Merge branch 'main' into bgc/negative_pressure

Author: bradcarman

Project.toml

@@ -1,7 +1,7 @@
 name = "ModelingToolkitStandardLibrary"
 uuid = "16a59e39-deab-5bd0-87e4-056b12336739"
 authors = ["Chris Rackauckas and Julia Computing"]
-version = "1.15.0"
+version = "1.17.0"
 
 [deps]
 IfElse = "615f187c-cbe4-4ef1-ba3b-2fcf58d6d173"

docs/make.jl

@@ -1,4 +1,5 @@
 using Documenter, ModelingToolkitStandardLibrary
+using ModelingToolkit
 using ModelingToolkitStandardLibrary.Blocks
 using ModelingToolkitStandardLibrary.Mechanical
 using ModelingToolkitStandardLibrary.Mechanical.Rotational
@@ -26,7 +27,8 @@ makedocs(sitename = "ModelingToolkitStandardLibrary.jl",
              :doctest,
              :example_block,
          ],
-         modules = [ModelingToolkitStandardLibrary,
+         modules = [ModelingToolkit,
+             ModelingToolkitStandardLibrary,
              ModelingToolkitStandardLibrary.Blocks,
              ModelingToolkitStandardLibrary.Mechanical,
              ModelingToolkitStandardLibrary.Mechanical.Rotational,

docs/src/API/linear_analysis.md

@@ -148,3 +148,7 @@ Pages   = ["Blocks/analysis_points.jl"]
 Order   = [:function, :type]
 Private = false
 ```
+
+```@docs
+ModelingToolkit.linearize
+```

src/Mechanical/Translational/components.jl

@@ -1,3 +1,22 @@
+"""
+    Free(; name)
+
+Use to close a system that has un-connected `MechanicalPort`'s.  
+
+# Connectors:
+
+  - `flange`: 1-dim. translational flange
+"""
+@component function Free(; name)
+    @named flange = MechanicalPort()
+    vars = []
+    eqs = [
+        flange.f ~ 0,
+    ]
+    return compose(ODESystem(eqs, t, vars, []; name, defaults = [flange.v => 0]),
+                   flange)
+end
+
 """
     Fixed(;name)
 

test/Mechanical/translational.jl

@@ -7,6 +7,27 @@ import ModelingToolkitStandardLibrary.Mechanical.TranslationalPosition as TP
 @parameters t
 D = Differential(t)
 
+@testset "Free" begin
+    function System(; name)
+        systems = @named begin
+            mass = TV.Mass(; m = 100, g = -10)
+            free = TV.Free()
+        end
+
+        eqs = [connect(mass.flange, free.flange)]
+
+        ODESystem(eqs, t, [], []; name, systems)
+    end
+
+    @named system = System()
+    s = complete(system)
+    sys = structural_simplify(system)
+    prob = ODEProblem(sys, [], (0, 0.1))
+    sol = solve(prob, Rosenbrock23())
+
+    @test sol[s.mass.flange.v][end]≈-0.1 * 10 atol=1e-3
+end
+
 @testset "spring damper mass fixed" begin
     @named dv = TV.Damper(d = 1, v_a_0 = 1)
     @named dp = TP.Damper(d = 1, v_a_0 = 1, s_a_0 = 3, s_b_0 = 1)

test/multi_domain.jl

@@ -57,22 +57,20 @@ D = Differential(t)
                              ])
     sys = structural_simplify(model)
 
-    @test_broken prob = ODAEProblem(sys, Pair[], (0, 6.0))
-    @test_skip begin
-        sol = solve(prob, Rodas4())
-        @test sol.retcode == Success
-        # EMF equations
-        @test -0.5 .* sol[emf.i] == sol[emf.flange.tau]
-        @test sol[emf.v] == 0.5 .* sol[emf.w]
-        # test steady-state values
-        dc_gain = [f/(k^2 + f * R) k/(k^2 + f * R); k/(k^2 + f * R) -R/(k^2 + f * R)]
-        idx_t = findfirst(sol.t .> 2.5)
-        @test sol[inertia.w][idx_t]≈(dc_gain * [V_step; 0])[2] rtol=1e-3
-        @test sol[emf.i][idx_t]≈(dc_gain * [V_step; 0])[1] rtol=1e-3
-        idx_t = findfirst(sol.t .> 5.5)
-        @test sol[inertia.w][idx_t]≈(dc_gain * [V_step; -tau_L_step])[2] rtol=1e-3
-        @test sol[emf.i][idx_t]≈(dc_gain * [V_step; -tau_L_step])[1] rtol=1e-3
-    end
+    prob = ODEProblem(sys, [], (0, 6.0))
+    sol = solve(prob, Rodas4())
+    @test sol.retcode == Success
+    # EMF equations
+    @test -0.5 .* sol[emf.i] == sol[emf.flange.tau]
+    @test sol[emf.v] == 0.5 .* sol[emf.w]
+    # test steady-state values
+    dc_gain = [f/(k^2 + f * R) k/(k^2 + f * R); k/(k^2 + f * R) -R/(k^2 + f * R)]
+    idx_t = findfirst(sol.t .> 2.5)
+    @test sol[inertia.w][idx_t]≈(dc_gain * [V_step; 0])[2] rtol=1e-3
+    @test sol[emf.i][idx_t]≈(dc_gain * [V_step; 0])[1] rtol=1e-3
+    idx_t = findfirst(sol.t .> 5.5)
+    @test sol[inertia.w][idx_t]≈(dc_gain * [V_step; -tau_L_step])[2] rtol=1e-3
+    @test sol[emf.i][idx_t]≈(dc_gain * [V_step; -tau_L_step])[1] rtol=1e-3
 
     prob = DAEProblem(sys, D.(states(sys)) .=> 0.0, Pair[], (0, 6.0))
     sol = solve(prob, DFBDF())
@@ -144,27 +142,24 @@ end
                              ])
     sys = structural_simplify(model)
 
-    @test_broken prob = ODAEProblem(sys, Pair[], (0, 6.0)) # KeyError: key 17 not found
-    @test_skip begin
-        sol = solve(prob, Rodas4())
-
-        @test sol.retcode == Success
-        # EMF equations
-        @test -0.5 .* sol[emf.i] == sol[emf.flange.tau]
-        @test sol[emf.v] == 0.5 .* sol[emf.w]
-
-        # test steady-state values
-        dc_gain = [f/(k^2 + f * R) k/(k^2 + f * R); k/(k^2 + f * R) -R/(k^2 + f * R)]
-        idx_t = findfirst(sol.t .> 2.5)
-        @test sol[inertia.w][idx_t]≈(dc_gain * [V_step; 0])[2] rtol=1e-3
-        @test sol[emf.i][idx_t]≈(dc_gain * [V_step; 0])[1] rtol=1e-3
-        idx_t = findfirst(sol.t .> 5.5)
-        @test sol[inertia.w][idx_t]≈(dc_gain * [V_step; -tau_L_step])[2] rtol=1e-3
-        @test sol[emf.i][idx_t]≈(dc_gain * [V_step; -tau_L_step])[1] rtol=1e-3
-
-        #
-        @test all(sol[inertia.w] .== sol[speed_sensor.w.u])
-    end
+    prob = ODEProblem(sys, Pair[], (0, 6.0))
+    sol = solve(prob, Rodas4())
+
+    @test sol.retcode == Success
+    # EMF equations
+    @test -0.5 .* sol[emf.i] == sol[emf.flange.tau]
+    @test sol[emf.v] == 0.5 .* sol[emf.w]
+
+    # test steady-state values
+    dc_gain = [f/(k^2 + f * R) k/(k^2 + f * R); k/(k^2 + f * R) -R/(k^2 + f * R)]
+    idx_t = findfirst(sol.t .> 2.5)
+    @test sol[inertia.w][idx_t]≈(dc_gain * [V_step; 0])[2] rtol=1e-3
+    @test sol[emf.i][idx_t]≈(dc_gain * [V_step; 0])[1] rtol=1e-3
+    idx_t = findfirst(sol.t .> 5.5)
+    @test sol[inertia.w][idx_t]≈(dc_gain * [V_step; -tau_L_step])[2] rtol=1e-3
+    @test sol[emf.i][idx_t]≈(dc_gain * [V_step; -tau_L_step])[1] rtol=1e-3
+
+    @test all(sol[inertia.w] .== sol[speed_sensor.w.u])
 
     prob = DAEProblem(sys, D.(states(sys)) .=> 0.0, Pair[], (0, 6.0))
     sol = solve(prob, DFBDF())