Merge branch 'master' into fix-friction

modelica · Nov 14, 2023 · 8952f8c · 8952f8c
2 parents 3abe014 + 402662a
commit 8952f8c
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diff --git a/Modelica/Blocks/Math.mo b/Modelica/Blocks/Math.mo
@@ -2335,29 +2335,31 @@ Note: The output is updated after each period defined by 1/f.
   block ContinuousMean
     "Calculates the empirical expectation (mean) value of its input signal"
     extends Modelica.Blocks.Icons.Block;
-    parameter SI.Time t_eps(min= 100*Modelica.Constants.eps)=1e-7
+    parameter SI.Time t_eps(min= 0)=1e-7
       "Mean value calculation starts at startTime + t_eps"
       annotation(Dialog(group="Advanced"));
 
     Modelica.Blocks.Interfaces.RealInput u "Noisy input signal" annotation (Placement(transformation(extent={{-140,-20},{-100,20}})));
     Modelica.Blocks.Interfaces.RealOutput y
       "Expectation (mean) value of the input signal"
       annotation (Placement(transformation(extent={{100,-10},{120,10}})));
-
+    parameter Real startTime=-Modelica.Constants.inf "Starting point for mean if after simulation start-point";
   protected
-    Real mu "Internal integrator variable";
+    Real mu(start=0, fixed=true) "Internal integrator variable";
     parameter Real t_0(fixed=false) "Start time";
+    parameter Real actualStartTime=max(t_0, startTime);
   initial equation
     t_0 = time;
-    mu  = u;
   equation
-    der(mu) = noEvent(if time >= t_0 + t_eps then (u-mu)/(time-t_0) else 0);
-    y       = noEvent(if time >= t_0 + t_eps then mu                else u);
+    der(mu) = if time >= actualStartTime then u else 0;
+    y       = noEvent(if time > actualStartTime+t_eps then mu/(time-actualStartTime) else u);
 
     annotation (Documentation(revisions="<html>
 <table border=\"1\" cellspacing=\"0\" cellpadding=\"2\">
 <tr><th>Date</th> <th align=\"left\">Description</th></tr>
-
+<tr><td> June 13, 2023</td>
+<td>Hans Olsson. Avoid almost singularity for integrators.</td>
+</tr>
 <tr><td> June 22, 2015 </td>
     <td>
 
@@ -2380,8 +2382,8 @@ y = ------------------------
         time - startTime
 </pre></blockquote>
 <p>This can be used to determine the empirical expectation value of a random signal, such as generated by the <a href=\"modelica://Modelica.Blocks.Noise\">Noise</a> blocks.</p>
-<p>The parameter t_eps is used to guard against division by zero (the mean value computation
-starts at &lt;<em>simulation start time</em>&gt; + t_eps and before that time instant y = u).</p>
+<p>The parameter t_eps is used to avoid large fluctuations but can be set to zero (the mean value computation
+starts at &lt;<em>simulation start time</em>&gt; but is only returned after an additional t_eps and before that time instant y = u).</p>
 <p>See also the <a href=\"modelica://Modelica.Blocks.Math.Mean\">Mean</a> block for a sampled implementation.</p>
 
 <p>

diff --git a/Modelica/Blocks/Sources.mo b/Modelica/Blocks/Sources.mo
@@ -122,7 +122,7 @@ variable <strong>y</strong> is both a variable and a connector.
     extends Interfaces.SignalSource;
 
   equation
-    y = offset + (if time < startTime then 0 else time - startTime);
+    y = offset + smooth(0, (if time < startTime then 0 else time - startTime));
     annotation (
       Icon(coordinateSystem(
           preserveAspectRatio=true,
@@ -294,10 +294,17 @@ If parameter duration is set to 0.0, the limiting case of a Step signal is achie
     annotation(Dialog(groupImage="modelica://Modelica/Resources/Images/Blocks/Sources/Sine.png"));
     parameter SI.Frequency f(start=1) "Frequency of sine wave";
     parameter SI.Angle phase=0 "Phase of sine wave";
+    parameter Boolean continuous = false "Make output continuous by starting at offset + amplitude*sin(phase)"
+    annotation(Evaluate=true);
     extends Interfaces.SignalSource;
   equation
-    y = offset + (if time < startTime then 0 else amplitude*Modelica.Math.sin(2
-      *pi*f*(time - startTime) + phase));
+    if continuous then
+      y = offset + amplitude*smooth(0, (if time < startTime then Modelica.Math.sin(phase)
+        else Modelica.Math.sin(2*pi*f*(time - startTime) + phase)));
+    else 
+      y = offset + (if time < startTime then 0 else amplitude*Modelica.Math.sin(2
+       *pi*f*(time - startTime) + phase));
+    end if;
     annotation (
       Icon(coordinateSystem(
           preserveAspectRatio=true,
@@ -340,10 +347,17 @@ The Real output y is a sine signal:
     annotation(Dialog(groupImage="modelica://Modelica/Resources/Images/Blocks/Sources/Cosine.png"));
     parameter SI.Frequency f(start=1) "Frequency of cosine wave";
     parameter SI.Angle phase=0 "Phase of cosine wave";
+    parameter Boolean continuous = false "Make output continuous by starting at offset + amplitude*cos(phase)"
+    annotation(Evaluate=true);
     extends Interfaces.SignalSource;
   equation
-    y = offset + (if time < startTime then 0 else amplitude*Modelica.Math.cos(2
-      *pi*f*(time - startTime) + phase));
+    if continuous then
+      y = offset + smooth(0, amplitude*(if time < startTime then Modelica.Math.cos(phase)
+       else Modelica.Math.cos(2*pi*f*(time - startTime) + phase)));
+    else
+      y = offset + (if time < startTime then 0 else amplitude*Modelica.Math.cos(2
+        *pi*f*(time - startTime) + phase));
+    end if;
     annotation (
       Icon(coordinateSystem(
           preserveAspectRatio=true,
@@ -593,12 +607,19 @@ and that the parameter <code>startTime</code> is omitted since the voltage can b
     parameter Real amplitude=1 "Amplitude of sine wave"
     annotation(Dialog(groupImage="modelica://Modelica/Resources/Images/Blocks/Sources/Sinc.png"));
     parameter SI.Frequency f(start=1) "Frequency of sine wave";
+    parameter Boolean continuous = false "Make output (continuously) differentiable by starting at offset + amplitude rather than just offset"
+    annotation(Evaluate=true);
     extends Interfaces.SignalSource;
   protected
     SI.Angle x=2*pi*f*(time - startTime);
   equation
-    y = offset + (if time < startTime then 0 else amplitude*
-      (if noEvent(time - startTime < eps) then 1 else (sin(x))/x));
+    if continuous then
+     y = offset + amplitude*smooth(1, (if time < startTime then 1 else 
+        (if noEvent(time - startTime < eps) then 1 else (sin(x))/x)));
+    else
+      y = offset + (if time < startTime then 0 else amplitude*
+        (if noEvent(time - startTime < eps) then 1 else (sin(x))/x));
+    end if;
     annotation (
       Icon(coordinateSystem(
           preserveAspectRatio=true,
@@ -1443,7 +1464,7 @@ a flange according to a given acceleration.
       b := b - a*shiftTimeScaled;
     end getInterpolationCoefficients;
   algorithm
-    if noEvent(size(table, 1) > 1) then
+    if size(table, 1) > 1 then
       assert(not (table[1, 1] > 0.0 or table[1, 1] < 0.0), "The first point in time has to be set to 0, but is table[1,1] = " + String(table[1, 1]));
     end if;
     when {time >= pre(nextEvent),initial()} then

diff --git a/Modelica/Electrical/Batteries/Examples/BatteryDischargeCharge.mo b/Modelica/Electrical/Batteries/Examples/BatteryDischargeCharge.mo
@@ -9,11 +9,12 @@ model BatteryDischargeCharge "Discharge and charge idealized battery"
     Tp=60,
     startTime=60)
     annotation (Placement(transformation(extent={{-80,-10},{-60,10}})));
+  parameter Modelica.Units.SI.Current Isc = 1200 "Short-circuit current of cell at OCVmax";
   parameter Modelica.Electrical.Batteries.ParameterRecords.CellData cellData1(
     Qnom=18000,
     OCVmax=4.2,
     OCVmin=2.5,
-    Ri=cellData1.OCVmax/1200)
+    Ri=cellData1.OCVmax/Isc)
     annotation (Placement(transformation(extent={{60,20},{80,40}})));
   Modelica.Electrical.Batteries.BatteryStacks.CellStack battery1(
     Ns=10,
@@ -38,7 +39,7 @@ model BatteryDischargeCharge "Discharge and charge idealized battery"
   parameter Modelica.Electrical.Batteries.ParameterRecords.TransientData.ExampleData cellData2(
     Qnom=18000,
     useLinearSOCDependency=false,
-    Ri=cellData2.OCVmax/1200,
+    Ri=cellData2.OCVmax/Isc,
     Idis=0.1,
     nRC=2,
     rcData={Modelica.Electrical.Batteries.ParameterRecords.TransientData.RCData(

diff --git a/Modelica/Electrical/Batteries/Examples/CCCV_Cell.mo b/Modelica/Electrical/Batteries/Examples/CCCV_Cell.mo
@@ -2,10 +2,11 @@ within Modelica.Electrical.Batteries.Examples;
 model CCCV_Cell
   "Charge a cell with constant current - constant voltage characteristic"
   extends Modelica.Icons.Example;
+  parameter Modelica.Units.SI.Current Isc = 1200 "Short-circuit current of cell at OCVmax";
   parameter Modelica.Electrical.Batteries.ParameterRecords.ExampleData cellData(
     Qnom=18000,
     useLinearSOCDependency=false,
-    Ri=4.2/1200,
+    Ri=cellData.OCVmax/Isc,
     Idis=0.001) "Cell data"
     annotation (Placement(transformation(extent={{-10,-60},{10,-40}})));
   Modelica.Electrical.Batteries.Utilities.CCCVcharger cccvCharger(I=25, Vend=4.2) annotation (Placement(

diff --git a/Modelica/Electrical/Batteries/Examples/CCCV_CellRC.mo b/Modelica/Electrical/Batteries/Examples/CCCV_CellRC.mo
@@ -2,10 +2,11 @@ within Modelica.Electrical.Batteries.Examples;
 model CCCV_CellRC
   "Charge a transient cell with constant current - constant voltage characteristic"
   extends Modelica.Icons.Example;
+  parameter Modelica.Units.SI.Current Isc = 1200 "Short-circuit current of cell at OCVmax";
   parameter Modelica.Electrical.Batteries.ParameterRecords.TransientData.ExampleData cellData(
     Qnom=18000,
     useLinearSOCDependency=false,
-    Ri=4.2/1200,
+    Ri=cellData.OCVmax/Isc,
     Idis=0.001) "Cell data"
     annotation (Placement(transformation(extent={{-10,-60},{10,-40}})));
   Modelica.Electrical.Batteries.Utilities.CCCVcharger cccvCharger(I=25, Vend=4.2) annotation (Placement(

diff --git a/Modelica/Electrical/Batteries/Examples/CCCV_Stack.mo b/Modelica/Electrical/Batteries/Examples/CCCV_Stack.mo
@@ -2,16 +2,17 @@ within Modelica.Electrical.Batteries.Examples;
 model CCCV_Stack
   "Charge a stack with constant current - constant voltage characteristic"
   extends Modelica.Icons.Example;
+  parameter Modelica.Units.SI.Current Isc = 1200 "Short-circuit current of cell at OCVmax";
   parameter Modelica.Electrical.Batteries.ParameterRecords.ExampleData cellDataOriginal(
     Qnom=18000,
     useLinearSOCDependency=false,
-    Ri=4.2/1200,
+    Ri=cellDataOriginal.OCVmax/Isc,
     Idis=0.001) "Original cell data"
     annotation (Placement(transformation(extent={{-40,-60},{-20,-40}})));
   parameter Modelica.Electrical.Batteries.ParameterRecords.ExampleData cellDataDegraded(
     Qnom=18000,
     useLinearSOCDependency=false,
-    Ri=2*4.2/1200,
+    Ri=2*cellDataDegraded.OCVmax/Isc,
     Idis=0.001) "Degraded cell data"
     annotation (Placement(transformation(extent={{20,-60},{40,-40}})));
   parameter Modelica.Electrical.Batteries.ParameterRecords.StackData

diff --git a/Modelica/Electrical/Batteries/Examples/CCCV_StackRC.mo b/Modelica/Electrical/Batteries/Examples/CCCV_StackRC.mo
@@ -2,16 +2,17 @@ within Modelica.Electrical.Batteries.Examples;
 model CCCV_StackRC
   "Charge a transient stack with constant current - constant voltage characteristic"
   extends Modelica.Icons.Example;
+  parameter Modelica.Units.SI.Current Isc = 1200 "Short-circuit current of cell at OCVmax";
   parameter Modelica.Electrical.Batteries.ParameterRecords.TransientData.ExampleData cellDataOriginal(
     Qnom=18000,
     useLinearSOCDependency=false,
-    Ri=4.2/1200,
+    Ri=cellDataOriginal.OCVmax/Isc,
     Idis=0.001) "Original cell data"
     annotation (Placement(transformation(extent={{-40,-60},{-20,-40}})));
   parameter Modelica.Electrical.Batteries.ParameterRecords.TransientData.ExampleData cellDataDegraded(
     Qnom=18000,
     useLinearSOCDependency=false,
-    Ri=2*4.2/1200,
+    Ri=2*cellDataDegraded.OCVmax/Isc,
     Idis=0.001) "Degraded cell data"
     annotation (Placement(transformation(extent={{20,-60},{40,-40}})));
   parameter Modelica.Electrical.Batteries.ParameterRecords.TransientData.StackData

diff --git a/Modelica/Electrical/Batteries/Examples/CCCVcharging.mo b/Modelica/Electrical/Batteries/Examples/CCCVcharging.mo
@@ -2,10 +2,11 @@ within Modelica.Electrical.Batteries.Examples;
 model CCCVcharging
   "Charge a battery with constant current - constant voltage characteristic"
   extends Modelica.Icons.Example;
+  parameter Modelica.Units.SI.Current Isc = 1200 "Short-circuit current of cell at OCVmax";
   parameter Modelica.Electrical.Batteries.ParameterRecords.TransientData.ExampleData cellData(
     Qnom=18000,
     useLinearSOCDependency=false,
-    Ri=cellData.OCVmax/1200,
+    Ri=cellData.OCVmax/Isc,
     Idis=0.001)
     annotation (Placement(transformation(extent={{20,-20},{40,0}})));
   Modelica.Electrical.Batteries.BatteryStacks.CellRCStack battery(

diff --git a/Modelica/Math/package.mo b/Modelica/Math/package.mo
@@ -255,7 +255,7 @@ v = {2, -4, -2, -1};
     input Real v[:] "Real vector";
     input Real eps(min=0.0)=100*Modelica.Constants.eps
       "if |v| < eps then result = v/eps";
-    output Real result[size(v, 1)] "Input vector v normalized to length=1";
+    output Real result[size(v, 1)](each final unit="1") "Input vector v normalized to length=1";
 
   algorithm
     /* This function has the inline annotation. If the function is inlined:

diff --git a/Modelica/Mechanics/MultiBody/Examples/Systems/RobotR3/OneAxis.mo b/Modelica/Mechanics/MultiBody/Examples/Systems/RobotR3/OneAxis.mo
@@ -4,6 +4,7 @@ model OneAxis
 
   extends Modelica.Icons.Example;
   parameter SI.Mass mLoad(min=0)=15 "Mass of load";
+  parameter SI.Radius rg = 1.14 "Radius of gyration of load";
   parameter Real kp=5 "Gain of position controller of axis";
   parameter Real ks=0.5 "Gain of speed controller of axis";
   parameter SI.Time Ts=0.05
@@ -27,7 +28,7 @@ model OneAxis
     kp=kp,
     ks=ks,
     Ts=Ts) annotation (Placement(transformation(extent={{20,0},{40,20}})));
-  Modelica.Mechanics.Rotational.Components.Inertia load(J=1.3*mLoad)
+  Modelica.Mechanics.Rotational.Components.Inertia load(J=rg^2*mLoad)
     annotation (Placement(transformation(extent={{60,0},{80,20}})));
   Utilities.PathPlanning1 pathPlanning(
     swingTime=swingTime,

diff --git a/Modelica/Mechanics/MultiBody/Frames/TransformationMatrices/from_nxy.mo b/Modelica/Mechanics/MultiBody/Frames/TransformationMatrices/from_nxy.mo
@@ -4,9 +4,9 @@ function from_nxy "Return orientation object from n_x and n_y vectors"
   import Modelica.Math.Vectors.length;
   import Modelica.Math.Vectors.normalize;
 
-  input Real n_x[3](each final unit="1")
+  input Real n_x[3]
     "Vector in direction of x-axis of frame 2, resolved in frame 1";
-  input Real n_y[3](each final unit="1")
+  input Real n_y[3]
     "Vector in direction of y-axis of frame 2, resolved in frame 1";
   output TransformationMatrices.Orientation T
     "Orientation object to rotate frame 1 into frame 2";

diff --git a/Modelica/Mechanics/MultiBody/Frames/from_nxy.mo b/Modelica/Mechanics/MultiBody/Frames/from_nxy.mo
@@ -1,9 +1,9 @@
 within Modelica.Mechanics.MultiBody.Frames;
 function from_nxy "Return fixed orientation object from n_x and n_y vectors"
   extends Modelica.Icons.Function;
-  input Real n_x[3](each final unit="1")
+  input Real n_x[3]
     "Vector in direction of x-axis of frame 2, resolved in frame 1";
-  input Real n_y[3](each final unit="1")
+  input Real n_y[3]
     "Vector in direction of y-axis of frame 2, resolved in frame 1";
   output Orientation R "Orientation object to rotate frame 1 into frame 2";
 algorithm

diff --git a/Modelica/Utilities/Internal.mo b/Modelica/Utilities/Internal.mo
@@ -21,9 +21,9 @@ package PartialModelicaServices
       "Position vector from origin of world frame to origin of object frame, resolved in world frame" annotation(Dialog);
     input SI.Position r_shape[3]={0,0,0}
       "Position vector from origin of object frame to shape origin, resolved in object frame" annotation(Dialog);
-    input Real lengthDirection[3](each final unit="1")={1,0,0}
+    input Real lengthDirection[3]={1,0,0}
       "Vector in length direction, resolved in object frame" annotation(Dialog);
-    input Real widthDirection[3](each final unit="1")={0,1,0}
+    input Real widthDirection[3]={0,1,0}
       "Vector in width direction, resolved in object frame" annotation(Dialog);
     input SI.Length length=0 "Length of visual object" annotation(Dialog);
     input SI.Length width=0 "Width of visual object" annotation(Dialog);