Expandable connector bus

[mhamediahmed94@…]

hey everyone . I m student I am a beginner on modelica,this is my first post
I want to transform this model SystemArchitecture from Modelica by example
by Dr. Michael M. Tiller ​https://mbe.modelica.university/components/architectures/sensor_comparison_ad/ that includes a plant, controller, sensor and actuator
to other Architecture with expandable connector bus
Model SystemArchitecture without expandable connector :

model SystemArchitecture_0
 "A system architecture built from subsystem interfaces"


 model BasicPlant "Implementation of the basic plant model"
  parameter Modelica.SIunits.Inertia J_a=0.1 "Moment of inertia";
  parameter Modelica.SIunits.Inertia J_b=0.3 "Moment of inertia";
  parameter Modelica.SIunits.RotationalSpringConstant c=100 "Spring constant";
  parameter Modelica.SIunits.RotationalDampingConstant d_shaft=3
    "Shaft damping constant";
  parameter Modelica.SIunits.RotationalDampingConstant d_load=4
    "Load damping constant";

  Modelica.Mechanics.Rotational.Interfaces.Support housing
    "Connection to mounting"
    annotation (Placement(transformation(extent={{-110,-70},{-90,-50}})));
  Modelica.Mechanics.Rotational.Interfaces.Flange_a flange_a
    "Input shaft for plant"
    annotation (Placement(transformation(extent={{-110,-10},{-90,10}})));
  Modelica.Mechanics.Rotational.Interfaces.Flange_b flange_b
    "Output shaft of plant"
    annotation (Placement(transformation(extent={{90,-10},{110,10}})));
  protected 
  Modelica.Mechanics.Rotational.Components.Fixed fixed
    annotation (Placement(transformation(extent={{-10,-80},{10,-60}})));
  Modelica.Mechanics.Rotational.Components.Inertia inertia(J=J_a)
    annotation (Placement(transformation(extent={{-40,-10},{-20,10}})));
  Modelica.Mechanics.Rotational.Components.Inertia inertia1(J=J_b)
    annotation (Placement(transformation(extent={{20,-10},{40,10}})));
  Modelica.Mechanics.Rotational.Components.SpringDamper springDamper(c=c, d=
        d_shaft)
    annotation (Placement(transformation(extent={{-10,-10},{10,10}})));
  Modelica.Mechanics.Rotational.Components.Damper damper(d=d_load)
    annotation (Placement(transformation(extent={{20,-40},{40,-20}})));
 equation 
  connect(springDamper.flange_a, inertia.flange_b) annotation (Line(
      points={{-10,0},{-20,0}},
      color={0,0,0},
      smooth=Smooth.None));
  connect(springDamper.flange_b, inertia1.flange_a) annotation (Line(
      points={{10,0},{20,0}},
      color={0,0,0},
      smooth=Smooth.None));
  connect(damper.flange_b, inertia1.flange_b) annotation (Line(
      points={{40,-30},{50,-30},{50,0},{40,0}},
      color={0,0,0},
      smooth=Smooth.None));
  connect(damper.flange_a, fixed.flange) annotation (Line(
      points={{20,-30},{0,-30},{0,-70}},
      color={0,0,0},
      smooth=Smooth.None));
  connect(inertia1.flange_b, flange_b) annotation (Line(
      points={{40,0},{100,0}},
      color={0,0,0},
      smooth=Smooth.None));
  connect(inertia.flange_a, flange_a) annotation (Line(
      points={{-40,0},{-100,0}},
      color={0,0,0},
      smooth=Smooth.None));
  connect(fixed.flange, housing) annotation (Line(
      points={{0,-70},{0,-60},{-100,-60}},
      color={0,0,0},
      smooth=Smooth.None));
 end BasicPlant;

model IdealSensor "Implementation of an ideal sensor"
  Modelica.Mechanics.Rotational.Interfaces.Flange_a shaft
    "Flange of shaft from which sensor information shall be measured"
    annotation (Placement(transformation(extent={{-110,-10},{-90,10}})));
  Modelica.Blocks.Interfaces.RealOutput w "Absolute angular velocity of flange"
    annotation (Placement(transformation(extent={{100,-10},{120,10}})));
  protected 
  Modelica.Mechanics.Rotational.Sensors.SpeedSensor idealSpeedSensor
    "An ideal speed sensor" annotation (Placement(transformation(
        extent={{-10,-10},{10,10}})));
equation 
  connect(idealSpeedSensor.flange, shaft) annotation (Line(
      points={{-10,0},{-100,0}},
      color={0,0,0},
      smooth=Smooth.None));
  connect(idealSpeedSensor.w, w) annotation (Line(
      points={{11,0},{110,0}},
      color={0,0,127},
      smooth=Smooth.None));
end IdealSensor;

 model ProportionalController "Implementation of a proportional controller"
  parameter Real k=20 "Controller gain";
  Modelica.Blocks.Interfaces.RealInput setpoint "Desired system response"
    annotation (Placement(transformation(
        extent={{-20,-20},{20,20}},
        rotation=270, origin={0,120})));
  Modelica.Blocks.Interfaces.RealInput measured "Actual system response"
    annotation (Placement(transformation(
        extent={{-20,-20},{20,20}},
        rotation=180, origin={100,0})));
  Modelica.Blocks.Interfaces.RealOutput command "Command to send to actuator"
    annotation (Placement(transformation(
        extent={{-10,-10},{10,10}},
        rotation=180, origin={-110,0})));
  protected 
  Modelica.Blocks.Math.Gain gain(k=k)
    annotation (Placement(transformation(
        extent={{-10,-10},{10,10}},
        rotation=180, origin={-50,0})));
  Modelica.Blocks.Math.Feedback feedback
    annotation (Placement(transformation(
        extent={{10,-10},{-10,10}})));
 equation 
  connect(feedback.y, gain.u) annotation (Line(
      points={{-9,0},{2,0},{2,0},{-38,0}},
      color={0,0,127}, smooth=Smooth.None));
  connect(feedback.u1, setpoint) annotation (Line(
      points={{8,0},{40,0},{40,60},{0,60},{0,120}},
      color={0,0,127},
      smooth=Smooth.None));
  connect(gain.y, command) annotation (Line(
      points={{-61,0},{-80.5,0},{-80.5,0},{-110,0}},
      color={0,0,127},
      smooth=Smooth.None));
  connect(measured, feedback.u2) annotation (Line(
      points={{100,0},{60,0},{60,-40},{0,-40},{0,-8}},
      color={0,0,127}, smooth=Smooth.None));
 end ProportionalController;

 model IdealActuator "An implementation of an ideal actuator"
  Modelica.Mechanics.Rotational.Interfaces.Flange_b shaft "Output shaft"
    annotation (Placement(transformation(extent={{90,-10},{110,10}})));
  Modelica.Mechanics.Rotational.Interfaces.Support housing
    "Connection to housing"
    annotation (Placement(transformation(extent={{90,-70},{110,-50}})));
  Modelica.Blocks.Interfaces.RealInput tau "Input torque command"
    annotation (Placement(transformation(extent={{-140,-20},{-100,20}})));
  protected 
  Modelica.Mechanics.Rotational.Sources.Torque torque(useSupport=true)
    annotation (Placement(transformation(extent={{-10,-10},{10,10}})));
 equation 
  connect(torque.flange, shaft) annotation (Line(
      points={{10,0},{100,0}},
      color={0,0,0},
      smooth=Smooth.None));
  connect(torque.support, housing) annotation (Line(
      points={{0,-10},{0,-60},{100,-60}},
      color={0,0,0},
      smooth=Smooth.None));
  connect(torque.tau, tau) annotation (Line(
      points={{-12,0},{-120,0}},
      color={0,0,127},
      smooth=Smooth.None));
 end IdealActuator;

 replaceable BasicPlant  plant
   annotation (choicesAllMatching=true,
     Placement(transformation(extent={{-10,-50},{10,-30}})));
replaceable  IdealActuator actuator
   annotation (choicesAllMatching=true,
     Placement(transformation(extent={{-50,-50},{-30,-30}})));
replaceable  IdealSensor sensor
   annotation (choicesAllMatching=true,
     Placement(transformation(extent={{30,-50},{50,-30}})));
replaceable  ProportionalController controller
   annotation (choicesAllMatching=true,
     Placement(transformation(extent={{-10,-10},{10,10}})));
 Modelica.Blocks.Sources.Trapezoid setpoint(period=1.0)
   annotation (choicesAllMatching=true,
     Placement(transformation(extent={{-60,30},{-40,50}})));
equation 
 connect(actuator.shaft, plant.flange_a) annotation (Line(
     points={{-30,-40},{-10,-40}},
     color={0,0,0},
     smooth=Smooth.None));
 connect(actuator.housing, plant.housing) annotation (Line(
     points={{-30,-46},{-10,-46}},
     color={0,0,0},
     smooth=Smooth.None));
 connect(plant.flange_b, sensor.shaft) annotation (Line(
     points={{10,-40},{30,-40}},
     color={0,0,0},
     smooth=Smooth.None));
 connect(controller.measured, sensor.w) annotation (Line(
     points={{10,0},{70,0},{70,-40},{51,-40}},
     color={0,0,127},
     smooth=Smooth.None));
 connect(controller.command, actuator.tau) annotation (Line(
     points={{-11,0},{-70,0},{-70,-40},{-52,-40}},
     color={0,0,127},
     smooth=Smooth.None));
 connect(setpoint.y, controller.setpoint) annotation (Line(
     points={{-39,40},{0,40},{0,12}},
     color={0,0,127},
     smooth=Smooth.None));
end SystemArchitecture_0;

Model with expandable connector bus :

model SystemArchitecture_1
 "A system architecture built from subsystem interfaces"


expandable connector Conn
       extends Modelica.Icons.SignalBus;
end Conn;


model IdealSensor "Implementation of an ideal sensor"
  Modelica.Mechanics.Rotational.Interfaces.Flange_a shaft
    "Flange of shaft from which sensor information shall be measured"
    annotation (Placement(transformation(extent={{-110,-10},{-90,10}})));
    Conn bus  annotation (Placement(transformation(extent={{100,-10},{120,10}})));
  protected 
  Modelica.Mechanics.Rotational.Sensors.SpeedSensor idealSpeedSensor
    "An ideal speed sensor" annotation (Placement(transformation(
        extent={{-10,-10},{10,10}})));
equation 
  connect(idealSpeedSensor.flange, shaft) annotation (Line(
      points={{-10,0},{-100,0}},
      color={0,0,0},
      smooth=Smooth.None));
  connect(idealSpeedSensor.w, bus.w) annotation (Line(points={{11,0},{110,0}},
        color={0,0,127}), Text(
      string="%second",
      index=1,
      extent={{6,3},{6,3}}));
end IdealSensor;

model BasicPlant "Implementation of the basic plant model"
  parameter Modelica.SIunits.Inertia J_a=0.1 "Moment of inertia";
  parameter Modelica.SIunits.Inertia J_b=0.3 "Moment of inertia";
  parameter Modelica.SIunits.RotationalSpringConstant c=100 "Spring constant";
  parameter Modelica.SIunits.RotationalDampingConstant d_shaft=3
    "Shaft damping constant";
  parameter Modelica.SIunits.RotationalDampingConstant d_load=4
    "Load damping constant";

  Modelica.Mechanics.Rotational.Interfaces.Support housing
    "Connection to mounting"
    annotation (Placement(transformation(extent={{-110,-70},{-90,-50}})));
  Modelica.Mechanics.Rotational.Interfaces.Flange_a flange_a
    "Input shaft for plant"
    annotation (Placement(transformation(extent={{-110,-10},{-90,10}})));
  Modelica.Mechanics.Rotational.Interfaces.Flange_b flange_b
    "Output shaft of plant"
    annotation (Placement(transformation(extent={{90,-10},{110,10}})));
  protected 
  Modelica.Mechanics.Rotational.Components.Fixed fixed
    annotation (Placement(transformation(extent={{-10,-80},{10,-60}})));
  Modelica.Mechanics.Rotational.Components.Inertia inertia(J=J_a)
    annotation (Placement(transformation(extent={{-40,-10},{-20,10}})));
  Modelica.Mechanics.Rotational.Components.Inertia inertia1(J=J_b)
    annotation (Placement(transformation(extent={{20,-10},{40,10}})));
  Modelica.Mechanics.Rotational.Components.SpringDamper springDamper(c=c, d=
        d_shaft)
    annotation (Placement(transformation(extent={{-10,-10},{10,10}})));
  Modelica.Mechanics.Rotational.Components.Damper damper(d=d_load)
    annotation (Placement(transformation(extent={{20,-40},{40,-20}})));
equation 
  connect(springDamper.flange_a, inertia.flange_b) annotation (Line(
      points={{-10,0},{-20,0}},
      color={0,0,0},
      smooth=Smooth.None));
  connect(springDamper.flange_b, inertia1.flange_a) annotation (Line(
      points={{10,0},{20,0}},
      color={0,0,0},
      smooth=Smooth.None));
  connect(damper.flange_b, inertia1.flange_b) annotation (Line(
      points={{40,-30},{50,-30},{50,0},{40,0}},
      color={0,0,0},
      smooth=Smooth.None));
  connect(damper.flange_a, fixed.flange) annotation (Line(
      points={{20,-30},{0,-30},{0,-70}},
      color={0,0,0},
      smooth=Smooth.None));
  connect(inertia1.flange_b, flange_b) annotation (Line(
      points={{40,0},{100,0}},
      color={0,0,0},
      smooth=Smooth.None));
  connect(inertia.flange_a, flange_a) annotation (Line(
      points={{-40,0},{-100,0}},
      color={0,0,0},
      smooth=Smooth.None));
  connect(fixed.flange, housing) annotation (Line(
      points={{0,-70},{0,-60},{-100,-60}},
      color={0,0,0},
      smooth=Smooth.None));
end BasicPlant;

model IdealActuator "An implementation of an ideal actuator"
Modelica.Mechanics.Rotational.Interfaces.Flange_b shaft "Output shaft"
  annotation (Placement(transformation(extent={{90,-10},{110,10}})));
Modelica.Mechanics.Rotational.Interfaces.Support housing
  "Connection to housing"
  annotation (Placement(transformation(extent={{90,-70},{110,-50}})));
Conn bus
  annotation (Placement(transformation(extent={{-120,-10},{-100,10}})));
  protected 
Modelica.Mechanics.Rotational.Sources.Torque torque(useSupport=true)
  annotation (Placement(transformation(extent={{-10,-10},{10,10}})));
equation 
connect(torque.flange, shaft) annotation (Line(
    points={{10,0},{100,0}},
    color={0,0,0},
    smooth=Smooth.None));
connect(torque.support, housing) annotation (Line(
    points={{0,-10},{0,-60},{100,-60}},
    color={0,0,0},
    smooth=Smooth.None));
  connect(bus.tau, torque.tau) annotation (Line(
      points={{-110,0},{-12,0}},
      color={255,204,51},
      thickness=0.5), Text(
      string="%first",
      index=-1,
      extent={{-6,3},{-6,3}}));
end IdealActuator;

model ProportionalController "Implementation of a proportional controller"
  extends ControlSystem_WithExpandableBus;
  parameter Real k=20 "Controller gain";
  Modelica.Blocks.Interfaces.RealInput setpoint "Desired system response"
    annotation (Placement(transformation(
        extent={{-20,-20},{20,20}},
        rotation=270, origin={0,120})));
  protected 
  Modelica.Blocks.Math.Gain gain(k=k)
    annotation (Placement(transformation(
        extent={{-10,-10},{10,10}},
        rotation=180, origin={-50,0})));
  Modelica.Blocks.Math.Feedback feedback
    annotation (Placement(transformation(
        extent={{10,-10},{-10,10}})));
equation 
  connect(feedback.y, gain.u) annotation (Line(
      points={{-9,0},{2,0},{2,0},{-38,0}},
      color={0,0,127}, smooth=Smooth.None));
  connect(feedback.u1, setpoint) annotation (Line(
      points={{8,0},{40,0},{40,60},{0,60},{0,120}},
      color={0,0,127},
      smooth=Smooth.None));
  connect(gain.y, bus.tau) annotation (Line(points={{-61,0},{-90,0},{-90,-100},
          {0,-100}}, color={0,0,127}), Text(
      string="%second",
      index=1,
      extent={{6,3},{6,3}}));
  connect(bus.w, feedback.u2) annotation (Line(
      points={{0,-100},{0,-8}},
      color={255,204,51},
      thickness=0.5), Text(
      string="%first",
      index=-1,
      extent={{-6,3},{-6,3}}));
end ProportionalController;

 replaceable BasicPlant  plant
   annotation (choicesAllMatching=true,
     Placement(transformation(extent={{-10,-50},{10,-30}})));
replaceable  IdealActuator actuator
   annotation (choicesAllMatching=true,
     Placement(transformation(extent={{-50,-50},{-30,-30}})));
replaceable  IdealSensor sensor
   annotation (choicesAllMatching=true,
     Placement(transformation(extent={{30,-50},{50,-30}})));
replaceable  ProportionalController controller
   annotation (choicesAllMatching=true,
     Placement(transformation(extent={{-10,-10},{10,10}})));
 Modelica.Blocks.Sources.Trapezoid setpoint(period=1.0)
   annotation (choicesAllMatching=true,
     Placement(transformation(extent={{-60,30},{-40,50}})));
equation 
 connect(actuator.shaft, plant.flange_a) annotation (Line(
     points={{-30,-40},{-10,-40}},
     color={0,0,0},
     smooth=Smooth.None));
 connect(actuator.housing, plant.housing) annotation (Line(
     points={{-30,-46},{-10,-46}},
     color={0,0,0},
     smooth=Smooth.None));
 connect(plant.flange_b, sensor.shaft) annotation (Line(
     points={{10,-40},{30,-40}},
     color={0,0,0},
     smooth=Smooth.None));
 connect(setpoint.y, controller.setpoint) annotation (Line(
     points={{-39,40},{0,40},{0,12}},
     color={0,0,127},
     smooth=Smooth.None));
  connect(actuator.bus, controller.bus) annotation (Line(
      points={{-51,-40},{-80,-40},{-80,-20},{0,-20},{0,-10}},
      color={255,204,51},
      thickness=0.5));
  connect(sensor.bus, controller.bus) annotation (Line(
      points={{51,-40},{82,-40},{82,-20},{0,-20},{0,-10}},
      color={255,204,51},
      thickness=0.5));
end SystemArchitecture_1;

I want the models to be equvalent

SystemArchitecture_1 = SystemArchitecture_0

can someone tell me if the models are equivalent ( i get the same simulation results ) ? or how can i improve the architecture with expandable connector bus so that both models stay equivalent

thank you

[Per Östlund]

This tracker is for reporting bugs and other issues related to OpenModelica. If you have questions about modelling or how to use OpenModelica you should instead use for example the ​OpenModelica forum or ​StackOverflow, where you are far more likely to find someone who can answer your questions.