root/branches/maintenance/2.2.1/Modelica/package.mo

Revision 485, 79.0 kB (checked in by HansOlsson, 19 months ago)

Removed incorrect smooth in LimIntegrator. Verified with Martin
Line 
1package Modelica "Modelica Standard Library"
2extends Icons.Library;
3
4
5annotation(preferedView="info",
6  Window(
7    x=0.02,
8    y=0.01,
9    width=0.2,
10    height=0.57,
11    library=1,
12    autolayout=1),
13  version="2.2.1",
14  versionDate="2007-01-19",
15  conversion(
16    from(version="1.6",
17         ModelicaAdditions(version="1.5"),
18         MultiBody(version="1.0.1"),
19         MultiBody(version="1.0"),
20         Matrices(version="0.8"),
21         script="Scripts/ConvertModelica_from_1.6_to_2.1.mos"),
22    from(version="2.1 Beta1", script="Scripts/ConvertModelica_from_2.1Beta1_to_2.1.mos"),
23    noneFromVersion="2.1",
24    noneFromVersion="2.2"),
25  Settings(NewStateSelection=true),
26  Documentation(info="<HTML>
27<p>
28Package <b>Modelica</b> is a <b>standardized</b> and <b>free</b> package
29that is developed together with the Modelica language from the
30Modelica Association, see
31<a href=\"http://www.Modelica.org\">http://www.Modelica.org</a>.
32It is also called <b>Modelica Standard Library</b>.
33It provides model components in many domains that are based on
34standardized interface definitions. Some typical examples are shown
35in the next figure:
36</p>
37 
38<p>
39<img src=\"../Images/UsersGuide/ModelicaLibraries.png\">
40</p>
41 
42<p>
43For an introduction, have especially a look at:
44</p>
45<ul>
46<li> <a href=\"Modelica://Modelica.UsersGuide\">Users Guide</a>
47     discusses some aspects of the Modelica Standard Library, such as
48     interface definitions and used conventions.</li>
49<li><a href=\"Modelica://Modelica.UsersGuide.ReleaseNotes\">Release Notes</a>
50    summarizes the changes of new versions of this package.</li>
51<li> Packages <b>Examples</b> in the various subpackages, demonstrate
52     how to use the components of the corresponding sublibrary.</li>
53</ul>
54 
55<p>
56Copyright &copy; 1998-2006, Modelica Association.
57</p>
58<p>
59<i>This Modelica package is <b>free</b> software; it can be redistributed and/or modified
60under the terms of the <b>Modelica license</b>, see the license conditions
61and the accompanying <b>disclaimer</b> 
62<a href=\"Modelica://Modelica.UsersGuide.ModelicaLicense\">here</a>.</i>
63</p><br>
64</HTML>
65", revisions="<html>
66<p>
67                <em>Note</em>: This version of the Modelica Standard Library is the maintenance branch
68                of version 2.2.1 and contains minor changes compared to the first version of 2.2.1 as released by the Modelica Association.
69We strongly recommend that you use this version instead of the original one, or the development branch,
70unless you have very good reasons to use a different version.
71</p>
72<p>
73All corrections have either been made available by Dynasim to the Modelica Association
74or made by the Modelica Association.
75</p>
76<p>
77It is backwards compatible to the version 2.2.1 made available 2006-04-23, and also with version 2.2 and 2.1.
78The changes are:
79<ul>
80<li>Removed smooth from <a href=\"Modelica://Modelica.Blocks.Continuous.LimIntegrator\">LimIntegrator</a>, since
81the expression is non-smooth for changes in y.
82</li>
83<li>Several models in the <a href=\"Modelica://Modelica.Electrical.Digital\">Digital</a>
84library have been rewritten for better performance, without modifying the behaviour.
85<li>The examples <a href=\"Modelica://Modelica.Mechanics.MultiBody.Examples.Loops.EngineV6\">EngineV6</a> and
86<a href=\"Modelica://Modelica.Mechanics.MultiBody.Examples.Loops.EngineV6_analytic\">EngineV6_analytic</a> 
87have more realistic crank-angles and load.</li>
88<li>The <a href=\"Modelica://Modelica.Mechanics.MultiBody.Parts.PointMass\">PointMass</a> 
89model will generate appropriate diagnostics if used as a root, and lowered priority of it becoming root.
90</li>
91<li>The <a href=\"Modelica://Modelica.Mechanics.MultiBody.Frames.Orientation.equalityConstraint\">equalityConstraint</a> 
92function has been improved to avoid spurious solutions for closed kinematic loops.
93</li>
94<li>Base class
95<a href=\"Modelica://Modelica.Media.Interfaces.PartialSimpleIdealGasMedium\">PartialSimpleIdealGasMedium</a> 
96has correct equation for cv_const.</li>
97<li>A new type <a href=\"Modelica://Modelica.SIunits.TemperatureDifference\">TemperatureDifference</a> 
98is introduced and used to distinguish between absolute temperatures and temperature differences.</li>
99<li>Several minor corrections and added functions for Media, in particular:</li>
100<ul>
101<li>Better start values for iterations in
102<a href=\"Modelica://Modelica.Media.Water.IF97_Utilities.BaseIF97.Inverses.dtofps3\">dtofps3</a>.</li>
103<li>ReferenceX is added as default input for X in functions taking mixture in
104<a href=\"Modelica://Modelica.Media.Interfaces.PartialMedium\">PartialMedium</a>
105and <a href=\"Modelica://Modelica.Media.Air.MoistAir\">MoistAir</a>
106and instead of empty input in
107<a href=\"Modelica://Modelica.Media.Interfaces.PartialSimpleIdealGasMedium\">PartialSimpleIdealGasMedium</a>
108and <a href=\"Modelica://Modelica.Media.IdealGases.Common.SingleGasNasa\">SingleGasNasa</a>.
109</li>
110<li>Correct call of underlying function in
111<a href=\"Modelica://Modelica.Media.Interfaces.PartialPureSubstance.pressure_dT\">pressure_dT</a>,
112<a href=\"Modelica://Modelica.Media.Interfaces.PartialPureSubstance.specificEnthalpy_dT\">specificEnthalpy_dT</a>,
113<a href=\"Modelica://Modelica.Media.Interfaces.PartialTwoPhaseMedium.pressure_dT\">pressure_dT</a>, and
114<a href=\"Modelica://Modelica.Media.Interfaces.PartialTwoPhaseMedium.specificEnthalpy_dT\">specificEnthalpy_dT</a>.
115</li>
116<li>Improvements in <a href=\"Modelica://Modelica.Media.Water.IF97_Utilities\">water</a> close to critical point.
117</li>
118<li>
119Several corrections in <a href=\"Modelica://Modelica.Media.Common.ThermoFluidSpecial\">ThermoFluidSpecial</a>
120</li>
121</ul>
122<li>Several minor errors in units for variables have been corrected.
123The unit-checking has also detected several of the issues above.</li>
124</ul>
125</p>
126</html>"));
127
128
129package UsersGuide "Users Guide" 
130 
131  annotation (DocumentationClass=true, Documentation(info="<html>
132<h3><font color=\"#008000\" size=5>Users Guide of the Modelica Standard Library</font></h3>
133<p>
134Package <b>Modelica</b> is a <b>standardized</b> and <b>pre-defined</b> package
135that is developed together with the Modelica language from the
136Modelica Association, see
137<a href=\"http://www.Modelica.org\">http://www.Modelica.org</a>.
138It is also called <b>Modelica Standard Library</b>.
139It provides constants, types, connectors, partial models and model
140components in various disciplines.
141</p>
142<p>
143This package contains a short <b>users guide</b> for
144the overall library. Some of the main sublibraries have their own
145users guides that can be accessed by the following links:
146</p>
147
148<table border=1 cellspacing=0 cellpadding=2>
149  <tr><td><a href=\"Modelica://Modelica.Electrical.Digital.UsersGuide\">Digital</a><
150             </td>
151      <td>Library for digital electrical components based on the VHDL standard
152         (2-,3-,4-,9-valued logic)\"</td>
153  </tr>
154  <tr><td><a href=\"Modelica://Modelica.Mechanics.MultiBody.UsersGuide\">MultiBody</a>
155             </td>
156      <td>Library to model 3-dimensional mechanical systems</td>
157  </tr>
158
159  <tr><td><a href=\"Modelica://Modelica.Mechanics.Rotational.UsersGuide\">Rotational</a>
160             </td>
161      <td>Library to model 1-dimensional mechanical systems</td>
162  </tr>
163
164  <tr><td><a href=\"Modelica://Modelica.Media.UsersGuide\">Media</a>
165             </td>
166      <td>Property models of media</td>
167  </tr>
168  <tr><td><a href=\"Modelica://Modelica.SIunits.UsersGuide\">SIunits.</a> </td>
169      <td>Type definitions based on SI units according to ISO 31-1992</td>
170  </tr>
171
172  <tr><td><a href=\"Modelica://Modelica.StateGraph.UsersGuide\">StateGraph</a>
173             </td>
174      <td>Library to model discrete event and reactive systems by hierarchical state machines</td>
175  </tr>
176
177
178  <tr><td><a href=\"Modelica://Modelica.Utilities.UsersGuide\">Utilities</a>
179             </td>
180      <td>Utility functions especially for scripting (Files, Streams, Strings, System)</td>
181  </tr>
182</table>
183
184</html>"));
185 
186  class Connectors "Connectors" 
187   
188    annotation (Documentation(info="<html>
189<h3><font color=\"#008000\" size=5>Connectors</font></h3>
190<p>
191The Modelica standard library defines the most important
192<b>elementary connectors</b> in various domains. If any possible,
193a user should utilize these connectors in order that components
194from the Modelica Standard Library and from other libraries
195can be combined without problems. The following elementary
196connectors are defined (potential variables are connector variables
197without the flow attribute, flow variables are connector variables
198that have the flow attribute):
199</p>
200 
201<table border=1 cellspacing=0 cellpadding=1>
202  <tr><td><b>domain</b></td>
203      <td><b>pot. variables</b></td>
204      <td><b>flow variables</b></td>
205      <td><b>connector definition</b></td>
206      <td><b>icons</b></td></tr>
207 
208  <tr><td><b>electrical<br>analog</b></td>
209      <td>electrical potential</td>
210      <td>electrical current</td>
211      <td><a href=\"Modelica://Modelica.Electrical.Analog.Interfaces\">Modelica.Electrical.Analog.Interfaces</a>
212           <br>Pin, PositivePin, NegativePin</td>
213      <td><img src=\"../Images/UsersGuide/ElectricalPins.png\"></td></tr>
214
215  <tr><td><b>electrical<br>multi-phase</b></td>
216      <td colspan=\"2\">vector of electrical pins</td>
217      <td><a href=\"Modelica://Modelica.Electrical.MultiPhase.Interfaces\">Modelica.Electrical.MultiPhase.Interfaces</a>
218           <br>Plug, PositivePlug, NegativePlug</td>
219      <td><img src=\"../Images/UsersGuide/ElectricalPlugs.png\"></td></tr>
220 
221  <tr><td><b>electrical <br>sphace phasor</b></td>
222      <td>2 electrical potentials</td>
223      <td>2 electrical currents</td>
224      <td><a href=\"Modelica://Modelica.Electrical.Machines.Interfaces\">Modelica.Electrical.Machines.Interfaces</a>
225           <br>SpacePhasor</td>
226      <td><img src=\"../Images/UsersGuide/SpacePhasor.png\"></td></tr>
227 
228  <tr><td><b>electrical <br>digital</b></td>
229      <td>Integer (1..9)</td>
230      <td>---</td>
231      <td><a href=\"Modelica://Modelica.Electrical.Digital.Interfaces\">Modelica.Electrical.Digital.Interfaces</a>
232           <br>DigitalSignal, DigitalInput, DigitalOutput</td>
233      <td><img src=\"../Images/UsersGuide/Digital.png\"></td></tr>
234 
235  <tr><td><b>translational</b></td>
236      <td>distance</td>
237      <td>cut-force</td>
238      <td><a href=\"Modelica://Modelica.Mechanics.Translational.Interfaces\">Modelica.Mechanics.Translational.Interfaces</a>
239           <br>Flange_a, Flange_b</td>
240      <td><img src=\"../Images/UsersGuide/TranslationalFlanges.png\"></td></tr>
241 
242  <tr><td><b>rotational</b></td>
243      <td>angle</td>
244      <td>cut-torque</td>
245      <td><a href=\"Modelica://Modelica.Mechanics.Rotational.Interfaces\">Modelica.Mechanics.Rotational.Interfaces</a>
246           <br>Flange_a, Flange_b</td>
247      <td><img src=\"../Images/UsersGuide/RotationalFlanges.png\"></td></tr>
248
249  <tr><td><b>3-dim.<br>mechanics</b></td>
250      <td>position vector<br>
251          orientation object</td>
252      <td>cut-force vector<br>
253          cut-torque vector</td>
254      <td><a href=\"Modelica://Modelica.Mechanics.MultiBody.Interfaces\">Modelica.Mechanics.MultiBody.Interfaces</a>
255           <br>Frame, Frame_a, Frame_b, Frame_resolve</td>
256      <td><img src=\"../Images/UsersGuide/MultiBodyFrames.png\"></td></tr>
257
258  <tr><td><b>simple<br>fluid flow</b></td>
259      <td>pressure<br>
260          specific enthalpy</td>
261      <td>mass flow rate<br>
262          enthalpy flow rate</td>
263      <td><a href=\"Modelica://Modelica.Thermal.FluidHeatFlow.Interfaces\">Modelica.Thermal.FluidHeatFlow.Interfaces</a>
264           <br>FlowPort, FlowPort_a, FlowPort_b</td>
265      <td><img src=\"../Images/UsersGuide/FluidHeatFlowPorts.png\"></td></tr>
266
267  <tr><td><b>heat<br>transfer</b></td>
268      <td>temperature</td>
269      <td>heat flow rate</td>
270      <td><a href=\"Modelica://Modelica.Thermal.HeatTransfer.Interfaces\">Modelica.Thermal.HeatTransfer.Interfaces</a>
271           <br>HeatPort, HeatPort_a, HeatPort_b</td>
272      <td><img src=\"../Images/UsersGuide/ThermalHeatPorts.png\"></td></tr>
273 
274  <tr><td><b>block<br>diagram</b></td>
275      <td>Real variable<br>
276          Integer variable<br>
277          Boolean variable</td>
278      <td>---</td>
279      <td><a href=\"Modelica://Modelica.Blocks.Interfaces\">Modelica.Blocks.Interfaces</a>
280           <br>RealSignal, RealInput, RealOutput<br>
281               IntegerSignal, IntegerInput, IntegerOutput<br>
282               BooleanSignal, BooleanInput, BooleanOutput</td>
283      <td><img src=\"../Images/UsersGuide/Signals.png\"></tr>
284
285  <tr><td><b>state<br>machine</b></td>
286      <td>Boolean variables<br>
287          (occupied, set, <br>
288           available, reset)</td>
289      <td>---</td>
290      <td><a href=\"Modelica://Modelica.StateGraph.Interfaces\">Modelica.StateGraph.Interfaces</a>
291           <br>Step_in, Step_out, Transition_in, Transition_out</td>
292      <td><img src=\"../Images/UsersGuide/StateGraphPorts.png\"></td></tr>
293
294  <tr><td colspan=\"5\">&nbsp;<br><b>Connectors from libraries that will be included in one of
295                                   the next releases of package Modelica</b></td></tr>
296
297  <tr><td><b>thermo<br>fluid flow</b></td>
298      <td>pressure<br>
299          specific enthalpy<br>
300          mass fractions</td>
301      <td>mass flow rate<br>
302          enthalpy flow rate<br>
303          subst. mass flow rates</td>
304      <td><a href=\"Modelica://Modelica_Fluid.Interfaces\">Modelica_Fluid.Interfaces</a>
305           <br>FluidPort, FluidPort_a, FluidPort_b</td>
306      <td><img src=\"../Images/UsersGuide/FluidPorts.png\"></td></tr>
307
308  <tr><td><b>magnetic</b></td>
309      <td>magnetic potential</td>
310      <td>magnetic flux</td>
311      <td><a href=\"Modelica://Magnetic.Interfaces\">Magnetic.Interfaces</a>
312           <br>MagneticPort, PositiveMagneticPort, <br>NegativeMagneticPort</td>
313      <td><img src=\"../Images/UsersGuide/MagneticPorts.png\"></td></tr>
314
315
316  <tr><td colspan=\"5\">&nbsp;<br><b>Connectors from other libraries</b></td></tr>
317
318  <tr><td><b>hydraulic</b></td>
319      <td>pressure</td>
320      <td>volume flow rate</td>
321      <td><a href=\"Modelica://HyLibLight.Interfaces\">HyLibLight.Interfaces</a>
322           <br>Port_A, Port_b</td>
323      <td><img src=\"../Images/UsersGuide/HydraulicPorts.png\"></td></tr>
324
325  <tr><td><b>pneumatic</b></td>
326      <td>pressure</td>
327      <td>mass flow rate</td>
328      <td><a href=\"Modelica://PneuLibLight.Interfaces\">PneuLibLight.Interfaces</a>
329           <br>Port_1, Port_2</td>
330      <td><img src=\"../Images/UsersGuide/PneumaticPorts.png\"></td></tr>
331</table>
332
333<p>
334In all domains, usually 2 connectors are defined. The variable declarations
335are <b>identical</b>, only the icons are different in order that it is easy
336to distinguish connectors of the same domain that are attached at the same
337component.
338</p>
339
340<p>
341Modelica supports also hierarchical connectors, in a similar way as hierarchical models.
342As a result, it is, e.g., possible, to collect elementary connectors together.
343For example, an electrical plug consisting of two electrical pins can be defined as:
344</p>
345
346<pre>   <b>connector</b> Plug
347      <b>import</b> Modelica.Electrical.Analog.Interfaces;
348      Interfaces.PositivePin phase;
349      Interfaces.NegativePin ground;
350   <b>end</b> Plug;
351</pre>
352
353<p>
354With one connect(..) equation, either two plugs can be connected
355(and therefore implicitly also the phase and ground pins) or a
356Pin connector can be directly connected to the phase or ground of
357a Plug connector, such as \"connect(resistor.p, plug.phase)\".
358</p>
359
360
361</html>
362"));
363  end Connectors;
364 
365  class Conventions "Conventions" 
366   
367    annotation (Documentation(info="<html>
368<h3><font color=\"#008000\" size=5>Conventions</font></h3>
369
370<p>
371In the Modelica package the following conventions are used:
372</p>
373<ol>
374<li> Class and instance names are written in upper and lower case
375     letters, e.g., \"ElectricCurrent\". An underscore is only used
376     at the end of a name to characterize a lower or upper index,
377     e.g., \"pin_a\".<br>&nbsp;</li>
378
379<li> <b>Class names</b> start always with an upper case letter.<br>&nbsp;</li>
380
381<li> <b>Instance names</b>, i.e., names of component instances and
382     of variables (with the exception of constants),
383     start usually with a lower case letter with only
384     a few exceptions if this is common sense
385     (such as \"T\" for a temperature variable).<br>&nbsp;</li>
386
387<li> <b>Constant names</b>, i.e., names of variables declared with the
388     \"constant\" prefix, follow the usual naming conventions
389     (= upper and lower case letters) and start usually with an
390     upper case letter, e.g. UniformGravity, SteadyState.<br>&nbsp;<li>
391
392<li> The two connectors of a domain that have identical declarations
393     and different icons are usually distinguished by \"_a\", \"_b\"
394     or \"_p\", \"_n\", e.g., Flange_a/Flange_b, HeatPort_a, HeatPort_b.<br>&nbsp;</li>
395
396<li> The <b>instance name</b> of a component is always displayed in its icon
397     (= text string \"%name\") in <b>blue color</b>. A connector class has the instance
398     name definition in the diagram layer and not in the icon layer.
399     <b>Parameter</b> values, e.g., resistance, mass, gear ratio, are displayed
400     in the icon in <b>black color</b> in a smaller font size as the instance name.
401    <br>&nbsp;<li>
402
403<li> A main package has usually the following subpackages:
404     <ul>
405     <li><b>UsersGuide</b> containing an overall description of the library
406         and how to use it.</li> 
407     <li><b>Examples</b> containing models demonstrating the
408         usage of the library.</li> 
409     <li><b>Interfaces</b> containing connectors and partial
410         models.</li> 
411     <li><b>Types</b> containing type, enumeration and choice
412         definitions.</li>
413     </ul>
414     </li>
415</ol>
416
417<p>
418&nbsp;<br>
419<b>Enumerations</b> are defined in the Modelica language since release 2.0.
420However, they are not yet supported in the most important Modelica
421simulation environment Dymola. For this reason, this language element
422is not used in the Modelica standard library. Instead, enumerations
423are emulated with packages and constants. For example, the enumeration
424</p>
425
426<pre>   <b>type</b> Init = <b>enumeration</b> (NoInit, InitializeStates, SteadyState);
427
428   <b>parameter</b> Init initType = Init.NoInit \"Type of initialization\";
429</pre>
430
431<p>
432is emulated in the following way:
433</p>
434
435<pre>   <b>package</b>  Init \"Enumeration emulation\"
436      <b>extends</b>  Modelica.Icons.Enumeration;
437 
438      <b>constant</b>  Integer NoInit=1;
439      <b>constant</b>  Integer InitializeStates=2;
440      <b>constant</b>  Integer SteadyState=3;
441 
442      <b>type</b>  Temp 
443         <b>extends</b>  Modelica.Icons.TypeInteger;
444         <b>annotation</b>  (choices(
445             choice=Init.NoInit           \"NoInit (no initialization)\",
446             choice=Init.InitializeStates \"InitializeStates (initialize states)\",
447             choice=Init.SteadyState      \"SteadyState (initialize in steady state)\"));
448      <b>end</b>  Temp;
449   <b>end</b>  Init;
450
451   <b>parameter</b> Init.Temp initType = Init.NoInit;
452</pre>
453</html>
454"));
455  end Conventions;
456 
457  class ReleaseNotes "Release notes" 
458   
459    annotation (Documentation(info="<html>
460<h3><font color=\"#008000\" size=5>Release notes</font></h3>
461<p>
462This section summarizes the changes that have been performed
463on the Modelica standard library.
464</p>
465<ul>
466<li> <a href=\"Modelica://Modelica.UsersGuide.ReleaseNotes.Version_2_2_1\">Version 2.2.1</a> (March 24, 2006)</li>
467<li> <a href=\"Modelica://Modelica.UsersGuide.ReleaseNotes.Version_2_2\">Version 2.2</a> (April 6, 2005)</li>
468<li> <a href=\"Modelica://Modelica.UsersGuide.ReleaseNotes.Version_2_1\">Version 2.1</a> (Nov. 11, 2004)</li>
469<li> <a href=\"Modelica://Modelica.UsersGuide.ReleaseNotes.Version_1_6\">Version 1.6</a> (June 21, 2004)</li>
470<li> <a href=\"Modelica://Modelica.UsersGuide.ReleaseNotes.Version_1_5\">Version 1.5</a> (Dec. 16, 2002)</li>
471<li> <a href=\"Modelica://Modelica.UsersGuide.ReleaseNotes.Version_1_4\">Version 1.4</a> (June 28, 2001
472     and previous versions)</li>
473</ul>
474</html>
475"));
476   
477  class Version_2_2_1 "Version 2.2.1" 
478     
479      annotation (Documentation(info="<html>
480<h3><font color=\"#008000\">Version 2.2.1</font></h3>
481<p>
482Version 2.2.1 is backward compatible to version 2.2.
483</p>
484 
485<p>
486In this version, <b>no</b> new libraries have been added.
487The following major improvements have been made:
488</p>
489 
490<ul>
491<li> The <b>Documentation</b> of the Modelica standard library was
492     considerably improved:<br>
493     In Dymola 6, the new feature was introduced to automatically add tables
494     for class content and component interface definitions (parameters and
495     connectors) to the info layer. For this reason, the corresponding (partial)
496     tables previously present in the Modelica Standard Library have been
497     removed. The new feature of Dymola 6 has the significant advantage that
498     all tables are now guaranteed to be up-to-date.<br>
499     Additionally, the documentation has been improved by adding appropriate
500     description texts to parameters, connector instances, function input
501     and output arguments etc., in order that the automatically generated
502     tables do not have empty entries. Also new users guides for sublibraries
503     Rotational and SIunits have been added and the users guide on top
504     level (Modelica.UsersGuide) has been improved.<br>&nbsp;</li>
505
506<li> Initialization options have been added to the Modelica.Blocks.<b>Continuous</b>
507     blocks (NoInit, SteadyState, InitialState, InitialOutput). If InitialOutput
508     is selected, the block output is provided as initial condition. The states
509     of the block are then initialized as close as possible to steady state.
510     Furthermore, the Continuous.LimPID block has been significantly
511     improved and much better documented.<br>&nbsp;</li>
512
513<li> The Modelica.<b>Media</b> library has been significantly improved:<br>
514     New functions setState_pTX, setState_phX, setState_psX, setState_dTX
515     have been added to PartialMedium to compute the independent medium variables
516     (= state of medium) from p,T,X, or from p,h,X or from p,s,X or from
517     d,T,X. Then functions are provided for all interesting medium variables
518     to compute them from its medium state. All these functions are
519     implemented in a robust way for all media (with a few exceptions, if the
520     generic function does not make sense for a particular medium).</li>
521</ul>
522 
523<p>
524The following <b>new components</b> have been added to <b>existing</b> libraries:
525</p>
526 
527<table border=\"1\" cellspacing=0 cellpadding=2>
528  <tr><td colspan=\"2\"><b>Modelica.Blocks.Examples.</b></td></tr>
529  <tr><td> PID_Controller</td>
530      <td> Example to demonstrate the usage of the
531           Blocks.Continuous.LimPID block.</td> </tr>
532  <tr><td colspan=\"2\"><b>Modelica.Blocks.Math.</b></td></tr>
533  <tr><td> UnitConversions.*</td>
534      <td> New package that provides blocks for unit conversions.
535           UnitConversions.ConvertAllBlocks allows to select all
536           available conversions from a menu.</td> </tr>
537  <tr><td colspan=\"2\"><b>Modelica.Electrical.Machines.BasicMachines.SynchronousInductionMachines.</b></td></tr>
538  <tr><td> SM_ElectricalExcitedDamperCage</td>
539      <td> Electrical excited synchronous induction machine with damper cage</td> </tr>
540  <tr><td colspan=\"2\"><b>Modelica.Electrical.Machines.BasicMachines.Components.</b></td></tr>
541  <tr><td> ElectricalExcitation </td>
542      <td> Electrical excitation for electrical excited synchronous
543           induction machines</td> </tr>
544  <tr><td> DamperCage</td>
545      <td> Unsymmetrical damper cage for electrical excited synchronous
546           induction machines. At least the user has to specify the dampers
547           resistance and stray inductance in d-axis; if he omits the
548           parameters of the q-axis, the same values as for the d.axis
549           are used, assuming a symmetrical damper.</td> </tr>
550  <tr><td colspan=\"2\"><b>Modelica.Electrical.Machines.Examples.</b></td></tr>
551  <tr><td> SMEE_Gen </td>
552      <td> Test example 7: ElectricalExcitedSynchronousInductionMachine
553           as Generator</td> </tr>
554  <tr><td> Utilities.TerminalBox</td>
555      <td> Terminal box for three-phase induction machines to choose 
556           either star (wye) ? or delta ? connection</td> </tr>
557
558  <tr><td colspan=\"2\"><b>Modelica.Math.Matrices.</b></td></tr>
559  <tr><td> equalityLeastSquares</td>
560      <td> Solve a linear equality constrained least squares problem:<br>
561          min|A*x-a|^2 subject to B*x=b</td> </tr>
562
563  <tr><td colspan=\"2\"><b>Modelica.Mechanics.MultiBody.</b></td></tr>
564  <tr><td> Parts.PointMass</td>
565      <td> Point mass, i.e., body where inertia tensor is neglected.</td> </tr>
566  <tr><td> Interfaces.FlangeWithBearing</td>
567      <td> Connector consisting of 1-dim. rotational flange and its
568           3-dim. bearing frame.</td> </tr>
569  <tr><td> Interfaces.FlangeWithBearingAdaptor</td>
570      <td> Adaptor to allow direct connections to the sub-connectors
571           of FlangeWithBearing.</td> </tr>
572  <tr><td> Types.SpecularCoefficient</td>
573      <td> New type to define a specular coefficient.</td> </tr>
574  <tr><td> Types.ShapeExtra</td>
575      <td> New type to define the extra data for visual shape objects and to
576           have a central place for the documentation of this data.</td> </tr>
577 
578  <tr><td colspan=\"2\"><b>Modelica.Mechanics.MultiBody.Examples.Elementary</b></td></tr>
579  <tr><td> PointGravityWithPointMasses</td>
580      <td> Example of two point masses in a central gravity field.</td> </tr>
581 
582  <tr><td colspan=\"2\"><b>Modelica.Mechanics.Rotational.</b></td></tr>
583  <tr><td>UsersGuide</td>
584      <td> A users guide has been added by using the documentation previously
585           present in the package documentation of Rotational.</td> </tr>
586  <tr><td>Sensors.PowerSensor</td>
587      <td> New component to measure the energy flow between two connectors
588           of the Rotational library.</td> </tr>
589 
590  <tr><td colspan=\"2\"><b>Modelica.Mechanics.Translational.</b></td></tr>
591  <tr><td>Speed</td>
592      <td> New component to move a translational flange
593           according to a reference speed</td> </tr>
594
595  <tr><td colspan=\"2\"><b>Modelica.Media.Interfaces.PartialMedium.</b></td></tr>
596  <tr><td>specificEnthalpy_pTX</td>
597      <td> New function to compute specific enthalpy from pressure, temperature
598           and mass fractions.</td> </tr>
599  <tr><td>temperature_phX</td>
600      <td> New function to compute temperature from pressure, specific enthalpy,
601           and mass fractions.</td> </tr>
602
603  <tr><td colspan=\"2\"><b>Modelica.Icons.</b></td></tr>
604  <tr><td> SignalBus</td>
605      <td> Icon for signal bus</td> </tr>
606  <tr><td> SignalSubBus</td>
607      <td> Icon for signal sub-bus</td> </tr>
608
609  <tr><td colspan=\"2\"><b>Modelica.SIunits.</b></td></tr>
610  <tr><td>UsersGuide</td>
611      <td> A users guide has been added that describes unit handling.</td> </tr>
612  <tr><td> Resistance<br>
613           Conductance</td>
614      <td> Attribute 'min=0' removed from these types.</td> </tr>
615 
616  <tr><td colspan=\"2\"><b>Modelica.Thermal.FluidHeatFlow.</b></td></tr>
617  <tr><td> Components.Valve</td>
618      <td> Simple controlled valve with either linear or
619           exponential characteristic.</td> </tr>
620  <tr><td> Sources. IdealPump </td>
621      <td> Simple ideal pump (resp. fan)  dependent on the shaft?s speed;
622           pressure increase versus volume flow is defined as a linear
623           function. Torque * Speed = Pressure invrease * Volume flow
624           (without losses).</td> </tr>
625  <tr><td> Examples.PumpAndValve </td>
626      <td> Test example for valves.</td> </tr>
627  <tr><td> Examples.PumpDropOut </td>
628      <td> Drop out of 1 pump to test behavior of semiLinear.</td> </tr>
629  <tr><td> Examples.ParallelPumpDropOut </td>
630      <td> Drop out of 2 parallel pumps to test behavior of semiLinear.</td> </tr>
631  <tr><td> Examples.OneMass </td>
632      <td> Cooling of 1 hot mass to test behavior of semiLinear.</td> </tr>
633  <tr><td> Examples.TwoMass </td>
634      <td> Cooling of 2 hot masses to test behavior of semiLinear.</td> </tr>
635</table> 
636 
637<p>
638The following <b>components</b> have been improved:
639</p>
640 
641<table border=\"1\" cellspacing=0 cellpadding=2>
642  <tr><td colspan=\"2\"><b>Modelica.</b></td></tr>
643  <tr><td> UsersGuide</td>
644      <td> Users guide and package description of Modelica Standard Library improved.</td> </tr>
645  <tr><td colspan=\"2\"><b>Modelica.Blocks.Interfaces.</b></td></tr>
646  <tr><td> RealInput<br>
647           BooleanInput<br>
648           IntegerInput</td>
649      <td> When dragging one of these connectors the width and height
650           is a factor of 2 larger as a standard icon. Previously,
651           these connectors have been dragged and then manually enlarged
652           by a factor of 2 in the Modelica standard library.</td> </tr>
653
654  <tr><td colspan=\"2\"><b>Modelica.Blocks.</b></td></tr>
655  <tr><td> Continuous.*</td>
656      <td> Initialization options added to all blocks
657           (NoInit, SteadyState, InitialState, InitialOutput).
658           New parameter limitsAtInit to switch off the limits
659           of LimIntegrator or LimPID during initialization</td> </tr>
660  <tr><td> Continuous.LimPID</td>
661      <td> Option to select P, PI, PD, PID controller.
662           Documentation significantly improved.</td> </tr>
663  <tr><td> Nonlinear.Limiter<br>
664           Nonlinear.VariableLimiter<br>
665           Nonlinear.Deadzone</td>
666      <td> New parameter limitsAtInit/deadZoneAtInit to switch off the limits
667           or the dead zone during initialization</td> </tr>
668
669  <tr><td colspan=\"2\"><b>Modelica.Electrical.Analog. </b></td></tr>
670  <tr><td> Sources</td>
671      <td> Icon improved (+/- added to voltage sources, arrow added to
672           current sources).</td> </tr>
673
674  <tr><td colspan=\"2\"><b>Modelica.Electrical.Analog.Semiconductors. </b></td></tr>
675  <tr><td> Diode</td>
676      <td> smooth() operator included to improve numerics.</td> </tr>
677
678  <tr><td colspan=\"2\"><b>Modelica.Electrical.Machines.BasicMachines.SynchronousInductionMachines. </b></td></tr>
679  <tr><td> SM_PermanentMagnetDamperCage<br>
680           SM_ElectricalExcitedDamperCage<br>
681           SM_ReluctanceRotorDamperCage</td>
682      <td> The user can choose \"DamperCage = false\" (default: true)
683           to remove all equations for the damper cage from the model.</td> </tr>
684  <tr><td colspan=\"2\"><b>Modelica.Electrical.Machines.BasicMachines.AsynchronousInductionMachines. </b></td></tr>
685  <tr><td> AIM_SlipRing</td>
686      <td> Easier parameterization: if the user selects \"useTrunsRatio = false\"
687           (default: true, this is the same behavior as before),
688            parameter TurnsRatio is calculated internally from
689            Nominal stator voltage and Locked-rotor voltage.</td> </tr>
690 
691  <tr><td colspan=\"2\"><b>Modelica.Math.Matrices.</b></td></tr>
692  <tr><td>leastSquares</td>
693      <td>The A matrix in the least squares problem might be rank deficient.
694          Previously, it was required that A has full rank.</td>
695
696  <tr><td colspan=\"2\"><b>Modelica.Mechanics.MultiBody.</b></td></tr>
697  <tr><td>all models</td>
698      <td> <ul> 
699           <li> All components with animation information have a new variable
700                <b>specularCoefficient</b> to define the reflection of ambient light.
701                The default value is world.defaultSpecularCoefficient which has
702                a default of 0.7. By changing world.defaultSpecularCoefficient, the
703                specularCoefficient of all components is changed that are not
704                explicitly set differently. Since specularCoefficient is a variable
705                (and no parameter), it can be changed during simulation. Since
706                annotation(Dialog) is set, this variable still appears in the
707                parameter menus.<br>
708                Previously, a constant specularCoefficient of 0.7 was used
709                for all components.</li>
710           <li> Variable <b>color</b> of all components is no longer a parameter
711                but an input variable. Also all parameters in package <b>Visualizers</b>,
712                with the exception of <b>shapeType</b> are no longer parameters but
713                defined as input variables with annotation(Dialog). As a result,
714                all these variables appear still in parameter menus, but they can
715                be changed during simulation (e.g., color might be used to
716                display the temperature of a part).</li>
717           <li> All menus have been changed to follow the Modelica 2.2 annotations
718                \"Dialog, group, tab, enable\" (previously, a non-standard Dymola
719                definition for menus was used). Also, the \"enable\" annotation
720                is used in all menus
721                to disable input fields if the input would be ignored.</li>
722           <li> All visual shapes are now defined with conditional declarations
723                (to remove them, if animation is switched off). Previously,
724                these (protected) objects have been defined by arrays with
725                dimension 0 or 1.</li>
726           </ul></td></tr>
727
728  <tr><td>Frames.resolveRelative</td>
729      <td> The derivative of this function added as function and defined via
730           an annotation. In certain situations, tools had previously
731           difficulties to differentiate the inlined function automatically.</td>
732
733
734  <tr><td>Forces.*</td>
735      <td> The scaling factors N_to_m and Nm_to_m have no longer a default
736           value of 1000 but a default value of world.defaultN_to_m (=1000)
737           and world.defaultNm_to_m (=1000). This allows to change the
738           scaling factors for all forces and torques in the world
739           object.</td>
740  <tr><td>Interfaces.Frame.a<br>
741          Interfaces.Frame.b<br>
742          Interfaces.Frame_resolve</td>
743      <td> The Frame connectors are now centered around the origin to ease
744           the usage. The shape was changed, such that the icon is a factor
745           of 1.6 larger as a standard icon (previously, the icon had a
746           standard size when dragged and then the icon was manually enlarged
747           by a factor of 1.5 in the y-direction in the MultiBody library;
748           the height of 16 allows easy positioning on the standard grid size of 2).
749           The double line width of the border in icon and diagram layer was changed
750           to a single line width and when making a connection the connection
751           line is dark grey and no longer black which looks better.</td>
752  <tr><td>Joints.Assemblies.*</td>
753      <td> When dragging an assembly joint, the icon is a factor of 2
754           larger as a standard icon. Icon texts and connectors have a
755           standard size in this enlarged icon (and are not a factor of 2
756           larger as previously). </td>
757  <tr><td>Types.*</td>
758      <td> All types have a corresponding icon now to visualize the content
759           in the package browser (previously, the types did not have an icon).</td>
760 
761  <tr><td colspan=\"2\"><b>Modelica.Mechanics.Rotational.</b></td></tr>
762  <tr><td> Inertia</td>
763      <td> Initialization and state selection added.</td> </tr>
764  <tr><td> SpringDamper</td>
765      <td> Initialization and state selection added.</td> </tr>
766  <tr><td> Move</td>
767      <td> New implementation based solely on Modelica 2.2 language
768           (previously, the Dymola specific constrain(..) function was used).</td> </tr>
769
770  <tr><td colspan=\"2\"><b>Modelica.Mechanics.Translational.</b></td></tr>
771  <tr><td> Move</td>
772      <td> New implementation based solely on Modelica 2.2 language
773