within ; package Modelica "Modelica Standard Library (Version 3.0.1 development)" extends Icons.Library; annotation ( preferredView="info", version="3.0.1 development", versionBuild="$Rev$", versionDate="$Date:: $", conversion( from(version="2.1", script="Scripts/ConvertModelica_from_2.2.2_to_3.0.mos"), from(version="2.2", script="Scripts/ConvertModelica_from_2.2.2_to_3.0.mos"), from(version="2.2.1", script="Scripts/ConvertModelica_from_2.2.2_to_3.0.mos"), from(version="2.2.2", script="Scripts/ConvertModelica_from_2.2.2_to_3.0.mos")), Settings(NewStateSelection=true), Documentation(info="

Package Modelica is a standardized and free package that is developed together with the Modelica language from the Modelica Association, see http://www.Modelica.org. It is also called Modelica Standard Library. It provides model components in many domains that are based on standardized interface definitions. Some typical examples are shown in the next figure:

For an introduction, have especially a look at:

Overview provides an overview of the Modelica Standard Library inside the User's Guide.
Release Notes summarizes the changes of new versions of this package.
Contact lists the contributors of the Modelica Standard Library.
ModelicaStandardLibrary.pdf is the complete documentation of the library in pdf format.
The Examples packages in the various libraries, demonstrate how to use the components of the corresponding sublibrary.

This version of the Modelica Standard Library consists of

777 models and blocks, and
549 functions

that are directly usable (= number of public, non-partial classes).

This Modelica package is free software; it can be redistributed and/or modified under the terms of the Modelica license, see the license conditions and the accompanying disclaimer here.

")); package UsersGuide "User's Guide of Modelica library" annotation (__Dymola_DocumentationClass=true, Documentation(info="

Package Modelica is a standardized and pre-defined package that is developed together with the Modelica language from the Modelica Association, see http://www.Modelica.org. It is also called Modelica Standard Library. It provides constants, types, connectors, partial models and model components in various disciplines.

This is a short User's Guide for the overall library. Some of the main sublibraries have their own User's Guides that can be accessed by the following links:

Digital	Library for digital electrical components based on the VHDL standard (2-,3-,4-,9-valued logic)
MultiBody	Library to model 3-dimensional mechanical systems
Rotational	Library to model 1-dimensional mechanical systems
Media	Property models of media
SIunits	Type definitions based on SI units according to ISO 31-1992
StateGraph	Library to model discrete event and reactive systems by hierarchical state machines
Utilities	Utility functions especially for scripting (Files, Streams, Strings, System)

")); class Overview "Overview of Modelica Library" annotation (Documentation(info="

The Modelica Standard Library consists of the following main sub-libraries:

Library Components	Description
	Analog Analog electric and electronic components, such as resistor, capacitor, transformers, diodes, transistors, transmission lines, switches, sources, sensors.
	Digital Digital electrical components based on the VHDL standard, like basic logic blocks with 9-value logic, delays, gates, sources, converters between 2-, 3-, 4-, and 9-valued logic.
	Machines Electrical asynchronous-, synchronous-, and DC-machines (motors and generators) as well as 3-phase transformers.
	Translational 1-dim. mechanical, translational systems, e.g., sliding mass, mass with stops, spring, damper.
	Rotational 1-dim. mechanical, rotational systems, e.g., inertias, gears, planetary gears, convenient definition of speed/torque dependent friction (clutches, brakes, bearings, ..)
	MultiBody 3-dim. mechanical systems consisting of joints, bodies, force and sensor elements. Joints can be driven by drive trains defined by 1-dim. mechanical system library (Rotational). Every component has a default animation. Components can be arbitrarily connected together.
	Media Large media library providing models and functions to compute media properties, such as h = h(p,T), d = d(p,T), for the following media: 1240 gases and mixtures between these gases. incompressible, table based liquids (h = h(T), etc.). compressible liquids dry and moist air high precision model for water (IF97).
	FluidHeatFlow, HeatTransfer Simple thermo-fluid pipe flow, especially to model cooling of machines with air or water (pipes, pumps, valves, ambient, sensors, sources) and lumped heat transfer with heat capacitors, thermal conductors, convection, body radiation, sources and sensors.
	Blocks Input/output blocks to model block diagrams and logical networks, e.g., integerator, PI, PID, transfer function, linear state space system, sampler, unit delay, discrete transfer function, and/or blocks, timer, hysteresis, nonlinear and routing blocks, sources, tables.
	StateGraph Hierarchical state machines with a similar modeling power as Statecharts. Modelica is used as synchronous action language, i.e. deterministic behavior is guaranteed
A = [1,2,3; 3,4,5; 2,1,4]; b = {10,22,12}; x = Matrices.solve(A,b); Matrices.eigenValues(A);	Math, Utilities Functions operating on vectors and matrices, such as for solving linear systems, eigen and singular values etc., and functions operating on strings, streams, files, e.g., to copy and remove a file or sort a vector of strings.

")); end Overview; class Connectors "Connectors" annotation (Documentation(info="

The Modelica standard library defines the most important elementary connectors in various domains. If any possible, a user should utilize these connectors in order that components from the Modelica Standard Library and from other libraries can be combined without problems. The following elementary connectors are defined (potential variables are connector variables without the flow attribute, flow variables are connector variables that have the flow attribute):

domain	pot. variables	flow variables	connector definition	icons
electrical analog	electrical potential	electrical current	Modelica.Electrical.Analog.Interfaces Pin, PositivePin, NegativePin
electrical multi-phase	vector of electrical pins	Modelica.Electrical.MultiPhase.Interfaces Plug, PositivePlug, NegativePlug
electrical sphace phasor	2 electrical potentials	2 electrical currents	Modelica.Electrical.Machines.Interfaces SpacePhasor
electrical digital	Integer (1..9)	---	Modelica.Electrical.Digital.Interfaces DigitalSignal, DigitalInput, DigitalOutput
translational	distance	cut-force	Modelica.Mechanics.Translational.Interfaces Flange_a, Flange_b
rotational	angle	cut-torque	Modelica.Mechanics.Rotational.Interfaces Flange_a, Flange_b
3-dim. mechanics	position vector orientation object	cut-force vector cut-torque vector	Modelica.Mechanics.MultiBody.Interfaces Frame, Frame_a, Frame_b, Frame_resolve
simple fluid flow	pressure specific enthalpy	mass flow rate enthalpy flow rate	Modelica.Thermal.FluidHeatFlow.Interfaces FlowPort, FlowPort_a, FlowPort_b
heat transfer	temperature	heat flow rate	Modelica.Thermal.HeatTransfer.Interfaces HeatPort, HeatPort_a, HeatPort_b
block diagram	Real variable Integer variable Boolean variable	---	Modelica.Blocks.Interfaces RealSignal, RealInput, RealOutput IntegerSignal, IntegerInput, IntegerOutput BooleanSignal, BooleanInput, BooleanOutput
state machine	Boolean variables (occupied, set, available, reset)	---	Modelica.StateGraph.Interfaces Step_in, Step_out, Transition_in, Transition_out
Connectors from libraries that will be included in one of the next releases of package Modelica
thermo fluid flow	pressure specific enthalpy mass fractions	mass flow rate enthalpy flow rate subst. mass flow rates	Modelica_Fluid.Interfaces FluidPort, FluidPort_a, FluidPort_b
magnetic	magnetic potential	magnetic flux	Magnetic.Interfaces MagneticPort, PositiveMagneticPort, NegativeMagneticPort
Connectors from other libraries
hydraulic	pressure	volume flow rate	HyLibLight.Interfaces Port_A, Port_b
pneumatic	pressure	mass flow rate	PneuLibLight.Interfaces Port_1, Port_2

In all domains, usually 2 connectors are defined. The variable declarations are identical, only the icons are different in order that it is easy to distinguish connectors of the same domain that are attached at the same component.

Modelica supports also hierarchical connectors, in a similar way as hierarchical models. As a result, it is, e.g., possible, to collect elementary connectors together. For example, an electrical plug consisting of two electrical pins can be defined as:

   connector Plug
      import Modelica.Electrical.Analog.Interfaces;
      Interfaces.PositivePin phase;
      Interfaces.NegativePin ground;
   end Plug;

With one connect(..) equation, either two plugs can be connected (and therefore implicitly also the phase and ground pins) or a Pin connector can be directly connected to the phase or ground of a Plug connector, such as \"connect(resistor.p, plug.phase)\".

")); end Connectors; class Conventions "Conventions" annotation (Documentation(info="

Note, in the html documentation of any Modelica library, the headings \"h1, h2, h3\" should not be used, because they are utilized from the automatically generated documentation/headings. Additional headings in the html documentation should start with \"h4\".

In the Modelica package the following conventions are used:

Class and instance names are written in upper and lower case letters, e.g., \"ElectricCurrent\". An underscore is only used at the end of a name to characterize a lower or upper index, e.g., \"pin_a\".
Class names start always with an upper case letter.
Instance names, i.e., names of component instances and of variables (with the exception of constants), start usually with a lower case letter with only a few exceptions if this is common sense (such as \"T\" for a temperature variable).
Constant names, i.e., names of variables declared with the \"constant\" prefix, follow the usual naming conventions (= upper and lower case letters) and start usually with an upper case letter, e.g. UniformGravity, SteadyState.
The two connectors of a domain that have identical declarations and different icons are usually distinguished by \"_a\", \"_b\" or \"_p\", \"_n\", e.g., Flange_a/Flange_b, HeatPort_a, HeatPort_b.
The instance name of a component is always displayed in its icon (= text string \"%name\") in blue color. A connector class has the instance name definition in the diagram layer and not in the icon layer. Parameter values, e.g., resistance, mass, gear ratio, are displayed in the icon in black color in a smaller font size as the instance name.
A main package has usually the following subpackages:
- UsersGuide containing an overall description of the library and how to use it.
- Examples containing models demonstrating the usage of the library.
- Interfaces containing connectors and partial models.
- Types containing type, enumeration and choice definitions.

")); end Conventions; class ParameterDefaults "Parameter defaults" annotation (Documentation(info="

In this section the convention is summarized how default parameters are handled in the Modelica Standard Library (since version 3.0).

Many models in this library have parameter declarations to define constants of a model that might be changed before simulation starts. Example:

model SpringDamper
   parameter Real c(final unit=\"N.m/rad\")    = 1e5 \"Spring constant\";
   parameter Real d(final unit=\"N.m.s/rad\")  = 0   \"Damping constant\";
   parameter Modelica.SIunits.Angle phi_rel0 = 0   \"Unstretched spring angle\";
   ...
end SpringDamper;

In Modelica it is possible to define a default value of a parameter in the parameter declaration. In the example above, this is performed for all parameters. Providing default values for all parameters can lead to errors that are difficult to detect, since a modeler may have forgotten to provide a meaningful value (the model simulates but gives wrong results due to wrong parameter values). In general the following basic situations are present:

The parameter value could be anything (e.g., a spring constant or a resistance value) and therefore the user should provide a value in all cases. A Modelica translator should warn, if no value is provided.
The parameter value is not changed in > 95 % of the cases (e.g. initialization or visualization parameters, or parameter phi_rel0 in the example above). In this case a default parameter value should be provided, in order that the model or function can be conveniently used by a modeler.
A modeler would like to quickly utilize a model, e.g.,
- to automatically check that the model still translates and/or simulates (after some changes in the library),
- to make a quick demo of a library by drag-and-drop of components,
- to implement a simple test model in order to get a better understanding of the desired component.
In all these cases, it would be not practical, if the modeler would have to provide explicit values for all parameters first.

To handle the conflicting goals of (1) and (3), the Modelica Standard Library uses two approaches to define default parameters, as demonstrated with the following example:

model SpringDamper
   parameter Real c(final unit=\"N.m/rad\"  , start=1e5) \"Spring constant\";
   parameter Real d(final unit=\"N.m.s/rad\", start=  0) \"Damping constant\";
   parameter Modelica.SIunits.Angle phi_rel0 = 0       \"Unstretched spring angle\";
   ...
end SpringDamper;

SpringDamper sp1;              // warning for \"c\" and \"d\"
SpringDamper sp2(c=1e4, d=0);  // fine, no warning

Both definition forms, using a \"start\" value (for \"c\" and \"d\") and providing a declaration equation (for \"phi_rel0\"), are valid Modelica and define the value of the parameter. By convention, it is expected that Modelica translators will trigger a warning message for parameters that are not defined by a declaration equation, by a modifier equation or in an initial equation/algorithm section. A Modelica translator might have options to change this behavior, especially, that no messages are printed in such cases and/or that an error is triggered instead of a warning.

")); end ParameterDefaults; package ReleaseNotes "Release notes" class Version_3_0_1_development "Version 3.0.1 (development)" annotation (Documentation(info="

The following new components have been added to existing libraries:

Mechanics.Translational.Components.Examples.
Brake	Demonstrates the usage of the translational brake component.

The following existing components have been changed (in a backward compatible way):

Mechanics.Translational.Components.Examples.
Friction	Added a third variant, where friction is modelled with the SupportFriction component.

The following critical errors have been fixed (i.e. errors that can lead to wrong simulation results):

Mechanics.MultiBody.Forces
WorldTorque	Parameter \"ResolveInFrame\" was not propagated and therefore always the default (resolved in world frame) was used, independently of the setting of this parameter.
WorldForceAndTorque	Parameter \"ResolveInFrame\" was not propagated and therefore always the default (resolved in world frame) was used, independently of the setting of this parameter. Furthermore, internally WorldTorque was used instead of Internal.BasicWorldTorque and therefore the visualization of worldTorque was performed twice.
Mechanics.MultiBody.Sensors
AbsoluteSensor	Velocity, acceleration and angular acceleration were computed by differentiating in the resolveInFrame frame. This has been corrected, by first transforming the vectors in to the world frame, differentiating here and then transforming into resolveInFrame. The parameter in the Advanced menue resolveInFrameAfterDifferentiation is then superfluous and was removed .
AbsoluteVelocity	The velocity was computed by differentiating in the resolveInFrame frame. This has been corrected, by first transforming the velocity in to the world frame, differentiating here and then transforming into resolveInFrame
RelativeSensor	If resolveInFrame <> frame_resolve and resolveInFrameAfterDifferentiation = frame_resolve, a translation error occured, since frame_resolve was not enabled in this situation. This has been corrected.
RelativeVelocity	The velocity has have been computed by differentiating in the resolveInFrame frame. This has been corrected, by first transforming the relative position in to frame_a, differentiating here and then transforming into resolveInFrame
TransformRelativeVector	The transformation was wrong, since the parameters frame_r_in and frame_r_out have not been propagated to the submodel that performs the transformation. This has been corrected.
Mechanics.Translational.Components.
SupportFriction Brake	The sign of the friction force was wrong and therefore friction accelerated instead of decelerated. This was fixed.

The following uncritical errors have been fixed (i.e. errors that do not lead to wrong simulation results, but, e.g., units are wrong or errors in documentation):

Blocks.Math.
InverseBlockConstraint	Changed annotation preserveAspectRatio from true to false.
Blocks.Sources.
RealExpression IntegerExpression BooleanExpression	Changed annotation preserveAspectRatio from true to false.
Electrical.Analog.Basic.
SaturatingInductor	Replaced non-standard \"arctan\" by \"atan\" function.
Mechanics.Rotational.Interfaces.
PartialFriction	Corrected and simplified parameterized curve description. The previous formulation could lead to an inconsistent mixed system of equations if peak > 1 and then an additional event iteration was needed to find the solution. The change therefore enhances efficiency in some situations.
Mechanics.Translational.Interfaces.
PartialFriction	Corrected and simplified parameterized curve description. The previous formulation could lead to an inconsistent mixed system of equations if peak > 1 and then an additional event iteration was needed to find the solution. The change therefore enhances efficiency in some situations.
Mechanics.Translational.Components.
MassWithStopAndFriction	Corrected and simplified parameterized curve description. The previous formulation could lead to an inconsistent mixed system of equations if peak > 1 and then an additional event iteration was needed to find the solution. The change therefore enhances efficiency in some situations.
Media.Interfaces.PartialSimpleMedium
pressure temperature density specificEnthalpy	Missing functions added.

")); end Version_3_0_1_development; annotation (Documentation(info="

This section summarizes the changes that have been performed on the Modelica standard library.

Version 3.0 (Jan., 2008)
Version 2.2.2 (Aug. 31, 2007)
Version 2.2.1 (March 24, 2006)
Version 2.2 (April 6, 2005)
Version 2.1 (Nov. 11, 2004)
Version 1.6 (June 21, 2004)
Version 1.5 (Dec. 16, 2002)
Version 1.4 (June 28, 2001 and previous versions)

Maintenance of the Modelica Standard Library is performed with three branches on the subversion server of the Modelica Association:

Released branch

Example: \"Modelica/tags/V2_2_1/Modelica\"

This branch contains the released Modelica versions (e.g. version 2.2.1), where all available test cases and compatibility checks with other Modelica libraries have been performed on the respective release. This version is usually shipped with a Modelica modelling and simulation environment and utilized by a Modelica user.

Development branch

Example: \"Modelica/trunk/Modelica\"

This branch contains the actual development version, i.e., all bug fixes and new features based on the last Modelica release. New features should have been tested before including them. However, the exhaustive tests for a new version are (usually) not performed. This version is usually only be used by the developers of the Modelica Standard Library and is not utilized by Modelica users.

Maintenance branch

Example: \"Modelica/branches/maintenance/2.2.1/Modelica\"

This branch contains the released Modelica version (e.g. version 2.2.1) where all bug fixes since this release date are included (up to a new release, when becoming available; i.e., after a new release, the previous maintenance versions are no longer changed). These bug fixes might be not yet tested with all test cases or with other Modelica libraries. The goal is that a vendor may take this version at any time for a new release of its software, in order to incorporate the latest bug fixes, without changing the version number of the Modelica Standard Library.

Incorporation of bug fixes (subversion \"commit\") shall be performed in the following way:

One person is fixing the bug and another person is checking whether the fix is fine.
It is up to the library developer, whether he opens a new branch for testing and then merges it with the \"head\" maintenance branch or not.
Every change to the maintenance branch has to be done at the development branch (see above) as well.
Every change to the maintenance branch requires introducing a description of the bug fix under Modelica.UsersGuide.ReleaseNotes.<release-number>_bugFixes.
Every change to the maintenance branch requires changing the date and the subversion build number in the version annotation. This is automatically performed once a committ of file Modelica\\package.mo is performed. Example:
```
annotation(version=\"3.0\", versionBuild=\"$Rev$\",versionDate=\"$Date::                            $\").
```
If time does not permit, a vendor makes the bug fix in its local version and then has to include it in the maintenance version. It would be best to make these changes at a new branch in order to get a unique release number.

A valid \"commit\" to the maintenance branch may contain one or more of the following changes.

Correcting an equation.
Correcting attributes quantity/unit/defaultUnit in a declaration.
Improving/fixing the documentation.
Introducing a new name in the public section of a class (model, package, ...) or in any section of a partial class is not allowed. Since otherwise, a user might use this new name and when storing its model and loading it with an older build-version, an error would occur.
Introducing a new name in the protected section of a non-partial class should only be done if absolutely necessary to fix a bug. The problem is that this might be non-backward compatible, because a user might already extend from this class and already using the same name.

")); class Version_3_0 "Version 3.0 (Feb., 2008)" annotation (Documentation(info="

Version 3.0 is not backward compatible to previous versions. A conversion script is provided to transform models and libraries of previous versions to the new version. Therefore, conversion should be automatic.

The following changes are present for the whole library:

In the Modelican language version 3.0, several restrictions have been introduced to allow better checking, e.g., models on all levels must be balanced (number of equations = number of unknown variables - unknown variables that have to be defined when using the component). A few models of the Modelica Standard Library did not fulfill these new restrictions and had either to be moved to library ObsoleteModelica3 (e.g. Blocks.Math.TwoInputs) or had to be differently implemented (e.g. Media.Interfaces.PartialMedium.BaseProperties). The Modelica Standard Library version 3.0 fulfills all the restrictions of the Modelica Language version 3.0.
The graphical annotations describing the layout of icon and diagram layer are changed from Modelica language version 1 to Modelica language version 3. This gives several significant improvements:
Especially, the coordinate systems of icon and diagram layers are no longer coupled and therefore the size of the icon layer can be changed independently of the size of the diagram layer. Also it can be defined that the aspect ratio of a component icon is kept when changing its size in a model. This flag is set so that all icons of the Modelica Standard Library keep its aspect ratios. This is slightly non-backward compatible: If the aspect ratio was not kept when using a component from the Modelica Standard Library, it is now resized so that the aspect ratio is maintained.
All non-standard annotations removed by:
(1) Removing the annotation since without effect (e.g., \"experimentSetupOutput\", \"Window\", \"Terminal\" removed).
(2) Renaming the annotation to a standard name (e.g., \"Hide\" renamed to \"HideResult\").
(3) Renaming the annotation to a vendor specific name (e.g., \"checkBox\" renamed to \"__Dymola_checkBox\").
All emulated enumerations (defined via packages and constants) have been replaced by \"real\" enumerations. User models are automatically correctly converted, provided the user models used the package constants previously. Existing models that use directly literal values for enumerations, might give in some cases wrong results (if the first constant of the emulated enumeration had value zero, whereas the first value of an enumeration is one).
The operator \"cardinality\" will be removed in one of the next versions of the Modelica language, since it is a reflective operator and its usage significantly reduces the possibilities of advanced model checks (e.g. to guarantee that a model is \"balanced\", i.e., the number of equations and unknowns is identical, for all valid usages of the component). As a preparation for this change, all models that contain the \"cardinality(..)\" operator are rewritten: If possible the operator is removed. If this is not possible, it is only used in asserts to check that, e.g., a connector is connected at least once or is connected exactly once. In the next Modelica language version new language elements will be introduced to specifiy such a property check without the cardinality operator. Once these language elements are available, the cardinality operator will be removed completely from the Modelica Standard Library.
The changes with respect to the cardinality(..) operator are usually not backward compatible. This is the reason for the changes of the Rotational and Translational library (see below).
The design of the Rotational and Translational libraries have been changed (especially to remove the cardinality(..) operator, see above):
- Components have a useSupport flag to enable or disable a support flange. If the support flange is enabled, it must be connected. If it is disabled, it must not be connected and the component is then internally grounded. The grounding is visualized in the icon.
- The relative angle/distance and the relative speed of all force/torque elements (that need the relative speed) are by default defined with \"StateSelect.prefer\", i.e., to use these variables as preferred states. This improves the numerics if the absolute angle or the absolute distance are continuously increasing during operation (e.g. driving shaft of the wheels of a car). The effect is that relative angles/distances and speeds are used as states and the size of these variables is limited. Previously, the default was to use the absolute angle/distance and absolute speed of every inertia/mass which has the disadvantage that the absolute angle and or distance are state variables that grow in size continuously.
  A significant advantage is also, that default initialization is usually better, because a default value of zero for a relative angle/distance is usually what the user would like to have. Previously, say, the load was initialized to a non-zero angle and then the elastically coupled motor inertia had to be explicitly also initialized with this value. This is now, no longer needed. Since the default nominal value of 1 is usually too large for a relative quantity, the nominal values of the relative angle/distance was changed to 1e-4.
- The two libraries have been restructured in sublibraries to cope with the growing number of components.
- Finally, the Translational library has been made as similar as possible to the Rotational library by, e.g., adding missing components.
The initialization of the MultiBody, Rotational and Translational libraries have been signficantly simplified by removing the \"initType\" parameters and only using start/fixed values. This design assumes that a tool has special support for start/fixed values in the parameter menu.
Nearly all parameters defined in the Modelica Standard Library had been defined with a default equation, e.g.,
```
   parameter Modelica.SIunits.Resistance R=1; 
```
Physical parameters, such as a resistance, mass, gear ratio, do not have a meaningful default and in nearly all cases, the user of the corresponding component has to provide values for such parameters. If the user forgets this, a tool cannot provide diagnostics, since a default value is present in the library (such as 1 Ohm for the resistance). In most cases the model will simulate but will give wrong results due to wrong parameter values. To improve this situation, all physical parameter declarations in the Modelica Standard Library have been changed, so that the previous default becomes a start value. For example, the above declaration is changed to:
```
   parameter Modelica.SIunits.Resistance R(start=1);  
```
This is a backward compatible change and completely equivalent from the perspective of the Modelica language. It is, however, adviced that tools will print a warning or optionally an error message, if the start value of a parameter is defined, but no value for the parameter is given via a modification. Furthermore, it is expected, that the input field of a parameter menu is empty, if no default equation is defined, but only a start value. This shows clearly to the modeler that a value has to be provided.

The following new components have been added to existing libraries (note, the names in paranthesis are the new sublibrary names that are introduced in version 3.0):

Blocks.Examples.
InverseModel	Demonstrates the construction of an inverse model.
Blocks.Math.
InverseBlockConstraints	Construct inverse model by requiring that two inputs and two outputs are identical (replaces the previously, unbalanced, TwoInputs and TwoOutputs blocks).
Electrical.Machines.Utilities
TransformerData	A record that calculates required impedances (parameters) from nominal data of transformers.
Mechanics.MultiBody.Examples.Rotational3DEffects
GyroscopicEffects ActuatedDrive MovingActuatedDrive GearConstraint	New examples to demonstrate the usage of the Rotational library in combination with multi-body components.
Mechanics.MultiBody.Sensors
AbsolutePosition AbsoluteVelocity AbsoluteAngles AbsoluteAngularVelocity RelativePosition RelativeVelocity RelativeAngles RelativeAngularVelocity	New sensors to measure one vector.
TransformAbsoluteVector TransformRelativeVector	Transform absolute and/or relative vector into another frame.
Mechanics.Rotational.(Components)
Disc	Right flange is rotated by a fixed angle with respect to left flange
IdealRollingWheel	Simple 1-dim. model of an ideal rolling wheel without inertia
Mechanics.Translational.Sensors
RelPositionSensor RelSpeedSensor RelAccSensor PowerSensor	Relative position sensor, i.e. distance between two flanges Relative speed sensor Relative acceleration sensor Ideal power sensor
Mechanics.Translational(.Components)
SupportFriction Brake InitializeFlange	Model of friction due to support Model of a brake, base on Coulomb friction Initializes a flange with pre-defined postion, speed and acceleration .
Mechanics.Translational(.Sources)
Force2 LinearSpeedDependentForce QuadraticSpeedDependentForce ConstantForce ConstantSpeed ForceStep	Force acting on 2 flanges Force linearly dependent on flange speed Force quadratic dependent on flange speed Constant force source Constant speed source Force step

The following existing components have been changed in a non-backward compatible way (the conversion script transforms models and libraries of previous versions to the new version. Therefore, conversion should be automatic):

Blocks.Continuous.
CriticalDamping	New parameter \"normalized\" to define whether filter is provided in normalized or non-normalized form. Default is \"normalized = true\". The previous implementation was a non-normalized filter. The conversion script automatically introduces the modifier \"normalized=false\" for existing models.
Blocks.Interfaces.
RealInput RealOutput	Removed \"SignalType\", since extending from a replaceable class and this is not allowed in Modelica 3. The conversion script removes modifiers to SignalType.
RealSignal IntegerSignal BooleanSignal	Moved to library ObsoleteModelica3, since these connectors are no longer allowed in Modelica 3 (prefixes input and/or output are required).
Blocks.Interfaces.Adaptors.
AdaptorReal AdaptorBoolean AdaptorInteger	Moved to library ObsoleteModelica3, since the models are not \"balanced\". These are completely obsolete adaptors between the Real, Boolean, Integer signal connectors of version 1.6 and version ≥ 2.1 of the Modelica Standard Library.
Blocks.Math.
ConvertAllUnits	Moved to library ObsoleteModelica3, since extending from a replaceable class and this is not allowed in Modelica 3. It would be possible to rewrite this model to use a replaceable component. However, the information about the conversion cannot be visualized in the icon in this case.
Blocks.Math.UnitConversions.
TwoInputs TwoOutputs	Moved to library ObsoleteModelica3, since the models are not \"balanced\". A new component \"InverseBlockConstraints\" is provided instead that has the same feature, but is \"balanced\".
Electrical.Analog.Baisc.
HeatingResistor	The heatPort has to be connected; otherwise the component Resistor (without heatPort) has to be used. cardinality() is only used to check whether the heatPort is connected.
Electrical.MultiPhase.Examples.
	Changed the instance names of components used in the examples to more up-to-date style.
Electrical.Machines.
	Moved package `Machines.Examples.Utilities` to `Machines.Utilities`
	Removed all nonSIunits; especially in DCMachines parameter NonSIunits.AngularVelocity_rpm rpmNominal was replaced by parameter SIunits.AngularVelocity wNominal
	Changed the following component variable and parameter names to be more concise: Removed suffix \"DamperCage\" from all synchronous induction machines since the user can choose whether the damper cage is present or not. RotorAngle ... RotorDisplacementAngle J_Rotor ... Jr Rr ........ Rrd (damper of synchronous induction machines) Lrsigma ... Lrsigmad (damper of synchronous induction machines) phi_mechanical ... phiMechanical w_mechanical ..... wMechanical rpm_mechanical ... rpmMechanical tau_electrical ... tauElectrical tau_shaft ........ tauShaft TurnsRatio ....... turnsRatio (AIMS) VsNom ............ VsNominal (AIMS) Vr_Lr ............ VrLockedRotor (AIMS) DamperCage ....... useDamperCage (synchronous induction machines) V0 ............... VsOpenCicuit (SMPM) Ie0 .............. IeOpenCicuit (SMEE)
Interfaces.	Moved as much code as possible from specific machine models to partials to reduce redundant code.
Interfaces.Adapter	Removed to avoid cardinality; instead, the following solution has been implemented:
Sensors.RotorDisplacementAngle Interfaces.PartialBasicMachine	Introduced `parameter Boolean useSupport=false \"enable / disable (=fixed stator) support\"` The rotational support connector is only present with `useSupport = true;` otherwise the stator is fixed internally.
Electrical.Machines.Examples.
	Changed the names of the examples to more meaninglful names. Changed the instance names of components used in the examples to more up-to-date style.
SMEE_Generator	Initialization of `smee.phiMechanical` with `fixed=true`
Mechanics.MultiBody.
World	Changed default value of parameter driveTrainMechanics3D from false to true. 3-dim. effects in Rotor1D, Mounting1D and BevelGear1D are therefore taken into account by default (previously this was only the case, if world.driveTrainMechanics3D was explicitly set).
Mechanics.MultiBody.Forces.
FrameForce FrameTorque FrameForceAndTorque	Models removed, since functionality now available via Force, Torque, ForceAndTorque
WorldForce WorldTorque WorldForceAndTorque Force Torque ForceAndTorque	Connector frame_resolve is optionally enabled via parameter resolveInFrame . Forces and torques and be resolved in all meaningful frames defined by enumeration resolveInFrame.
Mechanics.MultiBody.Frames.
length normalize	Removed functions, since available also in Modelica.Math.Vectors The conversion script changes the references correspondingly.
Mechanics.MultiBody.Joints.
Prismatic ActuatedPrismatic Revolute ActuatedRevolute Cylindrical Universal Planar Spherical FreeMotion	Changed initialization, by replacing initial value parameters with start/fixed attributes. When start/fixed attributes are properly supported in the parameter menu by a Modelica tool, the initialization is considerably simplified for the user and the implementation is much simpler. Replaced parameter \"enforceStates\" by the more general built-in enumeration stateSelect=StateSelection.xxx. The conversion script automatically transforms from the \"old\" to the \"new\" forms.
Revolute ActuatedRevolute	Parameter \"planarCutJoint\" in the \"Advanced\" menu of \"Revolute\" and of \"ActuatedRevolute\" removed. A new joint \"RevolutePlanarLoopConstraint\" introduced that defines the constraints of a revolute joint as cut-joint in a planar loop. This change was needed in order that the revolute joint can be properly used in advanced model checking. ActuatedRevolute joint removed. Flange connectors of Revolute joint can be enabled with parameter useAxisFlange.
Prismatic ActuatedPrismatic	ActuatedPrismatic joint removed. Flange connectors of Prismatic joint can be enabled with parameter useAxisFlange.
Assemblies	Assembly joint implementation slightly changed, so that annotation \"structurallyIncomplete\" could be removed (all Assembly joint models are now \"balanced\").
Mechanics.MultiBody.Joints.Internal
RevoluteWithLengthConstraint PrismaticWithLengthConstraint	These joints should not be used by a user of the MultiBody library. They are only provided to built-up the MultiBody.Joints.Assemblies.JointXYZ joints. These two joints have been changed in a slightly not backward compatible way, in order that the usage in the Assemblies.JointXYZ joints results in balanced models (no conversion is provided for this change since the user should not have used these joints and the conversion would be too complicated): In releases before version 3.0 of the Modelica Standard Library, it was possible to activate the torque/force projection equation (= cut-torque/-force projected to the rotation/translation axis must be identical to the drive torque/force of flange axis) via parameter axisTorqueBalance. This is no longer possible, since otherwise this model would not be \"balanced\" (= same number of unknowns as equations). Instead, when using this model in version 3.0 and later versions, the torque/force projection equation must be provided in the Advanced menu of joints Joints.SphericalSpherical and Joints.UniversalSpherical via the new parameter \"constraintResidue\".
Mechanics.MultiBody.Parts.
BodyBox BodyCylinder	Changed unit of parameter density from g/cm3 to the SI unit kg/m3 in order to allow stricter unit checking. The conversion script multiplies previous density values with 1000.
Body BodyShape BodyBox BodyCylinder PointMass Rotor1D	Changed initialization, by replacing initial value parameters with start/fixed attributes. When start/fixed attributes are properly supported in the parameter menu by a Modelica tool, the initialization is considerably simplified for the user and the implementation is much simpler. The conversion script automatically transforms from the \"old\" to the \"new\" form of initialization.
Mechanics.MultiBody.Sensors.
AbsoluteSensor RelativeSensor CutForceAndTorque	New design of sensor components: Via Boolean parameters signal connectors for the respective vectors are enabled/disabled. It is not possible to automatically convert models to this new design. Instead, references in existing models are changed to ObsoleteModelice3. This means that these models must be manually adapted.
CutForce CutTorque	Slightly new design. The force and/or torque component can be resolved in world, frame_a, or frame_resolved. Existing models are automatically converted.
Mechanics.Rotational.
	Moved components to structured sub-packages (Sources, Components)
Inertia SpringDamper RelativeStates	Changed initialization, by replacing initial value parameters with start/fixed attributes. When start/fixed attributes are properly supported in the parameter menu by a Modelica tool, the initialization is considerably simplified for the user and the implementation is much simpler. Parameter \"stateSelection\" in \"Inertia\" and \"SpringDamper\" replaced by the built-in enumeration stateSelect=StateSelection.xxx. Introduced the \"stateSelect\" enumeration in \"RelativeStates\". The conversion script automatically transforms from the \"old\" to the \"new\" forms.
LossyGear GearBox	Renamed gear ratio parameter \"i\" to \"ratio\", in order to have a consistent naming convention. Existing models are automatically converted.
SpringDamper ElastoBacklash Clutch OneWayClutch	Relative quantities (phi_rel, w_rel) are used as states, if possible (due to StateSelect.prefer). In most cases, relative states in drive trains are better suited as absolute states. This change might give changes in the selected states of existing models. This might give rise to problems if, e.g., the initialization was not completely defined in a user model, since the default initialization heuristic may give different initial values.
Mechanics.Translational.
	Moved components to structured sub-packages (Sources, Components)
	Adaptions corresponding to Rotational
Stop	Renamed to Components.MassWithStopAndFriction to be more concise. MassWithStopAndFriction is not available with a support connector, since the reaction force can't be modeled in a meaningful way due to reinit of velocity v. Until a sound implementation of a hard stop is available, the old model may be used.
Media.
constant nX constant nXi constant reference_X BaseProperties	The package constant nX = nS, now always, even for single species media. This also allows to define mixtures with only 1 element. The package constant nXi=if fixedX then 0 else if reducedX or nS==1 then nS - 1 else nS. This required that all BaseProperties for single species media get an additional equation to define the composition X as {1.0} (or reference_X, which is {1.0} for single species). This will also mean that all user defined single species media need to be updated by that equation.
SIunits.
CelsiusTemperature	Removed, since no SI unit. The conversion script changes references to SIunits.Conversions.NonSIunits.Temperature_degC
ThermodynamicTemperature TemperatureDifference	Added annotation \"__Dymola_absoluteValue=true/false\" in order that unit checking is possible (the unit checker needs to know for a unit that has an offset, whether it is used as absolute or as a relative number)
SIunits.Conversions.NonSIunits.
Temperature_degC Temperature_degF Temperature_degRk	Added annotation \"__Dymola_absoluteValue=true\" in order that unit checking is possible (the unit checker needs to know for a unit that has an offset, whether it is used as absolute or as a relative number)
StateGraph.Examples.
ControlledTanks	The connectors of the ControlledTanks did not fulfill the new restrictions of Modelica 3. This has been fixed.
Utilities	Replacing inflow, outflow by connectors inflow1, inflow2, outflow1, outflow2 with appropriate input/output prefixes in order to fufill the restrictions of Modelica 3 to arrive at balanced models. No conversion is provided, since too difficult and since the non-backward compatible change is in an example.
Thermal.FluidHeatFlow.Sensors.
pSensor TSensor dpSensor dTSensor m_flowSensor V_flowSensor H_flowSensor	renamed to: PressureSensor TemperatureSensor RelPressureSensor RelTemperatureSensor MassFlowSensor VolumeFlowSensor EnthalpyFlowSensor
Thermal.FluidHeatFlow.Sources.
Ambient PrescribedAmbient	available as one combined component Ambient Boolean parameters usePressureInput and useTemperatureInput decide whether pressure and/or temperature are constant or prescribed
ConstantVolumeFlow PrescribedVolumeFlow	available as one combined component VolumeFlow Boolean parameter useVolumeFlowInput decides whether volume flow is constant or prescribed
ConstantPressureIncrease PrescribedPressureIncrease	available as one combined component PressureIncrease Boolean parameter usePressureIncreaseInput decides whether pressure increase is constant or prescribed
Thermal.FluidHeatFlow.Examples.
	Changed the instance names of components used in the examples to more up-to-date style.
Thermal.HeatTransfer.(Components)
HeatCapacitor	Initialization changed: SteadyStateStart removed. Instead start/fixed values for T and der_T (initial temperature and its derivative).
HeatCapacitor ThermalConductor ThermalConvection BodyRadiation TemperatureSensor RelTemperatureSensor HeatFlowSensor FixedTemperature PrescribedTemperature FixedHeatFlow PrescribedHeatFlow	Moved components to sub-packages: Components.HeatCapacitor Components.ThermalConductor Components.ThermalConvection Components.BodyRadiation Sensors.TemperatureSensor Sensors.RelTemperatureSensor Sensors.HeatFlowSensor Sources.FixedTemperature Sources.PrescribedTemperature Sources.FixedHeatFlow Sources.PrescribedHeatFlow
Thermal.FluidHeatFlow.Examples.
	Changed the instance names of components used in the examples to more up-to-date style.

The following existing components have been improved in a backward compatible way:

Modelica.*	Parameter declarations, input and output function arguments without description strings improved by providing meaningful description texts.
Modelica.Blocks.Continuous.
TransferFunction	Internal scaling of the controller canonical states introduced in order to enlarge the range of transfer functions where the default relative tolerance of the simulator is sufficient.
Butterworth CriticalDamping	Documentation improved and plots of the filter characteristics added.
Electrical.Analog.Basic.
EMF	New parameter \"useSupport\" to optionally enable a support connector.
Icons.
TranslationalSensor RotationalSensor	Removed drawing from the diagram layer (kept drawing only in icon layer), in order that this icon can be used in situations where components are dragged in the diagram layer.
Math.Vectors.
normalize	Implementation changed, so that the result is awalys continuous (previously, this was not the case for small vectors: normalize(eps,eps)).
Mechanics.MultiBody.
	Renamed non-standard keywords defineBranch, defineRoot, definePotentialRoot, isRooted to the standard names: Connections.branch/.root/.potentialRoot/.isRooted.
Frames	Added annotation \"Inline=true\" to all one-line functions (which should be all inlined).
Mechanics.MultiBody.Parts.
Mounting1D Rotor1D BevelGear1D	Changed implementation so that no longer modifiers for connector variables are used, because this violates the restrictions on \"balanced models\" of Modelica 3.
Mechanics.Rotational.
InitializeFlange	Changed implementation so that counting unknowns and equations is possible without actual values of parameters.
Thermal.FluidHeatFlow.Interfaces.Partials.
TwoPort	Introduced `parameter Real tapT(final min=0, final max=1)=1` that defines the temperature of the heatPort betwen inlet and outlet.
StateGraph.
InitialStep InitialStepWithSignal Step StepWithSignal	Changed implementation so that no longer modifiers for output variables are used, because this violates the restrictions on \"balanced models\" of Modelica 3.

The following critical errors have been fixed (i.e. errors that can lead to wrong simulation results):

Electrical.Analog.Examples.
CauerLowPassSC	Wrong calculation of Capacitor1 both in Rn and Rp corrected (C=clock/R instead of C=clock*R)
Mechanics.MultiBody.Parts.
Rotor1D	The 3D reaction torque was not completely correct and gave in some situations a wrong result. This bug should not influence the movement of a multi-body system, but only the constraint torques are sometimes not correct.
Mechanics.Rotational.
ElastoBacklash	If the damping torque was too large, the reaction torque could \"pull\" which is unphysical. The component was newly written by limiting the damping torque in such a case so that \"pulling\" torques can no longer occur. Furthermore, during initialization the characteristics is made continuous to reduce numerical errors. The relative angle and relative angular velocities are used as states, if possible (StateSelect.prefer), since relative quantities lead usually to better behavior.
Position Speed Accelerate Move	The movement of the flange was wrongly defined as absolute; this is corrected as relative to connector support. For Accelerate, it was necessary to rename RealInput a to a_ref, as well as the start values phi_start to phi.start and w_start to w.start. The conversion script performs the necessary conversion of existing models automatically.
Media.Interfaces.
PartialSimpleIdealGasMedium	Inconsisteny in reference temperature corrected. This may give different results for functions: specificEnthalpy, specificInternalEnergy, specificGibbsEnergy, specificHelmholtzEnergy.
Media.Air.
specificEntropy	Small bug in entropy computation of ideal gas mixtures corrected.
Media.IdealGases.Common.MixtureGasNasa
specificEntropy	Small bug in entropy computation of ideal gas mixtures corrected.

The following uncritical errors have been fixed (i.e. errors that do not lead to wrong simulation results, but, e.g., units are wrong or errors in documentation):

Blocks.Tables.
CombiTable2D	Documentation improved.
Electrica.Digital.Gates
AndGate NandGate OrGate NorGate XorGate XnorGate	The number of inputs was not correctly propagated to the included base model. This gave a translation error, if the number of inputs was changed (and not the default used).
Electrica.Digital.Sources
Pulse	Model differently implemented, so that warning message about \"cannot properly initialize\" is gone.
Mechanics.Rotational.
BearingFriction Clutch OneWayClutch Brake Gear	Declaration of table parameter changed from table[:,:] to table[:,2].
Modelica.Mechanics.MultiBody.Examples.Loops.Utilities.
GasForce	Unit of variable \"press\" corrected (from Pa to bar)
StateGraph.Examples.
SimpleFriction	The internal parameter k is defined and calculated with the appropriate unit.
Thermal.FluidHeatFlow.Interfaces.Partials.
SimpleFriction	The internal parameter k is defined and calculated with the appropriate unit.

")); end Version_3_0; class Version_2_2_2 "Version 2.2.2 (Aug. 31, 2007)" annotation (Documentation(info="

Version 2.2.2 is backward compatible to version 2.2.1 and 2.2 with the following exceptions:

Removal of package Modelica.Media.Interfaces.PartialTwoPhaseMediumWithCache (this was not yet utilized).
Removal of the media packages in Modelica.Media.IdealGases.SingleGases that are not type compatible to Modelica.Media.Interfaces.PartialMedium, because a FluidConstants record definition is missing, for details, see Modelica.Media.IdealGases (this is seen as a bug fix).

An overview of the differences between version 2.2.2 and the previous version 2.2.1 is given below. The exact differences (but without differences in the documentation) are available here. This comparison file was generated automatically with Dymolas ModelManagement.compare function.

In this version, no new libraries have been added. The documentation of the whole library was improved. Especially, the documentation is now also available as one pdf file.

The following new components have been added to existing libraries:

Blocks.Logical.
TerminateSimulation	Terminate a simulation by a given condition.
Blocks.Routing.
RealPassThrough IntegerPassThrough BooleanPassThrough	Pass a signal from input to output (useful in combination with a bus due to restrictions of expandable connectors).
Blocks.Sources.
KinematicPTP2	Directly gives q,qd,qdd as output (and not just qdd as KinematicPTP).
Electrical.Machines.Examples.
TransformerTestbench	Transformer Testbench
Rectifier6pulse	6-pulse rectifier with 1 transformer
Rectifier12pulse	12-pulse rectifier with 2 transformers
AIMC_Steinmetz	Asynchronous induction machine squirrel cage with Steinmetz connection
Electrical.Machines.BasicMachines.Components.
BasicAIM	Partial model for asynchronous induction machine
BasicSM	Partial model for synchronous induction machine
PartialAirGap	Partial airgap model
BasicDCMachine	Partial model for DC machine
PartialAirGapDC	Partial airgap model of a DC machine
BasicTransformer	Partial model of threephase transformer
PartialCore	Partial model of transformer core with 3 windings
IdealCore	Ideal transformer with 3 windings
Electrical.Machines.BasicMachines.
Transformers	Sub-Library for technical 3phase transformers
Electrical.Machines.Interfaces.
Adapter	Adapter to model housing of electrical machine
Math.
Vectors	New library of functions operating on vectors
atan3	Four quadrant inverse tangens (select solution that is closest to given angle y0)
asinh	Inverse of sinh (area hyperbolic sine)
acosh	Inverse of cosh (area hyperbolic cosine)
Math.Vectors
isEqual	Determine if two Real vectors are numerically identical
norm	Return the p-norm of a vector
length	Return length of a vector (better as norm(), if further symbolic processing is performed)
normalize	Return normalized vector such that length = 1 and prevent zero-division for zero vector
reverse	Reverse vector elements (e.g. v[1] becomes last element)
sort	Sort elements of vector in ascending or descending order
Math.Matrices
solve2	Solve real system of linear equations A*X=B with a B matrix (Gaussian elemination with partial pivoting)
LU_solve2	Solve real system of linear equations PLU*X=B with a B matrix and an LU decomposition (from LU(..))
Mechanics.Rotational.
InitializeFlange	Initialize a flange according to given signals (useful if initialization signals are provided by a signal bus).
Media.Interfaces.PartialMedium.
density_pTX	Return density from p, T, and X or Xi
Media.Interfaces.PartialTwoPhaseMedium.
BaseProperties	Base properties (p, d, T, h, u, R, MM, x) of a two phase medium
molarMass	Return the molar mass of the medium
saturationPressure_sat	Return saturation pressure
saturationTemperature_sat	Return saturation temperature
saturationTemperature_derp_sat	Return derivative of saturation temperature w.r.t. pressure
setState_px	Return thermodynamic state from pressure and vapour quality
setState_Tx	Return thermodynamic state from temperature and vapour quality
vapourQuality	Return vapour quality
Media.Interfaces.
PartialLinearFluid	Generic pure liquid model with constant cp, compressibility and thermal expansion coefficients
Media.Air.MoistAir.
massFraction_pTphi	Return the steam mass fraction from relative humidity and T
saturationTemperature	Return saturation temperature from (partial) pressure via numerical inversion of function saturationPressure
enthalpyOfWater	Return specific enthalpy of water (solid/liquid) near atmospheric pressure from temperature
enthalpyOfWater_der	Return derivative of enthalpyOfWater()\" function
PsychrometricData	Model to generate plot data for psychrometric chart
Media.CompressibleLiquids. New sub-library for simple compressible liquid models
LinearColdWater	Cold water model with linear compressibility
LinerWater_pT_Ambient	Liquid, linear compressibility water model at 1.01325 bar and 25 degree Celsius
SIunits.
TemperatureDifference	Type for temperature difference

The following existing components have been improved:

Blocks.Examples.
BusUsage	Example changed from the \"old\" to the \"new\" bus concept with expandable connectors.
Blocks.Discrete.
ZeroOrderHold	Sample output ySample moved from \"protected\" to \"public\" section with new attributes (start=0, fixed=true).
TransferFunction	Discrete state x with new attributes (each start=0, each fixed=0).
Electrical.
Analog MultiPhase	Improved some icons.
Electrical.Digital.Interfaces.
MISO	Removed \"algorithm\" from this partial block.
Electrical.Digital.Delay.
DelayParams	Removed \"algorithm\" from this partial block.
Electrical.Digital.Delay.
DelayParams	Removed \"algorithm\" from this partial block.
TransportDelay	If delay time is zero, an infinitely small delay is introduced via pre(x) (previously \"x\" was used).
Electrical.Digital.Sources.
Clock Step	Changed if-conditions from \"xxx < time\" to \"time >= xxx\" (according to the Modelica specification, in the second case a time event should be triggered, i.e., this change leads potentially to a faster simulation).
Electrical.Digital.Converters.
BooleanToLogic LogicToBoolean RealToLogic LogicToReal	Changed from \"algorithm\" to \"equation\" section to allow better symbolic preprocessing
Electrical.
Machines	Slightly improved documentation, typos in documentation corrected
Electrical.Machines.Examples.
AIMS_start	Changed QuadraticLoadTorque1(TorqueDirection=true) to QuadraticLoadTorque1(TorqueDirection=false) since more realistic
Electrical.Machines.Interfaces.
PartialBasicMachine	Introduced support flange to model the reaction torque to the housing
Electrical.Machines.Sensors.
Rotorangle	Introduced support flange to model the reaction torque to the housing
Mechanics.MultiBody.Examples.Elementary.
PointMassesWithGravity	Added two point masses connected by a line force to demonstrate additionally how this works. Connections of point masses with 3D-elements are demonstrated in the new example PointMassesWithGravity (there is the difficulty that the orientation is not defined in a PointMass object and therefore some special handling is needed in case of a connection with 3D-elements, where the orientation of the point mass is not determined by these elements.
Mechanics.MultiBody.Examples.Systems.
RobotR3	Changed from the \"old\" to the \"new\" bus concept with expandable connectors. Replaced the non-standard Modelica function \"constrain()\" by standard Modelica components. As a result, the non-standard function constrain() is no longer used in the Modelica Standard Library.
Mechanics.MultiBody.Frames.Orientation.
equalityConstraint	Use a better residual for the equalityConstraint function. As a result, the non-linear equation system of a kinematic loop is formulated in a better way (the range where the desired result is a unique solution of the non-linear system of equations becomes much larger).
Mechanics.MultiBody.
Visualizers.	Removed (misleading) annotation \"structurallyIncomplete\" in the models of this sub-library
Mechanics.Rotational.
Examples	For all models in this sub-library: Included a housing object in all examples to compute all support torques. Replaced initialization by modifiers via the initialization menu parameters of Inertia components. Removed \"encapsulated\" and unnecessary \"import\". Included \"StopTime\" in the annotations.
Mechanics.Rotational.Interfaces.
FrictionBase	Introduced \"fixed=true\" for Boolean variables startForward, startBackward, mode.
Mechanics.Translational.Interfaces.
FrictionBase	Introduced \"fixed=true\" for Boolean variables startForward, startBackward, mode.
Media.UsersGuide.MediumUsage.
TwoPhase	Improved documentation and demonstrating the newly introduced functions
Media.Examples.
WaterIF97	Provided (missing) units for variables V, dV, H_flow_ext, m, U.
Media.Interfaces.
PartialMedium	Final modifiers are removed from nX and nXi, to allow customized medium models such as mixtures of refrigerants with oil, etc.
PartialCondensingGases	Included attributes \"min=1, max=2\" for input argument FixedPhase for functions setDewState and setBubbleState (in order to guarantee that input arguments are correct).
Media.Interfaces.PartialMedium.
BaseProperties	New Boolean parameter \"standardOrderComponents\". If true, last element vector X is computed from 1-sum(Xi) (= default) otherwise, no equation is provided for it in PartialMedium.
IsentropicExponent	\"max\" value changed from 1.7 to 500000
setState_pTX setState_phX setState_psX setState_dTX specificEnthalpy_pTX temperature_phX density_phX temperature_psX density_psX specificEnthalpy_psX	Introduced defaut value \"reference_X\" for input argument \"X\".
Media.Interfaces.PartialSimpleMedium.
setState_pTX setState_phX setState_psX setState_dTX	Introduced defaut value \"reference_X\" for input argument \"X\".
Media.Interfaces.PartialSimpleIdealGasMedium.
setState_pTX setState_phX setState_psX setState_dTX	Introduced defaut value \"reference_X\" for input argument \"X\".
Media.Air.MoistAir.
setState_pTX setState_phX setState_dTX	Introduced defaut value \"reference_X\" for input argument \"X\".
Media.IdealGases.Common.SingleGasNasa.
setState_pTX setState_phX setState_psX setState_dTX	Introduced defaut value \"reference_X\" for input argument \"X\".
Media.IdealGases.Common.MixtureGasNasa.
setState_pTX setState_phX setState_psX setState_dTX h_TX	Introduced defaut value \"reference_X\" for input argument \"X\".
Media.Common.
IF97PhaseBoundaryProperties gibbsToBridgmansTables	Introduced unit for variables vt, vp.
SaturationProperties	Introduced unit for variable dpT.
BridgmansTables	Introduced unit for dfs, dgs.
Media.Common.ThermoFluidSpecial.
gibbsToProps_ph gibbsToProps_ph gibbsToBoundaryProps gibbsToProps_dT gibbsToProps_pT	Introduced unit for variables vt, vp.
TwoPhaseToProps_ph	Introduced unit for variables dht, dhd, detph.
Media.
MoistAir	Documentation of moist air model significantly improved.
Media.MoistAir.
enthalpyOfVaporization	Replaced by linear correlation since simpler and more accurate in the entire region.
Media.Water.IF97_Utilities.BaseIF97.Regions.
drhovl_dp	Introduced unit for variable dd_dp.
Thermal.
FluidHeatFlow	Introduced new parameter tapT (0..1) to define the temperature of the HeatPort as linear combination of the flowPort_a (tapT=0) and flowPort_b (tapT=1) temperatures.

The following critical errors have been fixed (i.e. errors that can lead to wrong simulation results):

Electrical.Machines.BasicMachines.Components.
ElectricalExcitation	Excitation voltage ve is calculated as \"spacePhasor_r.v_[1]TurnsRatio3/2\" instead of \"spacePhasor_r.v_[1]*TurnsRatio
Mechanics.MultiBody.Parts.
FixedRotation	Bug corrected that the torque balance was wrong in the following cases (since vector r was not transformed from frame_a to frame_b; note this special case occurs very seldomly in practice): frame_b is in the spanning tree closer to the root (usually this is frame_a). vector r from frame_a to frame_b is not zero.
PointMass	If a PointMass model is connected so that no equations are present to compute its orientation object, the orientation was arbitrarily set to a unit rotation. In some cases this can lead to a wrong overall model, depending on how the PointMass model is used. For this reason, such cases lead now to an error (via an assert(..)) with an explanation how to fix this.
Media.Interfaces.PartialPureSubstance.
pressure_dT specificEnthalpy_dT	Changed wrong call from \"setState_pTX\" to \"setState_dTX\"
Media.Interfaces.PartialTwoPhaseMedium.
pressure_dT specificEnthalpy_dT	Changed wrong call from \"setState_pTX\" to \"setState_dTX\"
Media.Common.ThermoFluidSpecial.
gibbsToProps_dT helmholtzToProps_ph helmholtzToProps_pT helmholtzToProps_dT	Bugs in equations corrected
Media.Common.
helmholtzToBridgmansTables helmholtzToExtraDerivs	Bugs in equations corrected
Media.IdealGases.Common.SingleGasNasa.
density_derp_T	Bug in equation of partial derivative corrected
Media.Water.IF97_Utilities.
BaseIF97.Inverses.dtofps3 isentropicExponent_props_ph isentropicExponent_props_pT isentropicExponent_props_dT	Bugs in equations corrected
Media.Air.MoistAir.
h_pTX	Bug in setState_phX due to wrong vector size in h_pTX corrected. Furthermore, syntactical errors corrected: In function massFractionpTphi an equation sign is used in an algorithm. Two consecutive semicolons removed
Media.Water.
waterConstants	Bug in equation of criticalMolarVolume corrected.
Media.Water.IF97_Utilities.BaseIF97.Regions.
region_ph region_ps	Bug in region determination corrected.
boilingcurve_p dewcurve_p	Bug in equation of plim corrected.

The following uncritical errors have been fixed (i.e. errors that do not lead to wrong simulation results, but, e.g., units are wrong or errors in documentation):

Blocks.
Examples	Corrected typos in description texts of bus example models.
Blocks.Continuous.
LimIntegrator	removed incorrect smooth(0,..) because expression might be discontinuous.
Blocks.Math.UnitConversions.
block_To_kWh block_From_kWh	Corrected unit from \"kWh\" to (syntactically correct) \"kW.h\".
Electrical.Analog.Examples.
HeatingNPN_OrGate	Included start values, so that initialization is successful
Electrical.Analog.Lines.
OLine	Corrected unit from \"Siemens/m\" to \"S/m\".
TLine2	Changed wrong type of parameter NL (normalized length) from SIunits.Length to Real.
Electrical.Digital.Delay.
TransportDelay	Syntax error corrected (\":=\" in equation section is converted by Dymola silently to \"=\").
Electrical.Digital
Converters	Syntax error corrected (\":=\" in equation section is converted by Dymola silently to \"=\").
Electrical.MultiPhase.Basic.
Conductor	Changed wrong type of parameter G from SIunits.Resistance to SIunits.Conductance.
Electrical.MultiPhase.Interfaces.
Plug	Made used \"pin\" connectors non-graphical (otherwise, there are difficulties to connect to Plug).
Electrical.MultiPhase.Sources.
SineCurrent	Changed wrong type of parameter offset from SIunits.Voltage to SIunits.Current.
Mechanics.MultiBody.Examples.Loops.
EngineV6	Corrected wrong crankAngleOffset of some cylinders and improved the example.
Mechanics.MultiBody.Examples.Loops.Utilities.
GasForce	Wrong units corrected: \"SIunitsPosition x,y\" to \"Real x,y\"; " + " \"SIunits.Pressure press\" to \"SIunits.Conversions.NonSIunits.Pressure_bar\"
GasForce2	Wrong unit corrected: \"SIunits.Position x\" to \"Real x\".
EngineV6_analytic	Corrected wrong crankAngleOffset of some cylinders.
Mechanics.MultiBody.Interfaces.
PartialLineForce	Corrected wrong unit: \"SIunits.Position eRod_a\" to \"Real eRod_a\";
FlangeWithBearingAdaptor	If includeBearingConnector = false, connector \"fr\" + \"ame\" was not removed. As long as the connecting element to \"frame\" determines the non-flow variables, this is fine. In the corrected version, \"frame\" is conditionally removed in this case.
Mechanics.MultiBody.Forces.
ForceAndTorque	Corrected wrong unit: \"SIunits.Force t_b_0\" to \"SIunits.Torque t_b_0\".
LineForceWithTwoMasses	Corrected wrong unit: \"SIunits.Position e_rel_0\" to \"Real e_rel_0\".
Mechanics.MultiBody.Frames.
axisRotation	Corrected wrong unit: \"SIunits.Angle der_angle\" to \"SIunits.AngularVelocity der_angle\".
Mechanics.MultiBody.Joints.Assemblies.
JointUSP JointSSP	Corrected wrong unit: \"SIunits.Position aux\" to \"Real\"
Mechanics.MultiBody.Sensors.
AbsoluteSensor	Corrected wrong units: \"SIunits.Acceleration angles\" to \"SIunits.Angle angles\" and \"SIunits.Velocity w_abs_0\" to \"SIunits.AngularVelocity w_abs_0\"
RelativeSensor	Corrected wrong units: \"SIunits.Acceleration angles\" to \"SIunits.Angle angles\"
Distance	Corrected wrong units: \"SIunits.Length L2\" to \"SIunits.Area L2\" and SIunits.Length s_small2\" to \"SIunits.Area s_small2\"
Mechanics.MultiBody.Visualizers.Advanced.
Shape	Changed \"MultiBody.Types.Color color\" to \"Real color[3]\", since \"Types.Color\" is \"Integer color[3]\" and there have been backward compatibility problems with models using \"color\" before it was changed to \"Types.Color\".
Mechanics.Rotational.Interfaces.
FrictionBase	Rewrote equations with new variables \"unitAngularAcceleration\" and \"unitTorque\" in order that the equations are correct with respect to units (previously, variable \"s\" can be both a torque and an angular acceleration and this lead to unit incompatibilities)
Mechanics.Rotational.
OneWayClutch LossyGear	Rewrote equations with new variables \"unitAngularAcceleration\" and \"unitTorque\" in order that the equations are correct with respect to units (previously, variable \"s\" can be both a torque and an angular acceleration and this lead to unit incompatibilities)
Mechanics.Translational.Interfaces.
FrictionBase	Rewrote equations with new variables \"unitAngularAcceleration\" and \"unitTorque\" in order that the equations are correct with respect to units (previously, variable \"s\" can be both a torque and an angular acceleration and this lead to unit incompatibilities)
Mechanics.Translational.
Speed	Corrected unit of v_ref from SIunits.Position to SIunits.Velocity
Media.Examples.Tests.Components.
PartialTestModel PartialTestModel2	Corrected unit of h_start from \"SIunits.Density\" to \"SIunits.SpecificEnthalpy\"
Media.Examples.SolveOneNonlinearEquation.
Inverse_sh_T InverseIncompressible_sh_T Inverse_sh_TX	Rewrote equations so that dimensional (unit) analysis is correct\"
Media.Incompressible.Examples.
TestGlycol	Rewrote equations so that dimensional (unit) analysis is correct\"
Media.Interfaces.PartialTwoPhaseMedium.
dBubbleDensity_dPressure dDewDensity_dPressure	Changed wrong type of ddldp from \"DerDensityByEnthalpy\" to \"DerDensityByPressure\".
Media.Common.ThermoFluidSpecial.
ThermoProperties	Changed wrong units: \"SIunits.DerEnergyByPressure dupT\" to \"Real dupT\" and \"SIunits.DerEnergyByDensity dudT\" to \"Real dudT\"
ThermoProperties_ph	Changed wrong unit from \"SIunits.DerEnergyByPressure duph\" to \"Real duph\"
ThermoProperties_pT	Changed wrong unit from \"SIunits.DerEnergyByPressure dupT\" to \"Real dupT\"
ThermoProperties_dT	Changed wrong unit from \"SIunits.DerEnergyByDensity dudT\" to \"Real dudT\"
Media.IdealGases.Common.SingleGasNasa.
cp_Tlow_der	Changed wrong unit from \"SIunits.Temperature dT\" to \"Real dT\".
Media.Water.IF97_Utilities.BaseIF97.Basic.
p1_hs h2ab_s p2a_hs p2b_hs p2c_hs h3ab_p T3a_ph T3b_ph v3a_ph v3b_ph T3a_ps T3b_ps v3a_ps v3b_ps	Changed wrong unit of variables h/hstar, s, sstar from \"SIunits.Enthalpy\" to \"SIunits.SpecificEnthalpy\", \"SIunits.SpecificEntropy\", \"SIunits.SpecificEntropy
Media.Water.IF97_Utilities.BaseIF97.Transport.
cond_dTp	Changed wrong unit of TREL, rhoREL, lambdaREL from \"SIunits.Temperature\", \"SIunit.Density\", \"SIunits.ThermalConductivity\" to \"Real\".
Media.Water.IF97_Utilities.BaseIF97.Inverses.
tofps5 tofpst5	Changed wrong unit of pros from \"SIunits.SpecificEnthalpy\" to \"SIunits.SpecificEntropy\".
Media.Water.IF97_Utilities.
waterBaseProp_ph	Improved calculation at the limits of the validity.
Thermal.
FluidHeatFlow HeatTransfer	Corrected wrong unit \"SIunits.Temperature\" of difference temperature variables with \"SIunits.TemperatureDifference\".

")); end Version_2_2_2; class Version_2_2_1 "Version 2.2.1 (March 24, 2006)" annotation (Documentation(info="

Version 2.2.1 is backward compatible to version 2.2.

In this version, no new libraries have been added. The following major improvements have been made:

The Documentation of the Modelica standard library was considerably improved:
In Dymola 6, the new feature was introduced to automatically add tables for class content and component interface definitions (parameters and connectors) to the info layer. For this reason, the corresponding (partial) tables previously present in the Modelica Standard Library have been removed. The new feature of Dymola 6 has the significant advantage that all tables are now guaranteed to be up-to-date.
Additionally, the documentation has been improved by adding appropriate description texts to parameters, connector instances, function input and output arguments etc., in order that the automatically generated tables do not have empty entries. Also new User's Guides for sublibraries Rotational and SIunits have been added and the User's Guide on top level (Modelica.UsersGuide) has been improved.
Initialization options have been added to the Modelica.Blocks.Continuous blocks (NoInit, SteadyState, InitialState, InitialOutput). If InitialOutput is selected, the block output is provided as initial condition. The states of the block are then initialized as close as possible to steady state. Furthermore, the Continuous.LimPID block has been significantly improved and much better documented.
The Modelica.Media library has been significantly improved:
New functions setState_pTX, setState_phX, setState_psX, setState_dTX have been added to PartialMedium to compute the independent medium variables (= state of medium) from p,T,X, or from p,h,X or from p,s,X or from d,T,X. Then functions are provided for all interesting medium variables to compute them from its medium state. All these functions are implemented in a robust way for all media (with a few exceptions, if the generic function does not make sense for a particular medium).

The following new components have been added to existing libraries:

Modelica.Blocks.Examples.
PID_Controller	Example to demonstrate the usage of the Blocks.Continuous.LimPID block.
Modelica.Blocks.Math.
UnitConversions.*	New package that provides blocks for unit conversions. UnitConversions.ConvertAllBlocks allows to select all available conversions from a menu.
Modelica.Electrical.Machines.BasicMachines.SynchronousInductionMachines.
SM_ElectricalExcitedDamperCage	Electrical excited synchronous induction machine with damper cage
Modelica.Electrical.Machines.BasicMachines.Components.
ElectricalExcitation	Electrical excitation for electrical excited synchronous induction machines
DamperCage	Unsymmetrical damper cage for electrical excited synchronous induction machines. At least the user has to specify the dampers resistance and stray inductance in d-axis; if he omits the parameters of the q-axis, the same values as for the d.axis are used, assuming a symmetrical damper.
Modelica.Electrical.Machines.Examples.
SMEE_Gen	Test example 7: ElectricalExcitedSynchronousInductionMachine as Generator
Utilities.TerminalBox	Terminal box for three-phase induction machines to choose either star (wye) ? or delta ? connection
Modelica.Math.Matrices.
equalityLeastSquares	Solve a linear equality constrained least squares problem: min\|Ax-a\|^2 subject to Bx=b
Modelica.Mechanics.MultiBody.
Parts.PointMass	Point mass, i.e., body where inertia tensor is neglected.
Interfaces.FlangeWithBearing	Connector consisting of 1-dim. rotational flange and its 3-dim. bearing frame.
Interfaces.FlangeWithBearingAdaptor	Adaptor to allow direct connections to the sub-connectors of FlangeWithBearing.
Types.SpecularCoefficient	New type to define a specular coefficient.
Types.ShapeExtra	New type to define the extra data for visual shape objects and to have a central place for the documentation of this data.
Modelica.Mechanics.MultiBody.Examples.Elementary
PointGravityWithPointMasses	Example of two point masses in a central gravity field.
Modelica.Mechanics.Rotational.
UsersGuide	A User's Guide has been added by using the documentation previously present in the package documentation of Rotational.
Sensors.PowerSensor	New component to measure the energy flow between two connectors of the Rotational library.
Modelica.Mechanics.Translational.
Speed	New component to move a translational flange according to a reference speed
Modelica.Media.Interfaces.PartialMedium.
specificEnthalpy_pTX	New function to compute specific enthalpy from pressure, temperature and mass fractions.
temperature_phX	New function to compute temperature from pressure, specific enthalpy, and mass fractions.
Modelica.Icons.
SignalBus	Icon for signal bus
SignalSubBus	Icon for signal sub-bus
Modelica.SIunits.
UsersGuide	A User's Guide has been added that describes unit handling.
Resistance Conductance	Attribute 'min=0' removed from these types.
Modelica.Thermal.FluidHeatFlow.
Components.Valve