0.005, uMax=10));

Variant1

Main.Examples.Tiller.Variant1 — Function

BaseSystem variant with sample-hold sensing

Variant2

Main.Examples.Tiller.Variant2 — Function

BaseSystem variant with PID control along with a realistic actuator

Variant2a

Main.Examples.Tiller.Variant2a — Function

BaseSystem variant with a tuned PID control along with a realistic actuator

Examples of speed measurement

These examples show several ways of measuring speed on a rotational system. They are based on Michael's section on Speed Measurement. These examples include use of Variable variables and Events.

The system is based on the following plant:

diagram

SecondOrderSystem

Main.Examples.Tiller.SecondOrderSystem — Function

Rotational example

http://mbe.modelica.university/behavior/equations/mechanical/

SecondOrderSystemUsingFunctionalModelsLib

Main.Examples.Tiller.SecondOrderSystemUsingFunctionalModelsLib — Function

Rotational example based on components in FunctionalModels.Lib

http://mbe.modelica.university/behavior/equations/mechanical/

diagram

SampleAndHold

Main.Examples.Tiller.SampleAndHold — Function

Rotational example with sample-and-hold measurement

http://mbe.modelica.university/behavior/discrete/measuring/#sample-and-hold

IntervalMeasure

Main.Examples.Tiller.IntervalMeasure — Function

Rotational example with interval measurements

http://mbe.modelica.university/behavior/discrete/measuring/#interval-measurement

PulseCounting

Main.Examples.Tiller.PulseCounting — Function

Rotational example with pulse counting

http://mbe.modelica.university/behavior/discrete/measuring/#pulse-counting