| 1 | package InputOptIssues
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| 2 | model Trapezoid "Dynamical Optimization of Ideal Drive"
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| 3 | parameter Real p = 1 "required for optimization";
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| 4 | parameter Real powLim = 9000;
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| 5 | Real power = torque * angSpeed;
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| 6 | //
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| 7 | /*** Optimization requests ***/
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| 8 | input Real torque(min = -90, max = 90);
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| 9 | Real targetPhi(nominal = 1) = -torque2.flange.phi "minimize -pos(tf)" annotation(
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| 10 | isMayer = true);
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| 11 | Real angSpeed(min = 0, max = 0) = p * der(torque2.flange.phi) annotation(
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| 12 | isFinalConstraint = true);
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| 13 | Real pow(min = -powLim, max = powLim) = power annotation(
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| 14 | isConstraint = true);
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| 15 | /*** end of Optimization requests ***/
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| 16 | //
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| 17 | Real constPhi(nominal = 100) = -torque2.flange.phi "minimize -phi(tf)" annotation(
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| 18 | isLagrange = true);
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| 19 | Modelica.Blocks.Sources.RealExpression realexp(y = torque) annotation(
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| 20 | Placement(visible = true, transformation(origin = {0, -34}, extent = {{10, -10}, {-10, 10}}, rotation = 0)));
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| 21 | Modelica.Mechanics.Rotational.Components.Inertia inertia1 annotation(
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| 22 | Placement(visible = true, transformation(origin = {-10, 0}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
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| 23 | Modelica.Mechanics.Rotational.Sources.Torque torque1 annotation(
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| 24 | Placement(visible = true, transformation(origin = {-48, 0}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
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| 25 | Modelica.Blocks.Sources.Trapezoid trapezoid1(amplitude = 10, falling = 1, period = 5, rising = 1, startTime = 1, width = 1) annotation(
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| 26 | Placement(visible = true, transformation(origin = {58, 0}, extent = {{10, -10}, {-10, 10}}, rotation = 0)));
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| 27 | Modelica.Mechanics.Rotational.Sources.Torque torque2 annotation(
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| 28 | Placement(visible = true, transformation(origin = {24, 0}, extent = {{10, -10}, {-10, 10}}, rotation = 0)));
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| 29 | equation
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| 30 | connect(trapezoid1.y, torque2.tau) annotation(
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| 31 | Line(points = {{47, 0}, {42, 0}, {42, -2}, {37, -2}}, color = {0, 0, 127}));
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| 32 | connect(torque1.flange, inertia1.flange_a) annotation(
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| 33 | Line(points = {{-38, 0}, {-18, 0}}));
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| 34 | connect(inertia1.flange_b, torque2.flange) annotation(
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| 35 | Line(points = {{2, 0}, {14, 0}}));
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| 36 | connect(realexp.y, torque1.tau) annotation(
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| 37 | Line(points = {{-9, -34}, {-70, -34}, {-70, 0}, {-60, 0}}, color = {0, 0, 127}));
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| 38 | annotation(
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| 39 | Diagram(coordinateSystem(extent = {{-80, -60}, {80, 40}}, preserveAspectRatio = false, initialScale = 0.1, grid = {2, 2})),
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| 40 | Icon(coordinateSystem(extent = {{-80, -60}, {80, 40}}, preserveAspectRatio = false, initialScale = 0.1, grid = {2, 2})),
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| 41 | experiment(StartTime = 0, StopTime = 8, Tolerance = 1e-07, Interval = 0.16),
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| 42 | __OpenModelica_commandLineOptions = "+gDynOpt",
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| 43 | __OpenModelica_simulationFlags(optimizerNP = "1", s = "optimization"));
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| 44 | end Trapezoid;
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| 45 |
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| 46 | model TimeTable "Dynamical Optimization of Ideal Drive"
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| 47 | parameter Real p = 1 "required for optimization";
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| 48 | parameter Real powLim = 9000;
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| 49 | Real power = torque * angSpeed;
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| 50 | //
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| 51 | /*** Optimization requests ***/
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| 52 | input Real torque(min = -90, max = 90);
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| 53 | Real targetPhi(nominal = 1) = -torque2.flange.phi "minimize -pos(tf)" annotation(
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| 54 | isMayer = true);
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| 55 | Real angSpeed(min = 0, max = 0) = p * der(torque2.flange.phi) annotation(
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| 56 | isFinalConstraint = true);
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| 57 | Real pow(min = -powLim, max = powLim) = power annotation(
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| 58 | isConstraint = true);
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| 59 | /*** end of Optimization requests ***/
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| 60 | //
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| 61 | Real constPhi(nominal = 100) = -torque2.flange.phi "minimize -phi(tf)" annotation(
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| 62 | isLagrange = true);
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| 63 | Modelica.Blocks.Sources.RealExpression realexp(y = torque) annotation(
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| 64 | Placement(visible = true, transformation(origin = {0, -34}, extent = {{10, -10}, {-10, 10}}, rotation = 0)));
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| 65 | Modelica.Mechanics.Rotational.Components.Inertia inertia1 annotation(
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| 66 | Placement(visible = true, transformation(origin = {-10, 0}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
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| 67 | Modelica.Mechanics.Rotational.Sources.Torque torque1 annotation(
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| 68 | Placement(visible = true, transformation(origin = {-48, 0}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
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| 69 | Modelica.Mechanics.Rotational.Sources.Torque torque2 annotation(
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| 70 | Placement(visible = true, transformation(origin = {24, 0}, extent = {{10, -10}, {-10, 10}}, rotation = 0)));
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| 71 | Modelica.Blocks.Sources.TimeTable timeTable1(table = [
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| 72 | 0, 0; 1, 0;
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| 73 | 2,10; 3, 10;
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| 74 | 4, 0; 5, 0;
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| 75 | 6,10; 7,10;
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| 76 | 8,0; 9,0]
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| 77 | ) annotation(
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| 78 | Placement(visible = true, transformation(origin = {64, 0}, extent = {{10, -10}, {-10, 10}}, rotation = 0)));
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| 79 | equation
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| 80 | connect(timeTable1.y, torque2.tau) annotation(
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| 81 | Line(points = {{52, 0}, {38, 0}, {38, 0}, {36, 0}}, color = {0, 0, 127}));
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| 82 | connect(torque1.flange, inertia1.flange_a) annotation(
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| 83 | Line(points = {{-38, 0}, {-18, 0}}));
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| 84 | connect(inertia1.flange_b, torque2.flange) annotation(
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| 85 | Line(points = {{2, 0}, {14, 0}}));
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| 86 | connect(realexp.y, torque1.tau) annotation(
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| 87 | Line(points = {{-9, -34}, {-70, -34}, {-70, 0}, {-60, 0}}, color = {0, 0, 127}));
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| 88 | annotation(
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| 89 | Diagram(coordinateSystem(extent = {{-80, -60}, {80, 40}}, preserveAspectRatio = false, initialScale = 0.1, grid = {2, 2})),
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| 90 | Icon(coordinateSystem(extent = {{-80, -60}, {80, 40}}, preserveAspectRatio = false, initialScale = 0.1, grid = {2, 2})),
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| 91 | experiment(StartTime = 0, StopTime = 10, Tolerance = 1e-07, Interval = 0.2),
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| 92 | __OpenModelica_commandLineOptions = "+gDynOpt",
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| 93 | __OpenModelica_simulationFlags(optimizerNP = "1", s = "optimization"));
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| 94 | end TimeTable;
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| 95 |
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| 96 |
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| 97 |
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| 98 | annotation(
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| 99 | Diagram(coordinateSystem(extent = {{-100, -80}, {100, 80}})),
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| 100 | uses(Modelica(version = "3.2.2")));
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| 101 | end InputOptIssues;
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