Opened 4 years ago
Last modified 3 years ago
#6285 reopened defect
Minimal tearing failing for example from MSL
| Reported by: | Andreas Heuermann | Owned by: | Andreas Heuermann |
|---|---|---|---|
| Priority: | critical | Milestone: | |
| Component: | Backend | Version: | v1.17.0-dev |
| Keywords: | tearing, minimalTearing, linear system | Cc: | Karim Adbdelhak |
Description
When disabling linear tearing for PR https://github.com/OpenModelica/OpenModelica/pull/6969 (related ticket #6196) we have some examples from the testsuite that are failing to simulate.
They are working with normal tearing and without tearing, but not with minimal tearing.
For example for Modelica.Electrical.Machines.Examples.AsynchronousInductionMachines.AIMC_Transformer we can run:
cd("temp");
loadModel(Modelica,{"3.2.3"}); getErrorString();
setCommandLineOptions("-d=newInst --tearingMethod=minimalTearing"); getErrorString();
simulate(Modelica.Electrical.Machines.Examples.AsynchronousInductionMachines.AIMC_Transformer); getErrorString();
and see that the linear solver will fail to solve linear system 536 in every time step:
LOG_LS | info | Start solving Linear System 536 (size 28) at time 0.002621 with Lapack Solver LOG_LS | warning | Failed to solve linear system of equations (no. 536) at time 0.002621. Residual norm is 104868561.449326. LOG_LS | warning | The default linear solver fails, the fallback solver with total pivoting is started at time 0.002621. That might raise performance issues, for more information use -lv LOG_LS. LOG_LS | info | Start solving Linear System 536 (size 28) at time 0.002621 with Total Pivot Solver
The relevant loop should be
################################################################################ dumpLoops: SORTED COMPONENT ################################################################################ torn linear Equationsystem: internal vars (0) residual vars (28) 1: transformer.l2sigma.v[2]:VARIABLE(unit = "V" ) "Voltage drops of the two polyphase plugs" type: Real [3] 2: $DER.transformer.l2sigma.inductor[2].i:DUMMY_DER(fixed = false ) "Current flowing from pin p to pin n" type: Real [3] 3: transformer.l1sigma.inductor[2].i:STATE(1)(start = 0.0 unit = "A" ) "Current flowing from pin p to pin n" type: Real [3] 4: transformer.l1sigma.v[2]:VARIABLE(unit = "V" ) "Voltage drops of the two polyphase plugs" type: Real [3] 5: transformer.l1sigma.plug_n.pin[2].v:VARIABLE(flow=false unit = "V" ) "Potential at the pin" type: Real [3] 6: transformer.core.v1[2]:VARIABLE(unit = "V" ) type: Real [3] 7: transformer.core.v3[2]:VARIABLE(unit = "V" ) type: Real [3] 8: transformer.core.plug_p2.pin[2].v:VARIABLE(flow=false unit = "V" ) "Potential at the pin" type: Real [3] 9: transformer.core.v2[2]:VARIABLE(unit = "V" ) type: Real [3] 10: transformer.l1sigma.inductor[3].i:STATE(1)(start = 0.0 unit = "A" ) "Current flowing from pin p to pin n" type: Real [3] 11: $DER.transformer.l2sigma.inductor[3].i:DUMMY_DER(fixed = false ) "Current flowing from pin p to pin n" type: Real [3] 12: transformer.l2sigma.v[3]:VARIABLE(unit = "V" ) "Voltage drops of the two polyphase plugs" type: Real [3] 13: transformer.core.plug_p2.pin[3].v:VARIABLE(flow=false unit = "V" ) "Potential at the pin" type: Real [3] 14: transformer.core.v3[3]:VARIABLE(unit = "V" ) type: Real [3] 15: transformer.core.v1[3]:VARIABLE(unit = "V" ) type: Real [3] 16: transformer.core.v2[3]:VARIABLE(unit = "V" ) type: Real [3] 17: transformer.starpoint1.v:VARIABLE(flow=false unit = "V" ) "Potential at the pin" type: Real 18: transformer.l1sigma.plug_n.pin[1].v:VARIABLE(flow=false unit = "V" ) "Potential at the pin" type: Real [3] 19: transformer.l1sigma.v[1]:VARIABLE(unit = "V" ) "Voltage drops of the two polyphase plugs" type: Real [3] 20: $DER.transformer.l1sigma.inductor[1].i:DUMMY_DER(fixed = false ) "Current flowing from pin p to pin n" type: Real [3] 21: $DER.transformer.l2sigma.inductor[1].i:DUMMY_DER(fixed = false ) "Current flowing from pin p to pin n" type: Real [3] 22: transformer.l2sigma.v[1]:VARIABLE(unit = "V" ) "Voltage drops of the two polyphase plugs" type: Real [3] 23: transformer.core.plug_p2.pin[1].v:VARIABLE(flow=false unit = "V" ) "Potential at the pin" type: Real [3] 24: transformer.core.v3[1]:VARIABLE(unit = "V" ) type: Real [3] 25: transformer.core.v1[1]:VARIABLE(unit = "V" ) type: Real [3] 26: transformer.core.v2[1]:VARIABLE(unit = "V" ) type: Real [3] 27: transformer.l1sigma.v[3]:VARIABLE(unit = "V" ) "Voltage drops of the two polyphase plugs" type: Real [3] 28: transformer.l1sigma.plug_n.pin[3].v:VARIABLE(flow=false unit = "V" ) "Potential at the pin" type: Real [3] internal equations (0) residual equations (28) 1/1 (1): transformer.l1sigma.v[3] = transformer.r1.plug_n.pin[3].v - transformer.l1sigma.plug_n.pin[3].v [dynamic |0|0|0|0|] 2/2 (1): transformer.l1sigma.inductor[3].L * der(transformer.l1sigma.inductor[3].i) = transformer.l1sigma.v[3] [dynamic |0|0|0|0|] 3/3 (1): transformer.core.v1[1] = transformer.core.n12 * transformer.core.v2[1] [dynamic |0|0|0|0|] 4/4 (1): transformer.core.v1[1] = transformer.core.n13 * transformer.core.v3[1] [dynamic |0|0|0|0|] 5/5 (1): transformer.core.v2[1] = transformer.core.plug_p2.pin[1].v - transformer.core.v3[1] [dynamic |0|0|0|0|] 6/6 (1): transformer.l2sigma.v[1] = transformer.l2sigma.plug_p.pin[1].v - transformer.core.plug_p2.pin[1].v [dynamic |0|0|0|0|] 7/7 (1): transformer.l2sigma.inductor[1].L * $DER.transformer.l2sigma.inductor[1].i = transformer.l2sigma.v[1] [dynamic |0|0|0|0|] 8/8 (1): 0.0 = $DER.transformer.l1sigma.inductor[1].i + $DER.transformer.l2sigma.inductor[1].i / transformer.core.n12 + $DER.transformer.l2sigma.inductor[1].i / transformer.core.n13 [dynamic |0|0|0|0|] 9/9 (1): transformer.l1sigma.inductor[1].L * $DER.transformer.l1sigma.inductor[1].i = transformer.l1sigma.v[1] [dynamic |0|0|0|0|] 10/10 (1): transformer.l1sigma.v[1] = transformer.r1.plug_n.pin[1].v - transformer.l1sigma.plug_n.pin[1].v [dynamic |0|0|0|0|] 11/11 (1): transformer.core.v1[1] = transformer.l1sigma.plug_n.pin[1].v - transformer.starpoint1.v [dynamic |0|0|0|0|] 12/12 (1): transformer.core.v1[3] = transformer.l1sigma.plug_n.pin[3].v - transformer.starpoint1.v [dynamic |0|0|0|0|] 13/13 (1): transformer.core.v1[3] = transformer.core.n12 * transformer.core.v2[3] [dynamic |0|0|0|0|] 14/14 (1): transformer.core.v1[3] = transformer.core.n13 * transformer.core.v3[3] [dynamic |0|0|0|0|] 15/15 (1): transformer.core.v2[3] = transformer.core.plug_p2.pin[3].v - transformer.core.v3[3] [dynamic |0|0|0|0|] 16/16 (1): transformer.l2sigma.v[3] = transformer.l2sigma.plug_p.pin[3].v - transformer.core.plug_p2.pin[3].v [dynamic |0|0|0|0|] 17/17 (1): transformer.l2sigma.inductor[3].L * $DER.transformer.l2sigma.inductor[3].i = transformer.l2sigma.v[3] [dynamic |0|0|0|0|] 18/18 (1): 0.0 = der(transformer.l1sigma.inductor[3].i) + $DER.transformer.l2sigma.inductor[3].i / transformer.core.n12 + $DER.transformer.l2sigma.inductor[3].i / transformer.core.n13 [dynamic |0|0|0|0|] 19/19 (1): $DER.transformer.l1sigma.inductor[1].i + der(transformer.l1sigma.inductor[2].i) + der(transformer.l1sigma.inductor[3].i) = 0.0 [dynamic |0|0|0|0|] 20/20 (1): transformer.core.v1[2] = transformer.core.n12 * transformer.core.v2[2] [dynamic |0|0|0|0|] 21/21 (1): transformer.core.v2[2] = transformer.core.plug_p2.pin[2].v - transformer.core.v3[2] [dynamic |0|0|0|0|] 22/22 (1): transformer.core.v1[2] = transformer.core.n13 * transformer.core.v3[2] [dynamic |0|0|0|0|] 23/23 (1): transformer.core.v1[2] = transformer.l1sigma.plug_n.pin[2].v - transformer.starpoint1.v [dynamic |0|0|0|0|] 24/24 (1): transformer.l1sigma.v[2] = transformer.r1.plug_n.pin[2].v - transformer.l1sigma.plug_n.pin[2].v [dynamic |0|0|0|0|] 25/25 (1): transformer.l1sigma.inductor[2].L * der(transformer.l1sigma.inductor[2].i) = transformer.l1sigma.v[2] [dynamic |0|0|0|0|] 26/26 (1): 0.0 = der(transformer.l1sigma.inductor[2].i) + $DER.transformer.l2sigma.inductor[2].i / transformer.core.n12 + $DER.transformer.l2sigma.inductor[2].i / transformer.core.n13 [dynamic |0|0|0|0|] 27/27 (1): transformer.l2sigma.inductor[2].L * $DER.transformer.l2sigma.inductor[2].i = transformer.l2sigma.v[2] [dynamic |0|0|0|0|] 28/28 (1): transformer.l2sigma.v[2] = transformer.l2sigma.plug_p.pin[2].v - transformer.core.plug_p2.pin[2].v [dynamic |0|0|0|0|]
With tearing enabled this loop will look like
################################################################################ dumpLoops: SORTED COMPONENT ################################################################################ torn linear Equationsystem: internal vars (25) 1: $DER.transformer.l2sigma.inductor[2].i:DUMMY_DER(fixed = false ) "Current flowing from pin p to pin n" type: Real [3] 2: transformer.l2sigma.v[2]:VARIABLE(unit = "V" ) "Voltage drops of the two polyphase plugs" type: Real [3] 3: transformer.l1sigma.v[2]:VARIABLE(unit = "V" ) "Voltage drops of the two polyphase plugs" type: Real [3] 4: transformer.core.plug_p2.pin[2].v:VARIABLE(flow=false unit = "V" ) "Potential at the pin" type: Real [3] 5: transformer.l1sigma.plug_n.pin[2].v:VARIABLE(flow=false unit = "V" ) "Potential at the pin" type: Real [3] 6: transformer.core.v3[2]:VARIABLE(unit = "V" ) type: Real [3] 7: transformer.core.v2[2]:VARIABLE(unit = "V" ) type: Real [3] 8: transformer.starpoint1.v:VARIABLE(flow=false unit = "V" ) "Potential at the pin" type: Real 9: $DER.transformer.l2sigma.inductor[3].i:DUMMY_DER(fixed = false ) "Current flowing from pin p to pin n" type: Real [3] 10: transformer.l2sigma.v[3]:VARIABLE(unit = "V" ) "Voltage drops of the two polyphase plugs" type: Real [3] 11: transformer.l1sigma.v[3]:VARIABLE(unit = "V" ) "Voltage drops of the two polyphase plugs" type: Real [3] 12: $DER.transformer.l1sigma.inductor[1].i:DUMMY_DER(fixed = false ) "Current flowing from pin p to pin n" type: Real [3] 13: $DER.transformer.l2sigma.inductor[1].i:DUMMY_DER(fixed = false ) "Current flowing from pin p to pin n" type: Real [3] 14: transformer.l1sigma.v[1]:VARIABLE(unit = "V" ) "Voltage drops of the two polyphase plugs" type: Real [3] 15: transformer.l2sigma.v[1]:VARIABLE(unit = "V" ) "Voltage drops of the two polyphase plugs" type: Real [3] 16: transformer.core.plug_p2.pin[3].v:VARIABLE(flow=false unit = "V" ) "Potential at the pin" type: Real [3] 17: transformer.l1sigma.plug_n.pin[1].v:VARIABLE(flow=false unit = "V" ) "Potential at the pin" type: Real [3] 18: transformer.core.v1[1]:VARIABLE(unit = "V" ) type: Real [3] 19: transformer.core.v3[1]:VARIABLE(unit = "V" ) type: Real [3] 20: transformer.core.v2[1]:VARIABLE(unit = "V" ) type: Real [3] 21: transformer.core.plug_p2.pin[1].v:VARIABLE(flow=false unit = "V" ) "Potential at the pin" type: Real [3] 22: transformer.l1sigma.plug_n.pin[3].v:VARIABLE(flow=false unit = "V" ) "Potential at the pin" type: Real [3] 23: transformer.core.v1[3]:VARIABLE(unit = "V" ) type: Real [3] 24: transformer.core.v3[3]:VARIABLE(unit = "V" ) type: Real [3] 25: transformer.core.v2[3]:VARIABLE(unit = "V" ) type: Real [3] residual vars (3) 1: transformer.l1sigma.inductor[3].i:STATE(1)(start = 0.0 unit = "A" ) "Current flowing from pin p to pin n" type: Real [3] 2: transformer.core.v1[2]:VARIABLE(unit = "V" ) type: Real [3] 3: transformer.l1sigma.inductor[2].i:STATE(1)(start = 0.0 unit = "A" ) "Current flowing from pin p to pin n" type: Real [3] internal equations (25) 1/1 (1): 0.0 = der(transformer.l1sigma.inductor[2].i) + $DER.transformer.l2sigma.inductor[2].i / transformer.core.n12 + $DER.transformer.l2sigma.inductor[2].i / transformer.core.n13 [dynamic |0|0|0|0|] 2/2 (1): transformer.l2sigma.inductor[2].L * $DER.transformer.l2sigma.inductor[2].i = transformer.l2sigma.v[2] [dynamic |0|0|0|0|] 3/3 (1): transformer.l1sigma.inductor[2].L * der(transformer.l1sigma.inductor[2].i) = transformer.l1sigma.v[2] [dynamic |0|0|0|0|] 4/4 (1): transformer.l2sigma.v[2] = transformer.l2sigma.plug_p.pin[2].v - transformer.core.plug_p2.pin[2].v [dynamic |0|0|0|0|] 5/5 (1): transformer.l1sigma.v[2] = transformer.r1.plug_n.pin[2].v - transformer.l1sigma.plug_n.pin[2].v [dynamic |0|0|0|0|] 6/6 (1): transformer.core.v1[2] = transformer.core.n13 * transformer.core.v3[2] [dynamic |0|0|0|0|] 7/7 (1): transformer.core.v1[2] = transformer.core.n12 * transformer.core.v2[2] [dynamic |0|0|0|0|] 8/8 (1): transformer.core.v1[2] = transformer.l1sigma.plug_n.pin[2].v - transformer.starpoint1.v [dynamic |0|0|0|0|] 9/9 (1): 0.0 = der(transformer.l1sigma.inductor[3].i) + $DER.transformer.l2sigma.inductor[3].i / transformer.core.n12 + $DER.transformer.l2sigma.inductor[3].i / transformer.core.n13 [dynamic |0|0|0|0|] 10/10 (1): transformer.l2sigma.inductor[3].L * $DER.transformer.l2sigma.inductor[3].i = transformer.l2sigma.v[3] [dynamic |0|0|0|0|] 11/11 (1): transformer.l1sigma.inductor[3].L * der(transformer.l1sigma.inductor[3].i) = transformer.l1sigma.v[3] [dynamic |0|0|0|0|] 12/12 (1): $DER.transformer.l1sigma.inductor[1].i + der(transformer.l1sigma.inductor[2].i) + der(transformer.l1sigma.inductor[3].i) = 0.0 [dynamic |0|0|0|0|] 13/13 (1): 0.0 = $DER.transformer.l1sigma.inductor[1].i + $DER.transformer.l2sigma.inductor[1].i / transformer.core.n12 + $DER.transformer.l2sigma.inductor[1].i / transformer.core.n13 [dynamic |0|0|0|0|] 14/14 (1): transformer.l1sigma.inductor[1].L * $DER.transformer.l1sigma.inductor[1].i = transformer.l1sigma.v[1] [dynamic |0|0|0|0|] 15/15 (1): transformer.l2sigma.inductor[1].L * $DER.transformer.l2sigma.inductor[1].i = transformer.l2sigma.v[1] [dynamic |0|0|0|0|] 16/16 (1): transformer.l2sigma.v[3] = transformer.l2sigma.plug_p.pin[3].v - transformer.core.plug_p2.pin[3].v [dynamic |0|0|0|0|] 17/17 (1): transformer.l1sigma.v[1] = transformer.r1.plug_n.pin[1].v - transformer.l1sigma.plug_n.pin[1].v [dynamic |0|0|0|0|] 18/18 (1): transformer.core.v1[1] = transformer.l1sigma.plug_n.pin[1].v - transformer.starpoint1.v [dynamic |0|0|0|0|] 19/19 (1): transformer.core.v1[1] = transformer.core.n13 * transformer.core.v3[1] [dynamic |0|0|0|0|] 20/20 (1): transformer.core.v1[1] = transformer.core.n12 * transformer.core.v2[1] [dynamic |0|0|0|0|] 21/21 (1): transformer.core.v2[1] = transformer.core.plug_p2.pin[1].v - transformer.core.v3[1] [dynamic |0|0|0|0|] 22/22 (1): transformer.l1sigma.v[3] = transformer.r1.plug_n.pin[3].v - transformer.l1sigma.plug_n.pin[3].v [dynamic |0|0|0|0|] 23/23 (1): transformer.core.v1[3] = transformer.l1sigma.plug_n.pin[3].v - transformer.starpoint1.v [dynamic |0|0|0|0|] 24/24 (1): transformer.core.v1[3] = transformer.core.n13 * transformer.core.v3[3] [dynamic |0|0|0|0|] 25/25 (1): transformer.core.v1[3] = transformer.core.n12 * transformer.core.v2[3] [dynamic |0|0|0|0|] residual equations (3) 1/1 (1): transformer.l2sigma.v[1] = transformer.l2sigma.plug_p.pin[1].v - transformer.core.plug_p2.pin[1].v [dynamic |0|0|0|0|] 2/2 (1): transformer.core.v2[3] = transformer.core.plug_p2.pin[3].v - transformer.core.v3[3] [dynamic |0|0|0|0|] 3/3 (1): transformer.core.v2[2] = transformer.core.plug_p2.pin[2].v - transformer.core.v3[2] [dynamic |0|0|0|0|]
Change History (12)
comment:1 by , 4 years ago
comment:2 by , 4 years ago
Minimal examples are hard...
But for now I'm working with
loadModel(Modelica,{"3.2.3"}); getErrorString();
setCommandLineOptions("-d=newInst,dumpLoops --tearingMethod=minimalTearing --maxSizeLinearTearing=200"); getErrorString();
setCommandLineOptions("-d=tearingdump,tearingdumpV --noTearingForComponent=1,2,3,4,5,6,7,8,9,10,12,13,14,15"); getErrorString();
cd("temp-UniversalConstraint");
buildModel(Modelica.Mechanics.MultiBody.Examples.Constraints.UniversalConstraint); getErrorString();
system("./Modelica.Mechanics.MultiBody.Examples.Constraints.UniversalConstraint -lv=LOG_STATS");
I disabled tearing for all but component 11.
So the only torn system remaining must be the culprit:
################################################################################ dumpLoops: SORTED COMPONENT ################################################################################ torn linear Equationsystem: internal vars (0) residual vars (11) 1: $DER.freeMotionScalarInit.initAngle.R_rel.T[1,1]:DUMMY_DER(fixed = false ) "Transformation matrix from world frame to local frame" type: Real [3,3] 2: $DER.fixedTranslationOfConstraint.frame_b.R.T[1,3]:DUMMY_DER(flow=false fixed = false ) "Transformation matrix from world frame to local frame" type: Real [3,3] 3: $DER.fixedTranslationOfConstraint.frame_b.R.T[1,2]:DUMMY_DER(flow=false fixed = false ) "Transformation matrix from world frame to local frame" type: Real [3,3] 4: $DER.freeMotionScalarInit.initAngle.R_rel.T[1,2]:DUMMY_DER(fixed = false ) "Transformation matrix from world frame to local frame" type: Real [3,3] 5: freeMotionScalarInit.angle_d_3:DUMMY_STATE(flow=false start = 0.0 unit = "rad/s" fixed = true stateSelect=StateSelect.never ) "= der(angle_3)" type: Real 6: freeMotionScalarInit.angle_d_1:DUMMY_STATE(flow=false start = 0.0 unit = "rad/s" fixed = true stateSelect=StateSelect.never ) "= der(angle_1)" type: Real 7: bodyOfConstraint.body.w_a[3]:DUMMY_STATE(start = 0.8191520442889911 * bodyOfConstraint.body.w_0_start[1] + (-0.09960050292504974) * bodyOfConstraint.body.w_0_start[2] + 0.5648625214636248 * bodyOfConstraint.body.w_0_start[3] unit = "rad/s" fixed = false stateSelect=StateSelect.avoid ) "Absolute angular velocity of frame_a resolved in frame_a" type: Real [3] 8: freeMotionScalarInit.angle_d_2:DUMMY_STATE(flow=false start = 0.0 unit = "rad/s" stateSelect=StateSelect.never ) "= der(angle_2)" type: Real 9: $DER.freeMotionScalarInit.initAngle.R_rel.T[3,1]:DUMMY_DER(fixed = false ) "Transformation matrix from world frame to local frame" type: Real [3,3] 10: $DER.freeMotionScalarInit.initAngle.R_rel.T[1,3]:DUMMY_DER(fixed = false ) "Transformation matrix from world frame to local frame" type: Real [3,3] 11: $DER.fixedTranslationOfConstraint.frame_b.R.T[1,1]:DUMMY_DER(flow=false fixed = false ) "Transformation matrix from world frame to local frame" type: Real [3,3] internal equations (0) residual equations (11) 1/1 (1): $DER.fixedTranslationOfConstraint.frame_b.R.T[1,1] = 0.2148655148851041 * $DER.freeMotionScalarInit.initAngle.R_rel.T[1,1] + (-0.5318108111446446) * $DER.freeMotionScalarInit.initAngle.R_rel.T[1,2] + 0.8191520442889918 * $DER.freeMotionScalarInit.initAngle.R_rel.T[1,3] [dynamic |0|0|0|0|] 2/2 (1): $DER.freeMotionScalarInit.initAngle.R_rel.T[1,3] = $cse22 * $cse26 * freeMotionScalarInit.angle_d_1 + $cse23 * freeMotionScalarInit.angle_d_3 * $cse27 + $cse22 * freeMotionScalarInit.angle_d_3 * freeMotionScalarInit.initAngle.R_rel.T[3,1] * $cse26 - $cse23 * (freeMotionScalarInit.initAngle.R_rel.T[3,1] * (-$cse27) * freeMotionScalarInit.angle_d_1 + $DER.freeMotionScalarInit.initAngle.R_rel.T[3,1] * $cse26) [dynamic |0|0|0|0|] 3/3 (1): $DER.freeMotionScalarInit.initAngle.R_rel.T[3,1] = $cse24 * freeMotionScalarInit.angle_d_2 [dynamic |0|0|0|0|] 4/4 (1): $STATESET1.x[1] = /*Real*/($STATESET1.A[1,1]) * freeMotionScalarInit.angle_d_2 + /*Real*/($STATESET1.A[1,2]) * freeMotionScalarInit.angle_d_1 + /*Real*/($STATESET1.A[1,3]) * bodyOfConstraint.body.w_a[3] [dynamic |0|0|0|0|] 5/5 (1): $STATESET1.x[2] = /*Real*/($STATESET1.A[2,1]) * freeMotionScalarInit.angle_d_2 + /*Real*/($STATESET1.A[2,2]) * freeMotionScalarInit.angle_d_1 + /*Real*/($STATESET1.A[2,3]) * bodyOfConstraint.body.w_a[3] [dynamic |0|0|0|0|] 6/6 (1): bodyOfConstraint.body.w_a[3] = freeMotionScalarInit.angle_d_3 + freeMotionScalarInit.initAngle.R_rel.T[3,1] * freeMotionScalarInit.angle_d_1 [dynamic |0|0|0|0|] 7/7 (1): $DER.freeMotionScalarInit.initAngle.R_rel.T[1,2] = $cse22 * (-$cse27) * freeMotionScalarInit.angle_d_1 + $cse23 * freeMotionScalarInit.angle_d_3 * $cse26 + $cse23 * (freeMotionScalarInit.initAngle.R_rel.T[3,1] * $cse26 * freeMotionScalarInit.angle_d_1 + $DER.freeMotionScalarInit.initAngle.R_rel.T[3,1] * $cse27) - $cse22 * freeMotionScalarInit.angle_d_3 * freeMotionScalarInit.initAngle.R_rel.T[3,1] * $cse27 [dynamic |0|0|0|0|] 8/8 (1): $DER.fixedTranslationOfConstraint.frame_b.R.T[1,2] = 0.9663834860128886 * $DER.freeMotionScalarInit.initAngle.R_rel.T[1,1] + 0.2370288965055821 * $DER.freeMotionScalarInit.initAngle.R_rel.T[1,2] + (-0.09960050292505122) * $DER.freeMotionScalarInit.initAngle.R_rel.T[1,3] [dynamic |0|0|0|0|] 9/9 (1): 0.0 = 0.8191520442889918 * $DER.fixedTranslationOfConstraint.frame_b.R.T[1,1] + (-0.09960050292505122) * $DER.fixedTranslationOfConstraint.frame_b.R.T[1,2] + 0.5648625214636235 * $DER.fixedTranslationOfConstraint.frame_b.R.T[1,3] [dynamic |0|0|0|0|] 10/10 (1): $DER.fixedTranslationOfConstraint.frame_b.R.T[1,3] = (-0.1411940808771254) * $DER.freeMotionScalarInit.initAngle.R_rel.T[1,1] + 0.8130157214783864 * $DER.freeMotionScalarInit.initAngle.R_rel.T[1,2] + 0.5648625214636235 * $DER.freeMotionScalarInit.initAngle.R_rel.T[1,3] [dynamic |0|0|0|0|] 11/11 (1): $DER.freeMotionScalarInit.initAngle.R_rel.T[1,1] = $cse23 * (-freeMotionScalarInit.initAngle.R_rel.T[3,1]) * freeMotionScalarInit.angle_d_2 - $cse22 * freeMotionScalarInit.angle_d_3 * $cse24 [dynamic |0|0|0|0|]
with the corresponding C code:
void residualFunc1324(void** dataIn, const double* xloc, double* res, const int* iflag)
{
TRACE_PUSH
DATA *data = (DATA*) ((void**)dataIn[0]);
threadData_t *threadData = (threadData_t*) ((void**)dataIn[1]);
const int equationIndexes[2] = {1,1324};
ANALYTIC_JACOBIAN* jacobian = NULL;
data->localData[0]->realVars[44] /* der(freeMotionScalarInit.initAngle.R_rel.T[1,1]) DUMMY_DER */ = xloc[0];
data->localData[0]->realVars[37] /* der(fixedTranslationOfConstraint.frame_b.R.T[1,3]) DUMMY_DER */ = xloc[1];
data->localData[0]->realVars[36] /* der(fixedTranslationOfConstraint.frame_b.R.T[1,2]) DUMMY_DER */ = xloc[2];
data->localData[0]->realVars[45] /* der(freeMotionScalarInit.initAngle.R_rel.T[1,2]) DUMMY_DER */ = xloc[3];
data->localData[0]->realVars[334] /* freeMotionScalarInit.angle_d_3 DUMMY_STATE */ = xloc[4];
data->localData[0]->realVars[332] /* freeMotionScalarInit.angle_d_1 DUMMY_STATE */ = xloc[5];
data->localData[0]->realVars[108] /* bodyOfConstraint.body.w_a[3] DUMMY_STATE */ = xloc[6];
data->localData[0]->realVars[333] /* freeMotionScalarInit.angle_d_2 DUMMY_STATE */ = xloc[7];
data->localData[0]->realVars[48] /* der(freeMotionScalarInit.initAngle.R_rel.T[3,1]) DUMMY_DER */ = xloc[8];
data->localData[0]->realVars[46] /* der(freeMotionScalarInit.initAngle.R_rel.T[1,3]) DUMMY_DER */ = xloc[9];
data->localData[0]->realVars[35] /* der(fixedTranslationOfConstraint.frame_b.R.T[1,1]) DUMMY_DER */ = xloc[10];
res[0] = (0.8191520442889918) * (data->localData[0]->realVars[46] /* der(freeMotionScalarInit.initAngle.R_rel.T[1,3]) DUMMY_DER */) + (-0.5318108111446446) * (data->localData[0]->realVars[45] /* der(freeMotionScalarInit.initAngle.R_rel.T[1,2]) DUMMY_DER */) + (0.2148655148851041) * (data->localData[0]->realVars[44] /* der(freeMotionScalarInit.initAngle.R_rel.T[1,1]) DUMMY_DER */) - data->localData[0]->realVars[35] /* der(fixedTranslationOfConstraint.frame_b.R.T[1,1]) DUMMY_DER */;
res[1] = (data->localData[0]->realVars[74] /* $cse22 variable */) * ((data->localData[0]->realVars[334] /* freeMotionScalarInit.angle_d_3 DUMMY_STATE */) * ((data->localData[0]->realVars[356] /* freeMotionScalarInit.initAngle.R_rel.T[3,1] DUMMY_STATE */) * (data->localData[0]->realVars[77] /* $cse26 variable */))) + (data->localData[0]->realVars[75] /* $cse23 variable */) * ((data->localData[0]->realVars[334] /* freeMotionScalarInit.angle_d_3 DUMMY_STATE */) * (data->localData[0]->realVars[78] /* $cse27 variable */)) + (data->localData[0]->realVars[74] /* $cse22 variable */) * ((data->localData[0]->realVars[77] /* $cse26 variable */) * (data->localData[0]->realVars[332] /* freeMotionScalarInit.angle_d_1 DUMMY_STATE */)) - data->localData[0]->realVars[46] /* der(freeMotionScalarInit.initAngle.R_rel.T[1,3]) DUMMY_DER */ - ((data->localData[0]->realVars[75] /* $cse23 variable */) * ((data->localData[0]->realVars[356] /* freeMotionScalarInit.initAngle.R_rel.T[3,1] DUMMY_STATE */) * (((-data->localData[0]->realVars[78] /* $cse27 variable */)) * (data->localData[0]->realVars[332] /* freeMotionScalarInit.angle_d_1 DUMMY_STATE */)) + (data->localData[0]->realVars[48] /* der(freeMotionScalarInit.initAngle.R_rel.T[3,1]) DUMMY_DER */) * (data->localData[0]->realVars[77] /* $cse26 variable */)));
res[2] = (data->localData[0]->realVars[76] /* $cse24 variable */) * (data->localData[0]->realVars[333] /* freeMotionScalarInit.angle_d_2 DUMMY_STATE */) - data->localData[0]->realVars[48] /* der(freeMotionScalarInit.initAngle.R_rel.T[3,1]) DUMMY_DER */;
res[3] = (((modelica_real)data->localData[0]->integerVars[2] /* $STATESET1.A[1,3] variable */)) * (data->localData[0]->realVars[108] /* bodyOfConstraint.body.w_a[3] DUMMY_STATE */) + (((modelica_real)data->localData[0]->integerVars[1] /* $STATESET1.A[1,2] variable */)) * (data->localData[0]->realVars[332] /* freeMotionScalarInit.angle_d_1 DUMMY_STATE */) + (((modelica_real)data->localData[0]->integerVars[0] /* $STATESET1.A[1,1] variable */)) * (data->localData[0]->realVars[333] /* freeMotionScalarInit.angle_d_2 DUMMY_STATE */) - data->localData[0]->realVars[0] /* $STATESET1.x[1] STATE(1) */;
res[4] = (((modelica_real)data->localData[0]->integerVars[5] /* $STATESET1.A[2,3] variable */)) * (data->localData[0]->realVars[108] /* bodyOfConstraint.body.w_a[3] DUMMY_STATE */) + (((modelica_real)data->localData[0]->integerVars[4] /* $STATESET1.A[2,2] variable */)) * (data->localData[0]->realVars[332] /* freeMotionScalarInit.angle_d_1 DUMMY_STATE */) + (((modelica_real)data->localData[0]->integerVars[3] /* $STATESET1.A[2,1] variable */)) * (data->localData[0]->realVars[333] /* freeMotionScalarInit.angle_d_2 DUMMY_STATE */) - data->localData[0]->realVars[1] /* $STATESET1.x[2] STATE(1) */;
res[5] = (data->localData[0]->realVars[356] /* freeMotionScalarInit.initAngle.R_rel.T[3,1] DUMMY_STATE */) * (data->localData[0]->realVars[332] /* freeMotionScalarInit.angle_d_1 DUMMY_STATE */) + data->localData[0]->realVars[334] /* freeMotionScalarInit.angle_d_3 DUMMY_STATE */ - data->localData[0]->realVars[108] /* bodyOfConstraint.body.w_a[3] DUMMY_STATE */;
res[6] = (data->localData[0]->realVars[75] /* $cse23 variable */) * ((data->localData[0]->realVars[356] /* freeMotionScalarInit.initAngle.R_rel.T[3,1] DUMMY_STATE */) * ((data->localData[0]->realVars[77] /* $cse26 variable */) * (data->localData[0]->realVars[332] /* freeMotionScalarInit.angle_d_1 DUMMY_STATE */)) + (data->localData[0]->realVars[48] /* der(freeMotionScalarInit.initAngle.R_rel.T[3,1]) DUMMY_DER */) * (data->localData[0]->realVars[78] /* $cse27 variable */)) + (data->localData[0]->realVars[75] /* $cse23 variable */) * ((data->localData[0]->realVars[334] /* freeMotionScalarInit.angle_d_3 DUMMY_STATE */) * (data->localData[0]->realVars[77] /* $cse26 variable */)) + (data->localData[0]->realVars[74] /* $cse22 variable */) * (((-data->localData[0]->realVars[78] /* $cse27 variable */)) * (data->localData[0]->realVars[332] /* freeMotionScalarInit.angle_d_1 DUMMY_STATE */)) - data->localData[0]->realVars[45] /* der(freeMotionScalarInit.initAngle.R_rel.T[1,2]) DUMMY_DER */ - ((data->localData[0]->realVars[74] /* $cse22 variable */) * ((data->localData[0]->realVars[334] /* freeMotionScalarInit.angle_d_3 DUMMY_STATE */) * ((data->localData[0]->realVars[356] /* freeMotionScalarInit.initAngle.R_rel.T[3,1] DUMMY_STATE */) * (data->localData[0]->realVars[78] /* $cse27 variable */))));
res[7] = (-0.09960050292505122) * (data->localData[0]->realVars[46] /* der(freeMotionScalarInit.initAngle.R_rel.T[1,3]) DUMMY_DER */) + (0.2370288965055821) * (data->localData[0]->realVars[45] /* der(freeMotionScalarInit.initAngle.R_rel.T[1,2]) DUMMY_DER */) + (0.9663834860128886) * (data->localData[0]->realVars[44] /* der(freeMotionScalarInit.initAngle.R_rel.T[1,1]) DUMMY_DER */) - data->localData[0]->realVars[36] /* der(fixedTranslationOfConstraint.frame_b.R.T[1,2]) DUMMY_DER */;
res[8] = (0.5648625214636235) * (data->localData[0]->realVars[37] /* der(fixedTranslationOfConstraint.frame_b.R.T[1,3]) DUMMY_DER */) + (-0.09960050292505122) * (data->localData[0]->realVars[36] /* der(fixedTranslationOfConstraint.frame_b.R.T[1,2]) DUMMY_DER */) + (0.8191520442889918) * (data->localData[0]->realVars[35] /* der(fixedTranslationOfConstraint.frame_b.R.T[1,1]) DUMMY_DER */);
res[9] = (0.5648625214636235) * (data->localData[0]->realVars[46] /* der(freeMotionScalarInit.initAngle.R_rel.T[1,3]) DUMMY_DER */) + (0.8130157214783864) * (data->localData[0]->realVars[45] /* der(freeMotionScalarInit.initAngle.R_rel.T[1,2]) DUMMY_DER */) + (-0.1411940808771254) * (data->localData[0]->realVars[44] /* der(freeMotionScalarInit.initAngle.R_rel.T[1,1]) DUMMY_DER */) - data->localData[0]->realVars[37] /* der(fixedTranslationOfConstraint.frame_b.R.T[1,3]) DUMMY_DER */;
res[10] = (data->localData[0]->realVars[75] /* $cse23 variable */) * (((-data->localData[0]->realVars[356] /* freeMotionScalarInit.initAngle.R_rel.T[3,1] DUMMY_STATE */)) * (data->localData[0]->realVars[333] /* freeMotionScalarInit.angle_d_2 DUMMY_STATE */)) + ((-data->localData[0]->realVars[74] /* $cse22 variable */)) * ((data->localData[0]->realVars[334] /* freeMotionScalarInit.angle_d_3 DUMMY_STATE */) * (data->localData[0]->realVars[76] /* $cse24 variable */)) - data->localData[0]->realVars[44] /* der(freeMotionScalarInit.initAngle.R_rel.T[1,1]) DUMMY_DER */;
TRACE_POP
}
It's suspicious that all variables are dummy derivative variables.
And now we need to check all equations one by one. Maybe we get a clue where to continue with the search.
comment:4 by , 4 years ago
| Resolution: | → fixed |
|---|---|
| Status: | new → closed |
comment:5 by , 4 years ago
| Resolution: | fixed |
|---|---|
| Status: | closed → reopened |
@AnHeuermann, would you mind pushing this PR also to 1.17 maintenance, so we get this in 1.17.0 as well?
If you do that, pls. change the milestone to 1.17.0
Thanks!
comment:6 by , 4 years ago
| Milestone: | 1.18.0 → 1.17.0 |
|---|
comment:8 by , 4 years ago
| Resolution: | → fixed |
|---|---|
| Status: | reopened → closed |
The PR is now backported to the 1.17 maintenance branch.
comment:10 by , 4 years ago
| Resolution: | fixed |
|---|---|
| Status: | closed → reopened |
Turns out that we didn't fix all problems, see the failing tests for
- Modelica.Electrical.Machines.Examples.AsynchronousInductionMachines.AIMC_Transformer
- Modelica.Mechanics.MultiBody.Examples.Constraints.RevoluteConstraint
- Modelica.Mechanics.MultiBody.Examples.Constraints.PrismaticConstraint
from Jenkins PR-6969 run 24.
@kabdelhak Any lucky guesses?
comment:11 by , 4 years ago
| Milestone: | 1.17.0 → 1.18.0 |
|---|
Retargeted to 1.18.0 because of 1.17.0 timed release.
Note:
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for help on using tickets.
Other examples that failing in the same way:
While looking at these examples I noticed that for
Modelica.Mechanics.MultiBody.Examples.Constraints.UniversalConstraintwe have a loop with size 4 but
dumLoopsdoesn't report a loop with that size.void residualFunc3507(void** dataIn, const double* xloc, double* res, const int* iflag) { TRACE_PUSH DATA *data = (DATA*) ((void**)dataIn[0]); threadData_t *threadData = (threadData_t*) ((void**)dataIn[1]); const int equationIndexes[2] = {1,3507}; ANALYTIC_JACOBIAN* parentJacobian = data->simulationInfo->linearSystemData[9].parDynamicData[omc_get_thread_num()].parentJacobian; ANALYTIC_JACOBIAN* jacobian = NULL; parentJacobian->tmpVars[7] /* der(fixedTranslationOfConstraint.frame_b.R.T.$pDERStateSetJac16.dummyVarStateSetJac16[1,1]) JACOBIAN_DIFF_VAR */ = xloc[0]; parentJacobian->tmpVars[2] /* der(fixedTranslationOfConstraint.frame_b.R.T.$pDERStateSetJac16.dummyVarStateSetJac16[1,2]) JACOBIAN_DIFF_VAR */ = xloc[1]; parentJacobian->tmpVars[0] /* der(freeMotionScalarInit.initAngle.R_rel.T.$pDERStateSetJac16.dummyVarStateSetJac16[1,1]) JACOBIAN_DIFF_VAR */ = xloc[2]; parentJacobian->tmpVars[1] /* der(fixedTranslationOfConstraint.frame_b.R.T.$pDERStateSetJac16.dummyVarStateSetJac16[1,3]) JACOBIAN_DIFF_VAR */ = xloc[3]; res[0] = (0.5648625214636235) * (parentJacobian->tmpVars[6] /* der(freeMotionScalarInit.initAngle.R_rel.T.$pDERStateSetJac16.dummyVarStateSetJac16[1,3]) JACOBIAN_DIFF_VAR */) + (0.8130157214783864) * (parentJacobian->tmpVars[3] /* der(freeMotionScalarInit.initAngle.R_rel.T.$pDERStateSetJac16.dummyVarStateSetJac16[1,2]) JACOBIAN_DIFF_VAR */) + (-0.1411940808771254) * (parentJacobian->tmpVars[0] /* der(freeMotionScalarInit.initAngle.R_rel.T.$pDERStateSetJac16.dummyVarStateSetJac16[1,1]) JACOBIAN_DIFF_VAR */) - parentJacobian->tmpVars[1] /* der(fixedTranslationOfConstraint.frame_b.R.T.$pDERStateSetJac16.dummyVarStateSetJac16[1,3]) JACOBIAN_DIFF_VAR */; res[1] = (-0.09960050292505122) * (parentJacobian->tmpVars[6] /* der(freeMotionScalarInit.initAngle.R_rel.T.$pDERStateSetJac16.dummyVarStateSetJac16[1,3]) JACOBIAN_DIFF_VAR */) + (0.2370288965055821) * (parentJacobian->tmpVars[3] /* der(freeMotionScalarInit.initAngle.R_rel.T.$pDERStateSetJac16.dummyVarStateSetJac16[1,2]) JACOBIAN_DIFF_VAR */) + (0.9663834860128886) * (parentJacobian->tmpVars[0] /* der(freeMotionScalarInit.initAngle.R_rel.T.$pDERStateSetJac16.dummyVarStateSetJac16[1,1]) JACOBIAN_DIFF_VAR */) - parentJacobian->tmpVars[2] /* der(fixedTranslationOfConstraint.frame_b.R.T.$pDERStateSetJac16.dummyVarStateSetJac16[1,2]) JACOBIAN_DIFF_VAR */; res[2] = (0.5648625214636235) * (parentJacobian->tmpVars[1] /* der(fixedTranslationOfConstraint.frame_b.R.T.$pDERStateSetJac16.dummyVarStateSetJac16[1,3]) JACOBIAN_DIFF_VAR */) + (-0.09960050292505122) * (parentJacobian->tmpVars[2] /* der(fixedTranslationOfConstraint.frame_b.R.T.$pDERStateSetJac16.dummyVarStateSetJac16[1,2]) JACOBIAN_DIFF_VAR */) + (0.8191520442889918) * (parentJacobian->tmpVars[7] /* der(fixedTranslationOfConstraint.frame_b.R.T.$pDERStateSetJac16.dummyVarStateSetJac16[1,1]) JACOBIAN_DIFF_VAR */); res[3] = (0.8191520442889918) * (parentJacobian->tmpVars[6] /* der(freeMotionScalarInit.initAngle.R_rel.T.$pDERStateSetJac16.dummyVarStateSetJac16[1,3]) JACOBIAN_DIFF_VAR */) + (-0.5318108111446446) * (parentJacobian->tmpVars[3] /* der(freeMotionScalarInit.initAngle.R_rel.T.$pDERStateSetJac16.dummyVarStateSetJac16[1,2]) JACOBIAN_DIFF_VAR */) + (0.2148655148851041) * (parentJacobian->tmpVars[0] /* der(freeMotionScalarInit.initAngle.R_rel.T.$pDERStateSetJac16.dummyVarStateSetJac16[1,1]) JACOBIAN_DIFF_VAR */) - parentJacobian->tmpVars[7] /* der(fixedTranslationOfConstraint.frame_b.R.T.$pDERStateSetJac16.dummyVarStateSetJac16[1,1]) JACOBIAN_DIFF_VAR */; TRACE_POP }Also the C code itself looks wrong. We have
parentJacobian->tmpVars[7],parentJacobian->tmpVars[2],parentJacobian->tmpVars[0]andparentJacobian->tmpVars[1]. But we using all tempVars from 0 to 7. So I guess the loop should have size 8.This loop involves arrays, so my highly professional guess is that we suck at counting array variables.
I'll try to come up with a minimal working example, since this example is still to big to debug and I'm not 100% sure what the solution should look like.