refactor: Mechanical/Rotational

Author: ven-k

src/Mechanical/Rotational/components.jl

@@ -16,15 +16,15 @@ Flange fixed in housing at a given angle.
         flange = Flange()
     end
     @parameters begin
-        phi0, [description = "Fixed offset angle of flange"]
+        phi0 = 0.0, [description = "Fixed offset angle of flange"]
     end
     @equations begin
         flange.phi ~ phi0
     end
 end
 
 """
-    Inertia(;name, J, phi_start=0.0, w_start=0.0, a_start=0.0)
+    Inertia(;name, J, phi = 0.0, w = 0.0, a = 0.0)
 
 1D-rotational component with inertia.
 
@@ -46,21 +46,32 @@ end
   - `w_start`: [`rad/s`] Initial value of absolute angular velocity of component
   - `a_start`: [`rad/s²`] Initial value of absolute angular acceleration of component
 """
-@component function Inertia(; name, J, phi_start = 0.0, w_start = 0.0, a_start = 0.0)
-    @named flange_a = Flange()
-    @named flange_b = Flange()
-    @symcheck J > 0 || throw(ArgumentError("Expected `J` to be positive"))
-    @parameters J=J [description = "Moment of inertia of $name"]
-    sts = @variables(phi(t)=phi_start, [description = "Absolute rotation angle of $name"],
-        w(t)=w_start, [description = "Absolute angular velocity of $name"],
-        a(t)=a_start,
-        [description = "Absolute angular acceleration of $name"],)
-    eqs = [phi ~ flange_a.phi
+@mtkmodel Inertia begin
+    @parameters begin
+      J, [description = "Moment of inertia"]
+      phi_start = 0.0
+      w_start = 0.0
+      a_start = 0.0
+    end
+    @components begin
+        flange_a = Flange()
+        flange_b = Flange()
+    end
+    begin
+      @symcheck J > 0 || throw(ArgumentError("Expected `J` to be positive"))
+    end
+    @variables begin
+        phi(t) = phi_start, [description = "Absolute rotation angle"]
+        w(t) = w_start, [description = "Absolute angular velocity"]
+        a(t) = a_start, [description = "Absolute angular acceleration"]
+    end
+    @equations begin
+        phi ~ flange_a.phi
         phi ~ flange_b.phi
         D(phi) ~ w
         D(w) ~ a
-        J * a ~ flange_a.tau + flange_b.tau]
-    return compose(ODESystem(eqs, t, sts, [J]; name = name), flange_a, flange_b)
+        J * a ~ flange_a.tau + flange_b.tau
+    end
 end
 
 """
@@ -83,15 +94,18 @@ Linear 1D rotational spring
   - `c`: [`N.m/rad`] Spring constant
   - `phi_rel0`: [`rad`] Unstretched spring angle
 """
-@component function Spring(; name, c, phi_rel0 = 0.0)
-    @named partial_comp = PartialCompliant()
-    @unpack phi_rel, tau = partial_comp
-    @symcheck c > 0 || throw(ArgumentError("Expected `c` to be positive"))
-    pars = @parameters(c=c, [description = "Spring constant of $name"],
-        phi_rel0=phi_rel0,
-        [description = "Unstretched spring angle of $name"],)
-    eqs = [tau ~ c * (phi_rel - phi_rel0)]
-    extend(ODESystem(eqs, t, [], pars; name = name), partial_comp)
+@mtkmodel Spring begin
+    @extend phi_rel, tau = partial_comp = PartialCompliant()
+    begin
+        @symcheck c > 0 || throw(ArgumentError("Expected `c` to be positive"))
+    end
+    @parameters begin
+        c, [description = "Spring constant"]
+        phi_rel0 = 0.0, [description = "Unstretched spring angle"]
+    end
+    @equations begin
+        tau ~ c * (phi_rel - phi_rel0)
+    end
 end
 
 """
@@ -149,18 +163,22 @@ Linear 1D rotational spring and damper
   - `d`: [`N.m.s/rad`] Damping constant
   - `c`: [`N.m/rad`] Spring constant
 """
-@component function SpringDamper(; name, c, d, phi_rel0 = 0.0)
-    @named partial_comp = PartialCompliantWithRelativeStates()
-    @unpack phi_rel, w_rel, tau = partial_comp
-    @variables tau_c(t) [description = "Spring torque"]
-    @variables tau_d(t) [description = "Damper torque"]
-    @parameters d=d [description = "Damping constant"]
-    @parameters c=c [description = "Spring constant"]
-    @parameters phi_rel0=phi_rel0 [description = "Unstretched spring angle"]
-    eqs = [tau_c ~ c * (phi_rel - phi_rel0)
+@mtkmodel SpringDamper begin
+    @extend phi_rel, w_rel, tau = partial_comp = PartialCompliantWithRelativeStates()
+    @variables begin
+        tau_c(t), [description = "Spring torque"]
+        tau_d(t), [description = "Damper torque"]
+    end
+    @parameters begin
+        d, [description = "Damping constant"]
+        c, [description = "Spring constant"]
+        phi_rel0 = 0.0, [description = "Unstretched spring angle"]
+    end
+    @equations begin
+        tau_c ~ c * (phi_rel - phi_rel0)
         tau_d ~ d * w_rel
-        tau ~ tau_c + tau_d]
-    extend(ODESystem(eqs, t; name = name), partial_comp)
+        tau ~ tau_c + tau_d
+    end
 end
 
 """
@@ -186,18 +204,24 @@ This element characterizes any type of gear box which is fixed in the ground and
   - `ratio`: Transmission ratio (flange_a.phi/flange_b.phi)
   - `use_support`: If support flange enabled, otherwise implicitly grounded
 """
-@component function IdealGear(; name, ratio, use_support = false)
-    @named partial_element = PartialElementaryTwoFlangesAndSupport2(use_support = use_support)
-    @unpack phi_support, flange_a, flange_b = partial_element
-    @parameters ratio=ratio [description = "Transmission ratio of $name"]
-    sts = @variables phi_a(t)=0.0 [
-        description = "Relative angle between shaft a and the support of $name",
-    ] phi_b(t)=0.0 [description = "Relative angle between shaft b and the support of $name"]
-    eqs = [phi_a ~ flange_a.phi - phi_support
+@mtkmodel IdealGear begin#(; name, ratio, use_support = false)
+    @parameters begin
+      use_support
+    end
+    @extend phi_support, flange_a, flange_b = partial_element = PartialElementaryTwoFlangesAndSupport2(use_support = use_support)
+    @parameters begin
+      ratio, [description = "Transmission ratio"]
+    end
+    @variables begin
+        phi_a(t) = 0.0, [description = "Relative angle between shaft a and the support"]
+        phi_b(t) = 0.0, [description = "Relative angle between shaft b and the support"]
+    end
+    @equations begin
+        phi_a ~ flange_a.phi - phi_support
         phi_b ~ flange_b.phi - phi_support
         phi_a ~ ratio * phi_b
-        0 ~ ratio * flange_a.tau + flange_b.tau]
-    extend(ODESystem(eqs, t, sts, [ratio]; name = name), partial_element)
+        0 ~ ratio * flange_a.tau + flange_b.tau
+    end
 end
 
 """
@@ -227,22 +251,22 @@ Friction model: "Armstrong, B. and C.C. de Wit, Friction Modeling and Compensati
   - `w_brk`: [`rad/s`] Breakaway friction velocity
   - `tau_brk`: [`N⋅m`] Breakaway friction torque
 """
-@component function RotationalFriction(; name, f, tau_c, w_brk, tau_brk)
-    @named partial_comp = PartialCompliantWithRelativeStates()
-    @unpack w_rel, tau = partial_comp
-    pars = @parameters(f=f, [description = "Viscous friction coefficient of $name"],
-        tau_c=tau_c, [description = "Coulomb friction torque of $name"],
-        w_brk=w_brk, [description = "Breakaway friction velocity of $name"],
-        tau_brk=tau_brk,
-        [description = "Breakaway friction torque of $name"],)
-
-    str_scale = sqrt(2 * exp(1)) * (tau_brk - tau_c)
-    w_st = w_brk * sqrt(2)
-    w_coul = w_brk / 10
-
-    eqs = [
-        tau ~ str_scale * (exp(-(w_rel / w_st)^2) * w_rel / w_st) +
-              tau_c * tanh(w_rel / w_coul) + f * w_rel, # Stribeck friction + Coulomb friction + Viscous friction
-    ]
-    extend(ODESystem(eqs, t, [], pars; name = name), partial_comp)
+@mtkmodel RotationalFriction begin
+    @extend w_rel, tau = partial_comp = PartialCompliantWithRelativeStates()
+    @parameters begin
+        f=f, [description = "Viscous friction coefficient"]
+        tau_c=tau_c, [description = "Coulomb friction torque"]
+        w_brk=w_brk, [description = "Breakaway friction velocity"]
+        tau_brk=tau_brk, [description = "Breakaway friction torque"]
+    end
+
+    begin
+        str_scale = sqrt(2 * exp(1)) * (tau_brk - tau_c)
+        w_st = w_brk * sqrt(2)
+        w_coul = w_brk / 10
+    end
+    @equations begin
+      tau ~ str_scale * (exp(-(w_rel / w_st)^2) * w_rel / w_st) +
+      tau_c * tanh(w_rel / w_coul) + f * w_rel # Stribeck friction + Coulomb friction + Viscous friction
+    end
 end