root/trunk/Modelica/Blocks/Interfaces.mo

Revision 1044, 60.7 kB (checked in by otter, 9 months ago)

Removed "Windows(..)" annotation (an "old" Dymola 4 annotation that was not used anymore and is not part of the Modelica 3 graphical annotations)
  • Property svn:eol-style set to native
  • Property svn:keywords set to Author Date Id Revision
Line 
1within Modelica.Blocks;
2package Interfaces
3  "Library of connectors and partial models for input/output blocks"
4  import Modelica.SIunits;
5    extends Modelica.Icons.Library;
6
7    annotation (
8     
9      Documentation(info="<HTML>
10<p>
11This package contains interface definitions for
12<b>continuous</b> input/output blocks with Real,
13Integer and Boolean signals. Furthermore, it contains
14partial models for continuous and discrete blocks.
15</p>
16
17</HTML>
18", revisions="<html>
19<ul>
20<li><i>Oct. 21, 2002</i>
21       by <a href=\"http://www.robotic.dlr.de/Martin.Otter/\">Martin Otter</a>
22       and <a href=\"http://www.robotic.dlr.de/Christian.Schweiger/\">Christian Schweiger</a>:<br>
23       Added several new interfaces. <a href=\"../Documentation/ChangeNotes1.5.html\">Detailed description</a> available.
24<li><i>Oct. 24, 1999</i>
25       by <a href=\"http://www.robotic.dlr.de/Martin.Otter/\">Martin Otter</a>:<br>
26       RealInputSignal renamed to RealInput. RealOutputSignal renamed to
27       output RealOutput. GraphBlock renamed to BlockIcon. SISOreal renamed to
28       SISO. SOreal renamed to SO. I2SOreal renamed to M2SO.
29       SignalGenerator renamed to SignalSource. Introduced the following
30       new models: MIMO, MIMOs, SVcontrol, MVcontrol, DiscreteBlockIcon,
31       DiscreteBlock, DiscreteSISO, DiscreteMIMO, DiscreteMIMOs,
32       BooleanBlockIcon, BooleanSISO, BooleanSignalSource, MI2BooleanMOs.</li>
33<li><i>June 30, 1999</i>
34       by <a href=\"http://www.robotic.dlr.de/Martin.Otter/\">Martin Otter</a>:<br>
35       Realized a first version, based on an existing Dymola library
36       of Dieter Moormann and Hilding Elmqvist.</li>
37</ul>
38</html>
39"));
40
41
42
43connector RealInput = input Real "'input Real' as connector" 
44  annotation (defaultComponentName="u",
45  Icon(graphics={Polygon(
46          points={{-100,100},{100,0},{-100,-100},{-100,100}},
47          lineColor={0,0,127},
48          fillColor={0,0,127},
49          fillPattern=FillPattern.Solid)},
50       coordinateSystem(extent={{-100,-100},{100,100}}, preserveAspectRatio=true, initialScale=0.2)),
51  Diagram(coordinateSystem(
52        preserveAspectRatio=true, initialScale=0.2,
53        extent={{-100,-100},{100,100}},
54        grid={1,1}), graphics={Polygon(
55          points={{0,50},{100,0},{0,-50},{0,50}},
56          lineColor={0,0,127},
57          fillColor={0,0,127},
58          fillPattern=FillPattern.Solid), Text(
59          extent={{-10,85},{-10,60}},
60          lineColor={0,0,127},
61          textString="%name")}),
62    Documentation(info="<html>
63<p>
64Connector with one input signal of type Real.
65</p>
66</html>"));
67
68connector RealOutput = output Real "'output Real' as connector" 
69  annotation (defaultComponentName="y",
70  Icon(coordinateSystem(
71        preserveAspectRatio=true,
72        extent={{-100,-100},{100,100}},
73        grid={1,1}), graphics={Polygon(
74          points={{-100,100},{100,0},{-100,-100},{-100,100}},
75          lineColor={0,0,127},
76          fillColor={255,255,255},
77          fillPattern=FillPattern.Solid)}),
78  Diagram(coordinateSystem(
79        preserveAspectRatio=true,
80        extent={{-100,-100},{100,100}},
81        grid={1,1}), graphics={Polygon(
82          points={{-100,50},{0,0},{-100,-50},{-100,50}},
83          lineColor={0,0,127},
84          fillColor={255,255,255},
85          fillPattern=FillPattern.Solid), Text(
86          extent={{30,110},{30,60}},
87          lineColor={0,0,127},
88          textString="%name")}),
89    Documentation(info="<html>
90<p>
91Connector with one output signal of type Real.
92</p>
93</html>"));
94
95connector BooleanInput = input Boolean "'input Boolean' as connector" 
96  annotation (defaultComponentName="u",
97       Icon(graphics={Polygon(
98          points={{-100,100},{100,0},{-100,-100},{-100,100}},
99          lineColor={255,0,255},
100          fillColor={255,0,255},
101          fillPattern=FillPattern.Solid)},
102            coordinateSystem(extent={{-100,-100},{100,100}},
103        preserveAspectRatio=true, initialScale=0.2)),    Diagram(coordinateSystem(
104        preserveAspectRatio=true, initialScale=0.2,
105        extent={{-100,-100},{100,100}},
106        grid={1,1}), graphics={Polygon(
107          points={{0,50},{100,0},{0,-50},{0,50}},
108          lineColor={255,0,255},
109          fillColor={255,0,255},
110          fillPattern=FillPattern.Solid), Text(
111          extent={{-10,85},{-10,60}},
112          lineColor={255,0,255},
113          textString="%name")}),
114    Documentation(info="<html>
115<p>
116Connector with one input signal of type Boolean.
117</p>
118</html>"));
119
120connector BooleanOutput = output Boolean "'output Boolean' as connector" 
121                                  annotation (defaultComponentName="y",
122  Icon(coordinateSystem(
123        preserveAspectRatio=true,
124        extent={{-100,-100},{100,100}},
125        grid={1,1}), graphics={Polygon(
126          points={{-100,100},{100,0},{-100,-100},{-100,100}},
127          lineColor={255,0,255},
128          fillColor={255,255,255},
129          fillPattern=FillPattern.Solid)}),
130  Diagram(coordinateSystem(
131        preserveAspectRatio=true,
132        extent={{-100,-100},{100,100}},
133        grid={1,1}), graphics={Polygon(
134          points={{-100,50},{0,0},{-100,-50},{-100,50}},
135          lineColor={255,0,255},
136          fillColor={255,255,255},
137          fillPattern=FillPattern.Solid), Text(
138          extent={{30,110},{30,60}},
139          lineColor={255,0,255},
140          textString="%name")}),
141    Documentation(info="<html>
142<p>
143Connector with one output signal of type Boolean.
144</p>
145</html>"));
146
147connector IntegerInput = input Integer "'input Integer' as connector" 
148  annotation (defaultComponentName="u",
149  Icon(graphics={Polygon(
150          points={{-100,100},{100,0},{-100,-100},{-100,100}},
151          lineColor={255,127,0},
152          fillColor={255,127,0},
153          fillPattern=FillPattern.Solid)},
154       coordinateSystem(extent={{-100,-100},{100,100}}, preserveAspectRatio=true,
155                 initialScale=0.2)),
156  Diagram(coordinateSystem(
157        preserveAspectRatio=true, initialScale=0.2,
158        extent={{-100,-100},{100,100}},
159        grid={1,1}), graphics={Polygon(
160          points={{0,50},{100,0},{0,-50},{0,50}},
161          lineColor={255,127,0},
162          fillColor={255,127,0},
163          fillPattern=FillPattern.Solid), Text(
164          extent={{-10,85},{-10,60}},
165          lineColor={255,127,0},
166          textString="%name")}),
167    Documentation(info="<html>
168<p>
169Connector with one input signal of type Integer.
170</p>
171</html>"));
172
173connector IntegerOutput = output Integer "'output Integer' as connector" 
174                                  annotation (defaultComponentName="y",
175  Icon(coordinateSystem(
176        preserveAspectRatio=true,
177        extent={{-100,-100},{100,100}},
178        grid={1,1}), graphics={Polygon(
179          points={{-100,100},{100,0},{-100,-100},{-100,100}},
180          lineColor={255,127,0},
181          fillColor={255,255,255},
182          fillPattern=FillPattern.Solid)}),
183  Diagram(coordinateSystem(
184        preserveAspectRatio=true,
185        extent={{-100,-100},{100,100}},
186        grid={1,1}), graphics={Polygon(
187          points={{-100,50},{0,0},{-100,-50},{-100,50}},
188          lineColor={255,127,0},
189          fillColor={255,255,255},
190          fillPattern=FillPattern.Solid), Text(
191          extent={{30,110},{30,60}},
192          lineColor={255,127,0},
193          textString="%name")}),
194    Documentation(info="<html>
195<p>
196Connector with one output signal of type Integer.
197</p>
198</html>"));
199
200    partial block BlockIcon "Basic graphical layout of input/output block"
201
202      annotation (
203       
204        Icon(coordinateSystem(preserveAspectRatio=true, extent={{-100,-100},{
205              100,100}}), graphics={Rectangle(
206            extent={{-100,-100},{100,100}},
207            lineColor={0,0,127},
208            fillColor={255,255,255},
209            fillPattern=FillPattern.Solid), Text(
210            extent={{-150,150},{150,110}},
211            textString="%name",
212            lineColor={0,0,255})}),
213      Documentation(info="<html>
214<p>
215Block that has only the basic icon for an input/output
216block (no declarations, no equations). Most blocks
217of package Modelica.Blocks inherit directly or indirectly
218from this block.
219</p>
220</html>"));
221    equation
222
223    end BlockIcon;
224
225    partial block SO "Single Output continuous control block"
226      extends BlockIcon;
227
228      RealOutput y "Connector of Real output signal" 
229        annotation (Placement(transformation(extent={{100,-10},{120,10}},
230            rotation=0)));
231      annotation (
232       
233        Diagram(coordinateSystem(
234          preserveAspectRatio=true,
235          extent={{-100,-100},{100,100}},
236          grid={2,2}), graphics),
237      Documentation(info="<html>
238<p>
239Block has one continuous Real output signal.
240</p>
241</html>"));
242    end SO;
243
244    partial block MO "Multiple Output continuous control block"
245      extends BlockIcon;
246
247      parameter Integer nout(min=1) = 1 "Number of outputs";
248      RealOutput y[nout] "Connector of Real output signals" 
249        annotation (Placement(transformation(extent={{100,-10},{120,10}},
250            rotation=0)));
251      annotation (
252       
253        Documentation(info="<html>
254<p>
255Block has one continuous Real output signal vector.
256</p>
257</html>"));
258    end MO;
259
260    partial block SISO "Single Input Single Output continuous control block"
261      extends BlockIcon;
262
263      RealInput u "Connector of Real input signal" 
264        annotation (Placement(transformation(extent={{-140,-20},{-100,20}},
265            rotation=0)));
266      RealOutput y "Connector of Real output signal" 
267        annotation (Placement(transformation(extent={{100,-10},{120,10}},
268            rotation=0)));
269      annotation (             
270      Documentation(info="<html>
271<p>
272Block has one continuous Real input and one continuous Real output signal.
273</p>
274</html>"));
275    end SISO;
276
277    partial block SI2SO
278    "2 Single Input / 1 Single Output continuous control block"
279      extends BlockIcon;
280
281      RealInput u1 "Connector of Real input signal 1" 
282        annotation (Placement(transformation(extent={{-140,40},{-100,80}},
283            rotation=0)));
284      RealInput u2 "Connector of Real input signal 2" 
285        annotation (Placement(transformation(extent={{-140,-80},{-100,-40}},
286            rotation=0)));
287      RealOutput y "Connector of Real output signal" 
288        annotation (Placement(transformation(extent={{100,-10},{120,10}},
289            rotation=0)));
290
291      annotation (
292       
293        Documentation(info="<html>
294<p>
295Block has two continuous Real input signals u1 and u2 and one
296continuous Real output signal y.
297</p>
298</html>"),
299        Diagram(coordinateSystem(
300          preserveAspectRatio=true,
301          extent={{-100,-100},{100,100}},
302          grid={2,2}), graphics));
303    end SI2SO;
304
305partial block SIMO "Single Input Multiple Output continuous control block"
306  extends BlockIcon;
307  parameter Integer nout=1 "Number of outputs";
308      RealInput u "Connector of Real input signal" 
309        annotation (Placement(transformation(extent={{-140,-20},{-100,20}},
310            rotation=0)));
311      RealOutput y[nout] "Connector of Real output signals" 
312        annotation (Placement(transformation(extent={{100,-10},{120,10}},
313            rotation=0)));
314
315  annotation (Documentation(info="<HTML>
316<p> Block has one continuous Real input signal and a
317    vector of continuous Real output signals.</p>
318
319</HTML>
320"));
321end SIMO;
322
323    partial block MISO "Multiple Input Single Output continuous control block"
324
325      extends BlockIcon;
326      parameter Integer nin=1 "Number of inputs";
327      RealInput u[nin] "Connector of Real input signals" 
328        annotation (Placement(transformation(extent={{-140,-20},{-100,20}},
329            rotation=0)));
330      RealOutput y "Connector of Real output signal" 
331        annotation (Placement(transformation(extent={{100,-10},{120,10}},
332            rotation=0)));
333      annotation (Documentation(info="<HTML>
334<p>
335Block has a vector of continuous Real input signals and
336one continuous Real output signal.
337</p>
338</HTML>
339"));
340    end MISO;
341
342    partial block MIMO
343    "Multiple Input Multiple Output continuous control block"
344
345      extends BlockIcon;
346      parameter Integer nin=1 "Number of inputs";
347      parameter Integer nout=1 "Number of outputs";
348      RealInput u[nin] "Connector of Real input signals" 
349        annotation (Placement(transformation(extent={{-140,-20},{-100,20}},
350            rotation=0)));
351      RealOutput y[nout] "Connector of Real output signals" 
352        annotation (Placement(transformation(extent={{100,-10},{120,10}},
353            rotation=0)));
354      annotation (Documentation(info="<HTML>
355<p>
356Block has a continuous Real input and a continuous Real output signal vector.
357The signal sizes of the input and output vector may be different.
358</p>
359</HTML>
360"));
361    end MIMO;
362
363    partial block MIMOs
364    "Multiple Input Multiple Output continuous control block with same number of inputs and outputs"
365
366      extends BlockIcon;
367      parameter Integer n=1 "Number of inputs (= number of outputs)";
368      RealInput u[n] "Connector of Real input signals" 
369        annotation (Placement(transformation(extent={{-140,-20},{-100,20}},
370            rotation=0)));
371      RealOutput y[n] "Connector of Real output signals" 
372        annotation (Placement(transformation(extent={{100,-10},{120,10}},
373            rotation=0)));
374      annotation (
375        Documentation(info="<HTML>
376<p>
377Block has a continuous Real input and a continuous Real output signal vector
378where the signal sizes of the input and output vector are identical.
379</p>
380</HTML>
381")     );
382    end MIMOs;
383
384    partial block MI2MO
385    "2 Multiple Input / Multiple Output continuous control block"
386      extends BlockIcon;
387
388      parameter Integer n=1 "Dimension of input and output vectors.";
389
390      RealInput u1[n] "Connector 1 of Real input signals" 
391        annotation (Placement(transformation(extent={{-140,40},{-100,80}},
392            rotation=0)));
393      RealInput u2[n] "Connector 2 of Real input signals" 
394        annotation (Placement(transformation(extent={{-140,-80},{-100,-40}},
395            rotation=0)));
396      RealOutput y[n] "Connector of Real output signals" 
397        annotation (Placement(transformation(extent={{100,-10},{120,10}},
398            rotation=0)));
399      annotation (
400       
401        Documentation(info="<html>
402<p>
403Block has two continuous Real input vectors u1 and u2 and one
404continuous Real output vector y.
405All vectors have the same number of elements.
406</p>
407</html>"),
408        Diagram(coordinateSystem(
409          preserveAspectRatio=true,
410          extent={{-100,-100},{100,100}},
411          grid={2,2}), graphics));
412    end MI2MO;
413
414    partial block SignalSource "Base class for continuous signal source"
415      extends SO;
416      parameter Real offset=0 "Offset of output signal y";
417      parameter SIunits.Time startTime=0
418      "Output y = offset for time < startTime";
419    annotation (Documentation(info="<html>
420<p>
421Basic block for Real sources of package Blocks.Sources.
422This component has one continuous Real output signal y
423and two parameters (offset, startTime) to shift the
424generated signal.
425</p>
426</html>"));
427    end SignalSource;
428
429    partial block SVcontrol "Single-Variable continuous controller"
430      extends BlockIcon;
431
432      RealInput u_s "Connector of setpoint input signal" 
433        annotation (Placement(transformation(extent={{-140,-20},{-100,20}},
434            rotation=0)));
435      RealInput u_m "Connector of measurement input signal" 
436        annotation (Placement(transformation(
437          origin={0,-120},
438          extent={{20,-20},{-20,20}},
439          rotation=270)));
440      RealOutput y "Connector of actuator output signal" 
441        annotation (Placement(transformation(extent={{100,-10},{120,10}},
442            rotation=0)));
443      annotation (
444        Diagram(coordinateSystem(
445          preserveAspectRatio=true,
446          extent={{-100,-100},{100,100}},
447          grid={2,2}), graphics={
448          Text(
449            extent={{-102,34},{-142,24}},
450            textString="(setpoint)",
451            lineColor={0,0,255}),
452          Text(
453            extent={{100,24},{140,14}},
454            textString="(actuator)",
455            lineColor={0,0,255}),
456          Text(
457            extent={{-83,-112},{-33,-102}},
458            textString=" (measurement)",
459            lineColor={0,0,255})})
460        ,
461      Documentation(info="<html>
462<p>
463Block has two continuous Real input signals and one
464continuous Real output signal. The block is designed
465to be used as base class for a corresponding controller.
466</p>
467</html>"));
468    end SVcontrol;
469
470    partial block MVcontrol "Multi-Variable continuous controller"
471      extends BlockIcon;
472
473      parameter Integer nu_s=1 "Number of setpoint inputs";
474      parameter Integer nu_m=1 "Number of measurement inputs";
475      parameter Integer ny=1 "Number of actuator outputs";
476      RealInput u_s[nu_s] "Connector of setpoint input signals" 
477        annotation (Placement(transformation(extent={{-140,-20},{-100,20}},
478            rotation=0)));
479      RealInput u_m[nu_m] "Connector of measurement input signals" 
480        annotation (Placement(transformation(
481          origin={0,-120},
482          extent={{20,-20},{-20,20}},
483          rotation=270)));
484      RealOutput y[ny] "Connector of actuator output signals" 
485        annotation (Placement(transformation(extent={{100,-10},{120,10}},
486            rotation=0)));
487      annotation (
488        Diagram(coordinateSystem(
489          preserveAspectRatio=true,
490          extent={{-100,-100},{100,100}},
491          grid={2,2}), graphics={
492          Text(
493            extent={{-100,36},{-140,26}},
494            textString="(setpoint)",
495            lineColor={0,0,255}),
496          Text(
497            extent={{102,24},{142,14}},
498            textString="(actuator)",
499            lineColor={0,0,255}),
500          Text(
501            extent={{-75,-108},{-25,-98}},
502            textString=" (measurement)",
503            lineColor={0,0,255})})
504        ,
505      Documentation(info="<html>
506<p>
507Block has two continuous Real input signal vectors and one
508continuous Real output signal vector. The block is designed
509to be used as base class for a corresponding controller.
510</p>
511</html>"));
512    end MVcontrol;
513
514    partial block DiscreteBlockIcon
515    "Graphical layout of discrete block component icon"
516
517      annotation (Icon(coordinateSystem(preserveAspectRatio=true, extent={{-100,
518              -100},{100,100}}), graphics={Rectangle(
519            extent={{-100,-100},{100,100}},
520            lineColor={0,0,127},
521            fillColor={223,223,159},
522            fillPattern=FillPattern.Solid), Text(
523            extent={{-150,150},{150,110}},
524            textString="%name",
525            lineColor={0,0,255})}),
526                           Documentation(info="<html>
527<p>
528Block that has only the basic icon for an input/output,
529discrete block (no declarations, no equations), e.g.,
530from Blocks.Discrete.
531</p>
532</html>"));
533    equation
534
535    end DiscreteBlockIcon;
536
537    partial block DiscreteBlock "Base class of discrete control blocks"
538      extends DiscreteBlockIcon;
539
540      parameter SI.Time samplePeriod(min=100*Modelica.Constants.eps, start = 0.1)
541      "Sample period of component";
542      parameter SI.Time startTime=0 "First sample time instant";
543  protected
544      output Boolean sampleTrigger "True, if sample time instant";
545      output Boolean firstTrigger "Rising edge signals first sample instant";
546    equation
547      sampleTrigger = sample(startTime, samplePeriod);
548      when sampleTrigger then
549        firstTrigger = time <= startTime + samplePeriod/2;
550      end when;
551    annotation (Documentation(info="<html>
552<p>
553Basic definitions of a discrete block of library
554Blocks.Discrete.
555</p>
556</html>"));
557    end DiscreteBlock;
558
559    partial block DiscreteSISO
560    "Single Input Single Output discrete control block"
561
562      extends DiscreteBlock;
563
564      Modelica.Blocks.Interfaces.RealInput u "Continuous input signal" 
565                                  annotation (Placement(transformation(extent={
566              {-140,-20},{-100,20}}, rotation=0)));
567      Modelica.Blocks.Interfaces.RealOutput y "Continuous output signal" 
568                                   annotation (Placement(transformation(extent=
569              {{100,-10},{120,10}}, rotation=0)));
570    annotation (Documentation(info="<html>
571<p>
572Block has one continuous input and one continuous output signal
573which are sampled due to the defined <b>samplePeriod</b> parameter.
574</p>
575</html>"));
576    end DiscreteSISO;
577
578    partial block DiscreteMIMO
579    "Multiple Input Multiple Output discrete control block"
580
581      extends DiscreteBlock;
582      parameter Integer nin=1 "Number of inputs";
583      parameter Integer nout=1 "Number of outputs";
584
585      Modelica.Blocks.Interfaces.RealInput u[nin] "Continuous input signals" 
586                                   annotation (Placement(transformation(extent=
587              {{-140,-20},{-100,20}}, rotation=0)));
588      Modelica.Blocks.Interfaces.RealOutput y[nout] "Continuous output signals"
589                                    annotation (Placement(transformation(extent=
590             {{100,-10},{120,10}}, rotation=0)));
591
592      annotation (Documentation(info="<html>
593<p>
594Block has a continuous input and a continuous output signal vector
595which are sampled due to the defined <b>samplePeriod</b> parameter.
596</p>
597</HTML>
598"));
599    end DiscreteMIMO;
600
601    partial block DiscreteMIMOs
602    "Multiple Input Multiple Output discrete control block"
603      parameter Integer n=1 "Number of inputs (= number of outputs)";
604      extends DiscreteBlock;
605
606      Modelica.Blocks.Interfaces.RealInput u[n] "Continuous input signals" 
607                                   annotation (Placement(transformation(extent=
608              {{-140,-20},{-100,20}}, rotation=0)));
609      Modelica.Blocks.Interfaces.RealOutput y[n] "Continuous output signals" 
610                                    annotation (Placement(transformation(extent=
611             {{100,-10},{120,10}}, rotation=0)));
612
613      annotation (Documentation(info="<html>
614<p>
615Block has a continuous input and a continuous output signal vector
616where the signal sizes of the input and output vector are identical.
617These signals are sampled due to the defined <b>samplePeriod</b> parameter.
618</p>
619</HTML>
620"));
621
622    end DiscreteMIMOs;
623
624    partial block SVdiscrete "Discrete Single-Variable controller"
625      extends DiscreteBlock;
626
627      Discrete.Sampler sampler_s(
628        final samplePeriod=samplePeriod,
629        fin