Changeset 381

Show
Ignore:
Timestamp:
03/01/2006 09:37:47 AM (3 years ago)
Author:
Christian
Message:

Changed URLs with www.op.dlr.de to www.robotic.dlr.de

Location:
Modelica/trunk
Files:
4 modified

Legend:

Unmodified
Added
Removed

  • Modelica/trunk/Blocks/Interfaces.mo

    r360 r381  
    1 package Interfaces "Connectors and partial models for input/output blocks"  
     1package Interfaces "Connectors and partial models for input/output blocks" 
    22  import Modelica.SIunits; 
    33    extends Modelica.Icons.Library; 
    4    
     4 
    55    annotation(preferedView="info", 
    66      Coordsys( 
    … …  
    3131       Added several new interfaces. <a href=\"../Documentation/ChangeNotes1.5.html\">Detailed description</a> available. 
    3232<li><i>Oct. 24, 1999</i> 
    33        by <a href=\"http://www.op.dlr.de/~otter/\">Martin Otter</a>:<br> 
     33       by <a href=\"http://www.robotic.dlr.de/Martin.Otter/\">Martin Otter</a>:<br> 
    3434       RealInputSignal renamed to RealInput. RealOutputSignal renamed to 
    3535       output RealOutput. GraphBlock renamed to BlockIcon. SISOreal renamed to 
    … …  
    4040       BooleanBlockIcon, BooleanSISO, BooleanSignalSource, MI2BooleanMOs.</li> 
    4141<li><i>June 30, 1999</i> 
    42        by <a href=\"http://www.op.dlr.de/~otter/\">Martin Otter</a>:<br> 
     42       by <a href=\"http://www.robotic.dlr.de/Martin.Otter/\">Martin Otter</a>:<br> 
    4343       Realized a first version, based on an existing Dymola library 
    4444       of Dieter Moormann and Hilding Elmqvist.</li> 
    … …  
    4646</html> 
    4747")); 
    48    
    49 connector RealSignal "Real port (both input/output possible)"  
     48 
     49connector RealSignal "Real port (both input/output possible)" 
    5050  replaceable type SignalType = Real; 
    51      
     51 
    5252  extends SignalType; 
    53      
     53 
    5454    annotation (Documentation(info="<html> 
    5555<p> 
    … …  
    5858</html>")); 
    5959end RealSignal; 
    60    
    61 connector BooleanSignal = Boolean "Boolean port (both input/output possible)"  
     60 
     61connector BooleanSignal = Boolean "Boolean port (both input/output possible)" 
    6262    annotation (Documentation(info="<html> 
    6363<p> 
    … …  
    6565</p> 
    6666</html>")); 
    67 connector IntegerSignal = Integer "Integer port (both input/output possible)"  
     67connector IntegerSignal = Integer "Integer port (both input/output possible)" 
    6868    annotation (Documentation(info="<html> 
    6969<p> 
    … …  
    7171</p> 
    7272</html>")); 
    73    
    74 connector RealInput = input RealSignal "'input Real' as connector"  
     73 
     74connector RealInput = input RealSignal "'input Real' as connector" 
    7575  annotation (defaultComponentName="u", 
    7676  Coordsys(extent=[-100, -100; 100, 100], 
    … …  
    9898</p> 
    9999</html>")); 
    100    
    101 connector RealOutput = output RealSignal "'output Real' as connector"  
     100 
     101connector RealOutput = output RealSignal "'output Real' as connector" 
    102102  annotation (defaultComponentName="y", 
    103103  Coordsys(extent=[-100, -100; 100, 100], 
    … …  
    123123</p> 
    124124</html>")); 
    125    
    126 connector BooleanInput = input BooleanSignal "'input Boolean' as connector"  
     125 
     126connector BooleanInput = input BooleanSignal "'input Boolean' as connector" 
    127127  annotation (defaultComponentName="u", 
    128128       Icon(coordinateSystem(extent=[-100,-100; 100,100]), 
    … …  
    141141</p> 
    142142</html>")); 
    143    
    144 connector BooleanOutput = output BooleanSignal "'output Boolean' as connector"  
     143 
     144connector BooleanOutput = output BooleanSignal "'output Boolean' as connector" 
    145145                                  annotation (defaultComponentName="y", 
    146146  Coordsys(extent=[-100, -100; 100, 100], 
    … …  
    159159</p> 
    160160</html>")); 
    161    
    162 connector IntegerInput = input IntegerSignal "'input Integer' as connector"  
     161 
     162connector IntegerInput = input IntegerSignal "'input Integer' as connector" 
    163163  annotation (defaultComponentName="u", 
    164164  Coordsys( 
    … …  
    180180</p> 
    181181</html>")); 
    182    
    183 connector IntegerOutput = output IntegerSignal "'output Integer' as connector"  
     182 
     183connector IntegerOutput = output IntegerSignal "'output Integer' as connector" 
    184184                                  annotation (defaultComponentName="y", 
    185185  Coordsys( 
    … …  
    199199</p> 
    200200</html>")); 
    201    
    202     partial block BlockIcon "Basic graphical layout of input/output block"  
     201 
     202    partial block BlockIcon "Basic graphical layout of input/output block" 
    203203      annotation ( 
    204204        Coordsys(extent=[-100, -100; 100, 100]), 
    … …  
    223223</p> 
    224224</html>")); 
    225     equation  
    226      
     225    equation 
     226 
    227227    end BlockIcon; 
    228    
    229     partial block SO "Single Output continuous control block"  
     228 
     229    partial block SO "Single Output continuous control block" 
    230230      extends BlockIcon; 
    231      
    232       RealOutput y "Connector of Real output signal"  
     231 
     232      RealOutput y "Connector of Real output signal" 
    233233        annotation (extent=[100, -10; 120, 10]); 
    234234      annotation ( 
    … …  
    249249</html>")); 
    250250    end SO; 
    251    
    252     partial block MO "Multiple Output continuous control block"  
     251 
     252    partial block MO "Multiple Output continuous control block" 
    253253      extends BlockIcon; 
    254      
     254 
    255255      parameter Integer nout(min=1) = 1 "Number of outputs"; 
    256       RealOutput y[nout] "Connector of Real output signals"  
     256      RealOutput y[nout] "Connector of Real output signals" 
    257257        annotation (extent=[100, -10; 120, 10]); 
    258258      annotation ( 
    … …  
    272272</html>")); 
    273273    end MO; 
    274    
    275     partial block SISO "Single Input Single Output continuous control block"  
     274 
     275    partial block SISO "Single Input Single Output continuous control block" 
    276276      extends BlockIcon; 
    277      
    278       RealInput u "Connector of Real input signal"  
     277 
     278      RealInput u "Connector of Real input signal" 
    279279        annotation (extent=[-140, -20; -100, 20]); 
    280       RealOutput y "Connector of Real output signal"  
     280      RealOutput y "Connector of Real output signal" 
    281281        annotation (extent=[100, -10; 120, 10]); 
    282282      annotation (Coordsys( 
    … …  
    294294</html>")); 
    295295    end SISO; 
    296    
    297     partial block SI2SO  
    298     "2 Single Input / 1 Single Output continuous control block"  
     296 
     297    partial block SI2SO 
     298    "2 Single Input / 1 Single Output continuous control block" 
    299299      extends BlockIcon; 
    300      
    301       RealInput u1 "Connector of Real input signal 1"  
     300 
     301      RealInput u1 "Connector of Real input signal 1" 
    302302        annotation (extent=[-140, 40; -100, 80]); 
    303       RealInput u2 "Connector of Real input signal 2"  
     303      RealInput u2 "Connector of Real input signal 2" 
    304304        annotation (extent=[-140, -80; -100, -40]); 
    305       RealOutput y "Connector of Real output signal"  
     305      RealOutput y "Connector of Real output signal" 
    306306        annotation (extent=[100, -10; 120, 10]); 
    307      
     307 
    308308      annotation ( 
    309309        Coordsys( 
    … …  
    319319<p> 
    320320Block has two continuous Real input signals u1 and u2 and one 
    321 continuous Real output signal y.  
     321continuous Real output signal y. 
    322322</p> 
    323323</html>"), 
    324324        Diagram); 
    325325    end SI2SO; 
    326    
    327 partial block SIMO "Single Input Multiple Output continuous control block"  
     326 
     327partial block SIMO "Single Input Multiple Output continuous control block" 
    328328  extends BlockIcon; 
    329329  parameter Integer nout=1 "Number of outputs"; 
    330       RealInput u "Connector of Real input signal"  
     330      RealInput u "Connector of Real input signal" 
    331331        annotation (extent=[-140, -20; -100, 20]); 
    332       RealOutput y[nout] "Connector of Real output signals"  
     332      RealOutput y[nout] "Connector of Real output signals" 
    333333        annotation (extent=[100, -10; 120, 10]); 
    334      
     334 
    335335  annotation (Documentation(info="<HTML> 
    336 <p> Block has one continuous Real input signal and a   
     336<p> Block has one continuous Real input signal and a 
    337337    vector of continuous Real output signals.</p> 
    338338 
    … …  
    340340")); 
    341341end SIMO; 
    342    
    343     partial block MISO "Multiple Input Single Output continuous control block"  
    344      
     342 
     343    partial block MISO "Multiple Input Single Output continuous control block" 
     344 
    345345      extends BlockIcon; 
    346346      parameter Integer nin=1 "Number of inputs"; 
    347       RealInput u[nin] "Connector of Real input signals"  
     347      RealInput u[nin] "Connector of Real input signals" 
    348348        annotation (extent=[-140, -20; -100, 20]); 
    349       RealOutput y "Connector of Real output signal"  
     349      RealOutput y "Connector of Real output signal" 
    350350        annotation (extent=[100, -10; 120, 10]); 
    351351      annotation (Documentation(info="<HTML> 
    … …  
    357357")); 
    358358    end MISO; 
    359    
    360     partial block MIMO  
    361     "Multiple Input Multiple Output continuous control block"  
    362      
     359 
     360    partial block MIMO 
     361    "Multiple Input Multiple Output continuous control block" 
     362 
    363363      extends BlockIcon; 
    364364      parameter Integer nin=1 "Number of inputs"; 
    365365      parameter Integer nout=1 "Number of outputs"; 
    366       RealInput u[nin] "Connector of Real input signals"  
     366      RealInput u[nin] "Connector of Real input signals" 
    367367        annotation (extent=[-140, -20; -100, 20]); 
    368       RealOutput y[nout] "Connector of Real output signals"  
     368      RealOutput y[nout] "Connector of Real output signals" 
    369369        annotation (extent=[100, -10; 120, 10]); 
    370370      annotation (Documentation(info="<HTML> 
    … …  
    376376")); 
    377377    end MIMO; 
    378    
    379     partial block MIMOs  
    380     "Multiple Input Multiple Output continuous control block with same number of inputs and outputs"  
    381      
     378 
     379    partial block MIMOs 
     380    "Multiple Input Multiple Output continuous control block with same number of inputs and outputs" 
     381 
    382382      extends BlockIcon; 
    383383      parameter Integer n=1 "Number of inputs (= number of outputs)"; 
    384       RealInput u[n] "Connector of Real input signals"  
     384      RealInput u[n] "Connector of Real input signals" 
    385385        annotation (extent=[-140, -20; -100, 20]); 
    386       RealOutput y[n] "Connector of Real output signals"  
     386      RealOutput y[n] "Connector of Real output signals" 
    387387        annotation (extent=[100, -10; 120, 10]); 
    388388      annotation ( 
    … …  
    403403          height=0.6)); 
    404404    end MIMOs; 
    405    
    406     partial block MI2MO  
    407     "2 Multiple Input / Multiple Output continuous control block"  
     405 
     406    partial block MI2MO 
     407    "2 Multiple Input / Multiple Output continuous control block" 
    408408      extends BlockIcon; 
    409      
     409 
    410410      parameter Integer n=1 "Dimension of input and output vectors."; 
    411      
    412       RealInput u1[n] "Connector 1 of Real input signals"  
     411 
     412      RealInput u1[n] "Connector 1 of Real input signals" 
    413413        annotation (extent=[-140, 40; -100, 80]); 
    414       RealInput u2[n] "Connector 2 of Real input signals"  
     414      RealInput u2[n] "Connector 2 of Real input signals" 
    415415        annotation (extent=[-140, -80; -100, -40]); 
    416       RealOutput y[n] "Connector of Real output signals"  
     416      RealOutput y[n] "Connector of Real output signals" 
    417417        annotation (extent=[100, -10; 120, 10]); 
    418418      annotation ( 
    … …  
    429429<p> 
    430430Block has two continuous Real input vectors u1 and u2 and one 
    431 continuous Real output vector y.  
     431continuous Real output vector y. 
    432432All vectors have the same number of elements. 
    433433</p> 
    … …  
    435435        Diagram); 
    436436    end MI2MO; 
    437    
    438     partial block SignalSource "Base class for continuous signal source"  
     437 
     438    partial block SignalSource "Base class for continuous signal source" 
    439439      extends SO; 
    440440      parameter Real offset=0 "offset of output signal"; 
    … …  
    445445This component has one continuous Real output signal y 
    446446and two parameters (offset, startTime) to shift the 
    447 generated signal.  
     447generated signal. 
    448448</p> 
    449449</html>")); 
    450450    end SignalSource; 
    451    
    452     partial block SVcontrol "Single-Variable continuous controller"  
     451 
     452    partial block SVcontrol "Single-Variable continuous controller" 
    453453      extends BlockIcon; 
    454      
    455       RealInput u_s "Connector of setpoint input signal"  
     454 
     455      RealInput u_s "Connector of setpoint input signal" 
    456456        annotation (extent=[-140, -20; -100, 20]); 
    457       RealInput u_m "Connector of measurement input signal"  
     457      RealInput u_m "Connector of measurement input signal" 
    458458        annotation (extent=[20, -100; -20, -140], rotation=-90); 
    459       RealOutput y "Connector of actuator output signal"  
     459      RealOutput y "Connector of actuator output signal" 
    460460        annotation (extent=[100, -10; 120, 10]); 
    461461      annotation ( 
    … …  
    477477Block has two continuous Real input signals and one 
    478478continuous Real output signal. The block is designed 
    479 to be used as base class for a corresponding controller.  
     479to be used as base class for a corresponding controller. 
    480480</p> 
    481481</html>")); 
    482482    end SVcontrol; 
    483    
    484     partial block MVcontrol "Multi-Variable continuous controller"  
     483 
     484    partial block MVcontrol "Multi-Variable continuous controller" 
    485485      extends BlockIcon; 
    486      
     486 
    487487      parameter Integer nu_s=1 "Number of setpoint inputs"; 
    488488      parameter Integer nu_m=1 "Number of measurement inputs"; 
    489489      parameter Integer ny=1 "Number of actuator outputs"; 
    490       RealInput u_s[nu_s] "Connector of setpoint input signals"  
     490      RealInput u_s[nu_s] "Connector of setpoint input signals" 
    491491        annotation (extent=[-140, -20; -100, 20]); 
    492       RealInput u_m[nu_m] "Connector of measurement input signals"  
     492      RealInput u_m[nu_m] "Connector of measurement input signals" 
    493493        annotation (extent=[20, -100; -20, -140], rotation=-90); 
    494       RealOutput y[ny] "Connector of actuator output signals"  
     494      RealOutput y[ny] "Connector of actuator output signals" 
    495495        annotation (extent=[100, -10; 120, 10]); 
    496496      annotation ( 
    … …  
    512512Block has two continuous Real input signal vectors and one 
    513513continuous Real output signal vector. The block is designed 
    514 to be used as base class for a corresponding controller.  
     514to be used as base class for a corresponding controller. 
    515515</p> 
    516516</html>")); 
    517517    end MVcontrol; 
    518    
    519     partial block DiscreteBlockIcon  
    520     "Graphical layout of discrete block component icon"  
     518 
     519    partial block DiscreteBlockIcon 
     520    "Graphical layout of discrete block component icon" 
    521521      annotation (Icon(Rectangle(extent=[-100, -100; 100, 100], style(color=3, 
    522522                fillColor=52)), Text(extent=[-150, 150; 150, 110], string= 
    … …  
    524524<p> 
    525525Block that has only the basic icon for an input/output, 
    526 discrete block (no declarations, no equations), e.g.,  
     526discrete block (no declarations, no equations), e.g., 
    527527from Blocks.Discrete. 
    528528</p> 
    529529</html>")); 
    530     equation  
    531      
     530    equation 
     531 
    532532    end DiscreteBlockIcon; 
    533    
    534     partial block DiscreteBlock "Base class of discrete control blocks"  
     533 
     534    partial block DiscreteBlock "Base class of discrete control blocks" 
    535535      extends DiscreteBlockIcon; 
    536      
    537       parameter SI.Time samplePeriod(min=100*Modelica.Constants.eps) = 0.1  
     536 
     537      parameter SI.Time samplePeriod(min=100*Modelica.Constants.eps) = 0.1 
    538538      "Sample period of component"; 
    539539      parameter SI.Time startTime=0 "First sample time instant"; 
    540   protected  
     540  protected 
    541541      output Boolean sampleTrigger "True, if sample time instant"; 
    542542      output Boolean firstTrigger "Rising edge signals first sample instant"; 
    543     equation  
     543    equation 
    544544      sampleTrigger = sample(startTime, samplePeriod); 
    545545      when sampleTrigger then 
    … …  
    548548    annotation (Documentation(info="<html> 
    549549<p> 
    550 Basic definitions of a discrete block of library  
     550Basic definitions of a discrete block of library 
    551551Blocks.Discrete. 
    552552</p> 
    553553</html>")); 
    554554    end DiscreteBlock; 
    555    
    556     partial block DiscreteSISO  
    557     "Single Input Single Output discrete control block"  
    558      
     555 
     556    partial block DiscreteSISO 
     557    "Single Input Single Output discrete control block" 
     558 
    559559      extends DiscreteBlock; 
    560      
    561       Modelica.Blocks.Interfaces.RealInput u "Continuous input signal"  
     560 
     561      Modelica.Blocks.Interfaces.RealInput u "Continuous input signal" 
    562562                                  annotation (extent=[-140, 
    563563              -20; -100, 20]); 
    564       Modelica.Blocks.Interfaces.RealOutput y "Continuous output signal"  
     564      Modelica.Blocks.Interfaces.RealOutput y "Continuous output signal" 
    565565                                   annotation (extent=[100, 
    566566              -10; 120, 10]); 
    … …  
    572572</html>")); 
    573573    end DiscreteSISO; 
    574    
    575     partial block DiscreteMIMO  
    576     "Multiple Input Multiple Output discrete control block"  
    577      
     574 
     575    partial block DiscreteMIMO 
     576    "Multiple Input Multiple Output discrete control block" 
     577 
    578578      extends DiscreteBlock; 
    579579      parameter Integer nin=1 "Number of inputs"; 
    580580      parameter Integer nout=1 "Number of outputs"; 
    581      
    582       Modelica.Blocks.Interfaces.RealInput u[nin] "Continuous input signals"  
     581 
     582      Modelica.Blocks.Interfaces.RealInput u[nin] "Continuous input signals" 
    583583                                   annotation (extent=[-140, 
    584584              -20; -100, 20]); 
    … …  
    586586                                    annotation (extent=[100, 
    587587              -10; 120, 10]); 
    588      
     588 
    589589      annotation (Documentation(info="<html> 
    590590<p> 
    … …  
    595595")); 
    596596    end DiscreteMIMO; 
    597    
    598     partial block DiscreteMIMOs  
    599     "Multiple Input Multiple Output discrete control block"  
     597 
     598    partial block DiscreteMIMOs 
     599    "Multiple Input Multiple Output discrete control block" 
    600600      parameter Integer n=1 "Number of inputs (= number of outputs)"; 
    601601      extends DiscreteBlock; 
    602      
    603       Modelica.Blocks.Interfaces.RealInput u[n] "Continuous input signals"  
     602 
     603      Modelica.Blocks.Interfaces.RealInput u[n] "Continuous input signals" 
    604604                                   annotation (extent=[-140, 
    605605              -20; -100, 20]); 
    606       Modelica.Blocks.Interfaces.RealOutput y[n] "Continuous output signals"  
     606      Modelica.Blocks.Interfaces.RealOutput y[n] "Continuous output signals" 
    607607                                    annotation (extent=[100, 
    608608              -10; 120, 10]); 
    609      
     609 
    610610      annotation (Documentation(info="<html> 
    611611<p> 
    … …  
    616616</HTML> 
    617617")); 
    618      
     618 
    619619    end DiscreteMIMOs; 
    620    
    621     partial block SVdiscrete "Discrete Single-Variable controller"  
     620 
     621    partial block SVdiscrete "Discrete Single-Variable controller" 
    622622      extends DiscreteBlock; 
    623      
     623 
    624624      Discrete.Sampler sampler_s( 
    625625        final samplePeriod=samplePeriod, 
    … …  
    629629        final startTime=startTime) annotation (extent=[-10, -100; 10, -80], 
    630630          rotation=90); 
    631       Modelica.Blocks.Interfaces.RealInput u_s  
     631      Modelica.Blocks.Interfaces.RealInput u_s 
    632632      "Continuous scalar setpoint input signal"   annotation (extent=[-140, -20; - 
    633633            100, 20]); 
    634       Modelica.Blocks.Interfaces.RealInput u_m  
     634      Modelica.Blocks.Interfaces.RealInput u_m 
    635635      "Continuous scalar measurement input signal"   annotation (extent=[20, -100; - 
    636636            20, -140], rotation=-90); 
    637       Modelica.Blocks.Interfaces.RealOutput y  
     637      Modelica.Blocks.Interfaces.RealOutput y 
    638638      "Continuous scalar actuator output signal"   annotation (extent=[100, -10; 120, 
    639639              10]); 
    … …  
    656656that are sampled due to the defined <b>samplePeriod</b> parameter. 
    657657The block is designed 
    658 to be used as base class for a corresponding controller.  
    659 </p> 
    660 </html>")); 
    661     equation  
     658to be used as base class for a corresponding controller. 
     659</p> 
     660</html>")); 
     661    equation 
    662662      connect(u_s, sampler_s.u)           annotation (points=[-120, 0; -102, 0]); 
    663663      connect(u_m, sampler_m.u)           annotation (points=[0,-120; 0,-111; 0, 
    664664          -102; -7.34764e-016,-102]); 
    665665    end SVdiscrete; 
    666    
    667     partial block MVdiscrete "Discrete Multi-Variable controller"  
     666 
     667    partial block MVdiscrete "Discrete Multi-Variable controller" 
    668668      extends DiscreteBlock; 
    669669      parameter Integer nu_s=1 "Number of setpoint inputs"; 
    … …  
    672672      Discrete.Sampler sampler_s[nu_s]( 
    673673        each final samplePeriod=samplePeriod, 
    674         each final startTime=startTime)  
     674        each final startTime=startTime) 
    675675                                   annotation (extent=[-90, -10; -70, 10]); 
    676676      Discrete.Sampler sampler_m[nu_m]( 
    677677        each final samplePeriod=samplePeriod, 
    678         each final startTime=startTime)  
     678        each final startTime=startTime) 
    679679                                   annotation (extent=[-10, -90; 10, -70], 
    680680          rotation=90); 
    681       Modelica.Blocks.Interfaces.RealInput u_s[nu_s]  
     681      Modelica.Blocks.Interfaces.RealInput u_s[nu_s] 
    682682      "Continuous setpoint input signals"   annotation (extent=[-140, -20; - 
    683683            100, 20]); 
    684       Modelica.Blocks.Interfaces.RealInput u_m[nu_m]  
     684      Modelica.Blocks.Interfaces.RealInput u_m[nu_m] 
    685685      "Continuous measurement input signals"   annotation (extent=[20, -100; 
    686686            -20, -140], rotation=-90); 
    687       Modelica.Blocks.Interfaces.RealOutput y[ny]  
     687