DELETED CVSROOT/checkoutlist Index: CVSROOT/checkoutlist ================================================================== --- CVSROOT/checkoutlist +++ /dev/null @@ -1,14 +0,0 @@ -# The "checkoutlist" file is used to support additional version controlled -# administrative files in $CVSROOT/CVSROOT, such as template files. -# -# The first entry on a line is a filename which will be checked out from -# the corresponding RCS file in the $CVSROOT/CVSROOT directory. -# The remainder of the line is an error message to use if the file cannot -# be checked out. -# -# File format: -# -# []

-# -# comment lines begin with '#' -syncmail DELETED CVSROOT/commitinfo Index: CVSROOT/commitinfo ================================================================== --- CVSROOT/commitinfo +++ /dev/null @@ -1,15 +0,0 @@ -# The "commitinfo" file is used to control pre-commit checks. -# The filter on the right is invoked with the repository and a list -# of files to check. A non-zero exit of the filter program will -# cause the commit to be aborted. -# -# The first entry on a line is a regular expression which is tested -# against the directory that the change is being committed to, relative -# to the $CVSROOT. For the first match that is found, then the remainder -# of the line is the name of the filter to run. -# -# If the repository name does not match any of the regular expressions in this -# file, the "DEFAULT" line is used, if it is specified. -# -# If the name "ALL" appears as a regular expression it is always used -# in addition to the first matching regex or "DEFAULT". DELETED CVSROOT/config Index: CVSROOT/config ================================================================== --- CVSROOT/config +++ /dev/null @@ -1,11 +0,0 @@ -# Set this to "no" if pserver shouldn't check system users/passwords -#SystemAuth=no - -# Set `PreservePermissions' to `yes' to save file status information -# in the repository. -#PreservePermissions=no - -# Set `TopLevelAdmin' to `yes' to create a CVS directory at the top -# level of the new working directory when using the `cvs checkout' -# command. -#TopLevelAdmin=no DELETED CVSROOT/cvswrappers Index: CVSROOT/cvswrappers ================================================================== --- CVSROOT/cvswrappers +++ /dev/null @@ -1,23 +0,0 @@ -# This file affects handling of files based on their names. -# -# The -t/-f options allow one to treat directories of files -# as a single file, or to transform a file in other ways on -# its way in and out of CVS. -# -# The -m option specifies whether CVS attempts to merge files. -# -# The -k option specifies keyword expansion (e.g. -kb for binary). -# -# Format of wrapper file ($CVSROOT/CVSROOT/cvswrappers or .cvswrappers) -# -# wildcard [option value][option value]... -# -# where option is one of -# -f from cvs filter value: path to filter -# -t to cvs filter value: path to filter -# -m update methodology value: MERGE or COPY -# -k expansion mode value: b, o, kkv, &c -# -# and value is a single-quote delimited value. -# For example: -#*.gif -k 'b' DELETED CVSROOT/editinfo Index: CVSROOT/editinfo ================================================================== --- CVSROOT/editinfo +++ /dev/null @@ -1,21 +0,0 @@ -# The "editinfo" file is used to allow verification of logging -# information. It works best when a template (as specified in the -# rcsinfo file) is provided for the logging procedure. Given a -# template with locations for, a bug-id number, a list of people who -# reviewed the code before it can be checked in, and an external -# process to catalog the differences that were code reviewed, the -# following test can be applied to the code: -# -# Making sure that the entered bug-id number is correct. -# Validating that the code that was reviewed is indeed the code being -# checked in (using the bug-id number or a seperate review -# number to identify this particular code set.). -# -# If any of the above test failed, then the commit would be aborted. -# -# Actions such as mailing a copy of the report to each reviewer are -# better handled by an entry in the loginfo file. -# -# One thing that should be noted is the the ALL keyword is not -# supported. There can be only one entry that matches a given -# repository. DELETED CVSROOT/loginfo Index: CVSROOT/loginfo ================================================================== --- CVSROOT/loginfo +++ /dev/null @@ -1,30 +0,0 @@ -# The "loginfo" file controls where "cvs commit" log information -# is sent. The first entry on a line is a regular expression which must match -# the directory that the change is being made to, relative to the -# $CVSROOT. If a match is found, then the remainder of the line is a filter -# program that should expect log information on its standard input. -# -# If the repository name does not match any of the regular expressions in this -# file, the "DEFAULT" line is used, if it is specified. -# -# If the name ALL appears as a regular expression it is always used -# in addition to the first matching regex or DEFAULT. -# -# You may specify a format string as part of the -# filter. The string is composed of a `%' followed -# by a single format character, or followed by a set of format -# characters surrounded by `{' and `}' as separators. The format -# characters are: -# -# s = file name -# V = old version number (pre-checkin) -# v = new version number (post-checkin) -# -# For example: -#DEFAULT (echo ""; id; echo %s; date; cat) >> $CVSROOT/CVSROOT/commitlog -# or -#DEFAULT (echo ""; id; echo %{sVv}; date; cat) >> $CVSROOT/CVSROOT/commitlog - -# Lines to mail changes -CVSROOT $CVSROOT/CVSROOT/syncmail %{sVv} gawthrop@users.sourceforge.net -DEFAULT $CVSROOT/CVSROOT/syncmail %{sVv} mtt-checkins@lists.sourceforge.net DELETED CVSROOT/modules Index: CVSROOT/modules ================================================================== --- CVSROOT/modules +++ /dev/null @@ -1,26 +0,0 @@ -# Three different line formats are valid: -# key -a aliases... -# key [options] directory -# key [options] directory files... -# -# Where "options" are composed of: -# -i prog Run "prog" on "cvs commit" from top-level of module. -# -o prog Run "prog" on "cvs checkout" of module. -# -e prog Run "prog" on "cvs export" of module. -# -t prog Run "prog" on "cvs rtag" of module. -# -u prog Run "prog" on "cvs update" of module. -# -d dir Place module in directory "dir" instead of module name. -# -l Top-level directory only -- do not recurse. -# -# NOTE: If you change any of the "Run" options above, you'll have to -# release and re-checkout any working directories of these modules. -# -# And "directory" is a path to a directory relative to $CVSROOT. -# -# The "-a" option specifies an alias. An alias is interpreted as if -# everything on the right of the "-a" had been typed on the command line. -# -# You can encode a module within a module by using the special '&' -# character to interpose another module into the current module. This -# can be useful for creating a module that consists of many directories -# spread out over the entire source repository. DELETED CVSROOT/notify Index: CVSROOT/notify ================================================================== --- CVSROOT/notify +++ /dev/null @@ -1,12 +0,0 @@ -# The "notify" file controls where notifications from watches set by -# "cvs watch add" or "cvs edit" are sent. The first entry on a line is -# a regular expression which is tested against the directory that the -# change is being made to, relative to the $CVSROOT. If it matches, -# then the remainder of the line is a filter program that should contain -# one occurrence of %s for the user to notify, and information on its -# standard input. -# -# "ALL" or "DEFAULT" can be used in place of the regular expression. -# -# For example: -#ALL mail %s -s "CVS notification" DELETED CVSROOT/rcsinfo Index: CVSROOT/rcsinfo ================================================================== --- CVSROOT/rcsinfo +++ /dev/null @@ -1,13 +0,0 @@ -# The "rcsinfo" file is used to control templates with which the editor -# is invoked on commit and import. -# -# The first entry on a line is a regular expression which is tested -# against the directory that the change is being made to, relative to the -# $CVSROOT. For the first match that is found, then the remainder of the -# line is the name of the file that contains the template. -# -# If the repository name does not match any of the regular expressions in this -# file, the "DEFAULT" line is used, if it is specified. -# -# If the name "ALL" appears as a regular expression it is always used -# in addition to the first matching regex or "DEFAULT". DELETED CVSROOT/syncmail Index: CVSROOT/syncmail ================================================================== --- CVSROOT/syncmail +++ /dev/null @@ -1,287 +0,0 @@ -#! /usr/bin/python - -# NOTE: Until SourceForge installs a modern version of Python on the cvs -# servers, this script MUST be compatible with Python 1.5.2. - -"""Complicated notification for CVS checkins. - -This script is used to provide email notifications of changes to the CVS -repository. These email changes will include context diffs of the changes. -Really big diffs will be trimmed. - -This script is run from a CVS loginfo file (see $CVSROOT/CVSROOT/loginfo). To -set this up, create a loginfo entry that looks something like this: - - mymodule /path/to/this/script %%s some-email-addr@your.domain - -In this example, whenever a checkin that matches `mymodule' is made, this -script is invoked, which will generate the diff containing email, and send it -to some-email-addr@your.domain. - - Note: This module used to also do repository synchronizations via - rsync-over-ssh, but since the repository has been moved to SourceForge, - this is no longer necessary. The syncing functionality has been ripped - out in the 3.0, which simplifies it considerably. Access the 2.x versions - to refer to this functionality. Because of this, the script is misnamed. - -It no longer makes sense to run this script from the command line. Doing so -will only print out this usage information. - -Usage: - - %(PROGRAM)s [options] <%%S> email-addr [email-addr ...] - -Where options is: - - --cvsroot= - Use as the environment variable CVSROOT. Otherwise this - variable must exist in the environment. - - --help / -h - Print this text. - - --context=# - -C # - Include # lines of context around lines that differ (default: 2). - - -c - Produce a context diff (default). - - -u - Produce a unified diff (smaller). - - --quiet/-q - Don't print as much status to stdout. - - <%%S> - CVS %%s loginfo expansion. When invoked by CVS, this will be a single - string containing the directory the checkin is being made in, relative - to $CVSROOT, followed by the list of files that are changing. If the - %%s in the loginfo file is %%{sVv}, context diffs for each of the - modified files are included in any email messages that are generated. - - email-addrs - At least one email address. -""" -import os -import sys -import time -import string -import getopt -import smtplib -import pwd -import socket - -from cStringIO import StringIO - -# Which SMTP server to do we connect to? Empty string means localhost. -MAILHOST = '' -MAILPORT = 25 - -# Diff trimming stuff -DIFF_HEAD_LINES = 20 -DIFF_TAIL_LINES = 20 -DIFF_TRUNCATE_IF_LARGER = 1000 - -EMPTYSTRING = '' -SPACE = ' ' -DOT = '.' -COMMASPACE = ', ' - -PROGRAM = sys.argv[0] - -BINARY_EXPLANATION_LINES = [ - "(This appears to be a binary file; contents omitted.)\n" - ] - - -def usage(code, msg=''): - print __doc__ % globals() - if msg: - print msg - sys.exit(code) - - - -def calculate_diff(filespec, contextlines): - try: - file, oldrev, newrev = string.split(filespec, ',') - except ValueError: - # No diff to report - return '***** Bogus filespec: %s' % filespec - if oldrev == 'NONE': - try: - if os.path.exists(file): - fp = open(file) - else: - update_cmd = 'cvs -fn update -r %s -p %s' % (newrev, file) - fp = os.popen(update_cmd) - lines = fp.readlines() - fp.close() - # Is this a binary file? Let's look at the first few - # lines to figure it out: - for line in lines[:5]: - for c in string.rstrip(line): - if c in string.whitespace: - continue - if c < ' ' or c > chr(127): - lines = BINARY_EXPLANATION_LINES[:] - break - lines.insert(0, '--- NEW FILE: %s ---\n' % file) - except IOError, e: - lines = ['***** Error reading new file: ', - str(e), '\n***** file: ', file, ' cwd: ', os.getcwd()] - elif newrev == 'NONE': - lines = ['--- %s DELETED ---\n' % file] - else: - # This /has/ to happen in the background, otherwise we'll run into CVS - # lock contention. What a crock. - if contextlines > 0: - difftype = "-C " + str(contextlines) - else: - difftype = "-u" - diffcmd = "/usr/bin/cvs -f diff -kk %s --minimal -r %s -r %s '%s'" % ( - difftype, oldrev, newrev, file) - fp = os.popen(diffcmd) - lines = fp.readlines() - sts = fp.close() - # ignore the error code, it always seems to be 1 :( -## if sts: -## return 'Error code %d occurred during diff\n' % (sts >> 8) - if len(lines) > DIFF_TRUNCATE_IF_LARGER: - removedlines = len(lines) - DIFF_HEAD_LINES - DIFF_TAIL_LINES - del lines[DIFF_HEAD_LINES:-DIFF_TAIL_LINES] - lines.insert(DIFF_HEAD_LINES, - '[...%d lines suppressed...]\n' % removedlines) - return string.join(lines, '') - - - -def getdomain(): - try: - fqdn = socket.getfqdn() - except AttributeError: - # Python 1.5.2 :( - hostname = socket.gethostname() - byaddr = socket.gethostbyaddr(socket.gethostbyname(hostname)) - aliases = byaddr[1] - aliases.insert(0, byaddr[0]) - aliases.insert(0, hostname) - for fqdn in aliases: - if '.' in fqdn: - break - else: - fqdn = 'localhost.localdomain' - parts = string.split(fqdn, DOT) - return string.join(parts[1:], DOT) - - - -def blast_mail(subject, people, filestodiff, contextlines): - # cannot wait for child process or that will cause parent to retain cvs - # lock for too long. Urg! - if not os.fork(): - # in the child - # give up the lock you cvs thang! - time.sleep(2) - # Create the smtp connection to the localhost - conn = smtplib.SMTP() - conn.connect(MAILHOST, MAILPORT) - user = pwd.getpwuid(os.getuid())[0] - domain = getdomain() - author = '%s@%s' % (user, domain) - s = StringIO() - sys.stdout = s - try: - print '''\ -From: %(author)s -To: %(people)s -Subject: %(subject)s -''' % {'author' : author, - 'people' : string.join(people, COMMASPACE), - 'subject': subject, - } - s.write(sys.stdin.read()) - # append the diffs if available - print - for file in filestodiff: - print calculate_diff(file, contextlines) - finally: - sys.stdout = sys.__stdout__ - resp = conn.sendmail(author, people, s.getvalue()) - conn.close() - os._exit(0) - - - -# scan args for options -def main(): - try: - opts, args = getopt.getopt(sys.argv[1:], 'hC:cuq', - ['context=', 'cvsroot=', 'help', 'quiet']) - except getopt.error, msg: - usage(1, msg) - - # parse the options - contextlines = 2 - verbose = 1 - for opt, arg in opts: - if opt in ('-h', '--help'): - usage(0) - elif opt == '--cvsroot': - os.environ['CVSROOT'] = arg - elif opt in ('-C', '--context'): - contextlines = int(arg) - elif opt == '-c': - if contextlines <= 0: - contextlines = 2 - elif opt == '-u': - contextlines = 0 - elif opt in ('-q', '--quiet'): - verbose = 0 - - # What follows is the specification containing the files that were - # modified. The argument actually must be split, with the first component - # containing the directory the checkin is being made in, relative to - # $CVSROOT, followed by the list of files that are changing. - if not args: - usage(1, 'No CVS module specified') - subject = args[0] - specs = string.split(args[0]) - del args[0] - - # The remaining args should be the email addresses - if not args: - usage(1, 'No recipients specified') - - # Now do the mail command - people = args - - if verbose: - print 'Mailing %s...' % string.join(people, COMMASPACE) - - if specs == ['-', 'Imported', 'sources']: - return - if specs[-3:] == ['-', 'New', 'directory']: - del specs[-3:] - elif len(specs) > 2: - L = specs[:2] - for s in specs[2:]: - prev = L[-1] - if string.count(prev, ',') < 2: - L[-1] = "%s %s" % (prev, s) - else: - L.append(s) - specs = L - - if verbose: - print 'Generating notification message...' - blast_mail(subject, people, specs[1:], contextlines) - if verbose: - print 'Generating notification message... done.' - - - -if __name__ == '__main__': - main() - sys.exit(0) DELETED CVSROOT/taginfo Index: CVSROOT/taginfo ================================================================== --- CVSROOT/taginfo +++ /dev/null @@ -1,20 +0,0 @@ -# The "taginfo" file is used to control pre-tag checks. -# The filter on the right is invoked with the following arguments: -# -# $1 -- tagname -# $2 -- operation "add" for tag, "mov" for tag -F, and "del" for tag -d -# $3 -- repository -# $4-> file revision [file revision ...] -# -# A non-zero exit of the filter program will cause the tag to be aborted. -# -# The first entry on a line is a regular expression which is tested -# against the directory that the change is being committed to, relative -# to the $CVSROOT. For the first match that is found, then the remainder -# of the line is the name of the filter to run. -# -# If the repository name does not match any of the regular expressions in this -# file, the "DEFAULT" line is used, if it is specified. -# -# If the name "ALL" appears as a regular expression it is always used -# in addition to the first matching regex or "DEFAULT". DELETED CVSROOT/verifymsg Index: CVSROOT/verifymsg ================================================================== --- CVSROOT/verifymsg +++ /dev/null @@ -1,21 +0,0 @@ -# The "verifymsg" file is used to allow verification of logging -# information. It works best when a template (as specified in the -# rcsinfo file) is provided for the logging procedure. Given a -# template with locations for, a bug-id number, a list of people who -# reviewed the code before it can be checked in, and an external -# process to catalog the differences that were code reviewed, the -# following test can be applied to the code: -# -# Making sure that the entered bug-id number is correct. -# Validating that the code that was reviewed is indeed the code being -# checked in (using the bug-id number or a seperate review -# number to identify this particular code set.). -# -# If any of the above test failed, then the commit would be aborted. -# -# Actions such as mailing a copy of the report to each reviewer are -# better handled by an entry in the loginfo file. -# -# One thing that should be noted is the the ALL keyword is not -# supported. There can be only one entry that matches a given -# repository. DELETED mttroot/CVSROOT/checkoutlist Index: mttroot/CVSROOT/checkoutlist ================================================================== --- mttroot/CVSROOT/checkoutlist +++ /dev/null @@ -1,14 +0,0 @@ -# The "checkoutlist" file is used to support additional version controlled -# administrative files in $CVSROOT/CVSROOT, such as template files. -# -# The first entry on a line is a filename which will be checked out from -# the corresponding RCS file in the $CVSROOT/CVSROOT directory. -# The remainder of the line is an error message to use if the file cannot -# be checked out. -# -# File format: -# -# []

-# -# comment lines begin with '#' -syncmail DELETED mttroot/CVSROOT/commitinfo Index: mttroot/CVSROOT/commitinfo ================================================================== --- mttroot/CVSROOT/commitinfo +++ /dev/null @@ -1,15 +0,0 @@ -# The "commitinfo" file is used to control pre-commit checks. -# The filter on the right is invoked with the repository and a list -# of files to check. A non-zero exit of the filter program will -# cause the commit to be aborted. -# -# The first entry on a line is a regular expression which is tested -# against the directory that the change is being committed to, relative -# to the $CVSROOT. For the first match that is found, then the remainder -# of the line is the name of the filter to run. -# -# If the repository name does not match any of the regular expressions in this -# file, the "DEFAULT" line is used, if it is specified. -# -# If the name "ALL" appears as a regular expression it is always used -# in addition to the first matching regex or "DEFAULT". DELETED mttroot/CVSROOT/config Index: mttroot/CVSROOT/config ================================================================== --- mttroot/CVSROOT/config +++ /dev/null @@ -1,11 +0,0 @@ -# Set this to "no" if pserver shouldn't check system users/passwords -#SystemAuth=no - -# Set `PreservePermissions' to `yes' to save file status information -# in the repository. -#PreservePermissions=no - -# Set `TopLevelAdmin' to `yes' to create a CVS directory at the top -# level of the new working directory when using the `cvs checkout' -# command. -#TopLevelAdmin=no DELETED mttroot/CVSROOT/cvswrappers Index: mttroot/CVSROOT/cvswrappers ================================================================== --- mttroot/CVSROOT/cvswrappers +++ /dev/null @@ -1,23 +0,0 @@ -# This file affects handling of files based on their names. -# -# The -t/-f options allow one to treat directories of files -# as a single file, or to transform a file in other ways on -# its way in and out of CVS. -# -# The -m option specifies whether CVS attempts to merge files. -# -# The -k option specifies keyword expansion (e.g. -kb for binary). -# -# Format of wrapper file ($CVSROOT/CVSROOT/cvswrappers or .cvswrappers) -# -# wildcard [option value][option value]... -# -# where option is one of -# -f from cvs filter value: path to filter -# -t to cvs filter value: path to filter -# -m update methodology value: MERGE or COPY -# -k expansion mode value: b, o, kkv, &c -# -# and value is a single-quote delimited value. -# For example: -#*.gif -k 'b' DELETED mttroot/CVSROOT/editinfo Index: mttroot/CVSROOT/editinfo ================================================================== --- mttroot/CVSROOT/editinfo +++ /dev/null @@ -1,21 +0,0 @@ -# The "editinfo" file is used to allow verification of logging -# information. It works best when a template (as specified in the -# rcsinfo file) is provided for the logging procedure. Given a -# template with locations for, a bug-id number, a list of people who -# reviewed the code before it can be checked in, and an external -# process to catalog the differences that were code reviewed, the -# following test can be applied to the code: -# -# Making sure that the entered bug-id number is correct. -# Validating that the code that was reviewed is indeed the code being -# checked in (using the bug-id number or a seperate review -# number to identify this particular code set.). -# -# If any of the above test failed, then the commit would be aborted. -# -# Actions such as mailing a copy of the report to each reviewer are -# better handled by an entry in the loginfo file. -# -# One thing that should be noted is the the ALL keyword is not -# supported. There can be only one entry that matches a given -# repository. DELETED mttroot/CVSROOT/loginfo Index: mttroot/CVSROOT/loginfo ================================================================== --- mttroot/CVSROOT/loginfo +++ /dev/null @@ -1,31 +0,0 @@ -# The "loginfo" file controls where "cvs commit" log information -# is sent. The first entry on a line is a regular expression which must match -# the directory that the change is being made to, relative to the -# $CVSROOT. If a match is found, then the remainder of the line is a filter -# program that should expect log information on its standard input. -# -# If the repository name does not match any of the regular expressions in this -# file, the "DEFAULT" line is used, if it is specified. -# -# If the name ALL appears as a regular expression it is always used -# in addition to the first matching regex or DEFAULT. -# -# You may specify a format string as part of the -# filter. The string is composed of a `%' followed -# by a single format character, or followed by a set of format -# characters surrounded by `{' and `}' as separators. The format -# characters are: -# -# s = file name -# V = old version number (pre-checkin) -# v = new version number (post-checkin) -# -# For example: -#DEFAULT (echo ""; id; echo %s; date; cat) >> $CVSROOT/CVSROOT/commitlog -# or -#DEFAULT (echo ""; id; echo %{sVv}; date; cat) >> $CVSROOT/CVSROOT/commitlog - -# Lines to mail changes -CVSROOT $CVSROOT/CVSROOT/syncmail %{sVv} mtt@gawthrop.net -DEFAULT $CVSROOT/CVSROOT/syncmail %{sVv} mtt-cvs@lists.sourceforge.net - DELETED mttroot/CVSROOT/modules Index: mttroot/CVSROOT/modules ================================================================== --- mttroot/CVSROOT/modules +++ /dev/null @@ -1,26 +0,0 @@ -# Three different line formats are valid: -# key -a aliases... -# key [options] directory -# key [options] directory files... -# -# Where "options" are composed of: -# -i prog Run "prog" on "cvs commit" from top-level of module. -# -o prog Run "prog" on "cvs checkout" of module. -# -e prog Run "prog" on "cvs export" of module. -# -t prog Run "prog" on "cvs rtag" of module. -# -u prog Run "prog" on "cvs update" of module. -# -d dir Place module in directory "dir" instead of module name. -# -l Top-level directory only -- do not recurse. -# -# NOTE: If you change any of the "Run" options above, you'll have to -# release and re-checkout any working directories of these modules. -# -# And "directory" is a path to a directory relative to $CVSROOT. -# -# The "-a" option specifies an alias. An alias is interpreted as if -# everything on the right of the "-a" had been typed on the command line. -# -# You can encode a module within a module by using the special '&' -# character to interpose another module into the current module. This -# can be useful for creating a module that consists of many directories -# spread out over the entire source repository. DELETED mttroot/CVSROOT/notify Index: mttroot/CVSROOT/notify ================================================================== --- mttroot/CVSROOT/notify +++ /dev/null @@ -1,12 +0,0 @@ -# The "notify" file controls where notifications from watches set by -# "cvs watch add" or "cvs edit" are sent. The first entry on a line is -# a regular expression which is tested against the directory that the -# change is being made to, relative to the $CVSROOT. If it matches, -# then the remainder of the line is a filter program that should contain -# one occurrence of %s for the user to notify, and information on its -# standard input. -# -# "ALL" or "DEFAULT" can be used in place of the regular expression. -# -# For example: -#ALL mail %s -s "CVS notification" DELETED mttroot/CVSROOT/rcsinfo Index: mttroot/CVSROOT/rcsinfo ================================================================== --- mttroot/CVSROOT/rcsinfo +++ /dev/null @@ -1,13 +0,0 @@ -# The "rcsinfo" file is used to control templates with which the editor -# is invoked on commit and import. -# -# The first entry on a line is a regular expression which is tested -# against the directory that the change is being made to, relative to the -# $CVSROOT. For the first match that is found, then the remainder of the -# line is the name of the file that contains the template. -# -# If the repository name does not match any of the regular expressions in this -# file, the "DEFAULT" line is used, if it is specified. -# -# If the name "ALL" appears as a regular expression it is always used -# in addition to the first matching regex or "DEFAULT". DELETED mttroot/CVSROOT/syncmail Index: mttroot/CVSROOT/syncmail ================================================================== --- mttroot/CVSROOT/syncmail +++ /dev/null @@ -1,287 +0,0 @@ -#! /usr/bin/python - -# NOTE: Until SourceForge installs a modern version of Python on the cvs -# servers, this script MUST be compatible with Python 1.5.2. - -"""Complicated notification for CVS checkins. - -This script is used to provide email notifications of changes to the CVS -repository. These email changes will include context diffs of the changes. -Really big diffs will be trimmed. - -This script is run from a CVS loginfo file (see $CVSROOT/CVSROOT/loginfo). To -set this up, create a loginfo entry that looks something like this: - - mymodule /path/to/this/script %%s some-email-addr@your.domain - -In this example, whenever a checkin that matches `mymodule' is made, this -script is invoked, which will generate the diff containing email, and send it -to some-email-addr@your.domain. - - Note: This module used to also do repository synchronizations via - rsync-over-ssh, but since the repository has been moved to SourceForge, - this is no longer necessary. The syncing functionality has been ripped - out in the 3.0, which simplifies it considerably. Access the 2.x versions - to refer to this functionality. Because of this, the script is misnamed. - -It no longer makes sense to run this script from the command line. Doing so -will only print out this usage information. - -Usage: - - %(PROGRAM)s [options] <%%S> email-addr [email-addr ...] - -Where options is: - - --cvsroot= - Use as the environment variable CVSROOT. Otherwise this - variable must exist in the environment. - - --help / -h - Print this text. - - --context=# - -C # - Include # lines of context around lines that differ (default: 2). - - -c - Produce a context diff (default). - - -u - Produce a unified diff (smaller). - - --quiet/-q - Don't print as much status to stdout. - - <%%S> - CVS %%s loginfo expansion. When invoked by CVS, this will be a single - string containing the directory the checkin is being made in, relative - to $CVSROOT, followed by the list of files that are changing. If the - %%s in the loginfo file is %%{sVv}, context diffs for each of the - modified files are included in any email messages that are generated. - - email-addrs - At least one email address. -""" -import os -import sys -import time -import string -import getopt -import smtplib -import pwd -import socket - -from cStringIO import StringIO - -# Which SMTP server to do we connect to? Empty string means localhost. -MAILHOST = '' -MAILPORT = 25 - -# Diff trimming stuff -DIFF_HEAD_LINES = 20 -DIFF_TAIL_LINES = 20 -DIFF_TRUNCATE_IF_LARGER = 1000 - -EMPTYSTRING = '' -SPACE = ' ' -DOT = '.' -COMMASPACE = ', ' - -PROGRAM = sys.argv[0] - -BINARY_EXPLANATION_LINES = [ - "(This appears to be a binary file; contents omitted.)\n" - ] - - -def usage(code, msg=''): - print __doc__ % globals() - if msg: - print msg - sys.exit(code) - - - -def calculate_diff(filespec, contextlines): - try: - file, oldrev, newrev = string.split(filespec, ',') - except ValueError: - # No diff to report - return '***** Bogus filespec: %s' % filespec - if oldrev == 'NONE': - try: - if os.path.exists(file): - fp = open(file) - else: - update_cmd = 'cvs -fn update -r %s -p %s' % (newrev, file) - fp = os.popen(update_cmd) - lines = fp.readlines() - fp.close() - # Is this a binary file? Let's look at the first few - # lines to figure it out: - for line in lines[:5]: - for c in string.rstrip(line): - if c in string.whitespace: - continue - if c < ' ' or c > chr(127): - lines = BINARY_EXPLANATION_LINES[:] - break - lines.insert(0, '--- NEW FILE: %s ---\n' % file) - except IOError, e: - lines = ['***** Error reading new file: ', - str(e), '\n***** file: ', file, ' cwd: ', os.getcwd()] - elif newrev == 'NONE': - lines = ['--- %s DELETED ---\n' % file] - else: - # This /has/ to happen in the background, otherwise we'll run into CVS - # lock contention. What a crock. - if contextlines > 0: - difftype = "-C " + str(contextlines) - else: - difftype = "-u" - diffcmd = "/usr/bin/cvs -f diff -kk %s --minimal -r %s -r %s '%s'" % ( - difftype, oldrev, newrev, file) - fp = os.popen(diffcmd) - lines = fp.readlines() - sts = fp.close() - # ignore the error code, it always seems to be 1 :( -## if sts: -## return 'Error code %d occurred during diff\n' % (sts >> 8) - if len(lines) > DIFF_TRUNCATE_IF_LARGER: - removedlines = len(lines) - DIFF_HEAD_LINES - DIFF_TAIL_LINES - del lines[DIFF_HEAD_LINES:-DIFF_TAIL_LINES] - lines.insert(DIFF_HEAD_LINES, - '[...%d lines suppressed...]\n' % removedlines) - return string.join(lines, '') - - - -def getdomain(): - try: - fqdn = socket.getfqdn() - except AttributeError: - # Python 1.5.2 :( - hostname = socket.gethostname() - byaddr = socket.gethostbyaddr(socket.gethostbyname(hostname)) - aliases = byaddr[1] - aliases.insert(0, byaddr[0]) - aliases.insert(0, hostname) - for fqdn in aliases: - if '.' in fqdn: - break - else: - fqdn = 'localhost.localdomain' - parts = string.split(fqdn, DOT) - return string.join(parts[1:], DOT) - - - -def blast_mail(subject, people, filestodiff, contextlines): - # cannot wait for child process or that will cause parent to retain cvs - # lock for too long. Urg! - if not os.fork(): - # in the child - # give up the lock you cvs thang! - time.sleep(2) - # Create the smtp connection to the localhost - conn = smtplib.SMTP() - conn.connect(MAILHOST, MAILPORT) - user = pwd.getpwuid(os.getuid())[0] - domain = getdomain() - author = '%s@%s' % (user, domain) - s = StringIO() - sys.stdout = s - try: - print '''\ -From: %(author)s -To: %(people)s -Subject: %(subject)s -''' % {'author' : author, - 'people' : string.join(people, COMMASPACE), - 'subject': subject, - } - s.write(sys.stdin.read()) - # append the diffs if available - print - for file in filestodiff: - print calculate_diff(file, contextlines) - finally: - sys.stdout = sys.__stdout__ - resp = conn.sendmail(author, people, s.getvalue()) - conn.close() - os._exit(0) - - - -# scan args for options -def main(): - try: - opts, args = getopt.getopt(sys.argv[1:], 'hC:cuq', - ['context=', 'cvsroot=', 'help', 'quiet']) - except getopt.error, msg: - usage(1, msg) - - # parse the options - contextlines = 2 - verbose = 1 - for opt, arg in opts: - if opt in ('-h', '--help'): - usage(0) - elif opt == '--cvsroot': - os.environ['CVSROOT'] = arg - elif opt in ('-C', '--context'): - contextlines = int(arg) - elif opt == '-c': - if contextlines <= 0: - contextlines = 2 - elif opt == '-u': - contextlines = 0 - elif opt in ('-q', '--quiet'): - verbose = 0 - - # What follows is the specification containing the files that were - # modified. The argument actually must be split, with the first component - # containing the directory the checkin is being made in, relative to - # $CVSROOT, followed by the list of files that are changing. - if not args: - usage(1, 'No CVS module specified') - subject = args[0] - specs = string.split(args[0]) - del args[0] - - # The remaining args should be the email addresses - if not args: - usage(1, 'No recipients specified') - - # Now do the mail command - people = args - - if verbose: - print 'Mailing %s...' % string.join(people, COMMASPACE) - - if specs == ['-', 'Imported', 'sources']: - return - if specs[-3:] == ['-', 'New', 'directory']: - del specs[-3:] - elif len(specs) > 2: - L = specs[:2] - for s in specs[2:]: - prev = L[-1] - if string.count(prev, ',') < 2: - L[-1] = "%s %s" % (prev, s) - else: - L.append(s) - specs = L - - if verbose: - print 'Generating notification message...' - blast_mail(subject, people, specs[1:], contextlines) - if verbose: - print 'Generating notification message... done.' - - - -if __name__ == '__main__': - main() - sys.exit(0) DELETED mttroot/CVSROOT/taginfo Index: mttroot/CVSROOT/taginfo ================================================================== --- mttroot/CVSROOT/taginfo +++ /dev/null @@ -1,20 +0,0 @@ -# The "taginfo" file is used to control pre-tag checks. -# The filter on the right is invoked with the following arguments: -# -# $1 -- tagname -# $2 -- operation "add" for tag, "mov" for tag -F, and "del" for tag -d -# $3 -- repository -# $4-> file revision [file revision ...] -# -# A non-zero exit of the filter program will cause the tag to be aborted. -# -# The first entry on a line is a regular expression which is tested -# against the directory that the change is being committed to, relative -# to the $CVSROOT. For the first match that is found, then the remainder -# of the line is the name of the filter to run. -# -# If the repository name does not match any of the regular expressions in this -# file, the "DEFAULT" line is used, if it is specified. -# -# If the name "ALL" appears as a regular expression it is always used -# in addition to the first matching regex or "DEFAULT". DELETED mttroot/CVSROOT/verifymsg Index: mttroot/CVSROOT/verifymsg ================================================================== --- mttroot/CVSROOT/verifymsg +++ /dev/null @@ -1,21 +0,0 @@ -# The "verifymsg" file is used to allow verification of logging -# information. It works best when a template (as specified in the -# rcsinfo file) is provided for the logging procedure. Given a -# template with locations for, a bug-id number, a list of people who -# reviewed the code before it can be checked in, and an external -# process to catalog the differences that were code reviewed, the -# following test can be applied to the code: -# -# Making sure that the entered bug-id number is correct. -# Validating that the code that was reviewed is indeed the code being -# checked in (using the bug-id number or a seperate review -# number to identify this particular code set.). -# -# If any of the above test failed, then the commit would be aborted. -# -# Actions such as mailing a copy of the report to each reviewer are -# better handled by an entry in the loginfo file. -# -# One thing that should be noted is the the ALL keyword is not -# supported. There can be only one entry that matches a given -# repository. DELETED mttroot/mtt/bin/check_integration Index: mttroot/mtt/bin/check_integration ================================================================== --- mttroot/mtt/bin/check_integration +++ /dev/null @@ -1,17 +0,0 @@ -#!/bin/sh - -## Check if obsolete method of specifiying integration method in use. -if [ -f "$1_simpar.txt" ]; then - method_line=`grep -i METHOD $1_simpar.txt` - if [ -n "`echo $method_line | grep -i euler`" ]; then - echo "$1_simpar.txt contains Euler method - please use mtt -i euler in future" - mtt_switches="$mtt_switches -i euler"; - elif [ -n "`echo $method_line | grep -i implicit`" ]; then - echo "$1_simpar.txt contains Implicit method - please use mtt -i implicit in future" - mtt_switches="$mtt_switches -i implicit"; - fi -fi - -echo Invoking mtt $mtt_switches $1 $2 $3 $4 - -mtt $mtt_switches $1 $2 $3 $4 DELETED mttroot/mtt/bin/mtt Index: mttroot/mtt/bin/mtt ================================================================== --- mttroot/mtt/bin/mtt +++ /dev/null @@ -1,3395 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: mtt -# This is the main shell script for MTT - -# P.J.Gawthrop Oct 1989, Dec 1989, 1990, 1991, Oct 1993, Dec 1993, Jan 1994, Dec 95, Nov 1996. -# Copyright (c) P.J.Gawthrop, 1989, 1990, 1991, 1993, 1994, 1995, 1996, 1997,1998,1999 -# Copyright (C) 2000 by Peter J. Gawthrop -# Copyright (C) 2001 by Peter J. Gawthrop - -############################################################### -## Version control history -############################################################### -## $Header$ -## $Log$ -## Revision 1.330 2002/04/17 10:03:12 geraint -## Marked .sg as a major representation. -## -## Revision 1.329 2002/04/16 14:58:00 gawthrop -## mtt copy does NOT now copy the CVS directory -## $directory --> ${directory} (just to be tidy) -## -## Revision 1.328 2002/02/19 16:27:05 geraint -## Changes to make MTT work out of the box with Debian. -## -## Revision 1.327 2001/11/15 02:56:17 geraint -## Added DASSL as an option for solution of algebraic equations (-ae dassl). -## Requires octave-2.1.35. -## -## Revision 1.326 2001/10/26 01:01:47 geraint -## fixcc when rdae_is_dae (-cr). -## -## Revision 1.325 2001/10/11 03:15:55 geraint -## Fixed make dependencies for c++ simulation code -## - re-simulation no longer required for different output format. -## -## Revision 1.324 2001/10/05 23:39:43 geraint -## Made odes.dat2 .PRECIOUS to prevent deletion when simulation receives ^C. -## -## Revision 1.323 2001/08/08 02:14:59 geraint -## Rationalisation of solver code, beginning with algebraic solvers. -## -## Revision 1.322 2001/08/01 04:06:07 geraint -## Added -i dassl for -cc and -oct. -## -## Revision 1.321 2001/07/27 23:43:34 geraint -## Added -cc to usage options (required for use with xmtt). -## -## Revision 1.320 2001/07/27 23:38:38 geraint -## Changed comment below (# SUMMARY) - fixes xmtt. -## -## Revision 1.319 2001/07/27 23:29:10 geraint -## *** empty log message *** -## -## Revision 1.318 2001/07/24 04:17:30 gawthrop -## Removed all " from # SUMMARY lines - messes up xmtt -## -## Revision 1.317 2001/07/24 00:55:17 gawthrop -## Resolved clashes -- marked with ## >>> -## -## Revision 1.316 2001/07/22 19:24:03 geraint -## Multiple '-v' increases verbosity. -## -## Revision 1.315 2001/07/13 04:54:04 geraint -## Branch merge: numerical-algebraic-solution back to main. -## -## Revision 1.314 2001/07/13 04:19:03 gawthrop -## Now loads _subs.r with _cr.r file when using -cr option -## -## Revision 1.313 2001/06/13 14:53:59 gawthrop -## MTT now gas the double-colon option in the abg.fig file -## eg R:r:a^2+3*b -## -## Revision 1.312 2001/06/11 19:43:49 gawthrop -## MTT is now much more sophisticated in generating lbl files -## Labels can contain maths -## Repetative components are now broken -## -## Revision 1.311 2001/05/26 18:36:43 gawthrop -## Further modifications. Now works on rcPPP -## -- next jobs: -## add identification to ppp_nlin_sim -## create real-time ppp_nlin_run -## -## Revision 1.310 2001/05/08 08:30:12 gawthrop -## Added line to reverse the x^y --> pow(x,y) in default _simp file to -## prettyfy LaTeX -## -## Revision 1.309.2.3 2001/07/13 04:02:31 geraint -## Implemented numerical algebraic solution for _ode2odes.oct. -## -## Revision 1.309.2.2 2001/06/05 03:20:39 geraint -## added -ae option to select algebraic equation solution method. -## -## Revision 1.309.2.1 2001/05/04 04:07:24 geraint -## Numerical solution of algebraic equations. -## sys_ae.cc written for unsolved inputs. -## Solution of equations using hybrd from MINPACK (as used by Octave fsolve). -## -## Revision 1.309 2001/04/28 03:15:03 geraint -## Fixed comment (interfered with "mtt help representations"). -## -## Revision 1.308 2001/04/25 22:17:45 geraint -## Fixed icd.txt2 dependency. -## -## Revision 1.307 2001/04/15 21:15:41 geraint -## Added interface definition rep: _ICD.(txt|c|cc|m). -## -## Revision 1.305 2001/04/11 09:44:26 gawthrop -## Fixed cc and c problems to do with pow(x,y) and integers -## mtt/lib/reduce/fix_c.r is included in rdae2dae and cse2smx_lang for -## -c, -cc and -oct options -## -## Revision 1.304 2001/04/11 07:35:22 gawthrop -## Now uses system_cr.h in place of system.h in .c rep - -## compatible with older code -## -## Revision 1.303 2001/04/10 12:54:50 gawthrop -## Minor fixes for sensitivity versions -## -## Revision 1.302 2001/04/06 05:24:30 geraint -## -stdin for .cc reps. -## -## Revision 1.301 2001/04/05 03:46:12 geraint -## Added mtt_prepend.sh, -p preserves time attribute of base file -## - eliminates error in dependencies due to update of ese.r by modpar.r. -## -## Revision 1.300 2001/04/04 10:06:49 gawthrop -## New ssim (sensitiveity simulation) rep -## -## Revision 1.299 2001/04/03 14:49:42 gawthrop -## Revised to incorporate new ssim (sensitivity simulation) -## representation (m only just now). -## -## Revision 1.298 2001/04/02 17:36:20 gawthrop -## Resolved $sys name clash when using -s -## -## Revision 1.297 2001/03/29 19:20:45 gawthrop -## Can now use c representations of crs when using -c option -## -## Revision 1.296 2001/03/27 01:07:34 geraint -## Improved determination of Octave version for ode2odes.exe creation. -## Removed FORCE check_update of .txts. -## -## Revision 1.295 2001/03/23 11:21:29 gawthrop -## Show -pdf oprion in help list -## -## Revision 1.294 2001/03/19 02:28:52 geraint -## Branch merge: merging-ode2odes-exe back to MAIN. -## -## Revision 1.293.2.8 2001/03/19 01:35:31 geraint -## Reverted forced update check to main branch form, ready for merge. -## -## Revision 1.293.2.7 2001/03/17 09:51:06 geraint -## Implemented Runge-Kutta IV fixed-step method (-i rk4). -## -## Revision 1.293.2.6 2001/03/03 06:50:38 geraint -## Added summary lines for ode2odes. -## -## Revision 1.293.2.5 2001/03/03 00:27:14 geraint -## Fixed ar options to work with GNU ar. Allow mtt to create dependencies for mtt_%.cc when making mtt_%.oct. -## -## Revision 1.293.2.4 2001/03/02 00:45:21 geraint -## Separated Euler and Implicit methods in .cc code and dependencies. -## -## Revision 1.293.2.3 2001/03/01 05:05:53 geraint -## Minor revisions. -## -## Revision 1.293.2.2 2001/02/23 03:53:53 geraint -## Minor revisions. (ode2odes.exe works on GNU/Linux and ~GNU/Irix) -## -## Revision 1.293.2.1 2001/02/22 06:41:40 geraint -## Initial merge of ode2odes.exe into main mtt. -## standalone_rep.make deleted: rules moved to mtt, variables to mttrc. -## -## Revision 1.293 2001/02/06 04:39:08 geraint -## Added _standalone.exe representation. -## -## Revision 1.292 2001/02/05 17:27:40 gawthrop -## Make sure _def.r exists before creating _state.txt -## -## Revision 1.291 2000/12/27 14:50:40 peterg -## This is the first CVS version (4.9). -## Commented out code now deleted -## -## Revision 1.290 2000/12/05 09:59:37 peterg -## Generates $1_cr.h - allows inclusion of c functions for crs -## -## Revision 1.289 2000/12/05 09:01:52 peterg -## Changed == to = -## -## Revision 1.288 2000/12/01 17:59:01 peterg -## Added .PRECIOUS: %.cc to hang on to cc files - thanks Geraint -## -## Revision 1.287 2000/12/01 16:04:24 peterg -## More partitioning achieved -- now needs the connections to be properly -## sorted in cbg2ese_r -## -## Revision 1.286 2000/12/01 14:18:44 peterg -## -partition now partially works up to cse.m -## but need to think about indexing, struc files etc for subsystems. -## -## Revision 1.285 2000/11/27 11:51:21 peterg -## Fixed a few pdf /fig bugs -## -## Revision 1.284 2000/11/27 10:33:35 peterg -## -pdf option now coerces ps-->pdf -## -## Revision 1.283 2000/11/24 15:11:50 peterg -## -pdf switch for simple displays -## -## Revision 1.282 2000/11/24 14:53:53 peterg -## Added lagrange rep : lde.r and lde.tex -## -## Revision 1.281 2000/11/16 13:51:15 peterg -## Added units stuff -## -## Revision 1.280 2000/11/10 14:45:16 peterg -## Finished up changes to incorporate Geraint's cc stuff -## -## Revision 1.279 2000/11/08 09:51:52 peterg -## Started incorporating Geraints CC/oct conversions -## -## Revision 1.278 2000/11/07 16:39:21 peterg -## *** empty log message *** -## -## Revision 1.277 2000/10/17 09:54:07 peterg -## logic rep sorted out -## -## Revision 1.276 2000/10/15 09:30:31 peterg -## *** empty log message *** -## -## Revision 1.275 2000/10/12 18:38:47 peterg -## New method of sympar generation implemented - uses mtt_make_sympar -## Check/update of numpar.txt is forced. -## -## Revision 1.274 2000/10/12 15:11:54 peterg -## Added the update function for numpar only -## -## Revision 1.273 2000/10/10 21:00:27 peterg -## More changes for new code gneration -## -## Revision 1.272 2000/10/06 16:20:00 peterg -## added ode_write rule -## -## Revision 1.271 2000/10/03 12:14:25 peterg -## Version 4.8 -## -## Revision 1.270 2000/10/03 12:13:51 peterg -## Corrected MTT_LIB paths -## -## Revision 1.269 2000/09/30 14:12:03 peterg -## Fixed bug with no-parameter systems - changed mtt_txt2m and mtt_m2p -## -## Revision 1.268 2000/09/27 16:15:55 peterg -## Now sh (as opposed to bash) compatible - fixed dat22dat again -## -## Revision 1.267 2000/09/21 10:08:30 peterg -## Version 4.7.1 - bug in odes.dat representation fixed in dat22dat -## -## Revision 1.266 2000/09/19 07:47:38 peterg -## fig2dev back to eps - ps produces a4 style output. -## -## Revision 1.265 2000/09/19 07:45:28 peterg -## Version 4.7 -## -## Revision 1.264 2000/09/15 08:37:27 peterg -## Fixed bug using -sub in cbg view -## -## Revision 1.263 2000/09/15 07:33:35 peterg -## Replace fig2dev language eps by ps to avoid version problem. -## -## Revision 1.262 2000/09/14 17:16:33 peterg -## Fixes some outstanding bugs: -## perpendicular strokes in cbg.fig -## proper display of hierachical cbg file (-sub and -viewlevel) -## -## Revision 1.261 2000/09/14 12:43:46 peterg -## view of ps s files now uses -sub and -viewlevel options -## -## Revision 1.260 2000/09/14 09:59:08 peterg -## Added -viewlevel switch -## -## Revision 1.259 2000/09/11 08:21:27 peterg -## Introduced MML - but for _tf rep only. -## -## Revision 1.258 2000/09/11 08:17:28 peterg -## Extended _simp.r to incude default switches -## -## Revision 1.257 2000/09/02 15:53:53 peterg -## Now does partitioning up to dae.view -## -## Revision 1.256 2000/09/02 14:24:06 peterg -## -sub switch introduced - works up to dae.r -## -## Revision 1.255 2000/08/30 11:43:04 peterg -## Put in the -opt switch for code optimisation -## -## Revision 1.254 2000/08/29 09:59:47 peterg -## Version 4.5 -- includes code optimisation using the "Scope" package in reduce -## -## Revision 1.253 2000/08/24 08:53:35 peterg -## New makesubs to create a .subs.r file with output switches to simplify output. -## -## Revision 1.252 2000/08/09 10:31:17 peterg -## Use -d option to find if its a book-style report -## -## Revision 1.251 2000/08/04 10:54:33 peterg -## Rationalised call to gcc using -lp2c to access p2c lib. -## -## Revision 1.250 2000/08/01 19:29:27 peterg -## Explcit zero of input in the simulations -## -## Revision 1.249 2000/08/01 12:28:02 peterg -## VERSION 4.4 -## euler now works -## stepfactor applies to both int. algorithms -## -## Revision 1.248 2000/07/20 07:46:07 peterg -## Version 4.3 -## -## Revision 1.247 2000/07/13 07:21:12 peterg -## Interface to Octave Control Systems Toolbox (OCST) - mtt2sys.m -## -## Revision 1.246 2000/05/21 18:00:11 peterg -## Make manual if not already done. -## Released 4.2 version -## (Train Durham -- Glasgow). -## -## Revision 1.245 2000/05/19 17:50:10 peterg -## Changes to state rep - now has parameter -## -## Revision 1.244 2000/05/19 14:19:46 peterg -## Added library path for representations -## -## Revision 1.243 2000/05/19 11:36:36 peterg -## Added logic rep. -## -## Revision 1.242 2000/05/18 20:12:02 peterg -## Version 4.2 -## -## Revision 1.241 2000/05/16 11:42:14 peterg -## Addded /usr/lib/libp2c.a to gcc -## -## Revision 1.240 2000/05/10 09:38:58 peterg -## Added Make to list of copied files. -## -## Revision 1.239 2000/04/11 18:08:33 peterg -## Fixed cse.tex bug -## -## Revision 1.238 2000/04/10 10:06:41 peterg -## Sorted out implicit rules for p2oct conversion -## -## Revision 1.237 2000/04/07 19:10:24 peterg -## New smxa and smxax reps -## -## Revision 1.236 2000/04/06 10:55:36 peterg -## Removed debug lines -## -## Revision 1.235 2000/04/06 10:52:53 peterg -## Replace $PWD with `pwd` for sh compatibility -## -## Revision 1.234 2000/04/04 16:14:08 peterg -## Sorted mtt help -## -## Revision 1.233 2000/03/16 10:16:11 peterg -## Clean no longer zaps the abg.m files -## -## Revision 1.232 2000/03/16 09:43:35 peterg -## Put in $mtt_switches in mtt comand line when creating _state.txt and -## _input.txt -## -## Revision 1.231 2000/03/15 21:24:23 peterg -## Version 4.1: -## Fixed problems with -abg mode -## Old-style SS lbl no longer supported -## -## Revision 1.230 2000/03/15 20:31:06 peterg -## Replaced lbl2cr by abg2cr_m2txt -## -## Revision 1.229 2000/03/15 19:39:40 peterg -## Replaced sub creation cmp2sub_m2sh by abg2sub_m2sh -## -## Revision 1.228 2000/03/07 10:54:14 peterg -## Added $1_lbl.txt to sympar.txt -## -## Revision 1.227 2000/02/16 15:05:46 peterg -## Replaced spurious 8spaces by tab -## -## Revision 1.226 2000/02/10 18:51:31 peterg -## Included OFF exp; in subs.r default -## -## Revision 1.225 2000/02/10 15:03:10 peterg -## Put subs.r file into the m-code generation -- allows the off exp; -## switch for simpler expresions. -## -## Revision 1.224 2000/02/08 10:27:04 peterg -## Removed obselete .h stuff -## -## Revision 1.223 2000/02/08 09:55:00 peterg -## Added .oct language for ode -## -- octave loadable builtin -## -## Revision 1.222 1999/12/23 10:03:42 peterg -## Added $1_sympars.txt to numpar.m target -## -## Revision 1.221 1999/12/22 05:15:51 peterg -## Set to version 4.0. -## -## Revision 1.220 1999/12/17 03:17:57 peterg -## reps_made is now $1_reps_made - stops clash between two reps per directory -## -## Revision 1.219 1999/12/14 00:36:50 peterg -## Changed $source to $stdin and added to mtt_m2p arg list -## -## Revision 1.218 1999/12/03 00:04:50 peterg -## Version to eric. -## -stdin switch added -## -## Revision 1.217 1999/11/16 22:15:55 peterg -## Changed compcopy to test for abg, not lbl file -## -## Revision 1.216 1999/11/16 05:53:21 peterg -## Added sensitivity (-s) switch -## -## Revision 1.215 1999/11/15 22:45:31 peterg -## Reorganised integration method using -i switch -## Introduced -r (reset) switch -## -## Revision 1.214 1999/11/14 21:27:11 peterg -## *** empty log message *** -## -## Revision 1.213 1999/09/02 23:24:40 peterg -## Now explicitly generates executable _ode2odes.out file -## Which takes command line arguments -## -## Revision 1.212 1999/08/18 06:20:32 peterg -## Put -u back again ..... -## -## Revision 1.211 1999/08/17 04:10:38 peterg -## Removed the -u switch from cp - it doesnt work on non GNU cps -## -## Revision 1.210 1999/08/02 12:52:12 peterg -## Removed redundant .p copying. -## -## Revision 1.209 1999/07/27 03:50:13 peterg -## Fixed odeo.p bug. -## Fixed compound object bug in fig. -## -## Revision 1.208 1999/07/20 23:43:05 peterg -## V 3.8 ( to Eric) -## -## Revision 1.207 1999/04/02 07:17:37 peterg -## Upped version to 3.6 -- the new implicit solver with switches -## -## Revision 1.206 1999/04/02 06:28:54 peterg -## New implicit method - solves numerical prob with ISW -## -## Revision 1.205 1999/03/15 23:27:43 peterg -## Modified generation of odes.dat2 data -## -## Revision 1.204 1999/03/15 05:53:33 peterg -## Put in user-defined representations -## -## Revision 1.203 1999/03/08 03:51:12 peterg -## Version 3.5 for Linux Red Hat 5.2 (Newcastle) -## -## Revision 1.202 1999/02/17 01:59:20 peterg -## Now handles html copy correctely (ie mv directory to ..) -## Fixed path probs with html -## -## Revision 1.201 1999/02/16 03:50:09 peterg -## Removed explicit _smx targets -## -## Revision 1.200 1998/12/03 17:11:03 peterg -## Added -dc (derivative causality) switch. -## -## Revision 1.199 1998/12/03 16:53:50 peterg -## Now completes causality using component, not bond, status. -## -## Revision 1.198 1998/11/20 16:12:30 peterg -## Now copies aliased systems BEFORE generating rgb etc. -## -## Revision 1.197 1998/11/20 09:00:45 peterg -## Number of changes to underlying tools -## -## Revision 1.196 1998/11/10 11:55:40 peterg -## Added $info_switch to abg2cbg invocation -## -## Revision 1.195 1998/10/28 13:58:57 peterg -## Added $1_sympars.txt prerequisite to _tf.m target -## -## Revision 1.194 1998/10/20 09:00:43 peterg -## Added a few summary lines - to help with xmtt -## -## Revision 1.193 1998/10/01 16:11:42 peterg -## Implicit integration now handles switches -## -## Revision 1.192 1998/09/29 20:09:46 peterg -## Fixed nyfr and nifr plotting bug -## -## Revision 1.191 1998/09/02 12:05:39 peterg -## Added INPUT to simpar -## Revision 1.190 1998/09/02 11:48:51 peterg -## VERSION 3.2 (Swansea) -## abg data structure now uses explicti port and subsystem lists so that -## processing is in predetermined order. -## -## Revision 1.189 1998/08/31 10:49:15 peterg -## Minor changes to -abg operation -## -## Revision 1.188 1998/08/27 08:33:21 peterg -## New reduce integration methods - euler/Implicit only -## -## Revision 1.187 1998/08/25 20:06:56 peterg -## New data structure for abg.m and cbg.m -## -## Revision 1.186 1998/08/18 10:49:05 peterg -## VERSION 3.1 release -## -## Revision 1.185 1998/08/18 09:21:14 peterg -## Removed "" from default simpar file. -## -## Revision 1.184 1998/08/18 09:08:26 peterg -## Now grabs components (specified in lbl file as alias) at the rbg stage -## - this makes sure that they are there when needed. -## -## Revision 1.183 1998/08/18 08:48:43 peterg -## Sorted out problem with ifeq ($REPTYPE,data) block - added else. -## -## Revision 1.182 1998/08/17 15:48:39 peterg -## Replaced SVD solver with LUD solver -## -## Revision 1.181 1998/08/15 13:45:28 peterg -## Added new integration methods in Pascal/c version -## Revised the various translations appropriately -## -## Revision 1.180 1998/08/12 14:15:13 peterg -## Implicit integration - c implemetation now included. -## -## Revision 1.179 1998/08/12 12:29:18 peterg -## Put back some of the args stuff -- needed for plots. -## -## Revision 1.178 1998/08/11 13:38:35 peterg -## Zapped the obsolete args stuff -## -## Revision 1.177 1998/07/30 17:32:44 peterg -## VERSION 3.0 -## -## Revision 1.176 1998/07/27 20:25:15 peterg -## Sorted out new mtt_r2m -## -## Revision 1.175 1998/07/27 18:49:09 peterg -## Fixed the frequency stuff -## -## Revision 1.174 1998/07/27 07:10:10 peterg -## Removed dummy global stuff. -## -## Revision 1.173 1998/07/26 14:38:20 peterg -## *** empty log message *** -## -## Revision 1.172 1998/07/26 11:13:38 peterg -## Fixed name classes with globs - ide is that all @strong{MTT} variables -## start with @strong{MTT} -## -## Revision 1.171 1998/07/25 20:37:22 peterg -## Removes -s (switches) option -- they are now assumed to be present -## I still need to shift the old switch -## -## Revision 1.170 1998/07/25 19:16:22 peterg -## Sorted out sympar + switch variables - new sympars rep combines both -## -## Revision 1.169 1998/07/25 16:35:12 peterg -## Incorporated mtt_p2c (uses p2c) -## -## Revision 1.168 1998/07/25 09:44:25 peterg -## Uses Pascal as step on the way to c code -- MUCH nicer! -## State and input now use the simple default - no steady states -## -## Revision 1.167 1998/07/24 17:10:34 peterg -## *** empty log message *** -## -## Revision 1.166 1998/07/22 08:37:30 peterg -## Implicit integration now the default - for octave anyway. -## -## Revision 1.165 1998/07/19 16:00:22 peterg -## Added smx representation -## -## Revision 1.164 1998/07/17 19:45:58 peterg -## Component aliases implemented. -## -## Revision 1.163 1998/07/17 08:27:33 peterg -## Added find target -## -## Revision 1.162 1998/07/16 16:14:27 peterg -## Now stops if a transformation forces error. -## -## Revision 1.161 1998/07/08 11:21:32 peterg -## Added -I switch -## -## Revision 1.160 1998/07/04 11:38:51 peterg -## Version 3.0-- (Seascale) -## -## Revision 1.159 1998/07/04 11:37:43 peterg -## Aliases implemented for parameters + lots of associated goodies -## New-style lbl files - no more SS nonsense. -## -## Revision 1.158 1998/07/03 09:06:39 peterg -## Alias implemented for ports -## -## Revision 1.157 1998/07/01 10:22:11 peterg -## Moved tidy stuff to end of preamble -- needed to make muti-plot copy -## correctely -## Now copies ps file with arguments to WD -## -## Revision 1.156 1998/06/26 14:19:43 peterg -## Copy hidden files (eg .octaverc) in tidy mode -## -## Revision 1.155 1998/06/24 07:43:42 peterg -## Version 2.91 -- includes implicit integration (octave) -## -## Revision 1.154 1998/06/17 14:14:09 peterg -## Removed struc.txt prerequisite for simpar.txt - switch version -## -## Revision 1.153 1998/05/28 09:36:38 peterg -## --version and --versions switch -## -## Revision 1.152 1998/05/24 15:43:10 peterg -## Added symbolic solution of alg. equations (-A) -## -## Revision 1.151 1998/05/23 16:18:37 peterg -## ordinary differential equation.m files generated with the new ode2lang -## method. -## -## Revision 1.150 1998/05/19 19:47:37 peterg -## Updated the odesso representation to use simpar file. -## -## Revision 1.149 1998/05/14 15:16:13 peterg -## Sorted out Differential-Algebraic Equation simulation -## Added LSODE methode to ordinary differential equation simulation -## -## Revision 1.148 1998/05/12 14:42:07 peterg -## Added ese_tidy and new method for organising ese files - -## Each subsystem has an array of variables - effort, flow and state for -## each bond -## -## Revision 1.147 1998/04/15 18:41:47 peterg -## Fixed various probs with multiple systems in one directory -## -## Revision 1.146 1998/04/04 11:00:20 peterg -## Modified various parts to allow coercing directions at ports -## -## Revision 1.145 1998/04/03 11:17:44 peterg -## VERSION 2.9 -## -## Revision 1.144 1998/03/27 13:32:25 peterg -## Removed sympar prerequisites from ss reps. -## -## Revision 1.143 1998/03/22 21:14:03 peterg -## Added obspar.r representation -## Help now case insensitive -## -## Revision 1.142 1998/03/20 15:09:26 peterg -## Changed order of prerequisites for _dae.r to put _rdae.r first. -## -## Revision 1.141 1998/03/11 10:45:19 peterg -## Added rclean - recursive clean -## -## Revision 1.140 1998/03/09 10:23:30 peterg -## PS view now runs as a background process. -## -## Revision 1.139 1998/03/07 16:04:23 peterg -## Added some more txt view reps: input, lbl, numpar, state -## -## Revision 1.138 1998/03/07 15:23:40 peterg -## Uses sort_sympar to uniquely produce the sympar list. -## -## Revision 1.137 1998/03/07 14:04:17 peterg -## dae creation split into 2 parts: -## 1. create a raw (ie without constitutive relationship) dae (rdae) -## 2. add the raw dae to the crs to get the dae. -## reduce has less work to do with this approach -## -## Revision 1.136 1998/03/04 16:34:19 peterg -## New local (_cr.r) and generic (.cr) CR structure. -## CR and lbl now have view mode. -## CRS in abg_tex. -## -## Revision 1.135 1998/02/25 22:09:48 peterg -## Added simpar representation. -## -## Revision 1.134 1998/02/25 15:28:34 peterg -## Added state.m rep. -## -## Revision 1.133 1998/02/24 22:35:33 peterg -## Added -p (preserve) switch to cp in tidy mode. -## -## Revision 1.132 1998/02/24 22:33:23 peterg -## new state reresentation included -## -## Revision 1.131 1998/02/23 16:21:21 peterg -## Just do model name in summary line of lbl file -## -## Revision 1.130 1998/02/19 13:40:24 peterg -## Removed prerequisit from sspar.r target. -## -## Revision 1.129 1998/02/12 08:18:42 peterg -## VERSION 2.8 (St. Annes) -## -## Revision 1.128 1998/02/12 07:48:04 peterg -## Tidy mode copies all files (containing .) to work dir -- this makes -## sure that files such a .c .constitutive relationship go across. -## -## Revision 1.127 1998/02/11 19:36:29 peterg -## Only displays one level of cbg file now. -## -## Revision 1.126 1998/02/11 19:26:03 peterg -## Added verbose (-v) mode. -## -## Revision 1.125 1998/02/11 11:36:28 peterg -## Updated version control mode - make it untidy. -## cp --> cp -u after tidy-mode . -## -## Revision 1.124 1998/02/10 13:03:36 peterg -## Now includes controller transfer function (ctf). -## -## Revision 1.123 1998/02/09 13:51:04 peterg -## Fixed directory string bug. -## -## Revision 1.122 1998/02/06 15:02:26 peterg -## New default sspar -- sets all states to zero. -## -## Revision 1.121 1998/02/06 14:36:51 peterg -## Report on copying back from MTT_work -## -## Revision 1.120 1998/02/05 16:06:53 peterg -## Removed debugging lines. -## Auto parts in books. -## -## Revision 1.119 1998/02/05 15:04:25 peterg -## Fixed problem with book in tidy mode. -## -## Revision 1.118 1998/02/05 12:00:11 peterg -## Tidy mode now default. -## It seems to work ok but not for book type documents. -## -## Revision 1.117 1998/02/04 16:50:50 peterg -## Introduced the tidy (-t and -T) options -## -## Revision 1.116 1998/02/04 11:00:04 peterg -## Added view of subsystems. -## -## Revision 1.115 1998/01/29 19:37:31 peterg -## Fixed spurious call to X server bug -## -## Revision 1.114 1998/01/23 13:38:07 peterg -## VERSION 2.7 -## -## Revision 1.113 1998/01/23 13:27:13 peterg -## Added state-feedback control representations: -## smc,smo,ssk,ssl -## -## Revision 1.112 1998/01/21 09:24:46 peterg -## Removed 'touch $1_rep.txt' -- perhaps best to do this by hand if -## necessary. As it is, it cuased probs wene reediting the _rep.txt file. -## -## Revision 1.111 1998/01/16 14:56:59 peterg -## Argument now correctely recognised as a string beginning with - -## (rather than containing -) -## -# Revision 1.110 1998/01/06 13:59:30 peterg -# Added rename function. -# -# Revision 1.109 1998/01/06 09:20:02 peterg -# Made LATEX2HTML an environment variable. -# -# Revision 1.108 1997/12/19 08:48:55 peterg -# Lille modifications - bicausal algebraic loops supported -# -## Revision 1.107 1997/12/11 10:59:50 peterg -## This is version 2.6 -## -# Revision 1.106 1997/12/11 10:59:07 peterg -# Added debug -D switch + echos directory when -d switch used. -# -# Revision 1.105 1997/12/11 09:04:47 peterg -# Reduced default rep.txt file to just abg.txt -- this is to document -# components which may not be causally complete -# -# Revision 1.104 1997/12/07 21:05:10 peterg -# Removed a debbugging echo -# -## Revision 1.103 1997/12/07 20:10:36 peterg -## Fixed bugs with reprots and distinguish between book, article and -## section reports. -## -## Revision 1.102 1997/12/07 12:14:43 peterg -## Hnadles book, article and section reports seperately -## -## Revision 1.101 1997/12/06 18:54:53 peterg -## Now tidies up after itself. -## Major modifications to do a rep on a directory -- creates a book with -## each example as a chapter. -## -## Revision 1.100 1997/12/06 12:14:39 peterg -## Put a conditional around the PS data rep to check for set arguments. -## -## Revision 1.99 1997/12/04 22:06:53 peterg -## Added view arguments for graph plotting -## -## Revision 1.98 1997/12/04 10:58:15 peterg -## Tidied up switches -## -## Revision 1.97 1997/12/04 10:44:33 peterg -## Changed $cc to $CC -## -## Revision 1.96 1997/12/04 10:40:26 peterg -## Added -p switch - print enviromment variables -## -## Revision 1.95 1997/12/04 10:05:02 peterg -## Compiler now symbolocic $cc -## -# Revision 1.94 1997/11/20 11:23:16 peterg -# Changed gcc to cc -# -## Revision 1.93 1997/09/18 16:57:28 peterg -## _sympar.txt now has a second column - the system type from whence the -## parameter (in the first column) came. -## Done on the train Glasgow-Warrington ! -## -## Revision 1.92 1997/09/11 17:08:46 peterg -## Added spreadsheet version of odeso -## -## Revision 1.91 1997/09/11 08:21:08 peterg -## copy utility split into two: -## copy: copies examples (copies the entire directory) -## compcopy: (just used internally) copies components. -## -## Revision 1.90 1997/08/30 19:35:39 peterg -## Added date to mtt line -## -## Revision 1.89 1997/08/26 15:20:25 peterg -## Added explicit evaluation of report representations -## Version now 2.5++ -## -## Revision 1.88 1997/08/25 07:51:47 peterg -## Version 2.5. -## -## Revision 1.87 1997/07/27 13:11:11 peterg -## Added path checking code -- mtt_check_vars -## -# Revision 1.86 1997/06/29 19:05:51 peterg -# Seascale changes -- mainly to new rep format. -# -## Revision 1.85 1997/06/27 12:14:49 peterg -## Upped version to 2.4++ -## -# Revision 1.84 1997/06/13 14:08:23 peterg -# Changed default rep.txt -# -# Revision 1.83 1997/06/13 09:18:28 peterg -# Removed all params.m -# -# Revision 1.82 1997/06/13 08:59:03 peterg -# Set to version 2.4 -# -## Revision 1.81 1997/05/22 10:11:04 peterg -## Fixed dat2gdat bug (with parameters) -## -## Revision 1.80 1997/05/22 07:38:27 peterg -## Added command line info to .doc files (makedoc) -## -## Revision 1.79 1997/05/19 16:44:12 peterg -## Many changes to get rep.html mode working properly. -## -# Revision 1.78 1997/05/19 13:17:50 peterg -# Explicit inclusion of mtt.sty in .doc files -- latex2html prefers this -# -# Revision 1.77 1997/05/19 11:29:37 peterg -# Added desc.tex and abg.tex descriptions. -# -# Revision 1.76 1997/05/15 09:43:46 peterg -# New version of _input.txt for -s option -# -# Revision 1.75 1997/05/15 09:15:54 peterg -# Included switch.c in dependancy list for _input.c (when -s switch set) -# -# Revision 1.74 1997/05/13 16:58:02 peterg -# Added -s switch to get mtt to search for (Bond Graph) switches -# -## Revision 1.73 1997/05/09 09:18:45 peterg -## Put ./ in front of a.out (again) -## -# Revision 1.72 1997/05/06 13:54:21 peterg -# Changed gcc arguments for the ode simulation -- all files now included -# in the _odes.c file -# -# Revision 1.71 1997/05/03 15:50:18 peterg -# c functions not included in gcc arg list -- they are now included in -# the main prog. -# -# Revision 1.70 1997/05/03 14:17:13 peterg -# Now copies c utilities (eg dsvdcmp.c) from $MTTPATH/trans/c. -# -# Revision 1.69 1997/05/03 13:58:35 peterg -# Implicit integration for sm representation added. -# -# Revision 1.68 1997/05/01 08:39:20 peterg -# params.c and params.m not used any more. -# _numpar.txt is the common base from which _numpar.c and numpar.m is -# generated. -# -# Revision 1.67 1997/04/23 07:26:49 peterg -# Added -o switch -- ode and dae are the same -# Added switches to default menu -# -# Revision 1.66 1997/04/16 09:46:01 peterg -# More informative copy message -# -# Revision 1.65 1997/04/15 15:16:12 peterg -# Added structure (_struc) files. -# Fixed prob with dvi2ps conversion -- removed .doc extension. -# -# Revision 1.64 1997/04/09 09:26:44 peterg -# Added crcopy feature to pull crs from library -- similar to copy -# feature. -# -# Revision 1.63 1997/03/22 17:09:11 peterg -# Fixed bug in recursive cr.txt generation. -# Fixed bug in recursive sympar.txt generation. -# -# Revision 1.62 1997/03/20 17:48:50 peterg -# Better _input.c file default. -# -# Revision 1.61 1997/03/20 16:53:01 peterg -# Generates c files using include statements. -# -# Revision 1.60 1997/03/20 10:25:41 peterg -# Generates a compehensive default params file. -# -# Revision 1.59 1997/03/19 10:14:04 peterg -# Now produces a stripped acausal bond graph. -# -# Revision 1.58 1997/03/18 17:58:12 peterg -# Generates label files containing all variables in fig file. -# Generates sympar file for all levels in system. -# Generates txt version of sympar file. -# -# Revision 1.57 1997/03/10 09:24:58 peterg -# a.out now deleted in the clean operation -# -# Revision 1.56 1997/03/05 08:24:09 peterg -# Delete a.out after it has run. -# -# Revision 1.55 1997/02/24 19:31:10 peterg -# Removed numpar.m requirement from .m files -# -## Revision 1.54 1997/02/09 20:33:13 peterg -## Replaced a.out with ./a.out -## -## Revision 1.53 1997/02/09 20:30:04 peterg -## Copied from tweedledum. -## -# Revision 1.54 1997/02/07 13:33:03 peterg -# Added ; to _input.c file - bug fix. -# -# Revision 1.53 1997/02/07 13:25:04 peterg -# Version 2.3 -# -# Revision 1.52 1997/01/21 22:55:59 peterg -# Minor bug fixes -# -## Revision 1.51 1997/01/21 13:16:40 peterg -## Included transformations to language c for: -## ode -## params -## numpar -## -## Revision 1.50 1996/12/21 19:46:52 peterg -## Set to 2.2++ -## Changed \* --> \\* in rbg_fig2m.awk -## -## Revision 1.49 1996/12/19 19:55:22 peterg -## Version 2.2 -- Linux. -## -## Revision 1.48 1996/12/07 21:33:52 peterg -## Changed _input file to give unit step on ALL inputs -## -## Revision 1.47 1996/12/07 20:50:16 peterg -## *** empty log message *** -## -## Revision 1.46 1996/12/05 10:48:51 peterg -## Put sympar in clean list. -## sympar now sucks in params.r file -## -## Revision 1.45 1996/12/05 10:41:39 peterg -## Saved many changes over past 2 weeks. -## -# Revision 1.44 1996/11/12 16:04:25 peterg -# Really VERSION 2.1 -# -# Revision 1.43 1996/11/12 08:52:57 peterg -# Fixed bug in test arg to if - missing "". -# -# Revision 1.42 1996/11/11 17:23:03 peterg -# Added numpar.m requirement to all .m targets -# -## Revision 1.41 1996/11/11 17:18:32 peterg -## VERSION 2.1 -## -## Revision 1.40 1996/11/09 21:17:38 peterg -## Fixed bug with copying at level 0. -## -## Revision 1.39 1996/11/09 20:22:54 peterg -## VERSION 2.0 -## -## Revision 1.38 1996/11/09 20:17:34 peterg -## Fixed bug with null ARGS argument -## Put in new lib paths. -## -## Revision 1.37 1996/11/09 18:47:46 peterg -## Added new copy command (using find). -## More documaentation stuff. -## -# Revision 1.36 1996/11/03 21:19:02 peterg -# Recursice generation of Constitutive Relationship files. -# -## Revision 1.35 1996/11/02 10:19:19 peterg -## Constitutive Relationship generation from lbl file -## -## Revision 1.34 1996/11/01 13:34:35 peterg -## -q (quiet) switch added -## -## Revision 1.33 1996/11/01 12:34:45 peterg -## Added browser - mtt_help -## -## Revision 1.32 1996/10/31 20:48:41 peterg -## Revised html generation. -## Stopped deletion of rep.txt file. -## -# Revision 1.31 1996/10/20 19:23:54 peterg -# Automatic generation of sub-system abg.m files. -# -## Revision 1.30 1996/10/01 14:08:05 peterg -## Replaced $() by `` -## Replaced make with gmake -## -# Revision 1.29 1996/10/01 11:04:05 peter -# Changed name of html document. -# -## Revision 1.28 1996/09/13 18:44:11 peter -## Added params dependencies. -## -## Revision 1.27 1996/09/12 19:24:56 peter -## New numpar/params setup. -## -## Revision 1.26 1996/09/10 17:04:47 peter -## Added impulse response (ir) representation. -## -## Revision 1.25 1996/08/30 20:03:45 peter -## Removed dependencies from vc -## -## Revision 1.24 1996/08/30 18:37:17 peter -## inor changes. -## -## Revision 1.23 1996/08/30 11:10:37 peter -## More files in clean up. -## -## Revision 1.22 1996/08/30 10:07:51 peter -## Removed impicit creation of abg.fig file. -## -## Revision 1.21 1996/08/22 12:19:51 peter -## Added various document viewers. -## -## Revision 1.20 1996/08/20 08:24:53 peter -## Now with version control. -## -## Revision 1.19 1996/08/19 15:33:22 peter -## Included new state matric (sm) rep. -## Generate step response (sr) from sm. -## -## Revision 1.18 1996/08/19 13:30:54 peter -## New CLEAN target. -## -## Revision 1.17 1996/08/19 06:48:14 peter -## Explicit figure editing. -## -## Revision 1.16 1996/08/18 19:58:36 peter -## Report generation included. -## -## Revision 1.15 1996/08/18 12:01:01 peter -## Unified format of time responses. -## -## Revision 1.14 1996/08/16 14:52:24 peter -## Added two alternative view options - dview and pview. -## -## Revision 1.13 1996/08/16 08:24:31 peter -## Correctly chooses how to make a ps file using $REPTYPE. -## -## Revision 1.12 1996/08/15 16:47:47 peter -## DAE solution (experimental) included. -## -## Revision 1.11 1996/08/15 11:55:30 peter -## Checks for changed argument. -## Handles frequency response. -## -## Revision 1.10 1996/08/15 07:44:24 peter -## Now handles generic transformations using %. -## -## Revision 1.9 1996/08/14 09:16:08 peter -## Step response now goes through m, dat and gdat conversions -## -## Revision 1.8 1996/08/12 20:19:52 peter -## Arguments now passed via $1_args.m file -## -## Revision 1.7 1996/08/11 19:49:27 peter -## Parameter passing (via $4) added. -## -## Revision 1.6 1996/08/11 10:40:56 peter -## Added new numpar stuff. -## Added step response. -## -## Revision 1.5 1996/08/10 14:13:47 peter -## Added impulse and frequency response stuff. -## -## Revision 1.4 1996/08/10 09:19:48 peter -## Put in help, info and warranty stuff. -## -## Revision 1.3 1996/08/09 15:13:13 peter -## Generic viewing of any representation via ps files implemented. -## -## Revision 1.2 1996/08/05 19:50:55 peter -## Put in fig.fig target. -## -## Revision 1.1 1996/08/04 17:29:42 peter -## Initial revision -## -############################################################### - - -#Check $MTTPATH has been set -mtt_check_var "$MTTPATH" "MTTPATH" - -#Version -version='4.9' - -# MTT recursion level is zero unless explicitly set -level=0 - -#Computation mode is octave by default -computation=octave - -#By default, the dae and ode representations are different -dae_is_ode=0 - -#By default, the ode and cse reps are different -ode_is_cse=0 - -# By default, don't look for BG switches -switches=0 - -#By default, don't print the environment variables -print=''; - -# By default, make it tidy -tidy=tidy; - -# Default not verbose -verbose=' -s' -verbosity=0 - -# Default integration method -integration_method=implicit; - -# Default algebraic equation solver -algebraic_solver=Reduce_Solver; - -# Default no info -info_switch='' - -# Default use m, not oct files -m='m'; - -# Default use ps files -ps=ps -eps=eps -psview=$PSVIEW - -#Initialise list -mtt_switches=''; - - -#Look for a command line argument -while [ -n "`echo $1 | grep '^-'`" ]; do - case $1 in - -q ) - mtt_switches="$mtt_switches $1"; - quiet=quiet;; - -r ) - mtt_switches="$mtt_switches $1"; - reset=reset;; - - -p ) - mtt_switches="$mtt_switches $1"; - print='-p';; - -c ) - fixcc='-fixcc' - mtt_switches="$mtt_switches $1"; - matrix_smxa="-matrix"; - computation=c ;; - -cc ) - fixcc='-fixcc' - mtt_switches="$mtt_switches $1"; - matrix_smxa="-matrix"; - computation=cc ;; - -cr ) - mtt_switches="$mtt_switches $1"; - rdae_is_dae=1 ; - cr_first='-cr';; - -o ) - mtt_switches="$mtt_switches $1"; - dae_is_ode=1 ;; - -nocr ) - mtt_switches="$mtt_switches $1"; - rdae_is_dae=1 ;; - -i ) - mtt_switches="$mtt_switches $1"; - shift; - case $1 in - dassl) - integration_method=dassl; - mtt_switches="$mtt_switches dassl"; - ;; - euler) - integration_method=euler; - mtt_switches="$mtt_switches euler"; - ;; - implicit) - integration_method=implicit; - mtt_switches="$mtt_switches implicit"; - ;; - rk4) - integration_method=rk4; - mtt_switches="$mtt_switches rk4"; - ;; - *) - echo $1 is an unknown integration method - use dassl, euler, rk4 or implicit; - exit;; - esac;; - -ae ) - mtt_switches="$mtt_switches $1"; - case $2 in - dassl) - mtt_switches="$mtt_switches $2"; - algebraic_solver=Dassl_Solver; - shift; - ;; - fsolve | hybrd) - mtt_switches="$mtt_switches $2"; - algebraic_solver=Hybrd_Solver; - shift; - ;; - hooke) - mtt_switches="$mtt_switches $2"; - algebraic_solver=HJ_Solver; - shift; - ;; - reduce) - mtt_switches="$mtt_switches $2"; - algebraic_solver=Reduce_Solver; - Solve='-A'; - shift; - ;; - *) - echo $1 is an unknown solver - use hybrd, hooke or reduce; - exit;; - esac;; - -s ) - sensitivity_switch='-s'; - mtt_switches="$mtt_switches $1"; - sensitivity=sensitivity ;; - -ss ) - mtt_switches="$mtt_switches $1"; - steadystate_computation=yes ;; - -d ) - directory=$2; cd $directory; shift ;; - -dc ) - mtt_switches="$mtt_switches $1"; - causality_switch='-derivative' ;; - -S ) - directory=$2; shift;; - -D ) - mtt_switches="$mtt_switches $1"; - debug=debug ;; - -v ) - mtt_switches="$mtt_switches $1"; - info_switch='-I'; - Verbose='verbose'; - verbosity=`expr $verbosity + 1`; - if [ $verbosity -ge 1 ]; then verbose=' -w '; fi; - if [ $verbosity -ge 2 ]; then set -x; fi; - if [ $verbosity -ge 3 ]; then verbose_make=' -d '; fi; - ;; - -I ) - mtt_switches="$mtt_switches $1"; - info_switch='-I' ;; - -t ) - tidy=tidy ;; - -trace ) - mtt_switches="$mtt_switches $1"; - trace='-n' ;; - -T ) - tidy=tidy; - verytidy=verytidy ;; - -u ) - tidy=untidy ; - mtt_switches="$mtt_switches $1"; - ;; - -l ) - mtt_switches="$mtt_switches $1 $2"; - level=$2; shift ;; - -A ) - mtt_switches="$mtt_switches $1"; - Solve='-A';; - -abg ) - mtt_switches="$mtt_switches $1"; - start_at_abg='yes';; - -stdin ) - mtt_switches="$mtt_switches $1"; - stdin=stdin;; - -sub ) mtt_switches="$mtt_switches $1 $2"; - sub='-sub'; - subsystem="_"$2; - shift;; - -oct ) - fixcc='-fixcc' - mtt_switches="$mtt_switches $1"; - using_oct=yes; - m=oct - ;; - -opt ) mtt_switches="$mtt_switches $1"; - optimise='-optimise';; - -partition ) mtt_switches="$mtt_switches $1"; - partition='-partition'; - ;; - -pdf ) mtt_switches="$mtt_switches $1"; - ps=pdf; - eps=pdf; - pdf='-pdf'; - psview=$PDFVIEW; - ;; - -viewlevel ) mtt_switches="$mtt_switches $1 $2"; - viewlevel=$2; - shift;; - --version) - echo 'MTT version' $version; exit;; - --versions) - mtt_versions; exit;; - *) - echo "$1 is an invalid argument - ignoring" ;; - esac - shift -done - -#Print header if not in quiet (-q) mode. -if [ "$quiet" != "quiet" ]; then - echo - echo 'MTT (Model Transformation Tools) version' $version - echo '($Date$)' - echo 'This is free software with ABSOLUTELY NO WARRANTY.' - echo 'Type `mtt warranty'\' 'for details.' - echo - # Print current directory if in -d mode - if [ -n "$directory" ]; then - echo Using directory $directory - echo - fi -fi - -#Print what's going on if in verbose mode -if [ -n "$Verbose" ]; then - echo Starting mtt $mtt_switches $1 $2 $3 $4 at level $level - echo " " current wd `pwd` -fi - -#Check the principle paths -mtt_check_vars $print - -# Exit if just printing paths -if [ "$print" != "" ]; then - exit -fi - -if [ -z "$1" ]; then - if [ -z "$print" ]; then - echo 'Usage: mtt help -- mtt on-line help' - echo ' mtt find component -- find location of a compound component' - echo ' mtt info -- info-based manual' - echo ' mtt info topic' - echo ' mtt hinfo -- hypertext manual' - echo ' mtt manual -- pdf manual' - echo ' mtt warranty' - echo ' mtt clean -- cleans up intermediate files' - echo ' mtt rclean -- recursively cleans up intermediate files' - echo ' mtt Clean -- cleans up all generated files' - echo ' mtt clean' - echo ' mtt copy ' - echo ' mtt rename ' - echo ' mtt vc' - echo ' mtt ' - echo ' mtt ' - echo 'Options: -q quiet mode -- suppress MTT banner' - echo ' -A solve algebraic equations symbolically' - echo ' -D debug -- leave log files etc' - echo ' -I prints more information' - echo ' -abg start at abg.m representation' - echo ' -c c-code generation' - echo ' -cc C++ code generation' - echo ' -cr Use cr before resolving equations' - echo ' -d use directory ' - echo ' -dc Maximise derivative (not integral) causality' - echo ' -dc Maximise derivative (not integral) causality' - echo ' -i Use implicit, euler, rk4 or dassl integration' - echo ' -ae Solve algebraic equations with specified solver' - echo ' -o ode is same as dae' - echo ' -oct use oct files in place of m files where appropriate' - echo ' -opt optimise code generation' - echo ' -p print environment variables' - echo ' -partition partition hierachical system' - echo ' -pdf generate pdf in place of ps' - echo ' -r reset time stamp on representation' - echo ' -s generate sensitivity BG (use mtt -s sSys rep lang)' - echo ' -ss use steady-state info to initialise simulations' - echo ' -stdin read input data from standard input for simulations' - echo ' -sub operate on this subsystem' - echo ' -t tidy mode (default)' - echo ' -trace Just indicate what mtt will do - but do not do it' - echo ' -u untidy mode (leaves files in current dir)' - echo ' -v verbose mode (multiple uses of -v increase the verbosity level)' - echo ' -viewlevel View N levels of hierachy' - echo ' --version print version and exit' - echo ' --versions print version of mtt and components and exit' - exit - fi -fi - - -if [ "$1" = "info" ] && [ "$3" = "" ]; then - (cd $MTTPATH/doc/; make --silent mtt.info) - echo "Invoking info in xterm" - xterm -e info -f $MTTPATH/doc/mtt.info $2 - exit -fi - -if [ "$1" = "help" ]; then - mtt_help $2 $3 - exit -fi - -if [ "$1" = "hinfo" ] && [$2 = ""]; then - mtt_check_var "$HTMLVIEW" HTMLVIEW - (cd $MTT_DOC/; make --silent mtt.html) - echo Invoking $HTMLVIEW - (cd $MTT_DOC; $HTMLVIEW ./mtt.html)& - exit -fi - -if [ "$1" = "manual" ] && [$2 = ""]; then - mtt_check_var "$PDFVIEW" PDFVIEW - (cd $MTT_DOC/; make --silent mtt.pdf) - echo Invoking $PDFVIEW - $PDFVIEW $MTT_DOC/mtt.pdf & - exit -fi - -if [ $1 = "find" ]&& [$3 = ""]; then - mtt_find $MTT_COMPONENTS $2 - find_status=$? - if [ $find_status = "1" ]; then - echo Component $2 not found - is MTT_COMPONENTS set correctly? - fi - exit $find_status -fi - -if [ "$1" = "warranty" ] && [$2 = ""]; then - cat << EOF -Copyright (C) 1989, 1990, 1991, 1992, 1993, - 1994, 1995, 1996, 1997, 1998, 1999 Peter J. Gawthrop -This is free software with ABSOLUTELY NO WARRANTY. - -This program is free software; you can redistribute it and/or modify -it under the terms of the GNU General Public License as published by -the Free Software Foundation; either version 2 of the License, or -(at your option) any later version. - -This program is distributed in the hope that it will be useful, -but WITHOUT ANY WARRANTY; without even the implied warranty of -MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -GNU General Public License for more details. - -You should have received a copy of the GNU General Public License -along with this program. If not, write to the Free Software -Foundation, 675 Mass Ave, Cambridge, MA 02139, USA. - -EOF - exit -fi - -# Start at abg representation -if [ -n "$start_at_abg" ]; then - if [ -f "$1_abg.m" ]; then - if [ "$quiet" != "quiet" ]; then - echo Starting from $1_abg.m - fi - else - echo $1_abg.m does not exist - exit - fi -fi - -# Clean up -if [ "$1" = "clean" ]; then - echo Removing intermediate files in `pwd` - rm -fr MTT_work - exit -fi - -# Recursively clean up -if [ "$1" = "rclean" ]; then - echo 'Removing intermediate files recursively' - dir2paths '.' | awk '{print "mtt -q -d " $1 " clean " $2}' | sh - exit -fi - -# The big clean up -if [ "$1" = "Clean" ] && [ "$2" = "" ]; then - echo 'Removing all generated files for all systems' - rm -f *.log mtt_info.txt warning.txt - rm -f *_abg.ps *_args.* *_cr.txt *_abg.tex - rm -f *_sabg.fig *_sabg.ps *_head.fig *_bnd.fig - rm -f *_sympar.r *_sympar.c *_sympar.h *_sympar.txt? *_sympar.tex - rm -f *_rbg.* *_cmp.* *_fig.fig *_*cbg.* *_ese.* *_def.* *_alias.* - rm -f *_sub.* *_type.sh - rm -f *_dae*.* *_cse.* *_ode.* - rm -f *_obs.* *_rfe.* *_ss.* - rm -f *_dm.* *_csm.* *_tf.* *_sr*.* *_ir*.* *_*fr.* - rm -f *_numpar.m *_numpar.c *_input.m *_input.c *_switch.c *_switch.txt - rm -f *_sm.* *_can.* - rm -f *_struc.* *_sympar.txt *_sympar.c *_sympar.h *_sympar.m - rm -f *_odes.c *_odes.dat *_odes.gdat *_odes.m *_odes.ps *_odes.sg - rm -f *_odeso.dat *_odeso.gdat *_odeso.sdat *_odeso.m *_odeso.ps - rm -f *_*.doc *_*.idx *_*.ind *_*.ilg *_*.dvi *_*.aux *_*.lof *_*.toc - rm -f *_rep.tex - rm -f *_unique_raw_list *_raw_list - rm -f mtt_error.txt mtt_info.txt *_ode2odes.out - rm -f *_*_write.r *_simpar.m *_simpar.p - rm -f *_cseo.oct *_input.oct *_simpar.oct *_smxax.oct - rm -f *_csex.oct *_numpar.oct *_smxa.oct *_state.oct - rm -f *_ode.oct *_odeo.oct - rm -f *_cseo.cc *_input.cc *_simpar.cc *_smxax.cc - rm -f *_csex.cc *_numpar.cc *_smxa.cc *_state.cc - rm -f *_ode.cc *_odeo.cc - rm -f *_logic.m *_logic.cc *_logic.oct - rm -f *_state.m *_state.cc *_state.oct - rm -f *_ode2odes.* *.dat2 MTT.core - rm -f *_modpar.txt *_modpar.r - rm -f *_ICD.txt *_ICD.c *_ICD.cc *_ICD.m - rm -f *_ae.r *_ae.m *_ae.cc *_ae.oct - rm -fR *_rep MTT_work - exit -fi - -# Clean up named system -if [ "$2" = "Clean" ] && [ "$3" = "" ]; then - echo 'Removing all generated files for system ' $1 - rm -f *.log mtt_info.txt warning.txt - rm -f $1_abg.ps $1_args.* $1_cr.txt $1_abg.tex - rm -f $1_sabg.fig $1_sabg.ps $1_head.fig $1_bnd.fig - rm -f $1_sympar.r $1_sympar.c $1_sympar.h $1_sympar.txt? $1_sympar.tex - rm -f $1_rbg.* $1_cmp.* $1_fig.fig $1*_*cbg.* $1*_ese.* $1_def.* $1_alias.* - rm -f $1_sub.* $1_type.sh - rm -f $1_dae*.* $1_cse.* $1_ode.* $1_obs.* $1_rfe.* $1_ss.* - rm -f $1_dm.* $1_csm.* $1_tf.* $1_sr*.* $1_ir*.* $1_*fr.* - rm -f $1_numpar.m $1_numpar.c $1_input.m $1_input.c $1_switch.c $1_switch.txt - rm -f $1_sm*.* $1_can.* - rm -f $1_struc.* $1_sympar.txt $1_sympar.c $1_sympar.h $1_sympar.m - rm -f $1_odes.c $1_odes.dat $1_odes.gdat $1_odes.sdat $1_odes.m $1_odes.ps $1_odes.sg - rm -f $1_odeso.dat $1_odeso.gdat $1_odeso.m $1_odeso.ps - rm -f $1_*.doc $1_*.idx $1_*.ind $1_*.ilg $1_*.dvi $1_*.aux $1_*.lof $1_*.toc - rm -f $1_rep.tex - rm -f $1_unique_raw_list $1_raw_list - rm -f mtt_error.txt mtt_info.txt $1_ode2odes.out - rm -f $1_*_write.r $1_simpar.m $1_simpar.p - rm -f $1_cseo.oct $1_input.oct $1_simpar.oct $1_smxax.oct - rm -f $1_csex.oct $1_numpar.oct $1_smxa.oct $1_state.oct - rm -f $1_ode.oct $1_odeo.oct - rm -f $1_cseo.cc $1_input.cc $1_simpar.cc $1_smxax.cc - rm -f $1_csex.cc $1_numpar.cc $1_smxa.cc $1_state.cc - rm -f $1_ode.cc $1_odeo.cc - rm -f $1_logic.m $1_logic.cc $1_logic.oct - rm -f $1_state.m $1_state.cc $1_state.oct - rm -f $1_ode2odes.* $1.dat2 - rm -f $1_modpar.txt $1_modpar.r - rm -f $1_ICD.txt $1_ICD.c $1_ICD.cc $1_ICD.m - rm -f $1_ae.r $1_ae.m $1_ae.cc $1_ae.oct - rm -fR $1_rep MTT_work - exit -fi - -if [ "$2" = "rep" ]; then - documenttype=article - # See if we are making a book -- ie representation rep on a directory - isMTT_work=`pwd | grep 'MTT_work'` - if [ -n "$isMTT_work" ]; then - dotdot='../' - fi - - #isdirectory=`file $dotdot$1 | awk '{print $2}' | grep directory` - if [ -d "$dotdot$1" ]; then - documenttype=book - fi -else - documenttype=section -fi - -case $2 in - nyfr) - NyquistStyle='True' - ;; - nifr) - NyquistStyle='True' - ;; - *) - -esac - -#SUMMARY abg* acausal bond graph (fig) -#SUMMARY abg* acausal bond graph (ps) -#SUMMARY abg* acausal bond graph (view) -# Invoke explicit requests for modification -if [ "$2" = "abg" ] && [ "$3" = "fig" ]; then - mtt_check_var "$FIG" FIG - echo Editing $1_$2.$3 - ($FIG $1_$2.$3; cp $1_abg.fig $1_$1_abg.fig) & - exit -fi - -# Rename a system -if [ "$1" = "rename" ]; then - mtt_rename_all $2 $3 - exit -fi - -# Copy systems from the example library -if [ "$1" = "copy" ]; then - #set up source and destination dirs - source=$3 - if [ -z "$source" ]; then - source=$MTT_Examples - fi - destination=$4 - if [ -z "${destination}" ]; then - destination=$2 - fi -# check that its not here already - file_exists=`ls ${destination}/$2_abg.fig 2> /dev/null` - if [ -n "$file_exists" ]; then - if [ "$quiet" != "quiet" ]; then - echo System $2 exists already - no action taken - fi - else - source=$3 - if [ -z "$source" ]; then - source=$MTT_EXAMPLES - fi - destination=$4 - if [ -z "${destination}" ]; then - destination=$2 - fi -echo Copying system $2 from $source into directory ${destination} - find $source -name "$2" -exec cp -fr {} . \; - rm -rf ${destination}/CVS - fi - exit -fi - -# Copy components from the library -if [ "$1" = "compcopy" ]; then - - #Pull out the base name (we may have a library as well) - name=`basename $2` - - #set up source and destination dirs - source=$3 - if [ -z "$source" ]; then - source=$MTT_COMPONENTS - fi - destination=$4 - if [ -z "${destination}" ]; then - destination='.' - fi - - # check that its not here already - file_exists=`ls ${destination}/"$name"_abg.fig 2> /dev/null` - if [ -n "$file_exists" ]; then - if [ "$quiet" != "quiet" ]; then - echo Component $name exists already - no action taken - fi - else - if [ $source = "." ]; then - cp -u *_*.* ${destination} - else - comp_path=`mtt_find $source $2 path_only` - n_found=`echo $comp_path | wc | awk '{print $2}'` - - if [ "$n_found" = "1" ]; then - echo Copying $2 from $comp_path to ${destination} - cp $comp_path/*_*.* ${destination} - exit 0 - elif [ "$n_found" = "0" ]; then - if [ "$quiet" != "quiet" ]; then - echo Component $2 not found - is MTT_COMPONENTS set correctly? - fi - exit 1 - elif [ "$n_found" > "1" ]; then - echo "Multiple versions of $2 found (see below) - use a more explicit alias" - mtt -q find $2 - exit 2 - fi - fi - fi - exit -fi - -# Copy CRs from the library -if [ "$1" = "crcopy" ]; then - # check that its not here already (or a _cr.r version) - file_exists=`ls $2.cr $2_cr.r 2> /dev/null` - if [ -n "$file_exists" ]; then - if [ "$quiet" != "quiet" ]; then - echo $2.cr or $2_cr.r exists already - no action taken - fi - else - path_name=$3 - if [ -z "$path_name" ]; then - path_name=$MTT_LIB/cr/r - fi - echo Copying CR $2 to here from $3 - find $path_name -name "$2.cr" -exec cp {} . \; - fi - exit -fi - - -# Version control -VC='' - -if [ "$3" = "vc" ]; then - tidy=untidy; - if [ -n "$4" ]; then - log_message=$4 - else - log_message="No Message" - fi - case $2 in - abg ) - VC='ok' - VCext='fig' ;; - lbl ) - VC='ok' - VCext='txt' ;; - desc ) - VC='ok' - VCext='tex' ;; - simp ) - VC='ok' - VCext='r' ;; - rep ) - VC='ok' - VCext='txt' ;; - numpar ) - VC='ok' - VCext='txt' ;; - input ) - VC='ok' - VCext='txt' ;; - state ) - VC='ok' - VCext='txt' ;; - odes ) - VC='ok' - VCext='h' ;; - sspar ) - VC='ok' - VCext='r' ;; - *) - echo Version control is not appropriate for representation $2 - exit ;; - esac -fi - -# Classify the representation - needed for conversion route to postscript -PLOTTYPE='single'; -case $2 in - abg ) - REPTYPE='bg' ;; - sabg ) - REPTYPE='bg' ;; - cbg ) - REPTYPE='bg' ;; - input ) - REPTYPE='txt' ;; - numpar ) - REPTYPE='txt' ;; - state ) - REPTYPE='txt' ;; - simpar ) - REPTYPE='txt' ;; - obspar ) - REPTYPE='txt' ;; - odes) - REPTYPE='data'; PLOTTYPE='multiple' ;; - odeso) - REPTYPE='data'; PLOTTYPE='multiple' ;; - sms) - REPTYPE='data'; PLOTTYPE='multiple' ;; - smso) - REPTYPE='data'; PLOTTYPE='multiple' ;; - odess) - REPTYPE='data' ;; - odesso) - REPTYPE='data' ;; - daes) - REPTYPE='data'; PLOTTYPE='multiple' ;; - daeso) - REPTYPE='data'; PLOTTYPE='multiple' ;; - ir) - REPTYPE='data' ;; - iro) - REPTYPE='data' ;; - sr) - REPTYPE='data' ;; - sro) - REPTYPE='data' ;; - lmfr) - REPTYPE='data' ;; - lpfr) - REPTYPE='data' ;; - nyfr) - REPTYPE='data' ;; - nifr) - REPTYPE='data' ;; - *) - REPTYPE='tex' ;; -esac - - -## Set up the main arguments -sys=$1 -rep=$2 -lang=$3 - -## Make ps pdf if -pdf set -if [ "$lang" = "ps" ]; then - lang=$ps -fi - - -# Create some strings -Subsystem=$1$subsystem; - -Subsystem_=$Subsystem"_" -Subsystem_ese=$Subsystem"_ese" -Subsystem_def=$Subsystem"_def" -Subsystem_rdae=$Subsystem"_rdae" -Subsystem_dae=$Subsystem"_dae" -Subsystem_subs=$Subsystem"_subs" -Subsystem_cr=$Subsystem"_cr" -Subsystem_cbg=$Subsystem"_cbg" - -## Create the make target name -target=${sys}_${rep}.${lang} - -## Arguments -ARGS=$4; _ARGS=-$4; __ARGS=`echo $_ARGS | tr ',' '-'` - -# Save up the argument list in a file; but only if argument has changed -#DIFF doesn't like empty files - so put a blank if empty -#if [ -z "$ARGS" ]; then -# ARGS=' '; -# _ARGS=''; -#fi - -#cat > $1_args.new </dev/null` - -#if [ -n "$DIFF" ]; then -# mv $1_args.new $1_args.m -#fi - -# Tidy mode - operate in the directory MTT-work -if [ "$tidy" = "tidy" ]; then - mkdir -p MTT_work - cp -p -u Makefile Make *.* .* MTT_work 2>/dev/null - cd MTT_work - - if [ -f ".octaverc" ]; then - touch .octaverc - else - echo Copying .octaverc - cp $MTT_LIB/octave/.octaverc . - fi - - if [ -f "useful-functions.hh" ]; then - touch useful-functions.hh - else - echo Copying useful-functions.hh - cp $MTT_CC/include/useful-functions.hh . - fi - - if [ -z "$directory" ]; then - Directory='' - else - Directory=$directory/MTT_work - fi - - mtt -u -q $mtt_switches -S "$Directory" $1 $2 $3 $4 - mtt_status=$? - - # Exit on failure - if [ "$mtt_status" != "0" ]; then - echo Exiting MTT with error $mtt_status - exit 1 - fi - - # Copy back form working directory - if [ "$3" != "view" ] && [ "$3" != "hview" ] && [ -z "$reset" ]; then - if [ "$3" = "html" ]; then - echo Moving $1_$2 - mv $1_$2 .. - else - if [ "$PLOTTYPE" = "multiple" -a -f $1_$2__ARGS.$ps ]; then - echo Copying $1_$2$__ARGS.$ps - cp $1_$2$__ARGS.$ps .. - else - echo Copying $1$subsystem"_"$2.$lang - cp -p -u $1$subsystem"_"$2.$lang .. - fi - fi - fi - - # Remove the MTT_work directory if very tidy - if [ "$verytidy" = "verytidy" ]; then - echo Removing all working files - rm -rf ../MTT_work - fi -exit -fi - -# User defined representations -## Copy from library if not already here -if [ -f "$MTT_REP/$2_rep.make" ]; then - if [ -f "$2_rep.make" ]; then - echo Using $2_rep.make - else - echo Copying $2_rep.make from $MTT_REP - cp $MTT_REP/$2_rep.make . - fi -fi - -if [ -f "$2_rep.make" ]; then - if [ -n "$4" ]; then - filename=$1_$2-$4.$3 - else - filename=$1_$2.$3 - fi - - if [ -f "$filename" ]; then - echo $filename exists - else - if [ -n "$Verbose" ]; then - echo make -s -f $2_rep.make "SYS=$1" "LANG=$3" "ARG=$4" "OPTS=$mtt_switches" - fi - make -s -f $2_rep.make "SYS=$1" "LANG=$3" "ARG=$4" "OPTS=$mtt_switches" - if [ -n "$4" ]; then - echo Copying $1_$2$__ARGS.$ps - cp $1_$2$__ARGS.$ps .. - fi - fi - exit -fi - -## Check for pre version 4.0 integration method specification. -if [ $level = "0" ]; then - if [ -f "$1_simpar.txt" ]; then - method_line=`grep -i METHOD $1_simpar.txt` - if [ -n "`echo $method_line | grep -i euler`" ]; then - echo Obsolete $1_simpar.txt contains: $method_line - echo " please use mtt -i euler in future" - mtt_switches="$mtt_switches -i euler"; - elif [ -n "`echo $method_line | grep -i implicit`" ]; then - echo Obsolete $1_simpar.txt contains: $method_line - echo " please use mtt -i implicit in future" - mtt_switches="$mtt_switches -i implicit"; - fi - fi -fi - -if [ -n "$reset" ]; then - if [ -f "$1_$2.$3" ]; then - echo Resetting time stamp on $1_$2.$3 - touch $1_$2.$3 - else - echo $1_$2.$3 does not exist - no action taken - fi - exit; -fi - - -if [ -n "$sensitivity" ]; then - sys_s=`echo $1 | cut -c 2-` - sys_abg=${sys_s}_abg -fi - -## Check octave version -case `$MATRIX --version | awk -F\. '{print $2}'` in - 0) define_octave_dev="";; # stable - 1) define_octave_dev="-DOCTAVE_DEV";; # development - *) define_octave_dev="-DOCTAVE_DEV";; -esac - -################################ -# This is the main mtt programme -################################ - -#echo Target is $target, Subsystem is $Subsystem, options are $mtt_switches -##<<<<<<< mtt -##$MAKE -S ${trace} ${verbose} -f - ${target} << EOF -##======= -##$MAKE -S $verbose $verbose_make -f - $target << EOF -##>>>>>>> 1.316 -$MAKE -S ${trace} $verbose $verbose_make -f - $target << EOF - -# Cancel implicit rules I don't want -%.dvi: %.tex - -# MTT implicit rules -## .oct files -$1_%.oct: $1_%.cc $1_def.h $1_sympar.h $1_cr.h - echo Creating $1_\$*.oct; $MKOCTFILE $1_\$*.cc - -.PRECIOUS: mtt_%.oct -mtt_%.oct: mtt_%.cc - echo Compiling \$< - ${MKOCTFILE} $define_octave_dev \$< - -## .cc files -.PRECIOUS: %.cc # Don't let mtt delete them -$1_%.cc: $1_%.m - mtt_m2cc.sh $1 \$* cat - -mtt_%.cc: ${MTT_LIB}/cc/mtt_%.cc - cp ${MTT_LIB}/cc/mtt_\$*.cc mtt_\$*.cc - -mtt_%.hh: ${MTT_LIB}/cc/mtt_%.hh - cp ${MTT_LIB}/cc/mtt_\$*.hh mtt_\$*.hh - -## .o files -.PRECIOUS: $1_%.o -$1_%.o: $1_%.cc $1_def.h $1_sympar.h $1_cr.h - echo Compiling $1_\$*.cc - ${MTT_CXX} ${MTT_CXXFLAGS} ${MTT_CXXINCS} -c $< -DSTANDALONE - -.PRECIOUS: mtt_%.o -mtt_%.o: mtt_%.cc - echo Compiling mtt_\$*.cc - ${MTT_CXX} ${MTT_CXXFLAGS} ${MTT_CXXINCS} -c $< -DSTANDALONE $define_octave_dev - -# Generates code to write reduce code -$1_ode_write.r: $1_def.m - def2write_r $1 $2 $computation - -ifeq ("$sensitivity","sensitivity") -ifeq ("$level","0") -$1_abg.fig: $sys_abg.fig - abg2sensitivity_fig $sys_s -else # Either find the sensitivity model or fetch the model and create sensitivity model -$1_abg.fig: - mtt -q -u $mtt_switches compcopy $1 || abg2sensitivity_fig $sys_s -endif -endif - -ifneq ("$sensitivity","sensitivity") -ifneq ("$level","0") -# If level>0, try and get subsystem files; creating if necessary -$1_abg.fig: - mtt -q -u $mtt_switches compcopy $1 -endif -endif - -# Create an arg file if it doesn't exist -$1_args.m: - touch $1_args.m - -#Create skeleton files (with titles) if not already there -#SUMMARY lbl* label file (txt) -#SUMMARY lbl label file (txt) -#SUMMARY lbl* label file (view) -#SUMMARY lbl label file (view) -#SUMMARY lbl* label file (tex) -#SUMMARY lbl label file (tex) -$1_lbl.txt: $1_abg.fig - abg2lbl_fig2txt $1 $sensitivity - -$1_lbl.tex: $1_lbl.txt - lbl_txt2tex $1 - -#SUMMARY alias name aliases for each subsystem (txt) -$1_alias.txt: $1_lbl.txt - lbl2alias_txt2txt $1 - -#SUMMARY modpar name modulated parameters for each subsystem (txt) -$1_modpar.txt: $1_lbl.txt - lbl2modpar_txt $1 - -#SUMMARY modpar name modulated parameters for each subsystem (r) -$1_modpar.r: $1_modpar.txt $1_struc.txt - modpar_txt2r $1 - -#SUMMARY alias name aliases for each subsystem (m) -$1_alias.m: $1_alias.txt - alias_txt2m $1 - -##SUMMARY icd interface definition for system (c) -##SUMMARY icd interface definition for system (cc) -##SUMMARY icd interface definition for system (m) -##SUMMARY icd interface definition for system (txt) - -$1_ICD.c: $1_ICD.txt - ICD_txt2lang.sh $1 c - -$1_ICD.cc: $1_ICD.txt - ICD_txt2lang.sh $1 cc - -$1_ICD.m: $1_ICD.txt - ICD_txt2lang.sh $1 m - -$1_ICD.txt: $1_icd.txt2 - icd2ICD_txt22txt.sh $1 - -$1_icd.txt2: $1_ese.r - touch $1_icd.txt2 - -#SUMMARY icd interface definitions for each subsystem (m) -$1_icd.m: $1_icd.txt - icd_txt2m.sh $1 - -#SUMMARY icd interface definitions for each subsystem (txt) -$1_icd.txt: $1_lbl.txt - lbl2icd_txt2txt.sh $1 - -#SUMMARY cr constitutive relationship for each subsystem (txt) -$1_cr.txt: $1_abg.m $1_sub.sh - abg2cr_m2txt $1 - - if [ "$level" = "0" ]; then \ - mv $1_cr.txt MTT_cr.txt; \ - else \ - cat $1_cr.txt >> MTT_cr.txt; \ - fi - - sh $1_sub.sh "rm -f " '_cr.txt' # Remove the txt.cr files - sh $1_sub.sh "mtt $mtt_switches -q -u -l $level+1 " ' cr txt' #Create new ones - - - if [ "$level" = "0" ]; then \ - sort -u MTT_cr.txt> $1_cr.txt; \ - fi - -#SUMMARY cr constitutive relationship for each subsystem (r) -$1_cr.r: $1_cr.txt - cr_txt2r $1 - -#SUMMARY cr constitutive relationship header (c) -$1_cr.h: - echo Creating $1_cr.h - echo "// CR headers for system $1" > $1_cr.h - -# Cheat a bit and use the top level cr file for the subsystem as well -ifneq ($sub,) -$Subsystem_cr.r: $1_cr.r - echo Creating $Subsystem_cr.r "(copying $1_cr.r)" - cp $1_cr.r $Subsystem_cr.r -endif -#SUMMARY cr constitutive relationship for each subsystem (tex) -#SUMMARY cr constitutive relationship for each subsystem (view) -$1_cr.tex: $1_cr.r - txt2tex $1 cr r - -#SUMMARY sympar symbolic parameters (txt) -#SUMMARY sympar* symbolic parameters (view) -$1_sympar.txt: $1_type.sh $1_abg.m $1_aliased.txt - mtt_make_sympar $1 - -#SUMMARY sympar symbolic parameters (r) -$1_sympar.r: $1_sympar.txt - sympar_txt2r $1 -$1_sympar.m: $1_sympar.txt - sympar_txt2m $1 -$1_sympar.h: $1_sympar.txt - sympar_txt2h.sh $1 - -#SUMMARY sympar symbolic parameters (c) -# txt to c sympar conversion -$1_sympar.c: $1_sympar.txt - sympar_txt2c $1 - -#SUMMARY sympar symbolic parameters (tex) -# txt to tex (LaTeX) sympar conversion -$1_sympar.tex: $1_sympar.txt - sympar_txt2tex $1 - -#SUMMARY logic Dynamic switch logic (tex) -#SUMMARY logic Dynamic switch logic (view) -$1_logic.tex: $1_logic.txt - txt2tex $1 logic txt - - -#SUMMARY switch Dynamic switch information (txt) -$1_switch.txt: $1_struc.txt - struc2switch_txt $1 -#$1_switchopen.m: $1_switch.txt $1_sympars.txt $1_logic.txt -# switch_txt2m $1 - -#SUMMARY sympars sympar + dynamic switch information (txt) -$1_sympars.txt: $1_sympar.txt $1_switch.txt - echo Creating $1_sympars.txt - cat $1_sympar.txt $1_switch.txt > $1_sympars.txt - -#SUMMARY simp simplification information (r) -$1_simp.r: - echo Creating $1_simp.r - ( \ - echo "%% Reduce commands to simplify output for system $1 ($1_simp.r)"; \ - cat $MTTPATH/trans/m/rcs_header.txt; \ - echo 'ON ALLFAC; %Multiplicative factors'; \ - echo 'OFF DIV; %Polynomial division'; \ - echo 'OFF FACTOR; %Factorise polynomials'; \ - echo 'OFF LIST; %Each term on a new line'; \ - echo 'FOR ALL x,y LET pow(x,y) = x^y; %Readable pow function'; \ - echo 'END;'; \ - )> $1_simp.r - -#SUMMARY subs algebraic substitution (r) -$Subsystem_subs.r: - mtt $mtt_switches -q -u $1 sympar txt; - makesubs $Subsystem; - -#SUMMARY obspar GPC observability function parameters (r) -$1_obspar.r: - echo Creating $1_obspar.r - ( \ - echo "%% Reduce GPC observability function parameters for system $1 ($1_obspar.r)"; \ - cat $MTTPATH/trans/m/rcs_header.txt; \ - echo 'MTTGPCNy := 5;'; \ - echo 'MTTGPCNu := 0;'; \ - echo 'Matrix MTTdU(5,1);'; \ - echo 'MTTdU(1,1) := MTTdU1;'; \ - echo 'MTTdU(2,1) := MTTdU2;'; \ - echo 'MTTdU(3,1) := MTTdU3;'; \ - echo 'MTTdU(4,1) := MTTdU4;'; \ - echo 'MTTdU(5,1) := MTTdU5;'; \ - echo 'Matrix MTTUU(1,5);'; \ - echo 'MTTUU(1,1) := MTTu1;'; \ - echo 'MTTUU(1,2) := MTTu11;'; \ - echo 'MTTUU(1,3) := MTTu12;'; \ - echo 'MTTUU(1,4) := MTTu13;'; \ - echo 'MTTUU(1,5) := MTTu14;'; \ - echo 'END;'; \ - )> $1_obspar.r - -#SUMMARY simpar simulation information (txt) -$1_simpar.txt: - echo Creating $1_simpar.txt - ( \ - echo '# -*-octave-*- Put Emacs into octave-mode'; \ - echo "# Simulation parameters for system $1 ($1_simpar.txt)"; \ - echo "# Generated by MTT on" `date`.; \ - cat $MTTPATH/trans/rcs_header.sh; \ - echo ;\ - echo 'FIRST = 0.0; # First time in simulation output'; \ - echo 'DT = 0.1; # Print interval'; \ - echo 'LAST = 10.0; # Last time in simulation'; \ - echo 'STEPFACTOR = 1; # Integration steps per print interval'; \ - echo 'WMIN = -1; # Minimum frequency = 10^WMIN'; \ - echo 'WMAX = 2; # Maximum frequency = 10^WMAX'; \ - echo 'WSTEPS = 100; # Number of frequency steps'; \ - echo 'INPUT = 1; # Index of the input'; \ - )> $1_simpar.txt - -#SUMMARY simpar simulation information (m) -$1_simpar.m: $1_simpar.txt $1_def.r $1_sympar.txt - mtt_txt2m $1 simpar - - -#SUMMARY numpar numerical parameter declaration -- default (txt) -$1_numpar.txt : $1_sympar.txt $1_def.r -ifeq ($target,$1_numpar.txt) - mtt_update $1 numpar update -else - mtt_update $1 numpar -endif - -#SUMMARY state numerical state declaration -- default (txt) -$1_state.txt : $1_struc.txt $1_sympar.txt $1_def.r -ifeq ($target,$1_state.txt) - mtt_update $1 state update -else - mtt_update $1 state -endif - -#SUMMARY input numerical state declaration -- default (txt) -$1_input.txt : $1_struc.txt $1_sympar.txt -ifeq ($target,$1_input.txt) - mtt_update $1 input update -else - mtt_update $1 input -endif - -#SUMMARY logic Dynamic switch logic (txt) -$1_logic.txt : $1_def.r $1_struc.txt $1_sympar.txt -ifeq ($target,$1_logic.txt) - mtt_update $1 logic update -else - mtt_update $1 logic -endif - -# Dummy target -FORCE: - -$1_ode2odes_common.m : $1_ae.m $1_input.m $1_logic.m $1_numpar.m $1_simpar.m $1_state.m - touch \$@ -$1_ode2odes_common.cc : $1_ae.cc $1_input.cc $1_logic.cc $1_numpar.cc $1_simpar.cc $1_state.cc - touch \$@ -$1_ode2odes_common.o : $1_ae.o $1_input.o $1_logic.o $1_numpar.o $1_simpar.o $1_state.o - @echo "Creating $1_ode2odes_common.o" - ar -cr \$@ \$^ -$1_ode2odes_common.oct : $1_ae.oct $1_input.oct $1_logic.oct $1_numpar.oct $1_simpar.oct $1_state.oct - touch \$@ - -$1_ode2odes_euler.m $1_ode2odes_rk4.m : $1_ode.m $1_odeo.m - touch \$@ -$1_ode2odes_euler.cc $1_ode2odes_rk4.cc : $1_ode.cc $1_odeo.cc - touch \$@ -$1_ode2odes_euler.o $1_ode2odes_rk4.o : $1_ode.o $1_odeo.o mtt_euler.o - @echo "Creating \$@" - ar -cr \$@ \$^ -$1_ode2odes_euler.oct : $1_ode.oct $1_odeo.oct mtt_euler.oct - touch \$@ - -$1_ode2odes_implicit.m : $1_cseo.m $1_csex.m $1_smxa.m $1_smxax.m - touch \$@ -$1_ode2odes_implicit.cc : $1_cseo.cc $1_csex.cc $1_smxa.cc $1_smxax.cc - touch \$@ -$1_ode2odes_implicit.o : $1_cseo.o $1_csex.o $1_smxa.o $1_smxax.o mtt_implicit.o - @echo "Creating $1_ode2odes_implicit.o" - ar -cr \$@ \$^ -$1_ode2odes_implicit.oct: $1_cseo.oct $1_csex.oct $1_smxa.oct $1_smxax.oct mtt_implicit.oct - touch \$@ - -$1_ode2odes_dassl.m : $1_ode.m $1_odeo.m - touch \$@ -$1_ode2odes_dassl.cc : $1_ode.cc $1_odeo.cc - touch \$@ -$1_ode2odes_dassl.o : $1_ode.o $1_odeo.o mtt_dassl.o - @echo "Creating \$@" - ar -cr \$@ \$^ -$1_ode2odes_dassl.oct : $1_ode.oct $1_odeo.oct mtt_dassl.oct - touch \$@ - -mtt_Solver.cc: mtt_Solver.hh -mtt_AlgebraicSolver.cc: mtt_AlgebraicSolver.hh -$1_ode2odes_${algebraic_solver}.cc: mtt_Solver.cc mtt_AlgebraicSolver.cc mtt_${algebraic_solver}.hh mtt_${algebraic_solver}.cc -$1_ode2odes_${algebraic_solver}.o: mtt_Solver.o mtt_AlgebraicSolver.o mtt_${algebraic_solver}.o - @echo "Creating $1_ode2odes_${algebraic_solver}.o" - ar -cr \$@ \$^ - -#SUMMARY numpar numerical parameter declaration (m) -$1_numpar.m: $1_numpar.txt $1_sympars.txt - mtt_txt2m $1 numpar - -#SUMMARY numpar numerical parameter declaration (c) -#SUMMARY numpar numerical parameter declaration (view) -$1_numpar.c: $1_numpar.txt $1_sympar.c - txt2c $1 numpar - - - -#SUMMARY logic logic input declaration (m) -$1_logic.m: $1_logic.txt $1_switch.txt - mtt_txt2m $1 logic - -#SUMMARY state state declaration -- default (txt) -#$1_state.txt: -# mtt $mtt_switches $1 struc txt; -# mtt $mtt_switches $1 ss r; -# struc2state_txt2txt $1 - -#SUMMARY state state declaration (m) -$1_state.m: $1_state.txt $1_sympars.txt - mtt_txt2m $1 state - -#SUMMARY desc Verbal description of system (tex) -$1_desc.tex: - makedesc $1 - - -#SUMMARY params symbolic parameter setting (r) - $1_params.r: - echo Creating $1_params.r - ( \ - echo "%% Parameter file for system $1 ($1_params.r)"; \ - echo "%% This file provides symbolic parameters for simplification";\ - cat $MTTPATH/trans/m/rcs_header.txt; \ - echo 'END;'; \ - )> $1_params.r - - -#SUMMARY sspar steady-state definition (r) -$1_sspar.r: - struc2sspar_txt2r $1 - -#SUMMARY sspar steady-state parameters (tex) -#SUMMARY sspar steady-state parameters (view) -$1_sspar.tex: $1_sspar.r - txt2tex $1 sspar r - -#SUMMARY rep* report (txt) -#SUMMARY rep report (tex) -#SUMMARY rep* report (view) -#SUMMARY rep* report (html) - - -ifeq ($documenttype,book) -$1_rep.txt: - dir2rep $1 $dotdot; -else -$1_rep.txt: - makerep_txt $1; -endif - -#SUMMARY rbg raw bond graph (m) -#Raw bond graph: fig file to mfile -$1_rbg.m: $1_abg.fig $1_lbl.txt - lbl2component $1 | sh || exit 1 # Grab specified components now - rbg_fig2m $1 -$1_cmp.m: $1_rbg.m -$1_fig.fig: $1_rbg.m - -#SUMMARY sabg stripped acausal bond graph (fig) -#SUMMARY sabg stripped acausal bond graph (ps) -#SUMMARY sabg stripped acausal bond graph (view) -$1_sabg.fig: $1_rbg.m - - -#Subsystem creation commands -#SUMMARY sub Executable subsystem list (sh) -ifeq ($start_at_abg,yes) -$1_sub.sh: $1_abg.m - abg2sub_m2sh $1 -else -$1_sub.sh: $1_abg.fig - abg2sub_fig2sh $1 -endif - -#SUMMARY sub LaTeX subsystem list (tex) -#SUMMARY sub subsystem list (ps) -#SUMMARY sub subsystem list (view) -$1_sub.tex: $1_sub.sh -ifeq ($documenttype,section) - sub_sh2tex $1 -else - sub_sh2tex -l $1 -endif - -#SUMMARY abg acausal bond graph (m) -#Raw bond graph to acausal bond graph: mfile - -ifneq ($start_at_abg,yes) -$1_abg.m: $1_rbg.m $1_alias.m $1_cmp.m $1_icd.m - cmp2sub_m2sh $1 - (sh $1_sub.sh "mtt $mtt_switches -q -u -l $level+1 " ' abg m null || exit 1') || exit 1 - rbg2abg_m $info_switch $1 -endif - -#SUMMARY cbg* causal bond graph (m) -#Acausal bond graph to causal bond graph: mfile -$1_cbg.m: $1_abg.m - abg2cbg_m $info_switch $causality_switch $1 - -$1_type.sh: $1_cbg.m - touch $1_type.sh - -#SUMMARY cbg* causal bond graph (fig) -#SUMMARY cbg* causal bond graph (ps) -#SUMMARY cbg* causal bond graph (view) -#Causal bond graph: mfile to fig conversion -$1_cbg.fig: $1_cbg.m $1_fig.fig $1_type.sh - sh $1_type.sh 'echo cbg_m2fig ' ' ' ' ' | sh - -#SUMMARY ese elementary system equations (r) -#SUMMARY def definitions - system orders etc. (r) -#SUMMARY def definitions - system orders etc. (m) -#SUMMARY def definitions - system orders etc. (h) -#SUMMARY struc* structure - list of inputs, outputs and states (txt) -#SUMMARY struc structure - list of inputs, outputs and states (tex) -#SUMMARY struc* structure - list of inputs, outputs and states (view) -#Elementary system equations + definitions -${sys}_ese.r: ${sys}_cbg.m - cbg2ese_m2r $partition $info_switch $Subsystem; #ese_tidy $1 - -$1_def.r: $1_ese.r - touch $1_def.r -$1_struc.txt: $1_ese.r - touch $1_struc.txt -$1_aliased.txt: $1_ese.r - touch $1_aliased.txt -$1_struc.tex: $1_struc.txt - struc_txt2tex $1 -$1_struc.m: $1_struc.txt - struc_txt2m $1 -$1_def.m: $1_def.r - def_r2m $1; matlab_tidy $1_def.m; -$1_def.h: $1_def.m $1_sympar.txt - def_m2h.sh $1 - -#SUMMARY rdae raw differential-algebraic equations (r) -#SUMMARY dae differential-algebraic equations (r) -#SUMMARY dae* differential-algebraic equations (m) -#SUMMARY dae differential-algebraic equations (tex) -#SUMMARY dae* differential-algebraic equations (view) -#SUMMARY dae differential-algebraic equations (ps) -#Differential-algebraic equations - -${sys}_rdae.r: ${sys}_ese.r ${sys}_def.r $1_modpar.r ${Subsystem}_cr.r ${Subsystem}_subs.r -ifneq ($partition,) - echo Doing subsystems - mtt_make_subsystems ${sys} rdae r -endif - mtt_prepend.sh -p $1_modpar.r $1_ese.r # Add modulated parameters to start - ese2rdae_r ${cr_first} ${Subsystem}; tidy ${Subsystem}_rdae.r - -${sys}_dae.r: ${Subsystem}_rdae.r ${Subsystem}_def.r ${Subsystem}_subs.r ${Subsystem}_cr.r -ifneq ($partition,) - echo Doing subsystems - mtt_make_subsystems ${sys} dae r -endif -ifeq ($rdae_is_dae,1) - echo Copying $1_rdae.r to $1_dae.r - cp $1_rdae.r $1_dae.r -else - rdae2dae_r ${fixcc} ${Subsystem}; tidy ${Subsystem}_dae.r -endif - -$1_dae.m: $1_def.r $1_dae.r $1_sympars.txt - dae_r2m $1; matlab_tidy $1_dae.m; matlab_tidy $1_daeo.m -$1_dae.c: $1_def.r $1_dae.r $1_sympar.r - dae_r2c $1; c_tidy $1_dae.c -$1_dae.tex: $1_dae.r $1_simp.r - dae_r2tex $partition $1; latex_tidy $1_dae.tex - -#SUMMARY ae algebraic equations - unknown inputs (r) -#SUMMARY ae algebraic equations - unknown inputs (m) -#SUMMARY ae algebraic equations - unknown inputs (cc) - -$1_ae.r: $1_cse.r - touch $1_ae.r -$1_ae.m: $1_ae.r - mtt_r2m $1 ae - -#SUMMARY cse constrained-state equations (r) -#SUMMARY cse* constrained-state equations (m) -#SUMMARY cse* constrained-state equations (oct) -#SUMMARY cse constrained-state equations (tex) -#SUMMARY cse* constrained-state equations (view) -#SUMMARY cse constrained-state equations (ps) -#Constrained-state equations -${sys}_cse.r: ${Subsystem}_dae.r ${Subsystem}_dae.r ${Subsystem}_def.r ${Subsystem}_subs.r -ifneq ($partition,) - echo Doing subsystems - mtt_make_subsystems ${sys} cse r -endif - dae2cse_r $fixcc $optimise $Solve ${Subsystem}; tidy ${Subsystem}_cse.r #$1_subs.r -$1_csex.r: $1_cse.r - touch $1_csex.r -$1_cseo.r: $1_cse.r - touch $1_cseo.r - -#$1_cse.m: $1_def.r $1_cse.r $1_sympar.r $1_subs.r -# cse_r2m $1; matlab_tidy $1_cse.m -${sys}_cse.m: ${Subsystem}_def.r ${Subsystem}_cse.r ${sys}_sympars.txt -ifneq ($partition,) - echo Doing subsystems - mtt_cp_subrep ${sys} sympars txt - mtt_make_subsystems ${sys} cse m -endif - mtt_r2m ${Subsystem} cse;# matlab_tidy $1_cse.m; matlab_tidy $1_cseo.m; - -${sys}_cseo.m: ${Subsystem}_def.r ${Subsystem}_cseo.r ${sys}_sympars.txt -ifneq ($partition,) - echo Doing subsystems - mtt_cp_subrep ${sys} sympars txt - mtt_make_subsystems ${sys} cseo m -endif - mtt_r2m ${Subsystem} cseo - -${sys}_csex.m: ${Subsystem}_def.r ${Subsystem}_csex.r ${sys}_sympars.txt -ifneq ($partition,) - echo Doing subsystems - mtt_cp_subrep ${sys} sympars txt - mtt_make_subsystems ${sys} csex m -endif - mtt_r2m ${Subsystem} csex - -$1_cse.tex: $1_cse.r $1_sympar.r $1_simp.r - cse_r2tex $1 $2; latex_tidy $1_cse.tex - - -#SUMMARY scse sensitivity constrained-state equations (r) -#SUMMARY scse sensitivity constrained-state equations (tex) -#SUMMARY scse sensitivity constrained-state equations (ps) - -$1_scse.r: $1_cse.r $1_def.r - cse2scse_r $1 "$4"; tidy $1_scse.r - -#$1_cse.m: $1_def.r $1_cse.r $1_sympar.r $1_subs.r -# cse_r2m $1; matlab_tidy $1_cse.m -$1_scse.m: $1_def.m $1_scse.r $1_sympars.txt - mtt_r2m $optimise -parameters $1 scse; - matlab_tidy $1_scse.m; matlab_tidy $1_scseo.m; - -$1_scse.tex: $1_scse.r $1_sympar.r $1_simp.r - cse_r2tex $1 $2; latex_tidy $1_scse.tex - - -#SUMMARY ode ordinary differential equations (r) -#SUMMARY ode* ordinary differential equations (m) -#SUMMARY ode ordinary differential equations (c) -#SUMMARY ode ordinary differential equations (tex) -#SUMMARY ode* ordinary differential equations (view) -#SUMMARY ode ordinary differential equations (ps) -#SUMMARY ode ordinary differential equations (oct) -#Ordinary differential equations - -ifeq ($dae_is_ode,1) -$1_ode.r: $1_dae.r - echo Copying $1_dae.r to $1_ode.r - cp $1_dae.r $1_ode.r -else -$1_ode.r: $1_cse.r $1_cseo.r $1_def.r $1_sympar.r $1_subs.r - cse2ode_r $optimise $1; tidy $1_ode.r -endif - -$1_odeo.r: $1_ode.r - touch $1_odeo.r - -$1_ode.m: $1_def.r $1_ode.r - mtt_r2m $optimise -parameters $1 ode m; # matlab_tidy $1_ode.m -$1_odeo.m: $1_def.r $1_odeo.r - mtt_r2m $1 odeo m - -$1_odea.m: $1_ode.m - touch $1_odea.m - -$1_ode.tex: $1_ode.r $1_sympar.r $1_simp.r - ode_r2tex $1; latex_tidy $1_ode.tex - - -$1_lde.r: $1_dae.r - dae2lde_r $optimise $1; tidy $1_lde.r - -$1_lde.tex: $1_lde.r $1_sympar.r $1_simp.r - lde_r2tex $1; latex_tidy $1_lde.tex - -# The main simulation programme -ifeq ($integration_method,implicit) -$1_ode2odes.m : $1_def.r $1_sympars.txt \ - $1_smxa.m $1_smxax.m\ - $1_simpar.m $1_numpar.m $1_state.m $1_input.m \ - $1_csex.m $1_cseo.m $1_logic.m -ifeq ($using_oct,yes) - touch $1_ode2odes.m # Create a dummy which wont' be used - mtt $mtt_switches -q -u $1 ode2odes oct -else - make_ode2odes $1 m $integration_method $algebraic_solver -endif -endif -ifneq ($integration_method,implicit) -$1_ode2odes.m : $1_def.r $1_sympars.txt\ - $1_simpar.m $1_numpar.m $1_state.m $1_input.m \ - $1_ode.m $1_odeo.m $1_logic.m -ifeq ($using_oct,yes) - echo "*** Warning: Shouldn't be here! Creating dummy $1_ode2odes.m" - touch $1_ode2odes.m # Create a dummy which wont' be used - mtt $mtt_switches -q -u $1 ode2odes oct -else - make_ode2odes $1 m $integration_method $algebraic_solver -endif - -endif - -#SUMMARY ode2odes Simulation function (m) -#SUMMARY ode2odes Simulation function (cc) -#SUMMARY ode2odes Simulation function (oct) -#SUMMARY ode2odes Simulation function (exe) -$1_ode2odes.exe: $1_def.h $1_sympar.h\ - $1_ode2odes.o $1_ode2odes_common.o $1_ode2odes_${integration_method}.o $1_ode2odes_${algebraic_solver}.o mtt_kpathsea.o - echo Creating $1_ode2odes.exe - ${MTT_CXX} ${MTT_CXXFLAGS} -o $1_ode2odes.exe\ - $1_ode2odes.o $1_ode2odes_common.o $1_ode2odes_${integration_method}.o $1_ode2odes_${algebraic_solver}.o mtt_kpathsea.o\ - ${MTT_LDFLAGS} ${MTT_CXXLIBS} - -$1_ode2odes.o: $1_ode2odes.cc $1_ode2odes_common.o $1_ode2odes_${integration_method}.o $1_ode2odes_${algebraic_solver}.o - echo Creating $1_ode2odes.o - ${MTT_CXX} ${MTT_CXXFLAGS} ${MTT_CXXINCS} -c $1_ode2odes.cc -DSTANDALONE - -$1_ode2odes.oct: $1_ode2odes.cc $1_ode2odes_common.oct $1_ode2odes_${integration_method}.oct $1_ode2odes_${algebraic_solver}.o - touch $1_ode2odes.m - echo Creating $1_ode2odes.oct - $MKOCTFILE $1_ode2odes.cc mtt_${algebraic_solver}.cc mtt_Solver.cc mtt_AlgebraicSolver.cc - -$1_ode2odes.cc: $1_def.r $1_sympars.txt\ - $1_ode2odes_common.m $1_ode2odes_common.cc\ - $1_ode2odes_${integration_method}.m $1_ode2odes_${integration_method}.cc\ - mtt_Solver.cc mtt_AlgebraicSolver.cc mtt_${algebraic_solver}.cc mtt_${algebraic_solver}.hh - touch $1_ode2odes.m - make_ode2odes $1 cc $integration_method $algebraic_solver - -#Conversion of m to p to c -#SUMMARY ode ordinary differential equations (c) -#SUMMARY ode ordinary differential equations (p) -#SUMMARY state state declaration (c) -#SUMMARY state state declaration (p) -$1_simpar.p : $1_def.r $1_simpar.m - mtt_m2p $1_simpar.m -$1_numpar.p : $1_def.r $1_numpar.m - mtt_m2p $1_numpar.m -$1_state.p : $1_def.r $1_state.m - mtt_m2p $1_state.m - -#SUMMARY input numerical input declaration (m) -ifeq ($stdin,stdin) -$1_input.m : $1_def.r - make_stdin $1 m -$1_input.p : $1_def.r - make_stdin $1 p -$1_input.cc: - make_stdin $1 cc -else -$1_input.m: $1_input.txt $1_sympars.txt - mtt_txt2m $1 input -$1_input.p : $1_def.r $1_input.m - mtt_m2p $1_input.m -endif - -$1_ode.p : $1_def.r $1_ode.m - mtt_m2p $1_ode.m -$1_odeo.p : $1_def.r $1_odeo.m - mtt_m2p $1_odeo.m -$1_csex.p : $1_def.r $1_cse.m - mtt_m2p $1_csex.m -$1_cseo.p : $1_def.r $1_cseo.m - mtt_m2p $1_cseo.m -$1_smx.p : $1_def.r $1_smx.m - mtt_m2p $1_smx.m -$1_smxa.p : $1_def.r $1_smxa.m - mtt_m2p $1_smxa.m -$1_smxax.p : $1_def.r $1_smxax.m - mtt_m2p $1_smxax.m -$1_logic.p : $1_def.r $1_logic.m - mtt_m2p $1_logic.m - -ifeq ($integration_method,implicit) -$1_ode2odes.p : $1_ode2odes.m $1_def.r $1_smxa.p $1_smxax.p\ - $1_simpar.p $1_numpar.p $1_state.p $1_input.p \ - $1_csex.p $1_cseo.p $1_logic.p - mtt_m2p $1_ode2odes.m $integration_method $stdin -endif -ifneq ($integration_method,implicit) -$1_ode2odes.p : $1_ode2odes.m $1_def.r\ - $1_simpar.p $1_numpar.p $1_state.p $1_input.p \ - $1_ode.p $1_odeo.p $1_logic.p - mtt_m2p $1_ode2odes.m $integration_method $stdin -endif - -$1_ode2odes.c: $1_ode2odes.p - mtt_p2c $info_switch $1 ode2odes - -##SUMMARY sim Octave simulation function (m) - -#ifeq ($computation,octave) -#$1_sim.m: $1_def.r $1_sympar.txt $1_cse.m $1_cseo.m $1_smxa.m $1_smxax.m $1_numpar.m $1_state.m - mtt_make_sim $1 $integration_method $computation -#endif - -#ifeq ($computation,c) -#$1_sim.m: $1_def.r $1_sympar.txt $1_ode2odes.out $1_numpar.m $1_state.m -# mtt_make_sim $1 $integration_method $computation -#endif - -#SUMMARY ssim Octave sensitivity simulation function (m) -$1_ssim.m: $1_def.r - make_ssim $1 m - -#SUMMARY sim Octave simulation function (m) -$1_sim.m: $1_def.r - make_sim $1 m - -#SUMMARY obs observer equations for CGPC (r) -#SUMMARY obs* observer equations for CGPC (m) -#SUMMARY obs observer equations for CGPC (tex) -#SUMMARY obs* observer equations for CGPC (view) -#SUMMARY obs observer equations for CGPC (ps) -#Observer functions for GPC -$1_obs.r: $1_ode.r $1_def.r $1_obspar.r $1_subs.r - ode2obs_r $1; tidy $1_obs.r -$1_obs.m: $1_def.r $1_sympars.txt $1_obs.r $1_obspar.r $1_numpar.m - mtt_r2m $optimise -parameters $1 obs -$1_obs.tex: $1_obs.r $1_sympar.r $1_simp.r - obs_r2tex $1; latex_tidy $1_obs.tex - - -#SUMMARY rfe robot-form equations (r) -#SUMMARY rfe robot-form equations (tex) -#SUMMARY rfe* robot-form equations (view) -#SUMMARY rfe robot-form equations (ps) -#Robot-form equations -$1_rfe.r: $1_cse.r $1_csm.r $1_def.r $1_sympar.r - cse2rfe_r $1; tidy $1_rfe.r -$1_rfe.tex: $1_rfe.r $1_sympar.r $1_simp.r - rfe_r2tex $1; latex_tidy $1_rfe.tex - -#SUMMARY ss steady-state equations (r) -#SUMMARY ss* steady-state equations (m) -#SUMMARY ss steady-state equations (tex) -#SUMMARY ss* steady-state equations (view) -#SUMMARY ss steady-state equations (ps) -#Steady-states -$1_ss.r: $1_def.r $1_sspar.r $1_cr.r $1_ode.r - sspar2ss_r $1; tidy $1_ss.r -$1_ss.m: $1_def.r $1_ss.r $1_numpar.m - ss_r2m $1; matlab_tidy $1_ss.m -$1_ss.tex: $1_def.r $1_ss.r $1_simp.r - ss_r2tex $1; latex_tidy $1_ss.tex - - -#SUMMARY dm descriptor matrices (r) -#SUMMARY dm* descriptor matrices (m) -#SUMMARY dm descriptor matrices (tex) -#SUMMARY dm* descriptor matrices (view) -#SUMMARY dm descriptor matrices (ps) -#Linearised system: descriptor matrices -$1_dm.r: $1_dae.r $1_def.r $1_cr.r $1_ss.r $1_sympar.r - dae2dm_r $1; tidy $1_dm.r -$1_dm.m: $1_def.r $1_dm.r $1_sympars.txt - mtt_r2m $optimise -parameters $1 dm -$1_dm.tex: $1_dm.r $1_sympar.r $1_simp.r - dm_r2tex $1; latex_tidy $1_dm.tex - - - -#SUMMARY csm constrained-state matrices (r) -#SUMMARY csm constrained-state matrices (m) -#SUMMARY csm constrained-state matrices (tex) -#SUMMARY csm constrained-state matrices (view) -#SUMMARY csm constrained-state matrices (ps) -#Linearised system: constrained-state matrices -$1_csm.r: $1_cse.r $1_def.r $1_cr.r $1_sspar.r - cse2csm_r $1 csm; tidy $1_csm.r -$1_csm.m: $1_def.r $1_csm.r $1_sympars.txt - mtt_r2m $optimise -parameters $1 csm; matlab_tidy $1_csm.m -$1_csm.tex: $1_csm.r $1_sympar.r $1_simp.r - csm_r2tex $1 csm; latex_tidy $1_csm.tex -#SUMMARY scsm sensitivity constrained-state matrices (r) -#SUMMARY scsm sensitivity constrained-state matrices (m) -#SUMMARY scsm sensitivity constrained-state matrices (tex) -#SUMMARY scsm sensitivity constrained-state matrices (view) -#SUMMARY scsm sensitivity constrained-state matrices (ps) -#Linearised system: sensitivity constrained-state matrices -$1_scsm.r: $1_scse.r $1_def.r $1_cr.r $1_sympar.r $1_sspar.r - cse2csm_r $1 scsm; tidy $1_scsm.r -$1_scsm.m: $1_def.r $1_scsm.r $1_sympars.txt - csm_r2m $1 scsm; matlab_tidy $1_scsm.m -$1_scsm.tex: $1_scsm.r $1_sympar.r $1_simp.r - csm_r2tex $1 scsm; latex_tidy $1_scsm.tex - -#SUMMARY sm state matrices (r) -#SUMMARY sm* state matrices (m) -#SUMMARY sm state matrices (icad) -#SUMMARY sm state matrices (tex) -#SUMMARY sm state matrices (c) -#SUMMARY sm* state matrices (view) -#SUMMARY sm state matrices (ps) -#Linearised system: state matrices -$1_sm.r: $1_csm.r $1_def.r $1_cr.r $1_ss.r $1_sympar.r - csm2sm_r $optimise $1 sm; tidy $1_sm.r -$1_sm.m: $1_def.r $1_sm.r $1_sympars.txt - mtt_r2m $optimise -parameters $1 sm -$1_sm.icad: $1_sm.m $1_numpar.m - sm_m2icad $1 -$1_sm.c: $1_def.r $1_sm.r $1_sympar.c - sm_r2c $1 -$1_sm.tex: $1_sm.r $1_sympar.r $1_simp.r - sm_r2tex $1 sm; latex_tidy $1_sm.tex - -#SUMMARY ssm sensitivity state matrices (r) -#SUMMARY ssm sensitivity state matrices (icad) -#SUMMARY ssm sensitivity state matrices (tex) -#SUMMARY ssm sensitivity state matrices (c) -#SUMMARY ssm sensitivity state matrices (ps) -#Linearised system: sensitivity state matrices -$1_ssm.r: $1_scsm.r $1_def.r $1_cr.r $1_ss.r $1_sympar.r - csm2sm_r $optimise $1 ssm; tidy $1_ssm.r -$1_ssm.m: $1_def.r $1_ssm.r $1_sympars.txt - mtt_r2m $optimise -parameters $1 ssm -$1_ssm.tex: $1_ssm.r $1_sympar.r $1_simp.r - sm_r2tex $1 ssm; latex_tidy $1_ssm.tex - -#SUMMARY smx state matrices with variable state x (r) -#SUMMARY smx state matrices with variable state x (m) -#SUMMARY smxx Sparse computation of Ax (m) -#SUMMARY smxtx Sparse computation of ATx (m) -$1_smx.r: $1_def.r $1_def.m $1_ode.r $1_subs.r - ode2smx_lang $1 r; tidy $1_smx.r - -$1_smx.m: $1_def.r $1_def.m $1_cse.r $1_sympars.txt $1_subs.r - cse2smx_lang $fixcc $optimise -parameters $1 smx m - -$1_smxa.m: $1_def.r $1_def.m $1_cse.r $1_sympars.txt $1_subs.r - cse2smx_lang $fixcc $optimise -parameters $matrix_smxa $1 smxa m - -$1_smxax.m: $1_def.r $1_def.m $1_cse.r $1_sympars.txt $1_subs.r - cse2smx_lang $fixcc $optimise -parameters $1 smxax m - -#SUMMARY smc controller form state matrices etc. - siso only (r) -#SUMMARY smc controller form state matrices etc. - siso only (tex) -#SUMMARY smc* controller form state matrices etc. - siso only (m) -#SUMMARY smc* controller form state matrices etc. - siso only (view) -#SUMMARY smc controller form state matrices etc. - siso only (ps) -#Linearised system: controller form state matrices etc. -$1_smc.r: $1_sm.r $1_def.r $1_tf.r - sm2smc_r $1; tidy $1_smc.r -$1_smc.tex: $1_smc.r $1_simp.r - smc_r2tex $1; latex_tidy $1_smc.tex -$1_smc.m: $1_def.r $1_smc.r $1_numpar.m - smc_r2m $1; matlab_tidy $1_smc.m - -#SUMMARY smo observer form state matrices etc. - siso only (r) -#SUMMARY smo observer form state matrices etc. - siso only (tex) -#SUMMARY smo* observer form state matrices etc. - siso only (m) -#SUMMARY smo* observer form state matrices etc. - siso only (view) -#SUMMARY smo observer form state matrices etc. - siso only (ps) -#Linearised system: observer form state matrices etc. -$1_smo.r: $1_sm.r $1_def.r $1_tf.r - sm2smo_r $1; tidy $1_smo.r -$1_smo.tex: $1_smo.r $1_simp.r - smo_r2tex $1; latex_tidy $1_smo.tex -$1_smo.m: $1_def.r $1_smo.r $1_numpar.m - smo_r2m $1; matlab_tidy $1_smo.m - -#SUMMARY ssk State-space controller gain - siso only (r) -#SUMMARY ssk State-space controller gain - siso only (tex) -#SUMMARY ssk* State-space controller gain - siso only (m) -#SUMMARY ssk* State-space controller gain - siso only (view) -#SUMMARY ssk State-space controller gain - siso only (ps) -#Linearised system: State-space controller gain -$1_ssk.r: $1_def.r $1_smc.r - smc2ssk_r $1; tidy $1_ssk.r -$1_ssk.tex: $1_ssk.r $1_simp.r - ssk_r2tex $1; latex_tidy $1_ssk.tex -$1_ssk.m: $1_def.r $1_ssk.r $1_numpar.m - ssk_r2m $1; matlab_tidy $1_ssk.m - -#SUMMARY ssl State-space observer gain - siso only (r) -#SUMMARY ssl State-space observer gain - siso only (tex) -#SUMMARY ssl* State-space observer gain - siso only (m) -#SUMMARY ssl* State-space observer gain - siso only (view) -#SUMMARY ssl State-space observer gain - siso only (ps) -#Linearised system: State-space observer gain -$1_ssl.r: $1_def.r $1_smo.r - smo2ssl_r $1; tidy $1_ssl.r -$1_ssl.tex: $1_ssl.r $1_simp.r - ssl_r2tex $1; latex_tidy $1_ssl.tex -$1_ssl.m: $1_def.r $1_ssl.r $1_numpar.m - ssl_r2m $1; matlab_tidy $1_ssl.m - -#SUMMARY tf transfer function (r) -#SUMMARY tf* transfer function (m) -#SUMMARY tf transfer function (tex) -#SUMMARY tf* transfer function (view) -#SUMMARY tf transfer function (ps) -#Linearised system: transfer function -$1_tf.r: $1_dm.r $1_sympar.r - dm2tf_r $1; tidy $1_tf.r -$1_tf.m: $1_def.r $1_sympars.txt $1_tf.r - tf_r2m $1; matlab_tidy $1_tf.m -$1_tf.tex: $1_def.r $1_tf.r $1_sympar.r $1_simp.r - tf_r2tex $1; latex_tidy $1_tf.tex - -#SUMMARY pkim partialyy-known system identification matrix (r) -#SUMMARY pkim partialyy-known system identification matrix (tex) -#SUMMARY pkim partialyy-known system identification matrix (view) -#SUMMARY pkim partialyy-known system identification matrix (ps) -$1_pkim.r: $1_tf.r $1_sympar.r - tf2pkim_r $1; tidy $1_pkim.r -$1_pkim.tex: $1_def.r $1_pkim.r $1_simp.r - pkim_r2tex $1; latex_tidy $1_pkim.tex - -#SUMMARY ctf controller transfer function (r) -#SUMMARY ctf controller transfer function (m) -#SUMMARY ctf controller transfer function (tex) -#SUMMARY ctf controller transfer function (view) -#SUMMARY ctf controller transfer function (ps) -#Linearised system: transfer function -$1_ctf.r: $1_dm.r $1_ssk.r $1_ssl.r $1_sm.r - ssk2ctf_r $1; tidy $1_ctf.r -$1_ctf.m: $1_def.r $1_ctf.r - ctf_r2m $1; matlab_tidy $1_ctf.m -$1_ctf.tex: $1_def.r $1_ctf.r $1_sympar.r $1_simp.r - ctf_r2tex $1; latex_tidy $1_ctf.tex - -#SUMMARY ir impulse response - state (m) -#SUMMARY ir impulse response - state (dat) -#SUMMARY ir impulse response - state (ps) -#SUMMARY ir impulse response - state (view) - -#SUMMARY iro impulse response - output (m) -#SUMMARY iro impulse response - output (dat) -#SUMMARY iro impulse response - output (ps) -#SUMMARY iro impulse response - output (view) - -#SUMMARY sr step response - state (m) -#SUMMARY sr step response - state (dat) -#SUMMARY sr step response - state (ps) -#SUMMARY sr step response - state (view) - -#SUMMARY sro* step response - output (m) -#SUMMARY sro step response - output (dat) -#SUMMARY sro step response - output (ps) -#SUMMARY sro* step response - output (view) - -#SUMMARY odes ode solution - state (m) -#SUMMARY odes* ode solution - state (dat) -#SUMMARY odes* ode solution - state & output for SciGraphica (sg) -#SUMMARY odes* ode solution - state (ps) -#SUMMARY odes* ode solution - state (view) - -#SUMMARY sms ode (in state matrix form) solution - state & output (c) - -#SUMMARY odeso ode solution - output (m) -#SUMMARY odeso* ode solution - output (dat) -#SUMMARY odeso* ode solution - output for spreadsheet (sdat) -#SUMMARY odeso ode solution - output (ps) -#SUMMARY odeso* ode solution - output (view) - -#SUMMARY daes dae solution - state (m) -#SUMMARY daes dae solution - state (dat) -#SUMMARY daes dae solution - state (ps) -#SUMMARY daes dae solution - state (view) - -#SUMMARY daeso dae solution - output (m) -#SUMMARY daeso dae solution - output (dat) -#SUMMARY daeso dae solution - output (ps) -#SUMMARY daeso dae solution - output (view) - -#Time responses -$1_ir.m: $1_sm.m $1_numpar.m $1_def.m $1_simpar.m - sm2ir_m $1 '$ARGS' -$1_iro.m: $1_ir.m - touch $1_iro.m -$1_ir.dat: $1_ir.m - m2dat $1_ir -$1_iro.dat: $1_iro.m - m2dat $1_iro -$1_sr.m: $1_sm.m $1_numpar.m $1_simpar.m $1_def.m - sm2sr_m $1 -$1_sr.dat: $1_sr.m - m2dat $1_sr -$1_sro.m: $1_sr.m - touch $1_sro.m$ -$1_sro.dat: $1_sro.m - m2dat $1_sro -1_odes.c: $1_ode.c $1_def.r $1_sympar.r - ode2odes_r2c $1 -$1_sms.c: $1_sm.c $1_def.r $1_sympar.r - sm2sms_r2c $1 - -.PRECIOUS: $1_odes.dat2 -ifeq ($computation,octave) -ifeq ($using_oct,yes) -$1_odes.dat2: $1_ode2odes.oct - time octave_ode2odes $1 -else -$1_odes.dat2: $1_ode2odes.m - time octave_ode2odes $1 -endif -endif - -$1_ode2odes.out: $1_ode2odes.c $1_cr.h - echo Creating $1_odes.out by compiling $1_ode2odes.c - $CC $1_ode2odes.c -lp2c -lm -o $1_ode2odes.out - -ifeq ($computation,c) -$1_odes.dat2: $1_ode2odes.out - echo Creating $1_odes.dat2 using c version - time ./$1_ode2odes.out>$1_odes.dat2 -endif - -ifeq ($computation,cc) -$1_sim.exe: $1_ese.r - mtt $mtt_switches -q $1 sim exe - -$1_odes.dat2: $1_ode2odes.exe - echo Creating $1_odes.dat2 using cc version $ARGS - time ./$1_ode2odes.exe $ARGS >$1_odes.dat2 -endif - - -#$1_odeso.m: $1_odes.m -# touch $1_odeso.m -#$1_smso.m: $1_sms.m -# touch $1_smso.m -#$1_daes.m: $1_dae.m $1_numpar.m $1_def.m $1_input.m $1_simpar.m -# dae2daes_m $1 '$ARGS' -#$1_daeso.m: $1_daes.m -# touch $1_daeso.m - - -#Conversion of data files from dat to sdat format -$1_odeso.sdat: $1_odeso.dat $1_struc.txt - odeso_dat2sdat $1 - -$1_odes.sdat: $1_odes.dat $1_struc.txt - odes_dat2sdat $1 - -#Conversion of data to SciGraphica -$1_odes.sg: $1_struc.m $1_odes.dat2 - echo Creating $1_odes.sg - dat22sg.sh $1 - -#SUMMARY odess ode numerical steady-states - states (m) -#SUMMARY odess ode numerical steady-states - states (dat) -#SUMMARY odess ode numerical steady-states - states (ps) -#SUMMARY odess ode numerical steady-states - states (view) - -#SUMMARY odesso ode numerical steady-states - outputs (m) -#SUMMARY odesso ode numerical steady-states - outputs (dat) -#SUMMARY odesso ode numerical steady-states - outputs (ps) -#SUMMARY odesso ode numerical steady-states - outputs (view) - -#Numerical steady states -$1_odess.dat2: $1_ode.m $1_odeo.m $1_numpar.m $1_input.m $1_simpar.m - ode2odess_m2dat2 $1 -#$1_odess.m: $1_ode.m $1_odeo.m $1_numpar.m $1_input.m $1_simpar.m -# ode2odess_m $1 -#$1_odesso.m: $1_odess.m -# touch $1_odesso.m - - -#SUMMARY fr frequency response (m) -#SUMMARY fr frequency response (dat) -#SUMMARY fr frequency response (ps) -#SUMMARY fr frequency response (view) - -#SUMMARY lmfr loglog modulus frequency response (m) -#SUMMARY lmfr loglog modulus frequency response (dat) -#SUMMARY lmfr loglog modulus frequency response (ps) -#SUMMARY lmfr* loglog modulus frequency response (view) - -#SUMMARY lpfr semilog phase frequency response (m) -#SUMMARY lpfr semilog phase frequency response (dat) -#SUMMARY lpfr semilog phase frequency response (ps) -#SUMMARY lpfr* semilog phase frequency response (view) - -#SUMMARY nyfr Nyquist style frequency response (m) -#SUMMARY nyfr Nyquist style frequency response (dat) -#SUMMARY nyfr Nyquist style frequency response (ps) -#SUMMARY nyfr Nyquist style frequency response (view) - -#SUMMARY nifr Nichols style frequency response (m) -#SUMMARY nifr Nichols style frequency response (dat) -#SUMMARY nifr Nichols style frequency response (ps) -#SUMMARY nifr Nichols style frequency response (view) - - -#Frequency responses -$1_fr.m: $1_dm.m $1_numpar.m $1_def.m $1_simpar.m - dm2fr_m $1 -$1_fr.dat: $1_sr.m - m2dat $1_fr -$1_lmfr.dat: $1_fr.m - m2dat $1_lmfr -$1_lpfr.dat: $1_fr.m - m2dat $1_lpfr -$1_nyfr.dat: $1_fr.m - m2dat $1_nyfr -$1_nifr.dat: $1_fr.m - m2dat $1_nifr - - -ifeq ($REPTYPE,txt) -#Generic conversion of txt files to tex files -$1_$2.tex: $1_$2.txt - txt2tex $1 $2 txt - endif - -#Conversion of dat2 files to dat format -$1_odeso.dat: $1_odes.dat2 $1_def.r - echo Creating $1_odeso.dat - dat22dat $1 ode so -$1_odes.dat: $1_odes.dat2 $1_def.r - echo Creating $1_odes.dat - dat22dat $1 ode s -$1_odesso.dat: $1_odess.dat2 $1_def.r - echo Creating $1_odesso.dat - dat22dat $1 odes so -$1_odess.dat: $1_odess.dat2 $1_def.r - echo Creating $1_odess.dat - dat22dat $1 odes s - -#Generic conversion of data files from dat to (gplot) gdat format -$1_$2.gdat: $1_$2.dat $1_struc.txt $1_args.m - dat2gdat $1 $2 "$ARGS" "$NyquistStyle" - -## Conversion of gdat to fig files -ifeq ($REPTYPE,data) -$1_$2.fig: $1_$2.gdat - gdat2fig $1_$2 - -ifneq ($ARGS,) ## Multiple plots - echo Creating $1_$2$__ARGS.fig - mv $1_$2.fig $1_$2$__ARGS.fig - rm -f $1_$2.gdat -endif - -## Conversion of gdat fig files to ps/pdf -ifeq ($ARGS,) # single plot -$1_$2.$ps : $1_$2.fig - echo Creating $1_$2.$ps - fig2dev -L$eps $1_$2.fig > $1_$2.$ps -else ## Multiple plots -$1_$2.$ps : $1_$2.fig - echo Creating $1_$2$__ARGS.$ps - fig2dev -L$eps $1_$2$__ARGS.fig > $1_$2$__ARGS.$ps -endif - -endif - - -#Generic conversion of Latex to latex document -mtt.sty: - echo Copying mtt.sty to here - cp $MTTPATH/trans/mtt.sty . -$1_$2.doc: $1_$2.tex - makedoc "$mtt_switches" "$1" "$2" "$3" "$4" "$documenttype" "$ps" - - -#Create PostScript version of fig files -ifeq ($REPTYPE,bg) -$1_$2.$ps : $1_$2.fig - echo Creating $1_$2.$ps - multi_command2 "fig2dev -L$eps" $1 $2.fig $2.$ps | sh -endif - - -ifeq ($REPTYPE,tex) -#Generic conversion of LaTeX doc to dvi or pdf -$1_$2.$ps: $1_$2.doc - doc2$ps $1_$2 "$documenttype" -endif - - -ifeq ($REPTYPE,tex) -#Create html version of dvi file -$1_$2.html: $1_$2.dvi $1_$2.doc - echo Creating $1_$2/$1_$2.html - $LATEX2HTML $1_$2.doc>latex2html.log 2>latex2html.log -endif - -#Default view -ifeq ($REPTYPE,bg) -$1_$2.view : $Subsystem_$2.pview -endif - -ifeq ($REPTYPE,data) -$1_$2.view: $1_$2.$ps -ifeq ($ARGS,) # single plot - echo Creating view of $1_$2 - $ps file - $psview $1_$2.$ps& -else - echo Creating view of $1_$2$__ARGS - $ps file - $psview $1_$2$__ARGS.$ps& -endif -endif - -ifeq ($REPTYPE,tex) -$1_$2.view : $1_$2.pview -endif - -ifeq ($REPTYPE,txt) -$1_$2.view : $1_$2.tview -endif - -# Hypertext view -$1_$2.hview: $1_$2.html - $HTMLVIEW $1_$2/$1_$2.html& - -#View a ps file -$Subsystem_$2.pview: $1_$2.$ps - echo Creating view of $Subsystem_$2 - $ps file - mtt_multi $psview $Subsystem $2 $ps $viewlevel | sh - -#View a gdat file -$1_$2.dview: $1_$2.gdat - echo Creating view of $1_$2 - gdat2view $1_$2 '$ARGS'& - -#View a tex file -$1_$2.tview: $1_$2.dvi - echo Creating view of $1_$2 - $DVIVIEW $1_$2.dvi& - -#Report generation -$1_rep.make: $1_rep.txt - rep_txt2make $1 "$mtt_switches" - -$1_reps_made: - rep_txt2sh $1 "$mtt_switches"; touch $1_reps_made - -$1_rep.tex: $1_rep.txt $1_reps_made - rep_txt2tex $1 "$documenttype" "$directory"; - -#SUMMARY abg Acausal bond graph report (tex) -$1_abg.tex: $1_sub.sh - abg2tex $pdf ${sensitivity_switch} $1 - -#SUMMARY tf Transfer function (mml) -$1_$2.mml: $1_$2.r - mtt_r2mml $1 $2 - - -# Version control system - uses RCS -RCS: - echo Creating RCS - mkdir RCS -$1_$2.vc: RCS - echo Version control on $1_$2.$VCext with message: $log_message - ci -m"$log_message" -I $1_$2.$VCext IGNORE -#wc IGNORE | awk '{print "Ignoring", $1, "files"}' - -#echo examples >> IGNORE - -#Inform user -echo Backing up $dirs to $filename - -#Tar the files -#tar --exclude-from IGNORE --create --gzip --file $filename $dir -tar --create --gzip --file $filename $dirs -#Size info -ls -l $filename -# DELETED mttroot/mtt/bin/mtt_backups Index: mttroot/mtt/bin/mtt_backups ================================================================== --- mttroot/mtt/bin/mtt_backups +++ /dev/null @@ -1,16 +0,0 @@ -#!/bin/sh -# Does a backup with date of all mtt components -# $Log$ -# Revision 1.2 2000/10/03 12:17:58 peterg -# Prints usage line -# - -if [ -z "$1" ]; then - echo "Usage: mtt_backups [-v|-d]" - exit -fi -mtt_backup $1 -mtt_backup $1 cc -mtt_backup $1 lib -mtt_backup $1 doc - DELETED mttroot/mtt/bin/mtt_check_var Index: mttroot/mtt/bin/mtt_check_var ================================================================== --- mttroot/mtt/bin/mtt_check_var +++ /dev/null @@ -1,40 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: mtt_check_var - -# P.J.Gawthrop July 1997 -# Copyright (c) P.J.Gawthrop 1997 - - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -# Revision 1.2 1997/12/04 10:41:15 peterg -# Added third argument to print env. variables. -# -## Revision 1.1 1997/07/27 13:11:37 peterg -## Initial revision -## -############################################################### - -var=$1 -name=$2 -print=$3 -software=$4 - -if [ -z "$1" ]; then - echo '*** MTT WARNING Environment variable' $name 'not set. *****' - echo "Please check that software package $software has been correctely installed" - echo - exit -fi - -if [ "$print" = "print" ]; then - echo Environment variable $name set to $var -fi DELETED mttroot/mtt/bin/mtt_check_vars Index: mttroot/mtt/bin/mtt_check_vars ================================================================== --- mttroot/mtt/bin/mtt_check_vars +++ /dev/null @@ -1,92 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: mtt_check_vars - -# P.J.Gawthrop July 1997 -# Copyright (c) P.J.Gawthrop 1997 - - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.8.2.1 2001/03/06 03:48:43 geraint -## Print additional environment variable for "mtt -p". -## MTT_LDFLAGS defaults to " " to avoid installation warning. -## -## Revision 1.8 2000/12/27 13:11:42 peterg -## *** empty log message *** -## -## Revision 1.7 2000/08/04 15:48:30 peterg -## Added PDF -## -## Revision 1.6 2000/05/22 12:37:24 peterg -## *** empty log message *** -## -## Revision 1.5 2000/05/22 12:34:07 peterg -## Added MTT_REP -## -## Revision 1.4 1998/07/30 17:30:41 peterg -## Added some more paths -## -## Revision 1.3 1998/01/23 13:33:47 peterg -## Removed OCTAVE_PATH -## Removed RMATRIX -## -# Revision 1.2 1997/12/04 10:41:49 peterg -# Added -p argument to print environment variables -# -## Revision 1.1 1997/07/27 13:12:03 peterg -## Initial revision -## -############################################################### - -#Look for a command line argument -while [ -n "`echo $1 | grep '-'`" ]; do - case $1 in - -p ) - print=print ;; - *) - echo "$1 is an invalid argument - ignoring" ;; - esac - shift -done - -# Octave -#mtt_check_var "$OCTAVE_PATH" "OCTAVE_PATH" "$print" "Octave" - -# LaTeX -#mtt_check_var "$TEXFORMATS" "TEXFORMATS" "$print" "LaTeX" -#mtt_check_var "$TEXINPUTS" "TEXINPUTS" "$print" "LaTeX" -#mtt_check_var "$TEXFONTS" "TEXFONTS" "$print" "LaTeX" - -# MTT variables -mtt_check_var "$MAKE" "MAKE" "$print" "MTT" -mtt_check_var "$MTTPATH" "MTTPATH" "$print" "MTT" -mtt_check_var "$MTT_CRS" "MTT_CRS" "$print" "MTT" -mtt_check_var "$MTT_COMPONENTS" "MTT_COMPONENTS" "$print" "MTT" -mtt_check_var "$MTT_EXAMPLES" "MTT_EXAMPLES" "$print" "MTT" -mtt_check_var "$MTT_LIB" "MTT_LIB" "$print" "MTT" -mtt_check_var "$MTT_REP" "MTT_REP" "$print" "MTT" -mtt_check_var "$MATRIX" "MATRIX" "$print" "MTT" -mtt_check_var "$SYMBOLIC" "SYMBOLIC" "$print" "MTT" -mtt_check_var "$FIG" "FIG" "$print" "MTT" -mtt_check_var "$PSVIEW" "PSVIEW" "$print" "MTT" -mtt_check_var "$PDFVIEW" "PDFVIEW" "$print" "MTT" -mtt_check_var "$HTMLVIEW" "HTMLVIEW" "$print" "MTT" -mtt_check_var "$DVIVIEW" "DVIVIEW" "$print" "MTT" -mtt_check_var "$CC" "CC" "$print" "MTT" -mtt_check_var "$LATEX2HTML" "LATEX2HTML" "$print" "MTT" -mtt_check_var "$MKOCTFILE" "MKOCTFILE" "$print" "MTT" -mtt_check_var "$MTT_CXX" "MTT_CXX" "$print" "MTT" -mtt_check_var "$MTT_CXXFLAGS" "MTT_CXXFLAGS" "$print" "MTT" -mtt_check_var "$MTT_CXXLIBS" "MTT_CXXLIBS" "$print" "MTT" -mtt_check_var "$MTT_CXXINCS" "MTT_CXXINCS" "$print" "MTT" -mtt_check_var "$MTT_LDFLAGS" "MTT_LDFLAGS" "$print" "MTT" - - DELETED mttroot/mtt/bin/mtt_find Index: mttroot/mtt/bin/mtt_find ================================================================== --- mttroot/mtt/bin/mtt_find +++ /dev/null @@ -1,121 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: mtt_find -# mtt_find path name operation -# P.J.Gawthrop Nov 1996 -# Copyright (c) P.J.Gawthrop 1996 - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.6 1998/07/17 19:47:35 peterg -## Minor changes -## -## Revision 1.5 1998/07/17 07:50:33 peterg -## Now handles library name -## Returns a status -## 0 if exactly one result -## 1 if no results -## 2 if two or more results -## 3 if utterly confused -## -## Revision 1.4 1998/07/16 20:40:24 peterg -## Cleaned up algorithms -## -## Revision 1.3 1998/07/16 09:15:34 peterg -## Now prints: -## dir -## name_lbl.txt -## access time -## -## Revision 1.2 1997/09/04 09:15:19 peterg -## Includes summary line as well as description lines -## -## Revision 1.1 1996/11/10 10:48:45 peterg -## Initial revision -## -############################################################### - -# Set up dummy file -rm -f mtt_junk -touch mtt_junk - -# Interpret the arguments -path="$1" - -if [ -n "$2" ]; then - name=`basename $2` - longname=$2 - Name="-name $name" -else - name='*' -fi - -# If this is non-empty just print the path -path_only=$3 - -# Find all dirs in path with same name as component -# AND the path contains the full (name+library) name -paths=`echo $path | tr ":" " "` -foundpath=`\ -for thepath in $paths; do - find $thepath -type d $Name -print -done |\ -sort -u |\ -grep "$longname"` - -# If empty set foundpath to the simple components path -if [ -z "$foundpath" ]; then - foundpath="$MTT_LIB/comp/simple" -fi - -# If non-null result, check that the name_ext file exists in dir name -# and print dirname and file name and last access time -if [ -n "$foundpath" ]; then - if [ -n "$path_only" ]; then - format='%h\n'; - else - format='%h\t%f\t%Ac\n'; - fi - for thepath in $foundpath ; do - if [ "$thepath" = "$MTT_COMPONENTS/simple" ]; then - ext='cause.m'; # finds _cause.m - simple='simple'; - else - ext='lbl.txt'; # finds _lbl.txt - fi - dirname=`basename $thepath` - if [ -n "$simple" ]; then - fullname="$name"_"$ext" - else - fullname="$dirname"_"$ext" - fi - find $thepath -maxdepth 1 -name $fullname -printf $format; - done |\ - tee mtt_junk -fi - -# Check exit status and return -hits=`wc mtt_junk | awk '{print $1}'` -rm -f mtt_junk - -if [ $hits = "1" ]; then - exit 0 -elif [ $hits = "0" ]; then - exit 1 -elif [ $hits > "1" ]; then - exit 2 -else - exit 3 -fi - - - - - DELETED mttroot/mtt/bin/mtt_help Index: mttroot/mtt/bin/mtt_help ================================================================== --- mttroot/mtt/bin/mtt_help +++ /dev/null @@ -1,194 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: mtt_help - -# P.J.Gawthrop Nov 1996 -# Copyright (c) P.J.Gawthrop 1996 - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.13 2000/04/04 15:22:44 peterg -## Major changes: simple components now work -## Single components now work -## -## Revision 1.12 1998/07/21 08:47:59 peterg -## Default null $2 (regexp) to '^' - ie match any line -## -## Revision 1.11 1998/07/16 20:41:05 peterg -## Now uses new mtt_help -## -## Revision 1.10 1998/05/18 08:35:19 peterg -## Surround arguments to tr with "" -## -## Revision 1.9 1998/03/26 08:23:02 peterg -## Use mixed case Topic for *) part of case sttement -## -## Revision 1.8 1998/03/22 21:13:17 peterg -## Fixed bug in above -## -## Revision 1.7 1998/03/22 20:21:11 peterg -## $topic now converted to lower case. -## -## Revision 1.6 1997/09/04 09:35:04 peterg -## Changed $ext to give accurate match -- matches t ot m at end of -## filename -## -# Revision 1.5 1997/09/04 09:21:01 peterg -# Added context-dependent sort. -# -# Revision 1.4 1997/09/04 09:16:29 peterg -# Removed sort -u -# -## Revision 1.3 1996/11/09 21:10:20 peterg -## Tidied up searches by putting everyrhing into lib. -## -# Revision 1.2 1996/11/02 10:22:54 peterg -# Now browses crs. -# -## Revision 1.1 1996/11/01 12:34:54 peterg -## Initial revision -## -############################################################### - -comment='#'; -Topic=$1 -topic=`echo $Topic | tr "[A-Z]" "[a-z]"` - -if [ -n "$2" ]; then - regexp=$2; -else - regexp='^'; -fi - -if [ "$topic" = "" ]; then - echo 'Usage: mtt help representations' - echo ' mtt help simple' - echo ' mtt help components' - echo ' mtt help examples' - echo ' mtt help CRs' - echo ' mtt help representations ' - echo ' mtt help components ' - echo ' mtt help examples ' - echo ' mtt help CRs ' - echo ' mtt help ' - exit -fi - -ext='_[cl]*.*[mt]' -summary='[%#]SUMMARY' -description='[%#]DESCRIPTION' -alias='[%#]ALIAS' -lbl="_lbl.txt" - -case $topic in - components) - key=$summary - find_path="$MTT_COMPONENTS" - name='' - sort='sort -u' - blurb="components";; - - simple) - key=$summary - find_path="$MTT_COMPONENTS/simple" - name='' - sort='sort -u' - blurb="simple components";; - - crs) - key=$summary - find_path=$MTT_CRS/r - name='*.cr' - sort='sort -u' - blurb="constitutive relationships";; - - examples) - key=$summary - find_path=$MTT_EXAMPLES - name='' - all='all' - sort='sort -u' - blurb="Examples";; - - representations) - key=$summary - find_path=$MTTPATH - name='mtt' - all='all' - sort='sort -u' - blurb="Representations";; - - *) - other=OTHER; - key="$summary|$description|$alias" - find_path=$MTT_LIB - name=$Topic - all='all' - sort='cat' - blurb=$Topic;; -esac - -subtopic=$2 -if [ "$subtopic" = "" ]; then - subtopic='.' -fi; - - -case $topic in - representations) - echo $comment $blurb - mtt2reps_txt - - ;; - crs) - echo $comment $blurb - find $find_path -name "$name" -print |\ - awk '{print "grep", key, $1}' key=$key | sh |\ - sed "s/$key //" | $sort - ;; - *) - - fullnames=`mtt_find $find_path "$name" | awk '{printf("%s/%s\n",$1,$2)}'` - N=`echo $fullnames | wc -w`; - if [ -z "$fullnames" ]; then - echo $comment No $blurb found. - else - echo $comment $N $blurb found. - for fullname in $fullnames; do - name=`basename $fullname` - if [ -n "$other" ]; then - cat $fullname | egrep $key - else - info=`cat $fullname | egrep $key | awk '{for (i=2;i<=NF;i++) print $i}'` - category=`echo $fullname | sed "s!$find_path/!!" ` - category=`dirname $category` - echo $category $name $info - fi - done - fi - esac -exit - - - awk '{print "cat " $1 "/" $2}' | sh |\ - egrep $key | egrep $regexp |\ - sed "s/$summary[ ]*//" |\ - sed "s/$description[ ]*/ /" |\ - sed "s/$alias[ ]*/ Alias: /" |\ - sed "s!$find_path/!!" |\ - $sort - - - - - - - - DELETED mttroot/mtt/bin/mtt_pause Index: mttroot/mtt/bin/mtt_pause ================================================================== --- mttroot/mtt/bin/mtt_pause +++ /dev/null @@ -1,10 +0,0 @@ -#! /bin/sh - -## mtt_pause: Just waits for an EOF -## P J Gawthrop April 2000 -## Copyright (C) 2000 by Peter J. Gawthrop - -echo $* - -mtt $* -cat>/dev/null DELETED mttroot/mtt/bin/mtt_rename Index: mttroot/mtt/bin/mtt_rename ================================================================== --- mttroot/mtt/bin/mtt_rename +++ /dev/null @@ -1,57 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: mtt_rename - -# P.J.Gawthrop Jan 1998 -# Copyright (c) P.J.Gawthrop 1998 - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.6 2002/04/22 08:05:26 gawthrop -## New regexp. -## -## Revision 1.5 2000/12/27 13:11:42 peterg -## *** empty log message *** -## -## Revision 1.4 1998/08/15 13:50:22 peterg -## Doesn't zap preexisting files -## -## Revision 1.3 1998/08/14 15:37:38 peterg -## rename now copies - no delete -## -## Revision 1.2 1998/01/06 13:57:39 peterg -## Now removes old version after copying -## -# Revision 1.1 1998/01/06 13:48:23 peterg -# Initial revision -# -############################################################### - -old_name=$1 -new_name=$2 -extension=$3 - -left='[^a-zA-Z]' -right=$left -if [ -f "$new_name$extension" ]; then - echo "$new_name$extension already exists -- no action taken" - exit -fi -if ls $old_name$extension > /dev/null 2>&1 - then - echo Renaming $old_name$extension to $new_name$extension - sed \ - -e "s/$$left$$old_name$$right$/\1$new_name\2/g" \ - -e "s/^$old_name$$right$/$new_name\1/g" \ - <$old_name$extension >$new_name$extension -fi - - - DELETED mttroot/mtt/bin/mtt_rename_all Index: mttroot/mtt/bin/mtt_rename_all ================================================================== --- mttroot/mtt/bin/mtt_rename_all +++ /dev/null @@ -1,58 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: mtt_rename_all - -# P.J.Gawthrop Jan 1998 -# Copyright (c) P.J.Gawthrop 1998 - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.7 2000/03/17 11:50:18 peterg -## Added pic.fig -- schematic -## -## Revision 1.6 1998/07/22 15:20:06 peterg -## Added state.txt -## -## Revision 1.5 1998/04/13 09:15:36 peterg -## Added obspar -## -## Revision 1.4 1998/03/27 07:38:32 peterg -## simpar.r ---> simpar.txt -## -## Revision 1.3 1998/03/26 14:47:43 peterg -## Addes subs and cr -## -## Revision 1.2 1998/03/02 17:14:06 peterg -## Added simpar to list -## -## Revision 1.1 1998/01/06 13:57:59 peterg -## Initial revision -## -############################################################### - -old_name=$1 -new_name=$2 - -mtt_rename $old_name $new_name _abg.fig -mtt_rename $old_name $new_name _cr.r -mtt_rename $old_name $new_name _desc.tex -mtt_rename $old_name $new_name _input.txt -mtt_rename $old_name $new_name _lbl.txt -mtt_rename $old_name $new_name _logic.txt -mtt_rename $old_name $new_name _numpar.txt -mtt_rename $old_name $new_name _obspar.r -mtt_rename $old_name $new_name _odes.h -mtt_rename $old_name $new_name _rep.txt -mtt_rename $old_name $new_name _pic.fig -mtt_rename $old_name $new_name _simp.r -mtt_rename $old_name $new_name _simpar.txt -mtt_rename $old_name $new_name _sspar.r -mtt_rename $old_name $new_name _state.txt -mtt_rename $old_name $new_name _subs.r DELETED mttroot/mtt/bin/mtt_version Index: mttroot/mtt/bin/mtt_version ================================================================== --- mttroot/mtt/bin/mtt_version +++ /dev/null @@ -1,47 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: mtt_version -# Prints out version of a GNU-style tool - -# P.J.Gawthrop May 1998 -# Copyright (c) P.J.Gawthrop 1998 - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.3 1999/12/20 02:08:38 peterg -## Added second arg option -## -## Revision 1.2 1998/05/28 09:31:44 peterg -## Cosmetic changes -## -## Revision 1.1 1998/05/28 09:31:13 peterg -## Initial revision -## -############################################################### - -if [ -z "$2" ]; then - echo Trying $1 ... - ver=`$1 --version | head -1` - if [ -n "$ver" ]; then - echo is OK and has version $ver. - else - echo Either $1 does not exist or is not the GNU version. - fi -else - echo $1: $2 -fi - - - - - - - - DELETED mttroot/mtt/bin/mtt_versions Index: mttroot/mtt/bin/mtt_versions ================================================================== --- mttroot/mtt/bin/mtt_versions +++ /dev/null @@ -1,60 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: mtt_versions - -# P.J.Gawthrop May 1998 -# Copyright (c) P.J.Gawthrop 1998 - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.1 1998/05/28 09:24:41 peterg -## Initial revision -## -############################################################### - -echo Versions of mtt and its components on `date` - -## gnu standard --version -mtt_version mtt - -echo Doing the GNU components -mtt_version awk -mtt_version basename -mtt_version cat -mtt_version cp -mtt_version dirname -mtt_version gcc -mtt_version grep -mtt_version head -mtt_version make -mtt_version octave -mtt_version sed -mtt_version tail -mtt_version tr - -## Non standards -echo Doing the non-GNU components - -echo Trying xfig ... -xfig -help 2> mtt_junk; version=`grep Xfig mtt_junk` -echo is OK and has version $version - -echo Trying fig2dev ... -fig2dev -h > mtt_junk; version=`grep -i patchlevel mtt_junk` -echo is OK and has version $version - -echo Trying reduce ... -reduce >mtt_junk <csh conversion, reduces environment namespace pollution. -## Still need to do proper if [ -z $MTT_BASE ] ... else ... fi conversion. -## -## Revision 1.21 2001/04/10 13:56:13 gawthrop -## Uses standard mkoctfile -## -## Revision 1.20 2001/04/10 13:08:19 gawthrop -## Smoother translation to .cs using sh2csh -## -## Revision 1.19 2001/03/30 15:13:49 gawthrop -## Rationalised simulation modes to each return mtt_data -## -## Revision 1.18 2001/03/19 02:28:52 geraint -## Branch merge: merging-ode2odes-exe back to MAIN. -## -## Revision 1.17.2.4 2001/03/06 03:48:43 geraint -## Print additional environment variable for "mtt -p". -## MTT_LDFLAGS defaults to " " to avoid installation warning. -## -## Revision 1.17.2.3 2001/03/01 05:05:53 geraint -## Minor revisions. -## -## Revision 1.17.2.2 2001/02/23 03:53:53 geraint -## Minor revisions. (ode2odes.exe works on GNU/Linux and ~GNU/Irix) -## -## Revision 1.17.2.1 2001/02/22 06:41:40 geraint -## Initial merge of ode2odes.exe into main mtt. -## standalone_rep.make deleted: rules moved to mtt, variables to mttrc. -## -## Revision 1.17 2000/12/27 16:46:13 peterg -## Stripped the mtt- from paths -## -## Revision 1.16 2000/12/27 15:16:44 peterg -## If then else format -## -## Revision 1.15 2000/12/27 14:57:43 peterg -## Now takes the base path as an argument -## -## Revision 1.14 2000/12/27 13:11:43 peterg -## *** empty log message *** -## -## Revision 1.13 2000/10/03 12:12:14 peterg -## New path structure to account for three way split in mtt tree -## -## Revision 1.12 2000/09/18 12:17:07 peterg -## Now includes to control system toolbox in OCTAVE_PATH -## Don't use -path stuff - use :: instead. -## -## Revision 1.11 2000/05/21 17:55:15 peterg -## New rep path -## -## Revision 1.10 2000/05/16 11:41:23 peterg -## *** empty log message *** -## -## Revision 1.9 1999/03/11 04:02:19 peterg -## Revised so that sh2csh does its stuff. -## -## Revision 1.8 1998/07/17 19:48:46 peterg -## *** empty log message *** -## -## Revision 1.7 1998/03/24 09:11:49 peterg -## Compatible with .csh version -## -## Revision 1.6 1998/03/13 11:53:29 peterg -## reduce --> reduce 64 -## -## Revision 1.5 1998/01/16 08:55:01 peterg -## MAKE=make -## -## Revision 1.4 1998/01/06 09:14:51 peterg -## Added latex2html to setup -## -# Revision 1.3 1998/01/06 09:11:26 peterg -# Removed matlab from the setup -# -# Revision 1.2 1997/12/04 10:49:16 peterg -# Put under RCS at last -# Added CC variable -# -############################################################### - -## When using csh, replace $1 by the mtt base path, eg /usr/share/mtt/latest -export MTT_BASE=$1 - -if [ -z "$MTT_BASE" ]; then - echo mttrc requires one argument: eg mttrc /usr/share/mtt/latest -else - echo Setting paths with base $MTT_BASE - # The following line sets up the make to use -- gmake is the standard - # but you may wish to use lsmake for parallelism - export MAKE='make' - - # The following sets up the c compiler - export CC='gcc' - - # Setup the paths - export MTTPATH=$MTT_BASE/bin - export MTT_LIB=$MTT_BASE/lib - export MTT_DOC=$MTT_BASE/doc - export MTT_CC=$MTT_BASE/cc - - export MTT_COMPONENTS=.:$MTT_LIB/comp - export MTT_CRS=$MTT_LIB/cr - export MTT_EXAMPLES=$MTT_LIB/examples - export MTT_REP=$MTT_LIB/rep - - export PATH=$PATH\:$MTTPATH\:$MTTPATH/trans\:$MTT_CC - - #Setup octave - export MATRIX_PATH=$MTTPATH/trans/m// - export MATRIX_PATH=$MATRIX_PATH\:$MTT_LIB/comp/simple// - export MATRIX_PATH=$MATRIX_PATH\:$MTT_LIB/control// - export MATRIX_PATH=$MATRIX_PATH\:$MTT_LIB/octave//\:\: - - export OCTAVE_PATH=.\:$MATRIX_PATH - export MATRIX="octave" - - # Setup the symbolic stuff - export SYMBOLIC='reduce 64' - - - # Setup xfig - export FIG="xfig \ - -startfontsize 20 \ - -metric \ - -portrait \ - -startgridmode 2 \ - -pheight 21 \ - -pwidth 30 \ - -library_dir $MTT_LIB/xfig/\ - " - - # Setup ps viewer - export PSVIEW='gv' - - # Setup pdf viewer - export PDFVIEW='acroread' - - # Setup html viewer - export HTMLVIEW='netscape' - - # Setup dvi viewer - export DVIVIEW='xdvi' - - # Setup latex2html - export LATEX2HTML="latex2html -contents_in_navigation -index_in_navigation -address http://mtt.sourceforge.net" - - # Ascend stuff - export ASCENDLIBRARY=$MTTPATH/ascend/lib - - # Oct file generation - use version with no optimisation. - #export MKOCTFILE=$MTT_LIB/octave/mkoctfile # This for no optimisation - export MKOCTFILE=mkoctfile - - # ode2odes.exe stuff - - # local system - - PLAT="i686-pc-linux-gnu" - PREFIX="/usr" - GCCVERS="2.95.2" - - # include paths - - IOCTAVE="-I${PREFIX}/include/octave/ -I${PREFIX}/include/octave/octave" - - # library paths - - OCTAVEVERS=`octave --version | awk '{ print $4 }'` - LOCTAVE="-L${PREFIX}/lib/octave-${OCTAVEVERS} -loctave -lcruft -loctinterp" - LSYSTEM="-ldl -lm -lncurses -lkpathsea -lreadline -lblas -llapack -lfftw -lg2c" - - # compiler options - - DEBUG="-g" - OPTIM="-O3" - FLAGS="-fno-rtti -fno-exceptions -fno-implicit-templates" - - # exported variables - - export MTT_CXX="g++" - export MTT_CXXFLAGS="${DEBUG} ${OPTIM} ${FLAGS}" - export MTT_CXXLIBS="${LOCTAVE} ${LSYSTEM}" - export MTT_CXXINCS="-I. ${IOCTAVE}" - export MTT_LDFLAGS=" " -fi DELETED mttroot/mtt/bin/mttrc.csh Index: mttroot/mtt/bin/mttrc.csh ================================================================== --- mttroot/mtt/bin/mttrc.csh +++ /dev/null @@ -1,210 +0,0 @@ -#!/bin/csh -## Automatically generated from bashrc on Wed May 9 09:02:08 BST 2001 - DO NOT EDIT -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: mttrc - sets up paths etc for mtt -# Usage: mttrc - -# Copyright (c) P.J.Gawthrop 1996,1977. - - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.22 2001/04/12 03:08:00 geraint -## Improved sh->csh conversion, reduces environment namespace pollution. -## -## Revision 1.21 2001/04/10 13:56:13 gawthrop -## Uses standard mkoctfile -## -## Revision 1.20 2001/04/10 13:08:19 gawthrop -## Smoother translation to .cs using sh2csh -## -## Revision 1.19 2001/03/30 15:13:49 gawthrop -## Rationalised simulation modes to each return mtt_data -## -## Revision 1.18 2001/03/19 02:28:52 geraint -## Branch merge: merging-ode2odes-exe back to MAIN. -## -## Revision 1.17.2.4 2001/03/06 03:48:43 geraint -## Print additional environment variable for "mtt -p". -## MTT_LDFLAGS defaults to " " to avoid installation warning. -## -## Revision 1.17.2.3 2001/03/01 05:05:53 geraint -## Minor revisions. -## -## Revision 1.17.2.2 2001/02/23 03:53:53 geraint -## Minor revisions. (ode2odes.exe works on GNU/Linux and ~GNU/Irix) -## -## Revision 1.17.2.1 2001/02/22 06:41:40 geraint -## Initial merge of ode2odes.exe into main mtt. -## standalone_rep.make deleted: rules moved to mtt, variables to mttrc. -## -## Revision 1.17 2000/12/27 16:46:13 peterg -## Stripped the mtt- from paths -## -## Revision 1.16 2000/12/27 15:16:44 peterg -## -## Revision 1.15 2000/12/27 14:57:43 peterg -## Now takes the base path as an argument -## -## Revision 1.14 2000/12/27 13:11:43 peterg -## *** empty log message *** -## -## Revision 1.13 2000/10/03 12:12:14 peterg -## New path structure to account for three way split in mtt tree -## -## Revision 1.12 2000/09/18 12:17:07 peterg -## Now includes to control system toolbox in OCTAVE_PATH -## Don't use -path stuff - use :: instead. -## -## Revision 1.11 2000/05/21 17:55:15 peterg -## New rep path -## -## Revision 1.10 2000/05/16 11:41:23 peterg -## *** empty log message *** -## -## Revision 1.9 1999/03/11 04:02:19 peterg -## Revised so that sh2csh does its stuff. -## -## Revision 1.8 1998/07/17 19:48:46 peterg -## *** empty log message *** -## -## Revision 1.7 1998/03/24 09:11:49 peterg -## Compatible with .csh version -## -## Revision 1.6 1998/03/13 11:53:29 peterg -## reduce --> reduce 64 -## -## Revision 1.5 1998/01/16 08:55:01 peterg -## MAKE=make -## -## Revision 1.4 1998/01/06 09:14:51 peterg -## Added latex2html to setup -## -# Revision 1.3 1998/01/06 09:11:26 peterg -# Removed matlab from the setup -# -# Revision 1.2 1997/12/04 10:49:16 peterg -# Put under RCS at last -# Added CC variable -# -############################################################### - -## When using csh, replace /home/peterg/Development/mttroot/mtt by the mtt base path, eg /usr/share/mtt/latest -setenv MTT_BASE /home/peterg/Development/mttroot/mtt - - echo Setting paths with base $MTT_BASE - # The following line sets up the make to use -- gmake is the standard - # but you may wish to use lsmake for parallelism - setenv MAKE 'make' - - # The following sets up the c compiler - setenv CC 'gcc' - - # Setup the paths - setenv MTTPATH $MTT_BASE/bin - setenv MTT_LIB $MTT_BASE/lib - setenv MTT_DOC $MTT_BASE/doc - setenv MTT_CC $MTT_BASE/cc - - setenv MTT_COMPONENTS $MTT_LIB/comp - setenv MTT_CRS $MTT_LIB/cr - setenv MTT_EXAMPLES $MTT_LIB/examples - setenv MTT_REP $MTT_LIB/rep - - setenv PATH $PATH\:$MTTPATH\:$MTTPATH/trans\:$MTT_CC - - #Setup octave - setenv MATRIX_PATH $MTTPATH/trans/m// - setenv MATRIX_PATH $MATRIX_PATH\:$MTT_LIB/comp/simple// - setenv MATRIX_PATH $MATRIX_PATH\:$MTT_LIB/control// - setenv MATRIX_PATH $MATRIX_PATH\:$MTT_LIB/octave//\:\: - - setenv OCTAVE_PATH .\:$MATRIX_PATH - setenv MATRIX "octave" - - # Setup the symbolic stuff - setenv SYMBOLIC 'reduce 64' - - - # Setup xfig - setenv FIG "xfig \ - -startfontsize 20 \ - -metric \ - -portrait \ - -startgridmode 2 \ - -pheight 21 \ - -pwidth 30 \ - -library_dir $MTT_LIB/xfig/\ - " - - # Setup ps viewer - setenv PSVIEW 'ghostview' - - # Setup pdf viewer - setenv PDFVIEW 'acroread' - - # Setup html viewer - setenv HTMLVIEW 'netscape' - - # Setup dvi viewer - setenv DVIVIEW 'xdvi' - - # Setup latex2html - setenv LATEX2HTML "latex2html -contents_in_navigation -index_in_navigation -address http://mtt.sourceforge.net" - - # Ascend stuff - setenv ASCENDLIBRARY $MTTPATH/ascend/lib - - # Oct file generation - use version with no optimisation. - #setenv MKOCTFILE $MTT_LIB/octave/mkoctfile # This for no optimisation - setenv MKOCTFILE mkoctfile - - # ode2odes.exe stuff - - # local system - -set PLAT="i686-pc-linux-gnu" -# PREFIX="/usr/local" -set PREFIX="/usr" -set GCCVERS="2.95.2" -set SRCOCTAVE="/cvs/octave" - -# PLAT="mips-sgi-irix6.5" -# PREFIX="/usr/people/bevangp/GNU" -# GCCVERS="2.95.2" -# SRCOCTAVE="${PREFIX}/../build/octave-2.1.33" - - # include paths - -set IOCTAVE="-I${PREFIX}/include/octave" - - # library paths - -# LOCTAVE="-L${PREFIX}/lib/octave -loctave -lcruft -loctinterp" -set LOCTAVE="-L${PREFIX}/lib/octave -loctave -lcruft -loctinterp" -set LKPATHSEA="-L${SRCOCTAVE}/kpathsea -lkpathsea" -set LREADLINE=" -L${SRCOCTAVE}/readline -lreadline" -set LSYSTEM="-ldl -lm -lncurses" -set LF2C="-L${PREFIX}/lib/gcc-lib/${PLAT}/${GCCVERS} -lg2c" - - # compiler options - -set DEBUG="-g" -set OPTIM="-O3" -set FLAGS="-fno-rtti -fno-exceptions -fno-implicit-templates" - - # exported variables - - setenv MTT_CXX "g++" - setenv MTT_CXXFLAGS "${DEBUG} ${OPTIM} ${FLAGS}" - setenv MTT_CXXLIBS "${LOCTAVE} ${LKPATHSEA} ${LREADLINE} ${LF2C} ${LSYSTEM}" - setenv MTT_CXXINCS "-I. ${IOCTAVE}" - setenv MTT_LDFLAGS " " DELETED mttroot/mtt/bin/sh2csh Index: mttroot/mtt/bin/sh2csh ================================================================== --- mttroot/mtt/bin/sh2csh +++ /dev/null @@ -1,46 +0,0 @@ -#!/bin/sh -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.3 2001/04/12 03:08:00 geraint -## Improved sh->csh conversion, reduces environment namespace pollution. -## Still need to do proper if [ -z $MTT_BASE ] ... else ... fi conversion. -## -## Revision 1.2 1999/03/11 04:12:26 peterg -## Put in heading. -## -## Revision 1.1 1999/03/11 04:02:45 peterg -## Initial revision -## -############################################################### - -#Converts mttrc to csh form. - -date=`date` -wd=`pwd` -base=`dirname $wd` - -echo Converting $1 to $1.csh using $base as default - -cat<$1.csh -#!/bin/csh -## Automatically generated from bashrc on $date - DO NOT EDIT -EOF - -# grep -v lines need to be replaced with proper if...then conversion -cat $1 |\ - sed 's/export[ \t]*$[A-Za-z0-9_]*$=/setenv\ \1\ /' |\ - sed 's/^$[\ \t]*$$[A-Za-z0-9_]*$=/set\ \2=/' |\ - grep -v "if \[ -z " |\ - grep -v "echo mttrc requires one argument: eg mttrc /usr/share/mtt/latest" |\ - grep -v "else" |\ - grep -v -e "^fi" |\ - sed "s%\$1%$base%" \ ->>$1.csh - - -echo done. - - DELETED mttroot/mtt/bin/trans/ICD_txt2lang.sh Index: mttroot/mtt/bin/trans/ICD_txt2lang.sh ================================================================== --- mttroot/mtt/bin/trans/ICD_txt2lang.sh +++ /dev/null @@ -1,54 +0,0 @@ -#! /bin/sh - -sys=$1 -lang=$2 - -ICD=${sys}_ICD.${lang} -txt=${sys}_ICD.txt -struc=${sys}_struc.txt - -case ${lang} in - c) lb='['; rb=']'; offset=0; comment='//';; - cc) lb='('; rb=')'; offset=1; comment='//';; - m) lb='('; rb=')'; offset=0; comment='#';; - *) echo Language ${lang} not yet supported.; exit -1;; -esac - -echo Creating ${ICD} - -cat < ${ICD} -${comment} Interface Control Definition mappings for system ${sys} -${comment} ${ICD}: Generated by MTT `date` - -EOF - -# ICD.txt Format: -# Input|Output ICD_Name PortName Causality: causality Units: units -# $1 $2 $3 $4 $5 $6 $7 - -cat <> ${ICD} - -${comment} Inputs - -EOF -for name in `cat ${txt} | awk '($1 == "Input:") { print $3 }'` -do - num=`grep ${name} ${struc} | awk '($1 == "input") { print $2 }'` - grep ^Input ${txt} |\ - awk '($3 == name) { printf ("\tmttu%c%d%c\t= %s;\n", lb, num-offset, rb, $2) }'\ - lb=${lb} rb=${rb} name=${name} num=${num} offset=${offset} >> ${ICD} -done - -cat <> ${ICD} - -${comment} Outputs - -EOF -for name in `cat ${txt} | awk '($1 == "Output:") { print $3 }'` -do - num=`grep ${name} ${struc} | awk '($1 == "output") { print $2 }'` - grep ^Output ${txt} |\ - awk '($3 == name) { printf ("\t%-30s = mtty%c%d%c;\n", $2, lb, num-offset, rb) }'\ - lb=${lb} rb=${rb} name=${name} num=${num} offset=${offset} >> ${ICD} -done - DELETED mttroot/mtt/bin/trans/abg2cbg_m Index: mttroot/mtt/bin/trans/abg2cbg_m ================================================================== --- mttroot/mtt/bin/trans/abg2cbg_m +++ /dev/null @@ -1,188 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: abg2cbg_m -# -# Acausal bond graph to causal bond graph: mfile format - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.16 2001/07/26 04:07:28 gawthrop -## Changed a to w on open (Geraint's suggestion) -## Explictly close files -## -## Revision 1.15 2001/07/23 23:24:02 gawthrop -## Now only writes to type.sh and cbg.m when causality is complete -## -## Revision 1.14 2000/12/28 12:16:13 peterg -## *** empty log message *** -## -## Revision 1.13 1998/07/27 20:30:12 peterg -## *** empty log message *** -## -## Revision 1.12 1998/07/10 08:43:46 peterg -## Added -I switch -## -## Revision 1.11 1998/01/23 13:29:54 peterg -## $RMATRIX --> $MATRIX -## -# Revision 1.10 1996/12/04 21:51:02 peterg -# Now uses filenum instead of line name. -# Uses fopen -# -# Revision 1.9 1996/11/06 15:49:33 peterg -# Cahged $MATRIX to $RMATRIX -# -# Revision 1.8 1996/08/25 09:31:49 peter -# More error handling. -# -## Revision 1.7 1996/08/25 09:22:55 peter -## # Print errors, if any. -## mtt_error error.txt -## -## Revision 1.6 1996/08/24 14:36:01 peter -## Error handling included. -## -## Revision 1.5 1996/08/19 15:38:31 peter -## Removed bug work round. -## -## Revision 1.4 1996/08/16 14:28:45 peter -## Some debugging lines removed. -## -## Revision 1.3 1996/08/08 18:06:55 peter -## Unified naming scheme. -## -## Revision 1.2 1996/08/05 11:25:00 peter -## Removed bonds argument from abg2cbg. -## Removed call to $1_abg. -## -## Revision 1.1 1996/08/04 17:45:11 peter -## Initial revision -## -############################################################### - -# The causal BG is described by four matrices -# (the same structure as the acausal BG except that Causality is 1 ot -1): -# junctions: describes the junctions - -# Column 1 Index of component (see components) -# Column 2.. Indices of bonds on junction (see jbonds) -# rows may be padded with zeros -# -# cjbonds: describes the true bonds - -# Column 1 Index of component (see components) -# Column 2 Direction -# 1 away from junction -# -1 towards junction -# Column 3 Effort causality -# 1 stroke at arrow end -# -1 stroke at other end -# 0 no stroke (ie acausal) -# Column 4 Flow causality -# 1 stroke at arrow end -# -1 stroke at other end -# 0 no stroke (ie acausal) -# Columns 5:6 x,y coordinates of non-arrow end (in Fig) -# Columns 7:8 x,y coordinates of arrow end (in Fig) -# -# mbonds: describes the modulation bonds - -# Column 1 Index of component at non-arrow end -# Column 2 Index of component at arrow end -# Columns 4:5 x,y coordinates of non-arrow end (in Fig) -# Columns 6:7 x,y coordinates of arrow end (in Fig) -# -# components: describes the comonents - -# Column 1 Type of component -# 0 0-junction -# 1 1-junction -# 2 R component -# 3 C component -# 4 I component -# 11 TF component -# 12 GY component -# 13 A component -# Column 2 Flag for explicit junction -# 4 Explicit component (4 means text type) -# 0 Implicit component -# Column 3-14 fig file information (see fig documentation) -# -# Lists of under- and over-causal junctions are displayed. -# -# P.J.Gawthrop May 1996 -# Copyright (c) P.J.Gawthrop, 1996. - - -# P.J.Gawthrop May 1996 -# Copyright (c) P.J.Gawthrop, 1996. - -derivative=0;blurb=integral -while [ -n "`echo $1 | grep '^-'`" ]; do - case $1 in - -I ) - info=info;; - -derivative ) - derivative=1; blurb=derivative;; - *) - echo "$1 is an invalid argument - ignoring" ;; - esac - shift -done - -infofile='mtt_info.txt' -errorfile='mtt_error.txt' -typefile="$1_type.sh" - -# Remove the old log file -rm -f abg2cbg_m.log -rm -f $1_cbg.m -rm -f $typefile -rm -f $infofile - - -#Inform user -echo "Creating $1_cbg.m (maximise $blurb causality)" -echo Creating $1_type.sh - -## Start the type.sh file -mtt_header $1 type sh > $typefile - -# Use matrix manipulation to accomplish the transformation -$MATRIX << EOF >abg2cbg_m.log #2>mtt_error.txt - - infofilenum = fopen("$infofile",'w'); - errorfilenum = fopen("$errorfile",'w'); - typefilenum = fopen("$typefile",'w'); - - %Convert from acausal to causal bond graph in m-file form. - system_name='$1'; - - port_bonds = []; - port_direction = []; - port_status = []; - [cbonds,status] = abg2cbg(system_name, '', '', port_bonds, port_direction, port_status, ... - $derivative,typefilenum, infofilenum, errorfilenum); - - ## close the files - fclose(infofilenum); - fclose(errorfilenum); - fclose(typefilenum); - -EOF - -cat $typefile | sort -u > ${typefile}.tmp -mv ${typefile}.tmp $typefile - -if [ "$info" = "info" ]; then - cat $infofile -fi - -# cp $1_$1_cbg.m $1_cbg.m 2>> mtt_error.txt - -# Print errors, if any. -mtt_error mtt_error.txt - DELETED mttroot/mtt/bin/trans/abg2cr_m2txt Index: mttroot/mtt/bin/trans/abg2cr_m2txt ================================================================== --- mttroot/mtt/bin/trans/abg2cr_m2txt +++ /dev/null @@ -1,48 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: abg2cr_m2txt - -# Abg file to constitutive relationship conversion -# P.J.Gawthrop march 2000 -# Copyright (C) 2000 by Peter J. Gawthrop - - - -# Inform user -if [ -f "$1_cr.txt" ]; then - echo "Using $1_cr.txt" - exit -else - echo "Creating $1_cr.txt" -fi - - -rm -f mtt_error - - -# This is the main transformation using awk -# And remove crs with same name as system -grep 'cr = ' $1_abg.m | awk ' -BEGIN { -# Include lin cr anyway. -print "lin" -} -{ - crs=substr($3,2,length($3)-3); - N=split(crs,cr,";"); - for (i=1;i<=N;i++){ - if (length(cr[i])>0) - print cr[i]; - } -}' 2>mtt_error.txt | sort -u | grep -v none | grep -v '\$[0-9]'> $1_cr.txt - -# Now invoke the standard error handling. -mtt_error mtt_error.txt - - - - DELETED mttroot/mtt/bin/trans/abg2lbl_fig2txt Index: mttroot/mtt/bin/trans/abg2lbl_fig2txt ================================================================== --- mttroot/mtt/bin/trans/abg2lbl_fig2txt +++ /dev/null @@ -1,332 +0,0 @@ -#!/bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: abg2lbl_fig2txt -# -# Acausal bond graph to causal bond graph: mfile format - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.24 2001/08/02 03:24:48 geraint -## Replaced mtt_version.sh with mtt_banner.sh - I think this was the intent. -## -## Revision 1.23 2001/07/26 04:08:35 gawthrop -## Removed lines deleting _type.sh and cbg.m -## -- how did they get there ?? -## -## Revision 1.22 2001/07/08 03:28:11 gawthrop -## Fixed a bug: abg2sympar_m2txt neads a _lbl.txt file when using -## "usinglabel" option -## -## Revision 1.21 2001/07/06 00:46:50 gawthrop -## Added -cr option -- forces cr to be loaded before the ese.r file -## This avoids causality problems when using multi-port Rs to represent -## arbitary equations -## -## Revision 1.20 2001/07/04 05:19:57 gawthrop -## Added RT & CT to list -## -## Revision 1.19 2001/07/03 23:51:10 gawthrop -## Now puts outline #Summary and #Description lines at top of lbl file -## -## Revision 1.18 2001/06/13 18:24:10 gawthrop -## Made "lin" default in place of "none" -## Still needs arg and cr alias clashes to be sorted .... -## -## Revision 1.17 2001/06/13 10:41:06 gawthrop -## Further changes towards aouto creation of lbl files. -## Prettified lbl files -## -## Revision 1.16 2001/06/11 19:43:49 gawthrop -## MTT is now much more sophisticated in generating lbl files -## Labels can contain maths -## Repetative components are now broken -## -## Revision 1.15 2001/06/11 16:53:49 gawthrop -## Now uses abg2sympar_m2txt to get the arguments -## -## Revision 1.14 2001/06/11 15:06:58 gawthrop -## Now handles user-defined components -## -## Revision 1.13 2001/06/04 08:13:37 gawthrop -## Various changes to support PPP -## -## Revision 1.12 2001/05/08 15:18:10 gawthrop -## Added trig and hyperbolic functions to argument exclusion list -## -## Revision 1.11 2000/09/19 11:14:30 peterg -## Now writes the first component type header correctely -## -## Revision 1.10 2000/01/26 10:11:10 peterg -## Added I component -## -## Revision 1.9 1999/11/10 00:47:08 peterg -## Replaced ifs by a table of cr/arg information -## -## Revision 1.8 1999/11/09 22:32:41 peterg -## Under RCS ready for using arrays to contaain defaults. -## -## Revision 1.7 1998/07/04 10:37:21 peterg -## Major revision to include: -## aliases -## new Style -## prettyfied -## -## Revision 1.6 1998/03/05 10:09:47 peterg -## Corrected bug in writing "other" components -## -## Revision 1.5 1998/03/02 09:26:18 peterg -## Now does default CR and args for the basic components only -## SS,I,R,C,GY,TF -## C now has a default of effort input. -## -## Revision 1.4 1998/02/23 16:20:33 peterg -## Summary line just contains the model name -## -## Revision 1.3 1997/05/09 14:21:35 peterg -## Default to flow,component_name -## -# Revision 1.2 1997/03/19 12:08:01 peterg -# No longer writes out non-unique names - now done in rbg_fig2m -# -# Revision 1.1 1997/03/18 13:55:01 peterg -# Initial revision -# -############################################################### - - -# P.J.Gawthrop March 1997 -# Copyright (c) P.J.Gawthrop, 1997 - -infofile='mtt_info.txt' -typefile="$1_type.sh" -sensitivity=$2; -system=$1 -outfile=$1_lbl.txt - -if [ -n "$sensitivity" ]; then - sys="-s ${system}" -else - sys=${system} -fi - -# Remove unwanted files -rm -f abg2lbl_fig2txt.log -rm -f $infofile -rm -f mtt_junk* - -## Create lbl files beneath this one -mtt -q -u -l 1 ${sys} sub sh # Create the list -sh $1_sub.sh "abg2lbl_fig2txt " " $sensitivity" - -if [ -f "$1_lbl.txt" ]; then - ##echo "$1_lbl.txt exists in `pwd` - no action taken" - exit -##else - ##echo "$1_lbl.txt dosn not exist in `pwd` " -fi - -#Inform user -if [ -n "$sensitivity" ]; then - echo "Creating ${outfile} (sensitivity version)" -else - echo "Creating ${outfile}" -fi - -write_header() - -{ -cat< $1_unique_raw_list - - -#Write out non-unique names -#echo 'Non-unique names (if any):' -#diff $1_unique_raw_list $1_raw_list | grep '>' | sed 's/>/ /' - -#Write out the outline lbl file -grep -v '\[[0-9]*\]' $1_unique_raw_list | \ -awk --field-separator ':' ' - BEGIN { - OldComponent="None"; - default_cr = "lin"; - } - { - Component = $1; - Name = $2; - Arg = $3; - -##Aliases - if (Component == "SS") { - port_alias[++j] = Name; - } - else { - alias[++i] = Name; - if (length(sensitivity)>0) { - s_arg = sprintf("%ss",Name); - alias[++i] = s_arg; - s_arg = sprintf(";%s",s_arg); - Component_type = Component; - Component = substr(Component,2); - lin = "slin" - } - else { - Component_type = Component; - lin = "lin"; - } - - } - - ## Table of components - cr["SS"] = "SS"; arg["SS"] = "external,external"; - - cr["Se"] = "SS"; arg["Se"] = sprintf("external%s", s_arg); - cr["Sf"] = "SS"; arg["Sf"] = sprintf("external%s", s_arg); - - cr["De"] = "SS"; arg["De"] = "external"; - cr["Df"] = "SS"; arg["Df"] = "external"; - - cr["R"] = lin; arg["R"] = sprintf("flow,%s%s", Name, s_arg); - cr["C"] = lin; arg["C"] = sprintf("effort,%s%s", Name, s_arg); - cr["I"] = lin; arg["I"] = sprintf("flow,%s%s", Name, s_arg); - - cr["CS"] = "lin"; arg["CS"] = sprintf("effort,%s;%s_x0%s", Name, Name, s_arg); - cr["IS"] = "lin"; arg["IS"] = sprintf("flow,%s;%s_x0%s", Name, Name, s_arg); - cr["INTFS"] = "lin"; arg["INTFS"] = sprintf("%s_x0%s", Name, s_arg); - - cr["TF"] = "lin"; arg["TF"] = sprintf("flow,%s%s", Name, s_arg); - cr["GY"] = "lin"; arg["GY"] = sprintf("flow,%s%s", Name, s_arg); - - cr["AE"] = "lin"; arg["AE"] = sprintf("%s%s", Name, s_arg); - cr["AF"] = "lin"; arg["AF"] = sprintf("%s%s", Name, s_arg); - - cr["CDx"] = "lin"; arg["CDx"] = sprintf("%s%s", Name, s_arg); - - - cr["FMR"] = lin; arg["FMR"] = sprintf("effort,%s%s", Name, s_arg); - - cr["RS"] = lin; arg["RS"] = sprintf("flow,%s%s", Name, s_arg); - cr["RT"] = lin; arg["RT"] = sprintf("flow,%s%s", Name, s_arg); - cr["CT"] = lin; arg["CT"] = sprintf("effort,%s%s", Name, s_arg); - - ## Put in the explicit arguments - if (length(Arg)>0) { - arg[Component] = Arg; - if (match(Arg,"=")>0) # Its an equation type cr - cr[Component] = "cr" - else # assume a linear cr - cr[Component] = "lin"; - } - - ## Print component header - if (Component !~ OldComponent) print "\n## Component type", Component_type - - ## Print Component - printf("\t%s\t", Name); - if (Component in cr) - printf("%s\t\t", cr[Component]) - else - printf("%s\t\t", default_cr); - - if (Component in arg) - printf("%s\t\t\n", arg[Component]) - else { - print "lbl2args_txt2out", Component_type | "/bin/sh"; close("/bin/sh") - } - - OldComponent=Component; - delete arg[Component]; # Zap the element - delete cr[Component]; # Zap the element - } - END{ - print "\n## Port aliases" >> "mtt_junk_alias.txt"; - for (k=1;k<=j;k++){ - if (port_alias[k] ~ "\\["){ # Only do ports - port_name = substr(port_alias[k],2,length(port_alias[k])-2); - if (length(sensitivity)==0) - print "#ALIAS\t" port_name "\t" port_name >> "mtt_junk_alias.txt"; - else - print "#ALIAS\t" port_name "\t" port_name "_1," port_name "_2" >> "mtt_junk_alias.txt"; - } - } - -# print "\n% Argument aliases" >> "mtt_junk_alias.txt"; -# for (k=1;k<=i;k++){ -# print "%ALIAS\t\$" k "\t" alias[k] >> "mtt_junk_alias.txt"; -# } - }' sensitivity=$sensitivity -} - -create_arg_aliases() -{ -cat < $1_lbl.txt -create_arg_aliases > mtt_args.txt # using $1_lbl.txt -mv $1_lbl.txt mtt_junk_lbl.txt - -write_header > ${outfile} -cat mtt_junk_alias.txt >> ${outfile} -cat mtt_args.txt >> ${outfile} -write_blurb >> ${outfile} -cat mtt_junk_lbl.txt >> ${outfile} -## Put a blank line at end -cat >> ${outfile} <$sfilename - - - DELETED mttroot/mtt/bin/trans/abg2sub_fig2sh Index: mttroot/mtt/bin/trans/abg2sub_fig2sh ================================================================== --- mttroot/mtt/bin/trans/abg2sub_fig2sh +++ /dev/null @@ -1,107 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: abg2sub_m2sh - ###################################### - ##### Model Transformation Tools ##### - ###################################### - - ############################################################### - ## Version control history - ############################################################### - ## $Id$ - ## $Log$ - ## Revision 1.3 2001/10/15 14:27:34 gawthrop - ## Now handles [1:N] style port labels - ## - ## Revision 1.2 2001/07/23 23:26:23 gawthrop - ## Removed some boring user feedback - ## - ## Revision 1.1 2001/06/11 19:47:49 gawthrop - ## Makes the sub.sh file directly from the abg.fig file - ## Used for making lbl files (abg2lbl_fig2txt) - ## - ## - ############################################################### - -# Copyright (C) 1996--2002 by Peter J. Gawthrop - - - -get_valid_components() - -{ -awk ' -function modulo10(x) { - return x-int(x/10)*10 - } -BEGIN{ - polyline = 2; - text = 4; - compound_object = 6; - -} -{ -object = $1; -zero_depth = (modulo10($4)==0)&&(object==text); -if (zero_depth) print $0 - -}' < $1_abg.fig - -} -#if [ -f "$1_sub.sh" ]; then -# echo Using "$1_sub.sh" -# exit -#else - #Inform user - echo Creating $1_sub.sh -#fi - -echo '# Commands to generate subsystem representations'> $1_sub.sh -echo "# File $1_sub.sh" >> $1_sub.sh -echo "# Generated by MTT on `date`." >> $1_sub.sh -echo >> $1_sub.sh - -# Get a list of all components from the _abg file -get_valid_components $1 |\ -grep -v '\[[0-9]*:[0-9]*\]' |\ -grep -v '\[.*\]' |\ -awk '{if ($1==4) split($14,a,":"); print a[1]}' |\ -sed 's/\\001//' |\ -sort -u > mtt_tmp1 - -# Remove all components starting with 0 or 1 -grep -v '^[01]' < mtt_tmp1 > mtt_tmp4 - -# Get a list of all standard simple components -ls $MTT_LIB/comp/simple |\ - awk '/_cause.m/{split($1,a,"_");print(a[1])}' >mtt_tmp2 - -# Get a list of all standard compound components -#ls $MTTPATH/comp/compound |\ -# awk '/_abg.m/{split($1,a,"_");print(a[1])}' >> mtt_tmp2 - -# Sorted combined list -cat mtt_tmp2 | \ - sed 's/^zero$/0/' |\ - sed 's/^one$/1/' |\ - sort -u >mtt_tmp3 - -# Print the non-standard components -comm mtt_tmp4 mtt_tmp3 |\ - awk 'BEGIN{FS="\t"}{if (length($1)>0) print "$1" $1 "$2"}' \ - >>$1_sub.sh - -# Clean up mtt_tmp files -#rm -f mtt_tmp? - - - - - - - - DELETED mttroot/mtt/bin/trans/abg2sub_m2sh Index: mttroot/mtt/bin/trans/abg2sub_m2sh ================================================================== --- mttroot/mtt/bin/trans/abg2sub_m2sh +++ /dev/null @@ -1,75 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: abg2sub_m2sh - -# Copyright (C) 2000 by Peter J. Gawthrop - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.2 2000/03/17 09:53:10 peterg -## Removed irritating echo Using "$1_sub.sh" -## -## Revision 1.1 2000/03/15 21:23:20 peterg -## Initial revision -## -############################################################### - - -if [ -f "$1_sub.sh" ]; then - #echo Using "$1_sub.sh" - exit -else - #Inform user - echo Creating $1_sub.sh -fi - - -echo '# Commands to generate subsystem representations'> $1_sub.sh -echo "# File $1_sub.sh" >> $1_sub.sh -echo "# Generated by MTT on `date`." >> $1_sub.sh -echo >> $1_sub.sh - -# Get a list of all components for the _abg file -awk '/type = / {print substr($3,2,length($3)-3)}' $1_abg.m |\ -sort -u > mtt_tmp1 - -# Remove all components starting with 0 or 1 -grep -v '^[01]' < mtt_tmp1 > mtt_tmp4 - -# Get a list of all standard simple components -echo ls $MTT_LIB/comp/simple -ls $MTT_LIB/comp/simple |\ - awk '/_cause.m/{split($1,a,"_");print(a[1])}' >mtt_tmp2 - -# Get a list of all standard compound components -#ls $MTTPATH/comp/compound |\ -# awk '/_abg.m/{split($1,a,"_");print(a[1])}' >> mtt_tmp2 - -# Sorted combined list -cat mtt_tmp2 | \ - sed 's/^zero$/0/' |\ - sed 's/^one$/1/' |\ - sort -u >mtt_tmp3 - -# Print the non-standard components -comm mtt_tmp4 mtt_tmp3 |\ - awk 'BEGIN{FS="\t"}{if (length($1)>0) print "$1" $1 "$2"}' \ - >>$1_sub.sh - -# Clean up mtt_tmp files -#rm -f mtt_tmp? - - - - - - - - DELETED mttroot/mtt/bin/trans/abg2sympar_m2txt Index: mttroot/mtt/bin/trans/abg2sympar_m2txt ================================================================== --- mttroot/mtt/bin/trans/abg2sympar_m2txt +++ /dev/null @@ -1,86 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: abg2sympar_m2txt - -# Label file to symbolic parameters conversion -# Copyright (C) 2000 by Peter J. Gawthrop - -# Inform user -##echo "Creating $1_sympar.txt" with $1 $2 $3 - -# Separation characters -SEPS='^=*;+/()-' -# Replace by , -REPS='[,*]' - -SystemName=$2 -UseLabelFile=$3 - -if [ -n "$UseLabelFile" ]; then ## Take input from lbl.txt - strip_comments < $1_lbl.txt | tr $SEPS $REPS |\ - awk '{printf("%s %s \"%s\",\n",$1,$2,$3)}' > mtt_stripped_file -else ## Take input from _abg.m - cat $1_abg.m | grep "arg =" | tr $SEPS $REPS > mtt_stripped_file -fi - -rm -f mtt_error -# This is the main transformation using gawk -cat mtt_stripped_file | \ -awk ' -function exact_match(name1, name2) { - return ((match(name1,name2)>0)&&(length(name1)==length(name2))) -} - -function matches(names, name) { - n_matches = split(names,match_name); - matched = 0; - for (i_matches = 1; i_matches <= n_matches; i_matches++) { - if ( exact_match(name,match_name[i_matches]) ) { - matched = 1; - break; - } - } - return matched; -} - -BEGIN { - var = "[%|#][PAR|VAR]"; - not_an_arg = "effort flow state internal external zero unknown\ - mtt_e mtt_f\ - sqrt exp log sign sin asin cos acos tan atan \ - sin asin cos acos tan atan \ - sinh asinh cosh acosh tanh atanh \ - none abs"; - arg_line = "arg = "; -} -{ - ## Explicit VAR declarations - if (match($1,var)>0) print $2 "\t" system_name; - - ## Implicit declarations from the arg list -## if (match($1,"arg")>0) { - args= substr($3,2,length($3)-3); - if (length(args)>0) - printf("%s\t%s\n", args,system_name) -## } -}' system_name=$SystemName |\ -grep -v '^\$' | mtt_strip_args | sort -u > mtt_stripped_args - - -## Now get the explicit declarations -if [ -n "$UseLabelFile" ]; then ## Take input from lbl.txt - ext=_lbl.txt -else - ext=_abg.m -fi - -strip_pars.sh $1${ext} $1 | sort -u > mtt_explicit_args - -## And write sorted list -cat mtt_explicit_args mtt_stripped_args - - DELETED mttroot/mtt/bin/trans/abg2tex Index: mttroot/mtt/bin/trans/abg2tex ================================================================== --- mttroot/mtt/bin/trans/abg2tex +++ /dev/null @@ -1,148 +0,0 @@ -#!/bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: abg2tex -# Creates a tex file describing the system abg -# P.J.Gawthrop May 1997 -# Copyright (c) P.J.Gawthrop, 1997. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.2 2000/11/27 17:45:00 peterg -## Removed "System" from heading -## -## Revision 1.1 2000/11/27 15:11:15 peterg -## Initial revision -## -## Revision 1.7 1997/12/06 16:20:37 peterg -## Added another argument - the label -## -## Revision 1.6 1997/12/06 15:49:35 peterg -## Changed order of fig arguments to put filename first. -## -## Revision 1.5 1997/08/15 11:32:05 peterg -## Removed an echo left in by mistake -## -# Revision 1.4 1997/08/15 11:19:25 peterg -# Minto cosmetics. -# -## Revision 1.3 1997/05/21 12:07:22 peterg -## Replaced echo by cat -- much simpler. -## -## Revision 1.2 1997/05/19 16:25:53 peterg -## Explicit include of tex files .. latex2html seems to prefer this! -## -# Revision 1.1 1997/05/19 11:30:00 peterg -# Initial revision -# -############################################################### - -#Look for a command line argument -while [ -n "`echo $1 | grep '^-'`" ]; do - case $1 in - -pdf ) pdf='-pdf' - ;; - -s ) sensitivity='-s' - ;; - - *) - echo "$1 is an invalid argument - ignoring" ;; - esac - shift -done - - -if [ -z "$2" ]; then - filename="$1_abg.tex"; - echo > $filename - echo Creating $filename - subsection='section' -else - filename=$2 - subsection='subsection' -fi - - -#Section heading (if not at top level) -if [ -n "$2" ]; then -cat<> $filename - -%% Subsystem $1 - \subsection{\textbf{$1}} - \label{sec:$1} - \index{\textbf{$1} -- abg} - -EOF -else -mtt -q -u ${sensitivity} $1 abg m # Make sure all the subsystems exist -- nasty kludge -cat< $filename - % abg report for system $1 ($filename) - % Generated by MTT at `date` -EOF -fi - -# Figure -##echo mtt -q -u $pdf $1 abg ps -mtt -q -u $pdf $1 abg ps -cat <> $filename - - \fig{`pwd`/$1_abg}{$1_abg.ps}{0.9}{System \textbf{$1}: acausal bond graph} - -EOF - -# Description -mtt -q -u $1 desc tex -# Put in absolute pathnames in figures -- and fix bug in old desc files -sed "s;fig{;fig{`pwd`/;g" < $1_desc.tex |\ -sed "s/Ref{$1_abg}/Ref{fig:$1_abg.ps}/" >> $filename - -# Label file -mtt -q -u $1 lbl tex -cat<> $filename - \sub$subsection{Summary information} - \label{sec:$1_lbl} - \index{\textbf{$1} -- lbl} -EOF -cat $1_lbl.tex >> $filename - - -# CRs -#mtt -q -u $1 cr tex -#cat<> $filename -# \sub$subsection{Constitutive relationships} -# \label{sec:$1_cr} -# \index{\textbf{$1} -- cr} -#EOF -#cat $1_cr.tex >> $filename - -# Subsystems -mtt -q -u $1 sub tex -cat<> $filename - \sub$subsection{Subsystems} - \label{sec:$1_sub} - \index{\textbf{$1} -- subsystems} -EOF -cat $1_sub.tex >> $filename - -#Now do the subsystems (if at top level) -if [ -z "$2" ]; then - sub2subs $1 | sort -u | \ - awk '{print "abg2tex", pdf, $1, filename}' pdf=$pdf filename=$filename | sh -fi - - - - - - - - - - - DELETED mttroot/mtt/bin/trans/abg_m2a4c Index: mttroot/mtt/bin/trans/abg_m2a4c ================================================================== --- mttroot/mtt/bin/trans/abg_m2a4c +++ /dev/null @@ -1,33 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: abg_m2a4c -# -# Acausal bond graph to ascend format - -infofile='mtt_info.txt' -errorfile='mtt_error.txt' - - -# Remove the old log file -rm -f abg_m2a4c_m.log -rm -f $1_abg.a4c - - - -#Inform user -echo "Creating $1_abg.a4c" - -# Use matrix manipulation to accomplish the transformation -octave -q << EOF >$1_abg.a4c - ABG = $1_abg; - name = "$1"; - abg_m2a4c(ABG,name); -EOF - -if [ "$info" = "info" ]; then - cat $infofile -fi DELETED mttroot/mtt/bin/trans/alias_txt2m Index: mttroot/mtt/bin/trans/alias_txt2m ================================================================== --- mttroot/mtt/bin/trans/alias_txt2m +++ /dev/null @@ -1,47 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: alias_m -# Creates the component aliases in text form - -# Copyright (c) P.J.Gawthrop 1998 - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.1 1998/07/02 09:21:55 peterg -## Initial revision -## -############################################################### - - -# Inform user -echo Creating $1_alias.m - -#Create the alias file complete with headers. -echo "function alias = $1_alias" > $1_alias.m -echo "%% Alias file ($1_alias.m)" >> $1_alias.m -echo "%% Generated by MTT at `date`" >> $1_alias.m - -#Write out the variables -awk '{ - if (NF==2) {i++; print "alias."$1 "\t = \""$2"\";"} - - } - END{ - if (i==0) print "alias = 0;" - }' $1_alias.txt >> $1_alias.m - - - - - - - - - DELETED mttroot/mtt/bin/trans/awk/lbl2cr.awk Index: mttroot/mtt/bin/trans/awk/lbl2cr.awk ================================================================== --- mttroot/mtt/bin/trans/awk/lbl2cr.awk +++ /dev/null @@ -1,86 +0,0 @@ -###################################### -##### Model Transformation Tools ##### -###################################### - -# gawk script: lbl2cr.awk -# Label file to symbolic parameters conversion -# P.J.Gawthrop August 1996 -# Copyright (c) P.J.Gawthrop, 1996. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.9 1998/03/08 21:01:40 peterg -## Now does multiple crs -## -## Revision 1.8 1998/03/06 09:15:28 peterg -## Ignores SS fields (assumes that if first field is a symbol then other -## field is and SS-style field. -## -## Revision 1.7 1997/04/22 12:50:15 peterg -## New much simpler version -- does not check for multiple crs -- these -## are removed later anyway. -## -# Revision 1.6 1997/03/22 15:15:44 peterg -# Ignores symbolic ($i) crs. -# -# Revision 1.5 1997/03/20 12:05:31 peterg -# Now just writes out the cr name. -# -# Revision 1.4 1996/11/09 20:38:45 peterg -# Put in new lib pat -# -## Revision 1.3 1996/11/04 14:51:14 peterg -## Added none to no cr list -## -# Revision 1.2 1996/11/02 10:22:22 peterg -# Now ignores SS lines. -# -############################################################### - - -function exact_match(name1, name2) { - return ((match(name1,name2)>0)&&(length(name1)==length(name2))) - } - -function matches(names, name) { - n_matches = split(names,match_name); - matched = 0; - for (i_matches = 1; i_matches <= n_matches; i_matches++) { - if ( exact_match(name,match_name[i_matches]) ) { - matched = 1; - break; - } - } - return matched; - } - - -BEGIN { -comment = "%|#"; -cr_delimiter = ";"; -not_a_cr = "effort flow state internal external zero none"; -is_a_SS = "internal external zero"; -numeric = "[0-9]"; -symbolic = "\044"; # Ascii $ -symbol_count = 0; -symbols = ""; - -# Include lin cr anyway. -print "lin" -} -{ - if ( (match($1,comment)==0) && (NF>=3) ) { - crs = $2 - n_crs = split(crs,cr,cr_delimiter); - for (i = 1; i <= n_crs; i++) { - first_char = substr(cr[i],1,1); - if ( (matches(not_a_cr,cr[i])==0) && - (match(numeric,first_char)==0) && - (matches(is_a_SS,$3)==0)) - print cr[i]; - } - } -} DELETED mttroot/mtt/bin/trans/awk/lbl2sympar.awk Index: mttroot/mtt/bin/trans/awk/lbl2sympar.awk ================================================================== --- mttroot/mtt/bin/trans/awk/lbl2sympar.awk +++ /dev/null @@ -1,107 +0,0 @@ -###################################### -##### Model Transformation Tools ##### -###################################### - -# gawk script: lbl2sympar.awk -# Label file to symbolic parameters conversion -# P.J.Gawthrop August 1996 -# Copyright (c) P.J.Gawthrop, 1996. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.13 1998/07/15 09:26:50 peterg -## Reinstated the second column of the sympar file - the system name -## -## Revision 1.12 1998/07/04 11:09:46 peterg -## Cleaned up - assumes new lbl style for SS -## -## Revision 1.11 1998/05/13 12:39:23 peterg -## Added `unknown' to list od names to avoid -## -## Revision 1.10 1998/03/26 13:03:23 peterg -## Changed SS field fudge. -## -## Revision 1.9 1998/02/16 16:09:57 peterg -## And taken it out again! -## -## Revision 1.8 1998/02/16 12:08:38 peterg -## Put back the matrix declaration -## -# Revision 1.7 1997/03/18 17:25:24 peterg -# Now just generates names - formatting removed. -# -# Revision 1.6 1996/12/07 20:02:43 peterg -# Fixed symbolic parameter bug. -# -## Revision 1.5 1996/12/07 18:06:50 peterg -## Now detects symbolic args ($1 etc) and ignores them. -## -# Revision 1.4 1996/08/30 18:45:32 peter -# Removed header stuff. -# -## Revision 1.3 1996/08/30 10:30:54 peter -## Switched order of args in matches. -## -## Revision 1.2 1996/08/30 09:35:10 peter -## Fixed problem with global variable in function. -## -## Revision 1.1 1996/08/24 13:34:48 peter -## Initial revision -## -############################################################### - - - -function exact_match(name1, name2) { - return ((match(name1,name2)>0)&&(length(name1)==length(name2))) -} - -function matches(names, name) { - n_matches = split(names,match_name); - matched = 0; - for (i_matches = 1; i_matches <= n_matches; i_matches++) { - if ( exact_match(name,match_name[i_matches]) ) { - matched = 1; - break; - } - } - return matched; -} - - -BEGIN { -sys_name = ARGV[1]; -comment = "%|#"; -var = "[%|#]VAR"; -arg_delimiter = ","; -not_an_arg = "effort flow state internal external zero unknown 0 1"; -SS_parameter = "internal external zero 0 1"; -numeric = "[0-9-]"; -symbol_count = 0; -symbols = ""; -} -{ - if (match($1,var)>0) print $2 "\t" name; - - if ( (match($1,comment)==0) && (NF>=3) ) { - n_args = split($3,arg,arg_delimiter); - for (i = 1; i <= n_args; i++) { - first_char = substr(arg[i],1,1); - if ( (matches(not_an_arg,arg[i])==0) \ - && (match(first_char,numeric)==0) \ - && (match(arg[i],"\\$")==0) \ - && (length(arg[i])>0) \ - && (matches(symbols,arg[i]) ==0) ) { - print arg[i] "\t" name; - } - } - } -} - - - - - DELETED mttroot/mtt/bin/trans/awk/rbg_fig2m.awk Index: mttroot/mtt/bin/trans/awk/rbg_fig2m.awk ================================================================== --- mttroot/mtt/bin/trans/awk/rbg_fig2m.awk +++ /dev/null @@ -1,755 +0,0 @@ -###################################### -##### Model Transformation Tools ##### -###################################### - -# gawk script: rbg_fig2m.awk -# Raw bond-graph conversion from fig to matlab -# P.J.Gawthrop June 1996 -# Copyright (c) P.J.Gawthrop, 1996. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.41 2001/06/13 10:41:06 gawthrop -## Further changes towards aouto creation of lbl files. -## Prettified lbl files -## -## Revision 1.40 2001/06/11 19:43:50 gawthrop -## MTT is now much more sophisticated in generating lbl files -## Labels can contain maths -## Repetative components are now broken -## -## Revision 1.39 2001/05/09 08:50:02 gawthrop -## Uses _art.fig to transmit the art work to the cbg.fig rep. -## -## Revision 1.38 2001/03/23 14:57:31 gawthrop -## Now puts space after header fields + writes _port.fig -## -## Revision 1.37 2000/09/14 08:43:32 peterg -## Add additional directional informatiuon to rbonds: -## cols 7-8 Arrow end directional bond -## cols 9-10 Arrow end directional bond -## -## Revision 1.36 1999/11/19 04:00:26 peterg -## Changed a comment to be more accurate. -## -## Revision 1.35 1999/07/25 22:19:45 peterg -## Fixed bug with false objects when compound objects present. -## -- Reset object to 0 after processing text. -## -## Revision 1.34 1999/02/17 06:23:49 peterg -## Bugs arising from Fig 3.2 fixed -## -## -- depth now zero modulo 10 (3.2 defaults to depth 100!!) -## -- horrible bug using = in place of == fixed. -## -## Revision 1.33 1998/08/10 15:51:06 peterg -## Comments may now be prefaced by # as well as % -## -## Revision 1.32 1998/07/27 20:30:03 peterg -## *** empty log message *** -## -## Revision 1.31 1998/04/16 13:18:13 peterg -## Now ignores spurious ports (in lbl but not Figure \ref{) but gives -## warning -## -## Revision 1.30 1998/04/12 15:01:17 peterg -## Converted to uniform port notation - always use [] -## -## Revision 1.29 1998/04/12 12:35:32 peterg -## Named and unnamed SS handled in a uniform manner - in particular, the -## attributes are passed through -## wrote_component function used. -## -## Revision 1.28 1998/04/06 08:41:48 peterg -## Fixed bug due to adding (and then removing) 0 and 1 as port types -## -## Revision 1.27 1998/04/04 10:54:58 peterg -## Remove a debugging print statement -## -## Revision 1.26 1998/04/04 07:29:26 peterg -## SS now only port component -## -## Revision 1.25 1998/04/03 15:07:20 peterg -## Now correctly write 0/1 port names -## -## Revision 1.24 1998/04/03 14:02:50 peterg -## Added 0 and 1 to list of possible ports -## -## Revision 1.23 1998/02/01 18:37:41 peterg -## Don't print irritating warnings about ports listed in lbl files. -## -# Revision 1.22 1997/08/09 14:42:39 peterg -# Added underscore to port regexp -# -## Revision 1.21 1997/08/04 12:49:17 peterg -## Modified to use named (as opposed to numbered) ports. -## Generates a list of component ports in the .rbg file. -## As octave handles string vectors properly, the .cmp file format is not -## really necessary - but I've let it be for the moment. -## -## Revision 1.20 1997/03/19 12:02:01 peterg -## Now writes an error message if a lable is used twice in the fig file. -## -# Revision 1.19 1997/03/19 09:49:39 peterg -# Ports now written in cmp file. -# -# Revision 1.18 1997/03/19 09:42:08 peterg -# Now writes out the following additional fig files: -# _head.fig The fig header -# _bnd.fig The bonds actually used -# _cmp.fig The components actually used. -# -# Revision 1.17 1997/01/02 11:21:17 peterg -# Now assumes all components bonds etc at depth zero in fig file. -# Ie anything at depth>0 is ignored. -# Thanks to Donald for suggesting this. -# -## Revision 1.16 1996/12/30 20:00:29 peterg -## Fixed bent-bond bug. -## NB unfixed problems: -## 1. xfig writes multi line fields if more than about 5 segments. -## 2. rbg2abg takes a multi-segment bond as a straignt line between the -## end points - so computation of stroke and arrow directions may be -## iffy. -## -## Revision 1.15 1996/12/30 19:23:35 peterg -## Allows for bent bonds - ie bonds with more than 2 line segments. -## -## Revision 1.14 1996/12/21 19:47:53 peterg -## Changed \* to \\* -## -## Revision 1.13 1996/12/21 19:47:23 peterg -## Put back under VC -## -# Revision 1.12 1996/08/24 16:30:12 peter -# Fixed error in nonport_regexp. -# -## Revision 1.11 1996/08/19 10:48:57 peter -## Added `-' to the component regexp. -## -## Revision 1.10 1996/08/19 09:03:13 peter -## Parses repetative components: ie suffixed by *n. -## -## Revision 1.9 1996/08/09 08:23:11 peter -## Fixed bug: ports not recognised. -## -## Revision 1.8 1996/08/05 20:12:43 peter -## Now writes a _fig.fig file. -## -## Revision 1.7 1996/08/05 18:44:56 peter -## Now writes out a _cbg file without ----- symbol. -## -## Revision 1.6 1996/08/05 12:17:37 peter -## n_ports now appear in the _abg file instead. -## -## Revision 1.5 1996/08/05 12:01:28 peter -## The _cmp function now returns the number of ports. -## -## Revision 1.4 1996/08/05 10:14:46 peter -## Made ports appear, in order, at top of component lists -## -## Revision 1.3 1996/08/04 20:32:28 peter -## Stopped complaint about missing lbl entry for port components -## -## Revision 1.2 1996/08/04 20:05:25 peter -## Included port components - eg SS:[1] -## -## Revision 1.1 1996/08/04 20:01:58 peter -## Initial revision -## -############################################################### - - -############################################################## -# This (g)awk script reads a fig file in fig 3.1 format. -# It interprets the picture as: bonds, arrows and components -# as follows: -# -# Bonds are firm (not dashed etc) polylines with n line segments - -# fig represents this by a firstline record where -# field 1 = 2 (always 2) -# field 2 = 1 (polyline) -# field 3 = 0 (style is a firm line) -# field 7 = 0 (depth is zero [top level]) -# field 14 = 0 (no forward arrow) -# field 15 = 0 (backward arrow) -# field 16 = Number of point in line (points=segments+1) -# a data field starting with a tab followed by points (x,y) cordinates -# -# -# Strokes are polylines with 1 line segment and and no arrow -# fig represents this by a firstline record where -# field 1 = 2 (always 2) -# field 2 = 1 (polyline) -# field 3 = 0 (style is a firm line) -# field 14 = 0 (no forward arrow) -# field 15 = 0 (backward arrow) -# field 16 = Number of point in line =2 -# a data field starting with a tab followed by 2 (x,y) cordinates -# -# Arrows are polylines with 1 line segment and an arrow -# fig represents this by a firstline record where -# field 1 = 2 (always 2) -# field 2 = 1 (polyline) -# field 3 = 0 (style is a firm line) -# field 14 = 1 for a forward arrow -# field 15 = 1 for a backward arrow -# an additional data files -# a data field starting with a tab followed by 2(x,y) cordinates -# -# Components appear in two files -- the fig file and the lbl file -# these two files are concatenated with the lbl file first -# The lbl file represents components by 3 fields -# field 1 is the name -# field 2 is the CR name -# field 3 is the CR arguments -# The fig file represents components by 14 fields -# field 1 = 4 -# fields 12 and 13 are the coordinates -# field 14 is the type:name string terminated by \001 -# To prevent text being confused with components, components consist -# of alphanumeric characters and : and _ only. -# The lbl file is used to sort the components. -############################################################## - -function modulo10(x) { - return x-int(x/10)*10 - } - -function exact_match(name1, name2) { - return ((match(name1,name2)>0)&&(length(name1)==length(name2))) - } - -function write_component(i) { - name = label[i,1]; - cr = label[i,2]; - arg = label[i,3]; - if (length(x[name])==0) { - # print error - its in lbl but not fig file - printf(warning_l, name); - } - else { - component_index++; - print x[name], y[name], info[name] >> b_file; - printf("if i==%1.0f\n", component_index) >> c_file; - printf("\tcomp_type = %s%s%s;\n", q, comp_type[name], q) >> c_file; - printf("\tname = %s%s%s;\n", q, name, q) >> c_file; - printf("\tcr = %s%s%s;\n", q, cr, q) >> c_file; - printf("\targ = %s%s%s;\n", q, arg, q) >> c_file; - printf("\trepetitions = %s;\n", reps[name]) >> c_file; - print "end" >> c_file - } - } - -function process_lbl() { -# This puts the components in the lable file at the top of the list -# and saves up the corresponding CR and arguments -# note that there may be more than one component per label - if ((match($1,comment_regexp)==0)&&(NF>0)) - { - i_label++; - name = $1; - CR = $2; - args = $3; - - label[i_label,1] = name; - label[i_label,2] = CR; - label[i_label,3] = args; - } -} - -function fig_info() { -# Grabs the fig-file information for a component - return(sprintf("%s %s %s %s %s %s %s %s %s %s %s ", \ - $1, $2, $3, $4, $5, $6, $7, \ - $8, $9, $10, $11)) - } - -function process_text() { -# The text string is field 14 onwards - str = $14; - for (i=15; i<=NF; i++) { - str = sprintf("%s %s", str, $i) - } - -# The depth is field 4 (for strings) - depth = modulo10($4); - -# It is terminated by \001 - so delete this termination - str = substr(str,1,length(str)-4); - -# Zap maths - ##gsub(/[()-+*/]/,"",str); - -# Loose the cr stuff (if present) - if (depth==0) { - N=split(str,a,delimiter); - if (N==3) - str=sprintf("%s%s%s", a[1],delimiter,a[2]); - } - -# A component string contains only alphanumeric _ and : - isa_plain_component = match(str, component_regexp)==0; -# It must also be specified at depth 0 (modulo 10) - isa_plain_component = isa_plain_component && (depth==0); - -# A port is a string within [] - isa_port = (match(str, port_regexp)>0) - -# It must also be specified at depth 0 - isa_port = isa_port && (depth==0); - -# Vector port definitions - isa_PORT = ((match(str, PORT_regexp)>0) && (depth==0)); - - if (isa_PORT) { - print str - } - -# A port component is an SS followed by a port string - isa_port_component = 0; - if (match(str, delimiter)) { - split(str,a,delimiter); - isa_port_component = (match(a[1], port_component_regexp))&& - (match(a[2], port_regexp)>0) - } - -# It must also be specified at depth 0 - isa_port_component = isa_port_component && (depth==0); - -# A component is a plain or a port component - isa_component = isa_plain_component||isa_port_component; - -# Coordinates in fields 12 & 13 - x_coord = $12; - y_coord = $13; - -# Do the ports - if (isa_port) { - i_port++; - port_name = str; - ports[i_port] = sprintf("%s %s %s", x_coord, y_coord, port_name); - } - -# Do the port components -# if (isa_port_component) { -# i_port_component++; -# type = a[1]; -# # Port name is the bit between the [] -# port_label = substr(a[2],2,length(a[2])-2); -# x_port[i_port_component] = x_coord; -# y_port[i_port_component] = y_coord; -# info_port[i_port_component] = fig_info(); -# port_labels[i_port_component] = port_label; -# } - -# Do the components - if (isa_component) { - i_text++; - -# Get repetitions (if any) - if (match(str,repetition_regexp) > 0) { - split(str,b,repetition_delimiter); - repetitions = b[2]; - str = b[1]; - } - else { - repetitions = "1"; - }; - - named_component = (match(str,delimiter) > 0); - if (named_component) { - split(str,a,delimiter); - type = a[1]; - name = a[2]; -# Check if name is in label file and if used already - found = 0; name_used = 0; - for (i=1; i<=i_label; i++) { - lname = label[i,1]; - if ( lname==name ) { - found = 1; - if (name in used) { - name_used = 1; - CR = label[i,2]; - args = label[i,3]; - } - else { - used[name] = 1 - } - break - } - } - -if (!found) { -printf(warning_f, name); -i_label++; -CR = default_cr; -args = ""; -label[i_label,1] = name; -label[i_label,2] = CR; -label[i_label,3] = args -} - -# Give it a new entry if already used -# -- also tell user as it is an error now(?) - if (name_used) { - printf(warning_u, name); - i_label++; - i_name++; - name = sprintf("%1.0f", i_name); - label[i_label,1] = name; - label[i_label,2] = CR; - label[i_label,3] = args - } - } - -# Unnamed component - if (named_component==0) { - i_name++; - name = sprintf("mtt%i", i_name); - type = str; - i_label++; - label[i_label,1] = name; - label[i_label,2] = default_cr; - label[i_label,3] = default_args - } - -# Save in associative arrays by name - comp_type[name] = type; - x[name] = x_coord; - y[name] = y_coord; - info[name] = fig_info(); - reps[name] = repetitions; - } - -} - -#Euclidean length of a line between (first_x,first_y) and (second_x,second_y) -function line_length(first_x,first_y,second_x,second_y) { - x_length = second_x-first_x; - y_length = second_y-first_y; - return sqrt( x_length*x_length + y_length*y_length ); -} - -# Returns 1 if (bond) arrow at beginning of field or 2 if arrow at end of field -function arrow_end(first_x,first_y,second_x,second_y,penultimate_x,penultimate_y,last_x,last_y) { - if ( line_length(first_x,first_y,second_x,second_y) < line_length(first_x,first_y,second_x,second_y) ) { - return 1 - } - else { - return 2 - } -} - -function process_bond() { - - arg_count++; - if ( (arg_count-arrow)==1 ) - { - -#Save up bond coords - no arrow and more segments than a stroke has. -# Allows for bent bonds - but just write out the relevant coordinates - if ( (!arrow)&& (NF>2*stroke_coords+1) ) { - i_bond++; - a_end = arrow_end($2,$3,$4,$5,$(NF-3),$(NF-2),$(NF-1),$NF); - if (a_end==1) { - arrow_end_vector_x = $6-$4; - arrow_end_vector_y = $7-$5; - other_end_vector_x = $(NF-1)-$(NF-3); - other_end_vector_y = $(NF)-$(NF-2); - bonds[i_bond] = sprintf("%s %s %s %s %s %s %s %s %s %s", \ - $2, $3, $4, $5, $(NF-1), $(NF), - arrow_end_vector_x, - arrow_end_vector_y, - other_end_vector_x, - other_end_vector_y); - } - else { - other_end_vector_x = $4-$2; - other_end_vector_y = $5-$3; - arrow_end_vector_x = $(NF-3)-$(NF-5); - arrow_end_vector_y = $(NF-2)-$(NF-4); - bonds[i_bond] = sprintf("%s %s %s %s %s %s %s %s %s %s", \ - $2, $3, $(NF-3),$(NF-2),$(NF-1),$NF, - arrow_end_vector_x, - arrow_end_vector_y, - other_end_vector_x, - other_end_vector_y); - } - } - -#Save up arrow coords - if ( (arrow)&&(NF==(2*arrow_coords+1)) ) { - i_arrow++; - arrows[i_arrow] = sprintf("%s %s %s %s", $2, $3, $4, $5); - } - -#Save up stroke coords - if ( (!arrow)&&(NF==(2*stroke_coords+1)) ) { - i_stroke++; - strokes[i_stroke] = sprintf("%s %s %s %s", $2, $3, $4, $5); - } - } -} - -function write_fig() { -# Create _fig.fig file from _abg file - not components -# and write out the components in a _cmp.fig file -# and write out the bonds in a _bnd.fig file - -# The artwork -- not header and not zero depth - - if ((NF>2)&&(!zero_depth)) { - art=$0; - sub("----"," ",art) - printf("%s\n", art) >> art_file - } - - -#Everything except components - if ( ((object!=text)||(isa_component==0)) ) { - #Replace the data_symbol - if (exact_match($1,data_symbol)) { - field_1 = out_data_symbol - } - else { - field_1 = $1 - } - - printf("%s",field_1) >> fig_file - for (i=2; i<=NF; i++) - printf(" %s", $i) >> fig_file; - if (NF==1) - printf(" ") >> fig_file; # Put space after header fields - printf("\n") >> fig_file - } - -# Header - if ( NF<3 ) { - printf("%s", $1) >> head_file; - for (i=2; i<=NF; i++) - printf(" %s", $i) >> head_file; - if (NF==1) - printf(" ") >> head_file; # Put space after header fields - printf("\n") >> head_file - } -# Bonds - if (isa_bond) { - - #Replace the data_symbol - if (exact_match($1,data_symbol)) { - field_1 = out_data_symbol - } - else { - field_1 = $1 - } - - printf field_1 >> bnd_file - for (i=2; i<=NF; i++) - printf(" %s", $i) >> bnd_file; - printf("\n") >> bnd_file - } - -# Components & ports - if ( isa_component||isa_port ) { - for (i=1; i<=NF; i++) - printf(" %s", $i) >> cmp_file; - printf("\n") >> cmp_file - } - -# Ports - if ( isa_port_component ||isa_port) { - for (i=1; i<=NF; i++) - printf(" %s", $i) >> port_file; - printf("\n") >> port_file -} -} - -function process_fig() { -# Test for the fig format first line and data line - data_line = (match($1,data_symbol)>0); - first_line = (data_line==0)&&(NF>min_line_length); - -#Process firstline - if (first_line) { - object = $1; - sub_type = $2; - style = $3; - zero_depth = ((modulo10($7)==0)&&(object==polyline)) || ((modulo10($4)==0)&&(object==text)) - f_arrow = ($14==1)&&(object=polyline); - b_arrow = ($15==1)&&(object=polyline); - arrow = f_arrow||b_arrow; - arg_count = 0; - } - -#Process text - if (object==text) { - process_text(); - object = 0; # Text on one line so reset object to zero- avoids compound problem - } - -# Process bond -isa_bond = (zero_depth &&\ - (object==polyline)&& \ - (sub_type==sub_polyline)&& \ - (style==firm_style) \ - ); - -if ( isa_bond && data_line) -{ - process_bond() - } - -if (isa_fig_file){ - write_fig() - } - - } - -BEGIN { - sys_name = ARGV[1]; - delete ARGV[1]; - - b_file = sprintf("%s_rbg.m", sys_name); - c_file = sprintf("%s_cmp.m", sys_name); - fig_file = sprintf("%s_fig.fig", sys_name); - cmp_file = sprintf("%s_cmp.fig", sys_name); - port_file = sprintf("%s_port.fig", sys_name); - bnd_file = sprintf("%s_bnd.fig", sys_name); - head_file = sprintf("%s_head.fig", sys_name); - art_file = sprintf("%s_art.fig", sys_name); - - warning_f = "WARNING %s \t in fig file but not lbl file - using\n"; - warning_l = "WARNING %s \t in lbl file but not fig file - ignoring\n"; - warning_p = "ERROR system ports are not consecutively numbered\n"; - warning_u = "ERROR %s has already appeared in the fig file\n"; - - comment_regexp = "%|#" - data_symbol = "----"; - out_data_symbol = "\t"; - default_cr = ""; - default_args = ""; - delimiter = ":"; - repetition_delimiter = "*"; - repetition_regexp = "\\*"; - q = "\047"; - terminator = "\\001"; - component_regexp = "[^0-9a-zA-Z_:*-]"; - port_regexp = "^[[a-zA-Z0-9_,]*]"; - nonport_regexp = "[a-zA-Z]"; - PORT_regexp = "^PORT .*="; - port_component_regexp = "SS"; - isa_fig_file = 0; - min_line_length = 10; - object = 0; - polyline = 2; - sub_polyline=1; - firm_style = 0; - text = 4; - compound_object = 6; - bond_coords = 3; - stroke_coords = 2; - arrow_coords = 2; - - i_bond = 0; - i_port = 0; - i_stroke = 0; - i_arrow = 0; - i_label = 0; - i_text = 0; - i_name = 0; - i_port_component = 0; - - component_index = 0; -} -{ -# Start of .fig file? - if ($1=="#FIG") { - isa_fig_file=1; - } - if (isa_fig_file==0) { - process_lbl() - } - else { - process_fig() - } -} - -END { -#Print out the Octave functions - printf("function [rbonds, rstrokes,rcomponents,port_coord,port_name,port_list] = %s_rbg\n", sys_name) > b_file; - printf("%% [rbonds,rstrokes,rcomponents,port_coord,port_name,port_list] = %s_rbg\n", sys_name) > b_file; - printf("%% Generated by MTT\n\n") > b_file; - - printf("function [comp_type, name, cr, arg, repetitions] = %s_cmp(i)\n",\ - sys_name) > c_file; - printf("%% [comp_type, name, cr, arg, repetitions] = %s_cmp\n", sys_name) > c_file; - printf("%% Generated by MTT\n\n") > c_file; - - printf("rbonds = [\n") >> b_file; - for (i = 1; i <= i_bond; i++) - print bonds[i] >> b_file; - for (i = 1; i <= i_arrow; i++) - print arrows[i], "-1 -1" >> b_file; - printf("];\n") >> b_file; - - printf("rstrokes = [\n") >> b_file; - for (i = 1; i <= i_stroke; i++) - print strokes[i] >> b_file; - printf("];\n") >> b_file; - - printf("rcomponents = [") >> b_file; - j = 0; - - -# Do the port components, in order of appearance, first. - for (i = 1; i <= i_label; i++) { - name = label[i,1]; - if (match(name,port_regexp)) - write_component(i); - } - -# Now do the ordinary components, in order of appearance, last. - for (i = 1; i <= i_label; i++) { - name = label[i,1]; - if (!match(name,port_regexp)) - write_component(i); -} - printf("];\n") >> b_file; - -# Print the (internal) ports list - printf("port_coord = [\n") >> b_file; - for (i = 1; i <= i_port; i++) { - split(ports[i],a, " "); - printf("%s %s\n", a[1], a[2]) >> b_file; - } - printf("];\n\n") >> b_file; - - printf("port_name = [\n") >> b_file; - for (i = 1; i <= i_port; i++) { - split(ports[i],a, " "); - # Dont Remove the [] - # name = substr(a[3],2,length(a[3])-2); - name = a[3]; - printf("'%s'\n", name) >> b_file; - } - printf("];\n\n") >> b_file; - -# Print the (external) port list - ignore spurious ports (in lbl, not fig) - printf("port_list = [\n") >> b_file; - for (i = 1; i <= i_label; i++) { - name = label[i,1]; - if (length(x[name])>0) { - if (match(name,port_regexp)) - printf("'%s'\n", name) >> b_file; - } - } - printf("];\n\n") >> b_file; - -} - - - DELETED mttroot/mtt/bin/trans/awk/rep_txt2make.awk Index: mttroot/mtt/bin/trans/awk/rep_txt2make.awk ================================================================== --- mttroot/mtt/bin/trans/awk/rep_txt2make.awk +++ /dev/null @@ -1,34 +0,0 @@ -###################################### -##### Model Transformation Tools ##### -###################################### - -# gawk script: rep_txt2make -# Converts the text file describing a report to makefile dependencies -# P.J.Gawthrop August 1996 -# Copyright (c) P.J.Gawthrop, 1996. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -# Revision 1.3 1997/05/19 15:40:04 peterg -# Pass mtt swithches to the new make file -# -# Revision 1.2 1996/11/21 15:57:28 peterg -# Now runs mtt quietly. -# -# Revision 1.1 1996/08/18 19:59:00 peter -# Initial revision -# -############################################################### - - -{ - if (NF==2) - if( match("tex txt r m ps",$2)>0) - print "mtt -q", switches, system_name, $1, $2 -} - - - DELETED mttroot/mtt/bin/trans/awk/rep_txt2tex.awk Index: mttroot/mtt/bin/trans/awk/rep_txt2tex.awk ================================================================== --- mttroot/mtt/bin/trans/awk/rep_txt2tex.awk +++ /dev/null @@ -1,80 +0,0 @@ -###################################### -##### Model Transformation Tools ##### -###################################### - -# gawk script: rep_txt2tex -# Converts the text file describing a report to a report. -# P.J.Gawthrop August 1996 -# Copyright (c) P.J.Gawthrop, 1996. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -# Revision 1.5 1997/05/22 11:12:34 peterg -# Chaged figure label. -# -## Revision 1.4 1997/05/22 07:36:35 peterg -## \ref --> \Ref -## -## Revision 1.3 1997/05/19 16:43:34 peterg -## Explicit include of tex files 'cos latex2html prefers this! -## -# Revision 1.2 1997/05/19 16:11:10 peterg -# Modified section headers. -# -# Revision 1.1 1996/08/18 19:58:49 peter -# Initial revision -# -############################################################### - - -BEGIN { - split(ARGV[1],a,"_"); - system_name = a[1]; - args = ARGV[2]; - comment="\%"; -} -{ - if ((match($1,comment)==0)&&(NF==2)) { - Representation = $1; - Language = $2; - Rep_lang = sprintf("%s_%s", Representation, Language); - section_head = sprintf("System \\textbf{%s}: representation \\textbf{%s}, language \\textbf{%s}", \ - system_name,Representation,Language); -# section headings - print "\\section{" section_head "}"; - print "\\label{" Rep_lang "}"; - print "\\index{\\textbf{" system_name "} -- " Representation "}"; - -# tex files - if( match("tex",Language)>0) { - # printf(" \\input{%s_%s.%s}\n", system_name, Representation, Language); - command = sprintf("cat %s_%s.%s", system_name, Representation, Language); - system(command); } -# text files - if( match("txt r m c h",Language)>0) { - print " \\begin{verbatim}"; - command = sprintf("cat %s_%s.%s", system_name, Representation, Language); - system(command); - print " \\end{verbatim}"; - } -# ps files - if( match("ps",Language)>0) { - printf("This representation is given as Figure \\Ref{fig:%s}.\n", Rep_lang); - print " \\begin{figure}"; - printf(" \\shadowbox{ \\epsfig{file=%s_%s.%s,width=0.9\\linewidth} }\n", \ - system_name, Representation, Language); - printf(" \\caption{System \\textbf{%s}, representation %s}\n", system_name, Representation); - printf(" \\label{fig:%s}\n", Rep_lang); - print " \\end{figure}"; - } - } -} -END { - -} - - - DELETED mttroot/mtt/bin/trans/awk/tex2doc.awk Index: mttroot/mtt/bin/trans/awk/tex2doc.awk ================================================================== --- mttroot/mtt/bin/trans/awk/tex2doc.awk +++ /dev/null @@ -1,41 +0,0 @@ -###################################### -##### Model Transformation Tools ##### -###################################### - -# gawk script: tex2doc -# Encapsulates a tex file in a document. -# P.J.Gawthrop August 1996 -# Copyright (c) P.J.Gawthrop, 1996. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -# Revision 1.2 1997/04/15 11:18:49 peterg -# Uses supertabular package -# -# Revision 1.1 1996/08/18 20:00:10 peter -# Initial revision -# -############################################################### - - -END{ -# split(ARGV[1],a,"_"); -# system_name = a[1]; -# split(a[2],b,"."); -# representation = b[1]; - makefile = sprintf("%s_rep.make", $system_name, $representation); - print "\\documentclass[12pt,a4paper]{article}"; - printf("\\title{System %s, representation %s}\n", \ - system_name, representation) - print "\\author{Generated by MTT}"; - print " \\usepackage{epsfig}"; - print " \\usepackage{supertabular}"; - print "\\begin{document}"; - print " \\maketitle"; - print" \\input{}", system_nam,e $representation; - print $system_name $representation - print "\\end{document}" -} DELETED mttroot/mtt/bin/trans/c-tidy Index: mttroot/mtt/bin/trans/c-tidy ================================================================== --- mttroot/mtt/bin/trans/c-tidy +++ /dev/null @@ -1,37 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.1 1997/02/04 18:50:07 peterg -## Initial revision -## -## Revision 1.2 1996/08/20 08:26:06 peter -## Version control header added. -## -############################################################### - -# Bourne shell script: c_tidy -# Tidies up C format files -# P.J.Gawthrop 14 June 1990 13 Nov 1990, 19 Nov 93, April 1994, Dec 1994, -# June 1995 -# Copyright (c) P.J.Gawthrop, 1990, 1994, 1995. - -# Remove blank lines -cat $1 | \ -tr -s '\012' '\012'\ ->junk -mv junk $1 - - - - - - - DELETED mttroot/mtt/bin/trans/c_tidy Index: mttroot/mtt/bin/trans/c_tidy ================================================================== --- mttroot/mtt/bin/trans/c_tidy +++ /dev/null @@ -1,41 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.2 1997/02/04 18:52:34 peterg -## Copied from matlab tidy -- removed everthing except removal of blank -## lines -## -## Revision 1.1 1997/02/04 18:50:07 peterg -## Initial revision -## -## Revision 1.2 1996/08/20 08:26:06 peter -## Version control header added. -## -############################################################### - -# Bourne shell script: c_tidy -# Tidies up C format files -# P.J.Gawthrop 14 June 1990 13 Nov 1990, 19 Nov 93, April 1994, Dec 1994, -# June 1995 -# Copyright (c) P.J.Gawthrop, 1990, 1994, 1995. - -# Remove blank lines -cat $1 | \ -tr -s '\012' '\012'\ ->junk -mv junk $1 - - - - - - - DELETED mttroot/mtt/bin/trans/can_r2m Index: mttroot/mtt/bin/trans/can_r2m ================================================================== --- mttroot/mtt/bin/trans/can_r2m +++ /dev/null @@ -1,122 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: can_r2m -# Reduce canonical forsm to matlab -# P.J.Gawthrop January 8th 1998 -# Copyright (c) P.J.Gawthrop 1998 - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - - - -# Inform user -echo Creating $1_can.m - -# Remove the old log file -rm -f can_r2m.log - -# Use reduce to accomplish the transformation -reduce >can_r2m.log << EOF - -%Read in the definitions file -IN "$1_def.r"; - -%Read the reduce state-space A,B,C and D matrices file -IN "$1_can.r"; - -%Set up the number of argument variables to zero in case the user has forgotten -MTTNVar := 0; - -%Read in the parameter file -IN "$1_sympar.r"; - -OUT "$1_can.m"; -%Headings - Matlab style -%(Note. The ;; are deleted by for2mat) - -write "function [A_c,B_c,C_c,D_c,Con,Obs,K,L,A_comp,B_comp,C_comp] = $1_can;;"; -write "%function [A_c,B_c,C_c,D_c,Con,Obs,K,L,A_comp,B_comp,C_comp] = $1_can;;"; - -write "%Canonical forms and controller design for system $1"; -write "%File $1_can.m"; -write "%Generated by MTT"; -write ""; - -IF MTTNvar>0 THEN -BEGIN - write "% Set the parameters"; - write "global ...;;"; - FOR i := 1:MTTNx DO - write "alpha_c",i, " alpha_o",i, "...;;"; - - FOR i := 1:MTTNvar DO - BEGIN - IF numberp(MTTVar(i,1)) - THEN - BEGIN - % Do nowt - END - ELSE - BEGIN - write MTTVar(i,1), " ..."; - END; - END; - write " "; -END; - - -%Fortran switches - one line expressions -OFF echo; -ON fort$ -cardno!* := 1$ -fortwidth!* := 100$ -OFF period$ - -write "MTTA_c = zeros(", MTTNx, ",", MTTNx, ");"; -write "MTTB_c = zeros(", MTTNx, ",", MTTNu, ");"; -write "MTTC_c = zeros(", MTTNy, ",", MTTNx, ");"; -write "MTTD_c = zeros(", MTTNy, ",", MTTNu, ");"; - -write "MTTCon = zeros(", MTTNx, ",", MTTNx, ");"; -write "MTTObs = zeros(", MTTNx, ",", MTTNx, ");"; - -write "MTTK = zeros(", MTTNy, ",", MTTNx, ");"; -write "MTTL = zeros(", MTTNx, ",", MTTNu, ");"; - -write "MTTA_comp = zeros(", MTTNx, ",", MTTNx, ");"; -write "MTTB_comp = zeros(", MTTNx, ",", MTTNy, ");"; -write "MTTC_comp = zeros(", MTTNu, ",", MTTNx, ");"; - - -ON NERO; % Suppress zero elements. -MTTA_c := MTTA_c; -MTTB_c := MTTB_c; -MTTC_c := MTTC_c; -MTTD_c := MTTD_c; - -MTTCon := MTTCon; -MTTObs := MTTObs; - - -MTTK := MTTK; -MTTL := MTTL; - -MTTA_comp := MTTA_comp; -MTTB_comp := MTTB_comp; -MTTC_comp := MTTC_comp; -MTTD_comp := MTTD_comp; - - -OFF FORT; -write ""; - -SHUT "$1_can.m"; DELETED mttroot/mtt/bin/trans/can_r2tex Index: mttroot/mtt/bin/trans/can_r2tex ================================================================== --- mttroot/mtt/bin/trans/can_r2tex +++ /dev/null @@ -1,193 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: can_r2tex -# Reduce constrained-state matrices to LaTex constrained-state matrices. -# P.J.Gawthrop January 8th 1997 -# Copyright (c) P.J.Gawthrop, 1997 - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - - -# Inform user -echo Creating $1_can.tex - -# Remove the old log file -rm -f can_r2tex.log - -# Use reduce to accomplish the transformation -reduce >can_r2tex.log<< EOF - -%Read the definitions file -in "$1_def.r"; - -%Read the canonical-form matrices file -in "$1_can.r"; - -%Read the substitution file -in "$1_subs.r"; - -%Read the simplification file -in "$1_simp.r"; - -%Read the formatting function -in "$MTTPATH/trans/latex_matrix.r"; - -OFF Echo; -OFF Nat; - -OUT "$1_can.tex"; - -%Write out the canonical matrices -write "%Canonical-form matrices $1"; -write "%File: $1_can.tex"; -write""; - - -% Controllable form -MTT_Matrix := MTTA_c$ -MTT_Matrix_name := "MTTA_c"$ -MTT_Matrix_n := MTTNx$ -MTT_Matrix_m := MTTNx$ -LaTeX_Matrix()$ - -MTT_Matrix := MTTB_c$ -MTT_Matrix_name := "MTTB_c"$ -MTT_Matrix_n := MTTNx$ -MTT_Matrix_m := MTTNu$ -LaTeX_Matrix()$ - -MTT_Matrix := MTTC_c$ -MTT_Matrix_name := "MTTC_c"$ -MTT_Matrix_n := MTTNy$ -MTT_Matrix_m := MTTNx$ -LaTeX_Matrix()$ - - -% Observable form -MTT_Matrix := MTTA_o$ -MTT_Matrix_name := "MTTA_o"$ -MTT_Matrix_n := MTTNx$ -MTT_Matrix_m := MTTNx$ -LaTeX_Matrix()$ - -MTT_Matrix := MTTB_o$ -MTT_Matrix_name := "MTTB_o"$ -MTT_Matrix_n := MTTNx$ -MTT_Matrix_m := MTTNu$ -LaTeX_Matrix()$ - -MTT_Matrix := MTTC_o$ -MTT_Matrix_name := "MTTC_o"$ -MTT_Matrix_n := MTTNy$ -MTT_Matrix_m := MTTNx$ -LaTeX_Matrix()$ - -write "% - Controllability matrix"; -MTT_Matrix := MTTCon$ -MTT_Matrix_name := "MTTCon"$ -MTT_Matrix_n := MTTNx$ -MTT_Matrix_m := MTTNx$ -LaTeX_Matrix()$ - -write "% -Observability matrix"; -MTT_Matrix := MTTObs$ -MTT_Matrix_name := "MTTObs"$ -MTT_Matrix_n := MTTNx$ -MTT_Matrix_m := MTTNx$ -LaTeX_Matrix()$ - -write "% -Controllability matrix - controller form"; -MTT_Matrix := MTTCon_c$ -MTT_Matrix_name := "MTTCon_c"$ -MTT_Matrix_n := MTTNx$ -MTT_Matrix_m := MTTNx$ -LaTeX_Matrix()$ - -write "% - Transformation matrix - controller form"; -MTT_Matrix := MTTT_c$ -MTT_Matrix_name := "MTTT_c"$ -MTT_Matrix_n := MTTNx$ -MTT_Matrix_m := MTTNx$ -LaTeX_Matrix()$ - -write "% - Gain matrix - controller form"; -MTT_Matrix := MTTK_c$ -MTT_Matrix_name := "MTTK_c"$ -MTT_Matrix_n := MTTNu$ -MTT_Matrix_m := MTTNx$ -LaTeX_Matrix()$ - -write "% - Gain matrix - physical form"; -MTT_Matrix := MTTK$ -MTT_Matrix_name := "MTTK"$ -MTT_Matrix_n := MTTNu$ -MTT_Matrix_m := MTTNx$ -LaTeX_Matrix()$ - - -write "% -Observability matrix - Observer form"; -MTT_Matrix := MTTObs_o$ -MTT_Matrix_name := "MTTObs_o"$ -MTT_Matrix_n := MTTNx$ -MTT_Matrix_m := MTTNx$ -LaTeX_Matrix()$ - -write "% - Transformation matrix - Observer form"; -MTT_Matrix := MTTT_o$ -MTT_Matrix_name := "MTTT_o"$ -MTT_Matrix_n := MTTNx$ -MTT_Matrix_m := MTTNx$ -LaTeX_Matrix()$ - -write "% - Observer Gain matrix - observer form"; -MTT_Matrix := MTTL_o$ -MTT_Matrix_name := "MTTL_o"$ -MTT_Matrix_n := MTTNx$ -MTT_Matrix_m := MTTNy$ -LaTeX_Matrix()$ - -write "% - Gain matrix - physical form"; -MTT_Matrix := MTTL$ -MTT_Matrix_name := "MTTL"$ -MTT_Matrix_n := MTTNx$ -MTT_Matrix_m := MTTNy$ -LaTeX_Matrix()$ - - -% Controllable form -MTT_Matrix := MTTA_comp$ -MTT_Matrix_name := "MTTA_comp"$ -MTT_Matrix_n := MTTNx$ -MTT_Matrix_m := MTTNx$ -LaTeX_Matrix()$ - -MTT_Matrix := MTTB_comp$ -MTT_Matrix_name := "MTTB_comp"$ -MTT_Matrix_n := MTTNx$ -MTT_Matrix_m := MTTNu$ -LaTeX_Matrix()$ - -MTT_Matrix := MTTC_comp$ -MTT_Matrix_name := "MTTC_comp"$ -MTT_Matrix_n := MTTNy$ -MTT_Matrix_m := MTTNx$ -LaTeX_Matrix()$ - - - -write "\begin{equation}"; - write "MTTur = {", MTTu_r, "}"; -write "\end{equation}"; - -SHUT "$1_can.tex"; -quit; -EOF DELETED mttroot/mtt/bin/trans/cbg2ese_m2r Index: mttroot/mtt/bin/trans/cbg2ese_m2r ================================================================== --- mttroot/mtt/bin/trans/cbg2ese_m2r +++ /dev/null @@ -1,378 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: cbg2ese_m -# -# -# P.J.Gawthrop June 1996 -# Copyright (c) P.J.Gawthrop, 1996. - -############################################################### -## Version control history -############################################################### -## $Id$ -## -## $Log$ -## Revision 1.30 2001/07/12 04:02:53 gawthrop -## Now fixes multiports for input and output as well as state -## -## Revision 1.29.2.1 2001/06/26 22:29:05 geraint -## mtt_xargs.sh eliminates Arg list too long error for large models. -## (UNIX xargs does not work if the environment is too large). -## -## Revision 1.29 2001/03/29 19:24:14 gawthrop -## Can now use c representations of crs when using -c option -## -## Revision 1.28 2001/02/05 17:19:52 gawthrop -## Now gives unique names to the states of multiports. Second name -## onwards labeled with port number -## -## Revision 1.27 2000/12/05 12:09:56 peterg -## Changed function name to name() -## -## Revision 1.26 2000/12/05 09:04:54 peterg -## *** empty log message *** -## -## Revision 1.25 2000/12/01 14:51:26 peterg -## Major changes towards partioning -## -## - generates sub ese, def and struc -## - generates indices for conversion of subsystem in/out/state - but not used yet -## -## Revision 1.24 2000/11/30 15:12:55 peterg -## Zapped the declaration of subsystem connections - now in individual -## .def files -## -## Revision 1.23 2000/11/30 15:07:28 peterg -## Sorted out mtt_getsize -## -## Revision 1.22 2000/11/12 17:18:30 peterg -## Changed ' to " -## -## Revision 1.21 2000/10/16 08:40:35 peterg -## Whoops! Must touch mtt_aliased -## -## Revision 1.20 2000/10/16 08:36:31 peterg -## Creat empty _aliased file if it doesn't exist -## -## Revision 1.19 2000/10/12 19:25:39 peterg -## Now generateds the _aliased.txt file -## -## Revision 1.18 2000/09/15 08:09:42 peterg -## Removed another debugging line -## -## Revision 1.17 2000/09/15 08:06:17 peterg -## Removed debug lines -## -## Revision 1.16 2000/09/02 15:55:51 peterg -## *** empty log message *** -## -## Revision 1.15 1998/07/08 14:43:12 peterg -## Restored inforfile -## -## Revision 1.14 1998/07/08 08:26:26 peterg -## Added -I option -- if set prints out the information messages -## -## Revision 1.13 1998/05/12 14:49:10 peterg -## Don't write END; any more - ese-tidy does this now! -## -## Revision 1.12 1998/01/23 13:30:46 peterg -## $RMATRIX --> $MATRIX -## -## Revision 1.11 1997/12/16 18:05:03 peterg -## Increased size of structure vector by on to include unknown_inputs as -## 6th element -## -## Revision 1.10 1997/04/15 09:18:26 peterg -## Added structure file -## -# Revision 1.9 1996/12/07 18:21:25 peterg -# Now uses fopen + file number -# -## Revision 1.8 1996/12/05 10:05:28 peterg -## Removed the Octave switch: empty_list_elements_ok = 1; -## This is now in .octaverc -## -# Revision 1.7 1996/08/30 11:29:49 peter -# Added constitutive relationship to argument list. -# Put in explicit argument list to cbg2ese. -# -# Revision 1.6 1996/08/26 13:25:07 peterg -# Corrected error handling. -# -# Revision 1.5 1996/08/24 14:38:11 peter -# Error handling included. -# -## Revision 1.4 1996/08/19 09:02:12 peter -## Errors go to user - not log. -## -## Revision 1.3 1996/08/18 20:05:55 peter -## Included zero outputs. -## -## Revision 1.2 1996/08/08 18:08:37 peter -## Sorted out file naming scheme. -## -## Revision 1.1 1996/08/08 15:57:15 peter -## Initial revision -## -############################################################### - -while [ -n "`echo $1 | grep '^-'`" ]; do - case $1 in - -I ) - info=info;; - -partition ) - partition=yes; - blurb='with partitioning'; - ;; - *) - echo "$1 is an invalid argument - ignoring" ;; - esac - shift -done - - -infofile='mtt_info.txt'; -structurefile="$1_struc.txt"; -eqnfile="$1_ese.r"; -deffile="$1_def.r"; - - -# Remove the old log file -rm -f cbg2ese_m.log - -# Remove the info and error files -rm -f mtt_info.txt -rm -f mtt_error.txt -rm -f mtt_aliased.txt - -# Remove relevent ese files -rm -f $1_ese.r $1_*_ese.r - -#Inform user -echo Creating $eqnfile $blurb -echo Creating $deffile -echo Creating $structurefile - -# Use matrix manipulation to accomplish the transformation -# This creates an ese file for every subsystem. -$MATRIX << EOF > cbg2ese_m2r.log 2>mtt_error.txt - -infofile = "$infofile";; -infofilenum = fopen(infofile,"w"); -structurefile = "$structurefile";; -structurefilenum = fopen(structurefile,"w"); -deffile = "$1_def.r"; -deffilenum = fopen(deffile,"w"); - -system_name = "$1"; -system_type = ""; -system_cr = ""; -system_args = ""; -full_name = ""; -full_name_repetition = ""; - -% Structure matrix [states,nonstates,inputs,outputs,zero_outputs] - -structure = zeros(1,7); # Initialise structure vector - -structure = cbg2ese(system_name, system_type, system_cr, ... - system_args, full_name, full_name_repetition, ... - 1, structure, structurefilenum, infofilenum); -makedef(structure,deffilenum); -EOF - -echo "END;" >> $1_def.r - -if [ "$info" = "info" ]; then - cat $infofile -fi - -if [ -z "$partition" ]; then - ## Don't partition - - # Create the composite ese file - mtt_xargs.sh cat "$1_ese.r $1_*_ese.r $1_modpar.r" > $1_ese.tmp 2>> /dev/null - - mv $1_ese.tmp $1_ese.r - - # Zap the sub ese files - mtt_xargs.sh "rm -f" "$1_*_ese.r" - - echo "END;" >> $1_ese.r - -else # Partition the system - - # Save up the full def file - mv $1_def.r mtt_all_def.r - -## Recreate def file from the ese file directly -makedef () -{ - -echo Creating $1_def.r - -Nx=`mtt_getsize -external $1 dX` -Nz=`mtt_getsize -external $1 z` -Ny=`mtt_getsize -external $1 y` -Nu=`mtt_getsize -external $1 u` -Nui=`mtt_getsize -external $1 ui` -Nuc=`mtt_getsize -internal $1 u` - -# echo Ny $Ny Nu $Nu Nx $Nx Nui $Nui Nuc $Nuc - -## Definitions file -octave -q <> $1_def.r -} - - -get_indices () -{ - sys=$1 - which=$2 - awk '{if ($1==which) print $2}' which=$which < ${sys}_struc.txt -} - -convert_indices () -{ - sys=$1 - Which="input output state" - for which in $Which; do - - indices=`get_indices ${sys} $which` - - case $which in - input) - name=u - ;; - output) - name=y - ;; - state) - name=x - ;; - *) - - esac - - new=0 - for old in $indices; do - new=`expr $new + 1` - pattern="MTT${name}(${old},1)" - replacement="MTT${name}(${new},1)" - mv ${sys}_ese.r mtt_junk - sed "s/$pattern/$replacement/" ${sys}_ese.r - done - done -} - # Find subsystems - subsystems=`mtt_get_subsystems $1` - - # Top level - makedef $1; - echo "END;" >> $1_ese.r - - ## Subsystems - for subsystem in $subsystems; do - echo Connecting $subsystem -# Ny=`mtt_getsize -internal ${subsystem}_1 y` -# Nu=`mtt_getsize -internal ${subsystem}_1 u` -# Nx=`mtt_getsize -internal ${subsystem}_1 u` -# echo Ny $Ny Nu $Nu Nx $Nx - - -# echo MATRIX "MTT_"$subsystem"_uc("$Nu",1);" >> $1_def.r - - echo >> $1_ese.r - echo %Subsystem input connections for $subsystem >> $1_ese.r - octave -q <> $1_ese.r - for i=1:$Nu - printf("MTT_%s_uc(%i,1) := %s_1_MTTu%i;\n", "$subsystem", i, "$subsystem", i); - endfor; -EOF - ## Subsystems (Only works when no repetitions at this level) - esefile=${subsystem}_ese.r - echo Creating $esefile - mtt_xargs.sh cat "${subsystem}_1_ese.r ${subsystem}_1_*_ese.r" > $esefile 2> /dev/null - echo "END;" >> $esefile - - ## Def file for subsystem - makedef ${subsystem} - - echo Creating ${subsystem}_struc.txt - grep $subsystem < $1_struc.txt > ${subsystem}_struc.txt - - echo Converting subsystem indices - convert_indices ${subsystem} - - done - -fi - - -# Create the _alised file -touch mtt_aliased.txt -echo Creating $1_aliased.txt -mv mtt_aliased.txt $1_aliased.txt - -# Sort the struc file -mv $structurefile junk -sort -k 1,1 -k 2,2n junk >$structurefile - -# Relabel states with multiple ports -relabel_multiple_definitions(){ - mv $structurefile junk - awk ' - BEGIN{ - var_type_index=1; - oldname=""; - } - { - name=$4; - newname=name; - if ($1==var_type) { - if (name==oldname) - newname = sprintf("%s_%i",name, ++var_type_index); - else - var_type_index=1; - } - $4 = newname - for (i=1;i $structurefile -} - -relabel_multiple_definitions input; -relabel_multiple_definitions output; -relabel_multiple_definitions state; - -# Now invoke the standard error handling. -mtt_error mtt_error.txt - - - - - - - DELETED mttroot/mtt/bin/trans/cbg_m2fig Index: mttroot/mtt/bin/trans/cbg_m2fig ================================================================== --- mttroot/mtt/bin/trans/cbg_m2fig +++ /dev/null @@ -1,94 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: cbg_m2fig -# -# Causal bond graph: mfile format to fig file format -# The resultant fig file is the original _abg.fig with -# additional causal strokes superimposed. -# -# P.J.Gawthrop May 1996 -# Copyright (c) P.J.Gawthrop, 1996. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.12 2001/03/23 14:55:03 gawthrop -## Fixed cosmetic bugs -- component display -## -## Revision 1.11 2000/12/28 12:19:49 peterg -## *** empty log message *** -## -## Revision 1.10 2000/09/14 12:04:48 peterg -## New 2 parameter version -## -## Revision 1.9 1998/01/23 13:31:23 peterg -## $RMATRIX --> $MATRIX -## -## Revision 1.8 1996/12/07 19:23:07 peterg -## Registered agian. -## -# Revision 1.7 1996/11/09 19:04:34 peterg -# Removed cp $1_$1_cbg.fig $1_cbg.fig. -# -## Revision 1.6 1996/11/06 15:58:46 peterg -## Changed Matrix to RMATRIX -## -# Revision 1.5 1996/11/02 10:16:50 peterg -# Changed stroke length to 150 -# -# Revision 1.4 1996/08/25 09:28:59 peter -# More error handling. -# -## Revision 1.3 1996/08/24 14:40:31 peter -## Error handling included. -## -## Revision 1.2 1996/08/08 18:07:31 peter -## Sorted out naming scheme for files -## -## Revision 1.1 1996/08/05 20:13:56 peter -## Initial revision -## -############################################################### - - -# Remove the old log file -rm -f cbg_m2fig.log -rm -f mtt_info.txt - -# The following sets up the fig header file for the system -# and each sub system. -# (ls $1_*_cbg.m \ -# | sed 's/$.*_$$.*_$cbg.m/cp \2fig.fig \1\2cbg.fig/' \ -#| sh ) 2>mtt_error.txt - -#sh $1_type.sh 'cp ' '_fig.fig ' '_cbg.fig'> mtt_error.txt - -# Copy the unchaging part of the figure file -cat $1_head.fig $1_port.fig $1_bnd.fig $1_art.fig> $2_cbg.fig - -#Inform user -echo Creating $2_cbg.fig -- component type $1 - -# Use matrix manipulation to accomplish the transformation -$MATRIX <mtt_error.txt > cbg_m2fig.log - - system_type = "$1" - system_name = "$2" - - thick = 3; length = 150; red = 4; blue = 1; green = 12; font = 18; - cbg2fig(system_name, system_type, '', ... - length, thick, blue, ... - font, green, red); -EOF - -#cp $1_$1_cbg.fig $1_cbg.fig 2>> mtt_error.txt - -# Print errors, if any. -mtt_error mtt_error.txt - DELETED mttroot/mtt/bin/trans/cmp2cmp_m Index: mttroot/mtt/bin/trans/cmp2cmp_m ================================================================== --- mttroot/mtt/bin/trans/cmp2cmp_m +++ /dev/null @@ -1,72 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: cmp2cmp_m -# Revises the component file (cmp) to account for aliases. - -# Copyright (c) P.J.Gawthrop 1998 - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - -# Inform user -echo Revising $1_cmp.m - -# Copy the alias and cmp files. -cat $1_alias.txt $1_cmp.m > junk - -#Create the cmp file complete with headers. -#echo "# Component file ($1_cmp.m)" #> $1_cmp.m -#echo "# Revised by MTT at `date`" #>> $1_cmp.m - -#Write out the variables -awk ' -BEGIN{ -alias_file=1 -Parameter_Regexp = "^_Parameter_" -Line_Regexp = "cr|arg" -quote = "\047" -} -{ - if (alias_file) { - if (match($1,Parameter_Regexp)>0){ - alias[$2] = $1; - sub(Parameter_Regexp,"$",alias[$2]); # Replace by $ format - } - } - else { - if (match($1,Line_Regexp)){ - cr_or_args = substr($3,2,length($3)-3); # It it a cr or arg line - N=split(cr_or_args,a,";"); # Split into parts - for (i=1;i<=N;i++){ - if (a[i] in alias) # Replace by alias - a[i] = alias[a[i]]; - } - cr_or_args = a[1]; # Recombine - for (i=2;i<=N;i++) - cr_or_args = sprintf("%s;%s", cr_or_args, a[i]); - print "\t" $1 "\t" $2 "\t" quote cr_or_args quote - } - else - print $0 - } - if ($1=="###_END_OF_ALIAS_###") - alias_file=0; -}' $1_cmp.m - -rm -f junk - - - - - - - - DELETED mttroot/mtt/bin/trans/cmp2sub_m2sh Index: mttroot/mtt/bin/trans/cmp2sub_m2sh ================================================================== --- mttroot/mtt/bin/trans/cmp2sub_m2sh +++ /dev/null @@ -1,88 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: cmp2sub_m2sh - -# Copyright (c) P.J.Gawthrop 1996. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.7 2000/01/18 14:22:58 peterg -## Now exits if file already exists -## -## Revision 1.6 1999/08/25 21:20:07 peterg -## Don't list components starting with 0 ot 1 -## -## Revision 1.5 1996/11/09 21:09:43 peterg -## Added lib path. -## -# Revision 1.4 1996/11/03 21:19:55 peterg -# Generates generic commands in form $1name$2. -# -## Revision 1.3 1996/11/01 12:48:21 peterg -## Run mtt in quiet mode. -## -## Revision 1.2 1996/10/20 19:22:41 peterg -## Cleans up after itself. -## -## Revision 1.1 1996/10/20 19:19:50 peterg -## Initial revision -## -############################################################### - -if [ -f "$1_sub.sh" ]; then - echo Using "$1_sub.sh" - exit -else - #Inform user - echo Creating $1_sub.sh -fi - - -echo '# Commands to generate subsystem representations'> $1_sub.sh -echo "# File $1_sub.sh" >> $1_sub.sh -echo "# Generated by MTT on `date`." >> $1_sub.sh -echo >> $1_sub.sh - -# Get a list of all components for the _cmp file -awk '/comp_type = / {print substr($3,2,length($3)-3)}' $1_cmp.m |\ -sort -u > mtt_tmp1 - -# Remove all components starting with 0 or 1 -grep -v '^[01]' < mtt_tmp1 > mtt_tmp4 - -# Get a list of all standard simple components -ls $MTT_LIB/comp/simple |\ - awk '/_cause.m/{split($1,a,"_");print(a[1])}' >mtt_tmp2 - -# Get a list of all standard compound components -#ls $MTTPATH/comp/compound |\ -# awk '/_abg.m/{split($1,a,"_");print(a[1])}' >> mtt_tmp2 - -# Sorted combined list -cat mtt_tmp2 | \ - sed 's/^zero$/0/' |\ - sed 's/^one$/1/' |\ - sort -u >mtt_tmp3 - -# Print the non-standard components -comm mtt_tmp4 mtt_tmp3 |\ - awk 'BEGIN{FS="\t"}{if (length($1)>0) print "$1" $1 "$2"}' \ - >>$1_sub.sh - -# Clean up mtt_tmp files -#rm -f mtt_tmp? - - - - - - - - DELETED mttroot/mtt/bin/trans/cmp2sub_m2txt Index: mttroot/mtt/bin/trans/cmp2sub_m2txt ================================================================== --- mttroot/mtt/bin/trans/cmp2sub_m2txt +++ /dev/null @@ -1,49 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: makecr - -# Copyright (c) P.J.Gawthrop 1996. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.5 1996/09/12 19:28:55 peter -## Added rcs header. -## -## Revision 1.4 1996/09/12 12:06:38 peter -## Removed reducndant lines. -## -## Revision 1.3 1996/09/12 12:05:01 peter -## Removed default crs. -## -## Revision 1.2 1996/09/10 16:18:37 peter -## Uses default constitutive relationship mtt/cr/r -## -## Revision 1.1 1996/08/24 14:53:06 peter -## Initial revision -## -############################################################### - -#Inform user -echo Creating $1_cr.r - -echo % Default CR file > $1_cr.r -echo % File $1_cr.r >> $1_cr.r -echo % Generated by MTT on `date`. >> $1_cr.r -echo >> $1_cr.r -cat $MTTPATH/trans/m/rcs_header.txt >> $1_cr.r -echo 'END;' >> $1_cr.r - - - - - - - - DELETED mttroot/mtt/bin/trans/contents.tex Index: mttroot/mtt/bin/trans/contents.tex ================================================================== --- mttroot/mtt/bin/trans/contents.tex +++ /dev/null @@ -1,17 +0,0 @@ -% Contents etc for MTT documents - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1997/12/07 11:52:30 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - \tableofcontents - \newpage - \listoffigures - \newpage DELETED mttroot/mtt/bin/trans/convert_simpar.sh Index: mttroot/mtt/bin/trans/convert_simpar.sh ================================================================== --- mttroot/mtt/bin/trans/convert_simpar.sh +++ /dev/null @@ -1,10 +0,0 @@ -#!/bin/sh - -## Gets rid of redundant METHOD lines. -echo Converting $1 -## backup -cp $1 $1_old -sed 's/METHOD/## METHOD/'< $1_old > $1 - - - DELETED mttroot/mtt/bin/trans/cr_txt2r Index: mttroot/mtt/bin/trans/cr_txt2r ================================================================== --- mttroot/mtt/bin/trans/cr_txt2r +++ /dev/null @@ -1,135 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - - -# Bourne shell script: cr_txt2r - -# Label file to constitutive relationship conversion -# P.J.Gawthrop March 1997 -# Copyright (c) P.J.Gawthrop, 1997. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.11 2000/08/01 07:34:33 peterg -## Replaced printf by echo -## -## Revision 1.10 2000/02/25 09:10:12 peterg -## Changed -e to -f in if [ -f "$crf" ]; then -## -- cuased probs on SUN -## -## Revision 1.9 2000/02/16 15:58:17 peterg -## Set level='' not $2 -## -## Revision 1.8 1998/11/20 09:48:31 peterg -## Remove the _lower stuff -- see idf this works now. -## -## Revision 1.7 1998/04/14 17:46:28 peterg -## To avoid clashes when creating for more thsan one top level file, adds -## _lower attribute to lower lecel constitutive relationship files. -## .constitutive relationship files only in top level _constitutive -## relationship files. -## -## Revision 1.6 1998/04/14 13:54:15 peterg -## Uses the _sub.sh rep to recursively generate and include sub systems. -## -## Revision 1.5 1998/03/09 13:36:00 peterg -## Cosmetic change -## -## Revision 1.4 1998/03/06 15:54:41 peterg -## Put message bcak in in simpler form -## -## Revision 1.3 1998/03/06 15:51:06 peterg -## Zapped the irritating error message -## -## Revision 1.2 1998/03/04 15:32:53 peterg -## Major revision. -## Now just includes cr files using in""; -## Two sorts of CR: -## generic (.cr) -## tied to a system (_cr.r) -## -## Revision 1.1 1998/03/04 15:31:14 peterg -## Initial revision -## -# Revision 1.3 1997/04/09 12:59:43 peterg -# Looks for .cr file in current directory - copies from library if they -# don't already exist. -# -# Revision 1.2 1997/04/09 09:25:55 peterg -# Now copies .cr files from linrary to here (if they don't exist -# already). -# -# Revision 1.1 1997/04/09 09:08:12 peterg -# Initial revision -# -############################################################### - -# The level of the recursion null at top level; _lower at lower levels. - -level='' ## Used to be $2 - now set to null. - -crfile=$1_cr.r -CRFILE=$1_cr.r - -if [ -f "$crfile" ]; then - echo "Using $crfile" -else - # Inform user - echo "Creating $crfile" - - echo "% Constitutive relation file for $1 ($crfile)" > $crfile - echo "% Generated by MTT at `date`" >> $crfile - - echo >> $crfile - - # Recursively create subsystem CR files -- at lower level - sh $1_sub.sh 'cr_txt2r ' ' _lower' - - # Include subsystem CR files - sh $1_sub.sh 'echo ' "_cr.r" |\ - awk '{ - print "in \"" $1 "\";" - }' >> $crfile - -## if [ -z "$level" ]; then - - # Copy .cr files - awk '{ - if (NF>0) { - print "mtt -q -u crcopy " $1; - } - }' $1_cr.txt | sh - - # Include the .cr files -# awk '{ -# if (NF>0) { -# print "in \"" $1 ".cr\";" -# } -# }' $1_cr.txt >> $crfile - - ## list of the crs - crs=`cat $1_cr.txt` - for cr in $crs; do - crf=$cr'_cr.r' - if [ -f "$crf" ]; then -## printf "\045 (%s exists)\n" $crf >> $crfile - echo "% ($crf exists)" >> $crfile - else -## printf 'in "%s.cr";\n' $cr >> $crfile - echo 'in "'$cr.cr'";' >> $crfile - fi - done -## fi -echo 'END;' >> $crfile - -fi -# Now invoke the standard error handling. -#mtt_error mtt_error.txt - - DELETED mttroot/mtt/bin/trans/cse2csm_r Index: mttroot/mtt/bin/trans/cse2csm_r ================================================================== --- mttroot/mtt/bin/trans/cse2csm_r +++ /dev/null @@ -1,193 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: cse2csm_r -# Constrained-state equation to linear constrained-state matrices conversion -# P.J.Gawthrop 6th September 1991, May 1994 -# Copyright (c) P.J.Gawthrop, 1991, 1994. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.7 2000/04/07 19:11:59 peterg -## reduce --> $SYMBOLIC -## -## Revision 1.6 2000/04/06 11:27:56 peterg -## Removed the in _cr.r -## -## Revision 1.5 1999/12/08 02:04:46 peterg -## Removed bug - uj := MTTU(j,1); not commented out -## -## Revision 1.4 1999/11/22 23:49:50 peterg -## Writes out the new MTTNx and MTTNy -## -## Revision 1.3 1999/11/22 23:38:51 peterg -## Now does scse 2 scsm as well. -## Uses mkid. -## -## Revision 1.2 1998/07/13 09:56:31 peterg -## Back under RCS for major revision -## -# Revision 1.1 1996/08/25 10:13:37 peter -# Initial revision -# -############################################################### - -# Inform user -echo Creating $1_$2.r - -case $2 in - csm) - rep=cse; - ;; - scsm) - rep=scse; - ;; - *) - echo Representation must be csm or scsm; - exit -esac -# Remove the old log file -rm -f cse2csm_r.log - -# Use reduce to accomplish the transformation -$SYMBOLIC >cse2csm_r.log << EOF - -in "$1_def.r"; -in "$1_$rep.r"; -%%in "$1_cr.r"; -%%in "$1_sympar.r"; - -OFF Echo; -OFF Nat; - -% Get rid of the old mttx and u - now use mkid instead -clear MTTx, MTTu; - -IF (MTTNx>0) THEN -BEGIN -% Find MTTA : the A matrix -matrix MTTA(MTTNx,MTTNx); - - FOR j := 1:MTTNx DO - BEGIN - %xj := MTTX(j,1); - xj := mkid(MTTx,j); - FOR i := 1:MTTNx DO - MTTA(i,j) := df(MTTEdx(i,1), xj, 1); - END; -END; - -IF (MTTNx>0) AND (MTTNu>0) THEN -BEGIN -% Find MTTB : the B matrix -matrix MTTB(MTTNx,MTTNu); - - FOR j := 1:MTTNu DO - BEGIN - %uj := MTTU(j,1); - uj := mkid(MTTu,j); - FOR i := 1:MTTNx DO - MTTB(i,j) := df(MTTEdx(i,1), uj, 1); - END; -END; - -IF (MTTNx>0) AND (MTTNy>0) THEN -BEGIN -% Find MTTC : the C matrix -matrix MTTC(MTTNy,MTTNx); - - FOR i := 1:MTTNy DO - FOR j := 1:MTTNx DO - BEGIN - %xj := MTTX(j,1); - xj := mkid(MTTx,j); - MTTC(i,j) := df(MTTY(i,1), xj, 1); - END; -END; - -IF (MTTNy>0) AND (MTTNu>0) THEN -BEGIN - -% Find MTTD : the D matrix -matrix MTTD(MTTNy,MTTNu); - - FOR i := 1:MTTNy DO - FOR j := 1:MTTNu DO - BEGIN - %uj := MTTU(j,1); - uj := mkid(MTTu,j); - MTTD(i,j) := df(MTTY(i,1), uj, 1); - END; -END; - -%Substitute the ss values -in "$1_sspar.r"; - -%Create the output file -OUT "$1_$2.r"; - -% Constants - -write "% New constants"; -write "MTTNx := ", MTTNx, ";"; -write "MTTNy := ", MTTNy, ";"; - - -%Write out the matrices. -IF MTTNx>0 THEN -BEGIN - write "matrix MTTE(", MTTNx, ",", MTTNx, ");"; - FOR i := 1:MTTNx DO - FOR j := 1:MTTNx DO IF MTTE(i,j) NEQ 0 THEN - write "MTTE(", i, ",", j, ") := ", MTTE(i,j); - - write "matrix MTTA(", MTTNx, ",", MTTNx, ");"; - FOR i := 1:MTTNx DO - FOR j := 1:MTTNx DO IF MTTA(i,j) NEQ 0 THEN - write "MTTA(", i, ",", j, ") := ", MTTA(i,j); -END; - -IF MTTNx>0 THEN -IF MTTNu>0 THEN -BEGIN - write "matrix MTTB(", MTTNx, ",", MTTNu, ");"; - FOR i := 1:MTTNx DO - FOR j := 1:MTTNu DO IF MTTB(i,j) NEQ 0 THEN - write "MTTB(", i, ",", j, ") := ", MTTB(i,j); -END; - -%Write it out -IF MTTNy>0 THEN -IF MTTNx>0 THEN -BEGIN - write "matrix MTTC(", MTTNy, ",", MTTNx, ");"; - FOR i := 1:MTTNy DO - FOR j := 1:MTTNx DO IF MTTC(i,j) NEQ 0 THEN - write "MTTC(", i, ",", j, ") := ", MTTC(i,j); -END; - -IF MTTNy>0 THEN IF MTTNu>0 THEN -BEGIN - write "matrix MTTD(", MTTNy, ",", MTTNu, ");"; - FOR i := 1:MTTNy DO - FOR j := 1:MTTNu DO IF MTTD(i,j) NEQ 0 THEN - write "MTTD(", i, ",", j, ") := ", MTTD(i,j); -END; - -write "END;"; - -SHUT "$1_$2.r"; - -EOF - -# Now invoke the standard error handling. -mtt_error_r cse2csm_r.log - - - DELETED mttroot/mtt/bin/trans/cse2ode_r Index: mttroot/mtt/bin/trans/cse2ode_r ================================================================== --- mttroot/mtt/bin/trans/cse2ode_r +++ /dev/null @@ -1,141 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: cse2ode_r -# Reduce constrained-state equations to ode. -# P.J.Gawthrop 10th May 199, 8th August 1991, April 1994, Dec 1994 -# Copyright (c) P.J.Gawthrop, 1991, 1994. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.2 2001/07/13 04:54:04 geraint -## Branch merge: numerical-algebraic-solution back to main. -## -## Revision 1.1.4.1 2001/05/04 04:07:24 geraint -## Numerical solution of algebraic equations. -## sys_ae.cc written for unsolved inputs. -## Solution of equations using hybrd from MINPACK (as used by Octave fsolve). -## -## Revision 1.1 2000/12/28 12:21:31 peterg -## Put under RCS -## -## Revision 1.2 1997/01/06 21:17:10 peterg -## Removed: OFF Exp; OFF GCD; -## -## Revision 1.1 1996/08/25 10:05:45 peter -## Initial revision -## -############################################################### - -optimise=''; optimise_msg='' -while [ -n "`echo $1 | grep '^-'`" ]; do - case $1 in - -optimise) - optimise='-optimise' - optimise_msg=' with optimisation' ;; - *) - echo "$1 is an invalid argument - ignoring" ;; - esac - shift -done - -# Create the reduce output code -def2write_r $optimise $1 ode -def2write_r $optimise $1 odeo - -#Inform user -echo Creating $1_ode.r $optimise_msg -echo Creating $1_odeo.r $optimise_msg - -# Remove the old log file -rm -f cse2ode_r.log - -# Use reduce to accomplish the transformation -$SYMBOLIC >cse2ode_r.log << EOF - -%Read the formatting function -in "$MTTPATH/trans/reduce_matrix.r"; - -%Read the definitions file -in "$1_def.r"; - -%Read the substitution file -in "$1_subs.r"; - -%Read the constrained-state equations file -in "$1_cse.r"; - -%Read the algebraic equations file -in "$1_ae.r"; - -IF MTTNx>0 THEN - IF MTTNz>0 THEN - MTTdXX := MTTE^(-1)*MTTEdX - ELSE - MTTdXX := MTTEdX; - -%Remove all dX terms from y - a rather nasty method, sorry! - MTTdX1 := 0; - MTTdX2 := 0; - MTTdX3 := 0; - MTTdX4 := 0; - MTTdX5 := 0; - MTTdX6 := 0; - MTTdX7 := 0; - MTTdX8 := 0; - MTTdX9 := 0; - MTTdX10 := 0; - MTTdX11 := 0; - MTTdX12 := 0; - MTTdX13 := 0; - MTTdX14 := 0; - MTTdX15 := 0; - MTTdX16 := 0; - MTTdX17 := 0; - MTTdX18 := 0; - MTTdX19 := 0; - MTTdX20 := 0; - -%Substitute dX into y; -IF MTTNz>0 THEN - IF MTTNx>0 THEN - MTTY := MTTY + MTTEyx*MTTdX; - -OFF Echo; -OFF Nat; - -MTTdX := MTTdXX; - -%Write out the ordinary differential equations. -OUT "$1_ode.r"; -write "%File: $1_ode.r"; -in ("$1_ode_write.r"); -write "in ""$1_odeo.r"";"; -write "END;"; -SHUT "$1_ode.r"; - -%Write out the output equations -OUT "$1_odeo.r"; -write "%File: $1_odeo.r"; -in ("$1_odeo_write.r"); -write "END;"; -SHUT "$1_odeo.r"; -quit; -EOF - -# Now invoke the standard error handling. -mtt_error_r cse2ode_r.log - - - - - - - - DELETED mttroot/mtt/bin/trans/cse2rfe_r Index: mttroot/mtt/bin/trans/cse2rfe_r ================================================================== --- mttroot/mtt/bin/trans/cse2rfe_r +++ /dev/null @@ -1,181 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: cse2rfe_r -# Reduce constrained-state equations to robot matrices -# Experimental version! -# State vector should have momenta in odd rows,angles in even; -# the last row should have the gravity velocity term. -# There should be one output (only) for each joint velocity. -# P.J.Gawthrop, Nov 92, Dec 93, May 1994 -# Copyright (c) P.J.Gawthrop, 1992, May 1994. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.2 1996/12/05 12:10:00 peterg -## Version history added. -## -############################################################### - -# Inform user -echo Creating $1_rfe.r - -# Remove the old log file -rm -f cse2rfe_r.log - -# Use reduce to accomplish the transformation -reduce >cse2rfe_r.log << EOF - -IN "$1_def.r"; -IN "$1_sympar.r"; -IN "$1_csm.r"; -IN "$1_cse.r"; - -MTTN2 := MTTNy; - - -%Find E11 and E12 matrices -MATRIX MTTE11(MTTN2,MTTN2), MTTE12(MTTN2,MTTN2); -FOR i := 1:MTTN2 DO - FOR j := 1:MTTN2 DO - BEGIN - MTTE11(i,j) := MTTE(2*i-1,2*j-1); - MTTE12(i,j) := MTTE(2*i-1,2*j); - END; - -%Find inertia matrix -MATRIX MTTImi(MTTN2,MTTN2); -FOR i := 1:MTTN2 DO - BEGIN - MTTImi(i,i) := MTTC(i,2*i-1); - END; - -MTTIm := MTTImi^-1; - -%Find gravity matrix if there is an extra gravity state -MATRIX MTTG(MTTN2,1); -MTTNy2 := 2*MTTNy; -IF ( (MTTNx-1)/MTTNy2 = 1) THEN -FOR i := 1:MTTN2 DO - BEGIN - MTTG(i,1) := MTTE(2*i-1,MTTNx); - END; - - - -%Find V matrix from RHS of equation -MTTu1 := 0; -MTTu2 := 0; -MTTu3 := 0; -MTTu4 := 0; -MTTu5 := 0; -MTTu6 := 0; - -MTTx2 := theta_1; -MTTx4 := theta_2; -MTTx6 := theta_3; -MTTx8 := theta_4; -MTTx10 := theta_5; -MTTx12 := theta_6; - -MTTx1 := dot_theta_1*MTTIm(1,1); -MTTx3 := dot_theta_2*MTTIm(2,2); -MTTx5 := dot_theta_3*MTTIm(2,3); - -MATRIX MTTdt(6,1); -MTTdt(1,1) := dot_theta_1; -MTTdt(2,1) := dot_theta_2; -MTTdt(3,1) := dot_theta_3; -MTTdt(4,1) := dot_theta_4; -MTTdt(5,1) := dot_theta_5; -MTTdt(6,1) := dot_theta_6; - -MATRIX dtheta(MTTN2,1); -FOR i := 1:MTTN2 DO - BEGIN - dtheta(i,1) := MTTdt(i,1); - END; - -MATRIX MTTVrhs(MTTN2,1); -MATRIX MTTV(MTTN2,1); -FOR i := 1:MTTN2 DO - BEGIN - MTTVrhs(i,1) := MTTEdX(2*i-1,1); - END; - -%Find V matrix -MTTV := MTTE12*dtheta - MTTVrhs; - -%Find C matrix -MATRIX MTTC(MTTN2,MTTN2); -k := 0; -FOR i := 1:MTTN2 DO - FOR j := 1:MTTN2 DO - BEGIN - coeffs := coeff(MTTV(i,1),MTTdt(j,1)); - IF length(coeffs)>2 THEN co := part(coeffs,3) ELSE co := 0; - MTTC(i,j) := co; - END; - -%Find B matrix -MTTN3 := MTTN2*(MTTN2-1)/2; - -IF MTTN3>0 THEN -BEGIN -MATRIX MTTB(MTTN2,MTTN3); -FOR i := 1:MTTN2 DO -BEGIN - counter := 0; - FOR j := 1:MTTN2-1 DO - BEGIN - coeffs := coeff(MTTV(i,1),MTTdt(j,1)); - IF length(coeffs)>1 THEN co := part(coeffs,2) ELSE co := 0; - FOR k := j+1:MTTN2 DO - BEGIN - counter := counter+1; - coeffs2 := coeff(co,MTTdt(k,1)); - IF length(coeffs2)>1 THEN co2 := part(coeffs2,2) ELSE co2 := 0; - MTTB(i,counter) := co2; - END; - END; -END; -END; - -OFF Echo; -OFF Nat; -ON NERO; - -OUT "$1_rfe.r"; - -%% M -write "MATRIX MTTM(", MTTN2, ",", MTTN2, ")"; -MTTM := MTTE11*MTTIm; - -%% V -write "MATRIX MTTRV(", MTTN2, ",1)"; -MTTRV := MTTV; - -%% - -write "MATRIX MTTRC(", MTTN2, ",", MTTN2, ")"; -MTTRC := MTTC; - -IF MTTN3>0 THEN - BEGIN - write "MATRIX MTTRB(", MTTN2, ",", MTTN3, ")"; - MTTRB := MTTRB; -END; - -write "MATRIX MTTRG(", MTTN2, ", 1)"; -MTTRG := MTTG; - -write ";END;"$ -SHUT "$1_rfe.r"; -quit; -EOF DELETED mttroot/mtt/bin/trans/cse2scse_r Index: mttroot/mtt/bin/trans/cse2scse_r ================================================================== --- mttroot/mtt/bin/trans/cse2scse_r +++ /dev/null @@ -1,258 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: cse2scse_r -# Reduce constrained-state equations to sensitivity version -# P.J.Gawthrop 10th May 199, 8th August 1991, April 1994, Dec 1994 -# Copyright (c) P.J.Gawthrop, 1999 - -# $Id$ - -# Arguments -system=$1; -system_def=$1_def.r -system_cse=$1_cse.r -system_scse=$1_scse.r - -# Parameters -n=`echo $2 | sed 's/,/ /g' |wc -w` ## Number of parameters - -## Parameter information for reduce. -parameters=`echo $2 | sed 's/,/ /g' |\ - awk '{ - for (i=1; i<=NF; i++) { - printf("mttpar(%i,1) := %s;\n", i, $i); - printf("mttcoef(%i,1) := %ss;\n", i, $i); - } - }'` - -## Update sympar list. -echo Recreating $1_sympar.txt -# Zap any sensitivity coeficients -mv $1_sympar.txt mtt_junk -grep -v MTT_Sensitivity_Coefficients mtt_junk > $1_sympar.txt - -# Create the new sens coeffs at end of list. -echo $2 | sed 's/,/ /g' |\ -awk '{ - for (i=1; i<=NF; i++) { - printf("%ss\tMTT_Sensitivity_Coefficients\n",$i); - } - }' >> $1_sympar.txt - -touch $1_sympar.txt - -matrix="matrix mttpar("$n",1); matrix mttcoef("$n",1);" - -# Number of states -Nx=`grep "MTTNx " <$system_def | awk '{print $3}' | sed 's/;//'` - -#Inform user -echo Creating $system_scse "(for parameters $2, $Nx states)" - -# Remove the old log file -rm -f cse2scse_r.log - -# Use reduce to accomplish the transformation -$SYMBOLIC << EOF >cse2scse_r.log - -%Read the formatting function -in "$MTTPATH/trans/reduce_matrix.r"; - -%Read the definitions file -in "$system_def"; - -%Read the constrained-state equations file -in "$system_cse"; - -% Declare the parameter matrix and fill it -$matrix -$parameters -mtt_n_par := $n; - -MTTNx2 := 2*MTTNx; -MTTNy2 := 2*MTTNy; - -% Compute the sensitivity E matrix -matrix MTTssE(MTTNx,MTTNx); -clear MTTx; % Dont use - mkid is better - -FOR ii := 1:MTTNx DO - FOR jj := 1:MTTNx DO - IF MTTE(ii,jj) NEQ 0 THEN IF MTTE(ii,jj) NEQ 1 THEN - BEGIN - % First with respect to theta... - FOR kk := 1:mtt_n_par DO - BEGIN - mttpar_k := mttpar(kk,1); - mttcoef_k := mttcoef(kk,1); - MTTssE(ii,jj) := MTTssE(ii,jj) + df(MTTE(ii,jj), mttpar_k)*mttcoef_k; - END; - % then with respect to x - FOR i := 1:MTTNx DO - BEGIN - xi := mkid(MTTx,i); - sxi := mkid(MTTsx,i); - MTTssE(ii,jj) := MTTssE(ii,jj) + df(MTTE(ii,jj), xi)*sxi; - END; - END; - -% Compute the sensitivity of the RHS of the cse -matrix MTTssEdx(MTTNx,1); -FOR ii := 1:MTTNx DO -BEGIN - % First with respect to theta - FOR kk := 1:mtt_n_par DO - BEGIN - mttpar_k := mttpar(kk,1); - mttcoef_k := mttcoef(kk,1); - MTTssEdx(ii,1) := MTTssEdx(ii,1) + df(MTTEdx(ii,1), mttpar_k)*mttcoef_k; - END; -% Then with respect to x - FOR i := 1:MTTNx DO - BEGIN - xi := mkid(MTTx,i); - sxi := mkid(MTTsx,i); - MTTssEdx(ii,1) := MTTssEdx(ii,1) + df(MTTEdx(ii,1), xi)*sxi; - END; -END; - -% Sensitivity output function -matrix MTTssY(MTTNy,1); -FOR ii := 1:MTTNy DO -BEGIN - % First with respect to theta - FOR kk := 1:mtt_n_par DO - BEGIN - mttpar_k := mttpar(kk,1); - mttcoef_k := mttcoef(kk,1); - MTTssY(ii,1) := MTTssY(ii,1) + df(MTTY(ii,1), mttpar_k)*mttcoef_k; - END; -% Then with respect to x - FOR i := 1:MTTNx DO - BEGIN - xi := mkid(MTTx,i); - sxi := mkid(MTTsx,i); - MTTssY(ii,1) := MTTssY(ii,1) + df(MTTY(ii,1), xi)*sxi; - END; -END; - - -% Now reorganise everything into composite system -% - odd rows are the system -% - even rows are the sensitivity system -% NB at this stage, the states are numbered incorrectly - sorted out below. - -%E matrix -matrix MTTsE(MTTNx2,MTTNx2); -FOR i := 1:MTTNx DO - FOR j := 1:MTTNx DO - BEGIN - MTTsE(2*i-1,2*j-1) := MTTE(i,j); % System - MTTsE(2*i,2*j) := MTTE(i,j); % Sensitivity system - MTTsE(2*i,2*j-1) := MTTssE(i,j); % Sensitivity system - END; - -%dX matrix -matrix MTTsEdX(MTTNx2,1); - -FOR i := 1:MTTNx DO -BEGIN - MTTsEdX(2*i-1,1) := MTTEdx(i,1); - MTTsEdX(2*i,1) := MTTssEdx(i,1); -END; - -%Y matrix -matrix MTTsY(MTTNy2,1);%dX matrix -matrix MTTsEdX(MTTNx2,1); - -FOR i := 1:MTTNx DO -BEGIN - MTTsEdX(2*i-1,1) := MTTEdx(i,1); - MTTsEdX(2*i,1) := MTTssEdx(i,1); -END; - - -FOR i := 1:MTTNy DO -BEGIN - MTTsY(2*i-1,1) := MTTY(i,1); - MTTsY(2*i,1) := MTTssY(i,1); -END; - - - - -OFF nat; - -OUT "$system_scse"; - -write "%File: $system_scse"; - -% Constants - -write "% New constants"; -write "MTTNx := ", MTTNx2, ";"; -write "MTTNy := ", MTTNy2, ";"; - -% E matrix -MTT_Matrix := MTTsE$ -MTT_Matrix_name := "MTTE"$ -MTT_Matrix_n := MTTNx2$ -MTT_Matrix_m := MTTNx2$ -Reduce_Matrix()$ - -% State derivative -MTT_Matrix := MTTsEdX$ -MTT_Matrix_name := "MTTEdX"$ -MTT_Matrix_n := MTTNx2$ -MTT_Matrix_m := 1$ -Reduce_Matrix()$ - -% Output -MTT_Matrix := MTTsY$ -MTT_Matrix_name := "MTTY"$ -MTT_Matrix_n := MTTNy2$ -MTT_Matrix_m := 1$ -Reduce_Matrix()$ - -write "END;"; - -SHUT "$system_scse"; -quit; -EOF - -# Now invoke the standard error handling. -mtt_error_r cse2scse_r.log - - -## Now reorganise the states -mv -f $system_scse mtt_junk - - -##echo "Nx = $Nx" -awk '{ - ## Make sure all MTTn variables are followed by a space - gsub(/mttx[0-9]*/, "& "); - - for (i=Nx;i>0;i--) { - - state = sprintf("mttx%i ",i); - newstate = sprintf("mttx%i ",2*i-1); - sstate = sprintf("mttsx%i",i); - newsstate = sprintf("mttx%i",2*i); - - gsub(state,newstate); - gsub(sstate,newsstate); - - } - print $0 -}' Nx=$Nx $system_scse - - - - - - DELETED mttroot/mtt/bin/trans/cse2smx_lang Index: mttroot/mtt/bin/trans/cse2smx_lang ================================================================== --- mttroot/mtt/bin/trans/cse2smx_lang +++ /dev/null @@ -1,228 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: cse2smx_r -# Constrained-state equation to state matrices with x vector -# Used for implicit integration -# Copyright (C) 2000 by Peter J. Gawthrop -## Modified from eailier version - - -# Args -## Now default to matrix form -matrix='yes' -while [ -n "`echo $1 | grep '^-'`" ]; do - case $1 in - -noglobals) - noglobals='-noglobals'; - ;; - -parameters) - parameters='-parameters'; - ;; - -matrix) - matrix='yes'; - ;; - -optimise) - optimise='LOAD SCOPE; ON GENTRANOPT;'; - iname='INAME mtt_o;'; - ;; - -fixcc ) - fix_pow='FOR ALL x,y LET x^y = pow(x,y);' - blurb2='fixing c and cc code'; - unfix_pow='FOR ALL x,y CLEAR x^y;' - ;; - *) - echo $1 is an unknown option - exit;; - esac - shift -done - -## Representation -if [ -z $1 ]; then - echo 'usage [options] cse2smx_lang system [smx|smxa|smxax]' - exit -fi - - -# Language -if [ -n "$3" ]; then - lang=$3 -else - lang="m" -fi - -## Representation -if [ -z $2 ]; then - rep=smx; -else - rep=$2 -fi - -case $rep in - smx) - nrep=0; - out='[mtta,mttax]'; - nmatrix=1; - ;; - smxa) - nrep=1; - if [ -n "$matrix" ]; then - blurb="in matrix form"; - nmatrix=1; - else - blurb="in vector form"; - nmatrix=0; - fi - out='mtta'; - ;; - smxax) - nrep=2 - out='mttax'; - nmatrix=0; - ;; - *) echo Representation $2 not recognised; - exit;; -esac - - -# Inform user -if [ -n "$optimise" ]; then - blurbopt=' using code optimisation' -fi - -echo Creating $1_$rep.$lang $blurb $blurbopt $blurb2 -#echo Creating $1_smxx.$lang -#echo Creating $1_smxtx.$lang - -# Remove the old log file -rm -f cse2smx_r.log -rm -f $1_smx.$lang -rm -f $1_smxx.$lang -rm -f $1_smxtx.$lang -rm -f $1_$rep.body - -# Use reduce to accomplish the transformation -$SYMBOLIC << EOF >cse2smx_lang.log - -lang := $lang; - -in "$1_subs.r"; -in "$1_def.r"; -in "$1_cse.r"; -in "$1_cr.r"; - - -clear mttx; % Dont need this now - use mkid instead - -OFF Echo; - -% Load the general translator package -LOAD GENTRAN; -GENTRANLANG!* := 'Pascal; -ON GENTRANSEG; % Segmentation - -OFF GENDECS; % No declarations -MAXEXPPRINTLEN!* := 80; -TEMPVARNUM!* := 1; -TEMPVARNAME!* := 'mtt_tmp; -%% ' -% Optimise -$optimise - - -ON GETDECS; % Create decrarations automatically -DEFTYPE!* := 'REAL; % and default to real - -%%% The following is a bug fix from ZIB to fix -%%% segmentation violation problem -symbolic procedure maxtype type; -% ------------------------------------------------------------------- ; -% A type may be a pair (l u) wher l is the minimum type for a variable; -% and u is the maximum type. This procedure returns the maximum type.; -% ------------------------------------------------------------------- ; - if atom type - then type - else if pairp cdr type then cadr type else car type; - -% This fix handles the case that the type is a list with ONE entry. -% Should never happen ?? W.N. -%%%%%% End of bug fix - -%Set up output according to the language. - OFF NAT; - GENTRANOUT "$1_$rep.body"; - -% Set up output according to the language. - IF (lang = r) THEN - BEGIN - write "matrix mtta(", mttnx, ",", mttnx, ");"; - write "matrix mttb(", mttnx, ",", mttnu, ");"; - write "matrix mttc(", mttny, ",", mttnx, ");"; - write "matrix mttd(", mttny, ",", mttnu, ");"; - END; - - ${fix_pow} %% set x^y to pow(x,y) - -% find MTTA : the A matrix - FOR i := 1:MTTNx DO - BEGIN - mttAAx_i := 0; - FOR j := 1:MTTNx DO - BEGIN - ${unfix_pow} %% Revert to x^y form - ij := i + MTTNx*(j-1); - xj := mkid(mttx,j); - a_ij := df(MTTEdx(i,1), xj, 1); - aa_ij := MTTE(i,j) - mttt*a_ij; - ${fix_pow} %% set x^y to pow(x,y) - IF (aa_ij NEQ 0) THEN - IF ($nmatrix EQ 1) THEN - BEGIN - %% Write a with full indexing - $iname - GENTRAN mtta(i,j) ::=: aa_ij; - END; - IF (($nmatrix EQ 0) AND ($nrep EQ 1)) THEN - BEGIN - %% Write a with vector indexing - $iname - GENTRAN mtta(ij) ::=: aa_ij; - END; - mttAAx_i := mttAAx_i + aa_ij*xj; - END; - IF (mttAAx_i NEQ 0) THEN - IF (($nrep EQ 0) OR ($nrep EQ 2)) THEN - BEGIN - $iname - GENTRAN mttax(i) ::=: mttAAx_i; - END; - - - END; - -%Shut the output according to the language. - GENTRANSHUT "$1_$rep.body"; -EOF - -fix_broken_numbers ( ) { - sed -e "/[0-9.]$/ N" -e "s/$[0-9.]$[\n\t\ ]*$[0-9]$/\1\2/g" -} - -if [ "$lang" = "m" ]; then -# lang_header $noglobals $parameters $1 $rep m 'mttx,mttu,mttt,mttpar' $out > $1_$rep.m - mtt_header $1 $rep m > $1_$rep.m - cat $1_$rep.body | fix_broken_numbers | mtt_p2m >> $1_$rep.m - echo "## END Code" >> $1_$rep.m - echo "endfunction" >> $1_$rep.m -fi - -# Now invoke the standard error handling. -mtt_error_r cse2smx_lang.log - - - - DELETED mttroot/mtt/bin/trans/cse_r2m Index: mttroot/mtt/bin/trans/cse_r2m ================================================================== --- mttroot/mtt/bin/trans/cse_r2m +++ /dev/null @@ -1,109 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: cse_r2m -# Reduce constrained-state to simulab constrained-state equations -# P.J.Gawthrop 14 June 1991, 12 Jan 1994, April 1994. -# Copyright (c) P.J.Gawthrop 1991, 1994. - -# Output must be filtered by matlab_tidy. - -#Inform user -echo Creating $1_cse.m - -# Remove the old log file -rm -f cse_r2m.log - -# Use reduce to accomplish the transformation -reduce >cse_r2m.log << EOF - -%Read the reduce definitions file -in "$1_def.r"; - -%Read the reduce constrained-state equations file -in "$1_cse.r"; - -%Read the reduce substitution file -in "$1_subs.r"; - -%Set up the number of argument variables to zero in case the user has forgotten -MTTNVar := 0; - -%Read the parameter file -%%in "$1_sympar.r"; - - -ON BigFloat, NumVal; -PRECISION 16; %Compatible with Matlab -OFF Nat; - -ON NERO; % Suppress zero elements - -OUT "$1_cse.m"; - -%Headings - Simulab style -%(Note. The ;; are deleted by for2mat) - -write "function [sys,x0] = $1_cse(t,x,u,flag,xInitial);"; - -IF MTTNvar>0 THEN -BEGIN - write "% Read in the parameters"; - write "global ...;;"; - FOR i := 1:MTTNvar DO - BEGIN - IF i0 THEN -FOR i := 1:MTTNu DO -BEGIN - write "MTTu", i, " = u(", i, ");"; -END; -write "end;"; - -%Fortran switches - one line expressions -OFF echo; -ON fort$ -cardno!* := 1$ -fortwidth!* := 100$ -OFF period$ - -write "if abs(flag) == 1 %State derivative"; - -write "MTTE = zeros(", MTTNx, ",", MTTNx, ");"; -MTTE := MTTE; -MTTEdx := MTTEdx; -write "sys = MTTE\MTTEdx;"; - -write "elseif abs(flag) == 3 %Outputs"; -MTTy := MTTy; -write "sys = MTTy;"; - -write "elseif abs(flag) == 0 %Structure"; -write " sys = [", MTTNx, ",0,", MTTNy, ",", MTTNu, ",0,0]"; -write " if nargin<5; xInitial = zeros(", MTTNx, ",1); end;"; -write " x0 = xInitial;"; -write "end;"; -SHUT "$1_cse.m"; - DELETED mttroot/mtt/bin/trans/cse_r2tex Index: mttroot/mtt/bin/trans/cse_r2tex ================================================================== --- mttroot/mtt/bin/trans/cse_r2tex +++ /dev/null @@ -1,132 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: cse_r2tex -# Reduce constrained-state to LaTex constrained-state equations. -# P.J.Gawthrop 10th May 199, 8th August 1991, April 1994, Jan 1995 -# Copyright (c) P.J.Gawthrop, 1991, 1994. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.6 2000/08/24 11:48:55 peterg -## Include _subs file -## -## Revision 1.5 1999/11/22 23:44:47 peterg -## Now does scse as well -## -## Revision 1.4 1999/11/22 23:04:08 peterg -## *** empty log message *** -## -# Revision 1.3 1996/11/12 09:53:59 peterg -# Reads in the params.r file now. -# -# Revision 1.2 1996/11/12 09:11:20 peterg -# Removed all the hoorrible name changes -# -# Revision 1.1 1996/11/05 09:19:28 peterg -# Initial revision -# -############################################################### - -#Inform user -echo Creating $1_$2.tex - -# Remove the old log file -rm -f cse_r2tex.log - -# Use reduce to accomplish the transformation -reduce >cse_r2tex.log << EOF - -%Read the definitions file -in "$1_def.r"; - -%Read the parameter file -%%in "$1_params.r"; - -%Read the substitution file -in "$1_subs.r"; - -%Read the simplification file -in "$1_simp.r"; - -%Read the constrained-state equations file -in "$1_$2.r"; - -OFF Echo; -OFF Nat; - -OUT "$1_$2.tex"; - -%Write out the constrained-state equations. - -write "%File: $1_$2.tex"; - -write "%constrained-state equations"; - IF MTTNx>0 THEN - FOR Row := 1:MTTNx DO - BEGIN - write"\begin{equation}"; - write "\dot MTTEX", Row, " = "; - write "{"; - write MTTEdX(Row,1); - write "}"; - write"\end{equation}"; - END; - - - - IF MTTNy>0 THEN - FOR Row := 1:MTTNy DO - BEGIN - write"\begin{equation}"; - write "MTTy", Row, " = "; - write "{"; - write MTTy(Row,1); - write "}"; - write"\end{equation}"; - END; - - -IF MTTNx NEQ 0 THEN -BEGIN -write "% - E matrix"; -write "\begin{equation}"; -write "MTTE = \begin{pmatrix}"; - FOR Row := 1:MTTNx DO - BEGIN - FOR Col := 1:MTTNx DO - BEGIN - Write "{", MTTE(Row,Col), "}"; - IF Colcsm2sm_r.log << EOF - -in "$1_def.r"; -in "$1_$rep.r"; -in "$1_cr.r"; -%%in "$1_sympar.r"; - -OFF Echo; -OFF Nat; - -% Find MTTA and MTTB : the A and B matrices - -MTTinvE := MTTE^(-1); -MTTA := MTTinvE*MTTA; -MTTB := MTTinvE*MTTB; - -% Create the matrix declarations -OUT "$1_$2.r1"; -write "MATRIX MTTA(", MTTNx, ",", MTTNx, ")$"; -write "MATRIX MTTB(", MTTNx, ",", MTTNu, ")$"; -write "MATRIX MTTC(", MTTNy, ",", MTTNx, ")$"; -write "MATRIX MTTD(", MTTNy, ",", MTTNu, ")$"; -SHUT "$1_$2.r1"; - -%Create the output file -OUT "$1_$2.r2"; -write "%File: $1_ode.r"; - -write "% New constants"; -write "MTTNx := ", MTTNx, ";"; -write "MTTNy := ", MTTNy, ";"; - -in ("$1_sm_write.r"); - -%Write out the matrices. -% IF MTTNx>0 THEN -% BEGIN -% write "matrix MTTA(", MTTNx, ",", MTTNx, ");"; -% FOR i := 1:MTTNx DO -% FOR j := 1:MTTNx DO IF MTTA(i,j) NEQ 0 THEN -% write "MTTA(", i, ",", j, ") := ", MTTA(i,j); -% END; - -% IF MTTNx>0 THEN -% IF MTTNu>0 THEN -% BEGIN -% write "matrix MTTB(", MTTNx, ",", MTTNu, ");"; -% FOR i := 1:MTTNx DO -% FOR j := 1:MTTNu DO IF MTTB(i,j) NEQ 0 THEN -% write "MTTB(", i, ",", j, ") := ", MTTB(i,j); -% END; - -% %Write it out -% IF MTTNy>0 THEN -% IF MTTNx>0 THEN -% BEGIN -% write "matrix MTTC(", MTTNy, ",", MTTNx, ");"; -% FOR i := 1:MTTNy DO -% FOR j := 1:MTTNx DO IF MTTC(i,j) NEQ 0 THEN -% write "MTTC(", i, ",", j, ") := ", MTTC(i,j); -% END; - -% IF MTTNy>0 THEN IF MTTNu>0 THEN -% BEGIN -% write "matrix MTTD(", MTTNy, ",", MTTNu, ");"; -% FOR i := 1:MTTNy DO -% FOR j := 1:MTTNu DO IF MTTD(i,j) NEQ 0 THEN -% write "MTTD(", i, ",", j, ") := ", MTTD(i,j); -% END; - -write "END;"; - -SHUT "$1_$2.r2"; -quit; - -EOF - -cat $1_$2.r1 $1_$2.r2 > $1_$2.r - -# Now invoke the standard error handling. -mtt_error_r csm2sm_r.log DELETED mttroot/mtt/bin/trans/csm_r2m Index: mttroot/mtt/bin/trans/csm_r2m ================================================================== --- mttroot/mtt/bin/trans/csm_r2m +++ /dev/null @@ -1,114 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: csm_r2m -# Reduce constained state-space A,B,C,D and E matrices to Matlab -# P.J.Gawthrop July 1990, Feb 1991, May 1991, Sep 91, Dec 93, Jan 94, May 94. -# Copyright (c) P.J.Gawthrop, 1989, 1990, 1991, 1993, 1994. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.2 1996/08/19 18:40:02 peter -## read in the nuim_par function etc. -## -## Revision 1.1 1996/08/19 16:27:04 peter -## Initial revision -## -############################################################### - -# Inform user -echo Creating $1_$2.m - -# Remove the old log file -rm -f csm_r2m.log - -# Use reduce to accomplish the transformation -reduce >csm_r2m.log << EOF - -%Read in the definitions file -in "$1_def.r"; - -%Read the reduce state-space A,B,C and D matrices file -in "$1_$2.r"; - -%Set up the number of argument variables to zero in case the user has forgotten -MTTNVar := 0; - -%Read in the parameter file -%%in "$1_sympar.r"; - - -OUT "$1_$2.m"; - -%Headings - Matlab style -%(Note. The ;; are deleted by for2mat) - -IF MTTNvar>0 THEN -BEGIN - write "function [MTTA,MTTB,MTTC,MTTD,MTTE] = $1_$2(..."; - FOR i := 1:MTTNvar DO - BEGIN - IF i0 THEN -BEGIN - write "%function [MTTA,MTTB,MTTC,MTTD,MTTE] = $1_$2(..."; - FOR i := 1:MTTNvar DO - BEGIN - IF i0 THEN -BEGIN - write "% Read in the parameters"; - write "[ ...;;"; - FOR i := 1:MTTNvar DO - BEGIN - IF icsm_r2tex.log << EOF - -%Read the definitions file -in "$1_def.r"; - -%Read the constrained-state matrices file -in "$1_$2.r"; - -%Read the symbolic parameters file -%%in "$1_sympar.r"; - -%Read the substitution file -in "$1_subs.r"; - -%Read the simplification file -in "$1_simp.r"; - -%Read the formatting function -in "$MTTPATH/trans/latex_matrix.r"; - -OFF Echo; -OFF Nat; - -OUT "$1_$2.tex"; - -%Write out the constrained-state matrices. -write "%constrained-state matrices $1"; -write "%File: $1_$2.tex"; -write""; - -write "%constrained-state matrices"; - -MTT_Matrix := MTTA$ -MTT_Matrix_name := "MTTA"$ -MTT_Matrix_n := MTTNx$ -MTT_Matrix_m := MTTNx$ -LaTeX_Matrix()$ - -MTT_Matrix := MTTB$ -MTT_Matrix_name := "MTTB"$ -MTT_Matrix_n := MTTNx$ -MTT_Matrix_m := MTTNu$ -LaTeX_Matrix()$ - -MTT_Matrix := MTTC$ -MTT_Matrix_name := "MTTC"$ -MTT_Matrix_n := MTTNy$ -MTT_Matrix_m := MTTNx$ -LaTeX_Matrix()$ - -MTT_Matrix := MTTD$ -MTT_Matrix_name := "MTTD"$ -MTT_Matrix_n := MTTNu$ -MTT_Matrix_m := MTTNu$ -LaTeX_Matrix()$ - -MTT_Matrix := MTTE$ -MTT_Matrix_name := "MTTE"$ -MTT_Matrix_n := MTTNx$ -MTT_Matrix_m := MTTNx$ -LaTeX_Matrix()$ - -SHUT "$1_$2.tex"; -quit; -EOF DELETED mttroot/mtt/bin/trans/ctf_r2tex Index: mttroot/mtt/bin/trans/ctf_r2tex ================================================================== --- mttroot/mtt/bin/trans/ctf_r2tex +++ /dev/null @@ -1,67 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: ctf_r2tex -# Reduce constrained-state matrices to LaTex constrained-state matrices. -# P.J.Gawthrop January 8th 1997 -# Copyright (c) P.J.Gawthrop, 1997 - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - - -# Inform user -echo Creating $1_ctf.tex - -# Remove the old log file -rm -f ctf_r2tex.log - -# Use reduce to accomplish the transformation -reduce >ctf_r2tex.log<< EOF - -%Read the definitions file -in "$1_def.r"; - -%Read the smconical-form matrices file -in "$1_ctf.r"; - -%Read the substitution file -in "$1_subs.r"; - -%Read the simplification file -in "$1_simp.r"; - -%Read the formatting function -in "$MTTPATH/trans/latex_matrix.r"; - -OFF Echo; -OFF Nat; -OFF EXP; -%ON Rounded; -%Precision 5; - - -OUT "$1_ctf.tex"; - -%Write out the canonical matrices -write "%Controler TF $1"; -write "%File: $1_ctf.tex"; -write""; - -MTT_Matrix := MTTcTF$ -MTT_Matrix_name := "MTTcTF"$ -MTT_Matrix_n := MTTNu$ -MTT_Matrix_m := MTTNy$ -Latex_Matrix()$ - - -SHUT "$1_ctf.tex"; -quit; -EOF DELETED mttroot/mtt/bin/trans/dae2cse_r Index: mttroot/mtt/bin/trans/dae2cse_r ================================================================== --- mttroot/mtt/bin/trans/dae2cse_r +++ /dev/null @@ -1,474 +0,0 @@ -#! /bin/sh - - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: dae2cse_r -# Differential-algebraic equations to constrained-state equations -# P.J.Gawthrop 14 June 1991, 8 Aug 1991, 2 April 1992, 14 April 1994, 28 Dec 94 -# Copyright (c) P.J.Gawthrop 1991, 1992, 1994. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.18 2001/10/05 23:37:32 geraint -## Fixed assignment statement in ae.r when RHS=0. -## -## Revision 1.17 2001/07/27 23:29:10 geraint -## Optimises only when requested (-opt). -## -## Revision 1.16 2001/07/13 04:54:04 geraint -## Branch merge: numerical-algebraic-solution back to main. -## -## Revision 1.15.2.4 2001/06/26 00:55:48 geraint -## Writes algebraic equation Jacobian _aej.r (not used yet). -## -## Revision 1.15.2.3 2001/05/09 00:19:22 geraint -## Fixed EOF error when MTTNYZ=0. -## -## Revision 1.15.2.2 2001/05/05 20:50:16 geraint -## Fixed errors when MTTNx=0. -## -## Revision 1.15.2.1 2001/05/04 04:07:24 geraint -## Numerical solution of algebraic equations. -## sys_ae.cc written for unsolved inputs. -## Solution of equations using hybrd from MINPACK (as used by Octave fsolve). -## -## Revision 1.15 2001/03/19 02:28:52 geraint -## Branch merge: merging-ode2odes-exe back to MAIN. -## -## Revision 1.14.2.1 2001/03/19 00:29:08 geraint -## Parse switches (-A) before calling def2write_r. -## Update $1_def.* instead of removing. -## -## Revision 1.14 2000/12/28 12:24:35 peterg -## *** empty log message *** -## -## Revision 1.13 2000/10/11 08:52:46 peterg -## Creates csex (cse with dxe only) rep. -## -## Revision 1.12 2000/10/10 21:00:58 peterg -## New code genration -## -## Revision 1.11 1998/11/26 09:18:55 peterg -## Incluse subs.r -## -## Revision 1.10 1998/11/18 13:50:29 peterg -## Removed writeing of EYz matrix -## -## Revision 1.9 1998/11/18 10:53:38 peterg -## Put in some more "IF MTTNx>0 THEN" to avoid error messages when no -## states. -## -## Revision 1.8 1998/11/10 08:54:34 peterg -## Put in "IF MTTNx>0 THEN" to prevent probs when Nx=0 -## -- still a couple of apparent error messages - but answers now -## correct -## -## Revision 1.7 1998/10/05 10:46:15 peterg -## Commented out redundant MTTY := MTTY + MTTEyx*MTTEdX; -## -## Revision 1.6 1998/07/19 12:44:35 peterg -## Set MTTYz := 0 if the array is empty - avoids irritating error -## message. -## -## Revision 1.5 1998/05/20 15:23:26 peterg -## Put MTTYz := MTTYz outsise the BEGIN/END -## -## Revision 1.4 1998/05/20 15:13:09 peterg -## Writes out algebraic equations (if any). -## -## Revision 1.3 1998/03/03 09:02:46 peterg -## Replaced MTTEyx*MTTEdX + MTTEyu*MTTdu; term -## -## Revision 1.2 1997/08/26 08:22:36 peterg -## Changed -## MTTY := MTTY + MTTEyx*MTTdX + MTTEyu*MTTdu; -## to -## MTTY := MTTY + MTTEyx*MTTEdX + MTTEyu*MTTdu; -## -## This sorts out the problem when dz appears in the output equation. -## -## Revision 1.1 1997/08/26 08:20:18 peterg -## Initial revision -## -## Revision 1.2 1996/08/25 09:57:30 peter -## Sorted out bug when MTTNz=0 -## -## Revision 1.1 1996/08/15 16:47:02 peter -## Initial revision -## -############################################################### - -#Explicit solution option and optimise option -solve=0; solve_msg='' -optimise=''; optimise_msg='' -while [ -n "`echo $1 | grep '^-'`" ]; do - case $1 in - -A ) - solve=1 - solve_msg=' with explicit solution of algebraic equations' ;; - -fixcc ) - fixcc=`echo 'in "'$MTT_LIB'/reduce/fix_c.r";'` - fix_msg='fixing c and cc code'; - ;; - -optimise) - optimise='-optimise' - optimise_msg=' with optimisation' ;; - *) - echo "$1 is an invalid argument - ignoring" ;; - esac - shift -done - -# Create the reduce output code -def2write_r $optimise $1 cse -def2write_r $optimise $1 csex # Version without E matrix -def2write_r $optimise $1 cseo - -echo "Creating $1_cse.r $solve_msg $optimise_msg $fix_msg" -echo "Creating $1_csex.r $optimise_msg" -echo "Creating $1_cseo.r $optimise_msg" - -# Remove the old log file -rm -f dae2cse_r.log - -# Remove some files -rm -f $1_cse.r? $1_cseo.r? - -# Use reduce to accomplish the transformation -$SYMBOLIC >dae2cse_r.log << EOF - -%Read the formatting function -in "$MTTPATH/trans/reduce_matrix.r"; - -OFF Echo; -OFF Nat; -ON NERO; - -%Fix c code if required -$fixcc - -in "$1_def.r"; -MTTdxs := MTTdX; %Save the symbolic form of dX - -in "$1_subs.r"; -in "$1_dae.r"; - - -%Create F_x, F_y matrices - assumming equations are -% linear in dZ -IF MTTNz>0 THEN -BEGIN - -IF MTTNx>0 THEN -BEGIN - -% Find MTTFx; -write "% Find MTTFx;"; - -matrix MTTFx(MTTNx,MTTNz); -FOR j := 1:MTTNz DO - BEGIN - dzj := MTTdZ(j,1); - FOR i := 1:MTTNx DO - MTTFx(i,j) := df(MTTdX(i,1), dzj, 1); - END; - -END; - -% Find MTTFy; -write "% Find MTTFy;"; - -matrix MTTFy(MTTNy,MTTNz); -FOR j := 1:MTTNz DO - BEGIN - dzj := MTTdZ(j,1); - FOR i := 1:MTTNy DO - MTTFy(i,j) := df(MTTy(i,1), dzj, 1); - END; - -%Create G_x, G_u matrices -write "%Create G_x, G_u matrices "; - - -% Find MTTGx; -IF MTTNx>0 THEN -BEGIN -write "% Find MTTGx;"; - -matrix MTTGx(MTTNz,MTTNx); -FOR j := 1:MTTNx DO - BEGIN - xj := MTTX(j,1); - FOR i := 1:MTTNz DO - MTTGx(i,j) := df(MTTZ(i,1), xj, 1); - END; -END; - -% Find MTTGu; -write "% Find MTTGu;"; - -matrix MTTGu(MTTNz,MTTNu); -FOR j := 1:MTTNu DO - BEGIN - uj := MTTu(j,1); - FOR i := 1:MTTNz DO - MTTGu(i,j) := df(MTTZ(i,1), uj, 1); - END; - -%Create E matrices -write "%Create E matrices"; - -IF MTTNx>0 THEN -BEGIN -matrix MTTExx(MTTNx,MTTNx); MTTExx := MTTFx*MTTGx; -matrix MTTExu(MTTNx,MTTNu); MTTExu := MTTFx*MTTGu; -matrix MTTEyx(MTTNy,MTTNx); MTTEyx := MTTFy*MTTGx; -matrix MTTE(MTTNx,MTTNx); MTTE := MTTI - MTTExx; -END; -matrix MTTEyu(MTTNy,MTTNu); MTTEyu := MTTFy*MTTGu; - - - - - %% The following gets rid of the dZs; there must be a better way. - MTTdZ1 := 0; - MTTdZ2 := 0; - MTTdZ3 := 0; - MTTdZ4 := 0; - MTTdZ5 := 0; - MTTdZ6 := 0; - MTTdZ7 := 0; - MTTdZ8 := 0; - MTTdZ9 := 0; - MTTdZ10 := 0; - MTTdZ11 := 0; - MTTdZ12 := 0; - MTTdZ13 := 0; - MTTdZ14 := 0; - MTTdZ15 := 0; - MTTdZ16 := 0; - MTTdZ17 := 0; - MTTdZ18 := 0; - MTTdZ19 := 0; - -IF MTTNx>0 THEN -BEGIN -MTTEdX := MTTdX; %Ie MTTEdX is MTTdX with the dz terms deleted ie EdX. -MTTdX := MTTdXs; %Restore the symbolic dX - -%% Add on input derivative terms -MTTEdX := MTTEdX + MTTExu*MTTdu; -END; - - -%%%%%MTTY := MTTY + MTTEyx*MTTEdX; -%%% This causes the matrix mismatch -%%% MTTdXs and MTTdu need setting in _def.r file -MTTY := MTTY + MTTEyu*MTTdu; - -IF MTTNx>0 THEN - MTTY := MTTY + MTTEyx*(MTTE^(-1))*MTTEdX; - - -END; %%of MTTNz>0 - -IF MTTNz=0 THEN -BEGIN - MTTEdX := MTTdX; - MTTE := MTTI; -END; - -IF (MTTNyz>0) AND ($solve>0) THEN -BEGIN - %%%% Try and solve algebraic loops!! - - %Create list of the relevant equations - MTT_eqns := {}; - FOR i := 1:MTTNyz DO - MTT_eqns := append(MTT_eqns,{MTTyz(i,1)}); - - %Create list of the relevant unknowns - MTT_unknowns := {}; - FOR i := 1:MTTNyz DO - MTT_unknowns := append(MTT_unknowns,{MTTUi(i,1)}); - - %Solve the algebraic equations symbolically - MTT_sol := solve(MTT_eqns,MTT_unknowns); - %The result seems to be in an extra list - I dont know why - % So remove the outer list with first. - % But only if more than one list element! - - if MTTNyz>1 THEN - MTT_sol := first(MTT_sol); - - %Substitute back into the equations - FOR i := 1:MTTNyz DO - BEGIN - MTT_sol_i := first(MTT_sol); MTT_sol := rest(MTT_sol); - set(lhs(MTT_sol_i),rhs(MTT_sol_i)); - END; - - % No algebraic variables left! - MTTNYz := 0; -END; % IF MTTNyz>0 and $solve - -OUT "$1_ae.r"; -IF (MTTNyz>0) THEN % not $solve (or perhaps solution failed?) -BEGIN - WRITE "MATRIX MTTyz(",MTTNyz,",1)"; - WRITE "%File: $1_ae.r"; - FOR i := 1:MTTNyz DO - WRITE "MTTyz(",i,",1) := ",MTTyz(i,1)," +0"; -END; % if MTTNyz>0 (and !$solve) -WRITE ";END;"; -SHUT "$1_ae.r"; - -OUT "$1_aej.r"; -IF (MTTNyz>0) THEN % as above -BEGIN - WRITE "MATRIX MTTyzj(",MTTNyz,",",MTTNyz,")"; - WRITE "%File: $1_aej.r"; - FOR i := 1:MTTNyz DO - FOR j := 1:MTTNyz DO - BEGIN - didj := df(MTTyz(i,1),mkid('mttui,j)); - IF (didj NEQ 0) THEN - WRITE "MTTyzj(",i,",",j,") := ",didj," +0"; - END; -END; -WRITE ";END;"; -SHUT "$1_aej.r"; - -% Create the matrix declarations -OUT "$1_cse.r1"; -write "%"; -IF (MTTNx > 0) THEN -BEGIN - write "MATRIX MTTEdx(", MTTNx, ",", 1, ")$"; - write "MATRIX MTTE(", MTTNx, ",", MTTNx, ")$"; -END; -SHUT "$1_cse.r1"; - -OUT "$1_csex.r1"; -write "%File:$1_csex.r1"; -IF (MTTNx > 0) THEN - write "MATRIX MTTEdx(", MTTNx, ",", 1, ")$"; -SHUT "$1_csex.r1"; - -IF MTTNy>0 THEN -BEGIN - OUT "$1_cseo.r1"; - write "MATRIX MTTY(", MTTNy, ",", 1, ")$"; - SHUT "$1_cseo.r1"; -END; - -%%Create the _cse.r file -OUT "$1_cse.r2"; -write "%File: $1_cse.r"; -in ("$1_cse_write.r"); -write "in ""$1_cseo.r"";"; -write "END;"; - -% % State derivative -% MTT_Matrix := MTTEdX$ -% MTT_Matrix_name := "MTTEdX"$ -% MTT_Matrix_n := MTTNx$ -% MTT_Matrix_m := 1$ -% Reduce_Matrix()$ - -% % Output -% MTT_Matrix := MTTY$ -% MTT_Matrix_name := "MTTY"$ -% MTT_Matrix_n := MTTNy$ -% MTT_Matrix_m := 1$ -% Reduce_Matrix()$ - -% % Inputs -% MTT_Matrix := MTTU$ -% MTT_Matrix_name := "MTTU"$ -% MTT_Matrix_n := MTTNu$ -% MTT_Matrix_m := 1$ -% Reduce_Matrix()$ -% MTT_Matrix := MTTdU$ -% MTT_Matrix_name := "MTTdU"$ -% MTT_Matrix_n := MTTNu$ -% MTT_Matrix_m := 1$ -% Reduce_Matrix()$ - -% % E matrix -% MTT_Matrix := MTTE$ -% MTT_Matrix_name := "MTTE"$ -% MTT_Matrix_n := MTTNx$ -% MTT_Matrix_m := MTTNx$ -% Reduce_Matrix()$ - -% % Eyx matrix -% MTT_Matrix := MTTEyx$ -% MTT_Matrix_name := "MTTEyx"$ -% MTT_Matrix_n := MTTNy$ -% MTT_Matrix_m := MTTNx$ -% %Reduce_Matrix()$ - -% % Yz -% MTT_Matrix := MTTYz$ -% MTT_Matrix_name := "MTTYz"$ -% MTT_Matrix_n := MTTNyz$ -% MTT_Matrix_m := 1$ -% Reduce_Matrix()$ - -write ";END;"; - -SHUT "$1_cse.r2"; - -OUT "$1_csex.r2"; -write "%File: $1_cse.r"; -in ("$1_csex_write.r"); -write "END;"; -SHUT "$1_csex.r2"; - -%Write out the output equations -IF MTTNy>0 THEN -BEGIN -OUT "$1_cseo.r2"; -write "%File: $1_cseo.r"; -in ("$1_cseo_write.r"); -write "END;"; -SHUT "$1_cseo.r2"; -END; -quit; -EOF - -touch $1_cseo.r1 -touch $1_cseo.r2 -cat $1_cse.r1 $1_cse.r2 > $1_cse.r -cat $1_csex.r1 $1_csex.r2 > $1_csex.r -cat $1_cseo.r1 $1_cseo.r2 > $1_cseo.r - -if [ "$solve" = "1" ]; then - echo "Setting MTTNyz=0 in $1_def.r and updating other $1_def files" - awk '{ - if ($1=="MTTNyz") - print "MTTNyz := 0;" - else print $0 - }' $1_def.r > mtt_junk - # Make sure it preserves the time stamp!! - # and remove dependent reps - touch -r $1_def.r mtt_junk - mv mtt_junk $1_def.r - for file in `ls $1_def.*`; do - if [ $file != $1_def.r ]; then - ext=`echo $file|awk -F\. '{print $2}'` - mtt -q $1 def $ext - fi - done -fi - - -# Now invoke the standard error handling. -mtt_error_r dae2cse_r.log DELETED mttroot/mtt/bin/trans/dae2daes_m Index: mttroot/mtt/bin/trans/dae2daes_m ================================================================== --- mttroot/mtt/bin/trans/dae2daes_m +++ /dev/null @@ -1,116 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: dae2daesol_m - -# Transforms descriptor matrix rep to step response - -# Copyright (c) P.J.Gawthrop, 1996. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.6 1998/05/14 08:14:28 peterg -## Now reads in data from the simpar file. -## -## Revision 1.5 1998/05/13 16:42:03 peterg -## Fixed various bugs etc. -## -# Revision 1.4 1996/08/24 14:27:59 peter -# Global parameters. -# Error handling. -# -## Revision 1.3 1996/08/18 12:00:19 peter -## Unified format of responses. -## -## Revision 1.2 1996/08/16 13:17:57 peter -## Changed default args to include nx+nz -## Fixed bug with vector outputs. -## -## Revision 1.1 1996/08/15 16:24:55 peter -## Initial revision -## -############################################################### - - -echo Creating $1_daes.m -echo Creating $1_daeso.m -rm -f dae2daes_m.log -rm -f $1_daes.m -rm -f $1_daeso.m - - -$MATRIX << EOF > dae2daes_m.log 2>mtt_error.txt - - %System structure - [nx,ny,nu,nz,nyz] = $1_def; - - % Number of descriptor "states" - NX = nx+2*nz+nyz; - - %Read in parameters - $1_numpar; - - %Read in state (needs redoing for descriptor xevtor - %x = $1_state; - - - %Read in simulation parameters - $1_simpar; - T = [0:DT:LAST]; - - t=0; %Just in case its in the parameter list - - %Defaults - if exist('T')==0 - T=[0:0.1:10] - end; - - if exist('x0')==0 - x0 = zeros(NX,1); - end; - - if exist('dx0')==0 - dx0 = zeros(NX,1); - end; - - [n,m]=size(T); - if m>n - T=T'; - end; - -if NX>0 - x = dassl("$1_dae", x0, dx0, T); - write_matrix([T,x], '$1_daes'); -else - x = zeros(size(T)); -end; - -if ny>0 - i=0; - Y = []; - for tt=T' - i=i+1; - y = $1_daeo(x(i,:),tt); - Y = [Y; y']; - end; - write_matrix([T,Y], '$1_daeso'); -end; - -EOF - -# Now invoke the standard error handling. -mtt_error mtt_error.txt - - - - - - - - DELETED mttroot/mtt/bin/trans/dae2daes_m Index: mttroot/mtt/bin/trans/dae2daes_m ================================================================== --- mttroot/mtt/bin/trans/dae2daes_m +++ /dev/null @@ -1,116 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: dae2daesol_m - -# Transforms descriptor matrix rep to step response - -# Copyright (c) P.J.Gawthrop, 1996. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.6 1998/05/14 08:14:28 peterg -## Now reads in data from the simpar file. -## -## Revision 1.5 1998/05/13 16:42:03 peterg -## Fixed various bugs etc. -## -# Revision 1.4 1996/08/24 14:27:59 peter -# Global parameters. -# Error handling. -# -## Revision 1.3 1996/08/18 12:00:19 peter -## Unified format of responses. -## -## Revision 1.2 1996/08/16 13:17:57 peter -## Changed default args to include nx+nz -## Fixed bug with vector outputs. -## -## Revision 1.1 1996/08/15 16:24:55 peter -## Initial revision -## -############################################################### - - -echo Creating $1_daes.m -echo Creating $1_daeso.m -rm -f dae2daes_m.log -rm -f $1_daes.m -rm -f $1_daeso.m - - -$MATRIX << EOF > dae2daes_m.log 2>mtt_error.txt - - %System structure - [nx,ny,nu,nz,nyz] = $1_def; - - % Number of descriptor "states" - NX = nx+2*nz+nyz; - - %Read in parameters - $1_numpar; - - %Read in state (needs redoing for descriptor xevtor - %x = $1_state; - - - %Read in simulation parameters - $1_simpar; - T = [0:DT:LAST]; - - t=0; %Just in case its in the parameter list - - %Defaults - if exist('T')==0 - T=[0:0.1:10] - end; - - if exist('x0')==0 - x0 = zeros(NX,1); - end; - - if exist('dx0')==0 - dx0 = zeros(NX,1); - end; - - [n,m]=size(T); - if m>n - T=T'; - end; - -if NX>0 - x = dassl("$1_dae", x0, dx0, T); - write_matrix([T,x], '$1_daes'); -else - x = zeros(size(T)); -end; - -if ny>0 - i=0; - Y = []; - for tt=T' - i=i+1; - y = $1_daeo(x(i,:),tt)'; - Y = [Y; y']; - end; - write_matrix([T,Y], '$1_daeso'); -end; - -EOF - -# Now invoke the standard error handling. -mtt_error mtt_error.txt - - - - - - - - DELETED mttroot/mtt/bin/trans/dae2dm_r Index: mttroot/mtt/bin/trans/dae2dm_r ================================================================== --- mttroot/mtt/bin/trans/dae2dm_r +++ /dev/null @@ -1,327 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: dae2dm_r -# Differential-algebraic equation to linear descriptor matrices conversion -# P.J.Gawthrop 8th May 1991, 7 June 1991, April 1994. -# Copyright (c) P.J.Gawthrop, 1991, 1994. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -# Revision 1.2 1996/08/25 09:53:35 peter -# Error handling added. -# -## Revision 1.1 1996/08/18 20:03:51 peter -## Initial revision -## -############################################################### - -#Inform user -echo Creating $1_dm.r - -# Remove the old log file -rm -f dae2dm_r.log - -# Use reduce to accomplish the transformation -reduce >dae2dm_r.log << EOF - -in "$1_def.r"; -in "$1_dae.r"; -in "$1_cr.r"; -%%in "$1_sympar.r"; - -OFF Echo; -OFF Nat; - - -%Total number of descriptor variables -MTTN := MTTNx + 2*MTTNz + MTTNyz; - -IF MTTN>0 THEN -BEGIN -% Find MTTE : the E matrix -matrix MTTE(MTTN,MTTN); - -% First row partition -IF MTTNx>0 THEN - FOR j := 1:MTTNx DO - MTTE(j,j) := 1; - -% Second row partition - IF MTTNz>0 THEN - FOR j := 1:MTTNz DO - MTTE(j+MTTNx, j+MTTNx) := 1; - -% Find MTTA : the A matrix -matrix MTTA(MTTN,MTTN); - -% First row partition: x -IF MTTNx>0 THEN - BEGIN - FOR j := 1:MTTNx DO - BEGIN - xj := MTTX(j,1); - FOR i := 1:MTTNx DO - MTTA(i,j) := df(MTTdX(i,1), xj, 1); - END; - - IF MTTNz>0 THEN - FOR j := 1:MTTNz DO - BEGIN - dzj := MTTdz(j,1); - FOR i := 1:MTTNx DO - MTTA(i, j + MTTNx + MTTNz) := df(MTTdX(i,1), dzj, 1); - END; - - IF MTTNyz>0 THEN - FOR j := 1:MTTNyz DO - BEGIN - uij := MTTUi(j,1); - FOR i := 1:MTTNx DO - MTTA(i, j + MTTNx + 2*MTTNz) := df(MTTdX(i,1), uij, 1); - END; - END; - -% Second row partition: z -IF MTTNz>0 THEN - FOR j := 1:MTTNz DO - MTTA(j + MTTNx, j + MTTNx + MTTNz) := 1; - -% Third row partition -IF MTTNz>0 THEN - BEGIN - IF MTTNx>0 THEN - FOR j := 1:MTTNx DO - BEGIN - xj := MTTX(j,1); - FOR i := 1:MTTNz DO - MTTA(i + MTTNx + MTTNz,j) := df(MTTZ(i,1), xj, 1); - END; - - FOR j := 1:MTTNz DO - MTTA(j + MTTNx + MTTNz, j + MTTNx) := -1; - - FOR j := 1:MTTNz DO - BEGIN - dzj := MTTdz(j,1); - FOR i := 1:MTTNz DO - MTTA(i + MTTNx + MTTNz, j + MTTNx + MTTNz) := df(MTTZ(i,1), dzj, 1); - END; - - IF MTTNyz>0 THEN - FOR j := 1:MTTNyz DO - BEGIN - uij := MTTUi(j,1); - FOR i := 1:MTTNz DO - MTTA(i+MTTNx+MTTNz, j+MTTNx+2*MTTNz) := df(MTTZ(i,1), uij, 1); - END; - END; - - -% Fourth row partition -IF MTTNyz>0 THEN - BEGIN - IF MTTNx>0 THEN - FOR j := 1:MTTNx DO - BEGIN - xj := MTTX(j,1); - FOR i := 1:MTTNyz DO - MTTA(i + MTTNx + 2*MTTNz,j) := df(MTTYz(i,1), xj, 1); - END; - - IF MTTNz>0 THEN - FOR j := 1:MTTNz DO - BEGIN - dzj := MTTdz(j,1); - FOR i := 1:MTTNyz DO - MTTA(i + MTTNx + 2*MTTNz, j + MTTNx + MTTNz) := df(MTTYz(i,1), dzj, 1); - END; - - IF MTTNyz>0 THEN - FOR j := 1:MTTNyz DO - BEGIN - uij := MTTUi(j,1); - FOR i := 1:MTTNyz DO - MTTA(i+MTTNx+2*MTTNz, j+MTTNx+2*MTTNz) := df(MTTYz(i,1), uij, 1); - END; - END; - -% Find MTTB : the B matrix -matrix MTTB(MTTN,MTTNu); - -IF MTTNu>0 THEN -BEGIN - -% First row partition -IF MTTNx>0 THEN - BEGIN - FOR j := 1:MTTNu DO - BEGIN - uj := MTTU(j,1); - FOR i := 1:MTTNx DO - MTTB(i,j) := df(MTTdX(i,1), uj, 1); - END; - END; - -% Third row partition -IF MTTNz>0 THEN - BEGIN - FOR j := 1:MTTNu DO - BEGIN - uj := MTTU(j,1); - FOR i := 1:MTTNz DO - MTTB(i + MTTNx + MTTNz ,j) := df(MTTZ(i,1), uj, 1); - END; - END; - -% Fourth row partition -IF MTTNyz>0 THEN - BEGIN - FOR j := 1:MTTNu DO - BEGIN - uj := MTTU(j,1); - FOR i := 1:MTTNyz DO - MTTB(i + MTTNx + 2*MTTNz,j) := df(MTTYz(i,1), uj, 1); - END; - END; - -END; - -% Find MTTC : the C matrix -matrix MTTC(MTTNy,MTTN); -IF MTTNy>0 THEN -BEGIN - -% First column partition -IF MTTNx>0 THEN - BEGIN - FOR i := 1:MTTNy DO - FOR j := 1:MTTNx DO - BEGIN - xj := MTTX(j,1); - MTTC(i,j) := df(MTTY(i,1), xj, 1); - END; - END; - -% Third column partition -IF MTTNz>0 THEN - BEGIN - FOR i := 1:MTTNy DO - FOR j := 1:MTTNz DO - BEGIN - dzj := MTTdZ(j,1); - MTTC(i, j + MTTNx + MTTNz) := df(MTTY(i,1), dzj, 1); - END; - END; - -% Fourth column partition -IF MTTNyz>0 THEN - BEGIN - FOR i := 1:MTTNy DO - FOR j := 1:MTTNyz DO - BEGIN - uij := MTTUi(j,1); - MTTC(i, j + MTTNx + 2*MTTNz) := df(MTTY(i,1), uij, 1); - END; - END; - -END; -END; %of MTTN>0 - -% Find MTTD : the D matrix -matrix MTTD(MTTNy,MTTNu); -IF MTTNy>0 THEN -IF MTTNu>0 THEN -BEGIN - FOR i := 1:MTTNy DO - FOR j := 1:MTTNu DO - BEGIN - uj := MTTU(j,1); - MTTD(i,j) := df(MTTY(i,1), uj, 1); - END; -END; - -%Zap the dz terms (not a nice way) -MTTdz1 := 0; -MTTdz2 := 0; -MTTdz3 := 0; -MTTdz4 := 0; -MTTdz5 := 0; -MTTdz6 := 0; -MTTdz7 := 0; -MTTdz8 := 0; -MTTdz9 := 0; -MTTdz10 := 0; -MTTdz11 := 0; -MTTdz12 := 0; -MTTdz13 := 0; -MTTdz14 := 0; -MTTdz15 := 0; -MTTdz16 := 0; -MTTdz17 := 0; -MTTdz18 := 0; -MTTdz19 := 0; - - -%Substitute the ss values -in "$1_sspar.r"; - -%Create the output file -OUT "$1_dm.r"; - -%Write out the matrices. -IF MTTN>0 THEN -BEGIN - write "matrix MTTE(", MTTN, ",", MTTN, ");"; - FOR i := 1:MTTN DO - FOR j := 1:MTTN DO IF MTTE(i,j) NEQ 0 THEN - write "MTTE(", i, ",", j, ") := ", MTTE(i,j); - - write "matrix MTTA(", MTTN, ",", MTTN, ");"; - FOR i := 1:MTTN DO - FOR j := 1:MTTN DO IF MTTA(i,j) NEQ 0 THEN - write "MTTA(", i, ",", j, ") := ", MTTA(i,j); -END; - -IF MTTN>0 THEN -IF MTTNu>0 THEN -BEGIN - write "matrix MTTB(", MTTN, ",", MTTNu, ");"; - FOR i := 1:MTTN DO - FOR j := 1:MTTNu DO IF MTTB(i,j) NEQ 0 THEN - write "MTTB(", i, ",", j, ") := ", MTTB(i,j); -END; - -%Write it out -IF MTTNy>0 THEN -IF MTTN>0 THEN -BEGIN - write "matrix MTTC(", MTTNy, ",", MTTN, ");"; - FOR i := 1:MTTNy DO - FOR j := 1:MTTN DO IF MTTC(i,j) NEQ 0 THEN - write "MTTC(", i, ",", j, ") := ", MTTC(i,j); -END; - -IF MTTNy>0 THEN IF MTTNu>0 THEN -BEGIN - write "matrix MTTD(", MTTNy, ",", MTTNu, ");"; - FOR i := 1:MTTNy DO - FOR j := 1:MTTNu DO IF MTTD(i,j) NEQ 0 THEN - write "MTTD(", i, ",", j, ") := ", MTTD(i,j); -END; - -write "END;"; - -SHUT "$1_dm.r"; -quit; - -EOF - -# Now invoke the standard error handling. -mtt_error_r dae2dm_r.log DELETED mttroot/mtt/bin/trans/dae2ker_r Index: mttroot/mtt/bin/trans/dae2ker_r ================================================================== --- mttroot/mtt/bin/trans/dae2ker_r +++ /dev/null @@ -1,89 +0,0 @@ -#!/bin/sh -## Shell script dae2ker_r -## Converts dae to behavioral kernal rep. - - -echo Creating $1_ker.r - -$SYMBOLIC > dae2ker.log <MTTNu THEN - v_list := append({w_i},v_list) - ELSE - v_list := append({u_i},v_list); -END; - -eq_list; v_list; -sol := solve(eq_list,v_list); -sol := first(sol); - -% Pluck out the manifest variable solutions -behaviour_list:={}; -FOR i:=1:(MTTNy-MTTNu) DO -BEGIN - soli := first(sol); - sol := rest(sol); - behaviour := DEN(RHS(soli))*LHS(soli) - NUM(RHS(soli)) = 0; - behaviour_list := append(behaviour_list, {behaviour}); -END; -behaviour_list := behaviour_list; - -MATRIX MTTR(MTTNy-MTTNu,MTTNy); -FOR i:=1:(MTTNy-MTTNu) DO -BEGIN - FOR j:=1:MTTNy DO - BEGIN - w_j := mkid(mttw,j); - coeffs := coeff(lhs(first(behaviour_list)),w_j); - IF length(coeffs)>1 THEN - MTTR(i,j) := second(coeff(lhs(first(behaviour_list)),w_j)); - END; - behaviour_list := rest(behaviour_list); -END; - -%% Now do coefficient matrices - -OFF NAT; -OUT "$1_ker.r"; -write "MATRIX MTTR(", MTTNy-MTTNu, ",", MTTNy, ");"; -MTTR := MTTR; -SHUT "$1_ker.r"; - - -EOF DELETED mttroot/mtt/bin/trans/dae2lde_r Index: mttroot/mtt/bin/trans/dae2lde_r ================================================================== --- mttroot/mtt/bin/trans/dae2lde_r +++ /dev/null @@ -1,131 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: lde2ode.r -# Reduce differential-algebraic equations to Lagranges equations -# Copyright (C) 2000 by Peter J. Gawthrop - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.1 2000/12/28 12:25:13 peterg -## Initial revision -## -############################################################### - -optimise=''; optimise_msg='' -while [ -n "`echo $1 | grep '^-'`" ]; do - case $1 in - -optimise) - optimise='-optimise' - optimise_msg=' with optimisation' ;; - *) - echo "$1 is an invalid argument - ignoring" ;; - esac - shift -done - -# Create the reduce output code -def2write_r $optimise $1 lde -def2write_r $optimise $1 ldeo - -#Inform user -echo Creating $1_lde.r $optimise_msg -echo Creating $1_ldeo.r $optimise_msg - -# Remove the old log file -rm -f cse2lde_r.log - -# Use reduce to accomplish the transformation -$SYMBOLIC << EOF >cse2lde_r.log - -%Read the formatting function -in "$MTTPATH/trans/reduce_matrix.r"; - -%Read the definitions file -in "$1_def.r"; - -%Read the substitution file -in "$1_subs.r"; - -%Read the dae file -in "$1_dae.r"; - -% Zap bits we dont need -clear mttui, mttu, mttdu, mttx, mttdz; - -%% The lagrangian eqns are those set to zero. -MTTL := mttyz; - -% Create the second derivative of z -MATRIX mttddz(MTTNz,1); -FOR i := 1:MTTNz DO -BEGIN - mttuii := mkid(mttui,i); - mttdduii := mkid(mttddui,i); - mttddz(i,1) := sub(mttuii=mttdduii,mttz(i,1)); -END; -mttddz; - -% Create Lagranges Equations -FOR j := 1:MTTNyz DO -BEGIN - %% Create derivative of the equations by substituting: - %du for u - mttuj := mkid(mttu,j); - mttduj := mkid(mttdu,j); - MTTL := sub(mttuj=mttduj,MTTL); - - % dv for v - mttuij := mkid(mttui,j); - mttduij := mkid(mttdui,j); - MTTL := sub(mttuij=mttduij,MTTL); - - % dx for x - mttxj := mkid(mttx,j); - MTTL := sub(mttxj=mttdx(j,1),MTTL); - - % ddz for dz - mttdzj := mkid(mttdz,j); - MTTL := sub(mttdzj=mttddz(j,1),MTTL); - -END; - -L = MTTL; - -OFF Echo; -OFF Nat; - - -%Write out the ordinary differential equations. -OUT "$1_lde.r"; -write "%File: $1_lde.r"; -in ("$1_lde_write.r"); -write "in ""$1_ldeo.r"";"; -write "END;"; -SHUT "$1_lde.r"; - -%Write out the output equations -OUT "$1_ldeo.r"; -write "%File: $1_ldeo.r"; -in ("$1_ldeo_write.r"); -write "END;"; -SHUT "$1_ldeo.r"; -quit; -EOF - -# Now invoke the standard error handling. -mtt_error_r cse2lde_r.log - - - - - - - - DELETED mttroot/mtt/bin/trans/dae_r2m Index: mttroot/mtt/bin/trans/dae_r2m ================================================================== --- mttroot/mtt/bin/trans/dae_r2m +++ /dev/null @@ -1,309 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: dae_r2m -# Reduce DAE to OCTAVE (DASSL) DAE -# P.J.Gawthrop 14 June 1991, 12 Jan 1994, April 1994, Jan 95, Aug 97. -# Copyright (c) P.J.Gawthrop 1991, 1994, 1995, 1996 - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.7 1998/05/13 16:43:03 peterg -## Now uses matlab_matrix to write the matrices -## Various bug fixes -## New global generation method -## -# Revision 1.6 1997/08/28 14:07:16 peterg -# Changed MTTDx to MTTDeriv -# -# Revision 1.5 1996/08/24 14:27:29 peter -# Global parameters. -# -## Revision 1.4 1996/08/18 20:02:21 peter -## Include zero outputs. -## -## Revision 1.3 1996/08/16 13:10:53 peter -## Fixed bug Ny changed to Nx in redidual loop. -## -## Revision 1.2 1996/08/16 08:57:34 peter -## Reads $1_input. -## -## Revision 1.1 1996/08/15 16:46:06 peter -## Initial revision -## -############################################################### - - -# WARNING this is experimental!! -# It asumes that the output y is NOT dependent on derivatives of -# z or u. - - -#Inform user -echo Creating $1_dae.m -echo Creating $1_daeo.m - - -# Remove the old log file -rm -f dae_r2m.log - -# Remove temp. files -rm -f $1_dae.m? -rm -f $1_daeo.m? - -# Use reduce to accomplish the transformation -$SYMBOLIC >dae_r2m.log << EOF - -%Read the reduce definitions file -in "$1_def.r"; - -%Read the reduce DAE file -in "$1_dae.r"; - -% Matrix output function -in"$MTTPATH/trans/matlab_matrix.r"; - -%Set up the number of argument variables to zero in case the user has forgotten -MTTNVar := 0; - -%Read the parameter file -%%in "$1_sympar.r"; - - -%% ON NERO; % Suppress zero elements - -%Define the common part of the functions. - -PROCEDURE common; -BEGIN - - write "% Read in the input"; - write "u = $1_input(x,t)"; - - % write "% Read in the arguments"; - % write "$1_args"; - - write "% Set up the State variables"; - FOR i := 1:MTTNx DO - BEGIN - write "mttx", i, " = mttx(", i, ");"; - END; - - write "% Set up the non-state variables"; - FOR i := 1:MTTNz DO - BEGIN - write "mttz", i, " = mttx(", MTTNx+ i, ");"; - END; - write "% Set up the non-state derivatives"; - FOR i := 1:MTTNz DO - BEGIN - write "mttdz", i, " = mttx(", MTTNx+MTTNz+ i, ");"; - END; - - write "% Set up the internal inputs"; - FOR i := 1:MTTNyz DO - BEGIN - write "mttui", i, " = mttx(", MTTNx+2*MTTNz+i, ");"; - END; - - write "% Set up the Input variables"; - IF MTTNu>0 THEN - FOR i := 1:MTTNu DO - BEGIN - write "mttu", i, " = u(", i, ");"; - END; -END; - -% Firstly do the residual = f(dx,x,t) function. - -% MTTGx and u are the derivatives of z wrt x and u respectively - -% Find MTTGx; -if MTTNz>0 THEN -BEGIN -matrix MTTGx(MTTNz,MTTNx); -FOR j := 1:MTTNx DO - BEGIN - xj := MTTX(j,1); - FOR i := 1:MTTNz DO - MTTGx(i,j) := df(MTTZ(i,1), xj, 1); - END; - -% Find MTTGu; -matrix MTTGu(MTTNz,MTTNu); -FOR j := 1:MTTNu DO - BEGIN - uj := MTTu(j,1); - FOR i := 1:MTTNz DO - MTTGu(i,j) := df(MTTZ(i,1), uj, 1); - END; -END; - -IF MTTNz=0 THEN -BEGIN - MTTGx := 0; - MTTGu := 0; - MTTz := 0; -END; - -OUT "$1_dae.m1"; -write "function residual = $1_dae(mttx,deriv0,t);"; -write "% residuals = $1_dae(dx,x,t);"; -write "%DAE in DASSL $1;;"; -write "%File $1_dae.m;;"; -write "%Generated by MTT;;"; - - -common(); -SHUT "$1_dae.m1"; - -GENTRANOUT "$1_dae.m3"; -write "% State derivative"; -IF MTTNX>0 THEN -BEGIN - MTT_Matrix := MTTdX$ - MTT_Matrix_name := "deriv"$ - MTT_Matrix_n := MTTNx$ - MTT_Matrix_m := 1$ - matlab_Matrix()$ - GENTRAN deriv := mtt_matrix$ -END; - -IF MTTNYz>0 THEN -BEGIN - MTT_Matrix := MTTYz$ - MTT_Matrix_name := "MTTYz"$ - MTT_Matrix_n := MTTNYz$ - MTT_Matrix_m := 1$ - matlab_Matrix()$ - GENTRAN MTTYz := mtt_matrix$ -END; - -if MTTNz>0 THEN -BEGIN - MTT_Matrix := MTTz$ - MTT_Matrix_name := "MTTz"$ - MTT_Matrix_n := MTTNz$ - MTT_Matrix_m := 1$ - matlab_Matrix()$ - GENTRAN MTTz := mtt_matrix$ - - MTT_Matrix := MTTGu$ - MTT_Matrix_name := "MTTGu"$ - MTT_Matrix_n := MTTNz$ - MTT_Matrix_m := 1$ - matlab_Matrix()$ - GENTRAN MTTGu := mtt_matrix$ - - MTT_Matrix := MTTGu$ - MTT_Matrix_name := "MTTGx"$ - MTT_Matrix_n := MTTNz$ - MTT_Matrix_m := 1$ - matlab_Matrix()$ - GENTRAN MTTGx := mtt_matrix$ - -END; - - -SHUT "$1_dae.m3"; - -OUT "$1_dae.m4"; -% write "% Set up the non-state derivatives"; -% FOR i := 1:MTTNz DO -% write "mttdz", i, " = mttderiv0(", MTTNx+ i, ");"; -% END; - -write "j = 0;"; - -%Residual has 3 parts as follows: -%Part 1: dx/dt - dx_0/dt -if MTTNx>0 THEN -BEGIN - write "for i=1:", MTTNx, ";;"; - write " j = j+1"; - write " residual(j) = deriv(i)-deriv0(j);"; - write "end;"; -END; - -%Part 2: dz/dt - dz_0/dt -IF MTTNz>0 THEN -BEGIN - if MTTNx>0 THEN - write "mttdzx = mttgx*mttdx" - ELSE - write "mttdzx = zeros(", MTTNz, ",1);"; - - - if MTTNu>0 THEN - write "mttdzu = mttgu*mttdu" - ELSE - write "mttdzu = zeros(", MTTNz, ",1);"; - - write "mttdz = mttdzx + mttdzu"; - - write "for i=1:", MTTNz, ";;"; - write " j = j+1"; - write " residual(j) = mttdz(i)-mttderiv0(j);"; - write "end;"; -END; - -%Part 3: v=0 (the algebraic bits) -IF MTTNyz>0 THEN -BEGIN - write "for i=1:", MTTNyz, ";;"; - write " j = j+1"; - write " residual(j) = mttyz(i)"; - write "end;"; -END; - -SHUT "$1_dae.m4"; - - -% Now do the y = g(x,t) function. -OUT "$1_daeo.m1"; - -write "function mtty = $1_daeo(mttx,t);"; -write "% mtty = $1_daeo(mttx,t);"; -write "%DAE in Simulab form for system $1;;"; -write "%File $1_daeo.m;;"; -write "%Generated by MTT;;"; - -SHUT "$1_daeo.m1"; - -OUT "$1_daeo.m3"; -common(); - - -%Fortran switches - one line expressions -OFF echo; -ON fort$ -cardno!* := 1$ -fortwidth!* := 500$ -OFF period$ - -MTTy := MTTy; - -SHUT "$1_daeo.m3"; - -EOF - -# Create the globals -sympar2global_txt2m $1> $1_dae.m2 -sympar2global_txt2m $1> $1_daeo.m2 - -# Put together the pieces -cat $1_dae.m?>$1_dae.m -cat $1_daeo.m?>$1_daeo.m - - - - - - - DELETED mttroot/mtt/bin/trans/dae_r2tex Index: mttroot/mtt/bin/trans/dae_r2tex ================================================================== --- mttroot/mtt/bin/trans/dae_r2tex +++ /dev/null @@ -1,193 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: dae_r2tex -# Reduce differential-algebraic to LaTex differential-algebraic equations. -# P.J.Gawthrop 10th May 1991, April 1994 -# Copyright (c) P.J.Gawthrop, 1991, 1994. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.4 1998/01/23 16:08:09 peterg -## changed eqnarray to equation + aligned -## -## Revision 1.3 1997/06/13 13:30:43 peterg -## Removed eqn labels. -## -# Revision 1.2 1996/12/19 10:25:15 peterg -# Now writes out mtti instead of mtt_{i} -- lets latex_tidy do the -# conversion. -# -# Revision 1.1 1996/10/21 08:50:15 peterg -# Initial revision -# -############################################################### - - -while [ -n "`echo $1 | grep '^-'`" ]; do - case $1 in - -I ) - info=info;; - -partition ) - partition=yes; - blurb='with partitioning'; - ;; - *) - echo "$1 is an invalid argument - ignoring"; - exit ;; - esac - shift -done - -# Inform user -echo Creating $1_dae.tex $blurb - -logname=dae_r2tex.log - -# Remove the old log file -rm -f dae_r2tex.log - -# Use reduce to accomplish the transformation -$SYMBOLIC >$logname << EOF - -%Read the definitions file -in "$1_def.r"; - -%Read the differential-algebraic equations file -in "$1_dae.r"; - -%Read the symbolic parameter file -%%in "$1_sympar.r"; - - -OFF Echo; -OFF Nat; - - -%Read the substitution file -in "$1_subs.r"; - -%Read the simplifying expressions file -IN "$1_simp.r"; - -% Read the formating function -in "$MTTPATH/trans/latex_equations.r"; - -OUT "$1_dae.tex"; - -%Write out the differential-algebraic equations. - -write "%File: $1_dae.tex"; - -write "%differential-algebraic equations"; -%ON Rounded; -%Precision 5; - -latex_equations(); - -SHUT "$1_dae.tex"; -quit; -EOF - -if [ -n "$partition" ]; then - rm -f mtt_junk - # Now for the subsystems - # Find subsystems - subsystems=`mtt_get_subsystems $1` - - for subsystem in $subsystems; do - echo Doing $subsystem - ucname="MTT_"$subsystem"_uc" - subsystem_dae=$subsystem"_dae" - #subname=`echo $subsystem | mtt_remove_underscore` - - Nu=`mtt_getsize -internal $subsystem"_1" u` - echo Nu $Nu - - # Use symbolic algebra to accomplish the transformation - $SYMBOLIC >$logname << EOF - - - %Read the definitions file - in "$1_def.r"; - - - %Read the symbolic parameter file - %%in "$1_sympar.r"; - - - % Read the formating function - in "$MTTPATH/trans/latex_equations.r"; - - OFF Echo; - OFF Nat; - - - %Read the substitution file - in "$1_subs.r"; - - %Read the simplifying expressions file - IN "$1_simp.r"; - - %Read the differential-algebraic equations file - in "$1_dae.r"; - - %Create the output file - OUT "mtt_junk_1"; - - % Connecting inputs - IF $Nu>0 THEN - BEGIN - write "\section{Subsystem $subsystem}"; - - write "\subsection{Connections}"; - write"\begin{itemize}"; - FOR Row := 1:$Nu DO - BEGIN - write "\item Input ", Row, " is connected to "; - write $ucname(Row,1); - END; - write"\end{itemize}"; - END; - SHUT "mtt_junk_1"; - - %Read the differential-algebraic equations file - in "$subsystem_dae.r"; - - %Create the output file - OUT "mtt_junk_2"; - write "\subsection{Dynamics}"; - latex_equations(); - SHUT "mtt_junk_2"; - -EOF - echo >> $1_dae.tex - echo %Connections for subsystem $subsystem >> $1_dae.tex - - # Sort out underscores and remove mtt to avoide post processor - cat mtt_junk_1 | mtt_remove_underscore | sed 's/mtt//g'>> $1_dae.tex - cat mtt_junk_2 >> $1_dae.tex - rm -rf mtt_junk_? - done -fi - - -# Now invoke the standard error handling. -mtt_error_r dae_r2tex.log - - - - - - - - - - - DELETED mttroot/mtt/bin/trans/dat22dat Index: mttroot/mtt/bin/trans/dat22dat ================================================================== --- mttroot/mtt/bin/trans/dat22dat +++ /dev/null @@ -1,69 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: dat22dat -# Splits the data file into output and state bits - -# Copyright (c) P.J.Gawthrop 1999 - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.9 2000/09/27 16:12:50 peterg -## Use expr to evaluate arithmetic - compatible with sh (as opposed to -## bash) -## -## Revision 1.8 2000/09/21 10:07:06 peterg -## Now correctely writes out the state into _odes.dat rep. -## -## Revision 1.7 2000/04/06 09:02:46 peterg -## Removed bash let commands as unsupported by sh -## Do arithmetic within awk - yuk -## -## Revision 1.6 2000/04/06 08:36:15 peterg -## *** empty log message *** -## -## Revision 1.5 1999/03/15 22:42:52 peterg -## Strip comments (put in by Octave save function) -## -## Revision 1.4 1999/03/15 21:55:36 peterg -## Does away with the # symbol in the file - uses _de to get Nx Ny -## instead -## -############################################################### -if [ -z "$1" ]; then - echo "Usage: dat22dat system ode|odes so|s" - exit -fi - -# Find Nx and Ny -Nx=`mtt_getsize $1 x` # States -Ny=`mtt_getsize $1 y` # Outputs - -case $3 in - so) - First=1; Last=`expr $First + $Ny` - ;; - s) - First=`expr $Ny + 2`; Last=`expr $First + $Nx` - ;; - *) - First=1; Last=`expr $Ny + 1` - ;; -esac - -echo Creating $1_$2$3.dat - -awk '{ - ## Extract the data - if (index($1,"#") != 1){ - for (i=First;i<=Last;i++) - printf("%s ", $i); - printf("\n"); - } -}' First=$First Last=$Last <$1_$2s.dat2 > $1_$2$3.dat DELETED mttroot/mtt/bin/trans/dat22sg.sh Index: mttroot/mtt/bin/trans/dat22sg.sh ================================================================== --- mttroot/mtt/bin/trans/dat22sg.sh +++ /dev/null @@ -1,147 +0,0 @@ -#! /bin/sh - -# Convert simulation data to SciGraphica (v 0.61) Project file ($sys_odes.sg) - -sys=$1 - -write_project_header () -{ - cat < - - - - - application - scigraphica - - - author - MTT:${USER} - - - -EOF -} - -write_project_footer () -{ - echo '' - echo '' -} - -write_worksheet_header () -{ - name=$1 ; ncol=$2 ; nrow=$3 - cat < - - - application - scigraphica - - - author - MTT:${USER} - - - - ${name} - ${ncol} - ${nrow} - -1 - -1 -EOF -} - -write_worksheet_footer () -{ - echo '' - echo '' -} - -write_column_headings () -{ - awk '{ printf (" \n \n", NR-1,$0) }' -} - -write_output_headings () -{ - sys=$1 - ${MATRIX} -q <\n", row,col); - printf (" %f\n", val); - printf (" %f\n", val); - printf (" \n"); -endfunction - - [u_names,y_names,x_names] = ${sys}_struc; - ncol = size(${vec}_names)(1); - - load ("${sys}_odes.dat2"); - nrow = size(mtt_data)(1); - - # write Time - for r = 1:nrow - write_cell (r-1,0,mtt_data(r,1)); - endfor - - if ("${vec}" == "y") - offset = 1; - elseif ("${vec}" == "x") - offset = size(y_names)(1); - endif - - for r = 1:nrow - for c = 1:ncol - write_cell (r-1,c,mtt_data(r,c+offset)); - endfor - endfor -EOF -} - -file=${sys}_odes.sg - -NX=`mtt_getsize ${sys} x` -NY=`mtt_getsize ${sys} y` -NTMP=`wc -l ${sys}_odes.dat2 | awk '{print $1}'` -NROW=`expr ${NTMP} - 4` # 4 comment lines in mtt_data - -{ - write_project_header - # states - write_worksheet_header "X_${sys}" ${NX} ${NROW} - write_state_headings ${sys} - write_cell_values ${sys} x - write_worksheet_footer - # outputs - write_worksheet_header "Y_${sys}" ${NY} ${NROW} - write_output_headings ${sys} - write_cell_values ${sys} y - write_worksheet_footer - write_project_footer -} > ${file} - DELETED mttroot/mtt/bin/trans/dat2gdat Index: mttroot/mtt/bin/trans/dat2gdat ================================================================== --- mttroot/mtt/bin/trans/dat2gdat +++ /dev/null @@ -1,132 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: dat2gdat - -# Converts a data file in data format to gplot data format - -# Copyright (c) P.J.Gawthrop, 1997. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.1 2000/12/28 12:26:15 peterg -## Put under RCS -## -## Revision 1.8 1998/09/29 20:01:27 peterg -## 4th argument for nyquist style files - ie differnt x for each y -## -## Revision 1.7 1997/12/04 22:10:32 peterg -## Handles argument list - variable names. -## -## Revision 1.6 1997/05/22 10:34:05 peterg -## Changed argument structure. -## -## Revision 1.5 1997/05/22 10:11:19 peterg -## Fixed parametetr bug -## -# Revision 1.4 1997/05/16 13:03:10 peterg -# Now selects variables to display. -# -# Revision 1.3 1996/08/26 13:02:58 peterg -# Cahged awk to awk. -# -# Revision 1.2 1996/08/15 11:49:11 peter -# Puts a blank line at the end of the file: -# this allows user to cat files for use in gnuplot. -# -## Revision 1.1 1996/08/14 09:13:52 peter -## Initial revision -## -############################################################### - -echo Creating $1_$2.gdat -rm -f $1_$2.gdat - -DifferentX=$4; - -# Convert multi-columns into gnuplot format - -# ie stack two columns vertically separated by blank lines - -#Get the desired data index -which=`name2index $1 "$3"` -echo $1 $3 $which - -if [ -z "$DifferentX" ]; then -awk ' -BEGIN{ - row=0; col=0; -} -{ - if (row==0) { - N=split(which,Which,","); - } - row++; - j=1; - if (Which[1]==0) { - x[row] = $1; - for (i=1; i $1_$2.gdat - -else -awk ' -BEGIN{ - row=0; col=0; -} -{ - row++; cols=NF/2 - for (i=1; i<=cols; i++) { - ycol=2*i; - xcol=ycol-1; - x[row,i] = $xcol - y[row,i] = $ycol; - } -} -END { - rows = row; - for (col = 1; col <= cols; col++) { - for (row = 1; row <= rows; row++) { - print x[row,col], y[row,col] - }; - if (col<=cols) { - printf("\n") - } - } -}' <$1_$2.dat > $1_$2.gdat - -fi - - - - - - DELETED mttroot/mtt/bin/trans/dat2sdat Index: mttroot/mtt/bin/trans/dat2sdat ================================================================== --- mttroot/mtt/bin/trans/dat2sdat +++ /dev/null @@ -1,51 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: dat2sdat - -# Structure file - dat to sdat conversion -# P.J.Gawthrop April 1997 -# Copyright (c) P.J.Gawthrop, 1997, 1999 - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.1.4.1 2001/06/26 00:57:21 geraint -## Prints more useful name. -## -## Revision 1.1 2000/12/28 12:26:34 peterg -## Put under RCS -## -## Revision 1.1 1999/03/28 21:29:40 peterg -## Initial revision -## -############################################################### - -if [ "$2" = "odes" ]; then - which="state" -else - which="output" -fi - -awk ' -BEGIN{ -printf("Time"); -} -{ - if ($1==which) - printf(" %s(%s)", $4, $5); -} -END{ -printf("\n"); -} -' SYSTEM=$1 which=$which < $1_struc.txt - -cat $1_$2.dat - - - DELETED mttroot/mtt/bin/trans/dat2siag Index: mttroot/mtt/bin/trans/dat2siag ================================================================== --- mttroot/mtt/bin/trans/dat2siag +++ /dev/null @@ -1,44 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: dat2siag -# Converts data to siag (scheme in a grid) format - ie columns become rows. - -# Data file dat to sdat conversion -# P.J.Gawthrop February 1998 -# Copyright (c) P.J.Gawthrop, 1998. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.1 1999/03/29 03:35:13 peterg -## Initial revision -## -############################################################### - - - - -# This is the main transformation using awk -awk '{ - i++ - for (j=1;j<=NF;j++) - data[i,j]=$j; - Cols=NF; - Rows++; -} -END{ - for (j=1;j<=Cols;j++) { - for (i=1;i<=Rows;i++){ - printf("%s ", data[i,j]); - } - printf("\n"); - } -}' - - DELETED mttroot/mtt/bin/trans/def2write_r Index: mttroot/mtt/bin/trans/def2write_r ================================================================== --- mttroot/mtt/bin/trans/def2write_r +++ /dev/null @@ -1,152 +0,0 @@ -#!/bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: def2write.r -# Generates r code to write matrices -# Copyright (C) 2000 by Peter J. Gawthrop - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.8 2001/07/13 04:54:04 geraint -## Branch merge: numerical-algebraic-solution back to main. -## -## Revision 1.7.2.1 2001/05/04 04:07:24 geraint -## Numerical solution of algebraic equations. -## sys_ae.cc written for unsolved inputs. -## Solution of equations using hybrd from MINPACK (as used by Octave fsolve). -## -## Revision 1.7 2001/04/11 09:44:26 gawthrop -## Fixed cc and c problems to do with pow(x,y) and integers -## mtt/lib/reduce/fix_c.r is included in rdae2dae and cse2smx_lang for -## -c, -cc and -oct options -## -## Revision 1.6 2000/11/29 20:48:53 peterg -## Zapped unnecessary Npar creation -## -## Revision 1.5 2000/11/09 10:12:24 peterg -## Removed debugging line -## -## Revision 1.4 2000/10/14 16:19:54 peterg -## Just optimize one line at a time ... -## -## Revision 1.3 2000/10/11 09:07:17 peterg -## Added csex rep (cse without E) -## -## Revision 1.2 2000/10/10 21:02:17 peterg -## Added cse reps -## -## Revision 1.1 2000/10/10 09:07:32 peterg -## Initial revision -## -############################################################### - -optimise='' -while [ -n "`echo $1 | grep '^-'`" ]; do - case $1 in - -optimise) - opt='-optimise' - optimise_msg=' with optimisation' ;; - *) - echo "$1 is an invalid argument - ignoring" ;; - esac - shift -done - -sys=$1 # System name -rep=$2 # System representation - -# Inform User -echo Creating $1_$2_write.r $optimise_msg - -# Find system constants -Nx=`mtt_getsize $sys x` # States -Nxx=`mtt_getsize $sys xx` # States x States -Nu=`mtt_getsize $sys u` # Inputs -Ny=`mtt_getsize $sys y` # Outputs -Nyz=`mtt_getsize $sys yz` # Zero outputs -#Npar=`wc -l $sys\_sympar.txt | awk '{print $1}'` - -# Set up representation-specific stuff -case $rep in - cse) - matrices='EdX E' - ns="$Nx $Nx" - ms="1 $Nx" - ;; - csex) - matrices='EdX' - ns="$Nx" - ms="1" - ;; - cseo) - matrices='Y' - ns="$Ny" - ms="1" - ;; - lde) - matrices='L' - ns="$Nyz" - ms="1" - ;; - ldeo) - matrices='Y Yz' - ns="$Ny $Nyz" - ms="1 1" - ;; - ode) - matrices='dX' - ns="$Nx" - ms="1" - ;; - odeo) - matrices='Y' - ns="$Ny" - ms="1 1" - ;; - sm) - matrices='A B C D' - ns="$Nx $Nx $Ny $Ny" - ms="$Nx $Nu $Nx $Nu" - ;; - *) - echo def2write_r: representation $rep not recognised - exit -esac - -# Write out the code -echo 'off echo$' >$1_$2_write.r - -if [ ${opt:-""} = "-optimise" ]; then - echo 'load scope$' -else - echo 'load gentran$' -fi >> $1_$2_write.r - -for matrix in $matrices; do - n=`first "$ns"`; ns=`rest "$ns"` - m=`first "$ms"`; ms=`rest "$ms"` - is=`n2m 1 $n`; - js=`n2m 1 $m`; - for i in $is; do - for j in $js; do - if [ ${opt:-""} = "-optimise" ]; then - echo 'optimize' - name=`echo MTT$matrix'('$i','$j')'` - echo ' '$comma$name ':=:' $name - echo 'INAME mtt_tmp$' - comma='' - else - echo 'write' - name=`echo MTT$matrix'('$i','$j')'` - echo ' '$comma$name ':=' $name '$' - fi >> $1_$2_write.r - done - done -done -echo 'END$' >>$1_$2_write.r DELETED mttroot/mtt/bin/trans/def_r2m Index: mttroot/mtt/bin/trans/def_r2m ================================================================== --- mttroot/mtt/bin/trans/def_r2m +++ /dev/null @@ -1,52 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: def_r2m -# transforms definitions from reduce to m file. -# Copyright (c) P.J.Gawthrop 1996 - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.1 1998/07/25 07:10:41 peterg -## Initial revision -## -############################################################### - -#Inform user -echo Creating $1_def.m - -# Remove the old log file -rm -f def_r2m.log - - -# Header -cat < $1_def.m -function [nx,ny,nu,nz,nyz] = $1_def; -% function [nx,ny,nu,nz,nyz] = $1_def; -% System $1, representation def, language m -% File $1_def.m; -% Generated by MTT on `date`; -% -EOF - -# Constants -Nx=`grep "MTTNx " <$1_def.r | awk '{print $3}' | sed 's/;//'` -Ny=`grep "MTTNy " <$1_def.r | awk '{print $3}' | sed 's/;//'` -Nu=`grep "MTTNu " <$1_def.r | awk '{print $3}' | sed 's/;//'` -Nz=`grep "MTTNz " <$1_def.r | awk '{print $3}' | sed 's/;//'` -Nyz=`grep "MTTNyz " <$1_def.r | awk '{print $3}' | sed 's/;//'` - - -cat<> $1_def.m - nx = $Nx; - ny = $Ny; - nu = $Nu; - nz = $Nz; - nyz = $Nyz; -EOF DELETED mttroot/mtt/bin/trans/dir2paths Index: mttroot/mtt/bin/trans/dir2paths ================================================================== --- mttroot/mtt/bin/trans/dir2paths +++ /dev/null @@ -1,38 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: dir2paths -# Finds paths of all valid MTT examples - -# P.J.Gawthrop Mar 98 -# Copyright (c) P.J.Gawthrop, 1998. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.1 1998/03/11 10:32:35 peterg -## Initial revision -## -############################################################### - - -dotdot=$2 # Set to ../ if we are in MTT_work - - -# Create paths for all valid examples - ie dir name is system name -find $dotdot$1 -name '*_abg.fig' -print |\ - awk '{ - N=split($1,name,"/"); - printf("%s", name[1]); - for (i=2;i $1_rep.txt -echo "% Generated by MTT on" `date`. >> $1_rep.txt - -# Create paths for all valid examples - ie dir name is system name -dir2paths $1 $2 | sed 's/Introduction/AAAAA/g' | sort | sed 's/AAAAA/Introduction/g' | \ -awk '{ - print "mtt -t -d " $1,$2 " rep tex"; - }' >> $1_rep.txt DELETED mttroot/mtt/bin/trans/dm2fr_m Index: mttroot/mtt/bin/trans/dm2fr_m ================================================================== --- mttroot/mtt/bin/trans/dm2fr_m +++ /dev/null @@ -1,163 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: dm2fr_m - -# Transformation: descriptor matrix to frequency response - -# Copyright (c) P.J.Gawthrop, 1996. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.13 1998/09/03 09:12:32 peterg -## Removed debugging lines -## -## Revision 1.12 1998/09/02 12:02:14 peterg -## Added mttinput paramater -## -## Revision 1.11 1998/08/11 13:32:42 peterg -## Lowercase mttLAST etc -## -## Revision 1.10 1998/07/27 20:27:25 peterg -## Now get parameters for simpar file. -## -## Revision 1.9 1998/02/26 15:12:26 peterg -## Removed parameter stuff -## -# Revision 1.8 1996/08/30 14:54:36 peter -# Took back lock. -# -## Revision 1.7 1996/08/24 14:23:00 peter -## Global parameter passing. -## Proper error handling. -# -## Revision 1.6 1996/08/16 14:26:07 peter -## Fixed multi-output bug. -## Made sure that u0 is ok. -## -## Revision 1.5 1996/08/15 16:23:02 peter -## Now uses W in place of w for consistancy with time responses. -## -## Revision 1.4 1996/08/15 11:52:42 peter -## Now creats a number of versions: -## fr complex frequency response -## lmfr log magnitude of fr -## lpfr phase of fr -## nyfr real and imag parts - Nyquist style -## nifr Nichols style. -## -## Revision 1.3 1996/08/11 19:08:08 peter -## Parameter passing now enabled. -## -## Revision 1.2 1996/08/11 09:32:12 peter -## Now takes the numpar parameters correctly -## -## Revision 1.1 1996/08/10 14:11:11 peter -## Initial revision -## -############################################################### - -echo Creating $1_fr.m -echo Creating $1_lmfr.m -echo Creating $1_lpfr.m -echo Creating $1_nyfr.m -echo Creating $1_nifr.m - -#if [ "$2" = "" ]; -#then -# PARAMS='W=logspace(-1,2,100); u0=zeros(nu,1); u0(1)=1;' -# echo Using default parameter $PARAMS -#else -# PARAMS=$2; -#fi - -$MATRIX << EOF > dm2fr_m.log 2>mtt_error.txt - -# Data - mttpar=$1_numpar; - -# Simulation parameters - simpar=$1_simpar; - - [nx,ny,nu,nz,nyz] = $1_def - - %Defaults - - if exist('simpar.wmin')==0 - simpar.wmin = -1; - end; - - if exist('simpar.wmax')==0 - simpar.wmax = 2; - end; - - if exist('simpar.wsteps')==0 - simpar.wsteps = 100; - end; - - W = logspace(simpar.wmin,simpar.wmax,simpar.wsteps)'; - if exist('mttinput')==0 - mttinput = 1; - end; - mttu0 = zeros(nu,1); - mttu0(mttinput) = 1; - - [n,m]=size(W); - if m>n - W=W'; - end; - - [n,m]=size(mttu0); - if m>n - mttu0=mttu0'; - end; - - [A,B,C,D,E] = $1_dm(mttpar); - fr = dm2fr(A,B,C,D,E,W,mttu0); - lw = log10(W); - lmfr = log10(abs(fr)); - pfr = angle(fr)*180/pi; - -% Complex frequency response - write_matrix([W fr], '$1_fr'); - -% Log magnitude v log frequency - write_matrix([lw lmfr], '$1_lmfr'); - -% Angle v log frequency - write_matrix([lw pfr], '$1_lpfr'); - -% Nyquist style - re = real(fr); - im = imag(fr); - nyq = [re(:,1) im(:,1)]; - for i = 2:ny - nyq = [nyq re(:,i) im(:,i)]; - end; - write_matrix(nyq, '$1_nyfr'); - -% Nichols style - re = lmfr; - im = pfr; - nic = [im(:,1) re(:,1)]; - for i = 2:ny - nic = [nic im(:,i) re(:,i)]; - end; - write_matrix(nic, '$1_nifr'); - -EOF - -# Now invoke the standard error handling. -mtt_error mtt_error.txt - - - - - - DELETED mttroot/mtt/bin/trans/dm2ir_m2dat Index: mttroot/mtt/bin/trans/dm2ir_m2dat ================================================================== --- mttroot/mtt/bin/trans/dm2ir_m2dat +++ /dev/null @@ -1,59 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: dat2ps - -# Tramsforms descriptor matrix rep to frequency response dat. - - -# Copyright (c) P.J.Gawthrop, 1996. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.2 1996/08/11 10:40:00 peter -## Now handles e and NaN numbers. -## -## Revision 1.1 1996/08/10 14:15:03 peter -## Initial revision -## -############################################################### - -echo Creating $1_ir.dat - -if [ "$2" = "" ]; -then - PARAMS='t=[0:0.1:10]' - echo Using default parameter $PARAMS -else - PARAMS=$2; -fi - - -$MATRIX << EOF | awk '$1 !~ /[A-MO-Zb-cf-z]/ && NF>0 {print} ' >$1_ir.dat - - $PARAMS; - [n,m]=size(t); - if m>n - t=t'; - end; - - [A,B,C,D,E] = $1_dm($1_numpar); - y = dm2ir(A,B,C,D,E,t); - - [Ny,Nu]=size(D); - NN = Ny*Nu; - - xy = [t y(:,1)]; - for i=2:NN - xy = [xy t y(:,i)]; - end; -xy - -EOF - DELETED mttroot/mtt/bin/trans/dm2tf_r Index: mttroot/mtt/bin/trans/dm2tf_r ================================================================== --- mttroot/mtt/bin/trans/dm2tf_r +++ /dev/null @@ -1,89 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: dm2tf_r -# Reduce descriptor matrices to transfer function -# P.J.Gawthrop 8th May 1991, Dec 1993, April 1994. -# Copyright (c) P.J.Gawthrop, 1991, 1993, 1994. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.2 1998/03/27 15:00:23 peterg -## reduce ---> symbolic -## -## Revision 1.1 1996/08/25 10:09:55 peter -## Initial revision -## -############################################################### - -#Inform user -echo Creating $1_tf.r - -# Remove the old log file -rm -f dm2tf_r.log - -# Use reduce to accomplish the transformation -$SYMBOLIC >dm2tf_r.log << EOF - -%ON FLOAT; - -IN "$1_def.r"; -IN "$1_dm.r"; -IN "$1_subs.r"; - -OFF Echo; -OFF Nat; - -%create sE-A -%MTT_SEA := s*MTTE-MTTA; - -%Find the denominator of the TF - det(sE-A); -%comden := det(MTT_SEA); - -%Find the Adjoint transpose. -%matrix AdjT(MTTNx,MTTNx); -%FOR i := 1:MTTNx DO -% BEGIN -% FOR j := 1:MTTNx DO -% AdjT(i,j) := cofactor(MTT_SEA,i,j); -% END; - -%Adj := TP(AdjT); - -%Find the numerator matrix -%Num := MTTC*Adj*MTTB + MTTD*comden; - - -%Create the transfer function matrix -MTTTF := MTTD; -IF MTTNy>0 THEN MTTTF := MTTTF + (MTTC * ((s*MTTE-MTTA)^-1) * MTTB); - -%MTTTF := Num/comden; - - -OUT "$1_tf.r"; - -%Declare the transfer function matrix -write "matrix MTTTF(", MTTNy, ",", MTTNu, ")$"$ - -%And write it. -%MTTTF := MTTTF; -FOR i := 1:MTTNy DO - BEGIN - FOR j := 1:MTTNu DO - IF MTTTF(i,j) NEQ 0 THEN write "MTTTF(", i, ",", j, ") := ", MTTTF(i,j)$ - END; - -write ";END;"$ -SHUT "$1_tf.r"; - -EOF - -# Now invoke the standard error handling. -mtt_error_r dm2tf_r.log DELETED mttroot/mtt/bin/trans/dm_r2m Index: mttroot/mtt/bin/trans/dm_r2m ================================================================== --- mttroot/mtt/bin/trans/dm_r2m +++ /dev/null @@ -1,131 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: dm_r2m -# Reduce descriptor state-space A,B,C,D and E matrices to Matlab -# P.J.Gawthrop 29th July 1990, 6th Feb 1991, 28 May 1991, Dec 1993, Jan 94 -# Copyright (c) P.J.Gawthrop, 1989, 1990, 1991, 1993,1994. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.7 1998/04/13 11:01:55 peterg -## Now uses generic header : matlab_header -## -# Revision 1.6 1997/04/16 13:43:29 peterg -# Added matrix dimenensions -# -# Revision 1.5 1997/02/24 14:44:28 peterg -# Ignores numerical parameters in global list. -# -## Revision 1.4 1996/08/24 14:16:25 peter -## Global parameter passing. -## -## Revision 1.3 1996/08/18 12:02:46 peter -## Fixed bug when some matrices are empty. -## -## Revision 1.2 1996/08/12 20:22:20 peter -## Paramaters passed via an internal call to _numpar. -## _args script can overide these parameters - sneaky. -## -## Revision 1.1 1996/08/12 19:09:13 peter -## Initial revision -## -############################################################### - -#Inform user -echo Creating $1_dm.m - -# Remove the old log file -rm -f dm_r2m.log - -# Use reduce to accomplish the transformation -reduce >dm_r2m.log << EOF - -ON BigFloat, NumVal; -PRECISION 16; %Compatible with Matlab - -%Read in the definitions file -in "$1_def.r"; - -%Set up the number of argument variables to zero in case the user has forgotten -MTTNVar := 0; - -%Read in the parameter file -%%in "$1_sympar.r"; - -%Read the reduce state-space A,B,C and D matrices file -in "$1_dm.r"; - -IF MTTNvar>0 THEN -BEGIN - write "% Set the parameters"; - write "global ...;;"; - FOR i := 1:MTTNvar DO - BEGIN - IF numberp(MTTVar(i,1)) - THEN - BEGIN - % Do nowt - END - ELSE - BEGIN - write MTTVar(i,1), " ..."; - END; - END; - write " "; -END; - - -%Fortran switches - one line expressions -OFF echo; -ON fort$ -cardno!* := 1$ -fortwidth!* := 100$ -OFF period$ - -MTTN := MTTNx + 2*MTTNz + MTTNyz; -write "MTTA = zeros(", MTTN, ",", MTTN, ");"; -write "MTTB = zeros(", MTTN, ",", MTTNu, ");"; -write "MTTC = zeros(", MTTNy, ",", MTTN, ");"; -write "MTTD = zeros(", MTTNy, ",", MTTNu, ");"; -write "MTTE = zeros(", MTTN, ",", MTTN, ");"; - -OUT "$1_dm.1"; - -ON NERO; % Suppress zero elements. -MTTA := MTTA; -MTTB := MTTB; -MTTC := MTTC; -MTTD := MTTD; -MTTE := MTTE; - -SHUT "$1_dm.1"; - - -EOF - -# Header -matlab_header $1 dm 'A,B,C,D,E'> $1_dm.m - -#Define array sizes. -grep -v 'function' $1_def.m | grep -v '%' >> $1_dm.m -echo 'mtta = zeros(nx+nyz+2*nz,nx+nyz+2*nz);' >> $1_dm.m -echo 'mttb = zeros(nx+nyz+2*nz,nu);' >> $1_dm.m -echo 'mttc = zeros(ny,nx+nyz+2*nz);' >> $1_dm.m -echo 'mttd = zeros(ny,nu);' >> $1_dm.m -echo 'mtte = zeros(nx+nyz+2*nz,nx+nyz+2*nz);' >> $1_dm.m - - -#Code -cat $1_dm.1 >> $1_dm.m - - -rm -f $1_dm.1 - - DELETED mttroot/mtt/bin/trans/dm_r2tex Index: mttroot/mtt/bin/trans/dm_r2tex ================================================================== --- mttroot/mtt/bin/trans/dm_r2tex +++ /dev/null @@ -1,163 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: dm_r2tex -# Reduce descriptor matrices to LaTex descriptor matrices. -# P.J.Gawthrop 9 June 1990, 8th July 1990, 14 Feb 1991, 10th May 1991, 4th June 1991 -# Copyright (c) P.J.Gawthrop, 1990, 1991. - -#Inform user -echo Creating $1_dm.tex - -# Remove the old log file -rm -f dm_r2tex.log - -# Use reduce to accomplish the transformation -reduce >dm_r2tex.log << EOF - -%Read the definitions file -in "$1_def.r"; - -%Read the symbolic parameters file -%%in "$1_sympar.r"; - -%Read the substitution file -in "$1_subs.r"; - -%Read the simplification file -in "$1_simp.r"; - -%Number of descriptor variables -MTTN := MTTNx + 2*MTTNz + MTTNyz; - -%Read the descriptor matrices file -in "$1_dm.r"; - -OFF Echo; -OFF Nat; - -OUT "$1_dm.tex"; - -%Write out the descriptor matrices. -write "%Descriptor matrices $1"; -write "%File: $1_dm.tex"; -write""; - -write "%Descriptor matrices"; - -%IF (MTTNz+MTTNyz) NEQ 0 THEN -%BEGIN -% write "% - E matrix"; -% write "\begin{equation}"; -% write "MTTE = MTTI_0(", MTTNx+MTTNz, ",", MTTNz+MTTNyz, ")"; -% write "\end{equation}"; -%END; - - -IF MTTN NEQ 0 THEN -IF (MTTNz+MTTNyz) > 0 THEN -BEGIN -write "% - E matrix"; -write "\begin{equation}"; -write "MTTE = \begin{pmatrix}"; - FOR Row := 1:MTTN DO - BEGIN - FOR Col := 1:MTTN DO - BEGIN - Write "{", MTTE(Row,Col), "}"; - IF Col doc2dvi.log -bibtex $system >> doc2dvi.log -latex $system.doc >> doc2dvi.log -latex $system.doc >> doc2dvi.log - -if [ "$documenttype" = "book" ]; then - makeindex $system >> doc2dvi.log -else - touch $system.ind -fi - -latex $system.doc >> doc2dvi.log -latex $system.doc >> doc2dvi.log - -# Make sure transformation succeeeds -exit 0 DELETED mttroot/mtt/bin/trans/doc2pdf Index: mttroot/mtt/bin/trans/doc2pdf ================================================================== --- mttroot/mtt/bin/trans/doc2pdf +++ /dev/null @@ -1,43 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: doc2pdf -# Converts doc file to pdf file - -# Copyright (c) P.J.Gawthrop 1998 - - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## -############################################################### - -system=$1 -documenttype=$2 - -# Inform user -echo "Creating $system.pdf" - -#Run pdflatex , bibtex and makeindex -pdflatex $system.doc > doc2pdf.log -bibtex $system >> doc2pdf.log -pdflatex $system.doc >> doc2pdf.log -pdflatex $system.doc >> doc2pdf.log - -if [ "$documenttype" = "book" ]; then - makeindex $system >> doc2pdf.log -else - touch $system.ind -fi - -pdflatex $system.doc >> doc2pdf.log -pdflatex $system.doc >> doc2pdf.log - -# Make sure transformation succeeeds -exit 0 DELETED mttroot/mtt/bin/trans/doc2ps Index: mttroot/mtt/bin/trans/doc2ps ================================================================== --- mttroot/mtt/bin/trans/doc2ps +++ /dev/null @@ -1,43 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: doc2dvi -# Converts doc file to dvi file - -# Copyright (c) P.J.Gawthrop 1998 - - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.4 1999/11/02 07:56:46 peterg -## Removed documenttype in blurb -## -## Revision 1.3 1998/11/24 12:03:27 peterg -## Indexing of book docs. -## -## Revision 1.2 1998/04/15 18:40:43 peterg -## Run LateX three times -## -## Revision 1.1 1998/03/03 08:35:50 peterg -## Initial revision -## -############################################################### - -system=$1 -documenttype=$2 - -# Inform user -echo "Creating $system.ps" - -doc2dvi $system $documenttype - -dvips -o $system.ps $1 - -# Make sure transformation succeeeds -exit 0 DELETED mttroot/mtt/bin/trans/ese2rdae_r Index: mttroot/mtt/bin/trans/ese2rdae_r ================================================================== --- mttroot/mtt/bin/trans/ese2rdae_r +++ /dev/null @@ -1,254 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: ese2rdae_r -# Reduce equations to raw differential-algebraic equation conversion -# P.J.Gawthrop 8th May 1991, May 1994, June 1996 -# Copyright (c) P.J.Gawthrop, 1991, 1994, 1996 - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.11 2001/07/06 00:46:50 gawthrop -## Added -cr option -- forces cr to be loaded before the ese.r file -## This avoids causality problems when using multi-port Rs to represent -## arbitary equations -## -## Revision 1.10 2000/11/30 15:23:16 peterg -## Taken out all subsystem stuff - now done in mtt using -## mtt_make_subsystems -## -## Revision 1.9 2000/09/07 12:18:31 peterg -## Prettified layout of this file -## -## Revision 1.8 2000/09/07 12:07:26 peterg -## *** empty log message *** -## -## Revision 1.7 2000/09/01 13:34:15 peterg -## Exit on option error -## -## Revision 1.6 2000/09/01 13:30:32 peterg -## Added -partition switch -## -## Revision 1.5 2000/09/01 12:14:57 peterg -## Added connecti9ng inputs -## -## Revision 1.4 1998/04/07 15:06:46 peterg -## Correct log file name -## -## Revision 1.3 1998/03/07 12:57:19 peterg -## Fixed logname bug -## -## Revision 1.2 1998/03/07 12:51:20 peterg -## This is the new version of ese2dae - it does not do the CRs at this -## stage to give reduce an easier time. -## -## rese2ese_r does the constitutive relationship bit -## -## Revision 1.1 1998/03/07 12:49:31 peterg -## Initial revision -## -## Revision 1.12 1998/01/31 16:22:59 peterg -## Added IF MTTNx>0 THEN and IF MTTNy>0 THEN before the relevant -## assignements of MTTdX and MTTY to themselves. -## -## Revision 1.11 1997/09/18 09:45:08 peterg -## Canged the comment about linux reduce -- reduce reads this for some -## reason. -## -## Revision 1.10 1997/09/15 14:21:18 peterg -## Reads ese file twice to avoid a bug in Linux reduce !!!??? -## -## Revision 1.9 1997/08/30 09:59:31 peterg -## Changed mehtod of writing out mtty to avoid a strange segmentation violation. -## Now uses MTTY := MTTY; approach. -## -## Revision 1.8 1997/04/23 09:31:20 peterg -## Now reads in the (top level) def file in the generated reduce code. -## -# Revision 1.7 1997/04/23 09:23:15 peterg -# Two argument version in preparation for heirarchical version -# -# Revision 1.6 1996/11/21 15:47:48 peterg -# Now inputs _params.r not _sympar.r -# -## Revision 1.5 1996/11/02 10:17:35 peterg -## Removed default constitutive relationship input. -## -# Revision 1.4 1996/09/12 12:10:05 peter -# Now reads the default constitutive relationship file. -# -## Revision 1.3 1996/08/25 09:43:26 peter -## General error handling. -## -## Revision 1.2 1996/08/25 08:31:28 peter -## Error handling added. -## -############################################################### - - -while [ -n "`echo $1 | grep '^-'`" ]; do - case $1 in - -I ) - info=info;; - -cr ) - load_cr=yes; - blurb2=' using cr and subs first'; - ;; - -partition ) - partition=yes; - blurb='with partitioning'; - ;; - *) - echo "$1 is an invalid argument - ignoring"; - exit ;; - esac - shift -done - -#Create the top-level system name -topname=$1 - -#Create the system names -if [ -z "$2" ]; - then - sysname=$topname; - else - sysname=$1_$2; -fi - -defname=$topname"_def.r" -crname=$topname"_cr.r" -subsname=$topname"_subs.r" -paramname=$topname"_params.r" -daename=$sysname"_rdae.r" -esename=$sysname"_ese.r" -logname=ese2rdae.log - -if [ -n "${load_cr}" ]; then - load_cr_comm="in \"${crname}\";" - load_subs_comm="in \"${subsname}\";" -fi - -# Inform user -echo Creating $daename $blurb $blurb2 - -# Remove the old log file -rm -f $logname - -# Use symbolic algebra to accomplish the transformation -$SYMBOLIC >$logname << EOF - -%Read in the cr and sub when -cr is set -$load_cr_comm -$load_subs_comm - -%Read the formatting function -in "$MTTPATH/trans/reduce_matrix.r"; - -% Definitions -in "$defname"; - -% Elementary system equations -in "$esename"; - -OFF Echo; -OFF Nat; - -%Create the output file -OUT "$daename"; - -write "in ""$defname"""; - -% State -MTT_Matrix := MTTdX$ -MTT_Matrix_name := "MTTdX"$ -MTT_Matrix_n := MTTNx$ -MTT_Matrix_m := 1$ -Reduce_Matrix()$ - -% Nonstate -MTT_Matrix := MTTZ$ -MTT_Matrix_name := "MTTZ"$ -MTT_Matrix_n := MTTNz$ -MTT_Matrix_m := 1$ -Reduce_Matrix()$ - -% Output -MTT_Matrix := MTTy$ -MTT_Matrix_name := "MTTy"$ -MTT_Matrix_n := MTTNy$ -MTT_Matrix_m := 1$ -Reduce_Matrix()$ - -% Zero outputs -MTT_Matrix := MTTYz$ -MTT_Matrix_name := "MTTYz"$ -MTT_Matrix_n := MTTNyz$ -MTT_Matrix_m := 1$ -Reduce_Matrix()$ - - -SHUT "$daename"; -quit; - -EOF - -#if [ -n "$partition" ]; then -# rm -f mtt_junk -# # Now for the subsystems -# # Find subsystems -# subsystems=`mtt_get_subsystems $1` -# -# for subsystem in $subsystems; do -# echo Doing $subsystem -# ucname="MTT_"$subsystem"_uc" -# -# Nu=`mtt_getsize -internal $subsystem u` -# echo Nu $Nu -# -# # Use symbolic algebra to accomplish the transformation -# $SYMBOLIC >$logname << EOF -# -# %Read the formatting function -# in "$MTTPATH/trans/reduce_matrix.r"; -# -# % Definitions -# in "$defname"; -# -# % Elementary system equations -# in "$esename"; -# -# OFF Echo; -# OFF Nat; -# -# %Create the output file -# OUT "mtt_junk"; -# % Connecting inputs -# MTT_Matrix := $ucname $ -# MTT_Matrix_name := "$ucname" $ -# MTT_Matrix_n := $Nu $ -# MTT_Matrix_m := 1$ -# Reduce_Matrix()$ -# -# shut "mtt_junk"; -#EOF -# echo >> $1_rdae.r -# echo %Connections for subsystem $subsystem >> $1_rdae.r -# echo >> $1_rdae.r -# -# cat mtt_junk >> $1_rdae.r -# rm -rf mtt_junk -# done -#fi - -echo "END;" >> $1_rdae.r - -# Now invoke the standard error handling. -mtt_error_r $logname - DELETED mttroot/mtt/bin/trans/ese_tidy Index: mttroot/mtt/bin/trans/ese_tidy ================================================================== --- mttroot/mtt/bin/trans/ese_tidy +++ /dev/null @@ -1,29 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - - -# Bourne shell script: ese_tidy -# Tidies up Matlab format files -# P.J.Gawthrop May 1998 -# Copyright (c) P.J.Gawthrop, 1990, 1994, 1995. - -#Puts the state & output equations at the end of the file - -grep -v '^MTT' $1_ese.r>junk1 -grep '^MTT' $1_ese.r>junk2 -echo 'END;' >junk3 -cat junk1 junk2 junk3> $1_ese.r - - - - DELETED mttroot/mtt/bin/trans/examples_txt2tk Index: mttroot/mtt/bin/trans/examples_txt2tk ================================================================== --- mttroot/mtt/bin/trans/examples_txt2tk +++ /dev/null @@ -1,45 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: examples_txt2tk -# Creates tk/tcl file for xmtt. -# Copyright (c) P.J.Gawthrop, 1998,1999 - - -# Examples menu -awk 'BEGIN{ - basemenu=".exam.exam" - oldmenu=basemenu - OLDPATH=""; - } - { - if (NF>1){ - PATH=$1; - N=split(PATH,path,"/"); # Find current example path - oldN=split(OLDPATH,oldpath,"/"); # Find last example path - same=1; menu=basemenu; - while ((path[same]==oldpath[same])&&(same<=N)){ - menu=menu"."tolower(path[same]) - same++ - } - oldmenu=menu - for (i=same;i> $1.fig < ${ICD} -## Interface Control Definition for System ${sys} -## ${ICD}: Generated by MTT `date` - -EOF - -cat ${icd} |\ - sed 's/[\,\;]/\ /g' |\ - awk ' - ($2 != "null" && $6 == "input") { printf ("Input: %-30s %-30s Causality: Effort Units: %s\n", $2, $1, $3) } - ($4 != "null" && $7 == "input") { printf ("Input: %-30s %-30s Causality: Flow Units: %s\n", $4, $1, $5) } - ($2 != "null" && $6 == "output") { printf ("Output: %-30s %-30s Causality: Effort Units: %s\n", $2, $1, $3) } - ($4 != "null" && $7 == "output") { printf ("Output: %-30s %-30s Causality: Flow Units: %s\n", $4, $1, $5) } - ' | sort >> ${ICD} DELETED mttroot/mtt/bin/trans/icd_txt2m.sh Index: mttroot/mtt/bin/trans/icd_txt2m.sh ================================================================== --- mttroot/mtt/bin/trans/icd_txt2m.sh +++ /dev/null @@ -1,18 +0,0 @@ -#! /bin/sh - -# Inform user -echo Creating $1_icd.m - -#Create the component ICD file complete with headers. -echo "function icd = $1_icd" > $1_icd.m -echo "%% Component icd file ($1_icd.m)" >> $1_icd.m -echo "%% Generated by MTT at `date`" >> $1_icd.m - -#Write out the variables -awk '{ - if (NF==2) {i++; print "icd."$1 "\t = \""$2"\";"} - - } - END{ - if (i==0) print "icd = 0;" - }' $1_icd.txt >> $1_icd.m DELETED mttroot/mtt/bin/trans/ker_r2tex Index: mttroot/mtt/bin/trans/ker_r2tex ================================================================== --- mttroot/mtt/bin/trans/ker_r2tex +++ /dev/null @@ -1,61 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: ker_r2tex -# Reduce constrained-state matrices to LaTex constrained-state matrices. -# P.J.Gawthrop 9 Sep 1991, May 1994 -# Copyright (c) P.J.Gawthrop, 1991, May 1994, 1996. -# Copyright (C) 2001 by Peter J. Gawthrop - - -# Inform user -echo Creating $1_ker.tex - -# Remove the old log file -rm -f ker_r2tex.log - -# Use reduce to accomplish the transformation -reduce >ker_r2tex.log << EOF - -%Read the definitions file -in "$1_def.r"; - -%Read the constrained-state matrices file -in "$1_ker.r"; - -%Read the symbolic parameters file -%%in "$1_sympar.r"; - -%Read the substitution file -in "$1_subs.r"; - -%Read the simplification file -in "$1_simp.r"; - -%Read the formatting function -in "$MTTPATH/trans/latex_matrix.r"; - -OFF Echo; -OFF Nat; - -MATRIX MTT_Matrix(MTTNy-MTTNu,MTTNy); - -OUT "$1_ker.tex"; - -%Write out the kernel matrix -write "%Kernel matrices $1"; -write "%File: $1_ker.tex"; -write""; - -MTT_Matrix := MTTR$ -MTT_Matrix_name := "MTTR"$ -MTT_Matrix_n := MTTNy-MTTNu$ -MTT_Matrix_m := MTTNy$ -LaTeX_Matrix()$ - -SHUT "$1_ker.tex"; -quit; -EOF DELETED mttroot/mtt/bin/trans/landscape2portrait.sh Index: mttroot/mtt/bin/trans/landscape2portrait.sh ================================================================== --- mttroot/mtt/bin/trans/landscape2portrait.sh +++ /dev/null @@ -1,28 +0,0 @@ -#!/bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: landscape2portrait.sh -# Converts one or more figure files from landscape mode to portrait mode - -# ############################################################### -# ## Version control history -# ############################################################### -# ## $Id$ -# ## $Log$ -# ############################################################### - -# Copyright (C) 2001 by Peter J. Gawthrop - -figfiles=$* - -for figfile in $figfiles; do - count=`grep -c Landscape $figfile` - if [ "$count" = "1" ]; then - echo Converting $figfile - mv $figfile ${figfile}.bak - sed 's/Landscape/Portrait/'< ${figfile}.bak > $figfile - fi -done DELETED mttroot/mtt/bin/trans/lang_header Index: mttroot/mtt/bin/trans/lang_header ================================================================== --- mttroot/mtt/bin/trans/lang_header +++ /dev/null @@ -1,243 +0,0 @@ -#!/bin/sh - -# Generates function header for a computer language -# PJ Gawthrop May 1998 - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.11 2000/05/11 08:03:02 peterg -## Remove the mtt no global stuff -## -## Revision 1.10 2000/04/18 11:14:32 peterg -## - parameters option -## -## Revision 1.9 2000/04/08 10:23:38 peterg -## Added -noglobal option -## -## Revision 1.8 1999/02/16 04:14:53 peterg -## Small change to modeline generation -## -## Revision 1.7 1999/01/20 22:19:21 peterg -## Puts emacs mode line at top of .m files -## -## Revision 1.6 1998/07/27 20:30:39 peterg -## Mods for dm rep - no globals ... -## -## Revision 1.5 1998/07/25 20:42:30 peterg -## No assignements for switch either -## -## Revision 1.4 1998/07/25 10:43:10 peterg -## No assignments of x or u if sm rep. -## -## Revision 1.3 1998/07/19 15:52:15 peterg -## Don't call the _input function - make it external from now on ... -## -## Revision 1.2 1998/05/24 12:47:39 peterg -## This still needs worjk doing for c generation!! -## -## Revision 1.1 1998/05/23 16:17:40 peterg -## Initial revision -## -############################################################### - -# Args -while [ -n "`echo $1 | grep '^-'`" ]; do - case $1 in - -noglobals) - noglobals=noglobals; - ;; - -parameters) - parameters=parameters; - ;; - *) - echo $1 is an unknown option - exit;; - esac - shift -done - -# Set up the language specific stuff -system=$1 -rep=$2 -language=$3 -args=$4 -output=$5 -extras=$6 - -case $language in - m) - modeline='% -*-octave-*- Put Emacs into octave-mode%'; - ext='m'; - Lc='#'; - Rc='#'; - Lb='('; - Rb=')'; - ;; - p) - modeline='% -*-octave-*- Put Emacs into octave-mode%'; - ext='m'; - Lc='#'; - Rc='#'; - Lb='['; - Rb=']'; - ;; - c) - ext='c'; - Lc='/*'; - Rc='*/'; - Lb='['; - Rb=']'; - ;; - java) - ext='java'; - Lc='/*'; - Rc='*/'; - Lb='['; - Rb=']'; - ;; - *) - echo Language $language not supported - sorry; exit 1 -esac - - -######### Octave (matlab) code -if [ "$language" = m ]; then -cat <1 THEN -% BEGIN -% FOR col := 1:MTT_Matrix_m DO -% BEGIN -% IF (row EQ 1) AND (col EQ 1) THEN DELAYOPTS; -% INAME(mtt_o); % Set temp name -% %SETLENGTH(2); % Adjust optimisation -% gentran declare mtt_matrix_element:REAL; -% gentran declare mtt_matrix:REAL; -% mtt_matrix_element := mtt_matrix(row,col); -% GENTRAN mtt_matrix(row,col) ::=: mtt_matrix_element; -% IF (row EQ MTT_matrix_n) AND (col EQ MTT_Matrix_m) THEN MAKEOPTS; -% END; -% END -% ELSE -% BEGIN -% IF (row EQ 1) THEN DELAYOPTS; -% INAME(mtt_o); % Set temp name -% GENTRAN mtt_matrix(row) ::=: mtt_matrix(row,1); -% IF (row EQ MTT_matrix_n) THEN MAKEOPTS; -% END; -% END -END; - -END;; - - DELETED mttroot/mtt/bin/trans/latex_equations.r Index: mttroot/mtt/bin/trans/latex_equations.r ================================================================== --- mttroot/mtt/bin/trans/latex_equations.r +++ /dev/null @@ -1,75 +0,0 @@ -% Reduce file to generate equations -% Copyright (C) 2000 by Peter J. Gawthrop - -PROCEDURE latex_equations; -BEGIN -IF MTTNx>0 THEN -BEGIN - write"\begin{equation}"$ - write"\begin{aligned}"$ - FOR Row := 1:MTTNx DO - BEGIN - write "\dot MTTX", Row, " &= "$ - write "{"$ - write MTTdx(Row,1)$ - write "}"$ - IF Row0 THEN -BEGIN - write"\begin{equation}"$ - write"\begin{aligned}"$ -FOR Row := 1:MTTNz DO - BEGIN - write "MTTz", Row, " &= "$ - write "{"$ - write MTTz(Row,1)$ - write "}"$ - IF Row0 THEN -BEGIN - write"\begin{equation}"$ - write"\begin{aligned}"$ -FOR Row := 1:MTTNyz DO - BEGIN - write "0 &= "$ - write "{"$ - write MTTyz(Row,1)$ - write "}"$ - IF Row0 THEN -BEGIN - write"\begin{equation}"$ - write"\begin{aligned}"$ -FOR Row := 1:MTTNy DO - BEGIN - write "MTTy", Row, " &= "$ - write "{"$ - write MTTy(Row,1)$ - write "}"$ - IF Row0 THEN - IF MTT_Matrix_m>0 THEN - BEGIN - write "\begin{equation}"; - write MTT_Matrix_name, " = \begin{pmatrix}"; - FOR Row := 1:MTT_Matrix_n DO - BEGIN - FOR Col := 1:MTT_Matrix_m DO - BEGIN - write "{", MTT_Matrix(Row,Col), "}"; - IF Col0 THEN - IF MTT_Matrix_m>0 THEN - BEGIN - FOR Row := 1:MTT_Matrix_n DO - BEGIN - FOR Col := 1:MTT_Matrix_m DO - BEGIN - MTT_element := MTT_Matrix(Row,Col); - IF MTT_element NEQ 0 THEN - BEGIN - write "\begin{equation}"; - write MTT_Matrix_name, "_", Row, Col, " = {", MTT_element, "}\cr"; - write "\end{equation}"; - END; - END; - END; - END; -END; -END; - -END;; DELETED mttroot/mtt/bin/trans/latex_tidy Index: mttroot/mtt/bin/trans/latex_tidy ================================================================== --- mttroot/mtt/bin/trans/latex_tidy +++ /dev/null @@ -1,158 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: latex_tidy -# Tidies up LaTex format files -# P.J.Gawthrop 12 June 1990, Dec 1994 -# Copyright (c) P.J.Gawthrop, 1990, 1994 - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.17 2000/12/28 12:31:15 peterg -## *** empty log message *** -## -## Revision 1.16 2000/10/10 21:03:20 peterg -## *** empty log message *** -## -## Revision 1.15 1998/04/07 08:44:11 peterg -## zapped eta - it messes up theta -## -## Revision 1.14 1998/02/25 22:12:07 peterg -## Added , to regexp for subscripts -## -## Revision 1.13 1998/02/18 09:06:07 peterg -## Added dX0 -## -## Revision 1.12 1998/02/09 14:11:08 peterg -## Added ctf --> D(s) -## -## Revision 1.11 1998/01/30 15:15:14 peterg -## Sorted out superscript problem -## -# Revision 1.10 1997/08/19 10:38:26 peterg -# Added pi to the list -# -## Revision 1.9 1997/02/24 13:02:17 peterg -## Added gamma and delta transformations -## -## Revision 1.8 1996/12/31 16:14:53 peterg -## Now handles multi-character subscripts. -## -## Revision 1.7 1996/12/19 10:24:29 peterg -## Uniform conversion of mttxi --> x_{i} for x,u,y and z -## Convert ???mttx to mtt x for x,u,y and z -## -## Revision 1.6 1996/12/12 16:03:19 peterg -## Removed global argument stuff for y - its already done in the -## translation. -## -## Revision 1.5 1996/12/12 15:59:06 peterg -## Generic handling of subscript for y,u,ui -## -## Revision 1.4 1996/12/12 15:54:20 peterg -## Saved it. -## -## Revision 1.3 1996/08/30 14:36:46 peter -## Added some more subscripts. -## -- its high time this was rewritten in awk or perl!!! -## -## Revision 1.2 1996/08/19 14:35:51 peter -## Prettyfied z dot. -## -## Revision 1.1 1996/08/18 20:03:12 peter -## Initial revision -## -############################################################### - -cat $1 | \ -tr "[A-Z]" "[a-z]" | \ -sed \ - -e "s/_$[a-z0-9,]*$/_{\1}/g" \ - -e "s/\// \\\over /g" \ - -e "s/[0-9a-z_]*mtty/mtty/g" \ - -e "s/[0-9a-z_]*mttu/mttu/g" \ - -e "s/mttx$[0-9]*$/x_{\1}/g" \ - -e "s/mttex$[0-9]*$/\\\chi_{\1}/g" \ - -e "s/mttddui$[0-9]*$/\\\ddot{v}_{\1}/g" \ - -e "s/mttdui$[0-9]*$/\\\dot{v}_{\1}/g" \ - -e "s/mttui$[0-9]*$/v_{\1}/g" \ - -e "s/mttu$[0-9]*$/u_{\1}/g" \ - -e "s/mtty$[0-9]*$/y_{\1}/g" \ - -e "s/mttz$[0-9]*$/z_{\1}/g" \ - -e "s/mttdx0/\\\dot x_0/g" \ - -e "s/mttdx/\\\dot x/g" \ - -e "s/mttdz/\\\dot z_/g" \ - -e "s/mttdu/\\\dot u_/g" \ - -e "s/dot_/ \\\dot /g" \ - -e "s/mtttf/G(s)/g" \ - -e "s/mttctf/D(s)/g" \ - -e "s/mtta/A/g" \ - -e "s/mttb/B/g" \ - -e "s/mttc/C/g" \ - -e "s/mttd/D/g" \ - -e "s/mtte/E/g" \ - -e "s/mttg/G/g" \ - -e "s/mtti/I/g" \ - -e "s/mttk/K/g" \ - -e "s/mttl/L/g" \ - -e "s/mttm/M/g" \ - -e "s/mtttheta/\\\Theta/g" \ - -e "s/mtto/O/g" \ - -e "s/mttv/V/g" \ - -e "s/mtty0/y_0/g" \ - -e "s/mttu0/u_0/g" \ - -e "s/mttx/x/g" \ - -e "s/mttz/z/g" \ - -e "s/mttyy/Y/g" \ - -e "s/mttw/w/g" \ - -e "s/mttt/T/g" \ - -e "s/mttpar//g" \ - -e "s/!/\\\/g" \ - -e "s/\\$//g" \ - -e "s/(/{(/g" \ - -e "s/\*\*/^/g" \ - -e "s/\*/ /g" \ - -e "s/)/)}/g" \ - -e "s/\left/\left (/g" \ - -e "s/\right/\right )/g" \ - -e "s/sqrt/\\\sqrt/g" \ - -e "s/theta/\\\theta/g" \ - -e "s/tau/\\\tau/g" \ - -e "s/alpha/\\\alpha/g" \ - -e "s/beta/\\\beta/g" \ - -e "s/gamma/\\\gamma/g" \ - -e "s/delta/\\\delta/g" \ - -e "s/epsilon/\\\epsilon/g" \ - -e "s/eta/\\\eta/g" \ - -e "s/kappa/\\\kappa/g" \ - -e "s/lambd/\\lambda/g" \ - -e "s/lambda/\\\lambda/g" \ - -e "s/mu/\\\mu/g" \ - -e "s/phi/\\\phi/g" \ - -e "s/pi/\\\pi/g" \ - -e "s/rho/\\\rho/g" \ - -e "s/sigma/\\\sigma/g" \ - -e "s/omega/\\\omega/g" \ - -e "s/zeta/\\\zeta/g" \ - -e "s/infty/\\\infty/g" \ - -e "s/sin/\\\sin/g" \ - -e "s/cos/\\\cos/g" \ - -e "s/23/{23}/g" \ - -e "s/+-/ -/g" \ - | cat -s | \ -sed -e "s/ $//g" | \ -tr -s '\012' '\012' \ ->junk - -mv junk $1 - - - - - DELETED mttroot/mtt/bin/trans/lbl2alias_txt Index: mttroot/mtt/bin/trans/lbl2alias_txt ================================================================== --- mttroot/mtt/bin/trans/lbl2alias_txt +++ /dev/null @@ -1,40 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: lbl2alias_txt2txt -# Creates the component aliases in text form - -# Copyright (c) P.J.Gawthrop 1998 - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.1 1998/07/02 08:14:07 peterg -## Initial revision -## -############################################################### - -# Inform user -echo Creating $1_alias.txt - -#Create the alias file complete with headers. -echo "# Alias file ($1_alias.txt)" > $1_alias.txt -echo "# Generated by MTT at `date`" >> $1_alias.txt - -#Write out the variables -grep '[%|#]ALIAS' $1_lbl.txt |\ -awk '{print $2,$3}' >> $1_alias.txt - - - - - - - - - DELETED mttroot/mtt/bin/trans/lbl2alias_txt2txt Index: mttroot/mtt/bin/trans/lbl2alias_txt2txt ================================================================== --- mttroot/mtt/bin/trans/lbl2alias_txt2txt +++ /dev/null @@ -1,74 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: lbl2alias_txt2txt -# Creates the component aliases in text form - -# Copyright (c) P.J.Gawthrop 1998 - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.5 1998/07/17 16:31:37 peterg -## Ignore component aliases (with /) -## -## Revision 1.4 1998/07/03 15:21:26 peterg -## Replace sub by gsub -- need to replace ALL , -## -## Revision 1.3 1998/07/03 13:49:03 peterg -## Flips the order of alias and name when $ is involved. -## -## Revision 1.2 1998/07/03 07:54:39 peterg -## Tidied -## -## Revision 1.1 1998/07/02 09:22:10 peterg -## Initial revision -## -## Revision 1.2 1998/07/02 08:34:00 peterg -## Renamed to lbl2alias_txt2txt -## -## Revision 1.1 1998/07/02 08:14:07 peterg -## Initial revision -## -############################################################### - -# Inform user -echo Creating $1_alias.txt - -#Create the alias file complete with headers. -echo "# Alias file ($1_alias.txt)" > $1_alias.txt -echo "# Generated by MTT at `date`" >> $1_alias.txt - -#Write out the variables - grep '[%|#]ALIAS' $1_lbl.txt |\ - awk '{ - if (match($3,"/")==0){ - if (match($2,"\\$")==0){ - alias=$2; name =$3 - } - else{ - alias=$3; name =$2 - } - gsub(",","__",alias); #Replace , - n=split(alias,a,"|"); - for (i=1; i<=n; i++) - print a[i] "\t" name; - } - } - END{ - print "###_END_OF_ALIAS_###" - }' >> $1_alias.txt - - - - - - - - - DELETED mttroot/mtt/bin/trans/lbl2args_txt2out Index: mttroot/mtt/bin/trans/lbl2args_txt2out ================================================================== --- mttroot/mtt/bin/trans/lbl2args_txt2out +++ /dev/null @@ -1,43 +0,0 @@ -#!/bin/sh -# Writes argument list to standard output ready for use in calling lbl file - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - - ############################################################### - ## Version control history - ############################################################### - ## $Id$ - ## $Log$ - ## Revision 1.1 2001/06/11 15:06:58 gawthrop - ## Now handles user-defined components - ## - ############################################################### - -# Copyright (C) 2001 by Peter J. Gawthrop - -if [ -f "$1_lbl.txt" ]; then -grep '[#%]ALIAS' $1_lbl.txt |\ - -awk '{ - if (match($2,"\\$[0-9]")==1) ## Test if its a argument alias - { - i = substr($2,2); - arg[i] = $3 - N++ - } -} -END{ - for (j=1;j<=N;j++){ - if (length(arg[j])==0) - arg[j] = "??"; - } - for (j=1;j0) print "mtt -q compcopy " $3}' - - - - - - - - - - DELETED mttroot/mtt/bin/trans/lbl2cr_txt2r Index: mttroot/mtt/bin/trans/lbl2cr_txt2r ================================================================== --- mttroot/mtt/bin/trans/lbl2cr_txt2r +++ /dev/null @@ -1,43 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: lbl2cr_txt2r - -# Label file to constitutive relationship conversion -# P.J.GawthropNovemebr 1996 -# Copyright (c) P.J.Gawthrop, 1996. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -# Revision 1.3 1996/11/03 21:11:44 peterg -# Removed END; statement -# -## Revision 1.2 1996/11/02 10:20:53 peterg -## Created from lbl2sympar -## -############################################################### - - -# Inform user -echo "Creating $1_cr.r" - -rm -f mtt_error - -#Write some file headers -echo "%% constitutive relationship file ($1_cr.r)" > $1_cr.r -echo "%% Generated by MTT at `date`" >> $1_cr.r - -# This is the main transformation using awk -awk -f $MTTPATH/trans/awk/lbl2cr.awk <$1_lbl.txt 2>mtt_error.txt | \ - sh >> $1_cr.r - -# Now invoke the standard error handling. -#mtt_error mtt_error.txt - - DELETED mttroot/mtt/bin/trans/lbl2icd_txt2txt.sh Index: mttroot/mtt/bin/trans/lbl2icd_txt2txt.sh ================================================================== --- mttroot/mtt/bin/trans/lbl2icd_txt2txt.sh +++ /dev/null @@ -1,40 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: lbl2icd_txt2txt -# Creates the component ICDs in text form - -# Adapted from lbl2alias_txt2txt - -sys=$1 -icd=${sys}_icd.txt -lbl=${sys}_lbl.txt - -# Inform user -echo Creating ${icd} - -#Create the ICD file complete with headers. -echo "# Component ICD file ($1_icd.txt)" > ${icd} -echo "# Generated by MTT at `date`" >> ${icd} - -#Write out the variables - grep '[%|#]ICD' ${lbl} |\ - awk '{ - if (match($3,"/")==0){ - if (match($2,"\\$")==0){ - icd=$2; name =$3 - } - else{ - icd=$3; name =$2 - } - n=split(icd,a,"|"); - for (i=1; i<=n; i++) - print a[i] "\t" name; - } - } - END{ - print "###_END_OF_ICD_###" - }' >> ${icd} DELETED mttroot/mtt/bin/trans/lbl2modpar_txt Index: mttroot/mtt/bin/trans/lbl2modpar_txt ================================================================== --- mttroot/mtt/bin/trans/lbl2modpar_txt +++ /dev/null @@ -1,38 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: lbl2modpar_txt2txt -# Creates the component modpares in text form - -# Copyright (C) 2001 by Peter J. Gawthrop - -############################################################### -## Version control history -############################################################### -## $$Id$ -## $Log$ -############################################################### - -# Inform user -echo Creating $1_modpar.txt - -#Create the modpar file complete with headers. -echo "# Modpar file ($1_modpar.txt)" > $1_modpar.txt -echo "# Generated by MTT at `date`" >> $1_modpar.txt - -#Write out the variables -grep '[%|#]MODPAR' $1_lbl.txt |\ -awk '{printf("%s\t%s\n", $2,$3)}' >> $1_modpar.txt - -echo "# End of $1_modpar.txt" >> $1_modpar.txt - - - - - - - - DELETED mttroot/mtt/bin/trans/lbl2sympar_txt2r Index: mttroot/mtt/bin/trans/lbl2sympar_txt2r ================================================================== --- mttroot/mtt/bin/trans/lbl2sympar_txt2r +++ /dev/null @@ -1,55 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: lbl2sympar_txt2r - -# Label file to symbolic parameters conversion -# P.J.Gawthrop August 1996 -# Copyright (c) P.J.Gawthrop, 1996. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -# Revision 1.6 1996/12/07 19:39:51 peterg -# Minor debugging. -# -## Revision 1.5 1996/09/12 17:18:44 peter -## Don't add an RCS header .. -## -## Revision 1.4 1996/08/30 19:01:21 peter -## Added headers to sympar file. -## -## Revision 1.3 1996/08/30 10:18:33 peter -## New path for awk script. -## -## Revision 1.2 1996/08/30 10:04:20 peter -## Included `;' in demimiter list. -## -# Revision 1.1 1996/08/24 13:34:09 peter -# Initial revision -# -############################################################### - - -# Inform user -echo "Creating $1_sympar.r" - -rm -f mtt_error - -#Write some file headers -echo "%% Symbolic parameter file ($1_sympar.r)" > $1_sympar.r -echo "%% Generated by MTT at `date`" >> $1_sympar.r - -# This is the main transformation using awk -tr ';' ',' < $1_lbl.txt | \ -awk -f $MTTPATH/trans/awk/lbl2sympar.awk | sort >> $1_sympar.r 2>mtt_error.txt - -# Now invoke the standard error handling. -mtt_error mtt_error.txt - - DELETED mttroot/mtt/bin/trans/lbl_txt2tex Index: mttroot/mtt/bin/trans/lbl_txt2tex ================================================================== --- mttroot/mtt/bin/trans/lbl_txt2tex +++ /dev/null @@ -1,149 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: lbl_txt2tex -# Latex summary of the lbl file - -# Copyright (c) P.J.Gawthrop 1998 - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.10 2000/12/28 12:32:06 peterg -## Put under RCS -## -## Revision 1.9 2000/11/16 13:11:06 peterg -## Included PAR and UNITS declarations -## -## Revision 1.8 1999/02/17 21:42:19 peterg -## Replaced print by printf to avoid extra nl in paragraph command. -## -## Revision 1.7 1998/07/27 12:56:26 peterg -## Splits up | separated expressions. -## -## Revision 1.6 1998/07/27 10:56:31 peterg -## Cosmetics. -## -## Revision 1.5 1998/07/27 08:29:44 peterg -## Include a comment field in the aliases -## -## Revision 1.4 1998/07/17 19:46:44 peterg -## Included component alias. -## -## Revision 1.3 1998/07/16 20:39:52 peterg -## More cosmetic changes -## -## Revision 1.2 1998/07/16 16:34:09 peterg -## Cosmetic changes -## -## Revision 1.1 1998/07/16 16:31:47 peterg -## Initial revision -## -############################################################### - - -# Inform user -echo Creating $1_lbl.tex - -#Create the alias file complete with headers. -echo "% Label summary file ($1_lbl.tex)" > $1_lbl.tex -echo "% Generated by MTT at `date`" >> $1_lbl.tex - -#Write out the Description - grep '[%|#]SUMMARY' $1_lbl.txt | sed 's/_/\\_/g' |\ - awk '{ - printf("\\paragraph{System %s:",$2); - for (i=3;i<=NF;i++) printf("%s ",$i); print "" - print "}" - }' >> $1_lbl.tex - grep '[%|#]DESCRIPTION' $1_lbl.txt | sed 's/_/\\_/g' |\ - awk '{ - for (i=2;i<=NF;i++) printf("%s ",$i); print "" - }' >> $1_lbl.tex - -#Write out the aliases -cat <> $1_lbl.tex -\paragraph{Interface information:} -\begin{description} -EOF - grep '[%|#]ALIAS' $1_lbl.txt | sed 's/_/\\_/g' |\ - awk '{ - N=split($2,a,"|"); - for (i=1;i<=N;i++){ - if (match(a[i],"\\$")>0){ - printf("\\item [Parameter \\%s] represents actual parameter ",a[i]) - } - else if (match($3,"/")>0){ - printf("\\item [Component %s] is in library ",a[i]) - } - else{ - printf("\\item [Port %s] represents actual port ",a[i]) - } - printf("\\textbf{%s}",$3) - if (match($4,"[#%]")==1) printf(" -- "); - for (j=5;j<=NF;j++) printf(" %s", $j) - printf("\n"); - } - } - END{if (NR==0) print "\\item This component has no ALIAS declarations" -}' | sort >> $1_lbl.tex -cat <> $1_lbl.tex -\end{description} -EOF - -#Write out the VARS -cat <> $1_lbl.tex -\paragraph{Variable declarations:} -\begin{description} -EOF - grep '[%|#][V|P]AR' $1_lbl.txt | sed 's/_/\\_/g' |\ - awk '{ - printf("\\item %s\n",$2) - } - END{if (NR==0) print "\\item This component has no PAR declarations" -}' | sort >> $1_lbl.tex -cat <> $1_lbl.tex -\end{description} -EOF - - -#Write out the UNITS -cat <> $1_lbl.tex -\paragraph{Units declarations:} -\begin{description} -EOF - grep '[%|#]UNITS' $1_lbl.txt | sed 's/_/\\_/g' |\ - awk '{ - printf("\\item [Port %s] has domain %s\n",$2, $3) - printf("\\begin{description}\n") - printf("\\item [Effort units] %s\n",$4) - printf("\\item [Flow units] %s\n",$5) - printf("\\end{description}\n") - } - END{if (NR==0) print "\\item This component has no UNITs declarations" -}' >> $1_lbl.tex -cat <> $1_lbl.tex -\end{description} -EOF - -# Write the actual lbl file -cat >> $1_lbl.tex <> $1_lbl.tex -cat >> $1_lbl.tex <lde_r2tex.log << EOF - -%Read the definitions file -in "$1_def.r"; - -%Read the differential-algebraic equations file -in "$1_lde.r"; - -%Read the symbolic parameter file -%%in "$1_sympar.r"; - - - -OFF Echo; -OFF Nat; - -%Read the substitution file -IN "$1_subs.r"; - -%Read the simplifying expressions file -IN "$1_simp.r"; - -OUT "$1_lde.tex"; - -%Write out the differential-algebraic equations. - -write "%File: $1_lde.tex"; - -write "%ordinary differential equations"; -write "% Generated by MTT"; - -IF MTTNyz>0 THEN -BEGIN - write"\begin{equation} \label{eq_$1_lde_x}"; - write"\begin{aligned}"; - FOR Row := 1:MTTNx DO - BEGIN - write "{"; - write MTTl(Row,1); - write "}"; - write " &= 0"; - IF Row0 THEN -BEGIN - write"\begin{equation} \label{eq_$1_lde_y}"; - write"\begin{aligned}"; - FOR Row := 1:MTTNy DO - BEGIN - write "MTTy", Row, " &= "; - write "{"; - write MTTy(Row,1); - write "}"; - IF Row0) - error("Incorrect bonds matrix: must have 2 columns"); - end; - - - ## Find number of components - ## [n_components,m_components] = size(components); - ## if n_components==0 # there is nothing to be done - ## return - ## end; - - - - ## Coerce the port (SS:[]) component bonds to have the same direction as - ## of the bonds in the encapsulating system -- but not at top level - Flipped.ports="";Flipped.subs="";Flipped.cons=""; - - if (n_ports>0)&&(!at_top_level) # Coerce directions - for i=1:n_ports - name = deblank(ABG.portlist(i,:)); # Name of this port - eval(["port = ABG.ports.",name,";"]); # Extract port info - disp ("----"); - i - name - port - port_bond_direction - port.connections - - if (sign(port.connections)!=port_bond_direction(i)) # Direction different? - eval(["ABG.ports.",name,".connections = - port.connections;"]); # Flip direction at port - Flipped.ports=[Flipped.ports;name]; # Remember which port has been flipped - bond_index=abs(port.connections); # Index of bond on port - mtt_info(sprintf("Flip port %s on %s"\ - ,name,full_name),infofile); # And report - for [subsystem,name] = ABG.subsystems # and at the other end - for k=1:length(subsystem.connections) - if (abs(subsystem.connections(k))==bond_index) # Then flip the connection - eval(["ABG.subsystems.",name,".connections(k) = -subsystem.connections(k);"]); - Flipped.subs=[Flipped.subs;name]; # Remember which subsystem has been flipped - Flipped.cons=[Flipped.cons;k]; # Remember which connection has been flipped - mtt_info(sprintf("Flip subsystem %s on %s"\ - ,name,full_name),infofile); # And report - endif - endfor - endfor # subsystem = ABG.subsystems - - ABG.bonds(bond_index,:) = -ABG.bonds(bond_index,:); # Flip the bond causalities - ##(these are arrow-orientated) - endif # Is the direction different? - endfor # port = ABG.ports - endif # (n_ports>0)&&(!at_top_level) - - ## If not at top level, then copy the port bonds. - if !at_top_level # Find number of port bonds - - for j=1:n_ports - jj = port_bond_index(j); # The index of the bond - for k = 1:2 - ## if ABG.bonds(jj,k)==0 # only copy if not already set - ## ABG.bonds(jj,k) = port_bonds(j,k); - ## endif - if port_bonds(j,k)!=0 # only copy if port bonds are set - ABG.bonds(jj,k) = port_bonds(j,k); - endif - endfor - endfor - else - n_port_bonds=0; - endif - - ## Causality indicator - total = 2*n_bonds; - done = sum(sum(abs(ABG.bonds)))/total*100; - - fields=["ports";"subsystems"]; # Do for both ports and subsystems - - ## ports first - for i=1:2 - field=deblank(fields(i,:)); - if struct_contains(ABG,field); - eval(["ABG_field = ABG.",field, ";"]); - field,ABG_field - - sum_ok = 0; n_comp = 0; - for [subsystem,name] = ABG_field# Find % status = 0 (causally complete) - eval(["ok = (ABG_field.",name,".status==0);"]); - sum_ok = sum_ok + ok; n_comp ++; - endfor; - Done = sum_ok/n_comp*100 - - ## Outer while loop sets preferred causality - ci_index=1; - - ## for [subsystem,name] = ABG_field# Set new status field to -1 - ## eval(["ABG_field.",name,".status=-1;"]); - ## endfor; - - while( ci_index>0) - old_done = inf; - old_Done = inf; - - while Done!=old_Done # Inner loop propagates causality - old_Done = Done; - for [subsystem,name] = ABG_field - name,subsystem - if subsystem.status != 0 # only do this if causality not yet complete - comp = subsystem.connections; # Get the bonds on this component - bond_list = abs(comp); - direction = sign(comp)'*[1 1]; - n_bonds = length(bond_list); - - if strcmp(subsystem.type,"0") # Change names - subsystem.type = "zero"; - end; - if strcmp(subsystem.type,"1") - subsystem.type = "one"; - end; - - cause_name = [subsystem.type, "_cause"];# Component causality procedure name - eqn_name = [subsystem.type, "_eqn"]; #Component equation procedure name - - comp_bonds=[]; # Bonds on this component (arrow-orientated) -- these become the - for kk = 1:n_bonds # port bonds on the ith component of this subsystem. - comp_bonds(kk,:) = ABG.bonds(bond_list(kk),:); - end; - - if exist(eqn_name)!=2 # Try a compound component - ## Port status depends on whether the corresponding bonds are - ## fully causal at this stage. - one = ones(n_bonds,1); - port_status = (sum(abs(comp_bonds'))'==2*one) - one; - - port_bond_direction = -sign(subsystem.connections)'; # Direction of bonds - - if exist(cause_name)==2 # If there is a predefined causality function; use it - comp_bonds = comp_bonds.*(port_bond_direction*[1 1]); # Convert from arrow orientated to component orientated causality - eval([ "[comp_bonds] = ", cause_name, "(comp_bonds);" ]); # Evaluate the built-in causality procedure - - comp_bonds = comp_bonds.*(port_bond_direction*[1 1]); # and convert from component orientated to arrow orientated causality - end; - - port_bond_direction,comp_bonds - [comp_bonds,subsystem.status] = abg2cbg(name, subsystem.type, full_name, - comp_bonds, port_bond_direction, port_status, ... - derivative_causality, ... - typefile, infofile, errorfile); - - - else # its a simple component -- or explicit causality defined - mtt_info(sprintf("Completing causality for component %s (%s)", - name, subsystem.type), infofile); - disp(["---", name, " (", cause_name, ") ---"]); - comp_bonds_in = comp_bonds - - ## Convert from arrow orientated to component orientated causality - comp_bonds = comp_bonds.*direction; - - ## Evaluate the built-in causality procedure - ##eval([ "[comp_bonds,status(i)] = ", cause_name, "(comp_bonds);" ]); - eval([ "[comp_bonds,subsystem.status] = ", cause_name, "(comp_bonds)" ]); - ## and convert from component orientated to arrow orientated causality - comp_bonds = comp_bonds.*direction; - - comp_bonds_out = comp_bonds - end; - - ABG.bonds(bond_list,:) = comp_bonds;# Update the full bonds list - eval(["ABG_field.",name,".status = subsystem.status;"]); - end; - end; - - sum_ok = 0; n_comp = 0; - for [subsystem,name] = ABG_field# Find % status = 0 (causally complete) - eval(["ok = (ABG_field.",name,".status==0);"]); - sum_ok = sum_ok + ok; n_comp ++; - endfor; - - Done = sum_ok/n_comp*100 - done = sum(sum(abs(ABG.bonds)))/total*100 - ##disp(sprintf("Causality is #3.0f#s complete.", done, pc), infofile)); - - endwhile # done!=old_done - - [name,prefered] = getdynamic(ABG_field) # Set causality of a C or I which is not already set - if prefered==0 - ci_index=0; - else - disp("Set causality of a C or I which is not already set") - eval(["ci_bond_index = ABG.",field,".",name,".connections;"]); # Get bonds - ci_direction = sign(ci_bond_index); - ci_bond_index = abs(ci_bond_index); - if derivative_causality - prefered = -prefered; - end; - ABG.bonds(ci_bond_index,1:2) = prefered*ci_direction'*[1 1] - eval(["ABG.subsystems.",name,".status=0"]); #set status of the C or I - endif - endwhile # ( ci_index>0) - eval(["ABG.",field," = ABG_field;"]); # Copy back to actual structure - endif # struct_contains(CBG,field(i,:)); - endfor - ## if n_ports>0 - ## status(1:n_ports) = zeros(n_ports,1); # Port status not relevant - ## endif; - - ## Print final causality - ## final_done = (sum(status==zeros(n_components,1))/n_components)*100; - - if at_top_level - mtt_info(sprintf("Final causality of %s is %3.0f%s complete.", ... - full_name, Done, pc), infofile); - - if Done<100 - mtt_error(sprintf("Unable to complete causality"),errorfile); - end; - endif # at_top_level - - - - - ## Return the port bonds - arrow orientated causality - and the direction - status=0; - if !at_top_level # Not at top level - port_bonds = ABG.bonds(port_bond_index,:); # Return port bonds - endif; # at top level - - for [subsystem,name] = ABG.subsystems - if subsystem.status==-1 # Under causal - status=-1; - mtt_info(sprintf("Component %s (%s) is undercausal", name, subsystem.type), ... - infofile); - elseif subsystem.status==1; # Over causal - status=-1; - mtt_info(sprintf("Component %s (%s) is overcausal", name, subsystem.type), ... - infofile); - endif; - endfor; # [subsystem,name] = ABG.subsystems - - ## write out the component .cbg file - disp(["Writing ", full_name]); - write_cbg(full_name,system_type,ABG,Flipped); - fprintf(typefile, "$1%s$2%s$3\n", system_type, full_name); - - - - status, port_bonds - disp("===================================="); - disp(["END: ", full_name, " (", fun_name, ")"]); - disp("===================================="); - - -endfunction; DELETED mttroot/mtt/bin/trans/m/add_bond.m Index: mttroot/mtt/bin/trans/m/add_bond.m ================================================================== --- mttroot/mtt/bin/trans/m/add_bond.m +++ /dev/null @@ -1,36 +0,0 @@ -function comp_list = add_bond(comp_list,bond_number,comp_number); - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Adds a new bond entry to a list of components -- pads the list appropriately. - -[N,M] = size(comp_list); -if M==0 - M=1; -end; - -if comp_number>N % Pad with zeros - comp_list = [comp_list;zeros(comp_number-N,M)]; -end; - -this_comp = [nozeros(comp_list(comp_number,:)), bond_number]; - -L = length(this_comp); - -[N,M] = size(comp_list); - -if LM %pad matrix with zeros and insert new row - comp_list = [comp_list zeros(N,L-M)]; - comp_list(comp_number,:) = this_comp; -else %Sizes match so just insert - comp_list(comp_number,:) = this_comp; -end; DELETED mttroot/mtt/bin/trans/m/add_row.m Index: mttroot/mtt/bin/trans/m/add_row.m ================================================================== --- mttroot/mtt/bin/trans/m/add_row.m +++ /dev/null @@ -1,16 +0,0 @@ -function New=add_row(Old,Row); # Adds a row to end of matrix - - [N,M]=size(Old); - [n,m] = size(Row); - - if m>M - Old = [Old, zeros(N,m-M)]; # Pad with zeros - elseif M>m - Row = [Row, zeros(n,M-m)]; - endif - - New = [Old;Row]; - -endfunction - - DELETED mttroot/mtt/bin/trans/m/adjbond.m Index: mttroot/mtt/bin/trans/m/adjbond.m ================================================================== --- mttroot/mtt/bin/trans/m/adjbond.m +++ /dev/null @@ -1,27 +0,0 @@ -function [index,distance] = adjbond(point,arrow_end,other_end); -% adjbond: Determines the bond closest to the point -% [index,distance] = adjbond(point,arrow_end,other_end); - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -[n,m] = size(other_end); -one = ones(n,1); -arrow_distance = length2d(one*point - arrow_end); -min_arrow_distance = min(arrow_distance); - -other_distance = length2d(one*point - other_end); -min_other_distance = min(other_distance); - -min_distance = min([arrow_distance; other_distance]); - -adjacent = [arrow_distance, other_distance] == min_distance*[one one]; -[index,n] = getindex(adjacent,1); -distance = min_distance; - DELETED mttroot/mtt/bin/trans/m/adjcomp.m Index: mttroot/mtt/bin/trans/m/adjcomp.m ================================================================== --- mttroot/mtt/bin/trans/m/adjcomp.m +++ /dev/null @@ -1,33 +0,0 @@ -function indices = adjcomp(arrow_end,other_end,components); -% adjcomp: Determines the two components at each end of the bond - - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -[n,m] = size(components); -one = ones(n,1); - -arrow_distance = length2d(one*arrow_end - components(:,1:2)); -min_arrow_distance = min(arrow_distance); - -other_distance = length2d(one*other_end - components(:,1:2)); -min_other_distance = min(other_distance); - -arrow_adjacent = arrow_distance==min_arrow_distance*one; -other_adjacent = other_distance==min_other_distance*one; -[index,n] = getindex([arrow_adjacent,other_adjacent],1); - -if index(1,2)==1 - indices = index(1:2,1)'; -else - indices = index(2:-1:1,1)'; -end; - - DELETED mttroot/mtt/bin/trans/m/alias_args.m Index: mttroot/mtt/bin/trans/m/alias_args.m ================================================================== --- mttroot/mtt/bin/trans/m/alias_args.m +++ /dev/null @@ -1,73 +0,0 @@ -function args = alias_args(args,alias,delim,message,FileID,sys_name) - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.7 2001/06/13 14:50:15 gawthrop -## Operator ^ now ok in args in abg and/or lbl -## -## Revision 1.6 2001/04/23 16:23:30 gawthrop -## Now stips ; from bottlom level argument list - allows aliasing of -## parts of a,b,c (eg a,b by using a,b;c -## -## Revision 1.5 2000/10/12 19:27:20 peterg -## Now writes out the aliased args ... -## -## Revision 1.4 2000/09/14 13:35:43 peterg -## appended '(' and ')' to SEPS -## -- otherwise first argument after '(' doesn't get substituted -## (Fixed by Geraint) -## -## Revision 1.3 1998/08/11 14:09:05 peterg -## Replaced incorrect length(args>0) with !isempty(args) -## -## Revision 1.2 1998/07/27 10:24:20 peterg -## Included , in the the list of seperators (SEPS) -## This makes it substitute for bits of args separated by commas. -## -## Revision 1.1 1998/07/03 18:29:40 peterg -## Initial revision -## -############################################################### - - if is_struct(alias) - if !isempty(args) - Args = split(args,delim); args=""; - [N,M]= size(Args); - for i=1:N - arg = deblank(Args(i,:)); - arg_ = strrep(arg,",","__"); - if struct_contains(alias,arg_) - eval(["new_arg = alias.", arg_,";"]); - mtt_info(["Replacing ", arg, "\t by ",\ - new_arg, message],FileID); - mtt_save_alias(arg,sys_name); -## printf("%s --> %s\n",arg,new_arg); - arg = new_arg; -## else -## mtt_info(["NOT replacing ", arg, message],FileID); - end - SEPS = ",+-*/()^"; - for j = 1:length(SEPS) - if (length(arg)>1)&&(length(findstr(arg,SEPS(j)))>0) - arg = alias_args(arg,alias,SEPS(j),message,FileID,sys_name); - end - end; - args = sprintf("%s%s%s", args, delim, arg); - end - if (length(args)>1) - if (substr(args,1,1)==delim) - args = substr(args,2); # loose leading delimiter - endif - endif - - end - end; -endfunction; - - - - - DELETED mttroot/mtt/bin/trans/m/args2arg.m Index: mttroot/mtt/bin/trans/m/args2arg.m ================================================================== --- mttroot/mtt/bin/trans/m/args2arg.m +++ /dev/null @@ -1,31 +0,0 @@ -function arg = args2arg(args,n,FS) -% args2arg - pulls the nth argument from a FS-separated list. -% FS defaults to `;'. -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %%%%% Model Transformation Tools %%%%% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% -% Matlab function args2arg.m -% arg = args2arg(args,n,FS) -% Copyright (c) P.J. Gawthrop, 1996. - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.2 1996/08/30 09:58:55 peter -% %% Uses str2ch to exteact a char from a string. -% %% -% %% Revision 1.1 1996/08/27 12:50:43 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -% Field separator -if nargin<3 - FS = ';'; -end; - DELETED mttroot/mtt/bin/trans/m/cause2name.m Index: mttroot/mtt/bin/trans/m/cause2name.m ================================================================== --- mttroot/mtt/bin/trans/m/cause2name.m +++ /dev/null @@ -1,27 +0,0 @@ -function name = cause2name(causality) -% cause2name - converts causality to a string -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %%%%% Model Transformation Tools %%%%% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% -% Matlab function cause2name -% name = cause2name(causality) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Copyright (c) P.J. Gawthrop, 1996. - -if causality==1 - name = 'effort'; -elseif causality ==-1 - name = 'flow'; -else - name = 'state'; -end; DELETED mttroot/mtt/bin/trans/m/cause2num.m Index: mttroot/mtt/bin/trans/m/cause2num.m ================================================================== --- mttroot/mtt/bin/trans/m/cause2num.m +++ /dev/null @@ -1,27 +0,0 @@ -function num = cause2num(causality) -% cause2num - converts causality to a string -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %%%%% Model Transformation Tools %%%%% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% -% Matlab function cause2num -% num = cause2num(causality) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Copyright (c) P.J. Gawthrop, 1996. - -if causality==1 - num = 1; -elseif causality ==-1 - num = 2; -else - num = 3; -end; DELETED mttroot/mtt/bin/trans/m/cbg2ese.m Index: mttroot/mtt/bin/trans/m/cbg2ese.m ================================================================== --- mttroot/mtt/bin/trans/m/cbg2ese.m +++ /dev/null @@ -1,553 +0,0 @@ -function structure = cbg2ese(system_name, system_type, system_cr, ... - system_args, full_name, full_name_repetition, ... - repetition,... - structure, structure_file,infofilenum) - ## Set up globals to count the component inputs and outputs. This relies on - ## the named SS (the ports) being in the correct order. Using globals here - ## avoids changing the common argument list for all _eqn files for something - ## which is only used for named SS components. - global local_u_index - global local_y_index - global at_top_level - ## - ## ###################################### - ## ##### Model Transformation Tools ##### - ## ###################################### - ## - ## Matlab function cbg2ese.m - ## Acausal bond graph to causal bond graph: mfile format - ## Structure matrix [states,nonstates,inputs,outputs,zero_outputs] - - ## ############################################################### - ## ## Version control history - ## ############################################################### - ## ## $Id$ - ## ## $Log$ - ## ## Revision 1.43 2001/11/11 08:32:00 geraint - ## ## fflush (structure_file). - ## ## - ## ## Revision 1.42 2001/04/23 16:23:30 gawthrop - ## ## Now stips ; from bottlom level argument list - allows aliasing of - ## ## parts of a,b,c (eg a,b by using a,b;c - ## ## - ## ## Revision 1.41 2001/04/15 21:15:41 geraint - ## ## Added interface definition rep: _ICD.(txt|c|cc|m). - ## ## - ## ## Revision 1.40 2001/02/05 01:50:29 geraint - ## ## No unit type comparison at ports if either is "none". - ## ## - ## ## Revision 1.40 2000/12/16 08:10:55 geraint - ## ## No unit type comparison at ports if either is "none". - ## ## - ## ## Revision 1.39 2000/11/16 12:54:14 peterg - ## ## Added checking of unit consistency at ports - ## ## - ## ## Revision 1.38 2000/11/16 10:00:57 peterg - ## ## *** empty log message *** - ## ## - ## ## Revision 1.37 2000/11/12 16:45:57 peterg - ## ## Close ese file before recursive call of cbg2ese -- reopen when - ## ## finished. - ## ## THis prevents a new file being opened for each subsystem which fails - ## ## when > 1K files opened - ## ## - ## ## Revision 1.36 2000/10/13 10:54:47 peterg - ## ## Now writes out a unique name for each state etc - ## ## - ## ## Revision 1.35 2000/10/12 19:27:47 peterg - ## ## Now writes the aliased args - ## ## - ## ## Revision 1.34 2000/09/01 08:42:44 peterg - ## ## Cahged somes ends to end for etc for clarity - ## ## - ## ## Revision 1.33 2000/09/01 08:05:32 peterg - ## ## Reformatted with out changing function - ## ## - ## ## Revision 1.32 1998/11/16 13:01:19 peterg - ## ## Fixed problem with repetitions>1 due to new data structures -- now - ## ## computes initial next_bond correctly - ## ## - ## ## Revision 1.31 1998/09/24 12:57:44 peterg - ## ## Now ignores aliasing if no arguments given. - ## ## - ## ## Revision 1.30 1998/09/02 11:14:23 peterg - ## ## Revised to use ordered lists of subsystems and ports - ## ## - ## ## Revision 1.29 1998/08/25 09:22:34 peterg - ## ## Correctely recognises port SSs its now easy -- they are in there own - ## ## field - ## ## - ## ## Revision 1.28 1998/08/25 08:31:42 peterg - ## ## Fixed bug - didn't find the ports - use deblank - ## ## - ## ## Revision 1.27 1998/08/25 07:16:49 peterg - ## ## Modified to data struture representation - ## ## - ## ## Revision 1.26 1998/08/24 14:53:55 peterg - ## ## Uses new _cbg structure. - ## ## - ## ## Revision 1.25 1998/07/28 19:05:12 peterg - ## ## Sttill has vector SS port bug? - ## ## - ## ## Revision 1.24 1998/07/27 10:26:02 peterg - ## ## No change - but fixed bug in alias_args - ## ## - ## ## Revision 1.23 1998/07/08 12:33:51 peterg - ## ## Reinstated the infofilenum parameter. - ## ## - ## ## Revision 1.22 1998/07/04 07:10:27 peterg - ## ## Don't evaluate alias if no constitutive relationship or args and write - ## ## message. - ## ## - ## ## Revision 1.21 1998/07/03 18:58:58 peterg - ## ## Put arg alias stuff within function alias_args - ## ## Called recursively to handle arithmetic expressions - ## ## - ## ## Revision 1.20 1998/07/03 14:39:09 peterg - ## ## Added info messages a bit busy now! - ## ## - ## ## Revision 1.19 1998/04/12 11:58:19 peterg - ## ## Rename port components by changing name_r to [name_r - ## ## - ## ## Revision 1.18 1998/04/11 18:59:16 peterg - ## ## at_top_level now global - passed to SS components - ## ## - ## ## Revision 1.17 1998/04/04 10:47:31 peterg - ## ## Uses (coerced) components from _cbg file - _abg not now used here. - ## ## - ## ## Revision 1.16 1998/03/06 09:38:58 peterg - ## ## Now writes correct structure file for multiport C & I - ## ## - ## ## Revision 1.15 1997/12/16 18:24:33 peterg - ## ## Added unknown_input to structure list - ## ## - ## ## Revision 1.14 1997/08/26 07:51:10 peterg - ## ## Now counts the local input and outputs by order of appearence rather - ## ## than by port number - it therfore handles ports with bicausality correctely. - ## ## - ## ## Revision 1.13 1997/05/19 16:45:56 peterg - ## ## Fixed ISW bug -- deleted spurious ISW_eqn.m file - ## ## - ## ## Revision 1.12 1997/04/15 09:17:26 peterg - ## ## Added the structure file - contains details of states etc. - ## ## - ## ## Revision 1.11 1996/12/07 18:20:11 peterg - ## ## Replaces null argument by a default and tells user. - ## ## - ## ## Revision 1.10 1996/12/07 17:37:07 peterg - ## ## Now handles numbered SS ports appearing at top level. - ## ## - ## ## Revision 1.9 1996/12/04 21:49:47 peterg - ## ## Compares full-name with empty string (instead of testing for zero - ## ## length) - ## ## - ## ## Revision 1.8 1996/08/30 16:36:08 peter - ## ## More info written to ese files. - ## ## - ## ## Revision 1.7 1996/08/30 11:23:13 peter - ## ## Argument substitution implemented. - ## ## - ## ## Revision 1.6 1996/08/27 08:04:52 peterg - ## ## Handles complex components and repetative components. - ## ## - ## ## Revision 1.5 1996/08/24 15:02:23 peter - ## ## Writes `END;' to keep reduce happy. - ## ## - ## ## Revision 1.4 1996/08/19 09:03:41 peter - ## ## Handles repeating components. - ## ## - ## ## Revision 1.3 1996/08/18 20:08:02 peter - ## ## Included additional structure: structure(5) = zero_outputs. - ## ## - ## ## Revision 1.2 1996/08/08 18:08:11 peter - ## ## Sorted out file naming sceme - ## ## - ## ## Revision 1.1 1996/08/08 15:53:23 peter - ## ## Initial revision - ## ## - ## ############################################################# - - ## disp("cbg2ese"); - ## system_name, system_type, full_name, repetition - - pc = "%"; - unit_error = "Component %s connects inconsistent ports with units %s and %s" - unit_info = "Component %s connects ports with units %s and %s" - - ## Set up the names corresponding to the structure matrix. - structure_name = [ - "state ", - "nonstate ", - "input ", - "output ", - "zero_output ", - "unknown_input"]; - - - ## Are we at the top level of the heirarchy? - at_top_level = strcmp(full_name, ""); - - ## Create the (full) system name - if at_top_level - full_name = system_name; - full_name_repetition = system_name; - system_type = system_name; - else - full_name = [full_name, "_", system_name]; - full_name_repetition = [full_name_repetition, ... - "_", system_name, "_", num2str(repetition)]; - end; - - - - cbg_name = [full_name, "_cbg"]; - if exist(cbg_name)~=2 # Return if cbg file doesn't exist - disp([cbg_name, " does not exist"]); - return - end; - - ## Setup files - ese_name = [full_name_repetition, "_ese.r"]; - ese_file = fopen(ese_name, "w") # open file (first time) - icd_file = fopen([full_name_repetition,"_icd.txt2"],"w") - - fprintf(ese_file, "\n%s%s Equation file for system %s (file %s)\n", ... - pc, pc, full_name_repetition, ese_name); - fprintf(ese_file, "%s%s Generated by MTT\n\n", pc, pc); - - ## Evaluate the system function to get the bonds - eval(["CBG = ", cbg_name, ";"]); - ##eval(["[bonds,status,system_type,components] = ", cbg_name, ";"]); - ## abg_name = [system_type, "_abg"]; - ## cmp_name = [system_type, "_cmp"]; - ## alias_name = [system_type, "_alias"]; - - ## No longer needed - cbg now has components: - ## eval(["[junk,components]=", abg_name, ";"]); - - ## Find number of bonds - [n_bonds,columns] = size(CBG.bonds); - if (columns ~= 2)&(n_bonds>0) - error("Incorrect bonds matrix: must have 2 columns"); - endif; - - ## Set up initial bond units - for i=1:n_bonds - bond_effort_unit(i,:)="null"; - bond_flow_unit(i,:)="null"; - endfor - - ## ## Find number of components - ## [n_components,columns] = size(components); - ## n_components = n_components - - ## Set up the first dummy bond number - needed for repetative components - ## next_bond = max(max(abs(components)))+1; - next_bond = n_bonds+1; - - ## Set up the counters for the labelled SS. These are, by definition, - ## encountered first and so the counters will not be messed up by subsystems. - local_u_index = 0; - local_y_index = 0; - - if (length(system_args)==0) - mtt_info(sprintf("No arguments given so no argument aliasing done for system %s(%s)",\ - system_name,system_type), infofilenum); - AliasingArguments=0; - else - AliasingArguments=1; - endif; - - if (length(system_cr)==0) - mtt_info(sprintf("No cr given so no cr aliasing done for system %s(%s)",\ - system_name,system_type), infofilenum); - AliasingCRs=0; - else - AliasingCRs=1; endif; - - - fields=["ports";"subsystems"]; # Do for both ports and subsystems - - ## ports first - lists=["portlist";"subsystemlist"]; - for i=1:2 - field=deblank(fields(i,:)); - list=deblank(lists(i,:)); - if struct_contains(CBG,list); - eval(["namelist=CBG.",list,";"]); # List of ports/subsystems - [N,M]=size(namelist); # Number of ports/subsystems - for j=1:N - comp_name = deblank(namelist(j,:)); # Name of this component - eval(["subsystem=CBG.",field,".",comp_name,";"]); # Pluck out the details - comp = subsystem.connections; # Connections - bond_list = abs(comp); - direction = sign(comp)'*[1 1]; - # Convert from arrow orientated to component orientated causality - comp_bonds = CBG.bonds(bond_list,:).*direction; - - ## disp(["---- ", field, " ---"]); - - if AliasingArguments # Alias the args list if appropriate - message = sprintf("\tfor component %s (%s) within %s",\ - comp_name,subsystem.type,full_name); - if struct_contains(CBG,"alias") - subsystem.arg = alias_args(subsystem.arg,CBG.alias,";",message,infofilenum,full_name); - endif; - endif; - - if AliasingCRs # Alias the CR list if appropriate - message = sprintf("\tfor component %s (%s) within %s",\ - comp_name,subsystem.type,full_name); - if struct_contains(CBG,"alias") - subsystem.cr = alias_args(subsystem.cr,CBG.alias,";",message,infofilenum,full_name); - endif; - endif; - - ## Substitute positional ($1 etc) arguments - subsystem.cr = subs_arg(subsystem.cr,system_cr, ... - "lin",full_name,subsystem.type,comp_name,infofilenum); - subsystem.arg = subs_arg(subsystem.arg,system_args, ... - "1",full_name,subsystem.type,comp_name,infofilenum); - - ## change name of 0 and 1 components -- matlab doesn't like numbers here - if strcmp(subsystem.type,"0") - subsystem.type = "zero"; - endif; - if strcmp(subsystem.type,"1") - subsystem.type = "one"; - endif; - - ports = length(bond_list); - - if subsystem.repetitions>1 - port_pairs = ports/2; - if round(port_pairs)~=port_pairs; - mtt_info(["Repeated component ", comp_name, ... - " has an odd number of ports - ignoring repetitions"], infofilenum); - subsystem.repetitions = 1; - endif; - endif; - - if subsystem.repetitions>1 - odd_bonds = bond_list(1:2:ports-1); - even_bonds = bond_list(2:2:ports); - endif; - - for k = 1:subsystem.repetitions - - if subsystem.repetitions>1 - - if k==1 - bond_list(1:2:ports-1) = odd_bonds; - else - bond_list(1:2:ports-1) = bond_list(2:2:ports); - endif; - - if k==subsystem.repetitions - bond_list(2:2:ports) = even_bonds; - else - new_bonds = [next_bond:next_bond+port_pairs-1]; - next_bond = next_bond+port_pairs; - bond_list(2:2:ports) = new_bonds; - endif; - - endif; - - ## Invoke the appropriate equation-generating procedure - name_r = full_name_repetition; - eqn_name = [subsystem.type, "_eqn"]; - - if exist(eqn_name)~=2 ## Try a compound component - fclose(ese_file); # Close but reopen later - - disp("---PUSH---"); bond_list, comp_name, subsystem.type - structure = cbg2ese(comp_name, subsystem.type, subsystem.cr, subsystem.arg, ... - full_name, full_name_repetition, ... - k, structure, structure_file, infofilenum); - - disp("---POP---"); - ese_file = fopen(ese_name, "a") # open file (again) - - eval(["subABG = ",subsystem.type , "_abg;"]); # Get the information - - ## Link up the bonds for this compound component - fprintf(ese_file, ... - "\n\t%s Equations linking up subsystem %s (%s)\n\n", ... - pc, comp_name, subsystem.type); - name_comp_name = sprintf("%s_%s_%d", ... - full_name_repetition, comp_name, k); - - printf("\n\t%s Equations linking up subsystem %s (%s)\n\n",\ - pc, comp_name, subsystem.type); - - u_index = 0; y_index = 0; ## Count the inputs and outputs - for port_number=1:length(bond_list) - port_bond_number = bond_list(port_number); - this_bond_effort_unit = \ - deblank(bond_effort_unit(port_bond_number,:)); - this_bond_flow_unit = \ - deblank(bond_flow_unit(port_bond_number,:)); - - ## Extract the unit/domain stuff - this_port_name = subABG.portlist(port_number,:); - - eval(sprintf("this_port = subABG.ports.%s;", \ - this_port_name)); - if struct_contains(this_port,"units") - eval(["effort_unit = \ - subABG.ports.",this_port_name,".units.effort;"]); - eval(["flow_unit = \ - subABG.ports.",this_port_name,".units.flow;"]); - else - effort_unit = "none"; - flow_unit = "none"; - endif - - ## and check consistency - ## Efforts - if strcmp(this_bond_effort_unit,"null") # set - bond_effort_unit = \ - [bond_effort_unit(1:port_bond_number-1,:) - effort_unit - bond_effort_unit(port_bond_number+1:n_bonds,:) - ] - elseif (!strcmp(this_bond_effort_unit,"none") && !strcmp(effort_unit,"none")) # check - mtt_info(sprintf(unit_info,full_name, effort_unit, \ - this_bond_effort_unit), infofilenum); - if !strcmp(this_bond_effort_unit,effort_unit) - error_string = sprintf(unit_error, full_name,\ - effort_unit, \ - this_bond_effort_unit); - mtt_error(error_string); - endif - endif - ## Flows - if strcmp(this_bond_flow_unit,"null") # set - bond_flow_unit = \ - [bond_flow_unit(1:port_bond_number-1,:) - flow_unit - bond_flow_unit(port_bond_number+1:n_bonds,:) - ] - elseif (!strcmp(this_bond_flow_unit,"none") && !strcmp(flow_unit,"none")) # check - mtt_info(sprintf(unit_info,full_name, flow_unit, \ - this_bond_flow_unit), infofilenum); - if !strcmp(this_bond_flow_unit,flow_unit) - error_string = sprintf(unit_error, full_name,\ - flow_unit, \ - this_bond_flow_unit); - mtt_error(error_string); - endif - endif - - - ## Effort - if comp_bonds(port_number,1)==1 # Source - u_index = u_index + 1; - fprintf(ese_file, "%s_MTTu%d := %s;\n", ... - name_comp_name, u_index, varname(name_r, ... - bond_list(port_number),1)); - else # Sensor - y_index = y_index + 1; - fprintf(ese_file, "%s := %s_MTTy%d;\n", ... - varname(name_r, ... - bond_list(port_number),1), name_comp_name, y_index); - end; - ## Flow - if comp_bonds(port_number,2)==-1 # Source - u_index = u_index + 1; - fprintf(ese_file, "%s_MTTu%d := %s;\n", ... - name_comp_name, u_index, varname(name_r, ... - bond_list(port_number),-1)); - else # Sensor - y_index = y_index + 1; - fprintf(ese_file, "%s := %s_MTTy%d;\n", ... - varname(name_r, ... - bond_list(port_number),-1), name_comp_name, y_index); - end; - end; - - else # its a simple component - fprintf(ese_file, "\n\t%s Equations for component %s (%s), repetition %d\n\n", ... - pc, comp_name, subsystem.type,k); - - - ## # Is it a named port? (Name begins with [) - ## Named_Port = (comp_name(1)=="["); - - if strcmp(field,"ports") #Add [ to start of name - name_r = ["[" name_r]; - endif; - - ## Save the current structure - old_structure = structure; - - ## Generate the simple component equations - ## .. firstly replacing ; by , in argument list - subsystem_arg = strrep(subsystem.arg,";",","); - - eval(["structure = ", ... - eqn_name, ... - "(name_r,bond_list,comp_bonds, ... - direction,subsystem.cr,subsystem_arg,structure,ese_file);" ]); - - ## If structure has changed, write info to structure file. - structure_change = structure-old_structure; - - ## The following line is to avoid probs with multiport C or I - ## it needs changing to handle multi ports correctly - structure_changes = sum(structure_change); - - structure_change = structure_change>zeros(size(structure_change)); - if structure_changes>0 - which_indices = getindex(structure_change,1); - which_indices = which_indices(:,2)'; - for which_index=which_indices - value = structure(which_index); - value_change=value-old_structure(which_index); - for k=1:value_change - fprintf(structure_file, ... - "%s\t%i\t%s\t%s_%s\t%i\n", ... - structure_name(which_index,:), value-k+1, ... - comp_name, full_name_repetition, comp_name, repetition); - endfor; - endfor; - endif; - endif - endfor - fflush (structure_file); - - ## component interface definition - if struct_contains(CBG,"icd") - if struct_contains(CBG.icd,comp_name) - if AliasingArguments - subsystem.icd = alias_args(eval(["CBG.icd.",comp_name]),CBG.alias,";",message,infofilenum,full_name); - endif - endif - if (struct_contains(subsystem,"icd")) - subsystem.icd = subs_arg(subsystem.icd,system_args, ... - "null",full_name,subsystem.type,comp_name,infofilenum); - - fprintf(icd_file,"%s_%s\t%s\t",full_name_repetition,comp_name,subsystem.icd); - if (comp_bonds(1) == 1) - fprintf(icd_file,"output,"); - elseif (comp_bonds(1) == -1) - fprintf(icd_file,"input,"); - endif - if (comp_bonds(2) == 1) - fprintf(icd_file,"input\n"); - elseif (comp_bonds(2) == -1) - fprintf(icd_file,"output\n"); - endif - endif - endif # End of component interface definition - - endfor # [subsystem,comp_name] = CBG_field - endif # struct_contains(CBG,field) - endfor # i=1:2 - - fclose(icd_file); - fclose(ese_file); # Close - -endfunction - - - DELETED mttroot/mtt/bin/trans/m/cbg2fig.m Index: mttroot/mtt/bin/trans/m/cbg2fig.m ================================================================== --- mttroot/mtt/bin/trans/m/cbg2fig.m +++ /dev/null @@ -1,312 +0,0 @@ -function cbg2fig(system_name, system_type, full_name, ... - stroke_length, stroke_thickness, stroke_colour, ... - comp_font, comp_colour_u, comp_colour_o) - - ## cbg2fig - converts causal bg to figure - ## - ## %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% %%%%% Model - ## Transformation Tools %%%%% - ## %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - ## - ## Matlab function cbg_m2fig Causal bond graph: mfile format to fig - ## file format The resultant fig file is the original _abg.fig with - ## additional causal strokes superimposed. cbg2fig(system_name, ... - ## system_type, full_name, ... stroke_length, stroke_thickness, - ## stroke_colour, ... comp_font, comp_colour_u, comp_colour_o) - ## Note this uses geometric info from _rbg.fig - so don't use with - ## -abg switch. - - ## P.J.Gawthrop May 1996 - ## Copyright (c) P.J.Gawthrop, 1996. - - ## %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - ## %% Version control history - ## %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - ## %% $Id$ - ## %% $Log$ - ## %% Revision 1.15 2001/03/23 11:20:20 gawthrop - ## %% Fixed bug with vector components --NB takes geometric info from _rbg.fig - ## %% - ## %% Revision 1.14 2000/09/14 12:07:15 peterg - ## %% Fixed overwriting of ports. - ## %% - ## %% Revision 1.13 2000/09/14 09:12:19 peterg - ## %% Fixed stroke orientation bug with bent bonds - ## %% Uses new info from the _rbg.m file - 4 new cols in rbonds - ## %% - ## %% Revision 1.12 2000/09/14 08:07:00 peterg - ## %% Reformated as an Octave function - ## %% - ## %% Revision 1.11 2000/01/18 14:52:02 peterg - ## %% Removed recursion --- maybe put back via a flag later - ## %% - ## %% Revision 1.10 1998/12/14 15:27:32 peterg - ## %% Added separate handling of ports ( poss zero) - ## %% - ## %% Revision 1.9 1998/08/25 06:43:02 peterg - ## %% Revised (partially) for data strucures - needs to include graphic info - ## %% in abg file. - ## %% - ## %% Revision 1.8 1998/04/04 10:45:01 peterg - ## %% Don't do strokes on port bonds - ## %% - ## %% Revision 1.7 1997/08/19 09:49:19 peterg - ## %% Modified to take account of the expanded vector bonds. Only displays - ## %% causality corresponding to the bond connecting the first element of - ## %% the vector ports. - ## %% - ## %% Revision 1.6 1997/08/19 09:41:47 peterg - ## %% Some debugging lines added. - ## %% - ## %% Revision 1.5 1997/05/16 07:33:45 peterg - ## %% Now checks to see if sub system is a simple component before - ## %% recursion. - ## %% 0 --> zero - ## %% 1 --> one - ## %% - ## %% Revision 1.4 1996/12/07 21:34:52 peterg - ## %% Tests for null string with strcmp - ## %% - ## %% Revision 1.3 1996/08/08 15:52:28 peter - ## %% Recursive version. - ## %% Fails due to octave bug - reported. - ## %% - ## %% Revision 1.2 1996/08/05 20:15:39 peter - ## %% Prepared for recursive version. - ## %% - ## %% Revision 1.1 1996/08/05 18:12:25 peter - ## %% Initial revision - ## %% - ## %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - - if nargin<4 - stroke_length = 20; - end; - - if nargin<5 - stroke_thickness = 2; - end; - - if nargin<6 - stroke_colour = 1; %Blue - end; - - if nargin<7 - comp_font = 18; %Helvetica bold - end; - - if nargin<8 - comp_colour_u = 12; %Green - end; - - if nargin<9 - comp_colour_o = 4; %Red - end; - - ## Create a back slash '\' character. - bs = setstr(92); - - ## Create the (full) system name - if strcmp(full_name,'') - full_name = system_name; - else - full_name = [full_name, '_', system_name]; - end; - - full_name_type = [full_name, '_', system_type]; - ## $$$ fig_name = [full_name_type, '_cbg.fig']; - fig_name = [full_name, '_cbg.fig'] - - ## Return if initial fig file doesn't exist - if exist(fig_name)~=2 - return - end; - - ## Setup file - append to the fig file - filenum = fopen(fig_name, 'a'); - - ## Get the raw and the processed bonds - eval(['[rbonds,rstrokes,rcomponents,port_coord,port_name,port_list] = ', system_type, '_rbg;']); - eval(["ABG = ", system_type, "_abg;"]); - bonds=ABG.bonds; - - ## Original number of bonds - [n_bonds,junk] = size(rbonds); - - ## Get the causal bonds - #eval(['[cbonds,status]=', full_name, '_cbg;']); - eval(["CBG = ", full_name, "_cbg;"]); - cbonds=CBG.bonds; - - ## Check sizes - [Rows,Columns] = size(rcomponents); - if (Columns ~= 13) - error('Incorrect rcomponents matrix: must have 13 columns'); - end; - M_components = Columns; - N_rcomponents = Rows; # Number of raw components - - [N_rports,junk] = size(port_list); - [N_components, Columns] = size(CBG.subsystemlist); # Number of derived - # components - - if struct_contains(CBG,'portlist') - [N_ports, Columns] = size(CBG.portlist); - else - N_ports = 0; - end - - - ## Rotation matrix - rot = [0 -1; 1 0]; - - - ## Determine coordinates of the arrow end of the bond and the other end - ## and other geometry - other_end_1 = rbonds(:,1:2); - arrow_end = rbonds(:,3:4); - other_end_2 = rbonds(:,5:6); - - distance_1 = length2d(other_end_1 - arrow_end); - distance_2 = length2d(other_end_2 - arrow_end); - which_end = (distance_1>distance_2)*[1 1]; - one = ones(size(which_end)); - other_end = which_end.*other_end_1 + (one-which_end).*other_end_2; - arrow_barb = which_end.*other_end_2 + (one-which_end).*other_end_1; - arrow_vector = arrow_barb-arrow_end; - unit_arrow_vector = arrow_vector./(length2d(arrow_vector)*[1 1]); - - ## Extract directional information - arrow_end_direction = [rbonds(:,7), rbonds(:,8)]; - other_end_direction = [rbonds(:,9), rbonds(:,10)]; - - - ## Get indices of bonds with changed causality -- but ignore the extra bonds - ## due to vector bond expansion - changed_e = bonds(1:n_bonds,1)~=cbonds(1:n_bonds,1); - changed_f = bonds(1:n_bonds,2)~=cbonds(1:n_bonds,2); - changed = changed_e|changed_f; - - index_e = getindex(changed_e,1)'; - index_f = getindex(changed_f,1)'; - index_ef = getindex(changed,1)'; - - ## Print the new strokes in fig format - if index_ef(1,1)>0 - for i = index_e # Do the effort stroke - opp. side to arrow - if cbonds(i,1)==1 # Stroke at arrow end - bond_vector = arrow_end_direction(i,:); # Directional vector - stroke_end_1 = arrow_end(i,:); - else - bond_vector = other_end_direction(i,:); # Directional vector - stroke_end_1 = other_end(i,:); - end; - - ## Work out the direction for the stroke (right angles to bond) - unit_bond_vector = bond_vector./(length2d(bond_vector)*[1 1]); - unit_stroke_vector = (rot*unit_bond_vector')'; - - sig = sign(unit_arrow_vector(i,:)*unit_stroke_vector'); - stroke_end_2 = stroke_end_1 - stroke_length*sig*unit_stroke_vector; - - - ## print the fig3 format firstline spec. - polyline = 2; - firstline = fig3(polyline,stroke_thickness,stroke_colour); - fprintf(filenum, '%s\n', firstline); - - fprintf(filenum, ' %4.0f %4.0f %4.0f %4.0f \n', ... - stroke_end_1(1), stroke_end_1(2), ... - stroke_end_2(1), stroke_end_2(2) ); - end; - - for i = index_f # Do the flow stroke - same side as arrow - if cbonds(i,2)==1 # Stroke at arrow end - bond_vector = arrow_end_direction(i,:); # Directional vector - stroke_end_1 = arrow_end(i,:); - else - bond_vector = other_end_direction(i,:); # Directional vector - stroke_end_1 = other_end(i,:); - end; - - ## Work out the direction for the stroke (right angles to bond) - unit_bond_vector = bond_vector./(length2d(bond_vector)*[1 1]); - unit_stroke_vector = (rot*unit_bond_vector')'; - - sig = sign(unit_arrow_vector(i,:)*unit_stroke_vector'); - stroke_end_2 = stroke_end_1 + stroke_length*sig*unit_stroke_vector; - - ## print the fig3 format firstline spec. - polyline = 2; - firstline = fig3(polyline,stroke_thickness,stroke_colour); - fprintf(filenum, '%s\n', firstline); - - fprintf(filenum, ' %4.0f %4.0f %4.0f %4.0f \n', ... - stroke_end_1(1), stroke_end_1(2), ... - stroke_end_2(1), stroke_end_2(2) ); - end; - end; - - ## Print all the components - coloured acording to causality. - ## Miss out the ports - - for i = N_rports+1:N_rcomponents - eval(['[comp_type,comp_name] = ', system_type, '_cmp(i);']); - eval(["comp_status = CBG.subsystems.", comp_name, ".status;"]); - -# if i>N_rports # Subsystem -# comp_name = CBG.subsystemlist(i-N_rports,:); -# eval(["comp_status = CBG.subsystems.", comp_name, ".status;"]); -# else -# comp_name = CBG.portlist(i,:); -# eval(["comp_status = CBG.ports.", comp_name, ".status;"]); -# end - - - fig_params = rcomponents(i,3:M_components); - coords = rcomponents(i,1:2); - - if comp_status==-1 # Then under causal - fig_params(3) = comp_colour_u; - fig_params(6) = comp_font; - end; - - if comp_status==1 # Then over causal - fig_params(3) = comp_colour_o; - fig_params(6) = comp_font; - end; - - - ## Now print the component in fig format - - if index(comp_name,"mtt")==1 # Its a dummy name - typename = comp_type; # just show type - else - typename = [comp_type,":",comp_name]; - endif; - - Terminator = [bs, '001']; - real_index = 8; - for j = 1:length(fig_params) - if j==real_index - fprintf(filenum, '%2.4f ', fig_params(j)); - else - fprintf(filenum, '%i ', fig_params(j)); - endif - - - endfor - - - - fprintf(filenum, '%1.0f %1.0f ', coords(1), coords(2)); - fprintf(filenum, '%s%s\n', typename, Terminator); - - endfor - - ## Close the file - fclose(filenum); - return - -endfunction DELETED mttroot/mtt/bin/trans/m/cr2name.m Index: mttroot/mtt/bin/trans/m/cr2name.m ================================================================== --- mttroot/mtt/bin/trans/m/cr2name.m +++ /dev/null @@ -1,67 +0,0 @@ -function crname = cr2name(name,RHS_number,LHS_cause,RHS_cause,cr,args,port); -% cr2name - Constructs a string for the cr of a component. -% % -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %%%%% Model Transformation Tools %%%%% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% -% Matlab function cr2name -% cr2name(name,RHS_number,LHS_cause,RHS_cause,cr,args); - -% Copyright (c) P.J. Gawthrop, 1996. - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.2 1996/08/22 18:31:06 peter -% %% Fixed comment bug. -% %% -% %% Revision 1.1 1996/08/22 13:14:39 peter -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -if nargin<7 - port=0 -end; - - -if length(args)==0 - a_comma = ''; -else - a_comma = ','; -end; - -if length(cr)==0 - cause_name = ''; - lp = ''; - rp = ''; - c_comma = ''; -else - cause_name = cause2name(LHS_cause); - lp = '('; - rp = ')'; - c_comma = ','; -end - -if port == 0 - port_name = ''; - p_comma = ''; -else - port_name = sprintf('%1.0f',port); - p_comma = ','; -end; - -crname = sprintf('%s%s%s%s%s%s%s%s%s\t%s', ... - cr,lp, args, a_comma, port_name, p_comma, cause_name, c_comma, ... - varname(name, RHS_number,RHS_cause),rp); - - - - - - - DELETED mttroot/mtt/bin/trans/m/csm2sm.m Index: mttroot/mtt/bin/trans/m/csm2sm.m ================================================================== --- mttroot/mtt/bin/trans/m/csm2sm.m +++ /dev/null @@ -1,15 +0,0 @@ -function [A,B,C,D] = csm2sm(A,B,C,D,E); -% [A,B,C,D] = csm2sm(A,B,C,D,E); -% Converts constrained-state matrices to state matrices. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -A = E\A; -B = E\B; - DELETED mttroot/mtt/bin/trans/m/dm2fr.m Index: mttroot/mtt/bin/trans/m/dm2fr.m ================================================================== --- mttroot/mtt/bin/trans/m/dm2fr.m +++ /dev/null @@ -1,89 +0,0 @@ -function fr = dm2fr(A,B,C,D,E,W,u0) -# fr = dm2fr(A,B,C,D,E,W,u0) -# Descriptor matrix to frequency response. -# A,B,C,D,E - descriptor matrices -# W vector of frequency points -# u0 input gain vector: u = u0*unit phasor - -# ############################################################### -# ## Version control history -# ############################################################### -# ## $Id$ -# ## $Log$ -# ## Revision 1.8 1997/06/13 13:05:38 peterg -# ## Replaced 'C*( (E*j*w - A) \ B*u0 ' by C*( inv(E*j*w - A)*B*u0 ). \ -# ## seems to have a bug for complex nos (??) -# ## -# ## Revision 1.7 1996/11/06 16:40:38 peterg -# ## Explicit definition of j -# ## -# ## Revision 1.6 1996/08/24 14:22:23 peter -# ## Put in a ; to avoid excessive log output. -# ## -# ## Revision 1.5 1996/08/16 14:26:37 peter -# ## Check and fix size of u0. -# ## -# ## Revision 1.4 1996/08/15 12:50:51 peter -# ## Put in a conj to undo effect of transpose. -# ## -# ## Revision 1.3 1996/08/15 11:53:44 peter -# ## Now has u0 input vector -# ## -# ## Revision 1.2 1996/08/15 10:24:28 peter -# ## Includes u0 argument. -# ## -# ## Revision 1.1 1996/08/10 14:11:28 peter -# ## Initial revision -# ## -# ############################################################### - -[Ny,Nu] = size(D); -[Ny,Nx] = size(C); -N = length(W); - -if nargin<7 - U0 = zeros(Nu,1); - U0(1) = 1; -else - for i=1:Nu - U0(i) = u0(i); - end; -end; - -u0 = U0; - -[n,m]=size(W); -if m>n - W=W'; -end; - -[n,m]=size(u0); -if m>n - u0=u0'; -end; - -j = sqrt(-1); -fr = zeros(N,Ny); -i = 0; -for w = W' - i = i+1; - ## EjA = E*j*w - A; - ## iEjA = conj(EjA)*inv(conj(EjA)*EjA); - ## FR = C*iEjA*B*u0 + D*u0; - FR = C*( (E*j*w - A) \ B*u0 ) + D*u0; - ## FR = C*( inv(E*j*w - A)*B*u0 ) + D*u0; - fr(i,:) = conj(FR'); -end; - - - - - - - - - - - - - DELETED mttroot/mtt/bin/trans/m/dm2ir.m Index: mttroot/mtt/bin/trans/m/dm2ir.m ================================================================== --- mttroot/mtt/bin/trans/m/dm2ir.m +++ /dev/null @@ -1,40 +0,0 @@ -function ir = dm2ir(A,B,C,D,E,T); -% ir = dm2ir(A,B,C,D,E,T); -% Descriptor matrix to impulse response. -% NB At the moment - this assumes that E is unity ..... -% A,B,C,D,E - descriptor matrices -% T vector of time points - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.3 1996/08/10 14:16:04 peter -% %% Now has T vector input - it was tmax & tstep -% %% -% %% Revision 1.2 1996/08/10 11:49:39 peter -% %% Fixed multi-input/output problem -% %% -% %% Revision 1.1 1996/08/10 10:26:00 peter -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -[N,M] = size(T); -if M>N - T = T'; - N = M; -end; - -[Ny,Nu] = size(D); -NN=Ny*Nu; - -ir = zeros(N,NN); -i = 0; -for t = T' - i=i+1; - ir(i,:) = reshape(C*expm(A*t)*B, 1,NN); -end; - DELETED mttroot/mtt/bin/trans/m/dm2sr.m Index: mttroot/mtt/bin/trans/m/dm2sr.m ================================================================== --- mttroot/mtt/bin/trans/m/dm2sr.m +++ /dev/null @@ -1,66 +0,0 @@ -function [Y,X] = dm2sr(A,B,C,D,E,T,u0,x0); -% [Y,X] = dm2sr(A,B,C,D,E,T,u0,x0); -% Descriptor matrix to impulse response. -% NB At the moment - this assumes that E is unity ..... -% A,B,C,D,E - descriptor matrices -% T vector of time points -% u0 input gain vector: u = u0*unit step. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.4 1996/08/15 08:34:08 peter -% %% Added step gain (u0) and initial condition (x0) -% %% -% %% Revision 1.3 1996/08/11 19:33:24 peter -% %% Replaced exp by expm - whoops! -% %% -% %% Revision 1.2 1996/08/11 10:37:40 peter -% %% Corrected mistake in step-response calculation. -% %% -% %% Revision 1.1 1996/08/11 09:42:40 peter -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -[Ny,Nu] = size(D); -[Ny,Nx] = size(C); - -if nargin<7 - u0 = zeros(Nu,1); - u0(1) = 1; -end; - -if nargin<8 - x0 = zeros(Nx,1); -end; - -[N,M] = size(T); -if M>N - T = T'; - N = M; -end; - -one = eye(Nx); - -Y = zeros(N,Ny); -X = zeros(N,Nx); -i = 0; -for t = T' - i=i+1; - if Nx>0 - expAt = expm(A*t); - x = ( A\(expAt-one) )*B*u0 + expAt*x0; - X(i,:) = x'; - if Ny>0 - y = C*x + D*u0; - Y(i,:) = y'; - end; - elseif Ny>0 - y = D*u0; - Y(i,:) = y'; - end; -end; - DELETED mttroot/mtt/bin/trans/m/equation.m Index: mttroot/mtt/bin/trans/m/equation.m ================================================================== --- mttroot/mtt/bin/trans/m/equation.m +++ /dev/null @@ -1,107 +0,0 @@ -function eqn = equation(name,cr,args,outbond,outcause,outport, ... - inbonds,incauses,inports) -% eqn is a string containing the equation -% -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %%%%% Model Transformation Tools %%%%% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% -% Matlab function equations.m -% eqn = equation(name,cr,args,outbond,outcause,outport, ... -% inbonds,incauses,inports) - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.5 1996/12/05 11:26:51 peterg -% %% Null strings now detected with strcmp not length. -% %% -% %% Revision 1.4 1996/09/12 16:42:01 peter -% %% Default now out side this function - need to be none for each -% %% component. -% %% -% %% Revision 1.3 1996/09/12 12:03:58 peter -% %% Added some error checking. -% %% If no constitutive relationship, only add diagonal elementts to -% %% default unity output. -% %% -% %% Revision 1.2 1996/09/10 11:29:47 peter -% %% Removed causality & port info when no constitutive relationship. -% %% -% %% Revision 1.1 1996/09/10 11:11:11 peter -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -inbonds -incauses - -% Find the number of inports -nports = length(inbonds) - -% Check some arguments -if length(incauses) ~= nports - error('equation.m: incauses inconsistent with inbonds'); -end; - -if length(inports) ~= nports - error('equation.m: inports inconsistent with inbonds'); -end; - -% Set up LHS -LHS = varname(name, outbond, outcause); - -% Set up various strings to get correct syntax if some strings are empty -if strcmp(cr,'') - cause_name = ''; - port_name = ''; - lp = ''; - rp = ''; - c_comma = ''; -else - cause_name = cause2name(outcause); - port_name = sprintf('%1.0f', outport'); - lp = '('; - rp = ')'; - c_comma = ','; -end - -if strcmp(args,'') - a_comma = ''; -else - a_comma = ','; -end; - -% Set up first line of RHS -RHS1 = sprintf('%s%s%s%s%s%s%s%s\n', ... - cr, lp, args, a_comma, cause_name, c_comma, port_name, c_comma); - - -% Set up rest of RHS - the input variables, causality and ports. -RHS2 = ''; -for i=1:nports - RHS2 = sprintf('%s\t%s', ... - RHS2, varname(name, inbonds(i), incauses(i))); - - if strcmp(cr,'')==0 % add the causality & port info - RHS2 = sprintf('%s,%s,%1.0f', ... - RHS2, cause2name(incauses(i)), inports(i)); - end; - - if (i1 # Do a ps file - psfilename = sprintf("%s.%s",filename,language); - convert = sprintf("fig2dev -L%s %s > %s", language, figfilename, psfilename); - system(convert); - endif - -endfunction DELETED mttroot/mtt/bin/trans/m/getdynamic.m Index: mttroot/mtt/bin/trans/m/getdynamic.m ================================================================== --- mttroot/mtt/bin/trans/m/getdynamic.m +++ /dev/null @@ -1,36 +0,0 @@ -function [name,prefered] = getdynamic(subsystems); -# Get the index of a dynamic components which is not set. - -# ############################################################### -# ## Version control history -# ############################################################### -# ## $Id$ -# ## $Log$ -# ## Revision 1.2 1996/08/16 12:51:22 peter -# ## Removed debugging lines. -# ## -# ## Revision 1.1 1996/08/16 12:50:41 peter -# ## Initial revision -# ## -# ############################################################### - - prefered = 0; # No prefered causality to start with - for [subsystem,name] = subsystems - if subsystem.status==-1 # Undercausal - if strcmp(subsystem.type,'C') - prefered=-1; - break; - endif; - if strcmp(subsystem.type,'I') - prefered=1; - break; - endif; - endif; - endfor; - - if prefered==0 - name = ""; - end; - -endfunction - DELETED mttroot/mtt/bin/trans/m/getindex.m Index: mttroot/mtt/bin/trans/m/getindex.m ================================================================== --- mttroot/mtt/bin/trans/m/getindex.m +++ /dev/null @@ -1,46 +0,0 @@ -function [index, n, otherindex, m] = getindex(array,value); -% Finds the n indices of the elements of array equal to value -% otherindex contains indeces of the the m other elements. - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -[N,M] = size(array); -n=0; m=0; -for i=1:N - for j = 1:M - if array(i,j)==value - n=n+1; - index(n,:) = [i j]; - else - m=m+1; - otherindex(m,:) = [i j]; - end; - end; -end; - - -if (M==1)&(n>0) - index = index(:,1); -end; - -if (M==1)&(m>0) - otherindex = otherindex(:,1); -end; - -% Octave doesn't like empty matrices -if n==0 - index=0; -end; - -if m==0 - otherindex=0; -end; - - - DELETED mttroot/mtt/bin/trans/m/length2d.m Index: mttroot/mtt/bin/trans/m/length2d.m ================================================================== --- mttroot/mtt/bin/trans/m/length2d.m +++ /dev/null @@ -1,24 +0,0 @@ -function len = length2d(vector_array) -% length2d - Finds (geometric) length of row vectors stacked -% into a column vector -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %%%%% Model Transformation Tools %%%%% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% -% Matlab function length2d -% len = length2d(vector_array) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Copyright (c) P.J. Gawthrop, 1996. - -% - -len = sqrt(sum(vector_array'.^2)'); DELETED mttroot/mtt/bin/trans/m/makedef.m Index: mttroot/mtt/bin/trans/m/makedef.m ================================================================== --- mttroot/mtt/bin/trans/m/makedef.m +++ /dev/null @@ -1,131 +0,0 @@ -function makedef(structure,deffilenum); - - ## %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - ## %% Version control history - ## %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - ## %% $Id$ - ## %% $Log$ - ## %% Revision 1.8 2000/10/20 13:26:41 peterg - ## %% Made sure that mttui not declared twice - ## %% - ## %% Revision 1.7 2000/10/20 13:16:29 peterg - ## %% Reformated - ## %% - ## %% Revision 1.6 1996/12/07 18:21:57 peterg - ## %% Now uses fopen + file number - ## %% - ## %% Revision 1.5 1996/11/09 21:05:44 peterg - ## %% Only generates MTTIm when at least 2 states! - ## %% - ## %% Revision 1.4 1996/08/30 19:42:36 peter - ## %% Added newline at end of file. - ## %% - ## %% Revision 1.3 1996/08/24 15:06:22 peter - ## %% Write `END;' at end to please reduce. - ## %% - ## %% Revision 1.2 1996/08/18 20:05:20 peter - ## %% Put unded version control - ## %% - ## %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - - - states = structure(1); - nonstates=structure(2); - inputs=structure(3); - outputs=structure(4); - zero_outputs = structure(5); - internal_inputs = structure(6); - connecting_inputs = structure(7); - - pc = '%'; - ## Declare reduce constants; - fprintf(deffilenum, 'MTTNx := %1.0f;\n', states); - fprintf(deffilenum, 'MTTNz := %1.0f;\n', nonstates); - fprintf(deffilenum, 'MTTNu := %1.0f;\n', inputs); - fprintf(deffilenum, 'MTTNy := %1.0f;\n', outputs); - fprintf(deffilenum, 'MTTNyz := %1.0f;\n', zero_outputs); - fprintf(deffilenum, 'MTTNui := %1.0f;\n', internal_inputs); - fprintf(deffilenum, 'MTTNuc := %1.0f;\n', connecting_inputs); - - ## Declare reduce matrices - fprintf(deffilenum, '%s Declare reduce matrices\n', pc); - if states>0 - fprintf(deffilenum, 'matrix MTTx(%1.0f,1);\n', states); - fprintf(deffilenum, 'matrix MTTdx(%1.0f,1);\n', states); - endif - - if nonstates>0 - fprintf(deffilenum, 'matrix MTTz(%1.0f,1);\n', nonstates); - fprintf(deffilenum, 'matrix MTTdz(%1.0f,1);\n', nonstates); - endif - - if inputs>0 - fprintf(deffilenum, 'matrix MTTu(%1.0f,1);\n', inputs); - fprintf(deffilenum, 'matrix MTTdu(%1.0f,1);\n', inputs); - endif - - if outputs>0 - fprintf(deffilenum, 'matrix MTTy(%1.0f,1);\n', outputs); - endif - - if zero_outputs>0 - fprintf(deffilenum, 'matrix MTTyz(%1.0f,1);\n', zero_outputs); - fprintf(deffilenum, 'matrix MTTui(%1.0f,1);\n', zero_outputs); - elseif internal_inputs>0 - fprintf(deffilenum, 'matrix MTTui(%1.0f,1);\n', inputs); - endif - - if connecting_inputs>0 - fprintf(deffilenum, 'matrix MTTuc(%1.0f,1);\n', connecting_inputs); - endif - - - ## Make an Nx x Nx unit matrix - if states>0 - fprintf(deffilenum, 'matrix MTTI(%1.0f,%1.0f);\n', states,states); - for i = 1:states - fprintf(deffilenum, 'MTTI(%1.0f,%1.0f) := 1;\n', i, i); - end - endif - - - ## Make an Nx/2 x Nx/2 unit matrix - if states>1 - fprintf(deffilenum, 'matrix MTTIm(%1.0f,%1.0f);\n', states/2,states/2); - for i = 1:states/2 - fprintf(deffilenum, 'MTTIM(%1.0f,%1.0f) := 1;\n', i, i); - end - endif - - - ## Set the y, yz, du, u, x and dx matrices - fprintf(deffilenum, '%s Set the y, yz, u and x matrices\n', pc); - for i=1:outputs - fprintf(deffilenum, 'MTTy(%1.0f,1) := MTTy%1.0f;\n', i, i); - endfor - - for i=1:zero_outputs - fprintf(deffilenum, 'MTTyz(%1.0f,1) := MTTyz%1.0f;\n', i, i); - fprintf(deffilenum, 'MTTui(%1.0f,1) := MTTui%1.0f;\n', i, i); - endfor - - for i=1:inputs - fprintf(deffilenum, 'MTTu(%1.0f,1) := MTTu%1.0f;\n', i, i); - endfor - - for i=1:inputs - fprintf(deffilenum, 'MTTdu(%1.0f,1) := MTTdu%1.0f;\n', i, i); - endfor - - for i=1:states - fprintf(deffilenum, 'MTTx(%1.0f,1) := MTTx%1.0f;\n', i, i); - endfor - - for i=1:nonstates - fprintf(deffilenum, 'MTTdz(%1.0f,1) := MTTdz%1.0f;\n', i, i); - endfor - - fflush (deffilenum); - -endfunction DELETED mttroot/mtt/bin/trans/m/mat2mfile.m Index: mttroot/mtt/bin/trans/m/mat2mfile.m ================================================================== --- mttroot/mtt/bin/trans/m/mat2mfile.m +++ /dev/null @@ -1,45 +0,0 @@ -function mat2mfile(matrix, matrix_name, filenum); -% mat2mfile - writes a matrix as part of an m-file -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %%%%% Model Transformation Tools %%%%% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% -% Matlab function mat2mfile -% mat2mfile(matrix, matrix_name, filenum) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1996/12/04 21:53:00 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Copyright (c) P.J. Gawthrop, 1996. - -%Writes out a matrix as a matlab m-file - -[N, M] = size(matrix); - -empty = (N==1)&(M==1)&(matrix(1,1)==0); - -%Write out the matrix -fprintf(filenum, '%s = [\n', matrix_name); - -if ~empty - for i = 1:N, - for j = 1:M - fprintf(filenum, '%1.0f ', matrix(i,j)); - end; - fprintf(filenum, '\n'); - end; -else - fprintf(filenum,'0'); -end; -fprintf(filenum, '];\n'); -fprintf(filenum, '\n'); - DELETED mttroot/mtt/bin/trans/m/mat2tex.m Index: mttroot/mtt/bin/trans/m/mat2tex.m ================================================================== --- mttroot/mtt/bin/trans/m/mat2tex.m +++ /dev/null @@ -1,35 +0,0 @@ -function tex = mat2tex(mat) - ## mat2tex: converts matrix into LaTeX form. - ## tex = mat2tex(mat) - - - ############################################################### - ## Version control history - ############################################################### - ## $Id$ - ## $Log$ - ## Revision 1.1 1999/03/25 01:33:51 peterg - ## Initial revision - ## - ############################################################### - - [n,m]=size(mat); - - for i=1:n - for j=1:m - if mat(i,j) == 0 - printf("0 "); - else - printf("%5.2f", mat(i,j)); - endif - if jcriterion - theta - iterations = iterations + 1; - e_last = error; - [t,y,y_theta] = mtt_ssimulate(system_name,theta); # Simulate system - Theta = [Theta theta]; # Save parameters - Y = [Y y]; # Save output - E = (y - y_s); # Error(t) - error = (E'*E); # Sum the error - Error = [Error error]; - theta = theta - alpha*((y_theta'*y_theta)\(y_theta'*E)); - endwhile - -endfunction DELETED mttroot/mtt/bin/trans/m/mtt_implicit.m Index: mttroot/mtt/bin/trans/m/mtt_implicit.m ================================================================== --- mttroot/mtt/bin/trans/m/mtt_implicit.m +++ /dev/null @@ -1,28 +0,0 @@ -function [x] = mtt_implicit(x,dx,AA,AAx,dt,Nx,open); - ## x = mtt_implicit(x,dx,AA,AAx,dt,Nx,open); - ## Implicit integration update - - ## ############################################################### - ## ## Version control history - ## ############################################################### - ## ## $Id$ - ## ## $Log$ - ## ## Revision 1.3 1999/04/20 06:14:53 peterg - ## ## Reorder to make equivalent to .p version - ## ## - ## ## Revision 1.2 1999/04/20 00:58:22 peterg - ## ## Set open-switch states to zero - ## ## - ## ## Revision 1.1 1999/04/02 06:23:20 peterg - ## ## Initial revision - ## ## - ## ############################################################### - - ## Copyright (C) 1999 by P.J. Gawthrop - - I = nozeros(!open.*[1:Nx]'); # Indices of states to update - x(I) = AA(I,I)\(AAx(I) + dx(I)*dt); # Implicit update (except open switches); - I_open = nozeros(open.*[1:Nx]'); # Indices of open switches - x(I_open) = 0.0; # Open switches have zero state - -endfunction DELETED mttroot/mtt/bin/trans/m/mtt_info.m Index: mttroot/mtt/bin/trans/m/mtt_info.m ================================================================== --- mttroot/mtt/bin/trans/m/mtt_info.m +++ /dev/null @@ -1,39 +0,0 @@ -function mtt_info(info, infofile); - ## mtt_info(info, infofile); - - ## function [bonds, status] = abg2cbg(bonds,components,system_name,filename) - ## - ## ###################################### - ## ##### Model Transformation Tools ##### - ## ###################################### - - ## ############################################################### - ## ## Version control history - ## ############################################################### - ## ## $Id$ - ## ## $Log$ - ## ## Revision 1.2 1997/02/11 10:06:42 peterg - ## ## Removed a debugging line. - ## ## - ## ## Revision 1.1 1996/08/18 20:06:57 peter - ## ## Initial revision - ## ## - ## ############################################################### - - ## Set default file if it isn't there already - if nargin<2 - infofile = fopen("mtt_info.txt","a"); - end; - - fprintf(infofile, "INFORMATION: %s\n", info); - - if nargin<2 - fclose(infofile); - end; - -endfunction - - - - - DELETED mttroot/mtt/bin/trans/m/mtt_optimise.m Index: mttroot/mtt/bin/trans/m/mtt_optimise.m ================================================================== --- mttroot/mtt/bin/trans/m/mtt_optimise.m +++ /dev/null @@ -1,112 +0,0 @@ -function [theta,Theta,Error,Y,iterations] = mtt_optimise (system_name,y_s,theta_0,method,free,weight,criterion,max_iterations,alpha,View) - ## Usage: [theta,Theta,Error,Y,iterations] = mtt_optimise (system_name,y_s,theta_0,method,free,weight,criterion,max_iterations,alpha) - ## system_name String containg system name - ## y_s actual system output - ## theta_0 initial parameter estimate - ## free Indices of the free parameters within theta_0 - ## weight Weighting function - same dimension as y_s - ## method "time" or "freq" - ## criterion convergence criterion - ## max_iterations limit to number of iterations - ## alpha Optimisation gain parameter - - ## Copyright (C) 1999 by Peter J. Gawthrop - - if nargin<4 - method="time"; - endif - - N = length(theta_0); - if nargin<5 - free = [1:N]; - endif - - if nargin<6 - weight = ones(size(y_s)); - endif - - if nargin<7 - criterion = 1e-7; - endif - - if nargin <8 - max_iterations = 25; - endif - - if nargin<9 - alpha = 0.1; - endif - - if nargin<10 - View = 0; - endif - - if (!strcmp(method,"time"))&&(!strcmp(method,"freq")) - error("method must be either time or freq") - endif - - [n_data,n_y] = size(y_s); - - n_th = length(free); - error_old = inf; - error=1e50; - theta = theta_0; - Theta = []; - Error = []; - Y = []; - iterations = 0; - while (abs(error_old-error)>criterion)&&(abs(error)>criterion)&&(iterationscriterion)&&(abs(error)>criterion)&&(iterations(error_old+criterion) # Reduce step size and try again - factor = 10; - disp(sprintf("%2.2f*step",alpha)); - error = error_old; # Go back to previous error value - error_old = inf; # Don't let it think its converged - theta(free) = theta(free) + step; # Reverse step - step = alpha*step; # new stepsize - else # Recompute step size - tol = 1e-5; - step = pinv(JJ,tol)*J; # Step size - #step = pinv(JJ)*J; # Step size (built in tol) - endif - theta(free) = theta(free) - step; # Increment parameters - endif - ## theta - endwhile -endfunction - - DELETED mttroot/mtt/bin/trans/m/mtt_save_alias.m Index: mttroot/mtt/bin/trans/m/mtt_save_alias.m ================================================================== --- mttroot/mtt/bin/trans/m/mtt_save_alias.m +++ /dev/null @@ -1,21 +0,0 @@ -function mtt_save_alias (arg,system_name) - - ## usage: mtt_save_alias (arg,system_name,FileID) - ## - ## - ## ###################################### - ## #### Model Transformation Tools ##### - ## ###################################### - - ## ############################################################### - ## Version - ## control history - ## ############################################################### ## $Id: - ## mtt_info.m,v 1.2 1997/02/11 10:06:42 peterg Exp peterg $ ## $Log: - ## mtt_info.m,v $ ## Revision 1.2 1997/02/11 10:06:42 peterg ## - ## ############################################################### - - fileid = fopen('mtt_aliased.txt','a'); - fprintf(fileid, "%s\t%s\n", arg,system_name); - fclose(fileid); -endfunction DELETED mttroot/mtt/bin/trans/m/mtt_sfreq.m Index: mttroot/mtt/bin/trans/m/mtt_sfreq.m ================================================================== --- mttroot/mtt/bin/trans/m/mtt_sfreq.m +++ /dev/null @@ -1,61 +0,0 @@ -function [w,y,y_theta] = mtt_sfreq(system_name,theta,free); - ## usage: [w,y,y_theta] = mtt_sfreq(system_name,theta,free); - ## - ## Frequency response with name system_name and parameter vector theta - ## The order of components in theta is determined in system_numpar.txt: - ## y_theta contains the corresponding sensitivity functions - ## Assumes system generated by the sBG approach - ## Copyright (C) 1999 by Peter J. Gawthrop - - ## $Id$ - - ## Assumes SISO system - - global mtt_n_parameters mtt_parameters # Global "argc argv" - global mtt_w # Frequencies (if not specified in simpar file - N = length(theta); - - eval(sprintf("[nx,ny,nu,nz,nyz] = %s_def;", system_name)); - if nargin<3 - free = 1; - endif - - y_theta = []; - - if length(free)==0 - free=1; # Make the loop happen once to get y and X - endif - - [n,m] = size(free); - if m==1 - free = free'; - endif - - - eval(sprintf("%s_simpar;", system_name)); # Read the "simulation" - # parameters - if exist("mttwmin") # Compute frequency range - w = logspace(mttwmin,mttwmax,mttwsteps)'; # Frequency range - else # use global mtt_w - w = mtt_w; - endif - - y_theta = []; - mtt_n_parameters = 1+N; - mtt_parameters(2:1+N) = theta; # The actual parameters - for i = free - mtt_parameters(1) = i; # Select wich sens. function - eval(sprintf("%s_numpar;", system_name)); # Read the parameters - eval(sprintf("[A,B,C,D,E] = %s_dm;", system_name)); # Evaluate the - # descriptor matrices - fr = dm2fr(A,B,C,D,E,w); - y_theta = [y_theta fr(:,2)]; # Sensitivity frequency response - endfor - - y = fr(:,1); # Actual frequency response - - -endfunction - - - DELETED mttroot/mtt/bin/trans/m/mtt_simulate.m Index: mttroot/mtt/bin/trans/m/mtt_simulate.m ================================================================== --- mttroot/mtt/bin/trans/m/mtt_simulate.m +++ /dev/null @@ -1,32 +0,0 @@ -function [t,y,y_theta] = mtt_simulate(system_name,theta); - ## usage: [t,y,y_theta] = mtt_simulate(r); - ## - ## Simulate system with name system and parameter vector theta - ## The order of components in theta is determined in system_numpar.txt: - ## Copyright (C) 1999 by Peter J. Gawthrop - - ## $Id$ - - ## Simulate using mtt-generated function - y_theta = []; - for i=1:length(theta) - args=""; - for j=1:length(theta) - i_sensitivity=(j==i); - args = sprintf("%s%i %g ",args, i_sensitivity, theta(j)); - endfor - - command = sprintf("./%s_ode2odes.out %s > mtt_data.dat\n", system_name, args); - system(command); - - ## Retrieve data - load -force mtt_data.dat - t = mtt_data(:,1); - y = mtt_data(:,2); - y_theta = [y_theta mtt_data(:,3)]; - endfor - -endfunction - - - DELETED mttroot/mtt/bin/trans/m/mtt_ssimulate.m Index: mttroot/mtt/bin/trans/m/mtt_ssimulate.m ================================================================== --- mttroot/mtt/bin/trans/m/mtt_ssimulate.m +++ /dev/null @@ -1,34 +0,0 @@ -function [t,y,y_theta] = mtt_ssimulate(system_name,theta); - ## usage: [t,y,y_theta] = mtt_ssimulate(system_name,theta); - ## - ## Simulate system with name system_name and parameter vector theta - ## The order of components in theta is determined in system_numpar.txt: - ## y_theta contains the corresponding sensitivity functions - ## Assumes system generated by the sBG approach - ## Copyright (C) 1999 by Peter J. Gawthrop - - ## $Id$ - - ## Simulate using mtt-generated function - y_theta = []; - for i=1:length(theta) - args=""; - for j=1:length(theta) - i_sensitivity=(j==i); - args = sprintf("%s%i %g ",args, i_sensitivity, theta(j)); - endfor - - command = sprintf("./%s_ode2odes.out %s > mtt_data.dat\n", system_name, args); - system(command); - - ## Retrieve data - load -force mtt_data.dat - t = mtt_data(:,1); - y = mtt_data(:,2); - y_theta = [y_theta mtt_data(:,3)]; - endfor - -endfunction - - - DELETED mttroot/mtt/bin/trans/m/mtt_stime.m Index: mttroot/mtt/bin/trans/m/mtt_stime.m ================================================================== --- mttroot/mtt/bin/trans/m/mtt_stime.m +++ /dev/null @@ -1,64 +0,0 @@ -function [t,y,y_theta,x,x_last] = mtt_stime(system_name,theta,free); - ## usage: [t,y,y_theta,x,x_last] = mtt_stime(system_name,theta); - ## - ## Simulate system with name system_name and parameter vector theta - ## The order of components in theta is determined in system_numpar.txt: - ## y_theta contains the corresponding sensitivity functions - ## Assumes system generated by the sBG approach - ## Copyright (C) 1999 by Peter J. Gawthrop - - ## $Id$ - - ## Simulate using mtt-generated function - - N = length(theta); - - eval(sprintf("[nx,ny,nu,nz,nyz] = %s_def;", system_name)); - if nargin<3 - free = 1; - endif - - y_theta = []; - - if length(free)==0 - free=1; # Make the loop happen once to get y and X - endif - - [n,m] = size(free); - if m==1 - free = free'; - endif - - for i=free - args=sprintf("%i",i); - for j=1:length(theta) - args = sprintf("%s %g",args, theta(j)); - endfor - - ## Run system and replace NaN by 1e30 -- easier to handle - file_name = sprintf("%s_input.dat", system_name); - if exist(file_name)==2 # Then use data from this file ... - command = sprintf("./%s_ode2odes.out %s < %s | sed \'s/NAN/Inf/g\' >mtt_out_data.dat\n", \ - system_name, args, file_name); - else - command = sprintf("./%s_ode2odes.out %s | sed \'s/NAN/Inf/g\' >mtt_out_data.dat\n", \ - system_name, args); - endif - - system(command); - - ## Retrieve out_data - load -force mtt_out_data.dat - y_theta = [y_theta mtt_out_data(:,3:2:1+ny)]; - endfor - - ## System out_data - [n,m]=size(mtt_out_data); - t = mtt_out_data(:,1); - y = mtt_out_data(:,2:2:ny); - x = mtt_out_data(:,3+ny:m); - x_last = mtt_out_data(n,3+ny:m); -endfunction - - - DELETED mttroot/mtt/bin/trans/m/mtt_strip_name.m Index: mttroot/mtt/bin/trans/m/mtt_strip_name.m ================================================================== --- mttroot/mtt/bin/trans/m/mtt_strip_name.m +++ /dev/null @@ -1,11 +0,0 @@ -function stripped_name = mtt_strip_name (name) - - ## usage: stripped_name = mtt_strip_name (name) - ## - ## Removes blanks and [] from a port name - - stripped_name = deblank(name); # remove blanks - stripped_name = stripped_name(2:length(stripped_name)-1); - stripped_name = deblank(stripped_name); # remove blanks - -endfunction DELETED mttroot/mtt/bin/trans/m/mtt_type_name.m Index: mttroot/mtt/bin/trans/m/mtt_type_name.m ================================================================== --- mttroot/mtt/bin/trans/m/mtt_type_name.m +++ /dev/null @@ -1,15 +0,0 @@ -function NewType = mtt_type_name (OldType) - - ## usage: NewType = mtt_type_name (OldType) - ## - ## - - if OldType=="0"; - NewType = "Zero"; - elseif OldType=="1"; - NewType = "One"; - else - NewType = OldType; - endif - -endfunction DELETED mttroot/mtt/bin/trans/m/mtt_update.m Index: mttroot/mtt/bin/trans/m/mtt_update.m ================================================================== --- mttroot/mtt/bin/trans/m/mtt_update.m +++ /dev/null @@ -1,13 +0,0 @@ -function [x] = mtt_update(dx,x,dt,STEPFACTOR,METHOD,name); - - if (METHOD==1) #Euler - ddt = dt/STEPFACTOR; - x = x + dx*ddt; - elseif (METHOD==2) #Linear implicit or Implicit - eval("[AA,AAx] = ",name,"_smx;"); - x = AA\(AAx + dx*dt); - else - error("Method %i is not defined", METHOD); - endif; - -endfunction; DELETED mttroot/mtt/bin/trans/m/mtt_write.m Index: mttroot/mtt/bin/trans/m/mtt_write.m ================================================================== --- mttroot/mtt/bin/trans/m/mtt_write.m +++ /dev/null @@ -1,23 +0,0 @@ -function mtt_write(t,x,y,nx,ny); - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.4 1999/03/15 23:05:29 peterg -## A complete rewrite - now puts into a Global matrix MTT_data -## -## Revision 1.3 1999/03/15 21:57:00 peterg -## Removed the # symbol -## -############################################################### - -global MTT_data - if t==0.0 - MTT_data=[]; - endif - - MTT_data = [MTT_data; t,y',t,x']; -endfunction - DELETED mttroot/mtt/bin/trans/m/name_in_list.m Index: mttroot/mtt/bin/trans/m/name_in_list.m ================================================================== --- mttroot/mtt/bin/trans/m/name_in_list.m +++ /dev/null @@ -1,42 +0,0 @@ -function index = name_in_list(name,list) - -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %%%%% Model Transformation Tools %%%%% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% -% Matlab function name_in_list.m -% Finds name in list and returns index -- zero if not found - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1998/01/23 09:22:05 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -[N,M] = size(list); -if N<1 - error('list must have at least one element'); -end; - -index = 0; - -for i = 1:N - j = findstr(name,list(i,:)); - if (length(j)==1) - if j(1)==1 - if index==0 - index = i; - else - index = [index i]; - end - end - end; -end; - DELETED mttroot/mtt/bin/trans/m/nozeros.m Index: mttroot/mtt/bin/trans/m/nozeros.m ================================================================== --- mttroot/mtt/bin/trans/m/nozeros.m +++ /dev/null @@ -1,24 +0,0 @@ -function v = nozeros (v0,tol) - - ## usage: v = nozeros (v0,tol) - ## - ## Zaps the zeros in a vector with tolerance tol (defaults to zero) - - ## Copyright (C) 2000 by Peter J. Gawthrop - - if nargin<2 - tol=eps; - endif - - - v = []; - j=0; - for i = 1:length(v0) - if abs(v0(i))>tol - j=j+1; - v(1,j) = v0(i); - end; - end; - - -endfunction DELETED mttroot/mtt/bin/trans/m/pol2root2tex.m Index: mttroot/mtt/bin/trans/m/pol2root2tex.m ================================================================== --- mttroot/mtt/bin/trans/m/pol2root2tex.m +++ /dev/null @@ -1,73 +0,0 @@ -function tex = pol2root2tex(pol,name,f) - ## pol2tex: converts polynomial into LaTeX form as (s-z_1)..(s-z_n) - ## tex = pol2root2tex(pol,[name,f]) - - ############################################################### - ## Version control history - ############################################################### - ## $Id$ - ## $Log$ - ## Revision 1.2 2001/05/10 19:08:35 gawthrop - ## Cosmetic improvements - ## - ## Revision 1.1 2001/05/10 11:44:40 gawthrop - ## Useful conversion functions - ## - ## Revision 1.1 1999/05/24 22:05:53 peterg - ## Initial revision - ## - ############################################################### - - if nargin<2 - name = "s" - endif - - if nargin<3 - f = "%2.2f"; - endif - - n = length(pol)-1; - - if n>0 - r = sort(roots(pol)); - endif - - gain = pol(1); - - complex=0; - if ((gain==1)&&(n>0)) - tex=""; - else - tex = sprintf("%g", gain); - endif - - for i=1:n - if real(r(i))<0 - r_plusminus = '+'; - else - r_plusminus = '-'; - endif - if imag(r(i))<0 - i_plusminus = '+'; - else - i_plusminus = '-'; - endif - - if complex - complex=0; - else - if abs(imag(r(i)))<1e-5 - ff = sprintf("%%s (%s %%s %s)",name, f); - tex = sprintf(ff, tex, r_plusminus, abs(r(i))); - else - ff = sprintf("%%s (%s %%s %s \\pm j %s)", name, f, f); - tex = sprintf(ff, tex, r_plusminus, abs(real(r(i))), imag(r(i))); - complex=1; - endif - endif - endfor - -endfunction - - - DELETED mttroot/mtt/bin/trans/m/pol2tex.m Index: mttroot/mtt/bin/trans/m/pol2tex.m ================================================================== --- mttroot/mtt/bin/trans/m/pol2tex.m +++ /dev/null @@ -1,80 +0,0 @@ -function tex = pol2tex(pol,name,f) - ## pol2tex: converts polynomial into LaTeX form. - ## tex = pol2tex(pol,[name,f]) - - ## pol polynomial (row vector) - ## name name of the variable (eg s or z) - ## f format of the coefficients (eg %2.4f) - - ############################################################### - ## Version control history - ############################################################### - ## $Id$ - ## $Log$ - ## Revision 1.3 2001/07/11 03:58:41 gawthrop - ## removed {} - ## - ## Revision 1.2 2001/05/10 19:08:35 gawthrop - ## Cosmetic improvements - ## - ## Revision 1.1 2001/05/10 11:44:40 gawthrop - ## Useful conversion functions - ## - ## Revision 1.1 1999/03/25 01:33:51 peterg - ## Initial revision - ## - ############################################################### - - if nargin<2 - name = "s"; - endif - - if nargin<3 - f = "%2.2f"; - endif - - n = length(pol); - if n<1 - tex = "--"; - return - endif - - if pol(1) == 1 - if n>1 - tex = ''; - else - tex = '1'; - endif - else - ff = sprintf(" %s",f); - tex = sprintf(ff, pol(1)); - endif - - if n>2 - tex = sprintf("%s%s^%i", tex, name, n-1); - elseif n==2 - tex = sprintf("%s%s", tex, name); - else - tex = sprintf("%s", tex); - endif - - for i=2:n - if pol(i)<0 - plusminus = '-'; - else - plusminus = '+'; - endif - ff = sprintf("%%s %%s %s",f); - tex = sprintf(ff, tex, plusminus, abs(pol(i))); - if i1 % Multi ports - port no. is first arg of CR - fprintf(eqnfile, '%1.0f,', outport); - end; - fprintf(eqnfile, '%s', args); % Print the arguments - for port = 1:ports % Print the input causalities and values - fprintf(eqnfile, '\n\t\t,%s,%s', cause2name(RHS_cause(port)), ... - varname(name,bond_number(port), RHS_cause(port))); - end; -fprintf(eqnfile, '\n\t\t);\n'); -end; - DELETED mttroot/mtt/bin/trans/m/psfig.m Index: mttroot/mtt/bin/trans/m/psfig.m ================================================================== --- mttroot/mtt/bin/trans/m/psfig.m +++ /dev/null @@ -1,43 +0,0 @@ -function psfig(filename) - ## Usage: psfig(filename) - ## Puts figure into ps file - - ############################################################### - ## Version control history - ############################################################### - ## $Id$ - ## $Log$ - ## Revision 1.1 1999/11/30 23:26:21 peterg - ## Initial revision - ## - ## Revision 1.3 1999/09/04 02:23:30 peterg - ## Removed mv stuff - now uses gset on actual file - ## - ## Revision 1.2 1999/06/15 02:05:44 peterg - ## Now adds a .ps if not there already - ## - ## Revision 1.1 1999/03/25 01:35:00 peterg - ## Initial revision - ## - ############################################################### - - ## Add .ps if not there already - if !index(filename,".") # Is there a . - filename = sprintf("%s.ps",filename); - endif - - eval(sprintf("gset output \"%s\" ",filename)); - gset linestyle 1 lw 4 # Thicker lines - gset linestyle 2 lw 4 # Thicker lines - gset linestyle 3 lw 4 # Thicker lines - gset linestyle 4 lw 4 # Thicker lines - gset linestyle 5 lw 4 # Thicker lines - - - gset term postscript eps - replot; - gset term x11 - gset output - replot; - -endfunction DELETED mttroot/mtt/bin/trans/m/rbg2abg.m Index: mttroot/mtt/bin/trans/m/rbg2abg.m ================================================================== --- mttroot/mtt/bin/trans/m/rbg2abg.m +++ /dev/null @@ -1,691 +0,0 @@ -function [bonds,components,n_vector_bonds] = rbg2abg(name,rbonds,rstrokes,rcomponents,\ - port_coord,port_name,\ - infofile,errorfile) - - ## ############################################################### - ## ## Version control history - ## ############################################################### - ## ## $Id$ - ## ## $Log$ - ## ## Revision 1.45 1999/10/19 02:13:31 peterg - ## ## Now assigns correct bonds to the new junction port names - ## ## - ## ## Revision 1.44 1999/10/19 00:05:44 peterg - ## ## Now defaults junction ports when only one specified (for vector junctions) - ## ## - ## ## Revision 1.43 1999/10/18 04:08:46 peterg - ## ## Now computes n_vector_bonds -- number apparent (maybe vector) bonds per component. - ## ## Neeeded to vectorise junctions. - ## ## - ## ## Revision 1.42 1999/08/25 21:45:03 peterg - ## ## Spurious start to vector 0 and 1 - ## ## - ## ## Revision 1.41 1999/08/19 21:12:33 peterg - ## ## Tidied and started implementaation of vector junctions - ## ## - ## ## Revision 1.40 1999/08/19 05:39:55 peterg - ## ## Put into octave format - ## ## - ## ## Revision 1.39 1999/08/19 05:22:16 peterg - ## ## To RCS prior to inplementing vector junctions - ## ## - ## ## Revision 1.38 1999/03/12 00:58:06 peterg - ## ## Now gets portlist from the _abg.m file NOT the _rbg.m file - ## ## - this allows expansion of vector SS ports. - ## ## - ## ## Revision 1.37 1998/07/28 19:06:43 peterg - ## ## Still some bugs (vector SS ports)?? - ## ## - ## ## Revision 1.36 1998/07/28 10:30:50 peterg - ## ## Implemented vector SS ports. - ## ## - ## ## Revision 1.35 1998/07/08 15:35:15 peterg - ## ## Added errorfile argument - ## ## - ## ## Revision 1.34 1998/07/02 19:41:29 peterg - ## ## Fixed empty port string bug - set to null string. - ## ## - ## ## Revision 1.33 1998/07/02 17:16:06 peterg - ## ## Commented out redundent code -- obsolete due to new default mechanism - ## ## - ## ## Revision 1.32 1998/07/02 15:12:05 peterg - ## ## Added hard error reporting - ## ## Added error when two unlabled bonds point in. - ## ## - ## ## Revision 1.31 1998/07/02 14:30:50 peterg - ## ## Corrected various bugs - including resettting n_ports to correct value - ## ## - ## ## Revision 1.30 1998/07/02 13:40:50 peterg - ## ## Added extra ports names (due to defaults) to relevant lists: - ## ## port_name - ## ## port_bond - ## ## - ## ## Revision 1.29 1998/07/02 13:28:31 peterg - ## ## Added defaults in new form BEFORE alias expansion - ## ## - ## ## Revision 1.28 1998/07/02 12:36:05 peterg - ## ## Removed debugging lines - ## ## - ## ## Revision 1.27 1998/07/02 12:24:02 peterg - ## ## Expand port aliases - ## ## - ## ## Revision 1.26 1998/04/16 14:07:51 peterg - ## ## Sorted out [] problem with vector ports -- new octave function - ## ## split_port - ## ## - ## ## Revision 1.25 1998/04/12 15:01:04 peterg - ## ## Converted to uniform port notation - always use [] - ## ## - ## ## Revision 1.24 1998/02/19 08:57:16 peterg - ## ## Fixed mtt-info bug -- confused filename with number - ## ## - ## ## Revision 1.23 1997/12/04 14:24:22 peterg - ## ## Removed error message about through-pointing arrows - ## ## - ## ## Revision 1.22 1997/09/18 19:49:37 peterg - ## ## Added test for uniquness of bonds on a component -- if non-unique - ## ## implies same component at both ends of a bond. - ## ## - ## ## Revision 1.21 1997/09/16 15:14:14 peterg - ## ## Added warning if a component has no bonds. - ## ## - ## ## Revision 1.20 1997/08/18 19:39:48 peterg - ## ## Now generates (exampaded) port_bond list correctely - ## ## - ## ## Revision 1.19 1997/08/14 11:59:47 peterg - ## ## Vector ports added!! - ## ## - ## ## Revision 1.18 1997/08/14 11:01:42 peterg - ## ## Reordered algorithms as follows: - ## ## bond end coordinates - ## ## associate port labels with bonds (port_bond) - ## ## associate bonds with components - ## ## unsorted list of bonds on each component (components) - ## ## interpret strokes and setup the causality of the bonds (bonds) - ## ## expand vector ports & add new bonds and connections - ## ## sort bonds on each component according to the labels -- two ports - ## ## default included here. - ## ## - ## ## Revision 1.17 1997/08/09 11:31:16 peterg - ## ## Default two port list is [in;out] (or [out;in]) - ## ## Dont do global default if no ports labels. - ## ## - ## ## Revision 1.16 1997/08/07 16:12:36 peterg - ## ## Fixed sorting bug: now puts the jth component from the unsorted list - ## ## into the kth component of the sorted list .. not vice versa! - ## ## - ## ## Revision 1.15 1997/08/06 21:43:19 peterg - ## ## Corrected error in creating component list: the kth component of the - ## ## list is given by the jth component of the original list NOT vice - ## ## versa. - ## ## - ## ## Revision 1.14 1997/08/04 14:18:55 peterg - ## ## If no ports labels at all, just use the default component list. - ## ## - ## ## Revision 1.13 1997/08/04 12:50:39 peterg - ## ## Many bug fixes to the named port version + tied up the logic and - ## ## supporting comments. - ## ## - ## ## Revision 1.12 1997/08/02 19:37:53 peterg - ## ## Now uses named ports. - ## ## - ## ## Revision 1.11 1997/04/29 09:12:37 peterg - ## ## Added error message if port label near to >1 bond. - ## ## - ## ## Revision 1.10 1997/03/17 13:45:42 peterg - ## ## Added more error info. - ## ## - ## ## Revision 1.9 1996/12/31 11:25:57 peterg - ## ## Clearer error messages for incorrect ports. - ## ## - ## ## Revision 1.8 1996/12/04 21:52:39 peterg - ## ## Now uses fopen. - ## ## - ## ## Revision 1.7 1996/11/01 18:01:57 peterg - ## ## Rationalised port ordering. - ## ## Fixed port bug. - ## ## - ## ## Revision 1.6 1996/08/25 08:27:14 peter - ## ## Now checks ports correctely - I hope. - ## ## - ## ## Revision 1.5 1996/08/24 19:21:26 peter - ## ## More specific error messages. - ## ## - ## ## Revision 1.4 1996/08/24 18:00:33 peter - ## ## Fixed bug with finding ports. - ## ## - ## ## Revision 1.3 1996/08/09 08:26:35 peter - ## ## Cosmetic tidy up. - ## ## - ## ## Revision 1.2 1996/08/04 18:37:57 peter - ## ## Fixed no causal strokes bug. - ## ## - ## ## Revision 1.1 1996/08/04 18:30:14 peter - ## ## Initial revision - ## ## - ## ############################################################### - - - ##Default to no components - components = [0]; - - ## Xfig scaling factor - scale = 1200.0/2.54546; - - ## Rotation matrix - rot = [0 -1; 1 0]; - - ## Find number of strokes - [n_strokes,columns] = size(rstrokes); - if (columns ~= 4)&(n_strokes>0) - error('Incorrect rstrokes matrix: must have 4 columns'); - endif - - - ## Find number of bonds - [n_bonds,columns] = size(rbonds); - if (columns ~= 6)&(n_bonds>0) - error('Incorrect rbonds matrix: must have 6 columns'); - endif - - - ## Find number of components - [n_components,columns] = size(rcomponents); - - ## Find the number of ports refered to within the component - [n_ports,columns] = size(port_coord) - - ## If port_name is empty, make it a empty string - if (length(port_name)==0) - port_name=""; - endif - - - ## Determine coordinates of the arrow end of the bond and the other end - other_end_1 = rbonds(:,1:2); - arrow_end = rbonds(:,3:4); - other_end_2 = rbonds(:,5:6); - - distance_1 = length2d(other_end_1 - arrow_end); - distance_2 = length2d(other_end_2 - arrow_end); - which_end = (distance_1>distance_2)*[1 1]; - one = ones(size(which_end)); - other_end = which_end.*other_end_1 + (one-which_end).*other_end_2; - arrow_vector = ( which_end.*other_end_2 + (one-which_end).*other_end_1 ) - ... - arrow_end; - - ## Locate the bond end nearest to each port - ## col 1 of port_near_bond contains a signed bond number (+ for arrow end) - ## col 2 of port_near_bond contains the corresponding port index - port_bond = []; - for i = 1:n_ports - near_bond = adjbond(port_coord(i,1:2),arrow_end,other_end); - [rows,cols]=size(near_bond); - if rows>1 - error(sprintf ... - ("A port is near to more than one bond at coordinates %g,%g\n", ... - port_coord(i,1)/scale, port_coord(i,2)/scale)); - endif - - - ##The (signed) bond corresponding to the ith port label - port_bond(i) = near_bond(1)*sign(1.5-near_bond(2)); - endfor - - port_bond - ##We now have the (signed) bond (port_bond(i)) correponding to the - ## ith port label within the component - - ## Locate the components at the ends of each bond - ## col 1 of comp_near_bond contain the component nearest to the arrow end - ## col 2 of comp_near_bond contain the component nearest to the other end - for i = 1:n_bonds - comp_near_bond(i,:) = adjcomp(arrow_end(i,:),other_end(i,:),rcomponents); - endfor - - comp_near_bond - ## We now have a list (comp_near_bond) of the component(s) at each end - ## of each bond - - ## Now do a list of the bonds on each component - unsorted at this stage. - ## Also expand aliases using the alias list for each component - components = []; - i_vector=0; # Counter for vector components - for i = 1:n_components - ##Get component type - eval(['[comp_type, comp_name] = ', name, '_cmp(i)']); - - - ## There are n_comp_bonds bonds on this component with corresponding index - [index,n_comp_bonds] = getindex(comp_near_bond,i); - - if index(1,1)==0 - mtt_error(sprintf("Component %s (%s) has no bonds", comp_name, - comp_type),errorfile); - endif - - - ## Create the signed list of bonds on this component - one = ones(n_comp_bonds,1); - bond_list = index(:,1); % bond at component - - ## Check that all bonds are unique -- error if not - if unique(bond_list)==0 - mtt_error(sprintf("Component %s (%s) is at both ends of a bond", comp_name, - comp_type),errorfile); - endif - - - - ## which end of bond at component? - bond_end = index(:,2); - direction = -sign(bond_end-1.5*one); - signed_bond_list = bond_list.*direction; - components = add_bond(components,signed_bond_list',i); - - ## Unalias and/or default all the ports on this componen - unlabelled_ports = 0; - in_bonds = 0; - out_bonds = 0; - if ((comp_type=="0")||(comp_type=="1")) # A junction - disp("---- default junctions ---- "); - junction_names = 0; - for j=1:n_comp_bonds - port_name_index = getindex(port_bond,signed_bond_list(j)); - if port_name_index>0 - junction_port_name = port_name(port_name_index,:); - named_bond_index = j; - junction_names++; - endif - endfor - if junction_names==1 # one named port - mtt_info(sprintf("Defaulting all ports on junction %s to %s", comp_name, junction_port_name)); - ## Make the other n-1 names the same. - junction_port_name = mtt_strip_name(junction_port_name); - for j=1:n_comp_bonds; - if j!=named_bond_index - port_name = [port_name; ["[" junction_port_name "]"]]; # add to list - [port_name_index,junk] = size(port_name); # the corresponding index - port_bond(port_name_index,:) = signed_bond_list(j); # add to port bond - endif - endfor - elseif (junction_names!=0)&&(junction_names!=n_comp_bonds) # not allowed - mtt_error(sprintf("Junction %s must have 0, 1 or %i port labels", comp_name,n_comp_bonds),errorfile); - endif - port_name = port_name - else # Not a junction - for j=1:n_comp_bonds - signed_bond = signed_bond_list(j); - port_name_index = getindex(port_bond,signed_bond); - port_direction = sign(signed_bond); - - if port_name_index==0 # There is no port on this bond - so try - # to default - unlabelled_ports++; - if(unlabelled_ports==1) - if port_direction>0 - in_bonds++; - port_name_i = "in"; - else - out_bonds++; - port_name_i = "out"; - endif - - elseif (unlabelled_ports==2) - if port_direction>0 - if (++in_bonds>1) - mtt_error(["More than one unlabelled INport on component " \ - comp_name " (" comp_type ")"],errorfile); - else - port_name_i = "in"; - end - else - if (++out_bonds>1) - mtt_error(["More than one unlabelled OUTport on component " \ - comp_name " (" comp_type ")"],errorfile); - else - port_name_i = "out"; - end - endif - - else - mtt_error(["More than two unlabelled ports on component " \ - comp_name " (" comp_type ")"],errorfile); - endif - - mtt_info(["Defaulting port name [" port_name_i "]\t on component " \ - comp_name " (" comp_type ")" ],infofile); - port_name = [port_name; ["[" port_name_i "]"]]; # add to list - [port_name_index,junk] = size(port_name); # the corresponding - # index - port_bond(port_name_index,:) = signed_bond; # add to port bond - else - port_name_i = mtt_strip_name(port_name(port_name_index,:)); - ## port_name_i = deblank(port_name(port_name_index,:)); - ## port_name_i = port_name_i(2:length(port_name_i)-1) # strip [] - endif - - - ## Replace by alias -- if any - eval( ["alias = ", comp_type, '_alias';]); # Get aliases - if is_struct(alias) # are there any aliases - if struct_contains(alias,port_name_i) # Is this an alias? - eval(["new_port_name_i = alias.",port_name_i]); - mtt_info(["Aliasing name [" port_name_i "]\t on component " \ - comp_name " (" comp_type ")\t to [" new_port_name_i "]"],infofile); - port_name = replace_name(port_name, \ - ["[",new_port_name_i,"]"], \ - port_name_index); - endif - - endif - - endfor - - endif - - endfor - - ## At this point, every port should be labeled (port_name) and \ - ## associated with a bond (port_bond). - disp("--- Completed portnames and the corresponding bonds ---") - port_name, port_bond - - - ## Deduce causality from the strokes (if any) and create the list of bonds - causality = zeros(n_bonds,2); - if n_strokes>0 - ## Find out location of centre and ends of stroke. - stroke_end_1 = [rstrokes(:,1) rstrokes(:,2)]; - stroke_end_2 = [rstrokes(:,3) rstrokes(:,4)]; - - stroke_centre = (stroke_end_1 + stroke_end_2)/2; - stroke_vector = (stroke_end_1 - stroke_end_2); - stroke_length = length2d(stroke_vector); - - ## Deduce bond causality from the strokes - for i = 1:n_strokes - stroke = [stroke_centre(i,:) - stroke_end_1(i,:) - stroke_end_2(i,:)]; - - - ## Find the nearest bond end. - [index,distance] = adjbond(stroke(1,:),arrow_end,other_end); - if (distance>2*stroke_length(i)) - info = sprintf('Stroke at (%4.3f,%4.3f) is %4.3f away from the nearest bond\n', ... - stroke(1,1)/scale, stroke(1,2)/scale, distance/scale); - endif - - - ## Bond end coordinates - j = index(1,1); - which_end = index(1,2)==1; - bond_end = arrow_end(j,:)*which_end + other_end(j,:)*(1-which_end); - - ## Now decide which bit of the stroke is nearest - stroke_index = adjbond(bond_end,stroke,zeros(size(stroke))); - - if stroke_index(1)==1 ## uni-causal stroke - causality(j,1:2) = (2*which_end-1)*[1 1]; - else ## bicausal stroke - ## Find out whether stroke is on flow side of bond - stroke_direction = stroke(1,:) - stroke(stroke_index(1),:); - flow_side = stroke_direction*arrow_vector(j,:)'>0; - causality(j,1+flow_side) = 2*which_end-1; - endif - - endfor - - endif - - - bonds = causality; - - - ## Find number of bonds on each component BEFORE vectorisation - for i=1:n_components - n_vector_bonds(i) = length(nozeros(components(i,:))) - endfor - - ## Now expand vector ports - disp("Expanding vector ports"); - [n_bonds,junk] = size(bonds); - n_ports = length(port_bond); - n_exp_ports=n_ports; - exp_port_name=""; - exp_port_bond = []; - ##exp_comps = []; - for i=1:n_ports - port_name_i = port_name(i,:) - [subport,n_subports] = split_port(port_name_i, ','); ## Find the components of the vector port - - if n_subports==1 ## an ordinary port - exp_port_name = [exp_port_name; subport(1,:)]; ## Write out the only port - exp_port_bond = [exp_port_bond; port_bond(i)]; ## and the port_bond - else ## its a vector port - ## Check that there is a corresponding vector port at the other end of the - ## bond - signed_bond_index = port_bond(i); - [other_bond_index,n_other] = getindex(port_bond,-signed_bond_index); - if n_other == 1 - other_port_name = port_name(other_bond_index,:); - [other_subport,n_other_subports] = split_port(other_port_name, ','); - if n_other_subports~=n_subports - mtt_error(['Vector ports ', port_name_i, ' and ', other_port_name, 'are not compatible'],errorfile); - end - else # No explicit matching vector port - mtt_error(['Vector port ', port_name_i, ' has no matching port'], errorfile); - endif - - - if other_bond_index>i ##then its not been done yet - mtt_info(["Vector port: ", port_name_i],infofile); - mtt_info(["matching: ", other_port_name],infofile); - ## Remove sign info. - bond_index = abs(signed_bond_index); - sig = sign(signed_bond_index); - - ## Put the first element of each port list in the expanded list - exp_port_name = [exp_port_name; subport(1,:)]; - exp_port_name = [exp_port_name; other_subport(1,:)]; - - ## Add to the expanded port_bond list - exp_port_bond = [exp_port_bond; signed_bond_index; ... - -signed_bond_index]; - - ## Add the other names to the expanded list and augment the bonds, - ## components and port_bond lists. - for j=2:n_subports - ## Add a new name (for each end) to give a non-vector list - exp_port_name = [exp_port_name; subport(j,:)]; - exp_port_name = [exp_port_name; other_subport(j,:)]; - - ## Add one more bond to the list - bonds = [bonds; bonds(bond_index,:)]; - n_bonds = n_bonds + 1; - - ## Add bond to the expanded port_bond list (ports at both ends) - exp_port_bond = [exp_port_bond; sig*n_bonds; -sig*n_bonds]; - - - ## Add the new bond to the component at both ends (taking note - ## of the direction). - arrow_index = comp_near_bond(bond_index,1); - components = add_bond(components, n_bonds, arrow_index); - other_index = comp_near_bond(bond_index,2); - components = add_bond(components, -n_bonds, other_index); - endfor - - endif - - endif - - endfor - - - - ##Replace old list by new - port_name = exp_port_name - port_bond = exp_port_bond - - ## Resize the lists - [n_ports,junk] = size(port_name); - - port_name, components - ## Produce a list of bonds on each component (within this component) - ## - sorted if explicit port numbers - for i = 1:n_components - disp('-----------------'); - ##Get component type - eval(['[comp_type, comp_name] = ', name, '_cmp(i)']); - - - ##Convert junction names - if comp_type(1)=='0' # Zero junction - comp_type = 'zero'; - isa_junction = 1; - elseif comp_type(1)=='1' # One junction - comp_type = 'one'; - isa_junction = 1; - else - isa_junction = 0; - endif - - ## Find the (unsorted) bond list on this component - signed_bond_list = nozeros(components(i,:)); - n_comp_bonds = length(signed_bond_list); - direction = sign(signed_bond_list); - - ##Find the port list for this component - if exist([comp_type, '_cause'])==0 - eval(["ABG = ",comp_type, "_abg;"]); - if struct_contains (ABG, "portlist") - port_list = ABG.portlist; - else - error(sprintf("Component %s has no ports", comp_type)); - port_list = []; - endif - else - port_list=comp_ports(comp_type,n_comp_bonds) - endif - - - [n_comp_ports,m_comp_ports] = size(port_list); - subport_list=""; - for p=1:n_comp_ports # Expand any vector ports - [subport,n_sub] = split_port(port_list(p,:), ','); # Find the components - # of the vector port - if n_sub>1 - mtt_info(sprintf("Expanding vector port %s of component type %s",\ - port_list(p,:), comp_type, infofile)); - endif - - subport_list = [subport_list; subport]; - endfor - - port_list = subport_list; # Set the expanded port list. - - - ## Check that number of bonds on the component is the same as the number of - ## ports - [n_comp_ports,m_comp_ports] = size(port_list); - if (n_comp_ports~=n_comp_bonds) & ... - ~(strcmp(comp_type,'zero')|strcmp(comp_type,'one')) - message=sprintf('Component %s (%s) has %1.0f impinging bonds but has %1.0f ports', ... - comp_name,comp_type,n_comp_bonds,n_comp_ports); - mtt_error(message, errorfile); - endif - - - unsorted_port_list=""; - if n_ports>0 ## then there are some named ports - ## so find those associated with the bonds on this component. - k=0; - for j = 1:n_comp_bonds - b = signed_bond_list(j); - ## Find the port label on component end of bond (if any) - [port_index,m] = getindex(port_bond,b); - if m==1 - k=k+1; - unsorted_port_list(k,:) = port_name(port_index,:); - endif - - endfor - - else - k=0; - endif - - %Compute the number of labeled ports - [n_unsorted_ports,m_unsorted_ports] = size(unsorted_port_list); - if m_unsorted_ports==0 - n_unsorted_ports = 0; - endif - - ## Junctions (order of ports unimportant) - if strcmp(comp_type,'zero')|strcmp(comp_type,'one') - for j = 1:n_comp_bonds - components(i,j) = signed_bond_list(j); - endfor - - else ##Order of ports is important - unsorted_port_list, port_list - if n_unsorted_ports==0 - mtt_error(['Component ', comp_name, ' (', comp_type, ') has no labeled ports'], errorfile); - endif - - ##Write out the signed bond list in the correct order - unsorted_port_list - [n_list,m_list] = size(unsorted_port_list); - if n_list!=n_comp_bonds - error(sprintf("Component %s (%s) has %i bonds but %i port lables",\ - comp_name, comp_type, n_comp_bonds, n_list)) - endif - - for j = 1:n_comp_bonds - j - name_k = unsorted_port_list(j,:) - k = name_in_list(name_k, port_list); - ## Check that it only appears once in port list - if length(k)>1 - mtt_error(['Component ', comp_name, ' (', comp_type, ') has ports with the same name: ', name_k], errorfile); - endif - - - ##Check that it only appears one in the label list - kk = name_in_list(name_k,unsorted_port_list); - if length(kk)>1 - mtt_error(['Component ', comp_name, ' (', comp_type, ') has multiple port labels: ', name_k], errorfile); - endif - - - if k==0 - mtt_error(['Component ', comp_name, ' (', comp_type, ') has an unrecognised port: ', name_k], errorfile); - else - components(i,k) = signed_bond_list(j); - endif - endfor - endif - endfor - -endfunction - - - - - - - - - - - - - - - - - - - DELETED mttroot/mtt/bin/trans/m/rc_sim.m Index: mttroot/mtt/bin/trans/m/rc_sim.m ================================================================== --- mttroot/mtt/bin/trans/m/rc_sim.m +++ /dev/null @@ -1,33 +0,0 @@ -function [y,x] = rc_sim(mttx_0,mttU,mttT,MTTpar); - - ## Initialise - [MTTu] = zero_input(1); # Zero the input - - [MTTx] = mttx_0; # Read in initial state - - N = length(mttT); - Nx = length(mttx_0); - - y = zeros(1,N); - x = zeros(Nx,N); - - mttdt = mttT(2)-mttT(1); - for i = 1:N - MTTt = mttT(i); - MTTu = mttU(i); - [MTTy] = rc_cseo(MTTx,MTTu,MTTt,MTTpar); # Output - y(1,i) = MTTy; - x(:,i) = MTTx; - if 1>0 # Dont if no states - [MTTdx] = rc_cse(MTTx,MTTu,MTTt,MTTpar); # State derivative - [mttAA] = rc_smxa(MTTx,MTTu,mttdt,MTTpar); # (I-Adt) - [mttAA] = reshape(mttAA,Nx,Nx); - [mttAAx] = rc_smxax(MTTx,MTTu,mttdt,MTTpar); # (I-Adt)x - [MTTopen] = rc_switchopen(MTTx); # Open switches - [MTTx] = mtt_implicit(MTTx,MTTdx,mttAA,mttAAx,mttdt,1,MTTopen); # Implicit update - else - endif; # 1>0 - - endfor; # Integration loop - -endfunction DELETED mttroot/mtt/bin/trans/m/rcs_header.txt Index: mttroot/mtt/bin/trans/m/rcs_header.txt ================================================================== --- mttroot/mtt/bin/trans/m/rcs_header.txt +++ /dev/null @@ -1,8 +0,0 @@ - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - DELETED mttroot/mtt/bin/trans/m/replace_name.m Index: mttroot/mtt/bin/trans/m/replace_name.m ================================================================== --- mttroot/mtt/bin/trans/m/replace_name.m +++ /dev/null @@ -1,37 +0,0 @@ -function string_array = replace_name(string_array, new, index); -% Replaces a row of a string vector with a string of arbitary length. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.1 1998/07/02 12:36:39 peterg -## Initial revision -## -############################################################### - -string_array,new,index - [N,M]=size(string_array); - L = length(new); - - if index>N - error(["String array has less than ", num2str(index), " rows"]); - end; - - if LN - T = T'; - N = M; -end; - - - -one = eye(Nx); - -Y = zeros(N,Ny); -X = zeros(N,Nx); - -dt = T(2)-T(1);% Assumes fixed interval -expAdt = expm(A*dt); % Compute matrix exponential -expAt = one; -i = 0; -x = (B*u0+x0); -for t = T' - i=i+1; - if Nx>0 - % expAt = expm(A*t); - x = expAdt*x; - X(i,:) = x'; - if Ny>0 - y = C*x; - Y(i,:) = y'; - end; - end; -end; - - - - - - DELETED mttroot/mtt/bin/trans/m/sm2sr.m Index: mttroot/mtt/bin/trans/m/sm2sr.m ================================================================== --- mttroot/mtt/bin/trans/m/sm2sr.m +++ /dev/null @@ -1,95 +0,0 @@ -function [Y,X] = sm2sr(A,B,C,D,T,u0,x0); -% sm2sr - Constrained-state matrix to step response. -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %%%%% Model Transformation Tools %%%%% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% -% Matlab function sm2sr -% [Y,X] = sm2sr(A,B,C,D,T,u0,x0); -% A,B,C,D,E - (constrained) state matrices -% T vector of time points -% u0 input gain vector: u = u0*unit step. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.4 1996/12/05 10:18:52 peterg -% %% Saved (quite old) version which integrates IR to give SR -% %% -% %% Revision 1.3 1996/10/27 10:39:04 peterg -% %% Only compute matrix exponential once. -% %% -% %% Revision 1.2 1996/09/10 16:48:21 peter -% %% Changed ar counts in default settings. -% %% -% %% Revision 1.1 1996/08/19 15:34:29 peter -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -[Ny,Nu] = size(D); -[Ny,Nx] = size(C); - -if nargin<6 - u0 = zeros(Nu,1); - u0(1) = 1; -end; - -if nargin<7 - x0 = zeros(Nx,1); -end; - -[N,M] = size(T); -if M>N - T = T'; - N = M; -end; - - - -one = eye(Nx); - -Y = zeros(N,Ny); -X = zeros(N,Nx); - -dt = T(2)-T(1);% Assumes fixed interval -expAdt = expm(A*dt); % Compute matrix exponential -i = 0; -expAt = one; - -for t = T' - i=i+1; - if Nx>0 - x = ( A\(expAt-one) )*B*u0 + expAt*x0; - expAt = expAt*expAdt; - X(i,:) = x'; - if Ny>0 - y = C*x + D*u0; - Y(i,:) = y'; - end; - elseif Ny>0 - y = D*u0; - Y(i,:) = y'; - end; -end; - -% $$$ % Compute the impulse response -% $$$ [Y,X] = sm2ir(A,B,C,D,T,u0,x0); -% $$$ -% $$$ % Assume fixed sample interval -% $$$ dT = T(2)-T(1); -% $$$ -% $$$ % Do an Euler integration on it -% $$$ Y = mtt_euler(Y,dT); -% $$$ -% $$$ if nargout>1 -% $$$ X = mtt_euler(X,dT); -% $$$ end; -% $$$ - - - DELETED mttroot/mtt/bin/trans/m/split_port.m Index: mttroot/mtt/bin/trans/m/split_port.m ================================================================== --- mttroot/mtt/bin/trans/m/split_port.m +++ /dev/null @@ -1,42 +0,0 @@ -function [subport,n]=split_port(port_name); - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% % Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% % $Id$ -% % $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - - - subport = ""; - raw_subport = split(port_name, ','); # Find the components of the vector - # port - [n,m] = size(raw_subport); # Number of ports - - for i = 1:n - s = deblank(raw_subport(i,:)); - l = length(s); - - if s(1)=="[" # Remove leading [ (if any) - l = l-1; - s = substr(s,2,l); - end - - if s(l)=="]" # Remove trailing ] (if any) - l = l-1; - s = substr(s,1,l); - end - - s = ["[",s,"]"]; # Surround by [] - - subport = [subport ;s]; # Return to the array - end; - -endfunction; - - - - - DELETED mttroot/mtt/bin/trans/m/str2ch.m Index: mttroot/mtt/bin/trans/m/str2ch.m ================================================================== --- mttroot/mtt/bin/trans/m/str2ch.m +++ /dev/null @@ -1,44 +0,0 @@ -function ch = str2ch(str,n) -% str2ch - pulls the nth char from a string -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %%%%% Model Transformation Tools %%%%% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% -% Matlab function str2ch.m -% ch = str2ch(str,n) -% Copyright (c) P.J. Gawthrop, 1996. - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1996/08/30 09:54:44 peter -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -implicit_str_to_num_ok = 1; - -astr = abs(str); -if (n>0) & (n<=length(str)) & (strcmp(str,'')==0) - ch = setstr(astr(n)); -else - ch = ''; -end; - - - - - - - - - - - - - - - DELETED mttroot/mtt/bin/trans/m/subs_arg.m Index: mttroot/mtt/bin/trans/m/subs_arg.m ================================================================== --- mttroot/mtt/bin/trans/m/subs_arg.m +++ /dev/null @@ -1,90 +0,0 @@ -function args_out = subs_arg(args,Args, ... - default,full_name,comp_type,comp_name,fileID) -% subs_arg - substitutes arguments into args from Args -% FS defaults to `;'. -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %%%%% Model Transformation Tools %%%%% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% -% Matlab function subs_arg.m -% args_out = subs_arg(args,Args,default,comp_type,comp_name,infofile) -% Copyright (c) P.J. Gawthrop, 1996. - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.6 1998/07/27 09:53:44 peterg -% %% No change -% %% -% %% Revision 1.5 1998/07/21 16:43:26 peterg -% %% Now writes to an explicit fileID - otherwise we may run out of IDs. -% %% -% %% Revision 1.4 1996/12/10 16:04:11 peterg -% %% Changed file handling on mtt_info. -% %% -% %% Revision 1.3 1996/12/07 18:19:39 peterg -% %% Replaces null argument by a default and tells user. -% %% -% %% Revision 1.2 1996/12/04 21:47:41 peterg -% %% Skips main loop when arg is null. -% %% -% %% Revision 1.1 1996/12/04 21:46:52 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -% Symbolic argument sign -S = '$'; - -args_out = ''; -if strcmp(args,'')==0 - L = length(args); - args_count = 1; - num_count=0; - while args_count <= L - ch = str2ch(args,args_count); - if ch~=S % copy character - args_out = [args_out, ch]; - args_count = args_count+1; - else % find argument number - args_count = args_count+1; - - ch = str2ch(args,args_count); - ## Modification for $p1 $a1 etc - if !((ch>='0') & (ch<='9')) # It's not numerical - so loose it - args_count = args_count+1; - ch = str2ch(args,args_count); - endif - - i=0; - while (ch>='0') & (ch<='9') - i = 10*i + abs(ch)-abs('0'); - if args_count==L - args_count = args_count+1; - break - end; - args_count = args_count+1; - ch = str2ch(args,args_count); - end; - arg_out = args2arg(Args,i); - - - % Test for empty argument -- replace by default and tell user - message = 'Argument %1.0f of component %s(%s) of system %s is undefined - \n replacing by %s'; - if strcmp(arg_out,'') - info = sprintf(message, ... - i, comp_name, comp_type, full_name, default); - arg_out = default; - else - info = sprintf("Replacing $%i \t by %s for component %s (%s) \ - within %s", i, arg_out, comp_name, comp_type, full_name); - end; - mtt_info(info,fileID); - args_out = [args_out, arg_out]; - end; - end; -end; DELETED mttroot/mtt/bin/trans/m/unique.m Index: mttroot/mtt/bin/trans/m/unique.m ================================================================== --- mttroot/mtt/bin/trans/m/unique.m +++ /dev/null @@ -1,25 +0,0 @@ -function u = unique(x); -% if all the elements of x are different, returns 1 else returns 0 - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -n = length(x); -u=1; - -for i=1:n - for j = 1:i-1 - if x(i)==x(j) - u = 0; - break; - end; - end; -end; - - DELETED mttroot/mtt/bin/trans/m/varname.m Index: mttroot/mtt/bin/trans/m/varname.m ================================================================== --- mttroot/mtt/bin/trans/m/varname.m +++ /dev/null @@ -1,28 +0,0 @@ -function name = varname(name,index,causality); -% varname - Creates name of bond graph variable - -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %%%%% Model Transformation Tools %%%%% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% -% Matlab function varname.m -% Acausal bond graph to causal bond graph: mfile format - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1996/08/27 08:08:44 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -%bond_name = [name,'_bond']; -%name =sprintf('%s%1.0f_%s', bond_name, index, cause2name(causality)); - -bond_name = [name,'(']; -name =sprintf('%s(%1.0f,%1.0f)', name, index, cause2num(causality)); DELETED mttroot/mtt/bin/trans/m/write_abg.m Index: mttroot/mtt/bin/trans/m/write_abg.m ================================================================== --- mttroot/mtt/bin/trans/m/write_abg.m +++ /dev/null @@ -1,191 +0,0 @@ -function write_abg(system_name,bonds,connections,n_vector_bonds); - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.8 1999/10/18 22:41:41 peterg -## Corrected vector junction expansion -## -## Revision 1.7 1999/10/18 05:16:51 peterg -## Now vectorises 0 and 1 junctions !! -## -## Revision 1.6 1998/09/02 11:35:20 peterg -## Removed port.index field -## -## Revision 1.5 1998/09/02 10:30:30 peterg -## Now writes out list of ports ans list of subsystems. -## These ordereded lists determine the order of processing of ports ans -## subsystems. -## -## Revision 1.4 1998/08/26 12:45:38 peterg -## Just prefix ports (comps can't start with numeral) -## Prefix with mttp -## -## Revision 1.3 1998/08/26 12:31:07 peterg -## numerical names prefixed by mtt -## -## Revision 1.2 1998/08/26 11:59:20 peterg -## Don't use strrep to remove[] -## -## Revision 1.1 1998/08/25 06:22:02 peterg -## Initial revision -## -############################################################### - - - fid=fopen([system_name,"_abg.m"], "w"); - [N,M]=size(connections); - Sformat = " %s.subsystems.%s.%s = \"%s\";\n"; - PSformat = " %s.ports.%s.%s = \"%s\";\n"; - Iformat = " %s.subsystems.%s.%s = %i;\n"; - PIformat = " %s.ports.%s.%s = %i;\n"; - Cformat = " %s.subsystems.%s.connections = ["; - PCformat = " %s.ports.%s.connections = ["; - Bformat = " %s.bonds = [\n"; - - fprintf(fid,"function [%s] = %s_abg\n", system_name, system_name); - fprintf(fid,"# This function is the acausal bond graph representation of %s\n",system_name); - fprintf(fid,"# Generated by MTT on %s",ctime(time)); - fprintf(fid,"# The file is in Octave format\n"); - - fprintf(fid,"\n# Subsystems and Ports\n"); - i_port=0; SubsystemList = ""; PortList =""; - for i=1:N - eval(["[comp_type, name, cr, arg, repetitions] = ", system_name, "_cmp(i);"]); - c = nozeros(connections(i,:));# Connections to this component - m = length(c); # Number of connections - - ## Vectorise junctions? - n_bonds = n_vector_bonds(i); - if strcmp(comp_type,"0")||strcmp(comp_type,"1") - n_vector = m/n_bonds; - m_vector = n_bonds; - else - n_vector = 1; - m_vector = m; - endif - - if index(name,"[")==0 # Not a port - for i_vector = 1:n_vector; - - if i_vector>1 # Extras - new_name = sprintf("%sv%i", name,i_vector); - else - new_name = name; - endif - - SubsystemList = [SubsystemList; new_name]; - fprintf(fid,"\n# Component %s\n", new_name); - fprintf(fid,Sformat,system_name,new_name,"type",comp_type); - fprintf(fid,Sformat,system_name,new_name,"cr",cr); - fprintf(fid,Sformat,system_name,new_name,"arg",arg); - fprintf(fid,Iformat,system_name,new_name,"repetitions",repetitions); - fprintf(fid,Iformat,system_name,new_name,"status",-1); - - ##Connections - fprintf(fid,Cformat,system_name,new_name); - ## Each vector junction has n*m bonds - ## n - dimension of vector - ## m - number of bonds - - ## The first m bonds (in c) correspond to the first vector element - if i_vector==1 - for j=1:m_vector - fprintf(fid,"%i ", c(j) ); - endfor - ## The next block of n-1 bonds are the first bonds on vector elements 2,3 ... - ## followed by a block of n-1 bonds being the second bonds on vector elements 2,3 ... - ## etc - else - k = m_vector+i_vector-1; # index of first bond at level i_vector - for j=1:m_vector - fprintf(fid,"%i ", c(k) ); - k = k + n_vector-1; - endfor - endif - - fprintf(fid,"];\n"); - endfor - else # Its a port - name=name(2:length(name)-1); # Strip [] - ch=name(1); # First char of name - if (ch>="0")&&(ch<="9") # Its a numeral - name=["mttp",name]; # prefix by mttp - endif; - - for i_port=1:m - if m>1 # Index the port name - name_i = sprintf("%s_%i",name,i_port); - else - name_i = name; # Leave it alone - endif; - - PortList = [PortList; name_i]; # Update port list - - fprintf(fid,"\n# Port %s\n", name_i); - fprintf(fid,PSformat,system_name,name_i,"type",comp_type); - fprintf(fid,PSformat,system_name,name_i,"cr",cr); - fprintf(fid,PSformat,system_name,name_i,"arg",arg); - fprintf(fid,PIformat,system_name,name_i,"repetitions",repetitions); - fprintf(fid,PIformat,system_name,name_i,"status",-1); - - fprintf(fid,PCformat,system_name,name_i); - fprintf(fid,"%i ", c(i_port)); - fprintf(fid,"];\n"); - - endfor; - endif; - endfor; - - [N,M]=size(PortList); - if N>0 # Put name in list - fprintf(fid,"\n# Ordered list of Port names\n"); - for i=1:N - fprintf(fid," %s.portlist(%i,:) = \"%s\";\n", system_name, i, PortList(i,:)); - endfor; - endif; - - [N,M]=size(SubsystemList); - if N>0 # Put name in list - fprintf(fid,"\n# Ordered list of subsystem names\n"); - for i=1:N - fprintf(fid," %s.subsystemlist(%i,:) = \"%s\";\n", system_name, i, SubsystemList(i,:)); - endfor; - endif; - - - fprintf(fid,"\n# Bonds \n"); - [N,M]=size(bonds); # Bonds - fprintf(fid,Bformat,system_name); - for i=1:N - fprintf(fid," "); - for j=1:M - fprintf(fid,"%i ", bonds(i,j)); - endfor; - fprintf(fid,"\n"); - endfor; - fprintf(fid," ];\n"); - - fprintf(fid,"\n# Aliases \n"); - fprintf(fid,"# A double underscore __ represents a comma \n"); - eval(["alias = ", system_name, "_alias;"]); - if is_struct(alias) - for [val,key] = alias - fprintf(fid,"%s.alias.%s = \"%s\";\n", system_name,key,val); - endfor - endif - - fprintf(fid,"\n# Interface Definition\n"); - eval(["icd = ",system_name, "_icd;"]); - if is_struct(icd) - for [val,key] = icd - fprintf(fid,"%s.icd.%s = \"%s\";\n",system_name,key,val); - endfor - endif - - - fclose(fid); - - DELETED mttroot/mtt/bin/trans/m/write_cbg.m Index: mttroot/mtt/bin/trans/m/write_cbg.m ================================================================== --- mttroot/mtt/bin/trans/m/write_cbg.m +++ /dev/null @@ -1,81 +0,0 @@ -function write_cbg(system_name,system_type,system,Flipped) - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.3 1998/08/25 20:05:33 peterg -## Write flipped port info -## -## Revision 1.2 1998/08/25 06:21:19 peterg -## Just writes additional information; basic info from the abg structure. -## -## Revision 1.1 1998/08/25 05:55:10 peterg -## Initial revision -## -############################################################### - - - fid=fopen([system_name,"_cbg.m"], "w");# Open file - - StatusFormat = " %s.%s.%s.status = %i;\n"; - Bformat = " %s.bonds = [\n"; - Iformat = " %s.%s.%s.connections(%i) = %i;\n"; - - - fprintf(fid,"function [%s] = %s_cbg\n", system_name, system_name); - fprintf(fid,"# This function is the causal bond graph representation of %s\n",system_name); - fprintf(fid,"# Generated by MTT on %s",ctime(time)); - fprintf(fid,"# The file is in Octave format\n"); - - fprintf(fid,"\n# Acausal bond graph structure\n"); - fprintf(fid," [%s] = %s_abg;\n", system_name, system_type); - - fprintf(fid,"\n# Status information\n"); -# if struct_contains(system,"ports") -# for [port,name]=system.ports -# fprintf(fid,StatusFormat,system_name,"ports",name,port.status); -# endfor; -# endif - if struct_contains(system,"subsystems") - for [subsystem,name]=system.subsystems - fprintf(fid,StatusFormat,system_name,"subsystems",name,subsystem.status); - endfor; - endif - - [N,M]=size(system.bonds); # Bonds - fprintf(fid,"\n# Causal bond information\n"); - fprintf(fid,Bformat,system_name); - for i=1:N - fprintf(fid," "); - for j=1:M - fprintf(fid,"%i ", system.bonds(i,j)); - endfor; - fprintf(fid,"\n"); - endfor; - fprintf(fid," ];\n"); - - [N,M]=size(Flipped.ports); - if (N>0)&&(M>0) # Flipped ports exist - fprintf(fid,"\n# Flipped port information\n"); - for i=1:N - name=deblank(Flipped.ports(i,:)); - eval(["con = system.ports.",name,".connections;"]); - fprintf(fid,Iformat,system_name,"ports",name,1,con); - endfor; - endif; - - [N,M]=size(Flipped.subs); - if (N>0)&&(M>0) # Flipped subs exist - for i=1:N - name=deblank(Flipped.subs(i,:)); - k=Flipped.cons(i); - eval(["con = system.subsystems.",name,".connections(",num2str(k),");"]); - fprintf(fid,Iformat,system_name,"subsystems",name,k,con); - endfor; - endif; - - fclose(fid); - - DELETED mttroot/mtt/bin/trans/m/write_matrix.m Index: mttroot/mtt/bin/trans/m/write_matrix.m ================================================================== --- mttroot/mtt/bin/trans/m/write_matrix.m +++ /dev/null @@ -1,58 +0,0 @@ -function write_matrix(matrix,name); - -% Writes the matrix function file - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.5 1998/02/03 08:40:39 peterg -% %% Fixed a horrible bug -- changed filename -> filenum -% %% -% %% Revision 1.4 1996/08/15 11:56:11 peter -% %% Does complex matrices. -% %% -% %% Revision 1.3 1996/08/14 19:20:41 peter -% %% Fixed output naming bug. -% %% -% %% Revision 1.2 1996/08/14 08:36:52 peter -% %% Puts a tab between columns. -% %% -% %% Revision 1.1 1996/08/14 08:21:27 peter -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -filename = [name, '.m']; -filenum = fopen(filename,'w'); - -% Write the function m-file for the causal bond graph -pc = '%'; -fprintf(filenum, 'function data = %s\n', name); -fprintf(filenum, '%s data = %s\n\n', pc, name); - -fprintf(filenum, 'data = [\n'); - -[N,M] = size(matrix); -for row = 1:N - for col = 1:M - value = matrix(row,col); - fprintf(filenum, '%g', real(value)); - if is_complex(value) - fprintf(filenum, '+ %g*i', imag(value)); - end - if col0 {print} ' <$1.m >$1.dat - DELETED mttroot/mtt/bin/trans/make_ode2odes Index: mttroot/mtt/bin/trans/make_ode2odes ================================================================== --- mttroot/mtt/bin/trans/make_ode2odes +++ /dev/null @@ -1,1181 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.68 2002/04/15 10:54:31 geraint -## Statically declare outputs and initialise to zero. -## This is necessary to prevent spurious values from being output when no assignments are made (i.e. when "y(i) := 0 for all u" (Reduce:see NERO)). -## -## Revision 1.67 2002/04/09 12:04:21 geraint -## Replaced ios:: with std::ios:: for g++-3.0 compatability. -## -## Revision 1.66 2002/03/26 11:58:58 geraint -## Added cputime monitoring. -## -## Revision 1.65 2001/11/15 06:24:11 geraint -## Updated (-i dassl) residual function to use new DAEFunc (octave-2.1.35). -## YZ residual dependency on Ui still requires some work. -## -## Revision 1.64 2001/08/08 02:15:00 geraint -## Rationalisation of solver code, beginning with algebraic solvers. -## -## Revision 1.63 2001/08/07 04:39:24 geraint -## Consolidated dassl and residual functions. -## -## Revision 1.62 2001/08/01 22:14:32 geraint -## Bug fix for dassl. -## -## Revision 1.61 2001/08/01 04:06:07 geraint -## Added -i dassl for -cc and -oct. -## -## Revision 1.60 2001/07/16 22:23:00 geraint -## Fixed misleading variable name in .cc rep. -## -## Revision 1.59 2001/07/13 04:54:04 geraint -## Branch merge: numerical-algebraic-solution back to main. -## -## Revision 1.58 2001/07/13 00:51:39 geraint -## Fixed generation of odes.sg from .m and .oct simulations. -## .cc, .m and .oct simulations now all write mtt_data (lower case). -## -## Revision 1.57.2.5 2001/07/13 04:02:31 geraint -## Implemented numerical algebraic solution for _ode2odes.oct. -## -## Revision 1.57.2.4 2001/07/02 00:34:56 geraint -## gcc-3.0 compatibility. -## -## Revision 1.57.2.3 2001/06/25 23:28:29 geraint -## Generic mtt_rate and mtt_output - allows method independent calls. -## -## Revision 1.57.2.2 2001/06/05 03:20:40 geraint -## added -ae option to select algebraic equation solution method. -## -## Revision 1.57.2.1 2001/05/04 04:07:24 geraint -## Numerical solution of algebraic equations. -## sys_ae.cc written for unsolved inputs. -## Solution of equations using hybrd from MINPACK (as used by Octave fsolve). -## -## Revision 1.57 2001/04/01 03:38:54 geraint -## Reset row to zero after write to file, ready for subsequent runs. -## Eliminates SIGSEGV in Octave when _ode2odes called multiple times. -## -## Revision 1.56 2001/03/30 15:13:58 gawthrop -## Rationalised simulation modes to each return mtt_data -## -## Revision 1.55 2001/03/27 13:21:59 geraint -## Octave version compatibility for save_ascii_data(_for_plotting). -## -## Revision 1.54 2001/03/27 01:14:27 geraint -## Improved determination of Octave version. -## -## Revision 1.53 2001/03/21 03:24:59 geraint -## Calculate inputs before outputs (.cc). -## -## Revision 1.52 2001/03/19 02:28:52 geraint -## Branch merge: merging-ode2odes-exe back to MAIN. -## -## Revision 1.51.2.7 2001/03/17 09:51:07 geraint -## Implemented Runge-Kutta IV fixed-step method (-i rk4). -## -## Revision 1.51.2.6 2001/03/16 03:56:13 geraint -## Removed psignal/siginfo.h - problematic and unnecessary. -## -## Revision 1.51.2.5 2001/03/12 23:16:37 geraint -## Minor improvements to signal handling (.exe). -## -## Revision 1.51.2.4 2001/03/12 03:59:30 geraint -## SIGINT (C-c C-c) now causes simulation data to be dumped to MTT.core. -## SIGQUIT (C-c C-\) as for SIGINT, then raises default SIGQUIT. -## SIGFPE as for SIGINT, then raises default SIGABRT. -## -## Revision 1.51.2.3 2001/03/07 04:06:55 geraint -## Irix: catch SIGFPE and write data before aborting (.exe). -## GNU/Linux: nada. -## -## Revision 1.51.2.2 2001/03/02 00:45:21 geraint -## Separated Euler and Implicit methods in .cc code and dependencies. -## -## Revision 1.51.2.1 2001/03/01 05:05:53 geraint -## Minor revisions. -## -## Revision 1.51 2001/02/19 06:33:19 geraint -## Removed operation form loop. -## -## Revision 1.50 2001/02/18 09:18:49 geraint -## Removed temporary Matrices from mtt_implicit.cc -## -## Revision 1.49 2001/02/14 06:06:34 geraint -## Removed octave_value_list wrappers from standalone.exe - speed improvements -## -## Revision 1.48 2001/02/11 07:08:59 geraint -## Static declarations of octave_value_lists: small .exe speed improvement -## -## Revision 1.47 2001/02/11 05:25:52 geraint -## Reduced number of matrix operations during .oct simulation data write -## -## Revision 1.46 2001/02/05 08:32:31 geraint -## typo -## -## Revision 1.45 2001/02/05 04:32:35 geraint -## Octave version 2.1.x compatability and #ifdef statements for standalone rep -## -## Revision 1.46 2001/01/08 06:21:59 geraint -## #ifdef STANDALONE stuff -## -## Revision 1.45 2001/01/07 01:25:49 geraint -## Compatibility with Octave 2.1.33 -## -## Revision 1.44 2000/12/05 12:11:45 peterg -## Changed function name to name() -## -## Revision 1.43 2000/12/04 10:59:40 peterg -## *** empty log message *** -## -## Revision 1.42 2000/11/10 14:19:50 peterg -## Corrected the csex and cseo functions -## -## Revision 1.41 2000/11/09 17:06:39 peterg -## Now does euler for cc -## -## Revision 1.40 2000/10/17 09:55:00 peterg -## Replaced switchopen by logic -## -## Revision 1.39 2000/10/14 08:04:40 peterg -## Changed arguments to _inout for consistency -## -## Revision 1.38 2000/10/11 09:08:08 peterg -## cse --> csex -## -## Revision 1.37 2000/08/01 12:25:06 peterg -## Now includes euler -## -## Revision 1.36 2000/05/19 17:48:16 peterg -## Argument to state -## -## Revision 1.35 2000/05/18 18:59:40 peterg -## Removed the First time stuff -## -## Revision 1.34 2000/05/16 18:56:14 peterg -## *** empty log message *** -## -## Revision 1.33 2000/05/11 19:33:18 peterg -## Uniform version for _sim.m -## -## Revision 1.32 2000/05/11 08:30:00 peterg - -## -## Revision 1.31 2000/05/10 18:33:25 peterg -## Use smxa and smxax in place of smx -## -## Revision 1.30 2000/04/18 11:24:19 peterg -## Removed _numpar. -## -## Revision 1.29 2000/04/07 19:10:57 peterg -## *** empty log message *** -## -## Revision 1.28 1999/12/08 05:56:52 peterg -## Reordered the writing of the input and output. -## Note that last value now discarded. -## -## Revision 1.27 1999/11/15 22:47:53 peterg -## Generates method-specific code. -## -## Revision 1.26 1999/10/20 01:31:43 peterg -## *** empty log message *** -## -## Revision 1.25 1999/08/29 06:55:26 peterg -## Removed [MTTu] = zero_input($Nu); # Zero the input -## to avoide the p2c bug ???? -## -## Revision 1.24 1999/08/27 06:02:16 peterg -## removed zero_input to avoid p2c bug -## -## Revision 1.23 1999/08/02 13:39:19 peterg -## Replaced zero_vector by zero_input -## -## Revision 1.22 1999/04/20 06:16:07 peterg -## Removed initialisation of AA and AAx -## Remove _switch calls -- uses _switchopen exclusively -## -## Revision 1.21 1999/04/02 06:29:25 peterg -## New implicit method - solves numerical prob with ISW -## -## Revision 1.20 1999/04/02 02:13:58 peterg -## Back to RCS -## -## Revision 1.19 1999/03/30 21:39:25 peterg -## In implicit approach, set derivatives to zero (when switch is off) -## before update. This seems to stop numerical leakage though non-return -## switches. -## -## Revision 1.18 1999/03/15 01:17:07 peterg -## Removed some spurious debugging code -## -## Revision 1.17 1999/03/15 01:09:15 peterg -## Fixed bugs when Nx=0 (no state) -## -## Revision 1.16 1999/03/06 02:28:38 peterg -## Rearranged evaluation to: state - input - output - write -## -## Revision 1.15 1999/03/06 02:19:43 peterg -## Changed args to _input -## -## Revision 1.14 1998/10/01 16:02:01 peterg -## Integration with switches handled separately fro Euler and Implicit. -## -## Revision 1.13 1998/09/30 17:41:24 peterg -## Implicit method now allows for switches via _switchA -## -## Revision 1.12 1998/08/27 08:55:18 peterg -## Mods to integration methods -## -## Revision 1.11 1998/08/25 12:28:31 peterg -## Move initila switch to after initial input -## -## Revision 1.10 1998/08/25 12:22:45 peterg -## Put _switch after update and also at initilisation -## -## Revision 1.9 1998/08/15 13:46:59 peterg -## New versions of integration routines -## -## Revision 1.8 1998/08/11 13:28:03 peterg -## Lowercase mttLAST etc -## -## Revision 1.7 1998/07/30 11:29:54 peterg -## Added implicit integration stuff -## -## Revision 1.6 1998/07/30 10:44:37 peterg -## INcluded othe integration methods. -## -## Revision 1.5 1998/07/26 11:02:20 peterg -## Put mtt or MTT in front of variable names to avoid clashes with -## globals -## -## Revision 1.4 1998/07/25 20:14:00 peterg -## update code added for flexibility and octave efficiency -## -############################################################### - - -# Bourne shell script: make_ode2odes - -# Copyright (c) P.J.Gawthrop July 1998. - -# Tell user -sys=$1 -lang=$2 -filename=${sys}_ode2odes.${lang} - -if [ -n "$3" ]; then - method=$3 -else - method=implicit -fi - -if [ -n "$4" ]; then - algebraic_solver=$4 -else - algebraic_solver="Reduce_Solver" -fi - -echo Creating $filename with $method integration method - -# Find system constants -Nx=`mtt_getsize $sys x` # States -Nu=`mtt_getsize $sys u` # Inputs -Ny=`mtt_getsize $sys y` # Outputs - -case "$method" in - "implicit") - ode=csex - odeo=cseo - algorithm="mtt_implicit(x,dx,AA,AAx,ddt,$Nx,open_switches)" - ;; - "dassl") - ode=ode - odeo=odeo - algorithm="mtt_dassl(x,u,t,par,dx,ddt,MTTNX,MTTNYZ,open_switches)" - ;; - "euler" | "rk4" | *) - ode=ode - odeo=odeo - algorithm="mtt_euler(x,dx,ddt,$Nx,open_switches)" - ;; -esac - -make_m() -{ -#lang_header $1 ode2odes m 'x,par,simpar' '[Y,X,t]' > $filename -mtt_header ${sys} ode2odes m > $filename -cat <> $filename -global MTT_data; - - if nargin<3 - simpar = ${sys}_simpar(); - [simpar.dt] = mtt_simpar_update; - endif - if nargin<2 - par = ${sys}_numpar(); - [par] = mtt_numpar_update(par); - endif - if nargin<1 - [x0] = ${sys}_state(par); - [x0] = mtt_state_update(x); - endif - - ## Initialise - t = 0.0; - ddt = simpar.dt/simpar.stepfactor; - ilast = round(simpar.last/ddt)+1; # Total number of steps - x = x0; - -## Following removed due to p2c bug -## [u] = zero_input($Nu); # Zero the input - for MTTi=1:$Ny - y(MTTi) = 0; - endfor; - - mttj = 0; - for it = 1:ilast #Integration loop - [u] = ${sys}_input(x,y,t,par); # Input - [y] = ${sys}_$odeo(x,u,t,par); # Output - if mttj==0 - mtt_write(t,x,y,$Nx,$Ny); # Write it out - endif -EOF - -if [ "$method" = "rk4" ]; then -cat << EOF >> $filename - [k1] = ddt * ${sys}_${ode}(x,u,t,par); - [k2] = ddt * ${sys}_${ode}(x+k1/2,u,t+ddt/2,par); - [k3] = ddt * ${sys}_${ode}(x+k2/2,u,t+ddt/2,par); - [k4] = ddt * ${sys}_${ode}(x+k3,u,t+ddt,par); - [dx] = [k1 + 2.0 * [k2 + k3] + k4] / (6.0 * ddt); -EOF -else -cat << EOF >> $filename - [dx] = ${sys}_$ode(x,u,t,par); # State derivative -EOF -fi - -if [ "$method" = "implicit" ]; then -cat<< EOF >> $filename - - [AA] = ${sys}_smxa(x,u,ddt,par); # (I-Adt) and (I-Adt)x - [AAx] = ${sys}_smxax(x,u,ddt,par); # (I-Adt) and (I-Adt)x - -EOF -fi - -cat <> $filename - [open_switches] = ${sys}_logic(x,u,t,par); # Switch logic - [x] = $algorithm; # Integration update - t = t + ddt; # Time update - mttj = mttj+1; # Increment counter - if mttj==simpar.stepfactor - mttj = 0; # Reset counter - endif - - endfor; # Integration loop - -## Create the output data - mtt_data = MTT_data; -endfunction - -EOF -} # make_m - -make_cc() -{ -# get octave version -case `$MATRIX --version | awk -F\. '{print $2}'` in - 0) # stable - vector_value=vector_value - feval_header=toplev.h - save_ascii_data_function=save_ascii_data - ;; - 1) # development - vector_value=column_vector_value - feval_header=parse.h - save_ascii_data_function=save_ascii_data_for_plotting - ;; - *) - vector_value=column_vector_value - feval_header=parse.h - save_ascii_data_function=save_ascii_data_for_plotting - ;; -esac - -cat < $filename -#include -#include -#include -#include -#include - -#ifndef STANDALONE -#include -#endif - -#include "${sys}_def.h" -#include "${sys}_sympar.h" - -#include "mtt_${algebraic_solver}.hh" - -#include -#ifdef STANDALONE -#include - -extern ColumnVector F${sys}_ae ( - ColumnVector &x, - ColumnVector &u, - const double &t, - ColumnVector &par); - -extern ColumnVector F${sys}_input ( - ColumnVector &x, - ColumnVector &y, - const double &t, - ColumnVector &par); - -extern ColumnVector F${sys}_logic ( - ColumnVector &x, - ColumnVector &u, - const double &t, - ColumnVector &par); - -extern ColumnVector F${sys}_numpar ( - void); - -extern Octave_map F${sys}_simpar ( - void); - -extern ColumnVector F${sys}_state ( - ColumnVector &par); - -extern ColumnVector F${sys}_${ode} ( - ColumnVector &x, - ColumnVector &u, - const double &t, - ColumnVector &par); - -extern ColumnVector F${sys}_${odeo} ( - ColumnVector &x, - ColumnVector &u, - const double &t, - ColumnVector &par); - -EOF -case "$method" in - "implicit") - cat <> $filename -extern ColumnVector Fmtt_implicit ( - ColumnVector &x, - ColumnVector &dx, - Matrix &AA, - ColumnVector &AAx, - const double &ddt, - const int &nx, - const ColumnVector &open_switches); - -extern Matrix F${sys}_smxa ( - ColumnVector &x, - ColumnVector &u, - const double &t, - ColumnVector &par); - -extern ColumnVector F${sys}_smxax ( - ColumnVector &x, - ColumnVector &u, - const double &t, - ColumnVector &par); - -EOF - ;; - "dassl") - cat <> $filename -extern ColumnVector Fmtt_dassl ( - ColumnVector &x, - const ColumnVector &u, - const double &t, - const ColumnVector &par, - const ColumnVector &dx, - const double &ddt, - const int nx, - const int nyz, - const ColumnVector &open_switches); - -EOF - ;; - "euler" | "rk4" | *) - cat <> $filename -extern ColumnVector Fmtt_euler ( - ColumnVector &x, - const ColumnVector &dx, - const double &ddt, - const int &nx, - const ColumnVector &open_switches); - -EOF - ;; -esac -cat <> $filename - -void set_signal_handlers (void); - -#endif // STANDALONE - -ColumnVector -mtt_ae (ColumnVector &x, - ColumnVector &u, - const double &t, - ColumnVector &par) -{ -#ifdef STANDALONE - return F${sys}_ae(x,u,t,par); -#else - static octave_value_list args, f; - args (0) = octave_value (x); - args (1) = octave_value (u); - args (2) = octave_value (t); - args (3) = octave_value (par); - f = feval ("${sys}_ae", args, 1); - return f(0).${vector_value} (); -#endif -} - -inline ColumnVector -mtt_input (ColumnVector &x, - ColumnVector &y, - const double &t, - ColumnVector &par) -{ - static MTT::${algebraic_solver} ae(MTTNPAR,MTTNU,MTTNX,MTTNY,MTTNYZ); - static ColumnVector u (MTTNU); - -#ifdef STANDALONE - u = F${sys}_input (x, y, t, par); -#else - static octave_value_list args, f; - args (0) = octave_value (x); - args (1) = octave_value (y); - args (2) = octave_value (t); - args (3) = octave_value (par); - f = feval ("${sys}_input", args, 1); - u = f(0).${vector_value} (); -#endif - if (MTTNYZ == 0) - { - return u; - } - else - { - return ae.solve(x,u,t,par); - } -} - -inline ColumnVector -mtt_logic (ColumnVector &x, - ColumnVector &u, - const double &t, - ColumnVector &par) -{ -#ifdef STANDALONE - return F${sys}_logic (x, u, t, par); -#else - static octave_value_list args, f; - args (0) = octave_value (x); - args (1) = octave_value (u); - args (2) = octave_value (t); - args (3) = octave_value (par); - f = feval ("${sys}_logic", args, 1); - return f(0).${vector_value} (); -#endif -} - -inline ColumnVector -mtt_numpar (void) -{ -#ifdef STANDALONE - return F${sys}_numpar (); -#else - static octave_value_list args, f; - f = feval ("${sys}_numpar", args, 1); - return f(0).${vector_value} (); -#endif -} - -inline Octave_map -mtt_simpar (void) -{ -#ifdef STANDALONE - return F${sys}_simpar (); -#else - static octave_value_list args; - static Octave_map f; - f["first"] = feval ("${sys}_simpar", args, 1)(0).map_value ()["first"]; - f["dt"] = feval ("${sys}_simpar", args, 1)(0).map_value ()["dt"]; - f["last"] = feval ("${sys}_simpar", args, 1)(0).map_value ()["last"]; - f["stepfactor"] = feval ("${sys}_simpar", args, 1)(0).map_value ()["stepfactor"]; - f["wmin"] = feval ("${sys}_simpar", args, 1)(0).map_value ()["wmin"]; - f["wmax"] = feval ("${sys}_simpar", args, 1)(0).map_value ()["wmax"]; - f["wsteps"] = feval ("${sys}_simpar", args, 1)(0).map_value ()["wsteps"]; - f["input"] = feval ("${sys}_simpar", args, 1)(0).map_value ()["input"]; - return (f); -#endif -} - -inline ColumnVector -mtt_state (ColumnVector &par) -{ -#ifdef STANDALONE - return F${sys}_state (par); -#else - static octave_value_list args, f; - args (0) = octave_value (par); - f = feval ("${sys}_state", args, 1); - return f(0).${vector_value} (); -#endif -} - -inline ColumnVector -mtt_rate (ColumnVector &x, - ColumnVector &u, - const double &t, - ColumnVector &par) -{ -#ifdef STANDALONE - return F${sys}_${ode} (x, u, t, par); -#else - static octave_value_list args, f; - args (0) = octave_value (x); - args (1) = octave_value (u); - args (2) = octave_value (t); - args (3) = octave_value (par); - f = feval ("${sys}_${ode}", args, 1); - return f(0).${vector_value} (); -#endif -} - -inline ColumnVector -mtt_output (ColumnVector &x, - ColumnVector &u, - const double &t, - ColumnVector &par) -{ -#ifdef STANDALONE - return F${sys}_${odeo} (x, u, t, par); -#else - static octave_value_list args, f; - args (0) = octave_value (x); - args (1) = octave_value (u); - args (2) = octave_value (t); - args (3) = octave_value (par); - f = feval ("${sys}_${odeo}", args, 1); - return f(0).${vector_value} (); -#endif -} - -EOF -case "$method" in - "implicit") - cat <> $filename -inline ColumnVector -mtt_implicit (ColumnVector &x, - ColumnVector &dx, - Matrix &AA, - ColumnVector &AAx, - const double &ddt, - const int &nx, - const ColumnVector &open_switches) -{ -#ifdef STANDALONE - return Fmtt_implicit (x, dx, AA, AAx, ddt, nx, open_switches); -#else - static octave_value_list args, f; - args (0) = octave_value (x); - args (1) = octave_value (dx); - args (2) = octave_value (AA); - args (3) = octave_value (AAx); - args (4) = octave_value (ddt); - args (5) = octave_value ((double)nx); - args (6) = octave_value (open_switches); - f = feval ("mtt_implicit", args, 1); - return f(0).${vector_value} (); -#endif -} - -inline Matrix -mtt_smxa (ColumnVector &x, - ColumnVector &u, - const double &t, - ColumnVector &par) -{ -#ifdef STANDALONE - return F${sys}_smxa (x, u, t, par); -#else - static octave_value_list args, f; - args (0) = octave_value (x); - args (1) = octave_value (u); - args (2) = octave_value (t); - args (3) = octave_value (par); - f = feval ("${sys}_smxa", args, 1); - return f(0).matrix_value (); -#endif -} - -inline ColumnVector -mtt_smxax (ColumnVector &x, - ColumnVector &u, - const double &t, - ColumnVector &par) -{ -#ifdef STANDALONE - return F${sys}_smxax (x, u, t, par); -#else - static octave_value_list args, f; - args (0) = octave_value (x); - args (1) = octave_value (u); - args (2) = octave_value (t); - args (3) = octave_value (par); - f = feval ("${sys}_smxax", args, 1); - return f(0).${vector_value} (); -#endif -} - -EOF - ;; - "dassl") -cat <> $filename -inline ColumnVector -mtt_dassl (ColumnVector &x, - const ColumnVector &u, - const double &t, - const ColumnVector &par, - const ColumnVector &dx, - const double &ddt, - const int &nx, - const int &nyz, - const ColumnVector &open_switches) -{ -#ifdef STANDALONE - return Fmtt_dassl (x, u, t, par, dx, ddt, nx, nyz, open_switches); -#else - static octave_value_list args, f; - args (0) = octave_value (x); - args (1) = octave_value (u); - args (2) = octave_value (t); - args (3) = octave_value (par); - args (4) = octave_value (dx); - args (5) = octave_value (ddt); - args (6) = octave_value (static_cast (nx)); - args (7) = octave_value (static_cast (nyz)); - args (8) = octave_value (open_switches); - f = feval ("mtt_dassl", args, 1); - return f(0).${vector_value} (); -#endif -} - -#ifdef STANDALONE -ColumnVector -Fmtt_residual (const ColumnVector &X, - const ColumnVector &DX, - double t, - int &ires) -{ -#else // !STANDALONE -DEFUN_DLD (mtt_residual, args, , "mtt_residual") -{ - static ColumnVector X (MTTNX+MTTNYZ); - static ColumnVector DX (MTTNX+MTTNYZ); - static double t; - static int &ires; - - X = args(0).${vector_value} (); - DX = args(1).${vector_value} (); - t = args(2).double_value (); - ires = static_cast(args(3).double_value ()); -#endif // STANDALONE - - static ColumnVector residual (MTTNX+MTTNYZ); - static ColumnVector U (MTTNU+MTTNYZ); - static ColumnVector u (MTTNU); - static ColumnVector y (MTTNY,0.0); - static ColumnVector par (MTTNPAR); - static ColumnVector dx(MTTNX); - static ColumnVector yz(MTTNYZ); - - static ColumnVector x (MTTNX); - static ColumnVector ui (MTTNYZ); - - static octave_value_list new_args; - - x = X.extract (0,MTTNX-1); - if (MTTNYZ > 0) - ui = X.extract (MTTNX,MTTNX+MTTNYZ-1); - -#ifdef STANDALONE - par = F${sys}_numpar(); - u = F${sys}_input(x,y,t,par); -#else - par = feval ("${sys}_numpar", new_args, 1)(0).${vector_value} (); - new_args(0) = octave_value (x); - new_args(1) = octave_value (u); - new_args(2) = octave_value (t); - new_args(3) = octave_value (par); - u = feval ("${sys}_input", new_args, 1)(0).${vector_value} (); -#endif - - U.insert (u,0); - if (MTTNYZ > 0) - U.insert (ui,MTTNU); - -#ifdef STANDALONE - dx = F${sys}_${ode} (x,U,t,par); - yz = F${sys}_ae (x,U,t,par); -#else - new_args(1) = octave_value (U); - dx = feval ("${sys}_${ode}", new_args, 1)(0).${vector_value} (); - yz = feval ("${sys}_ae", new_args, 1)(0).${vector_value} (); -#endif - - for (register int i = 0; i < MTTNX; i++) - residual (i) = dx(i) - DX(i); - - if (MTTNYZ > 0) - { - residual.insert (yz,MTTNX); - - // XXX: - // DASSL needs residual to be dependent on Ui and Uidot - // mtt_dassl always sets the initial Ui to zero, so - // Ui - h*Uidot should equal zero BUT, we don't know h - static double t_old; - double step; - if (t != t_old) - { - step = t - t_old; - t = t_old; - } - else - step = t; - for (register int i = MTTNX; i < MTTNX+MTTNYZ; i++) - residual(i) += X(i) - DX(i)*step; - } - -#ifdef STANDALONE - return residual; -#else // !STANDALONE - return octave_value (residual); -#endif // STANDALONE -} - -EOF - ;; - "euler" | "rk4" | *) -cat <> $filename -inline ColumnVector -mtt_euler (ColumnVector &x, - const ColumnVector &dx, - const double &ddt, - const int &nx, - const ColumnVector &open_switches) -{ -#ifdef STANDALONE - return Fmtt_euler (x, dx, ddt, nx, open_switches); -#else - static octave_value_list args, f; - args (0) = octave_value (x); - args (1) = octave_value (dx); - args (2) = octave_value (ddt); - args (3) = octave_value ((double)nx); - args (4) = octave_value (open_switches); - f = feval ("mtt_euler", args, 1); - return f(0).${vector_value} (); -#endif -} - -EOF - ;; -esac -cat <> $filename - -inline void -mtt_write (const double &t, - ColumnVector &x, - ColumnVector &y, - const int &nrows, - const bool dump_data = false, - std::ostream &file = std::cout) -{ - static Matrix data; - static int row; - - if (dump_data) - { - if (row > 0) - { - Matrix written_data = data.extract (0, 0, row-1, data.cols ()-1); - $save_ascii_data_function (file, written_data, "mtt_data"); - } - return; - } - - const int nx = x.length (), ny = y.length (); - register int col = 0; - - if (0 == row) - data = Matrix (nrows, 1+ny+1+nx, 0.0); - - data.elem (row, col) = t; - for (register int i = 0; i < ny; i++) - data.elem (row, ++col) = y.elem (i); - data.elem (row, ++col) = t; - for (register int i = 0; i < nx; i++) - data.elem (row, ++col) = x.elem (i); - - row++; - - static std::fstream fcputime ("MTT.cputime", std::ios::out | std::ios::trunc | std::ios::app); - static clock_t cputime0 = clock(); - static clock_t cputime1 = cputime0; - clock_t cputime = clock(); - fcputime << t << '\t' - << static_cast (cputime - cputime0) / CLOCKS_PER_SEC << '\t' - << static_cast (cputime - cputime1) / CLOCKS_PER_SEC << std::endl; - cputime1 = cputime; - - if (nrows == row) - { -#ifdef STANDALONE - $save_ascii_data_function (file, data, "mtt_data"); -// std::cout << data << std::endl; -#else // ! STANDALONE - set_global_value ("MTT_data", data); -#endif - row = 0; - fcputime.close(); - } -} - -#ifdef STANDALONE -void dump_data (std::ostream &file) -{ - ColumnVector null (0); - mtt_write (0.0, null, null, 0, true, file); -} - -void handle_signal (int signum) -{ - // handle some signals to ensure data is written. - std::cerr << "# Writing data to MTT.core (signal " << signum << ")" << std::endl; - std::ofstream corefile ("MTT.core"); - dump_data (corefile); - switch (signum) - { - case SIGFPE: - // Intel chips do not raise SIGFPE for DIVZERO :-( -// raise (SIGABRT); - break; - case SIGINT: - break; - case SIGQUIT: - signal (SIGQUIT, SIG_DFL); - raise (SIGQUIT); - break; - default: - std::cerr << "# Warning: make_ode2odes needs updating!" << std::endl; - signal (signum, SIG_DFL); - raise (signum); - break; - } - corefile.close (); - set_signal_handlers (); -} - -void set_signal_handlers (void) -{ - signal (SIGFPE, handle_signal); - signal (SIGINT, handle_signal); - signal (SIGQUIT, handle_signal); -} - -int main (void) { - set_signal_handlers (); -#else -DEFUN_DLD (${sys}_ode2odes, args, , -"Octave ode2odes representation of system with $method integration method\nUsage: mtt_data = ${sys}_ode2odes (x0, par, simpar)\n") -{ - static octave_value_list retval; -#endif // STANDALONE - static ColumnVector x0; - static ColumnVector par; - static Octave_map simpar; - - static double - first = 0.0, - dt = 0.0, - last = 0.0, - stepfactor = 0.0; -#ifndef STANDALONE - int nargin = args.length (); - switch (nargin) - { - case 3: - first = args (2).map_value ()["first"].double_value (); - dt = args (2).map_value ()["dt"].double_value (); - last = args (2).map_value ()["last"].double_value (); - stepfactor = args (2).map_value ()["stepfactor"].double_value (); - par = args (1).${vector_value} (); - x0 = args (0).${vector_value} (); - break; - case 2: - first = mtt_simpar ()["first"].double_value (); - dt = mtt_simpar ()["dt"].double_value (); - last = mtt_simpar ()["last"].double_value (); - stepfactor = mtt_simpar ()["stepfactor"].double_value (); - par = args (1).${vector_value} (); - x0 = args (0).${vector_value} (); - break; - case 1: - first = mtt_simpar ()["first"].double_value (); - dt = mtt_simpar ()["dt"].double_value (); - last = mtt_simpar ()["last"].double_value (); - stepfactor = mtt_simpar ()["stepfactor"].double_value (); - par = mtt_numpar (); - x0 = args (0).${vector_value} (); - break; - case 0: -#endif // ! STANDALONE - first = mtt_simpar ()["first"].double_value (); - dt = mtt_simpar ()["dt"].double_value (); - last = mtt_simpar ()["last"].double_value (); - stepfactor = mtt_simpar ()["stepfactor"].double_value (); - par = mtt_numpar (); - x0 = mtt_state (par); -#ifndef STANDALONE - break; - default: - usage("${sys}_ode2odes (x par simpar)", nargin); - error("aborting."); - } -#endif // STANDALONE - static ColumnVector dx (MTTNX, 0.0); - static ColumnVector x (MTTNX, 0.0); - static ColumnVector u (MTTNU, 0.0); - static ColumnVector y (MTTNY, 0.0); - - static Matrix AA (MTTNX, MTTNX, 0.0); - static ColumnVector AAx (MTTNX, 0.0); - - static ColumnVector open_switches (MTTNX, 0.0); - - register double t = 0.0; - - const double ddt = dt / stepfactor; - const int ilast = static_cast (round ((last - first) / ddt)) + 1; - const int nrows = static_cast (round ((last - first) / dt)) + 1; - - for (register int i = 0; i < MTTNY; i++) - { - y (i) = 0.0; - } - - for (register int i = 0; i < MTTNX; i++) - { - x (i) = x0 (i); - } - - for (register int j = 0, i = 1; i <= ilast; i++) - { - u = mtt_input (x, y, t, par); - y = mtt_output (x, u, t, par); - if (0 == j) - { - mtt_write (t, x, y, nrows); - } -EOF -case "$method" in - "rk4") - cat << EOF >> $filename - { - static ColumnVector - k1 (MTTNX,0.0), - k2 (MTTNX,0.0), - k3 (MTTNX,0.0), - k4 (MTTNX,0.0); - - const double - t1 = t + ddt/2.0, - t2 = t + ddt; - - ColumnVector - x1 (x), - x2 (x), - x3 (x); - - k1 = ddt * mtt_rate (x , u, t , par); x1 += k1 * 0.5; - k2 = ddt * mtt_rate (x1, u, t1, par); x2 += k2 * 0.5; - k3 = ddt * mtt_rate (x2, u, t1, par); x3 += k3; - k4 = ddt * mtt_rate (x3, u, t2, par); - dx = (k1 + 2.0 * (k2 + k3) + k4) / (6.0 * ddt); - } -EOF - ;; - "dassl") - ;; - "implicit") - cat << EOF >> $filename - dx = mtt_rate (x, u, t, par); - AA = mtt_smxa (x, u, ddt, par); - AAx = mtt_smxax (x, u, ddt, par); -EOF - ;; - "euler" | *) - cat << EOF >> $filename - dx = mtt_rate (x, u, t, par); -EOF - ;; -esac - -## Common stuff -cat <> $filename - open_switches = mtt_logic (x, u, t, par); - x = $algorithm; - t += ddt; - j++; - j = (j == static_cast (stepfactor)) ? 0 : j; - } - -#ifdef STANDALONE - return 0; -#else -/* - retval (0) = octave_value (y); - retval (1) = octave_value (x); - retval (2) = octave_value (t); -*/ - retval = octave_value (get_global_value ("MTT_data")); - return (retval); -#endif // STANDALONE -} -EOF -} - -case ${lang} in - m) - make_m - ;; - cc) - make_cc - ;; - *) - echo Language ${lang} is not supported -esac DELETED mttroot/mtt/bin/trans/make_sim Index: mttroot/mtt/bin/trans/make_sim ================================================================== --- mttroot/mtt/bin/trans/make_sim +++ /dev/null @@ -1,41 +0,0 @@ -#!/bin/sh - -## Makes the sensitivity simulation -## Copyright (C) 2001 by Peter J. Gawthrop - -sys=$1 -lang=$2 - -outfile=${sys}_sim.${lang} - -echo Creating $outfile -make_m() { -mtt_header ${sys} sim m > ${outfile} -cat >> ${outfile} < ${outfile} -cat >> ${outfile} <4 - [n,m] = size(index); - if (n>m) # Make sure its a row vector - index = index'; - endif - endif - - [nx2,ny2] = ${sys}_def; - y_par = []; - MTT_input = u; - [MTT_input_last,m] = size(u); - - if nargin<5 # No index given - MTT_input_index = 0; - [mtt_data] = ${sys}_ode2odes(x0,par,simpar); - y = mtt_data(:,2:2:1+ny2); - x = mtt_data(:,3+ny2:2:2+ny2+nx2); - ypar = []; - else # Compute sensitivities as well - for i=index - MTT_input_index = 0; - p = par; # Reset parameters - p(i) = 1; # Set sensitivity index to 1 - [mtt_data] = ${sys}_ode2odes(x0,p,simpar); - if (i==index(1)) - y = mtt_data(:,2:2:1+ny2); - endif - y_par = [y_par, mtt_data(:,3:2:2+ny2)]; - x = mtt_data(:,3+ny2:2+ny2+nx2); - endfor - endif - -endfunction -EOF - -} - -case ${lang} in - m) - make_m - ;; - *) - echo Language ${lang} not supported - sorry -esac DELETED mttroot/mtt/bin/trans/make_stdin Index: mttroot/mtt/bin/trans/make_stdin ================================================================== --- mttroot/mtt/bin/trans/make_stdin +++ /dev/null @@ -1,169 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -## $Id$ - -# Copyright (C) 1999,2000 by Peter J. Gawthrop - -# Tell user -Sys=$1 -lang=$2 -date=`date` -outfile=$1_input.$2 - -Nu=`mtt_getsize ${Sys} u` # Inputs -echo "Creating $outfile for standard input" - -## Pascal code -make_p() -{ -cat < $outfile -PROCEDURE ${Sys}_input(VAR mttu : InputVector; - mttx : StateVector; - mtty : OutputVector; - mttt : REAL; - par : ParameterVector); - -{Created by MTT on $date for standard input to simulation} - -VAR t : REAL; Start:BOOLEAN; - -BEGIN{${Sys}_input} - {Zap comments} - IF (input^ = chr("#")) THEN - BEGIN - readln; - WHILE (input^ = chr("#")) DO readln; - END; - - read(t); { Read, and discard, first column (time) } - FOR mtti:=1 TO $Nu DO {Read the inputs} - read(mttu[mtti]); - readln; {Next line} - - -END{${Sys}_input}; -EOF -} - -make_m() { -mtt_header ${Sys} input m stdin > $outfile -cat >> $outfile < $outfile < -#include "${Sys}_def.h" - -void strip_comments (istream &str) -{ - char c; - c = str.peek (); - while (c == '#') - { - str.unsetf(ios::skipws); - while (c != '\n') - { - str >> c; - } - str.setf(ios::skipws); - c = str.peek (); - } -} - -ColumnVector F${Sys}_input ( - ColumnVector &mttx, - ColumnVector &mtty, - const double &mttt, - ColumnVector &mttpar -) -{ -#endif // STANDALONE -#ifndef STANDALONE -#include -#include -#include "${Sys}_def.h" - -DEFUN_DLD (${Sys}_input, args, , -"Usage: [mttu] = ${Sys}_input() -Octave input (-stdin) representation of system ${Sys} -Generated by MTT on `date`") -{ - - octave_value_list retval; -#endif // ! STANDALONE - - ColumnVector mttu (MTTNU); - - // Set up the mttu vector -#ifndef STANDALONE - int MTT_input_index = static_cast(get_global_value ("MTT_input_index").double_value ()); - int MTT_input_last = static_cast(get_global_value ("MTT_input_last").double_value ()); - Matrix MTT_input = get_global_value ("MTT_input").matrix_value(); - - mttu = MTT_input.row (MTT_input_index); - - if (MTT_input_index < (MTT_input_last - 1)) - { - set_global_value ("MTT_input_index", static_cast(++MTT_input_index)); - } - -#else - double t, u; - strip_comments (cin); - cin >> t; - for (register int i = 0; i < MTTNU; i++) - { - cin >> u; - mttu(i) = u; - } -#endif - - -#ifndef STANDALONE - retval (0) = octave_value (mttu); - return (retval); -} -#endif // ! STANDALONE -#ifdef STANDALONE - return mttu; -} -#endif // STANDALONE -EOF -} - -case $lang in - p) - make_p - ;; - m) - make_m - ;; - cc) - make_cc - ;; - *) - echo language $lang not supported - sorry -esac DELETED mttroot/mtt/bin/trans/makecr Index: mttroot/mtt/bin/trans/makecr ================================================================== --- mttroot/mtt/bin/trans/makecr +++ /dev/null @@ -1,46 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: makecr - -# Copyright (c) P.J.Gawthrop 1996. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.4 1996/09/12 12:06:38 peter -## Removed reducndant lines. -## -## Revision 1.3 1996/09/12 12:05:01 peter -## Removed default crs. -## -## Revision 1.2 1996/09/10 16:18:37 peter -## Uses default constitutive relationship mtt/cr/r -## -## Revision 1.1 1996/08/24 14:53:06 peter -## Initial revision -## -############################################################### - -#Inform user -echo Creating $1_cr.r - -echo % Default CR file > $1_cr.r -echo % File $1_cr.r >> $1_cr.r -echo % Generated by MTT on `date`. >> $1_cr.r -echo >> $1_cr.r -cat $MTTPATH/trans/m/rcs_header.txt >> $1_cr.r -echo 'END;' >> $1_cr.r - - - - - - - - DELETED mttroot/mtt/bin/trans/makedesc Index: mttroot/mtt/bin/trans/makedesc ================================================================== --- mttroot/mtt/bin/trans/makedesc +++ /dev/null @@ -1,44 +0,0 @@ -#!/bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: maketex -# Makes template for (TeX) system description. - -# P.J.Gawthrop August 1997 -# Copyright (c) P.J.Gawthrop, 1997. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.3 1998/07/22 08:58:51 peterg -## Corrected spelling. -## -## Revision 1.2 1997/05/21 10:00:51 peterg -## Tidied up. -## -## Revision 1.1 1997/05/21 09:19:27 peterg -## Initial revision -## -############################################################### - -#Inform user -echo Creating $1_desc.tex - -echo '% -*-latex-*- Put EMACS into LaTeX-mode' > $1_desc.tex -echo "% Verbal description for system $1 ($1_desc.tex)" >> $1_desc.tex -echo "% Generated by MTT on" `date`. >> $1_desc.tex -cat $MTTPATH/trans/m/rcs_header.txt >> $1_desc.tex - -cat<> $1_desc.tex - The acausal bond graph of system \textbf{$1} is - displayed in Figure \Ref{fig:$1_abg.ps} and its label - file is listed in Section \Ref{sec:$1_lbl}. - The subsystems are listed in Section \Ref{sec:$1_sub}. -EOF - - DELETED mttroot/mtt/bin/trans/makedoc Index: mttroot/mtt/bin/trans/makedoc ================================================================== --- mttroot/mtt/bin/trans/makedoc +++ /dev/null @@ -1,120 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: makedoc -# Encapsulates a tex file in a document. - -# P.J.Gawthrop August 1996 -# Copyright (c) P.J.Gawthrop, 1996. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.1 1997/05/17 13:55:42 peterg -## Initial revision -## -# Revision 1.2 1997/04/23 10:06:51 peterg -# Put output in the correct file! -# -# Revision 1.1 1997/04/23 10:03:41 peterg -# Initial revision -# -############################################################### - -date=`date` -switches=$1 -system=$2 -representation=$3 -lang=$4 -args=$5 -documenttype=$6 -ps=$7 - -if [ "$documenttype" = "book" ]; then - document=book -else - document=article -fi - -if [ "$documenttype" = "book" ]||[ "$documenttype" = "article" ]; then - title="\title{Report on $system}" -else - title="\title{System $system, representation $representation}" -fi - -filename=$2_$3.doc -texname=$2_$3.tex -indexname=$2_$3.ind - -# Inform user -echo "Creating $filename" -# Make arguments acceptable to LateX -Args=`echo $args | sed 's/_/\\\_/g'` - -cat< $filename -\nonstopmode -\documentclass[12pt,a4paper]{$document} - $title - \author{Generated by MTT using :\\\\ - (mtt $switches $system $representation $lang $Args)} - \date{$date} -EOF - -if [ "$documenttype" = "book" ]; then - cat <> $filename - \makeindex -EOF -fi - -cp -v $MTTPATH/trans/*.sty . -cat >> $filename <> $filename -\begin{document} - \maketitle -EOF - -if [ "$documenttype" = "book" ]||[ "$documenttype" = "article" ]; then - cat $MTTPATH/trans/contents.tex >> $filename -fi - -cat <> $filename -%Fancy headings - \pagestyle{fancy} - \renewcommand{\sectionmark}[1]{\markboth{#1}{}} - \lhead{Report \textbf{$system}} - \rhead{Representation \textbf{$representation}} - \rfoot{Page \thepage.}\cfoot{} - \lfoot{\emph{$date}} - - \input{$texname} -EOF - -if [ "$documenttype" = "book" ]; then - cat <> $filename - \input{$indexname} -EOF -fi - -cat<> $filename -\end{document} -EOF - - - - - - - - - - - - DELETED mttroot/mtt/bin/trans/makerep_txt Index: mttroot/mtt/bin/trans/makerep_txt ================================================================== --- mttroot/mtt/bin/trans/makerep_txt +++ /dev/null @@ -1,71 +0,0 @@ -#!/bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: makerep_tex -# Makes template for (TeX) system description. - -# P.J.Gawthrop July 1998 -# Copyright (c) P.J.Gawthrop, 1998. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.5 2000/11/04 12:32:43 peterg -## Added more reps + more default reps -## -## Revision 1.4 1999/03/02 22:02:16 peterg -## Octave-mode style -## -## Revision 1.3 1998/11/18 10:47:39 peterg -## Added transfer function rep -## -## Revision 1.2 1998/11/10 09:16:41 peterg -## Added structure rep -## -## Revision 1.1 1998/07/22 09:14:42 peterg -## Initial revision -## -############################################################### - - -#Inform user -echo Creating $1_rep.txt - -cat < $1_rep.txt -## -*-octave-*- Put Emacs into octave-mode -## Outline report file for system $1 ($1_rep.txt) -## Generated by MTT on" `date`. - -EOF - -cat $MTTPATH/trans/rcs_header.sh >> $1_rep.txt - -cat <> $1_rep.txt -mtt $1 abg tex # The system description -mtt $1 cbg ps # The causal bond graph -mtt $1 struc tex # The system structure -mtt $1 sympar tex # The system parameters -## Uncomment the following lines or add others -## mtt $1 dae tex # The system dae -## mtt $1 ode tex # The system ode -## mtt $1 sspar tex # Steady-state parameters -## mtt $1 ss tex # Steady state -## mtt $1 dm tex # Descriptor matrices (of linearised system) -## mtt $1 sm tex # State matrices (of linearised system) -## mtt $1 tf tex # Transfer function (of linearised system) -## mtt $1 lmfr ps # log modulus of frequency response (of linearised system) -## mtt $1 simpar tex # Simulation parameters -## mtt $1 numpar tex # Numerical simulation parameters -## mtt $1 state tex # Simulation initial state -## mtt $1 input tex # Simulation input -## mtt $1 logic tex # Logic control -## mtt $1 odeso ps # Simulation output - -## mtt $1 rep txt # This file -EOF - DELETED mttroot/mtt/bin/trans/makesspar Index: mttroot/mtt/bin/trans/makesspar ================================================================== --- mttroot/mtt/bin/trans/makesspar +++ /dev/null @@ -1,53 +0,0 @@ -#!/bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: makesspar -# Makes default sspar file: all states zero. - -# P.J.Gawthrop February 1998 -# Copyright (c) P.J.Gawthrop, 1998. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.2 1998/02/09 08:39:27 peterg -## Set inputs to zero as well. -## -## Revision 1.1 1998/02/06 15:53:49 peterg -## Initial revision -## -############################################################### - - -#Inform user -echo Creating $1_sspar.r - -echo "% Steady-state parameters for system $1 ($1_sspar.r)"> $1_sspar.r -echo "% Generated by MTT on" `date`. >> $1_sspar.r -cat $MTTPATH/trans/m/rcs_header.txt >> $1_sspar.r -echo "% Set all states and inputs to zero" >> $1_sspar.r - -$MATRIX <> /dev/null - -fnum=fopen("$1_sspar.r","a"); - -[nx,ny,nu,nz,nyz] = $1_def; - -for i = 1:nx - fprintf(fnum,"MTTX%i := 0;\n", i); -end; -fprintf(fnum,"\n"); -for i = 1:nu - fprintf(fnum,"MTTU%i := 0;\n", i); -end; - - -EOF - - -echo "END;;" >> $1_sspar.r DELETED mttroot/mtt/bin/trans/makesubs Index: mttroot/mtt/bin/trans/makesubs ================================================================== --- mttroot/mtt/bin/trans/makesubs +++ /dev/null @@ -1,78 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: makesubs -# Makes the default substitution file - -# Copyright (C) 2000 by Peter J. Gawthrop - - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.1 2000/12/28 09:09:52 peterg -## Initial revision -## -## -############################################################### - -#Inform user -echo Creating $1_subs.r - -cat > $1_subs.r <> $1_subs.r - -cat >> $1_subs.r <> $1_subs.r <> $1_subs.r - -# Then states -Nx=`mtt_getsize $1 x` # States - -awk 'END{ - for (k=1;k> $1_subs.r - -cat >> $1_subs.r <junk -mv junk $1 - - - - DELETED mttroot/mtt/bin/trans/modpar_txt2r Index: mttroot/mtt/bin/trans/modpar_txt2r ================================================================== --- mttroot/mtt/bin/trans/modpar_txt2r +++ /dev/null @@ -1,44 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: modpar_txt2r -# Creates the reduce code for modulated parameters - -# Copyright (C) 2001 by Peter J. Gawthrop - -############################################################### -## Version control history -############################################################### -## $$Id$ -## $Log$ -## Revision 1.1 2001/04/02 08:19:18 gawthrop -## Translates modulated parameters into reduce -## -############################################################### - -# Inform user -echo Creating $1_modpar.r - -#Create the modpar file complete with headers. -echo "% Modpar file ($1_modpar.r)" > $1_modpar.r -echo "% Generated by MTT at `date`" >> $1_modpar.r - -parameters=`strip_comments < $1_modpar.txt | cut -f1` -inputs=`strip_comments < $1_modpar.txt | cut -f2` - - -for parameter in $parameters; do - grep $1_${parameter}_ $1_struc.txt |\ - awk 'BEGIN{ - name["input"] = "u"; - name["output"] = "y"; - name["state"] = "x"; - name["nonstate"] = "z"; - } - { - printf("%s := mtt%s(%i,1);\n", parameter, name[$1], $2) - }' parameter=$parameter >> $1_modpar.r -done DELETED mttroot/mtt/bin/trans/mtt.sty Index: mttroot/mtt/bin/trans/mtt.sty ================================================================== --- mttroot/mtt/bin/trans/mtt.sty +++ /dev/null @@ -1,73 +0,0 @@ -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %%%%% Model Transformation Tools %%%%% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% -% mtt.sty -- LaTeX style file for MTT -% P.J.Gawthrop May 1997 -% Copyright (c) P.J.Gawthrop, 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.7 2000/11/28 18:28:29 peterg -% %% Removed fancy box - messes up TOC -% %% -% %% Revision 1.6 2000/11/28 18:09:06 peterg -% %% Tidied up: -% %% added hyperef -% %% put fig stuff into mtt_ps.sty and mtt_pdf.sty -% %% -% %% Revision 1.5 1998/11/23 10:45:49 peterg -% %% Reinstated supertabular -% %% -% %% Revision 1.4 1998/07/01 17:34:43 peterg -% %% No change -% %% -% %% Revision 1.3 1997/12/06 16:22:10 peterg -% %% Added another argument - the label. -% %% -% %% Revision 1.2 1997/12/06 15:51:06 peterg -% %% Cahged order of fig args to put file first. -% %% -% %% Revision 1.1 1997/05/19 16:48:10 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -% Font -\usepackage{times} - -%Verbatim file input -\usepackage{verbatim} -\usepackage{moreverb} - -%Long tables -\usepackage{supertabular} - -%AMS maths - \usepackage{amsmath} - -%Fancy headings - \usepackage{fancyheadings} - -%Fancy boxes -%\usepackage{fancybox} - - -% Read in a verbatim file -\newcommand{\txt}[2]{ - \subsubsection*{#1} - \verbatimtabinput{#2} -} - -% Read in a LaTeX file -\newcommand{\Input}[1]{ - \input{#1} -} - - -% Page refs as well. -\newcommand{\Ref}[1]{\ref{#1} (on page \pageref{#1})} DELETED mttroot/mtt/bin/trans/mtt2reps_txt Index: mttroot/mtt/bin/trans/mtt2reps_txt ================================================================== --- mttroot/mtt/bin/trans/mtt2reps_txt +++ /dev/null @@ -1,82 +0,0 @@ -#! /bin/sh - -# mtt2reps_txt: Gives a tabular listing of representations and languages -# P J Gawthrop July 1998, October 1998 -# Copyright (c) P.J.Gawthrop, 1998 - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.11 2001/04/28 03:38:36 geraint -## Refined selection of matching patterns - checks for exact match. -## -## Revision 1.10 2000/09/14 07:54:13 peterg -## Removed -e option in echo -## -## Revision 1.9 2000/04/05 08:34:30 peterg -## removed output tab -## -## Revision 1.8 2000/04/05 08:04:01 peterg -## Minor reorganisation -## -## Revision 1.7 2000/04/04 16:15:14 peterg -## Fixed awk prob - must be the same sep. for each field (?) -## So tr tab to space -## -## Revision 1.6 2000/04/04 13:09:51 peterg -## *** empty log message *** -## -## Revision 1.5 2000/01/19 17:26:12 peterg -## Now includes the representation title. -## -## Revision 1.4 1999/03/09 00:03:06 peterg -## Revisions for xmtt -## -## Revision 1.3 1999/03/08 21:24:43 peterg -## Handles * representations: -## -## rep* is special -## rep shows all possible languages -## -## Revision 1.2 1999/03/08 06:34:07 peterg -## Removed mtt help - replaced by grep #SUMMARY - quicker -## -## Revision 1.1 1998/10/20 08:15:08 peterg -## Initial revision -## -############################################################### - -sep='|'; # Separates the languages from the rest. - -## List of all representations (deleting the *) -representations=`grep '#SUMMARY' $MTTPATH/mtt | awk '{sub("\*","+"); print $2'} | sort -u ` - - -for rep in $representations ; do - Rep=`echo $rep | tr '+' '*'` - ## Title should be same for all languages -- but extract the first non-empty version - title=`grep '#SUMMARY' $MTTPATH/mtt | tr '\t' ' ' | grep "[ *]$Rep[ *]" | \ - awk '{if (NF>2) {for (i=3;imtt_error.txt - -# Now invoke the standard error handling. -mtt_error mtt_error.txt DELETED mttroot/mtt/bin/trans/mtt_get_subsystems Index: mttroot/mtt/bin/trans/mtt_get_subsystems ================================================================== --- mttroot/mtt/bin/trans/mtt_get_subsystems +++ /dev/null @@ -1,37 +0,0 @@ -#!/bin/sh -# Gets the subsystems - -while [ -n "`echo $1 | grep '^-'`" ]; do - case $1 in - -strip ) - strip=yes; - ;; - *) - echo "$1 is an invalid argument - ignoring"; - exit ;; - esac - shift -done - -subsystems=`sh $1_sub.sh "echo grep " " $1_abg.m" |\ - sh | awk -F '.' '{print $3}'` - -if [ -n "$strip" ]; then - echo $subsystems - else - for subsystem in $subsystems; do - # echo -n $1_$subsystem' ' - echo $1_$subsystem #| awk '{printf("%s ",$1)}' - done - echo -fi - - - - - - - - - - DELETED mttroot/mtt/bin/trans/mtt_getsize Index: mttroot/mtt/bin/trans/mtt_getsize ================================================================== --- mttroot/mtt/bin/trans/mtt_getsize +++ /dev/null @@ -1,50 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: mtt_getsize - -# Gets array sizes for the def.r file -# P.J.Gawthrop Feb 2000 -# Copyright (C) 2000 by Peter J. Gawthrop - - #$Id$ - -while [ -n "`echo $1 | grep '^-'`" ]; do - case $1 in - -internal ) - internal=yes; - ;; - -external ) - external=yes; - ;; - *) - echo "$1 is an invalid argument - ignoring"; - exit ;; - esac - shift -done - -if [ -n "$internal" ]; then - name=MTT$2"[0-9]"; # echo $name - grep -i "$name" $1_ese.r | wc -l - exit -fi - -if [ -n "$external" ]; then - name="^MTT"$2"("; #echo $name - grep -i "$name" $1_ese.r | wc -l - exit -fi - -## The original version for external sizes. -if [ "$2" = "xx" ]; then - n=`mtt_getsize $1 x` - N=`echo "$n * $n" | bc` -else - N=`grep "MTTN$2 " <$1_def.r | awk '{print $3}' | sed 's/;//'` -fi - -echo $N DELETED mttroot/mtt/bin/trans/mtt_header Index: mttroot/mtt/bin/trans/mtt_header ================================================================== --- mttroot/mtt/bin/trans/mtt_header +++ /dev/null @@ -1,903 +0,0 @@ -#!/bin/sh - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: mtt_header -# Headings for functions -# Copyright (C) 2000 by Peter J. Gawthrop - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.39 2002/04/15 10:54:31 geraint -## Statically declare outputs and initialise to zero. -## This is necessary to prevent spurious values from being output when no assignments are made (i.e. when "y(i) := 0 for all u" (Reduce:see NERO)). -## -## Revision 1.38 2001/07/23 23:43:15 gawthrop -## header only version does not need to compute sizes from _def.r -## -## Revision 1.37 2001/07/13 04:54:04 geraint -## Branch merge: numerical-algebraic-solution back to main. -## -## Revision 1.36 2001/07/12 04:00:51 gawthrop -## Now zeros y correctly - ie Ny NOT Nx elements -## -## Revision 1.35 2001/06/13 10:39:51 gawthrop -## Zeros output matices in csex and cseo just in case some elements are -## actually zero and not set in code. Works for m and oct. -## -## Revision 1.34 2001/05/26 18:36:43 gawthrop -## Further modifications. Now works on rcPPP -## -- next jobs: -## add identification to ppp_nlin_sim -## create real-time ppp_nlin_run -## -## Revision 1.33 2001/05/26 15:46:38 gawthrop -## Updated to account for new nonlinear ppp -## -## Revision 1.32 2001/05/24 07:42:12 gawthrop -## Included and updated the missing tf_r2m -## -## Revision 1.31.2.2 2001/07/02 00:34:56 geraint -## gcc-3.0 compatibility. -## -## Revision 1.31.2.1 2001/05/04 04:07:24 geraint -## Numerical solution of algebraic equations. -## sys_ae.cc written for unsolved inputs. -## Solution of equations using hybrd from MINPACK (as used by Octave fsolve). -## -## Revision 1.31 2001/04/03 14:49:42 gawthrop -## Revised to incorporate new ssim (sensitivity simulation) -## representation (m only just now). -## -## Revision 1.30 2001/03/30 15:13:58 gawthrop -## Rationalised simulation modes to each return mtt_data -## -## Revision 1.29 2001/03/27 13:10:23 geraint -## Improved determination of Octave version. -## -## Revision 1.28 2001/02/17 03:48:17 geraint -## Use assignment LHS to gather tmp variable names. -## Prevents collection of long expressions, eg: tmp34*(tmp75 -## -## Revision 1.27 2001/02/14 06:06:34 geraint -## Removed octave_value_list wrappers from standalone.exe - speed improvements -## -## Revision 1.26 2001/02/05 08:50:58 geraint -## Octave 2.1.x compatability. -## -## Revision 1.28 2001/01/17 21:16:15 geraint -## uncomment parameter assignments in .m reps -## -## Revision 1.27 2001/01/14 23:51:26 geraint -## declare parameters as variables instead of constants -## -## Revision 1.26 2001/01/07 21:22:47 geraint -## Compatibility with Octave 2.1.x -## vector_value ---> column_vector_value -## -## Revision 1.25 2000/12/05 12:05:26 peterg -## Changed to () form -## -## Revision 1.24 2000/12/05 10:04:52 peterg -## Fixed dummy variable bug -## -## Revision 1.23 2000/12/05 09:47:50 peterg -## Include crs as c files -## -## Revision 1.22 2000/12/04 12:19:12 peterg -## Changed $() to `` and $() to expr for sh compatibility -- geraint -## -## Revision 1.21 2000/12/04 08:52:40 peterg -## Zapped () in functions for sh compatibility -## -## Revision 1.20 2000/12/04 08:19:27 peterg -## Added switch declarations - in logic.cc -## -## Revision 1.19 2000/12/03 16:11:43 peterg -## Corrected bug in logic declatations -## -## Revision 1.18 2000/12/03 16:06:22 peterg -## Fixed bug in generating dummies -## Added logic declarations -## -## Revision 1.17 2000/12/01 20:55:01 peterg -## Added Geraint's fix for zeroing matrices -## -## Revision 1.16 2000/12/01 17:56:30 peterg -## Removed spurious echo '## Set matrices to zero' - thanks Geraint -## -## Revision 1.15 2000/11/29 21:06:16 peterg -## Removed Npar creation - not needed?? -## -## Revision 1.14 2000/11/27 11:51:43 peterg -## Added zero matrices in matlab code -## -## Revision 1.13 2000/11/09 17:19:52 peterg -## Geraint's pow() mods -## -## Revision 1.12 2000/11/09 16:09:46 peterg -## Declare dummy variables (mtt_s1 etc) -## -## Revision 1.11 2000/11/09 15:29:35 peterg -## lower-case declarations -## -## Revision 1.10 2000/11/07 17:20:51 peterg -## useful-functions.hh now included locally -## -## Revision 1.9 2000/11/07 16:56:24 peterg -## Version from Geraint -## -## Revision 1.2 2000/11/03 00:55:42 geraint -## typo: missed out 'd' in mttedx -## todo: need to accommodate mttsimpar -## -## Revision 1.1 2000/11/02 04:28:39 geraint -## Initial revision -## -## Revision 1.8 2000/10/17 16:35:03 peterg -## No parameter,state or input conversion in txt files -## -## Revision 1.7 2000/10/17 09:53:20 peterg -## Fixed logic rep -## -## Revision 1.6 2000/10/17 08:37:23 peterg -## Included logic rep -## -## Revision 1.5 2000/10/14 09:12:14 peterg -## No dies arguments and output itself -## -## Revision 1.4 2000/10/14 06:49:31 peterg -## Make parameter listing representation dependent -## -## Revision 1.3 2000/10/11 08:59:15 peterg -## Added csex rep -## -## Revision 1.2 2000/10/11 08:01:42 peterg -## Added noglobal fudge -## -## Revision 1.1 2000/10/10 21:02:27 peterg -## Initial revision -## -############################################################### - -# Arguments -system=$1 -rep=$2 -language=$3 -fun_name=${1}_${2} - -other=$4 # Anything else eg stdin - -if [ -z "$system" ]; then - echo 'Usage: mtt_header sys rep lang [stdin]' - exit -fi - - -# get octave version -octave_development=`octave --version | awk '{print $4}' | awk -F\. '{print $2}'` -case `$MATRIX --version | awk -F\. '{print $2}'` in - 0) # stable - vector_value=vector_value - ;; - 1) # development - vector_value=column_vector_value - ;; - *) - vector_value=column_vector_value - ;; -esac - - -# Representation-specific stuff - -eqnargs='mttx,mttu,mttt,mttpar' -inputeqnargs='mttx,mtty,mttt,mttpar' -case $rep in - ae) - states=yes; - inputs=yes; - parameters=yes; - output=mttyz; - args=$eqnargs; - ;; - cse) - states=yes; - inputs=yes; - parameters=yes; - output='mttdx,mtte' - args=$eqnargs - ;; - csex) - states=yes; - inputs=yes; - parameters=yes; - output=mttedx - args=$eqnargs - zeromatrices='edx'; - ;; - cseo) - states=yes; - inputs=yes; - parameters=yes; - output=mtty - args=$eqnargs - zeromatrices='y'; - ;; - dm) - states=no; - inputs=no; - parameters=yes; - output='mtta,mttb,mttc,mttd,mtte' - args=mttpar - zeromatrices='a b c d e'; - ;; - input) - inputs=no; - output=mttu - args=$inputeqnargs - if [ "$other" = "stdin" ]; then - states=no; - parameters=no; - declareinputs=no; - else - states=yes; - parameters=yes; - declareinputs=yes - declarestates=yes - fi - ;; - logic) - states=no; - inputs=no; - parameters=yes; - output=mttopen - args=$eqnargs - declareinputs=yes - declarestates=yes - declareswitches=yes - ;; - numpar) - states=no; - inputs=no; - parameters=no; - output='mttpar' - ;; - ode) - states=yes; - inputs=yes; - parameters=yes; - output='mttdx' - args=$eqnargs - ;; - odeo) - states=yes; - inputs=yes; - parameters=yes; - output='mtty' - args=$eqnargs - ;; - ode2odes) - states=no; - inputs=no; - parameters=no; - output='mtt_data' - args='x0,par,simpar' - ;; - simpar) - states=no; - inputs=no; - parameters=no; - output='mttsimpar' - ;; - sm) - states=no; - inputs=no; - parameters=yes; - output='mtta,mttb,mttc,mttd' - args=mttpar; - zeromatrices='a b c d'; - ;; - smxa) - states=no; - inputs=no; - parameters=yes; - output='mtta' - args=$eqnargs - ;; - smxax) - states=no; - inputs=no; - parameters=yes; - output='mttax' - args=$eqnargs - ;; - state) - states=no; - inputs=no; - parameters=yes; - output=mttx - args=mttpar - declarestates=yes - ;; - sim) - states=no; - inputs=no; - parameters=no; - output='y,x' - args='x0,par,simpar,u' - ;; - ssim) - states=no; - inputs=no; - parameters=no; - output='y,y_par,x' - args='x0,par,simpar,u,index' - ;; - tf) - states=no; - inputs=no; - parameters=yes; - output='mttnum,mttden' - args=mttpar; - ;; - type) - states=no; - inputs=no; - parameters=no; - header_only=yes; - ;; - - *) - echo Representation $rep not supported - sorry; exit 1 -esac - -## Sort out parentheses -if [ -n "$args" ]; then - Args='('$args')' -fi -if [ -n "$output" ]; then - Output="[$output] = " -fi - - -# Lanuage specific stuff -case $language in - m) - Lc='##'; - Rc=''; - Lb='('; - Rb=')'; - function="function" - declaration="$Output$1_$rep$Args;" - if [ "$other" != "stdin" ]; then - noglobals=true; # Fudge to make mtt_m2p work - fi - start='## BEGIN Code' - finish='## END Code' - var_declaration= - declarestates=no - declareinputs=no - declareswitches=no - ;; - sh) - modeline='## -*-shell-script-*- Put Emacs into shell-script-mode ##'; - Lc='##'; - Rc=''; - Lb='('; - Rb=')'; - function="" - declaration="" - start='' - parameters=no - states=no - inputs=no - declarestates=no - declareinputs=no - declareswitches=no - ;; - txt) - modeline='## -*-octave-*- Put Emacs into octave-mode ##'; - Lc='##'; - Rc=''; - Lb='('; - Rb=')'; - function="" - declaration="" - start='' - parameters=no - states=no - inputs=no - declarestates=no - declareinputs=no - declareswitches=no - ;; - oct) - modeline="// -*-c++-*- Put Emacs into c++-mode"; - Lc='//'; - oct_header=yes; - constant_declaration="const double " - var_declaration="double " - minusone="-1" - map="_map" - declaredummies=yes - ;; - *) - echo Language $language not supported - sorry; exit 1 -esac - -if [ "$rep" = "simpar" ]; then - output=${output}${map} # Output is simpar_map in this case -fi - -get_sizes() - { - Nx=`mtt_getsize $system x` # States - Nxx=`mtt_getsize $system xx` # States x States - Nu=`mtt_getsize $system u` # Inputs - Ny=`mtt_getsize $system y` # Outputs - Nyz=`mtt_getsize $system yz` # Zero outputs - ##Npar=`wc -l $system\_sympar.txt | awk '{print $1}'` - } - -zero_matrices() -{ -## Set matrices to zero -echo - ## echo '## Set matrices to zero' -for name in $zeromatrices; do - case $name in - a) - N=$Nx; M=$Nx - ;; - b) - N=$Nx; M=$Nu - ;; - c) - N=$Ny; M=$Nx - ;; - d) - N=$Ny; M=$Nu - ;; - e) - N=$Nx; M=$Nx - ;; - edx) - N=$Nx; M=1 - ;; - y) - N=$Ny; M=1 - ;; - *) - - esac - - if [ "${language}" = "oct" ]; then - if [ "$M" = "1" ]; then - echo " mtt$name = zeros($N);" - else - echo " mtt$name = zeros($N,$M);" - fi - else - echo " mtt$name = zeros($N,$M);" - fi -done -} - -declare_dummies() -{ -# Get the dummies -dummies="mtt_tmp" -rm -f mtt_dummies -for dummy in $dummies; do - grep "${dummy}[0-9]*[ \t\n]*=" < ${fun_name}.m |\ - awk '{ - if (match($1,dummy)==1) - print $1 - }' dummy=$dummy >> mtt_dummies -done - -dummy_list=`sort -u mtt_dummies` - -# Comments -cat < -#include -#include -#include -#include "useful-functions.hh" -#include "${system}_cr.h" -#include "${system}_def.h" -#include "${system}_sympar.h" - -DEFUN_DLD (${system}_${rep}, args, , -"Usage: [$output] = ${system}_${rep}($args)\nOctave ${rep} representation of system ${system}\nGenerated by MTT on `date`") -{ - - octave_value_list retval; -#endif // ! STANDALONE - -EOF -} - - -map_DLD_inputs () -{ - s=${1:-""} # comma separated input list - if [ -z ${s:-""} ];then return; fi - printf "#ifndef STANDALONE\n" - c=`get_field ${s} 0` # count of inputs - i=0 - printf " if (${c} != args.length ()) usage (\"${fun_name} expected ${c} argument(s): ${s}\");\n\n" - while [ ${i} -lt ${c} ]; do - j=${i} - i=`expr ${i} + 1` - w=`get_field ${s} ${i}` # argument name - get_arg_specific_stuff ${w} - case ${arg_type} in - "const double") - printf " ${arg_type}\t${w}\t= args(${j}).double_value ();\n" - ;; - ColumnVector | Matrix | *) - printf " ${arg_type}\t${w}\t= args(${j}).%s ();\n" ${vector_value} - ;; - esac - done - printf "#endif // ! STANDALONE\n\n" -} - - -declare_DLD_outputs () -{ - s=${1:-""} # comma separated output list - c=`get_field ${s} 0` # count of outputs - i=0 - while [ ${i} -lt ${c} ]; do - i=`expr ${i} + 1` - w=`get_field ${s} ${i}` # argument name - get_arg_specific_stuff ${w} - printf " static ${arg_type}\t${w}\t${arg_init};\n" - done -} - - -return_DLD_outputs () -{ - s=${1:-""} # comma separated output list - c=`get_field ${s} 0` # count of outputs - i=0 - cat < -#include -#include "useful-functions.hh" -#include "${system}_cr.h" -#include "${system}_def.h" -#include "${system}_sympar.h" - -${arg_type} F${system}_${rep} ( -EOF - if [ -z ${args:-""} ]; then - printf "\tvoid" - else - c=`get_field ${args:-""} 0` - i=0 - while [ ${i} -lt ${c} ]; do - i=`expr ${i} + 1` - if [ ${i} -lt ${c} ]; then - comma="," - else - comma="" - fi - w=`get_field ${args} ${i}` - get_arg_specific_stuff ${w} - printf "\t${arg_type}\t&${w}${comma}\n" - done - fi - cat < mttpar -## mtt_n_parameters ---> mttnpar -## -## Revision 1.41 2000/04/18 10:13:43 peterg -## Getargs now after numpar file -## -## Revision 1.40 2000/04/07 19:09:04 peterg -## New smxa and smxax reps -## -## Revision 1.39 2000/04/07 13:38:13 peterg -## New mtt_getsize to replace bc -## -## Revision 1.38 2000/04/07 13:24:41 peterg -## Modified for smxa and smxax -## -## Revision 1.37 2000/04/07 08:17:37 peterg -## Added mttpar to the arg list of cse and cseo -## -## Revision 1.36 1999/11/29 06:49:26 peterg -## Upped number of mtt_tnn -## -## Revision 1.35 1999/11/15 22:47:17 peterg -## Generates method-specific code for the ode2odeso rep. -## -## Revision 1.34 1999/10/28 05:08:48 peterg -## Added elseif -## -## Revision 1.33 1999/09/17 04:25:01 peterg -## END --> END; in translation -## -## Revision 1.32 1999/08/29 06:54:42 peterg -## Added code (mtt_parameters, get args etc) to allow arguments to the -## a.out file -## -## Revision 1.31 1999/08/02 13:40:03 peterg -## Added zero-state and zero_input to include list -## Removed zero_matrix -## -## Revision 1.30 1999/04/20 06:16:46 peterg -## Removed calls to _switch.m -## -## Revision 1.29 1999/04/02 06:27:55 peterg -## Modified for new implicit method with swoitches -## -## Revision 1.28 1999/02/17 02:59:54 peterg -## Added -q switch to mtt -## -## Revision 1.27 1999/02/16 21:56:52 peterg -## Now gets standard include files directly from source, -## -## Revision 1.26 1999/02/16 21:43:54 peterg -## Revises smx generation. -## -## Revision 1.25 1999/02/16 04:38:09 peterg -## Now forces creation of _smx file if METHOD=IMPLICIT in simpar.txt -## -## Revision 1.24 1998/11/18 16:56:15 peterg -## Now handles comments after IFS -## -## Revision 1.23 1998/11/18 14:38:01 peterg -## Now convert ALL globals to VAR .. the last one isn't repeated now -## -## Revision 1.22 1998/11/17 17:39:45 peterg -## Put _smx include at end of list (?????) -## -## Revision 1.21 1998/11/17 17:26:11 peterg -## Put sign.p first -## -## Revision 1.20 1998/10/01 16:01:09 peterg -## Now does implicit integration with switches -## -## Revision 1.19 1998/09/29 15:37:18 peterg -## Declare mttINPUT -## -## Revision 1.18 1998/08/27 08:55:40 peterg -## Mods to integration methods -## -## Revision 1.17 1998/08/27 07:38:40 peterg -## About to change to new integration (Euler/Implicit only) -## -## Revision 1.16 1998/08/19 08:46:00 peterg -## Now translates ; % to # -## -## Revision 1.15 1998/08/15 13:46:01 peterg -## Included new sparse update routines -## -## Revision 1.14 1998/08/12 15:21:12 peterg -## Added type definition for the SVD procedures -## -## Revision 1.13 1998/08/11 09:32:07 peterg -## Added comments at procedure begin and end. -## -## Revision 1.12 1998/07/30 11:30:42 peterg -## Included zeros function -## -## Revision 1.11 1998/07/29 14:18:34 peterg -## Reorganised rep dependednt output -## -## Revision 1.10 1998/07/27 20:26:15 peterg -## Added new VARs mttWSTEPS, MTTWMIN,mttWMAX -## -## Revision 1.9 1998/07/27 17:20:42 peterg -## Allow , between () -## -## Revision 1.8 1998/07/26 19:38:17 peterg -## Replaced t0..t9 by mtt_temp0.. -## -## Revision 1.7 1998/07/25 20:06:23 peterg -## Does the mtt_update function -## -## Revision 1.6 1998/07/25 16:59:40 peterg -## Give other procedures local i,j vars. -## -## Revision 1.5 1998/07/25 15:06:17 peterg -## Added DDT VAR -## -## Revision 1.4 1998/07/25 15:05:54 peterg -## DD -## -## Revision 1.3 1998/07/25 14:03:30 peterg -## Added () to [] conversion when the variable is i j k or an integer or -## combination -## -## Revision 1.2 1998/07/25 12:39:57 peterg -## begin on same line as for and if -## -## Revision 1.1 1998/07/25 09:42:52 peterg -## Initial revision -## -############################################################### - - - -# Set up variables -args=`echo $1 | sed 's/_/ /' | sed 's/\./ /'` -Sys=`echo $args | awk '{print $1}'` -sys=`echo $Sys | awk '{print tolower($1)}'` -rep=`echo $args | awk '{print $2}'` -Sys_rep="$Sys""_""$rep" -Sys_smx="$Sys""_smx" -Sys_smxp="$Sys""_smx.p" -Filename="$Sys""_""$rep.p" -filename="$sys""_""$rep.p" - -Method=$2; # The integration method -Stdin=$3; # Using standard input - -if [ -n "$Method" ]; then - MethodBlurb=" with $Method integration method" -fi - -if [ -n "$Stdin" ]; then - StdinBlurb=" using standard input" -fi - -# Inform user - echo Creating $Filename $MethodBlurb $StdinBlurb - -# Find system constants -Nx=`mtt_getsize $Sys x` # States -Nxx=`mtt_getsize $Sys xx` # States x States -Nu=`mtt_getsize $Sys u` # Inputs -Ny=`mtt_getsize $Sys y` # Inputs -Npar=`wc -l $Sys\_sympar.txt | awk '{print $1}'` - - -#if [ "$rep" = "simpar" ]; then -# mtt -q $Sys smx p -#fi - -# Heading -(case $rep in - state) - echo "PROCEDURE $Sys_rep(VAR mttx : StateVector; - mttpar : ParameterVector);" - ;; - numpar) - echo "PROCEDURE $Sys_rep(VAR mttpar : ParameterVector);" - ;; - simpar) - echo "PROCEDURE $Sys_rep(VAR mttsimpar : SimulationParameters);" - ;; - input) - echo "PROCEDURE $Sys_rep(VAR mttu : InputVector;" - echo " mttx : StateVector;" - echo " mtty : OutputVector;" - echo " mttt : REAL;" - echo " mttpar : ParameterVector);" - ;; - logic) - echo "PROCEDURE $Sys_rep(VAR mttopen : StateVector;" - echo " mttx : StateVector;" - echo " mttu : InputVector;" - echo " mttt : REAL;" - echo " mttpar : ParameterVector);" - ;; - ode) - echo "PROCEDURE $Sys_rep(VAR mttdx: StateVector;" - echo " mttx : StateVector;" - echo " mttu : InputVector;" - echo " mttt : REAL;" - echo " mttpar : ParameterVector);" - ;; - odeo) - echo "PROCEDURE $Sys_rep(VAR mtty : OutputVector;" - echo " mttx : StateVector;" - echo " mttu : InputVector;" - echo " mttt : REAL;" - echo " mttpar : ParameterVector);" - ;; - csex) - echo "PROCEDURE $Sys_rep(VAR mttedx: StateVector;" - echo " mttx : StateVector;" - echo " mttu : InputVector;" - echo " mttt : REAL;" - echo " mttpar : ParameterVector);" - ;; - cseo) - echo "PROCEDURE $Sys_rep(VAR mtty : OutputVector;" - echo " mttx : StateVector;" - echo " mttu : InputVector;" - echo " mttt : REAL;" - echo " mttpar : ParameterVector);" - - ;; - smx ) - echo "PROCEDURE $Sys_rep(VAR mtta : StateMatrix;" - echo " VAR mttax : StateVector;" - echo " mttx : StateVector;" - echo " mttu : InputVector;" - echo " mttdt : REAL;" - echo " mttpar : ParameterVector);" - ;; - smxa ) - echo "PROCEDURE $Sys_rep(VAR mtta : StateMatrix;" - echo " mttx : StateVector;" - echo " mttu : InputVector;" - echo " mttt : REAL;" - echo " mttpar : ParameterVector);" - ;; - smxax ) - echo "PROCEDURE $Sys_rep(VAR mttax : StateVector;" - echo " mttx : StateVector;" - echo " mttu : InputVector;" - echo " mttt : REAL;" - echo " mttpar : ParameterVector);" - ;; - ode2odes) - echo "PROGRAM $Sys_rep;" - echo "" - echo "CONST" - echo " MTT_MaxParameters = 100;" - echo " MTT_Npar = $Npar;" - echo " MTT_Nx = $Nx;" - echo "" - echo "TYPE" - echo " StateVector = ARRAY[1..$Nx] OF REAL;" - echo " InputVector = ARRAY[1..$Nu] OF REAL;" - echo " OutputVector = ARRAY[1..$Ny] OF REAL;" - echo " ParameterVector = ARRAY[1..$Npar] OF REAL;" - echo " SimulationParameters = RECORD" - echo " dt, first, input, last, stepfactor, wmax, wmin, wsteps: REAL" - echo " END;" - echo " StateMatrix = ARRAY[1..$Nx,1..$Nx] OF REAL;" - echo " StateMatrixVector = ARRAY[1..$Nxx] OF REAL;" - echo " glnparray = StateVector;" - echo " glmparray = StateVector;" - echo " glnarray = StateVector;" - echo " glnpbynp = StateMatrix;" - echo " glmpbynp = StateMatrix;" - ## echo " IntegrationMethod = 1..4;" - echo "" - echo "VAR" - echo " simpar : SimulationParameters;" - echo " t,ddt : REAL;" - echo " x,x0,dx,AAx : StateVector;" - echo " mttx,mttdx,mttAAx,mttedx : StateVector;" - echo " u,mttu : InputVector;" - echo " y,mtty : OutputVector;" - echo " par : ParameterVector;" - echo " mttpar : ParameterVector;" - echo " mttnpar : INTEGER;" - echo " AA,mtte : StateMatrix;" - echo " MTTi,MTTj,it,iLast: INTEGER;" - ##echo " mttSTEPFACTOR,mttWSTEPS,mttSTEPS,mttINPUT : INTEGER;" - ## echo " mttMETHOD : IntegrationMethod;" - echo " open_switches : StateVector;" - echo " numparfile, statefile, simparfile : TEXT;" - strip_comments <${Sys}_switch.txt |\ - awk '{printf("%s_logic : REAL;\n", tolower($1))}' - echo "" - mtt_txt2declare $Sys sympar p - mtt_txt2declare $Sys struc p - ;; -# switchopen) -# echo "PROCEDURE $Sys_rep(VAR open : StateVector; mttx : StateVector);" -# echo "VAR" -# echo " MTTi,MTTj : INTEGER;" -# ;; - *) echo "PROCEDURE $Sys_rep;" - echo "VAR" - echo " MTTi,MTTj : INTEGER;" - ;; -esac) > $Filename - -cat<> $Filename - -{*** System $Sys, rep $rep, language Pascal, file $Filename ***} -{*** Translated by MTT from $Sys_rep.m on `date` ***} - -EOF - -# Regexps - name="[a-zA-Z0-9_]*" - fun_name="$Sys\_$name" - mttfun_name=$name - tab=' ' - space="[ $tab]*" - spaces="[ $tab][ $tab]*" - non_space="[^ ]*" - args='[a-zA-Z0-9,._"]*' - -# Body -fix_operators () -{ - m_neq="(\!\=)|(\~\=)" - m_not="\!" - m__eq="\=\=" - - p_neq="\<\>" - p_not="NOT\ " - p__eq="\=" - - sed "s/$m_neq/$p_neq/g" |\ - sed "s/$m_not/$p_not/g" |\ - sed "s/$m__eq/$p__eq/g" -} - -cat $Sys_rep.m |\ -grep -v 'Remove in mtt_m2p' |\ -grep -v '^[ ]*function' |\ -grep -v '^[ ]*endfunction' |\ -grep -v 'MTT_data' |\ -sed "s/^$space%/#/" | sed "s/$[;)]$space$%/\1#/" |\ -awk -F# '{printf("%s",$1) - if (NF>1) printf("{* %s *}", $2) - printf("\n") - }' |\ -sed "s/$space\[$$non_space$\]$spaces=$spaces$$fun_name$($$args$)/\2(\1,\3)/" |\ -sed "s/$space\[$$non_space$\]$spaces=$spaces$$mttfun_name$($$args$)/\2(\1,\3)/" |\ -sed "s/$space\[$$non_space$\]$spaces=$spaces$$mttfun_name$/\2(\1)/" |\ -sed "s/$space$$non_space$$spaces=${spaces}zeros($[0-9]*$,1)/zero_state(\1,\2)/" |\ -sed "s/$space$$non_space$$spaces=$spaces$$fun_name$($$args$)/\2(\1,\3)/" |\ -sed "s/,)/)/" |\ -fix_operators |\ -awk ' -function printvar(Name,N) { - if (N<1) return; - width = 10; - kk = 0; - for (k=1;k<=N;k++) { - printf("mtt%s%i", Name, k); - if (k==N) - printf(" : REAL;\n") - else - printf(", "); - kk++; - if (kk==width){printf("\n"); kk=0} - } -} -BEGIN{ - comment_regexp = "{" - doing_header = 0 - doing_globals = 0 - N_tmp = 100; - inc ="$I" -} -{ - if ($1=="global") - doing_globals = 1 - else{ - if (doing_globals==1){ - global[++i]=$1; - if (match($0,";")==0){ - } - else{ - doing_globals = 0 - doing_header = 1 - } - } - else - { - if (doing_header==1){ - if (rep=="ode2odes"){ - printf("\n{%s $MTTPATH/trans/p/mtt_write.p}\n",inc) - printf("{%s $MTTPATH/trans/p/mtt_par_update.p}\n",inc) - printf("{%s $MTTPATH/trans/p/sign.p}\n",inc) - printf("{%s $MTTPATH/trans/p/mtt_euler.p}\n",inc) - #printf("{%s $MTTPATH/trans/p/mtt_solve.p}\n",inc) - printf("{%s $MTTPATH/trans/p/mtt_implicit.p}\n",inc) - #printf("{%s $MTTPATH/trans/p/zero_matrix.p}\n",inc) - printf("{%s $MTTPATH/trans/p/zero_input.p}\n",inc) - printf("{%s $MTTPATH/trans/p/zero_state.p}\n",inc) - printf("{%s %s_simpar.p}\n",inc,Sys) - printf("{%s %s_numpar.p}\n",inc,Sys) - # printf("{%s $MTTPATH/trans/p/mtt_getargs.p}\n",inc) - printf("{%s %s_state.p}\n",inc,Sys) - printf("{%s %s_input.p}\n",inc,Sys) - - if (Method=="euler") { - printf("{%s %s_ode.p}\n",inc,Sys) - printf("{%s %s_odeo.p}\n",inc,Sys) - } - if (Method=="implicit") { - printf("{%s %s_csex.p}\n",inc,Sys) - printf("{%s %s_cseo.p}\n",inc,Sys) - printf("\n{%s %s_smxa.p}\n",inc,Sys); - printf("\n{%s %s_smxax.p}\n",inc,Sys); - } - printf("{%s %s_logic.p}\n\n",inc,Sys) - - for (k=1;k<=j;k++) printf("%s\n", comment[k]) - printf("\n") - printf("\nBEGIN{%s}\n", Sys_rep) - printf(" open(statefile,\"%s_state.dat\");\n", Sys) - printf(" open(simparfile,\"%s_simpar.dat\");\n", Sys) - printf(" open(numparfile,\"%s_numpar.dat\");\n", Sys) - } - else{ - for (k=1;k<=j;k++) printf("%s\n", comment[k]) - printf("\n") - printf("VAR \n"); - for (k=1;k0){ - if (doing_header==1) - comment[++j] = $0 - else - printf("%s\n", $0) - } - else { - if ($1=="if") { - sub(/==/, "=", $0) - gsub(/&&/," AND ",$0) - gsub(/\|\|/," OR ",$0) - printf("%s THEN BEGIN\n", $0) - } - else { - #if ((match($1,"mtt_write")>0)&&(length(Stdin)>0)) { - # sub(/mtt_write/, "if NOT eof THEN mtt_write"); - #} - if ($1=="for"){ - if (($2=="it")&&(length(Stdin)>0)){ - printf("WHILE NOT eof DO BEGIN {Integration loop}\n") - } - else { - sub(/:/," TO ",$0) - sub(/=/,":=",$0) - printf("%s DO BEGIN\n", $0) - } - } - else{ - sub(/=/,":=",$0) - sub(/endif/,"END;{IF}",$0) - sub(/endfor/,"END;{FOR}",$0) - sub(/elseif/,"END ELSEIF BEGIN",$0) - sub(/else/,"END ELSE BEGIN",$0) - gsub(/\^/,"**",$0) - gsub(/&&/," AND ",$0) - gsub(/\|\|/," OR ",$0) - printf("%s\n",$0) - } - } - } - } - } -} -END{ - if (rep=="def"){ - printf("EULER = 1,\n") - printf("IMPLICITL = 2;\n") - printf("IMPLICIT = 3;\n") - } - else - if (rep=="ode2odes") - printf("END{%s}.\n", Sys_rep) - else - printf("END{%s};\n", Sys_rep) -}' Sys=$Sys sys=$sys Sys_rep=$Sys_rep rep=$rep \ - Nx=$Nx Nu=$Nu Ny=$Ny Method=$Method Stdin=$Stdin |\ -sed 's/\\$//' |\ -sed 's/($[ijk0-9,]*$)/\[\1\]/g' |\ -sed 's/($MTT[ijk0-9],[0-9]*$)/\[\1\]/g' |\ -sed 's/($[0-9]*,MTT[ijk0-9]$)/\[\1\]/g' |\ -sed 's/($MTT[ijk0-9],MTT[ijk0-9]$)/\[\1\]/g' |\ -sed 's/($MTT[ijk0-9,]*$)/\[\1\]/g' |\ -sed 's/switcha(mttAA,/switcha(/g' |\ -sed 's/switch(MTTx,/switch(/g' |\ -sed 's/if nargin<[1-9] THEN//' |\ -sed 's/if nargin>[0-9] THEN//' \ ->> $Filename - -# p2c doesn't like mixed case filenames! -#if [ "$Filename" != "$filename" ]; then -# echo Creating $filename -# cp -f $Filename $filename -#fi - -if [ "$rep" = "ode2odes" ]; then - # Explicitly include files - mtt_pinclude $Filename>junk.p - mv junk.p $Filename -fi - - - DELETED mttroot/mtt/bin/trans/mtt_make_menu Index: mttroot/mtt/bin/trans/mtt_make_menu ================================================================== --- mttroot/mtt/bin/trans/mtt_make_menu +++ /dev/null @@ -1,106 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: mtt_make_menu -# Creates tk/tcl menus for xmtt. -# Copyright (c) P.J.Gawthrop, 1998,1999 - -## Paths for its files -dotfile="$HOME/.mtt" -xdotfile="${dotfile}/xmtt" - -repfile="${xdotfile}/reps" -exfile="${xdotfile}/examples" - -#MTT blurb -title=`mtt --version` - -#Collect all systems (inc dir name) -pwd=`pwd`; -dirname=`basename $pwd` -systems=`echo *_abg.fig | sed 's/$[a-zA-Z0-9]*$_abg.fig/\1/g'` -dirname_in_systems=`echo $systems | grep -c $dirname` -if [ "$dirname_in_systems" = "0" ]; then - systems="$systems $dirname" -fi - -# Default system -system=$dirname - -cat<1. Could be made faster by not generating y when -## y_sim >1 -## -## Revision 1.5 2000/05/17 16:01:42 peterg -## Fixed bug for n_y>1 -## -## Revision 1.4 2000/05/16 18:57:15 peterg -## Still debugging -## -## Revision 1.3 2000/05/16 11:59:34 peterg -## Stard new version with data files not argv. -## -## Revision 1.2 2000/05/11 19:32:29 peterg -## Put in c version + sensitivity computation -## -## Revision 1.1 2000/04/08 10:43:26 peterg -## Initial revision -## -############################################################### - -# Tell user -Sys=$1 -method=$2 -computation=$3 - -if [ -z "$method" ]; then - method=implicit -fi - -if [ -n "$computation" ]; then - blurb="for language $computation" -fi - -echo "Creating $1_sim.m with $method integration method $blurb" - -if [ $method = "implicit" ]; then - ode=cse - odeo=cseo -else - ode=ode - odeo=odeo -fi - -# Find system constants -Nx=`mtt_getsize $Sys x` # States -Nu=`mtt_getsize $Sys u` # Inputs -Ny=`mtt_getsize $Sys y` # Inputs -Npar=`wc -l $Sys\_sympar.txt | awk '{print $1}'` - -# Header -lang_header -noglobals $1 sim m 'x0,u,t,par,sensitivities' '[y,ys]' > $1_sim.m - -cat >> $1_sim.m <0); - if doing_sensitivities - n_y = $Ny/2; - doing_state=0; - ys = []; - else - n_y = $Ny; - doing_state=(nargout>1); - endif; - - - - ## Initialise - ui = zeros(n_u,1); # Initial control - [xi] = x0; # Read in initial state - - ## Timing parameters - first = t(1); - dt = t(2) - t(1); - n_t = length(t); - last = t(n_t); -EOF - -if [ "$computation" = "c" ]; then -cat >> $1_sim.m <1 - if doing_sensitivities - ys = [ys; yy(2:n_y:2*n_y,:)]; - endif; - endif - - endfor; - ##RealTime = [S T] -endfunction - -EOF - -else - -cat >> $1_sim.m < ${sys}_${subsystem}_struc.txt -done DELETED mttroot/mtt/bin/trans/mtt_make_subsystems Index: mttroot/mtt/bin/trans/mtt_make_subsystems ================================================================== --- mttroot/mtt/bin/trans/mtt_make_subsystems +++ /dev/null @@ -1,19 +0,0 @@ -#!/bin/sh - -# Makes subsystems for partitioning -# Copyright (C) 2000 by Peter J. Gawthrop - -sys=$1 -rep=$2 -lang=$3 - -echo Creating subsystem representations for ${sys}_${rep}.${lang} -# Get subsystems - subsystems=`mtt_get_subsystems -strip ${sys}`; - -for subsystem in $subsystems; do - -mtt $options -u -q -sub $subsystem ${sys} ${rep} ${lang} - ## Repeating systems need sorting out !!!! - #cp $1_$subsystem"_"$2.$3 $1_$subsystem"_1_"$2.$3 -done DELETED mttroot/mtt/bin/trans/mtt_make_sympar Index: mttroot/mtt/bin/trans/mtt_make_sympar ================================================================== --- mttroot/mtt/bin/trans/mtt_make_sympar +++ /dev/null @@ -1,123 +0,0 @@ -#!/bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: mtt_make_sympar -# Makes the sympar.txt file -# Copyright (C) 2000 by Peter J. Gawthrop - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.9 2001/07/23 05:16:39 geraint -## Simple filter for Reduce reserved words in sympar. -## -## Revision 1.8 2001/07/04 06:00:12 gawthrop -## Fixed a funny with tr - changed SEPS and REPS - something to do with ^ -## -## Revision 1.7 2001/04/13 07:14:12 geraint -## Implemented lower level lbl.txt recognition of #NOT[V|P]AR -## -## Revision 1.6 2001/04/10 12:54:50 gawthrop -## Minor fixes for sensitivity versions -## -## Revision 1.5 2000/11/03 14:57:06 peterg -## Corrected regexp notvar -## -## Revision 1.4 2000/11/02 18:53:46 peterg -## Added NOPAR words to unwanted list. -## -## Revision 1.3 2000/10/16 09:41:29 peterg -## Fixed bug with printing a blank line. -## -## Revision 1.2 2000/10/16 09:10:08 peterg -## Now strips out "unwanted" bits frome the _aliased.txt file -## -## Revision 1.1 2000/10/12 19:24:28 peterg -## Initial revision -## -## -############################################################### - - -sys=$1 # System name -filename=$1_sympar.txt -# Inform user -echo Creating $filename - -# Create list of all sympars including those that are aliased -sh $1_type.sh 'echo ' ' ' ' ' |\ -awk '{printf("abg2sympar_m2txt %s %s\n ", $1, $2)}' |\ -sh | sort -u > mtt_all_sympar.txt - -# Sort the aliased list -mtt_strip_args < $1_aliased.txt | sort -u > mtt_aliased_sort.txt - -# Create list of unwanted stuff -cat mtt_aliased_sort.txt> mtt_unwanted.txt - -notvar="[%|#]NOT[V|P]AR"; -sh $1_type.sh 'strip_notvars.sh ' ' ' ' mtt_unwanted.txt' - -sort -u mtt_unwanted.txt > mtt_unwanted_sort.txt - -# Compare it with the aliased list and show the differences -diff mtt_all_sympar.txt mtt_unwanted_sort.txt |\ -awk '{if ($1=="<") printf("%s\t%s\n", $2,$3)}' > mtt_sympar.txt - -# Assume same name in different system is the same -awk '{ - if ($1==name){ - sysname[i++]=$2 - } - - if ($1!=name){ - if (length(name)>0){ - printf("%s\t",name) - comma=""; - for (j=1;j<=i;j++){ - printf("%s%s", comma, sysname[j]); - comma=","; - } - printf("\n") - } - i=1; - sysname[1]=$2; - } - name = $1 -} -END{ - printf("%s\t",name) - comma=""; - for (j=1;j<=i;j++){ - printf("%s%s", comma, sysname[j]); - comma=","; - } - printf("\n") - -}' < mtt_sympar.txt >$filename - -reserved_words=`\ - cat ${MTT_LIB}/reduce/reserved_words.txt |\ - awk '{printf "%s ", $0}' |\ - tr [a-z] [A-Z]` -sympar_words=`\ - cat ${filename} |\ - cut -f1 |\ - awk '{printf "%s ", $0}' |\ - tr [a-z] [A-Z]` -flag=0 -for reserved_word in ${reserved_words}; do - for sympar_word in ${sympar_words}; do - if [ ${sympar_word} = ${reserved_word} ]; then - echo "" - echo "*** MTT Warning:" - echo " ${sympar_word} is reserved (Reduce)" - echo "" - fi - done -done DELETED mttroot/mtt/bin/trans/mtt_mend_lines Index: mttroot/mtt/bin/trans/mtt_mend_lines ================================================================== --- mttroot/mtt/bin/trans/mtt_mend_lines +++ /dev/null @@ -1,18 +0,0 @@ -#!/bin/sh - -# Copyright (C) 2000 by Peter J. Gawthrop - -# Fixes broken lines from reduce. - -#sed 's/[^#]$.*$[^;]$/\1\\/' - -awk '{ - if ((match($1,"#")==0)&&(match($1,"global")==0)&&(match($1,"endfunction")==0)) { - if(match($0,";")!=length($0)) - printf("%s \\\n",$0) - else - print $0 - } - else print $0 - -}' DELETED mttroot/mtt/bin/trans/mtt_multi Index: mttroot/mtt/bin/trans/mtt_multi ================================================================== --- mttroot/mtt/bin/trans/mtt_multi +++ /dev/null @@ -1,22 +0,0 @@ -#!/bin/sh - -# Does mutiple commands down the hierarchy - -command=$1 -system=$2 -rep=$3 -lang=$4 -relative_level=$5 - -current_level=`echo $system | awk '{N=split($1,foo,"_"); print N-1}'` - -if [ -z "$relative_level" ]; then - relative_level=0; -fi - -mtt_xargs.sh "ls" "$2*_$3.$4" |\ -awk '{ - level=split($1,foo,"_")-2; - maxlevel = current_level + relative_level; - if (level<=maxlevel) print command, $0, "&"; -'} command=$command relative_level=$relative_level current_level=$current_level DELETED mttroot/mtt/bin/trans/mtt_name2array Index: mttroot/mtt/bin/trans/mtt_name2array ================================================================== --- mttroot/mtt/bin/trans/mtt_name2array +++ /dev/null @@ -1,55 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: mtt_name2array - -# Generates array elements from names -# Copyright (C) 2000 by Peter J. Gawthrop - - -case $2 in - numpar) - name=mttpar - cat $1_sympar.txt>mtt_infile - ;; - state) - name=mttx - awk '{if ($1==rep) printf("%s\n", $4)}' rep=$2 \ - <$1_struc.txt >mtt_infile - ;; - input) - name=mttu - awk '{if ($1==rep) printf("%s\n", $4)}' rep=$2 \ - <$1_struc.txt >mtt_infile - ;; - *) - echo Repesentation $2 not supported -esac - -case $3 in - zero) - strip_comments $1_$2.pas -echo "TYPE" >>$1_$2.pas -echo " StateVector = ARRAY[1..$Nx] OF REAL;" >>$1_$2.pas -echo " StateMatrix = ARRAY[1..$Nx,1..$Nx] OF REAL;" >>$1_$2.pas -echo " StateMatrixVector = ARRAY[1..$Nxx] OF REAL;" >>$1_$2.pas -echo " InputVector = ARRAY[1..$Nu] OF REAL;" >>$1_$2.pas -echo " OutputVector = ARRAY[1..$Ny] OF REAL;" >>$1_$2.pas -echo " ParameterVector = ARRAY[1..$Npar] OF REAL;" >>$1_$2.pas - - -# Create the predefined vars -echo "VAR" >>$1_$2.pas -awk '{ - printf("%s,", $1) - } - END{print "JUNK : REAL;"}'< $1_sympar.txt >>$1_$2.pas - -if [ "$2" = "ode2odes" ]; then - first='PROCEDURE' - awk ' - { - if (writing) print $0; - if (i++==0) writing=1 - if (match($1,"PROCEDURE")==1) writing=0; - }' < $1_$2.p >>$1_$2.pas -else - first='BEGIN' - - # Convert VAR format in the headings - awk 'BEGIN{writing=1} - { - if (match($1,"BEGIN")==1) writing=0; - if (writing) print $0; - }' < $1_$2.p | \ - sed \ - -e 's/PROCEDURE [a-zA-Z_0-9]*(VAR/VAR/' \ - -e 's/PROCEDURE [a-zA-Z_0-9]*;//' \ - -e 's/REAL);/REAL;/' \ - -e 's/OutputVector);/OutputVector;/' \ - -e 's/ParameterVector);/ParameterVector;/' \ - >>$1_$2.pas -fi - -# Write out the actual code until the begining of the procedure -awk 'BEGIN{writing=0} -{ - if (match($1,first)==1) writing=1; - if (writing) print $0; - if (match($1,begin)==1) writing=0; - -}' begin=$begin first=$first < $1_$2.p >>$1_$2.pas - -# Write out the parameters -echo {Parameters} >>$1_$2.pas -awk '{ - printf(" %s \t:= mttpar[%i];\n", $1, ++i); - }'< $1_sympar.txt >>$1_$2.pas - -# Write out the actual code from the end of the procedure -awk 'BEGIN{writing=0} -{ - if (writing) print $0; - if (match($1,begin)==1) writing=1; -}' begin=$begin < $1_$2.p >>$1_$2.pas - -#echo "Creating $1_$2.C" -p2c -o $1_$2.C $1_$2.pas > mtt_p2C.log 2>> mtt_p2C.log - - DELETED mttroot/mtt/bin/trans/mtt_p2c Index: mttroot/mtt/bin/trans/mtt_p2c ================================================================== --- mttroot/mtt/bin/trans/mtt_p2c +++ /dev/null @@ -1,127 +0,0 @@ -#! /bin/sh - - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: mtt_p2c -# Pascal to c converter for MTT -# Uses the wonderful GNU p2c by Dave Gillespie, daveg@csvax.cs.caltech.edu. -# P.J.Gawthrop July 1998 -# Copyright (c) P.J.Gawthrop 1998 - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.12 2001/04/11 07:36:10 gawthrop -## Now uses system_cr.h in place of system.h in .c rep - -## compatible with older code -## -## Revision 1.11 2001/03/29 19:24:14 gawthrop -## Can now use c representations of crs when using -c option -## -## Revision 1.10 2000/09/15 09:01:41 peterg -## Updated internal comments -## -## Revision 1.9 2000/05/16 18:56:58 peterg -## Now realised that libp2c.a avoids many probs - so simplified it. -## -## Revision 1.8 2000/05/11 19:34:50 peterg -## *** empty log message *** -## -## Revision 1.7 1999/08/29 06:14:27 peterg -## No longer remove "PASCAL_MAIN" -## -## Revision 1.6 1999/04/20 06:17:15 peterg -## Fudge to avoid a bizzare bug (?) in p2c which corrupts "zero_matrix" -## -## Revision 1.5 1998/08/12 14:14:18 peterg -## Added pretty heading and explicitly include p2c header. -## -## Revision 1.4 1998/07/29 13:56:34 peterg -## Replces p2c include by local include. -## -## Revision 1.3 1998/07/27 20:32:51 peterg -## Now gives immediate warnings -## -## Revision 1.2 1998/07/25 16:35:43 peterg -## Sorted out log files etc -## -## Revision 1.1 1998/07/25 16:28:38 peterg -## Initial revision -## -############################################################### - - -# Options -info='' -while [ -n "`echo $1 | grep '^-'`" ]; do - case $1 in - -I ) - info=info; - ;; - *) - echo "$1 is an invalid argument - ignoring" ;; - esac - shift -done - -## Create p2crc with various configs. -cat > p2crc < mtt_p2c.log 2>> mtt_p2c.log -cat $1_$2.log >> mtt_p2c.log -mv $1_$2.c mtt_junk.c - -# Change p2c.h include. -#mv $1_$2.c mtt_junk1# -#cat mtt_junk1 | grep -v 'p2c/p2c.h'> mtt_junk2 - -# pretty heading -DATE=`date` - -cat <$1_$2.c -/* C program $1_$2.c */ -/* Generated by MTT on $DATE */ - -/* Compile with gcc -lm -lp2c $1_$2.c -o $1_$2.out */ -/* Note that p2c must be correctly installed so that p2c.h and libp2c.a are accessible */ - -/* Header file for user-defined crs (implemented in c) */ -#include "$1_cr.h" -EOF - -#cat<>$1_$2.c -#/* The following is the header file included here for completeness */ -#EOF - -#cat $MTTPATH/trans/c/p2c.h >> $1_$2.c - -#cat <> $1_$2.c -#/* End of the header file. */ -# -# -#EOF - -## The sed item is to avoid a bizzare bug (?) in p2c which corrupts "zero_matrix" -###cat mtt_junk2 | sed 's/zero_matrix/mttmat/g'>> $1_$2.c - -## Sort out the pascal EOF, PASCAL_MAIN etc -cat mtt_junk.c |\ - grep -v PASCAL_MAIN >> $1_$2.c - -if [ -n "$info" ]; then - cat mtt_p2c.log -fi - -# Remove the garbage -rm -f mtt_junk.c DELETED mttroot/mtt/bin/trans/mtt_p2cc Index: mttroot/mtt/bin/trans/mtt_p2cc ================================================================== --- mttroot/mtt/bin/trans/mtt_p2cc +++ /dev/null @@ -1,119 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: mtt_p2cc - -# Pascal to .cc (for octave .oct files). -# P.J.Gawthrop Feb 2000 -# Copyright (C) 2000 by Peter J. Gawthrop - - #$Id$ - -## Extract the system and rep names. -sys=`mtt_sysname $1` -rep=`mtt_repname $1` -sys_rep=$sys"_"$rep - -# Find system constants -Nx=`mtt_getsize $sys x` # States -Nu=`mtt_getsize $sys u` # Inputs -Ny=`mtt_getsize $sys y` # Inputs - -# Create the representation code -mtt_p2C $sys $rep - -# Inform user -echo Creating $sys_rep.cc - -# Create the c++ code -# Heading -date=`date` - -cat > $sys_rep.cc < - -DEFUN_DLD ($sys_rep, args, , - "Usage: $sys_rep(x,u,t,par)\n$sys_rep was generated by MTT on $date") -{ - ColumnVector mttx = args(0).vector_value (); - ColumnVector mttu = args(1).vector_value (); - double mttt = args(2).double_value (); - ColumnVector mttpar = args(3).vector_value (); - -EOF - -case "$rep" in - ode) - echo " ColumnVector mttdx ($Nx);" >> $sys_rep.cc - ;; - odeo) - echo " ColumnVector mtty ($Ny);" >> $sys_rep.cc - ;; - cse) - echo " ColumnVector mttdx ($Nx);" >> $sys_rep.cc - ;; - cseo) - echo " ColumnVector mtty ($Ny);" >> $sys_rep.cc - ;; - smx | smxa | smxax) - Nxx=`echo "$Nx*$Nx" | bc` - echo " Matrix mtta ($Nx,$Nx);" >> $sys_rep.cc - echo " ColumnVector mttax ($Nx);" >> $sys_rep.cc - ;; - *) - -esac - -#Extract Type info -echo '/* Types */' >> $sys_rep.cc -grep typedef $sys_rep.C >> $sys_rep.cc - -#Extract the rep code converting [] to () and deleting mtt variables etc -#The awk part detects the begin and end of the relevant code. -echo "/* Representation $rep information */" >> $sys_rep.cc -awk '{ - if ( (match($1,"}")==1)&&(NF>1)) writing=0; - if ( (writing) && !(match($2,"mtt[a-z]")==1) ) print $0; - if (match($1,"{")==1) writing=1; -}' <$sys_rep.C |\ -sed 's/\[$[a-z0-9_]*$\]\[$[a-z0-9_]*$\]/(\1,\2)/g' |\ -sed 's/\[$[a-z_0-9]*$\]/(\1)/g' >> $sys_rep.cc - -# Tail -cat >> $sys_rep.cc <> $sys_rep.cc; - ;; - odeo) - echo "return octave_value (mtty); " >> $sys_rep.cc; - ;; - cse) - echo "return octave_value (mttdx);" >> $sys_rep.cc; - ;; - cseo) - echo "return octave_value (mtty); " >> $sys_rep.cc; - ;; - smxa) - echo "return octave_value (mtta); " >> $sys_rep.cc; - ;; - smxax) - echo "return octave_value (mttax); " >> $sys_rep.cc; - ;; - *) - -esac - -# Terminating } -echo "}" >> $sys_rep.cc; - -# Convert to octave loadable code -#echo Creating $sys_rep.oct -#mkoctfile $sys_rep.cc - DELETED mttroot/mtt/bin/trans/mtt_p2m Index: mttroot/mtt/bin/trans/mtt_p2m ================================================================== --- mttroot/mtt/bin/trans/mtt_p2m +++ /dev/null @@ -1,25 +0,0 @@ -#! /bin/sh -## Chages the Pascal output from gentran to octave form -# Copyright (C) 2000 by Peter J. Gawthrop - -sed 's/begin$//' |\ -sed 's/end$//' |\ -sed 's/end;$/;/' |\ -sed 's/\[$[0-9,]*$\]/(\1)/g' |\ -sed 's/:=/ = /' |\ -sed 's/\*\*/\^/g' |\ -sed 's/mtt$[a-z]$$[a-z]*$$[0-9]$$[0-9]*$/mtt\1\2(\3\4)/g' |\ -awk '{ - sub(/^[\ ]*/, "", $0) - sub(/\$$/, ";", $0) - - if (match($NF,"[;#.%]$")==0){ - Previous[++i] = $0 - } - else { - for (j=1;j<=i;j++) printf("%s", Previous[j]); - printf("%s\n", $0) - i=0; - } -}' |\ -sed 's/#/%/g' DELETED mttroot/mtt/bin/trans/mtt_pdf.sty Index: mttroot/mtt/bin/trans/mtt_pdf.sty ================================================================== --- mttroot/mtt/bin/trans/mtt_pdf.sty +++ /dev/null @@ -1,25 +0,0 @@ -%% Style file for postscript document - -\usepackage{mtt} % Common stuff - -% Figure definition -\newcommand{\fig}[4]{ - \begin{figure}[htbp] - \begin{center} - \fbox{ - \pdfimage width #3\linewidth {#1.pdf} - %\includegraphics[width=#3\linewidth]{#1.ps} - } - \caption{#4} - \label{fig:#2} - \end{center} - \end{figure} - } - -% Hyper stuff -\usepackage[implicit=true, - bookmarks=true, - pdfauthor={MTT}, - pdftitle={MTT report}, - pdfsubject={MTT}, - pdfkeywords={MTT, bond graphs}]{hyperref} DELETED mttroot/mtt/bin/trans/mtt_pinclude Index: mttroot/mtt/bin/trans/mtt_pinclude ================================================================== --- mttroot/mtt/bin/trans/mtt_pinclude +++ /dev/null @@ -1,24 +0,0 @@ -#!/bin/sh -# pinclude - explicitly includes Pascal files - p2c has probs. doing this - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - - - -awk ' { - if ( (match($1,"{\\$I")>0) || (match($1,"\\*\\$I")>0) ) { - sub(/}/,"",$2); - command=sprintf("mtt_pinclude %s",$2); - system(command) - } - else{ - print $0 - } - - -}' <$1 DELETED mttroot/mtt/bin/trans/mtt_prepend.sh Index: mttroot/mtt/bin/trans/mtt_prepend.sh ================================================================== --- mttroot/mtt/bin/trans/mtt_prepend.sh +++ /dev/null @@ -1,60 +0,0 @@ -#! /bin/sh - -usage () -{ -cat < $tmp - -if [ ${preserve:=""} = "-p" ]; then - touch -r $time $tmp - rm $time -fi - -cp $preserve $tmp $file2 -rm $tmp - DELETED mttroot/mtt/bin/trans/mtt_ps.sty Index: mttroot/mtt/bin/trans/mtt_ps.sty ================================================================== --- mttroot/mtt/bin/trans/mtt_ps.sty +++ /dev/null @@ -1,19 +0,0 @@ -%% Style file for postscript document - -\usepackage{mtt} % Common stuff - -%Postscript figures -\usepackage{graphicx} - -% Figure definition -\newcommand{\fig}[4]{ - \begin{figure}[htbp] - \begin{center} - \fbox{ - \includegraphics[width=#3\linewidth]{#1.ps} - } - \caption{#4} - \label{fig:#2} - \end{center} - \end{figure} - } DELETED mttroot/mtt/bin/trans/mtt_r2m Index: mttroot/mtt/bin/trans/mtt_r2m ================================================================== --- mttroot/mtt/bin/trans/mtt_r2m +++ /dev/null @@ -1,192 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: mtt_r2m -# Reduce to octave conversion -# Based on obsolete ode_r2m and ode_r2lang -# Based on obsolete mtt_r2m_old -# P.J.Gawthrop 14 June 1991, 12 Jan 1994, April 1994, Jan 95, May 1998 -# July 1998 -# Copyright (c) P.J.Gawthrop 1991, 1994, 1995, 1996, 1998 -# Copyright (C) 2000 by Peter J. Gawthrop - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.29 2001/09/07 00:25:56 geraint -## Partial fix for insidious bug which eliminates lines of code when parameter -## names of the form (in* or off*) start continuation lines. -## -## Revision 1.28 2001/07/13 04:54:04 geraint -## Branch merge: numerical-algebraic-solution back to main. -## -## Revision 1.27.4.1 2001/05/04 04:07:24 geraint -## Numerical solution of algebraic equations. -## sys_ae.cc written for unsolved inputs. -## Solution of equations using hybrd from MINPACK (as used by Octave fsolve). -## -## Revision 1.27 2001/02/08 00:39:56 geraint -## Removed clear from code generated by: mtt -c -i euler -o -## -## Revision 1.26 2000/11/27 11:52:10 peterg -## Changed some greps to be case insensitive -## -## Revision 1.25 2000/10/14 08:50:07 peterg -## Use new mtt_header -## -## Revision 1.24 2000/10/11 09:07:53 peterg -## Vectorisation -## csex rep. -## -## Revision 1.23 2000/10/10 21:00:43 peterg -## More reps added -## -## Revision 1.22 2000/09/15 08:27:07 peterg -## Removed debugging lines -## -## Revision 1.21 2000/08/30 11:43:40 peterg -## -optimise switch added -## -## Revision 1.20 2000/08/30 10:43:17 peterg -## Simplified version using GENTRAN matrix :=: matrix -## lang_matrix is no longer used at all -## -## Revision 1.19 2000/08/28 20:17:59 peterg -## Put in Winfried Neun's bug fix -## -- prevents segmentation violation using optimised gentran when matrix -## comtains a number -## -## Revision 1.18 2000/08/24 17:11:40 peterg -## Now optimises as well as segmenting - uses the SCOPE package -## -## Revision 1.17 2000/05/20 15:23:56 peterg -## Paramererised version of sm etc etc (using -parameter switch) -## -## Revision 1.16 2000/04/18 11:14:18 peterg -## Put in the -parameters option -## -## Revision 1.15 2000/02/10 14:58:57 peterg -## *** empty log message *** -## -## Revision 1.14 1999/12/08 02:06:00 peterg -## Now incudes csm rep. -## -## Revision 1.13 1999/11/23 00:59:14 peterg -## Now does ssm.m -## -## Revision 1.12 1999/11/15 22:57:20 peterg -## Removed a debugging line -## -## Revision 1.11 1999/11/01 21:20:14 peterg -## Removed the E matrix from the cse file. -## -## Revision 1.10 1999/10/27 07:38:30 peterg -## Now does cse version -- but not needed now exept for Euler integration -## -## Revision 1.9 1999/10/26 23:47:58 peterg -## Now does cse.m file -## -## Revision 1.8 1999/07/26 06:07:19 peterg -## Reinstated removal of the odeo.p file -## -## Revision 1.7 1999/03/16 00:38:06 peterg -## Done some more tidying up -## -## Revision 1.6 1999/03/15 07:29:25 peterg -## Fixed various obscure reduce bugs -## THIS NEEDS A MAJOR REWRITE!!!! -## -## Revision 1.5 1998/08/13 16:25:07 peterg -## Removed some documentation form odeo.m -## -## Revision 1.4 1998/08/13 15:10:47 peterg -## Change temp var name to mtt_t1 etc -## -## Revision 1.3 1998/08/13 12:43:19 peterg -## Cahnged tmp variable to mtt_1 etc -## -## Revision 1.2 1998/07/27 20:26:44 peterg -## Put in correct N and M values for dm rep -## -## Revision 1.1 1998/07/27 16:30:26 peterg -## Initial revision -## -############################################################### - - -# Args -while [ -n "`echo $1 | grep '^-'`" ]; do - case $1 in - -noglobals) - noglobals='-noglobals'; - ;; - -parameters) - parameters='-parameters'; - par='mttpar' - ;; - -optimise) - ;; - *) - echo $1 is an unknown option - exit;; - esac - shift -done - -# Set up some strings -rep=$2 -ext=m -out=$1"_"$rep.$ext - -#Inform user -echo Creating $out - -# Remove the old log file -rm -f mtt_r2m.log - -#Header -case $rep in - ae|csex|cseo|ode|odeo) - vectorise=yes - ;; - *) -esac - - mtt_header $1 $rep $ext > mtt_junk - -#Convert from the (optimised) r file -echo >> mtt_junk -echo '## Code' >> mtt_junk -strip_comments<$1_$2.r | tr [A-Z] [a-z] |\ -grep -vi 'MATRIX ' |\ -grep -vi 'END;' |\ -grep -vi 'clear mtt' |\ -grep -v '^off .*\$' |\ -grep -v '^in .*\$' |\ -sed \ - -e "s/^mtt/ mtt/" \ - -e "s/:=/=/" \ - -e "s/\\$/;/" \ - >> mtt_junk -echo '## END Code' >> mtt_junk -echo endfunction >> mtt_junk - -# Mend broken lines -mtt_mend_lines < mtt_junk > mtt_junk_mended -# Vectorise (n,1) arrays when appropriate -if [ -n "$vectorise" ]; then - mtt_vectorise $out -else - mv mtt_junk_mended $out -fi - -# Now invoke the standard error handling. -#mtt_error_r mtt_r2m.log - - - DELETED mttroot/mtt/bin/trans/mtt_remove_underscore Index: mttroot/mtt/bin/trans/mtt_remove_underscore ================================================================== --- mttroot/mtt/bin/trans/mtt_remove_underscore +++ /dev/null @@ -1,3 +0,0 @@ -#!/bin/sh - -sed 's/_/\\_/g' DELETED mttroot/mtt/bin/trans/mtt_repname Index: mttroot/mtt/bin/trans/mtt_repname ================================================================== --- mttroot/mtt/bin/trans/mtt_repname +++ /dev/null @@ -1,14 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: mtt_repname - -# Returns the representation name from System_rep.lang - -# P.J.Gawthrop Feb 2000 -# Copyright (C) 2000 by Peter J. Gawthrop - -echo $1 | tr '.' '_' | awk -F '_' '{print $2}' DELETED mttroot/mtt/bin/trans/mtt_strip_args Index: mttroot/mtt/bin/trans/mtt_strip_args ================================================================== --- mttroot/mtt/bin/trans/mtt_strip_args +++ /dev/null @@ -1,78 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: strip args -# Strips unwanted bits from a list of arguments -# Label file to symbolic parameters conversion -# Copyright (C) 2000 by Peter J. Gawthrop - -## $Id$ ## -## $Log$ -## Revision 1.5 2001/06/13 14:50:13 gawthrop -## Operator ^ now ok in args in abg and/or lbl -## -## Revision 1.4 2001/05/08 15:18:10 gawthrop -## Added trig and hyperbolic functions to argument exclusion list -## -## Revision 1.3 2000/10/17 12:33:13 peterg -## Added mtt_mod to the zapped list -## -## Revision 1.2 2000/10/16 09:06:26 peterg -## Write out the system as a second columns as well -## -## Revision 1.1 2000/10/16 09:04:04 peterg -## Initial revision -## ## -# Inform user -#echo "Creating $1_sympar.txt" - -# Separation characters -SEPS='^=*;+/()-' -# Replace by , -REPS='[,*]' - - -# This is the main transformation using gawk -tr $SEPS $REPS | \ -awk ' -function exact_match(name1, name2) { - return ((match(name1,name2)>0)&&(length(name1)==length(name2))) -} - -function matches(names, name) { - n_matches = split(names,match_name); - matched = 0; - for (i_matches = 1; i_matches <= n_matches; i_matches++) { - if ( exact_match(name,match_name[i_matches]) ) { - matched = 1; - break; - } - } - return matched; -} - -BEGIN { - not_an_arg = "effort flow state internal external zero unknown\ - mtt_e mtt_f\ - sqrt exp log sign sin asin cos acos tan atan \ - sin asin cos acos tan atan \ - sinh asinh cosh acosh tanh atanh \ - none abs"; -} -{ - args=$1 - sys=$2 - N=split(args, arg, ","); - for (i=1;i<=N;i++){ - if ( (length(arg[i])>0)&&(matches(not_an_arg,arg[i])==0)&&(match(arg[i],"^[0-9]+[.]*")==0) ){ - printf("%s\t%s\n", arg[i], sys); - } - } -}' |\ -grep -v '^\$' - - - DELETED mttroot/mtt/bin/trans/mtt_sysname Index: mttroot/mtt/bin/trans/mtt_sysname ================================================================== --- mttroot/mtt/bin/trans/mtt_sysname +++ /dev/null @@ -1,14 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: mtt_sysname - -# Returns the system name from System_rep.lang - -# P.J.Gawthrop Feb 2000 -# Copyright (C) 2000 by Peter J. Gawthrop - -echo $1 | awk -F '_' '{print $1}' DELETED mttroot/mtt/bin/trans/mtt_txt2declare Index: mttroot/mtt/bin/trans/mtt_txt2declare ================================================================== --- mttroot/mtt/bin/trans/mtt_txt2declare +++ /dev/null @@ -1,75 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: sympar_txt2declare - -# Symbolic parameters to variable declaration -# Copyright (C) 2000 by Peter J. Gawthrop - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.1 2000/10/14 09:26:48 peterg -## Initial revision -## -## Revision 1.1 2000/10/11 09:08:20 peterg -## Initial revision -## - -############################################################### - -sys=$1 -what=$2 -language=$3 - -case $language in - p) - first="VAR"; - delim=", "; - last=': REAL;'; - ;; - *) - echo Language $language not supported - sorry; exit 1 -esac - -case $what in - struc) - strip_comments < $sys"_"$what".txt" | awk '{if (($1=="state")||($1=="input")) - print $4; - }' >mtt_names - ;; - sympar) - strip_comments < $sys"_"$what".txt" | awk '{print $1}' >mtt_names - ;; - *) - echo Argument 2 must be struc or sympar -esac - -# Start -cat<4){ - printf("\n"); j=0; - } - } - printf("%s%s\n",var[n], last); - -}' "delim=$delim" "last=$last" mtt_names - - DELETED mttroot/mtt/bin/trans/mtt_txt2m Index: mttroot/mtt/bin/trans/mtt_txt2m ================================================================== --- mttroot/mtt/bin/trans/mtt_txt2m +++ /dev/null @@ -1,285 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: mtt_txt2m -# Converts txt file to matlab file (for numpar and state) - -# Copyright (c) P.J.Gawthrop 1998 - - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %% Revision 1.15 2002/03/26 12:00:37 geraint -# %% Escaped characters to eliminate awk warnings. -# %% -# %% Revision 1.14 2001/07/13 04:54:04 geraint -# %% Branch merge: numerical-algebraic-solution back to main. -# %% -# %% Revision 1.13.4.2 2001/07/09 00:24:58 geraint -# %% input rep: Removed input name mapping, left state name mapping. -# %% -# %% Revision 1.13.4.1 2001/06/26 01:01:28 geraint -# %% Makes input and state names available for input rep. -# %% -# %% Revision 1.13 2001/02/05 03:33:18 geraint -# %% Convert user-defined txt to lower-case in translation. -# %% Required by logic.m (Octave is case sensitive). -# %% -# %% Revision 1.12 2000/11/08 11:20:49 peterg -# %% removed the empty matrix stuff -# %% -# %% Revision 1.11 2000/10/17 09:55:21 peterg -# %% Added logic rep -# %% -# %% Revision 1.10 2000/10/15 09:51:50 peterg -# %% Set array code in input rep -# %% -# %% Revision 1.9 2000/10/13 11:07:33 peterg -# %% Started conversion to new style state, input ext -# %% -# %% Revision 1.8 2000/09/30 13:53:07 peterg -# %% Default to empty matix in numpar.m -- avoids probs for parameter-free systems -# %% -# %% Revision 1.7 2000/05/19 17:46:17 peterg -# %% Give argument to state -# %% -# %% Revision 1.6 2000/05/19 14:59:03 peterg -# %% MTT --> mtt in fun output -# %% -# %% Revision 1.5 2000/05/19 14:05:10 peterg -# %% Zero parameters in the numpar.m file -# %% -# %% Revision 1.4 2000/05/18 12:05:42 peterg -# %% Replaced sympar by sympars in numpar rep -# %% -# %% Revision 1.3 2000/05/11 16:09:24 peterg -# %% Put in simpar.first parameter -# %% -# %% Revision 1.2 2000/05/11 12:16:46 peterg -# %% New version of simpar - with record -# %% -# %% Revision 1.1 2000/05/11 10:55:57 peterg -# %% Initial revision -# %% -# %% Revision 1.19 2000/02/11 13:35:16 peterg -# %% Added the new MTTpar generation -# %% -# %% Revision 1.18 1999/11/14 22:22:17 peterg -# %% Removed checks for implicit - now done at command-line level. -# %% -# %% Revision 1.17 1999/11/04 04:54:24 peterg -# %% Removed recreation of smx file. -# %% -# %% Revision 1.16 1999/03/06 02:18:10 peterg -# %% Changed argument list. -# %% -# %% Revision 1.15 1999/02/16 21:44:38 peterg -# %% Revised smx generation -# %% -# %% Revision 1.14 1999/02/16 04:38:22 peterg -# %% Now forces creation of _smx file if METHOD=IMPLICIT in simpar.txt -# %% -# %% Revision 1.13 1998/08/31 11:43:37 peterg -# %% Now lower cases globals in numpar files -# %% -# %% Revision 1.12 1998/08/14 10:47:31 peterg -# %% Put ImplicitS sub before Implicit!! -# %% -# %% Revision 1.11 1998/08/14 10:43:44 peterg -# %% Added ImplicitS - sparse integration -# %% -# %% Revision 1.10 1998/08/11 13:27:51 peterg -# %% Lowercase mttLAST etc -# %% -# %% Revision 1.9 1998/07/30 15:07:17 peterg -# %% Added _ to the disallowed chars around t -# %% -# %% Revision 1.8 1998/07/30 12:52:38 peterg -# %% Adds ; to end of statements -# %% Translates ' to " before removal -# %% -# %% Revision 1.7 1998/07/30 09:32:33 peterg -# %% Replaces: -# %% euler by 1 -# %% implicitl by 1 -# %% implicit by 3 -# %% -# %% Revision 1.6 1998/07/27 18:59:11 peterg -# %% Added WMIN etc -# %% -# %% Revision 1.5 1998/07/26 11:54:20 peterg -# %% Added mtt to variables -# %% -# %% Revision 1.4 1998/07/26 09:50:12 peterg -# %% More forgiving of txt sytax. -# %% -# %% -- can use () or () -# %% -- can use mttx() or x() -# %% -- can use mttu() or u() -# %% -# %% Revision 1.3 1998/07/25 20:40:35 peterg -# %% All vars in lower case now -# %% -# %% Revision 1.2 1998/07/25 09:48:31 peterg -# %% Tidied up for Pascal version -# %% -# %% Revision 1.1 1998/02/25 22:10:25 peterg -# %% Initial revision -# %% -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -system=$1 -representation=$2 -outfile=$1_$2.m - -tolower () { tr [A-Z] [a-z] ;} - -# Inform user -echo Creating $outfile - -#Create the rep file complete with headers. -case $representation in - input) - name=mttu - arraycode=$representation - ;; - logic) - name=mttx - ;; - numpar) - name=mttpar - arraycode=$representation - ;; - simpar) - ;; - state) - name=mttx - arraycode=$representation - ;; - *) - echo Representation $representation not supported - exit - #echo "function $name = $1_$2$arg" > $outfile - #echo "%% $2 file ($1_$2.m)" >> $outfile - #echo "%% Generated by MTT at `date`" >> $outfile - #echo "% Global variable list" >> $outfile - #sympar2global_txt2m $1 >> $outfile - ;; -esac - -# Generate the header -mtt_header $system $representation m > $outfile - -## Special for logic rep -if [ "$representation" = "logic" ]; then - echo >> $outfile - echo "## Inputs" >> $outfile - mtt_name2array $system input >> $outfile # Set up input by name - echo >> $outfile - echo "## States" >>$outfile - mtt_name2array $system state >> $outfile # Set up state by name -fi - -## Special for input rep -if [ "$representation" = "input" ]; then - echo >> $outfile - echo "## States" >>$outfile - mtt_name2array $system state >> $outfile # Set up state by name -fi - -## Special for simpar rep -if [ "$representation" = "simpar" ]; then - cat >> $outfile<> $outfile -echo "## User defined code from $1_$2.txt" >> $outfile -cat $1_$2.txt | strip_comments | grep -v METHOD |\ -awk -F# 'BEGIN{ -quote = "\047"; -doublequote = "\042"; -} -{ - N=split($1,a,"="); - if (N==2) { - LHS = a[1]; - RHS = a[2]; - gsub(quote, doublequote, RHS); - sub(/^[ ]*FIRST/, "MTTsimpar.FIRST", LHS); - sub(/^[ ]*DT/, "MTTsimpar.DT", LHS); - sub(/^[ ]*LAST/, "MTTsimpar.LAST", LHS); - sub(/^[ ]*STEPFACTOR/, "MTTsimpar.STEPFACTOR", LHS); - sub(/^[ ]*METHOD/, "MTTsimpar.METHOD", LHS); - sub(/^[ ]*WMIN/, "MTTsimpar.WMIN", LHS); - sub(/^[ ]*WMAX/, "MTTsimpar.WMAX", LHS); - sub(/^[ ]*WSTEPS/, "MTTsimpar.WSTEPS", LHS); - sub(/^[ ]*INPUT/, "MTTsimpar.input", LHS); - LHS = tolower(LHS); - RHS = tolower(RHS); - sub(/["]*euler["]*/, 1, RHS); - sub(/["]*implicit["]*/, 2, RHS); - statement = sprintf("%s= %s",LHS,RHS); - if ( (match(statement,";")==0)&&\ - ((match(statement,"if ")==0))&&\ - ((match(statement,"for ")==0)) ) - statement = sprintf("%s;", statement); - } - else if (match($1,"global")==1) { - statement = tolower($1); # Lower case globals as well - } - else - statement = $1; - - if (NF<2) print " " statement - if (NF>1) print statement " # " $2 -}' | sed\ - -e 's/\[$[0-9]*$\]/(\1)/g' \ - -e 's/$[^a-zA-Z_0-9]$t$[^a-zA-Z_0-9]$/\1mttt\2/g' \ - -e 's/x(/mttx(/g' \ - -e 's/u(/mttu(/g' \ - -e 's/mttmtt/mtt/g' \ -| tolower >> $outfile - -if [ -n "$arraycode" ]; then - new_style=`strip_comments < $1_$2.txt| grep "$name(">/dev/null; echo $?` - - if [ "$new_style" = "1" ]; then - echo >> $outfile - echo " ## Set up the $name vector" >> $outfile - ## echo " $name = []; # Default to empty matrix (Remove in mtt_m2p)" >> $outfile - mtt_name2array $1 $arraycode set >> $outfile - else - echo "Old-style file detected: not creating array translations" - fi -fi - -## Special for logic rep -if [ "$representation" = "logic" ]; then - echo >> $outfile - echo "## Open switches" >> $outfile - switch_txt2m $system | tolower >> $outfile -fi - -# End of the function -echo '## END Code' >> $outfile -echo 'endfunction' >> $outfile - DELETED mttroot/mtt/bin/trans/mtt_units.sh Index: mttroot/mtt/bin/trans/mtt_units.sh ================================================================== --- mttroot/mtt/bin/trans/mtt_units.sh +++ /dev/null @@ -1,54 +0,0 @@ -#!/bin/sh - -## MTT units script - wrapper for the units program. - -# Copyright (C) 2000 by Peter J. Gawthrop - -# Arguments -sys=$1 -port=$2 -domain=$3 -effort=$4 -flow=$5 - -case ${domain} in - electrical) - base_effort=volt - base_flow=amp - ;; - translational) - base_effort='newton' - base_flow='m/s' - ;; - rotational) - base_effort='newton*m' - base_flow='radian/s' - ;; - fluid) - base_effort='Pa' - base_flow='m^3/s' - ;; - thermal) - base_effort='degK' - base_flow='watt/degK' - - ;; - *) - echo ${sys} ${port} DOMAIN_ERROR invalid domain ${domain} - exit 1 -esac - -get_unit() -{ - factor=`units $2 $3 | head -1 | sed 's/\*//'` - if [ `echo $factor | wc -w` = "1" ]; then - echo $factor - else - echo $1_UNIT_ERROR unit $2 not compatible with domain ${domain} - fi -} -## Check effort and flow for comptability + find factor -effort_factor=`get_unit EFFORT $effort $base_effort` -flow_factor=`get_unit FLOW $flow $base_flow` - -echo ${sys} ${port} ${effort_factor} ${flow_factor} DELETED mttroot/mtt/bin/trans/mtt_update Index: mttroot/mtt/bin/trans/mtt_update ================================================================== --- mttroot/mtt/bin/trans/mtt_update +++ /dev/null @@ -1,238 +0,0 @@ -#!/bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: mtt_update -# Generates Updates core representations -# Copyright (C) 2000 by Peter J. Gawthrop - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.15 2000/10/17 09:53:05 peterg -## More on logic rep -## -## Revision 1.14 2000/10/17 08:36:56 peterg -## Included logic rep. -## -## Revision 1.13 2000/10/15 09:27:13 peterg -## Better way of generating $infofile -## -## Revision 1.12 2000/10/14 16:11:00 peterg -## Made all variables, states etc lower case -## -## Revision 1.11 2000/10/13 11:07:00 peterg -## Added initialisation for state and input -## -## Revision 1.10 2000/10/13 10:56:07 peterg -## Now uses the full name from the struc file - no need to recreate. -## -## Revision 1.9 2000/10/13 09:55:09 peterg -## Changed state/input name to $4_$3 -## -## Revision 1.8 2000/10/13 09:28:16 peterg -## Changed regexp to /$.*$old.*=$/ -## -## Revision 1.7 2000/10/13 08:56:51 peterg -## Output variables as column, not row. -## -## Revision 1.6 2000/10/13 08:07:24 peterg -## Added state and input - it checks against sympar as well so that -## defined variables may be used here. -## -## Revision 1.5 2000/10/12 19:24:55 peterg -## Corrected output message -## -## Revision 1.4 2000/10/12 17:57:34 peterg -## Fixed header typos -## -## Revision 1.3 2000/10/12 15:11:30 peterg -## Added the update switch -## -## Revision 1.2 2000/10/12 13:45:13 peterg -## Put in the no-file version -## -## Revision 1.1 2000/10/12 12:32:23 peterg -## Initial revision -## -## -############################################################### - - -sys=$1 # System name -rep=$2 # System representation -update=$3 # Update or not -date=`date` - -if [ -z "$2" ]; then - echo Usage mtt_update system representation [update] - exit -fi - -rm -f mtt_empty -touch mtt_empty - -case $rep in - numpar) - lang=txt - textfile=$1_$2.$lang - infofile=$1_sympar.$lang - moreinfofile=$infofile - default='1.0' - ;; - input) - lang=txt - textfile=$1_$2.$lang - infofile=mtt_list.$lang - moreinfofile=mtt_list_numpar.$lang - awk '{if ($1==rep) printf("%s\n", $4)}' rep=$2 \ - <$1_struc.txt >$infofile - cat $infofile $1_sympar.$lang> $moreinfofile - default='1.0' - ;; - state) - lang=txt - textfile=$1_$2.$lang - infofile=mtt_list.$lang - moreinfofile=mtt_list_numpar.$lang - awk '{if ($1==rep) printf("%s\n", $4)}' rep=$2 \ - <$1_struc.txt >$infofile - cat $infofile $1_sympar.$lang> $moreinfofile - default='0.0' - ;; - logic) - lang=txt - textfile=$1_$2.$lang - infofile=mtt_list.$lang - moreinfofile=mtt_list_numpar.$lang - awk '{if ($3=="MTT_SWITCH") printf("%s_logic\n", $4)}' rep=$2 \ - <$1_struc.txt >$infofile - cat $infofile $1_sympar.$lang> $moreinfofile - default='1.0' - ;; - *) - echo Representation $rep not implemented - exit -esac - -# Create a string containing the variables -if [ -f "$textfile" ]; then - # Inform User - echo Checking $textfile -else - echo Creating $textfile - mtt_header $sys $rep $lang > $textfile - info=`cut -f1 $infofile | sort` - for new in $info; do - echo $new $default |\ - awk '{printf("%s\t= %s; # Default\n",$1,$2)}' >> $textfile - done - exit -fi - -# Remove tmp files -rm -f mtt_in_text mtt_in_info - -# Strip files -strip_comments <$textfile | tr 'A-Z' 'a-z' >mtt_text -strip_comments <$infofile | tr 'A-Z' 'a-z' >mtt_info -strip_comments <$moreinfofile | tr 'A-Z' 'a-z' >mtt_moreinfo - -# Use awk to check file -awk '{ - if (FILENAME=="mtt_text") { - gsub("[\t ]" ,""); # Remove whitespace - split($0,a,"="); - text[a[1]] = a[2]; - } - if (FILENAME=="mtt_info"){ - info[$1] = default; - } - if (FILENAME=="mtt_moreinfo"){ - moreinfo[$1] = default; - } - } -END{ - # for (iname in info) print iname - for (tname in text) { - if (!(tname in moreinfo)) print tname >> "mtt_in_text" - } - for (iname in info) { - if (!(iname in text)) print iname >> "mtt_in_info" - } - }' default=$default mtt_text mtt_info mtt_moreinfo - - -if [ -z "$update" ]; then - if [ -f "mtt_in_text" ]; then - echo "The following variables are defined in $textfile, but do not exist:" - sort mtt_in_text | awk '{printf("\t%s\n",$1)}' - echo Use mtt $sys $rep $lang to update - fi - if [ -f "mtt_in_info" ]; then - echo "The following variables exist, but are not defined in $textfile:" - sort mtt_in_info | awk '{printf("\t%s\n",$1)}' - echo Use mtt $sys $rep $lang to update - fi - exit -fi -answered='' -if [ -f "mtt_in_text" ]; then - in_text=`sort mtt_in_text` - echo "The following variables are defined in $textfile, but do not exist:" - sort mtt_in_text | awk '{printf("\t%s\n",$1)}' - - - while [ -z "$answered" ]; do - echo "Update $textfile (y/n)?" - read answer < /dev/tty - case $answer in - y) - answered=yes - for old in $in_text; do - echo Commenting out $old - sed "s/$.*$old.*=$/## Removed by MTT on $date: \1/I"\ - <$textfile > mtt_tmp - mv mtt_tmp $textfile - changed=yes - done - ;; - n) - answered=yes - ;; - *) - esac - done -fi - -answered='' -if [ -f "mtt_in_info" ]; then - echo "The following variables exist, but are not defined in $textfile:" - sort mtt_in_info | awk '{printf("\t%s\n",$1)}' - - while [ -z "$answered" ]; do - echo "Update $textfile (y/n)?" - read answer < /dev/tty - case $answer in - y) - answered=yes - in_info=`sort mtt_in_info` - for new in $in_info; do - echo Adding $new - echo $new $default |\ - awk '{printf("%s\t= %s; # Added by MTT on %s\n",$1,$2,strftime())}'\ - >> $textfile - changed=yes - done - ;; - n) - answered=yes - ;; - *) - esac - done -fi DELETED mttroot/mtt/bin/trans/mtt_vectorise Index: mttroot/mtt/bin/trans/mtt_vectorise ================================================================== --- mttroot/mtt/bin/trans/mtt_vectorise +++ /dev/null @@ -1,7 +0,0 @@ -#!/bin/sh -# Vectorises the matrix output of reduce ie converts (n,1) to (n) -# Copyright (C) 2000 by Peter J. Gawthrop - -sed 's/mtt$[a-z]*$($[0-9]*$,1)/mtt\1(\2)/g' - - DELETED mttroot/mtt/bin/trans/multi_command Index: mttroot/mtt/bin/trans/multi_command ================================================================== --- mttroot/mtt/bin/trans/multi_command +++ /dev/null @@ -1,32 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: multi_command - -# Copyright (c) P.J.Gawthrop 1996. - -# creates a list of commands - one for each file matching $2_*_$3 -# Each command is of the form $1 $2_*_$3 & - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.2.4.1 2001/06/28 22:58:27 geraint -## Using mtt_xargs.sh to prevent Arg list too long error. -## -## Revision 1.2 1996/11/09 21:16:06 peterg -## *** empty log message *** -## -# Revision 1.1 1996/10/21 12:31:40 peterg -# Initial revision -# -############################################################### - - -(mtt_xargs.sh "ls" "$2*_$3" \ -| sed "s/$.*_*$$3/$1 \1$3 \&/") DELETED mttroot/mtt/bin/trans/multi_command2 Index: mttroot/mtt/bin/trans/multi_command2 ================================================================== --- mttroot/mtt/bin/trans/multi_command2 +++ /dev/null @@ -1,31 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: multi_command2 - -# Copyright (c) P.J.Gawthrop 1996. - -# creates a list of commands - one for each file matching $2_*_$3 -# Each command is of the form $1 $2_*_$3 > $2_*_$4 - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.2.4.1 2001/06/28 22:58:27 geraint -## Using mtt_xargs.sh to prevent Arg list too long error. -## -## Revision 1.2 1996/11/09 21:16:19 peterg -## *** empty log message *** -## -# Revision 1.1 1996/10/21 12:34:47 peterg -# Initial revision -# -############################################################### - -(mtt_xargs.sh "ls" "$2*_$3" \ -| sed "s/$.*_*$$3/$1 \1$3 > \1$4 /") DELETED mttroot/mtt/bin/trans/n2m Index: mttroot/mtt/bin/trans/n2m ================================================================== --- mttroot/mtt/bin/trans/n2m +++ /dev/null @@ -1,23 +0,0 @@ -#!/bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: n2m -# Gives sting of integers from n to m (n<=m) -# Copyright (C) 2000 by Peter J. Gawthrop - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - -i=`expr $1 - 1` - -while [ "$i" != "$2" ]; do - i=`expr $i + 1` - echo $i -done DELETED mttroot/mtt/bin/trans/name2index Index: mttroot/mtt/bin/trans/name2index ================================================================== --- mttroot/mtt/bin/trans/name2index +++ /dev/null @@ -1,56 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: name2index - -# Converts names to array index - -# Copyright (c) P.J.Gawthrop, 1997. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.4 1997/12/04 22:10:18 peterg -## Handles argument list - variable names. -## -## Revision 1.3 1997/05/22 09:42:48 peterg -## Returns 0 if no names. -## -## Revision 1.2 1997/05/22 09:28:22 peterg -## Removed trailing , in output. -## -## Revision 1.1 1997/05/22 08:48:21 peterg -## Initial revision -## -############################################################### - -awk ' -{ - name_index[$4]=$2; -} -END{ - M=split(names,xynames,":"); - if (M==0) - printf("0\n") - else - { - if (M==1) - printf("1,"); - else { - printf("%i,",name_index[xynames[1]]+1); - names=xynames[2] - } - - N=split(names,Names,","); - for (i=1; i $1_numpar.c -echo "Parameter file for system $1 ($1_numpar.c)" >> $1_numpar.c -echo "This file provides the system numerical parameters in c form" >> $1_numpar.c -echo "Generated by MTT at `date`" >> $1_numpar.c -echo '*/' >> $1_numpar.c -echo >> $1_numpar.c - -echo "extern double x[MTTNX1];" >> $1_numpar.c -echo "#include \"$1_sympar.c\"" >> $1_numpar.c -echo "$1_numpar()" >> $1_numpar.c -echo '{' >> $1_numpar.c - -#Write out the variables in c format. -sed 's/#C-CODE //'< $1_numpar.txt |\ -awk -F# '{ - if (NF<2) print $1 - if (NF>1) print $1 "/* " $2 " */" -}' | sed 's/($[0-9]*$)/[\1]/' >> $1_numpar.c - -echo '}' >> $1_numpar.c - - DELETED mttroot/mtt/bin/trans/numpar_txt2m Index: mttroot/mtt/bin/trans/numpar_txt2m ================================================================== --- mttroot/mtt/bin/trans/numpar_txt2m +++ /dev/null @@ -1,46 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: numpar_txt2m -# Creates the deafault numerical parameters file for the system (txt) - -# Copyright (c) P.J.Gawthrop 1996 - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.3 1998/07/25 18:26:33 peterg -## *** empty log message *** -## -# Revision 1.2 1997/05/01 08:24:38 peterg -# Now uses # as the comment symbol in the .txt file -# -# Revision 1.1 1997/05/01 07:45:17 peterg -# Initial revision -# -############################################################### - -# Inform user -echo Creating $1_numpar.m - -#Create the numpar file complete with headers. -lang_header $1 numpar m '' MTTpar > $1_numpar.m - -# Global variable list -#echo >> $1_numpar.m -#echo "# Global variable list" >> $1_numpar.m -#sympar2global_txt2m $1 >> $1_numpar.m - -#Write out the variables in m format. -awk -F# '{ - if (NF==1) print $1 - if (NF==2) print $1 "# " $2 -}' $1_numpar.txt |\ -sed 's/double/global/' >> $1_numpar.m - - DELETED mttroot/mtt/bin/trans/obs_r2m Index: mttroot/mtt/bin/trans/obs_r2m ================================================================== --- mttroot/mtt/bin/trans/obs_r2m +++ /dev/null @@ -1,136 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: obs_r2m -# Reduce GPC obs function to matlab -# P.J.Gawthrop 18 May 1991, 12 Jan 1994, April 1994, Dec 1994, July 1995 -# Copyright (c) P.J.Gawthrop 1991, 1994. - -# Inform user -echo Creating $1_obs.m - -# Remove the old log file -rm -f obs_r2m.log -rm -f $1_obs.m? -rm -f $1_obsa.m - -# Is the system affine (look in the _obs.r file -affine=`grep 'affine :=' $1_obs.r | awk '{print $3}' | sed 's/;//'` - - -# Use reduce to accomplish the transformation -$SYMBOLIC >obs_r2m.log << EOF - -%Read the reduce definitions file -in "$1_def.r"; - -%Set up the number of argument variables to zero in case the user has forgotten -MTTNVar := 0; - -%Set default values - reset by obspar file. -MTTGPCNy := 2; -MTTGPCNu := 0; - -%Read the parameters file -in "$1_obspar.r"; - -%Read the simplification file -in "$1_simp.r"; - -%Read the reduce state-space equations file -in "$1_obs.r"; - - -ON BigFloat, NumVal; -PRECISION 16; %Compatible with Matlab -OFF Nat; - -ON NERO; % Suppress zero elements - -% Matrix output function -in"$MTTPATH/trans/matlab_matrix.r"; - -OUT "$1_obs.m2"; - -write "% Set up the State variables"; -FOR i := 1:MTTNx DO -BEGIN - write "mttx", i, " = x(", i, ");"; -END; - -IF affine=0 THEN -BEGIN -write "%"; -write "% Set up the inputs and input derivatives"; -FOR i := 1:MTTNu DO - BEGIN - write "mttu", i, " = u(", i, ",1);"; - FOR j := 1:MTTGPCNu DO - BEGIN - write "mttu", i,j, " = u(", i, ",", j+1, ");"; - END; - END; - -%write "%"; -%write "% Set up the Y matrix"; -%write "Y = zeros(", mtt_matrix_n, ",1);"; -END; - - -SHUT "$1_obs.m2"; - -IF affine=1 THEN -BEGIN - GENTRANOUT "$1_obs.m3"; - MTT_Matrix := MTTObs_o$ - MTT_Matrix_name := "MTTO_o"$ - MTT_Matrix_n := (MTTGPCNY+1)*MTTNy$ - MTT_Matrix_m := 1$ - matlab_Matrix()$ - GENTRAN O_o := mtt_matrix; - - MTT_Matrix := MTTObs_h$ - MTT_Matrix_name := "MTTO_h"$ - MTT_Matrix_n := (MTTGPCNy+1)*MTTNy$ - MTT_Matrix_m := (MTTGPCNu+1)*MTTNu$ - matlab_Matrix()$ - GENTRAN O_h := mtt_matrix; - - GENTRANSHUT "$1_obs.m3"; -END -ELSE -BEGIN - GENTRANOUT "$1_obs.m3"; - mtt_matrix := MTTYY$ - mtt_matrix_n := MTTNY*(MTTGPCNy+1)$ - mtt_matrix_m := 1$ - mtt_matrix_name := Y$ - matlab_matrix(); - GENTRAN YY := mtt_matrix; - GENTRANSHUT "$1_obs.m3"; -END; - -EOF - -if [ "$affine" = "1" ]; then - lang_header $1 obs m x [o_o,o_h] > $1_obs.m1 -else - lang_header $1 obs m x,u yy > $1_obs.m1 -fi - -# Put together the pieces -matlab_tidy $1_obs.m2 -matlab_tidy $1_obs.m3 -cat $1_obs.m? >$1_obs.m - -rm -f $1_obs.m? - - - - - - - DELETED mttroot/mtt/bin/trans/obs_r2tex Index: mttroot/mtt/bin/trans/obs_r2tex ================================================================== --- mttroot/mtt/bin/trans/obs_r2tex +++ /dev/null @@ -1,92 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: obs_r2tex -# Reduce constrained-state matrices to LaTex constrained-state matrices. -# P.J.Gawthrop 9 Sep 1991, May 1994 -# Copyright (c) P.J.Gawthrop, 1991, May 1994, 1996. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.1 1998/04/07 08:30:20 peterg -## Initial revision -## -# Revision 1.3 1997/06/13 13:50:11 peterg -# Matrices in amstex format -# -# Revision 1.2 1997/04/18 12:54:00 peterg -# No longer does labels. -# -# Revision 1.1 1996/08/19 15:19:23 peter -# Initial revision -# -############################################################### - - -# Inform user -echo Creating $1_obs.tex - -# Remove the old log file -rm -f obs_r2tex.log - -# Use reduce to accomplish the transformation -reduce >obs_r2tex.log << EOF - -%Read the definitions file -in "$1_def.r"; - -%Read the obs file -in "$1_obs.r"; - -%Read the Obs function parameters -in "$1_obspar.r"; - -%Read the substitution file -in "$1_subs.r"; - -%Read the simplification parameters -in "$1_simp.r"; - -%Read the formatting function -in "$MTTPATH/trans/latex_matrix.r"; - -OFF Echo; -OFF Nat; -OFF EXP; - -OUT "$1_obs.tex"; - -% Write the affine form -IF affine=1 THEN -BEGIN - MTT_Matrix := MTTObs_o$ - MTT_Matrix_name := "MTTO_o"$ - MTT_Matrix_n := (MTTGPCNY+1)*MTTNy$ - MTT_Matrix_m := 1$ - LaTeX_Matrix()$ - - MTT_Matrix := MTTObs_h$ - MTT_Matrix_name := "MTTO_h"$ - MTT_Matrix_n := (MTTGPCNy+1)*MTTNy$ - MTT_Matrix_m := (MTTGPCNu+1)*MTTNu$ - LaTeX_Matrix()$ -END -ELSE -BEGIN -% Write the obs vector (YY) - MTT_Matrix := MTTYY$ - MTT_Matrix_name := "MTTO"$ - MTT_Matrix_n := (MTTGPCNY+1)*MTTNy$ - MTT_Matrix_m := 1$ - LaTeX_Matrix()$ -END; - -SHUT "$1_obs.tex"; -quit; -EOF DELETED mttroot/mtt/bin/trans/octave_ode2odes Index: mttroot/mtt/bin/trans/octave_ode2odes ================================================================== --- mttroot/mtt/bin/trans/octave_ode2odes +++ /dev/null @@ -1,42 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: octave_ode2odes -# Runs the Octave script $1_ode2odeso.m -# Copyright (c) P.J.Gawthrop 1999 - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.3 2000/05/19 17:47:56 peterg -## Agument to state -## -## Revision 1.2 2000/05/11 13:43:14 peterg -## No change -## -## Revision 1.1 1999/03/15 23:27:16 peterg -## Initial revision -## -############################################################### - - -echo Creating $1_odes.dat2 -$MATRIX <octave_ode2odes.log 2>mtt_error.txt - ## Set up the simulation parameters - par = $1_numpar; - x_0 = $1_state(par); - simpar = $1_simpar; - mtt_data = $1_ode2odes(x_0,par,simpar); - if is_complex(mtt_data) - mtt_error("octave_ode2odes: Simulated data is complex - something is wrong!"); - mtt_data = real(mtt_data); - endif; - save -ascii $1_odes.dat2 mtt_data -EOF - -mtt_error mtt_error.txt DELETED mttroot/mtt/bin/trans/ode2obs_r Index: mttroot/mtt/bin/trans/ode2obs_r ================================================================== --- mttroot/mtt/bin/trans/ode2obs_r +++ /dev/null @@ -1,253 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: ode2obs_r -# Odrinary differential equations to observer function equations -# P.J.Gawthrop 14 June 1991, 8 Aug 1991, 2 April 1992, 14 April 1994, 28 Dec 94, -# 12th July 1995, April 1996 -# Copyright (c) P.J.Gawthrop 1991, 1992, 1994, 1995, 1996. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.5 1998/04/07 08:12:12 peterg -## Added affine form. -## -## Revision 1.4 1998/04/07 05:45:12 peterg -## Reverted to an older version due to untraceable bug in new version -## -## Revision 1.3 1996/08/25 10:07:05 peter -## Remove a du state ment causaing touble -## - but needs more work. -## -## Revision 1.2 1996/08/25 08:38:14 peter -## Error handling added. -## -## Revision 1.1 1996/08/25 08:37:44 peter -## Initial revision -## -############################################################### - -#Inform user -echo Creating $1_obs.r - -# Remove the old log file -rm -f ode2obs_r.log - -# Use reduce to accomplish the transformation -reduce >ode2obs_r.log << EOF - -%Read the formatting function -in "$MTTPATH/trans/reduce_matrix.r"; - - -OFF Echo; -OFF Nat; -ON NERO; - -in "$1_def.r"; -MTTdxs := MTTdX; %Save the symbolic form of dX - -%Set default values - reset by obspar file. -MTTGPCNy := 2; -MTTGPCNu := 0; - -%%in "$1_sympar.r"; -in "$1_ode.r"; -%%in "$1_simp.r"; - -% Read the obs form parameters. -in "$1_obspar.r"; - -%Create the U vector of input derivatives. -MTTNuu := (MTTGPCNu+1)*MTTNu; -MTTNuu1 := MTTGPCNu*MTTNu; - - -%FOR i := 1:MTTNu DO -% MTTUU(i,1) := MTTU(i,1); -%END; -% -%IF MTTGPCNu>0 THEN -%BEGIN -% FOR i := 1:MTTNu DO -% MTTUU(i+MTTNu,1) := MTTdU(i,1); -% END; -%END; - -MTTU := MTTU; -MTTdU := MTTdU; % ---- removed temporarily, needs def file change? - -%Create the Y vector of output derivatives. -MTTNyy := (MTTGPCNy+1)*MTTNy; -Matrix MTTYY(MTTNyy,1); - -FOR i := 1:MTTNy DO - MTTYY(i,1) := MTTY(i,1); -END; - -l := MTTNy; -FOR i := 1:MTTGPCNy DO - FOR j := 1:MTTNy DO - BEGIN - l := l+1; - MTTYY(l,1) := 0; - FOR k := 1:MTTNx DO %Derivatives wrt x - BEGIN - xk := MTTX(k,1); - MTTYY(l,1) := MTTYY(l,1) + df(MTTYY(l-MTTNy,1), xk, 1)*MTTdX(k,1); - END; - IF MTTGPCNu>0 THEN - FOR k := 1:MTTGPCNu DO %Non-zero derivatives of u - BEGIN - FOR kk := 1:MTTNu DO - BEGIN - uk := MTTUU(kk,k); - MTTYY(l,1) := MTTYY(l,1) + df(MTTYY(l,1), uk, 1)*MTTUU(1,k+1); - END; - END; - END; -END; - -%%Create O_x - derivative of YY wrt x -%Matrix MTTO_x(MTTNyy,MTTNx); -%FOR j := 1:MTTNx DO -% BEGIN -% xj := MTTX(j,1); -% FOR i := 1:MTTNyy DO -% BEGIN -% MTTO_x(i,j) := df(MTTYY(i,1), xj); -% END; -% END; - -%%Create O_u - derivative of YY wrt u (Assumes GPC Nu = 0) -%MTTNNu := (MTTGPCNu+1)*MTTNu; -%Matrix MTTO_u(MTTNyy,MTTNNu); -%FOR j := 1:MTTNNu DO -% BEGIN -% uj := MTTu(j,1); -% FOR i := 1:MTTNyy DO -% BEGIN -% MTTO_u(i,j) := df(MTTYY(i,1), uj); -% END; -% END; - - -%%Create O_uu - derivative of O_u wrt u (Assumes GPC Nu = 0) -%%This is a multi-dimensional matrix kth elements stacked sideways. -%Matrix MTTO_uu(MTTNyy,MTTNNu*MTTNNu); -%FOR k := 1:MTTNNu DO -% BEGIN -% uk := MTTu(k,1); -% FOR j := 1:MTTNNu DO -% BEGIN -% FOR i := 1:MTTNyy DO -% BEGIN -% jk := j+(k-1)*MTTNu; -% MTTO_uu(i,jk) := df(MTTO_u(i,j), uk); -% END; -% END; -% END; - -%%Create O_ux - derivative of O_u wrt x -%%This is a multi-dimensional matrix kth elements stacked sideways. -%Matrix MTTO_ux(MTTNyy,MTTNu*MTTNx); -%FOR k := 1:MTTNx DO -% BEGIN -% xk := MTTx(k,1); -% FOR j := 1:MTTNu DO -% BEGIN -% FOR i := 1:MTTNyy DO -% BEGIN -% jk := j+(k-1)*MTTNu; -% MTTO_ux(i,jk) := df(MTTO_u(i,j), xk); -% END; -% END; -% END; - - -% Try and split the obs function into affine form (O(x,u) = o(x) + h(x)u) -affine := 1; -MTTNuu := (MTTGPCNu+1)*MTTNu; -write "1 affine := ", affine, ";"; - -%IF (affine=1) THEN -%BEGIN - MATRIX MTTObs_o(MTTNyy,1); - MATRIX MTTObs_h(MTTNyy,MTTNuu); -write "2 affine := ", affine, ";"; - FOR i := 1:MTTNyy DO - BEGIN -write "3 affine := ", affine, ";"; - MTTObs_o(i,1) := MTTYY(i,1); - k := 0; - FOR j := 1:MTTNu DO - FOR jj := 0:MTTGPCNu DO - BEGIN - k := k+1; - %Expand as polynomial in u_j^[jj] - coeffs := coeff(MTTObs_o(i,1), MTTUU(j,jj+1)); - MTTObs_o(i,1) := first(coeffs); - IF length(coeffs)>1 THEN - MTTObs_h(i,k) := second(coeffs); - IF length(coeffs)>2 THEN - affine := -1; - END; - END; -%END; - - -%%Create the _obs.r file -OUT "$1_obs.r"; - -IF affine=1 THEN - write "affine := 1; % The O function is affine in u" -ELSE - write "affine := 0; % The O function is not affine in u"; - - -write "% The matrix sizes"; -write "MTTNyy := ", MTTNyy, ";"; -write "MTTNuu := ", MTTNuu, ";"; - -mtt_matrix := MTTYY$ -mtt_matrix_n := MTTNyy$ -mtt_matrix_m := 1$ -mtt_matrix_name := "MTTYY"$ -reduce_matrix(); - -IF affine=1 THEN -BEGIN - mtt_matrix := MTTObs_o$ - mtt_matrix_n := MTTNyy$ - mtt_matrix_m := 1$ - mtt_matrix_name := "MTTObs_o"$ - reduce_matrix(); - - mtt_matrix := MTTObs_h$ - mtt_matrix_n := MTTNyy$ - mtt_matrix_m := MTTNuu$ - mtt_matrix_name := "MTTObs_h"$ - reduce_matrix(); -END; - -%MTTO_x := MTTO_x; -%MTTO_u := MTTO_u; -%MTTO_uu := MTTO_uu; -%MTTO_ux := MTTO_ux; - -write ";END;"; - -SHUT "$1_obs.r"; -quit; - -EOF - -# Now invoke the standard error handling. -mtt_error_r ode2obs_r.log - DELETED mttroot/mtt/bin/trans/ode2odes_m Index: mttroot/mtt/bin/trans/ode2odes_m ================================================================== --- mttroot/mtt/bin/trans/ode2odes_m +++ /dev/null @@ -1,229 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: ode2odes_m - -# Transforms descriptor matrix rep to step response - -# Copyright (c) P.J.Gawthrop, 1996. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.17 1998/06/27 14:49:16 peterg -## No change -## -## Revision 1.16 1998/06/25 08:47:23 peterg -## Put correct arguments for _input -- (x,t) -## -## Revision 1.15 1998/05/21 16:20:27 peterg -## Modified to include explicit algebraic loop solution -## -## Revision 1.14 1998/05/19 19:48:02 peterg -## Read the simpar file now. -## -## Revision 1.13 1998/05/14 08:05:10 peterg -## Put back under RCS -## -## Revision 1.12 1998/02/25 18:02:39 peterg -## Removed the argument passing stuff . -## Replaced by the simpar.m method. -## -## Revision 1.11 1997/08/29 07:56:54 peterg -## Minor updates -## -# Revision 1.10 1997/01/07 09:16:03 peterg -# Added step_factor parameter - gives that number of integration steps -# per sample. -# -## Revision 1.9 1997/01/06 21:36:44 peterg -## Fixed bug mtt_error --> mtt_error.txt -## Replaced lsode by Euler integration. -## -## Revision 1.8 1996/09/13 17:54:08 peter -## Now writes default $PARAMS to $1_args.m - $1_ode may use it. -## -## Revision 1.7 1996/09/12 18:41:48 peter -## Standard error handling added. -## -## Revision 1.6 1996/08/24 14:11:04 peter -## Global parameter passing. -## -## Revision 1.5 1996/08/18 12:01:26 peter -## Unified format of time responses. -## -## Revision 1.4 1996/08/16 13:04:46 peter -## Fixed problem with more than one output (y vector). -## -## Revision 1.3 1996/08/16 06:36:03 peter -## Removed u from default arg list. -## -## Revision 1.2 1996/08/15 16:24:43 peter -## Uses T in place of t to avoid name clash within function. -## -## Revision 1.1 1996/08/15 11:56:38 peter -## Initial revision -## -############################################################### - -echo Creating $1_odes.m -echo Creating $1_odeso.m - -rm -f ode2odes_m.log -rm -f mtt_error.txt - -#if [ "$2" = "" ]; -#then -# PARAMS='T=[0:0.1:10]; x0=zeros(nx,1);' -# echo Using default parameter $PARAMS -# echo $PARAMS>$1_args.m -#else -# PARAMS=$2; -#fi - -# PARAMS="$PARAMS ;" - - -$MATRIX --verbose << EOF > ode2odes_m.log 2>mtt_error.txt - - %System structure - [nx,ny,nu,nz,nyz] = $1_def; - - %Read in parameters - $1_numpar; - - %Read in state - x = $1_state; - - %Set the initial output - %if ny>0 - % y = $1_odeo(x,0); - %end; - - %Read in simulation parameters - $1_simpar; - T = [0:DT:LAST]; - - t=0; %Just in case it appears in the parameter list. - - - %Defaults - if exist('T')==0 - T=[0:1:100] - end; - - if exist('METHOD')==0 - METHOD = 'Euler' - end; - - if exist('x')==0 - x = zeros(nx,1); - end; - - % xx is the composite vector containing x and the internal inputs. - xx = [x; zeros(nyz,1)]; - - [n,m]=size(T); - if m>n - T=T'; - end; - -method = tolower(METHOD) - -if nx>0 - if strcmp(method,'lsode') - X = lsode('$1_ode', x, T); - elseif strcmp(method,'euler') - %Euler integration - disp("Euler") - X=[]; - dt = (T(2)-T(1))/STEPFACTOR; - for t=T' - X = [X; xx']; - ts = t; - for i=1:STEPFACTOR - x = xx(1:nx); - u = $1_input(xx,ts); - xx = $1_ode(xx,u,ts); - ts = ts + dt; - dx = xx(1:nx); - x = x + dx*dt; - xx(1:nx) = x; - end; - end; - elseif strcmp(method,'implicitl') - %Euler integration - X=[]; - dt = (T(2)-T(1))/STEPFACTOR; - u = $1_input(x,u,t); - A = $1_smx(x,u); - inverse = inv(eye(nx) - dt*A); - for t=T' - X = [X; xx']; - ts = t; - u = $1_input(x,t); - for i=1:STEPFACTOR - x = xx(1:nx); - xx = $1_ode(xx,u,ts); - ts = ts + dt; - dx = xx(1:nx); - x = inverse*(x + dt*(dx - A*x)); - xx(1:nx) = x; - end; - end; - elseif strcmp(method,'implicit') - %Euler integration - X=[]; - dt = (T(2)-T(1))/STEPFACTOR; - One = eye(nx); - for t=T' - X = [X; xx']; - ts = t; - for i=1:STEPFACTOR - x = xx(1:nx); - u = $1_input(x,t); - A = $1_smx(x,u); - xx = $1_ode(xx,u,ts); - ts = ts + dt; - dx = xx(1:nx); - x = (One-A*dt)\(x + dt*(dx - A*x)); - xx(1:nx) = x; - end; - end; - else - error('Method %s not available here', METHOD); - return; - end; - write_matrix([T,X], '$1_odes'); -else - X = zeros(size(T)); -end; - -if ny>0 % compute y and print it - i = 0; Y=[]; - for t=T' - i = i+1; X(i,:); - u = $1_input(x,t); - y = $1_odeo(X(i,:)',u,t); - Y = [Y; y']; - end; - write_matrix([T,Y], '$1_odeso'); -end; - - -EOF - -# Now invoke the standard error handling. -mtt_error mtt_error.txt - - - - - - - DELETED mttroot/mtt/bin/trans/ode2odes_r2c Index: mttroot/mtt/bin/trans/ode2odes_r2c ================================================================== --- mttroot/mtt/bin/trans/ode2odes_r2c +++ /dev/null @@ -1,269 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: ode2odes_r2c -# Reduce ordinary differential equations to differential-algebraic -# equations solution in the form of a c program. - -# Euler integration of the state is included. - -# NB Arrays should are defined to be one larger than expected -# - the 0 element is not used. - -# Copyright (c) P.J.Gawthrop 1997. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.17 1998/05/15 07:47:23 peterg -## Includes sign.c by default -## -## Revision 1.16 1998/05/14 08:25:52 peterg -## Corrected time skew. -## -## Revision 1.15 1998/05/14 08:20:29 peterg -## Start time at DT - the result at time zero is computed outside the -## loop -## -## Revision 1.14 1998/05/13 08:57:27 peterg -## Now uses simpar.h in place of odes.h -## -## Revision 1.13 1998/02/24 13:34:45 peterg -## Back under RCS -## -# Revision 1.12 1997/05/15 08:39:56 peterg -# Don't initialise states - now done in numpar file. -# -# Revision 1.11 1997/05/12 16:00:54 peterg -# Removed itime again., -# -# Revision 1.10 1997/05/10 10:05:15 peterg -# Put _input in inner loop in front of call to _ode -# -## Revision 1.9 1997/05/10 09:54:34 peterg -## Moved _input call to after the inner integration loop. -## -## Revision 1.8 1997/05/10 08:12:23 peterg -## Put second argument into _input. -## -## Revision 1.7 1997/05/10 07:01:15 peterg -## _input called in outer loop only. -## time updated in outer loop only. -## Integer time (itime) introduced and updated in outer loop - maybe -## useful for discrete events. -## Integer time (itime) passed to _input. -## -## Revision 1.6 1997/05/06 13:53:32 peterg -## Now uses the preprocessor to declare sizes -- MTTNX etc -## -# Revision 1.5 1997/05/01 13:50:11 peterg -# Replaced float by double. -# -# Revision 1.4 1997/05/01 13:43:44 peterg -# Changed double to float. -# -# Revision 1.3 1997/05/01 11:15:33 peterg -# Back under RCS -# -# Revision 1.2 1997/03/20 14:36:56 peterg -# Includes the sympar.h file -# -## Revision 1.1 1997/01/21 22:54:54 peterg -## Initial revision -## -############################################################### - - -# Inform user -echo Creating $1_odes.c - -# Remove the old log file -rm -f ode_r2c.log - -# Use reduce to accomplish the transformation -reduce >ode2odes_r2c.log << EOF - -%Read the reduce definitions file -in "$1_def.r"; - -%Set up the number of argument variables to zero in case the user has forgotten -MTTNVar := 0; - -%Read the symbolic parameters file -%%in "$1_sympar.r"; - -ON BigFloat, NumVal; -PRECISION 16; %Compatible with Matlab -%OFF Nat; - -ON NERO; % Suppress zero elements - -%Generate the Header part -OUT "$1_odes.c"; - -write "/*"$ -write "Program to solve ode for system $1"$ -write "NB Arrays are defined to be one larger than expected"$ -write " - the 0 element is not used."$ - -write "File $1_odes.c"$ -write "Generated by MTT"$ -write "*/"$ -write " "$ - - -%Program heading -write "#define MTTNX ", MTTNx $ -write "#define MTTNY ", MTTNy $ -write "#define MTTNU ", MTTNu $ -write "#define MTTNX1 ", MTTNx+1 $ -write "#define MTTNY1 ", MTTNy+1 $ -write "#define MTTNU1 ", MTTNu+1 $ -write "#define MTTNX2 ", MTTNx+2 $ -write "#define MTTNY2 ", MTTNy+2 $ -write "#define MTTNU2 ", MTTNu+2 $ - -write "#include "$ -write "#include "$ -write "#include ""sign.c"" "$ -write "#include ""$1_simpar.h"" "$ -write "#include ""$1_ode.c"" "$ -write "#include ""$1_input.c"" "$ -write "#include ""$1_numpar.c"" "$ -write "#include ""$1_state.c"" "$ - -%External (global) variable list -write "#include ""$1_sympar.h"" "$ - - -write "/* Declare standard arrays */"$ -write "double y[MTTNY1]; /* $1_ode output */"$ -write "double dx[MTTNX1]; /* $1_ode state derivative */"$ -write "double x[MTTNX1]; /* $1_ode state */"$ -write "double u[MTTNU1]; /* $1_ode input */"$ - - -write "/* Files */ "$ -write " FILE *fopen(), *fps, *fpso;"$ - -write "main()"$ -write " "$ -write "{"$ - - - -write "/* Counters etc*/ "$ -write " double time;"$ -write " double dt;"$ -write " int i;"$ -write " int k;"$ - -write "/*functions */ "$ -write " extern $1_numpar();"$ - -%Open the output files -write "/* %Open the output file */"$ -write "fps = fopen(""$1_odes.m"", ""w""); "$ -write "fpso = fopen(""$1_odeso.m"", ""w""); "$ - -%Set up user-defined constants -write "/* Set up user-defined constants */"$ -write " $1_numpar();"$ - -%Set up initial state -write "/* Set up initial state */"$ -write " $1_state();"$ - -%Initialise main (Euler) integration loop -write "/* Initialise main (Euler) integration loop */"$ -write " time = 0;"$ -write " dt = DT/STEPFACTOR;"$ -%% write " for (i=1; i<=MTTNX; i++)"$ -%% write " x[i] = 0.0;"$ - -%Set up system inputs -write "/* Set up system inputs */"$ -write " for (i=1; i<=", MTTNu, "; i++)"$ -write " u[i] = 1.0;"$ - -write " $1_input(0.0);"$ - -write " fprintf(fps, ""function data = ", "$1_odes \n"");"$ -write " fprintf(fps, ""data = [\n"");"$ -write " fprintf(fpso, ""function data = ", "$1_odeso \n"");"$ -write " fprintf(fpso, ""data = [\n"");"$ - -% Compute the first output -write "/* Compute the first output */"$ -write " $1_ode(y,dx,x,u);"$ - -%Main (Euler) integration loop -write "/* Main (Euler) integration loop */"$ - -write " while (time<(LAST-DT))"$ -write " {"$ - -%Write to output to file -write "/* Write to output file */"$ -write " fprintf(fpso, ""%5.4g "",time);"$ -write " for (i=1; i<=MTTNY; i++)"$ -write " fprintf(fpso, ""%5.4g "", y[i]);"$ -write " fprintf(fpso, ""\n"");"$ - -%Write to state to file -write "/* Write to state file */"$ -write " fprintf(fps, ""%5.4g "",time);"$ -write " for (i=1; i<=MTTNX; i++)"$ -write " fprintf(fps, ""%5.4g "", x[i]);"$ -write " fprintf(fps, ""\n"");"$ - -write " time = time + DT;"$ - -write "/* Inner integration loop */"$ -write " for (k=1; k<=STEPFACTOR; k++)"$ -write " {"$ -write " for (i=1; i<=MTTNX; i++)"$ -write " x[i] = x[i] + dx[i]*dt;"$ - -write " /* Set up system inputs */"$ -write " $1_input(time);"$ -write " $1_ode();"$ -write " }"$ - -write " }"$ - -%Write to files -%Write to output to file -write "/* Write to output file */"$ -write " fprintf(fpso, ""%5.4g "",time);"$ -write " for (i=1; i<=MTTNY; i++)"$ -write " fprintf(fpso, ""%5.4g "", y[i]);"$ -write " fprintf(fpso, ""\n"");"$ - -%Write to state to file -write "/* Write to state file */"$ -write " fprintf(fps, ""%5.4g "",time);"$ -write " for (i=1; i<=MTTNX; i++)"$ -write " fprintf(fps, ""%5.4g "", x[i]);"$ -write " fprintf(fps, ""\n"");"$ - - -write " fprintf(fps, ""];\n"");"$ -write " fprintf(fpso, ""];\n"");"$ - -write " return 0;"$ -write "}"$ - - -SHUT "$1_odes.c"; - - -EOF - - - DELETED mttroot/mtt/bin/trans/ode2odess_m Index: mttroot/mtt/bin/trans/ode2odess_m ================================================================== --- mttroot/mtt/bin/trans/ode2odess_m +++ /dev/null @@ -1,111 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: ode2odess_m - -# Transforms descriptor matrix rep to step response - -# Copyright (c) P.J.Gawthrop, 1996. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.4 2000/10/17 11:07:59 peterg -## *** empty log message *** -## -## Revision 1.3 1998/05/19 19:27:04 peterg -## Zapped all the parameter stuff -## -## Revision 1.2 1996/09/13 19:40:51 peter -## Fixed problem with default paramaters. -## -## Revision 1.1 1996/09/12 19:26:57 peter -## Initial revision -## -## Revision 1.4 1996/08/16 13:04:46 peter -## Fixed problem with more than one output (y vector). -## -## Revision 1.3 1996/08/16 06:36:03 peter -## Removed u from default arg list. -## -## Revision 1.2 1996/08/15 16:24:43 peter -## Uses T in place of t to avoid name clash within function. -## -## Revision 1.1 1996/08/15 11:56:38 peter -## Initial revision -## -############################################################### - -echo Creating $1_odess.m -rm -f ode2odess_m.log - -Nx=`mtt_getsize $1 x` # States -Nxx=`mtt_getsize $1 xx` # States x States -Nu=`mtt_getsize $1 u` # Inputs -Ny=`mtt_getsize $1 y` # Inputs - -$MATRIX << EOF > ode2odess_m.log 2>mtt_error.txt - - %Read in parameters - par = $1_numpar; - - %Read in simulation parameters - simpar=$1_simpar; - T = [0:simpar.dt:simpar.last]; - - t=0; %Just in case it appears in the parameter list. - - - %Defaults - if exist('T')==0 - T=[0:0.1:1] - end; - - if exist('x0')==0 - x0 = zeros($Nx,1); - end; - - [n,m]=size(T); - if m>n - T=T'; - end; - -global t; -function dx=f(x) - global t - par = $1_numpar; - u = $1_input(x,zeros($Ny,1),t,par); - dx = $1_ode(x,u,t,par);; -endfunction; - -i=0; -x = x0; -for t=T' - u = $1_input(x,zeros($Ny,1),t,par); - y(i) = $1_odeo(x,u,t,par)'; - mtt_write(t,x,y,$Nx,$Ny); # Write it out - x = fsolve('f',x)'; -end; - -i=0; -for t=T' - i=i+1; -end; - -write_matrix([T,x], '$1_odess'); -write_matrix([T,y], '$1_odesso'); - -EOF - -# Now invoke the standard error handling. -mtt_error mtt_error.txt - - - - - DELETED mttroot/mtt/bin/trans/ode2odess_m2dat2 Index: mttroot/mtt/bin/trans/ode2odess_m2dat2 ================================================================== --- mttroot/mtt/bin/trans/ode2odess_m2dat2 +++ /dev/null @@ -1,105 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: ode2odess_m - -# Transforms descriptor matrix rep to step response - -# Copyright (c) P.J.Gawthrop, 1996. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.4 2000/10/17 11:07:59 peterg -## *** empty log message *** -## -## Revision 1.3 1998/05/19 19:27:04 peterg -## Zapped all the parameter stuff -## -## Revision 1.2 1996/09/13 19:40:51 peter -## Fixed problem with default paramaters. -## -## Revision 1.1 1996/09/12 19:26:57 peter -## Initial revision -## -## Revision 1.4 1996/08/16 13:04:46 peter -## Fixed problem with more than one output (y vector). -## -## Revision 1.3 1996/08/16 06:36:03 peter -## Removed u from default arg list. -## -## Revision 1.2 1996/08/15 16:24:43 peter -## Uses T in place of t to avoid name clash within function. -## -## Revision 1.1 1996/08/15 11:56:38 peter -## Initial revision -## -############################################################### - -echo Creating $1_odess.dat2 -rm -f ode2odess_m.log - -Nx=`mtt_getsize $1 x` # States -Nxx=`mtt_getsize $1 xx` # States x States -Nu=`mtt_getsize $1 u` # Inputs -Ny=`mtt_getsize $1 y` # Inputs - -$MATRIX << EOF >ode2odess_m2dat2.log 2>mtt_error.txt - - global MTT_data # Where mtt_write puts its stuff - %Read in parameters - par = $1_numpar; - - %Read in simulation parameters - simpar=$1_simpar; - T = [0:simpar.dt:simpar.last]; - - t=0; %Just in case it appears in the parameter list. - - - %Defaults - if exist('T')==0 - T=[0:0.1:1] - end; - - if exist('x0')==0 - x0 = zeros($Nx,1); - end; - - [n,m]=size(T); - if m>n - T=T'; - end; - -global t; -function dx=f(x) - global t - par = $1_numpar; - u = $1_input(x,zeros($Ny,1),t,par); - dx = $1_ode(x,u,t,par);; -endfunction; - -x = x0; -for t=T' - u = $1_input(x,zeros($Ny,1),t,par); - x = fsolve('f',x); - y = $1_odeo(x,u,t,par); - mtt_write(t,x,y,$Nx,$Ny); # Write it out -end; - -save -ascii $1_odess.dat2 MTT_data - -EOF - -# Now invoke the standard error handling. -mtt_error mtt_error.txt - - - - - DELETED mttroot/mtt/bin/trans/ode2smx_lang Index: mttroot/mtt/bin/trans/ode2smx_lang ================================================================== --- mttroot/mtt/bin/trans/ode2smx_lang +++ /dev/null @@ -1,218 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: ode2smx_lang -# ODE to state matrix (with explicit state values) conversion -# P.J.Gawthrop 6th September 1991, May 1994, July 1998 -# Copyright (c) P.J.Gawthrop, 1991, 1994, 1998 - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.11 1998/11/26 10:32:34 peterg -## Include subs.r -## -## Revision 1.10 1998/11/17 17:10:22 peterg -## Read in the constitutive relationship file as well -## -## Revision 1.9 1998/08/27 07:06:25 peterg -## Just genrate xj once. -## -## Revision 1.8 1998/08/27 07:04:44 peterg -## Cleared out mttx array ans use mkid instead. -## -## Revision 1.7 1998/08/27 06:48:20 peterg -## Changed mttxx to mttx - in implicit integration smx is called once -## with x in the linearisation the same as x in the current state -## -## Revision 1.6 1998/08/26 18:25:45 peterg -## SMX now generates both A and Ax -## -## Revision 1.5 1998/08/15 13:51:56 peterg -## smx is now I-Adt NOT A -## -## Revision 1.4 1998/08/13 09:03:35 peterg -## *** empty log message *** -## -## Revision 1.3 1998/07/30 10:49:55 peterg -## Removed zeroing. -## -## Revision 1.2 1998/07/30 10:49:02 peterg -## Put [] round output of zeros. -## -## Revision 1.1 1998/07/19 16:59:56 peterg -## Initial revision -## -############################################################### - -# Language -if [ -n "$2" ]; then - lang=$2 -else - lang="r" -fi - - -# Inform user -echo Creating $1_smx.$lang -#echo Creating $1_smxx.$lang -#echo Creating $1_smxtx.$lang - -# Remove the old log file -rm -f ode2smx_r.log - -rm -f $1_smx.$lang -rm -f $1_smxx.$lang -rm -f $1_smxtx.$lang - -# Use reduce to accomplish the transformation -reduce << EOF >ode2smx_lang.log - -lang := $lang; - -in "$1_subs.r"; -in "$1_def.r"; -in "$1_ode.r"; -in "$1_cr.r"; - -clear mttx; % Dont need this now - use mkid instead - -OFF Echo; - -% Load the general translator package -LOAD GENTRAN; -GENTRANLANG!* := 'Pascal; -ON GENTRANSEG; -MAXEXPPRINTLEN!* := 80; -TEMPVARNUM!* := 1; -TEMPVARNAME!* := 'mtt_t; - -% Matrix output function -in"$MTTPATH/trans/lang_matrix.r"; - - -%Set up output according to the language. - OFF NAT; - GENTRANOUT "$1_smx.$lang"; - -% Set up output according to the language. - IF (lang = r) THEN - BEGIN - write "matrix mtta(", mttnx, ",", mttnx, ");"; - write "matrix mttb(", mttnx, ",", mttnu, ");"; - write "matrix mttc(", mttny, ",", mttnx, ");"; - write "matrix mttd(", mttny, ",", mttnu, ");"; - END; - -% find MTTA : the A matrix - FOR i := 1:MTTNx DO - BEGIN - mttAAx_i := 0; -%% xi := mkid(mttx,i); - FOR j := 1:MTTNx DO - BEGIN - xj := mkid(mttx,j); - a_ij := df(MTTdx(i,1), xj, 1); -%% a_ji := df(MTTdx(j,1), xi, 1); - IF i=j THEN - BEGIN - aa_ij := 1 - mttdt*a_ij; -%% aa_ji := aa_ij; - END - ELSE - BEGIN - aa_ij := -mttdt*a_ij; -%% aa_ji := -mttdt*a_ji; - END; - IF (aa_ij NEQ 0) THEN - GENTRAN mtta(i,j) ::=: aa_ij; - mttAAx_i := mttAAx_i + aa_ij*xj; - %%%mttAAtx(i,1) := mttAAtx(i,1) + aa_ji*mkid(mttx,j); - END; - IF (mttAAx_i NEQ 0) THEN - GENTRAN mttax(i) ::=: mttAAx_i; - END; - - - -%% Find MTTB : the B matrix -% FOR j := 1:MTTNu DO -% BEGIN -% uj := MTTU(j,1); -% FOR i := 1:MTTNx DO -% WriteElement("mttb",i,j,df(MTTdx(i,1), uj, 1)); -% END; -% -%% Find MTTC : the C matrix -% FOR i := 1:MTTNy DO -% FOR j := 1:MTTNx DO -% BEGIN -% xj := MTTX(j,1); -% WriteElement("mttc",i,j,df(MTTY(i,1), xj, 1)); -% END; -% -%% Find MTTD : the D matrix -% FOR i := 1:MTTNy DO -% FOR j := 1:MTTNu DO -% BEGIN -% xj := MTTU(j,1); -% WriteElement("mttd",i,j,df(MTTY(i,1), xj, 1)); -% END; - -%Shut the output according to the language. - GENTRANSHUT "$1_smx.$lang"; - - -%% The AAx matrix; -%GENTRANOUT "$1_smxx.$lang"; -%FOR i := 1:MTTNx DO -%BEGIN -% ax_i := mttAAx(i,1); -% IF (ax_i NEQ 0) THEN -% GENTRAN mttax(i) ::=: ax_i; -%END -%GENTRANSHUT "$1_smxx.$lang"; -% -%% The AAtx matrix; -%GENTRANOUT "$1_smxtx.$lang"; -%FOR i := 1:MTTNx DO -%BEGIN -% atx_i := mttAAtx(i,1); -% IF (atx_i NEQ 0) THEN -% GENTRAN mttax(i) ::=: atx_i; -%END -%GENTRANSHUT "$1_smxtx.$lang"; - -EOF - -if [ "$lang" = "m" ]; then - mv $1_smx.$lang mtt_junk -# lang_header $1 smx m 'mttx,mttu,mttdt' '[mtta,mttax]' > $1_smx.m - mtt_header $1 $2 m - cat mtt_junk | mtt_p2m >> $1_smx.m - rm -f mtt_junk - -# mv $1_smxx.$lang mtt_junk -# lang_header $1 smxx m 'mttx,mttu,mttxx,mttdt' '[mttax]' > $1_smxx.m -# cat mtt_junk | mtt_p2m >> $1_smxx.m -# rm -f mtt_junk -# -# mv $1_smxtx.$lang mtt_junk -# lang_header $1 smxtx m 'mttx,mttu,mttxx,mttdt' '[mttax]' > $1_smxtx.m -# cat mtt_junk | mtt_p2m >> $1_smxtx.m -# rm -f mtt_junk -# -# -fi - -# Now invoke the standard error handling. -mtt_error_r ode2smx_lang.log - - - - DELETED mttroot/mtt/bin/trans/ode_r2c Index: mttroot/mtt/bin/trans/ode_r2c ================================================================== --- mttroot/mtt/bin/trans/ode_r2c +++ /dev/null @@ -1,189 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: ode_r2c -# Reduce ordinary differential equations to c differential-algebraic -# equations - -# Euler integration of the state is included. - -# NB Arrays should be defined to be one larger than expected -# - the 0 element is not used. - -# Copyright (c) P.J.Gawthrop 1997. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.5 1997/05/01 13:50:55 peterg -## Replaced float by double. -## -# Revision 1.4 1997/05/01 13:44:19 peterg -# Changed double to float. -# -# Revision 1.3 1997/03/20 14:51:11 peterg -# Includes the sympar.c file. -# -# Revision 1.2 1997/01/21 22:57:17 peterg -# Various bug fixes. -# -## Revision 1.1 1997/01/21 10:52:23 peterg -## Initial revision -## -############################################################### - -# Inform user -echo Creating $1_ode.c - -# Remove the old files -rm -f $1_ode.c1 $1_ode.c2 $1_ode.c - -# Remove the old log file -rm -f ode_r2c.log - -# Use reduce to accomplish the transformation -reduce >ode_r2c.log << EOF - -%Read the reduce definitions file -in "$1_def.r"; - -%Set up the number of argument variables to zero in case the user has forgotten -MTTNVar := 0; - -%Read the symbolic parameters file -%%in "$1_sympar.r"; - -%Read the reduce state-space equations file -in "$1_ode.r"; - - -ON BigFloat, NumVal; -PRECISION 16; %Compatible with Matlab -%OFF Nat; - -ON NERO; % Suppress zero elements - - -%Generate the Header part -OUT "$1_ode.c1"; - -write "/*"$ -write "Differential algebraic eqns in c form for system $1"$ -write "NB Arrays should be defined to be one larger than expected"$ -write " - the 0 element is not used."$ - -write "File $1_ode.c"$ -write "Generated by MTT"$ -write "*/"$ -write " "$ - - -%Function heading - c style - -write "void $1_ode()"$ - -write " "$ -write "{"$ - -write "/* Declare standard arrays */"$ -write " extern double y[", MTTNy+1, "]; /* $1_ode output */"$ -write " extern double dx[", MTTNx+1, "]; /* $1_ode state derivative */"$ -write " extern double x[", MTTNx+1, "]; /* $1_ode state */"$ -write " extern double u[", MTTNu+1, "]; /* $1_ode input */"$ - -%Declare the dummy variables t0--t9 -write "/* Dummy variable list */ "$ -write " double t0;"$ -FOR i := 1:9 DO -BEGIN - write " double t", i, ";"$ -END$ - -%Declarations$ -write "/* State variable list */ "$ -FOR i := 1:MTTNx DO -BEGIN - write " double mttx", i, ";"$ -END$ - -write "/* Input variable list */ "$ -FOR i := 1:MTTNu DO -BEGIN - write " double mttu", i, ";"$ -END$ - -write "/* Counter */ "$ -write " int i;"$ - -write "/* Parameter list */ "$ -write "#include ", """$1_sympar.c"""$ - -write " "$ -write " /*====== Set up the state variables ======*/"$ -FOR i := 1:MTTNx DO -BEGIN - write " mttx", i, " = x[", i, "];"$ -END$ - -write " "$ -write " /*====== Set up the input variables ======*/"$ -IF MTTNu>0 THEN -BEGIN - FOR i := 1:MTTNu DO - BEGIN - write " mttu", i, " = u[", i, "];"$ - END$ -END$ - - -write " "$ -write " /*====== Compute the state derivative and output ======*/"$ - -SHUT "$1_ode.c1"; - -% Load the general translator package -LOAD GENTRAN; -GENTRANLANG!* := 'C; -ON GENTRANSEG; -MAXEXPPRINTLEN!* := 80; -ON DOUBLE; - -% let it know that sign is a function -GENTRAN DECLARE sign : function; -GENTRAN DECLARE r_switch : function; -GENTRAN DECLARE i_switch : function; - -GENTRANOUT "$1_ode.c2"; -%Do the translation -%State -IF MTTNx>0 THEN -BEGIN - FOR i := 1:MTTNx DO - BEGIN - GENTRAN dx(i) ::=: mttdx(i,1)$ - END -END$ - -%Output -IF MTTNy>0 THEN -BEGIN - FOR i := 1:MTTNy DO - BEGIN - GENTRAN y(i) ::=: mtty(i,1)$ - END -END$ - - -GENTRANSHUT "$1_ode.c2"; - -EOF - -echo '}' > $1_ode.c3 -cat $1_ode.c1 $1_ode.c2 $1_ode.c3> $1_ode.c - - DELETED mttroot/mtt/bin/trans/ode_r2lang Index: mttroot/mtt/bin/trans/ode_r2lang ================================================================== --- mttroot/mtt/bin/trans/ode_r2lang +++ /dev/null @@ -1,245 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: ode_r2lang -# Reduce ODE to general language ODE -# Based on obsolete ode_r2m -# P.J.Gawthrop 14 June 1991, 12 Jan 1994, April 1994, Jan 95, May 1998 -# Copyright (c) P.J.Gawthrop 1991, 1994, 1995, 1996, 1998 - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.3 1998/07/19 16:22:29 peterg -## Changed header to inculde mttu -## -## Revision 1.2 1998/06/21 10:40:58 peterg -## Added fsolve error message. -## -## Revision 1.1 1998/05/23 16:17:14 peterg -## Initial revision -## -############################################################### - -# Set up the language specific stuff -language=$2 - -case $language in - m) - ext='m'; - codegenerator='PASCAL' - Lc='#'; - Rc='#'; - Lb='('; - Rb=')'; - ;; - c) - ext='c'; - codegenerator='C' - Lc='/*'; - Rc='*/'; - Lb='['; - Rb=']'; - ;; - java) - ext='java'; - codegenerator='C' - Lc='/*'; - Rc='*/'; - Lb='['; - Rb=']'; - ;; - *) - echo Language $2 not supported - sorry; exit 1 -esac - -#Inform user -echo Creating $1_ode.$ext -echo Creating $1_odea.$ext -echo Creating $1_odeo.$ext - - -# Remove the old log file -rm -f ode_r2lang.log - -#Remove the temporary files -rm -f $1_ode.$ext.1 -rm -f $1_odea.$ext.1 -rm -f $1_odeo.$ext.1 - -# Use reduce to accomplish the transformation -$SYMBOLIC << EOF #>ode_r2lang.log - -%Read the reduce definitions file -in "$1_def.r"; - -%Read the reduce ODE file -in "$1_ode.r"; - - -% Set up the code generator -% Load the general translator package -LOAD GENTRAN; -GENTRANLANG!* := '$codegenerator; -ON GENTRANSEG; -MAXEXPPRINTLEN!* := 80; -TEMPVARNUM!* := 1; -TEMPVARNAME!* := 'mtt_temp; - -% Matrix output function -in"$MTTPATH/trans/lang_matrix.r"; - -%Set up the number of argument variables to zero in case the user has forgotten -MTTNVar := 0; - -%Read the parameter file -in "$1_sympar.r"; - -% The body of the ode function - GENTRANOUT "$1_ode.$ext.1"; - mtt_matrix := MTTdX$ - mtt_matrix_n := MTTNx$ - mtt_matrix_m := 1$ - mtt_matrix_name := 'MTTdX$ - lang_matrix()$ - GENTRANSHUT "$1_ode.$ext.1"; - -% The algebraic equations (if any) - GENTRANOUT "$1_odea.$ext.1"; - mtt_matrix := MTTYz$ - mtt_matrix_n := MTTNYz$ - mtt_matrix_m := 1$ - mtt_matrix_name := MTTYz$ - lang_matrix()$ - GENTRANSHUT "$1_odea.$ext.1"; - - -% Now do the y = g(x,t) function. -% The body of the odeo function - GENTRANOUT "$1_odeo.$ext.1"; - mtt_matrix := MTTy$ - mtt_matrix_n := MTTNy$ - mtt_matrix_m := 1$ - mtt_matrix_name := MTTy$ - lang_matrix()$ - GENTRANSHUT "$1_odeo.$ext.1"; - -EOF - -# Create the ode.$ext function -lang_header $1 ode $ext 'mttx,mttu,t' mttdx > $1_ode.$ext - -# Algebraic bits -$MATRIX -q <> $1_ode.$ext - %System structure - [nx,ny,nu,nz,nyz] = $1_def; -if nyz>0 - printf("global mttxx mttt;\n"); - printf("mttxx = mttx; mttt=t;\n"); - - printf("$Lc====== Extract the internal input variables ======$Rc\n"); - for i = 1:nyz - printf(" mttui$Lb%i$Rb = mttx$Lb%i$Rb;\n",i,i+nx); - end; - printf("\n"); - - printf("[mttui,info] = fsolve('$1_odea',mttui);\n"); - printf("if (info!=1)\n"); - printf(" error('fsolve has not converged')\n"); - printf("end\n"); - printf("\n"); - - printf("$Lc====== Set up the internal input variables ======$Rc\n"); - for i = 1:nyz - printf(" mttui%i = mttui$Lb%i$Rb;\n",i,i); - end; - printf("\n"); - - printf("$Lc====== Put internal input variables at end of state derivative ======$Rc\n"); - for i = 1:nyz - printf(" mttdx$Lb%i$Rb = mttui%i;\n",i+nx,i); - end; - printf("\n"); -end; - -EOF - -cat <> $1_ode.$ext - -$Lc The differential equations $Rc -EOF - -sed 's/mtt_matrix/mttdx/' $1_ode.$ext.1 >> $1_ode.$ext - -# Java terminating } -if [ "$language" = "java" ]; then -cat <> $1_ode.$ext -} -EOF -fi - - -# Create the odea.$ext function -lang_header $1 odea $ext 'mttui' mttyz 'global mttxx mttt; mttx = mttxx; t=mttt;' > $1_odea.$ext - -$MATRIX -q <> $1_odea.$ext - %System structure - [nx,ny,nu,nz,nyz] = $1_def; -if nyz>0 - printf("$Lc====== Set up the internal input variables ======$Rc\n"); - for i = 1:nyz - printf(" mttui%i = mttui$Lb%i$Rb;\n",i,i); - end; - printf("\n"); -end; -EOF - -cat <> $1_odea.$ext - -% The algebraic equations -EOF -sed 's/mtt_matrix/mttyz/' $1_odea.$ext.1 >> $1_odea.$ext - - -# Create the odeo.$ext function -lang_header $1 odeo $ext 'mttx,mttu,t' mtty > $1_odeo.$ext - -$MATRIX -q <> $1_odeo.$ext - %System structure - [nx,ny,nu,nz,nyz] = $1_def; -if nyz>0 - printf("$Lc====== Extract the internal input variables ======$Rc\n"); - for i = 1:nyz - printf(" mttui$Lb%i$Rb = mttx$Lb%i$Rb;\n",i,i+nx); - end; - printf("\n"); - - printf("$Lc====== Set up the internal input variables ======$Rc\n"); - for i = 1:nyz - printf(" mttui%i = mttui$Lb%i$Rb;\n",i,i); - end; - printf("\n"); -end; - -EOF - - -cat <> $1_odeo.$ext - -% The output equations -EOF -sed 's/mtt_matrix/mtty/' $1_odeo.$ext.1 >> $1_odeo.$ext - -# Convert from Pascal syntax to Octave syntax -mv $1_ode.m mtt_junk; mtt_p2m $1_ode.m -mv $1_odeo.m mtt_junk; mtt_p2m $1_odeo.m -mv $1_odea.m mtt_junk; mtt_p2m $1_odea.m - - - - DELETED mttroot/mtt/bin/trans/ode_r2m Index: mttroot/mtt/bin/trans/ode_r2m ================================================================== --- mttroot/mtt/bin/trans/ode_r2m +++ /dev/null @@ -1,314 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: ode_r2m -# Reduce ODE to matlab ODE -# P.J.Gawthrop 14 June 1991, 12 Jan 1994, April 1994, Jan 95. -# Copyright (c) P.J.Gawthrop 1991, 1994, 1995, 1996 - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.13 1998/05/21 16:19:54 peterg -## Modified to include explicit algebraic loop solution -## -## Revision 1.12 1998/05/21 12:55:48 peterg -## Put in algebraic equation stuff -## -## Revision 1.11 1998/05/21 08:05:23 peterg -## Back under RCS -## -## Revision 1.10 1998/04/14 07:25:02 peterg -## _input now has arguments (x,t) -## -## Revision 1.9 1998/03/30 14:18:07 peterg -## Removed NERO command -## -## Revision 1.8 1998/02/25 18:03:49 peterg -## Removed the argument reading bits. -## -## Revision 1.7 1997/08/29 07:58:17 peterg -## Changed MTT to mtt in the .m files. -## -# Revision 1.6 1997/01/05 19:34:35 peterg -# Don't write globals which are already assigned to a number. -# -## Revision 1.5 1996/09/13 19:41:39 peter -## *** empty log message *** -## -## Revision 1.4 1996/09/12 18:33:32 peter -## Put back under rcs -## -## Revision 1.3 1996/08/30 11:04:28 peter -## Changed line length to 500. -## -## Revision 1.2 1996/08/24 14:09:41 peter -## Global parameter passing. -## -## Revision 1.1 1996/08/18 12:03:49 peter -## Initial revision -## -############################################################### - -#Inform user -echo Creating $1_ode.m -echo Creating $1_odea.m -echo Creating $1_odeo.m - - -# Remove the old log file -rm -f ode_r2m.log - -#Remove the temporary files -rm -f $1_ode.mc -rm -f $1_ode.m1 -rm -f $1_ode.m2 -rm -f $1_ode.m3 -rm -f $1_ode.m4 -rm -f $1_odea.m1; -rm -f $1_odeo.m1; - -# Use reduce to accomplish the transformation -reduce >ode_r2m.log << EOF - -%Read the reduce definitions file -in "$1_def.r"; - -%Read the reduce ODE file -in "$1_ode.r"; - -% Matrix output function -in"$MTTPATH/trans/matlab_matrix.r"; - - -%Set up the number of argument variables to zero in case the user has forgotten -MTTNVar := 0; - -%Read the parameter file -in "$1_sympar.r"; - -%ON NERO; % Suppress zero elements - -%Define the common part of the functions. - -PROCEDURE common; -BEGIN - write "% Read in the input"; - write "u = $1_input(x,t)"; - - write "% Read in the definitions"; - write "[nx,ny,nu,nz,nyz] = $1_def"; - -% write "% Read in the arguments"; -% write "$1_args"; - - write "% Set up the State variables"; - FOR i := 1:MTTNx DO - BEGIN - write "mttx", i, " = x(", i, ");"; - END; - - write "% Set up the Input variables"; - IF MTTNu>0 THEN - FOR i := 1:MTTNu DO - BEGIN - write "mttu", i, " = u(", i, ");"; - END; - -END; - -% The common part -OUT "$1_ode.mc"; -common(); -SHUT "$1_ode.mc"; - -% Set up internal inputs (if any) -OUT "$1_ode.m3"; - write "% Set up the Internal Input variables"; - IF MTTNyz>0 THEN - FOR i := 1:MTTNyz DO - BEGIN - write "mttui", i, " = mttui(", i, ");"; - END; -SHUT "$1_ode.m3"; - -OUT "$1_ode.m4"; - write "% Set up the Internal Input variables (saved in the state vector)"; - IF MTTNyz>0 THEN - FOR i := 1:MTTNyz DO - BEGIN - write "mttui(", i, ") = x(", i+MTTNx, ");"; - END; -SHUT "$1_ode.m4"; - -% The body of the ode function - GENTRANOUT "$1_ode.m1"; - mtt_matrix := MTTdX$ - mtt_matrix_n := MTTNx$ - mtt_matrix_m := 1$ - mtt_matrix_name := MTTdX$ - matlab_matrix(); - GENTRAN MTTdx := mtt_matrix; - GENTRANSHUT "$1_ode.m1"; - -% The algebraic equations (if any) - GENTRANOUT "$1_odea.m1"; - mtt_matrix := MTTYz$ - mtt_matrix_n := MTTNYz$ - mtt_matrix_m := 1$ - mtt_matrix_name := MTTYz$ - matlab_matrix(); - GENTRAN MTTYz := mtt_matrix; - GENTRANSHUT "$1_odea.m1"; - - -%Fortran switches - one line expressions -OFF echo; -ON fort$ -cardno!* := 1$ -fortwidth!* := 10000$ -OFF period$ - -MTTdx := MTTdx; - - -SHUT "$1_ode.m"; - -OUT "$1_odea.m"; -write "function zero = $1_odea(x,t);"; -write "% zero = $1_odea(x,t);"; -write "%Algebraic equations in octave form for system $1;;"; -write "%File $1_odea.m;;"; -write "%Generated by MTT;;"; - -%Write algebraic equations if any ... -zero := MTTYz; -SHUT "$1_odea.m"; - -% Now do the y = g(x,t) function. -% The body of the odeo function - GENTRANOUT "$1_odeo.m1"; - mtt_matrix := MTTy$ - mtt_matrix_n := MTTNy$ - mtt_matrix_m := 1$ - mtt_matrix_name := MTTy$ - matlab_matrix(); - GENTRAN MTTy := mtt_matrix; - GENTRANSHUT "$1_odeo.m1"; - - -EOF - -# Create the ode.m function -cat < $1_ode.m -function mttdx = $1_ode(x,t); -% mttdx = $1_ode(x,t); -%ODE in Octave form for system $1; -%File $1_ode.m; -%Generated by MTT on `date`; -EOF - -# Create the globals -sympar2global_txt2m $1 >> $1_ode.m - -#Common bit -cat $1_ode.mc >> $1_ode.m - -#Extract internal input from state vector -cat $1_ode.m4 >> $1_ode.m - -cat <> $1_ode.m -% Solve the algebraic equations (if any) -if nyz>0 - global xx tt; - xx = x; tt=t; - MTTui = fsolve('$1_odea',mttui); -else - mttui = []; -end -EOF - -cat $1_ode.m3 >> $1_ode.m - -cat <> $1_ode.m - -% The differential equations -EOF -cat $1_ode.m1 >> $1_ode.m - -cat <> $1_ode.m - -% Append the internal inputs to the state derivative -mttdx = [mttdx; mttui]; -EOF - - -# Create the odea.m function -cat < $1_odea.m -function mttyz = $1_odea(mttui); -% mttyz = $1_odea(mttui); -%Algebraic equations in Octave form for system $1; -%File $1_odea.m; -%Generated by mtt on `date`; -EOF - -# Create the globals -sympar2global_txt2m $1 >> $1_odea.m - -cat <> $1_odea.m - -global xx tt; -x = xx; t=tt; -EOF - -#Common bit -cat $1_ode.mc >> $1_odea.m - -# Internal inputs -cat $1_ode.m3 >> $1_odea.m - -cat <> $1_odea.m - -% The algebraic equations -EOF -cat $1_odea.m1 >> $1_odea.m - -# Create the odeo.m function -cat < $1_odeo.m -function mtty = $1_odeo(x,t); -% mtty = $1_odeo(x,t); -%Algebraic equations in Octave form for system $1; -%File $1_odeo.m; -%Generated by MTT on `date`; -EOF - -# Create the globals -sympar2global_txt2m $1 >> $1_odeo.m - - -#Common bit -cat $1_ode.mc >> $1_odeo.m - -#Extract internal input from state vector -cat $1_ode.m4 >> $1_odeo.m - -# Internal inputs -cat $1_ode.m3 >> $1_odeo.m - -cat <> $1_odeo.m - -% The output equations -EOF -cat $1_odeo.m1 >> $1_odeo.m - - - - - - - DELETED mttroot/mtt/bin/trans/ode_r2tex Index: mttroot/mtt/bin/trans/ode_r2tex ================================================================== --- mttroot/mtt/bin/trans/ode_r2tex +++ /dev/null @@ -1,121 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: ode_r2tex -# Reduce differential-algebraic to LaTex differential-algebraic equations. -# P.J.Gawthrop 10th May 1991, April 1994 -# Copyright (c) P.J.Gawthrop, 1991, 1994, 1996. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.3 1998/01/23 15:51:01 peterg -## Repleace eqnarray by equation + aligned -- this works with Latex2html -## -## Revision 1.2 1996/12/20 08:59:10 peterg -## Now writes out mtti instead of mtt_{i} -- lets latex_tidy do the -## conversion. -## -## Revision 1.1 1996/12/20 08:53:57 peterg -## Initial revision -## -############################################################### - -# Inform user -echo Creating $1_ode.tex - -# Remove the old log file -rm -f ode_r2tex.log - -# Use reduce to accomplish the transformation -reduce >ode_r2tex.log << EOF - -%Read the definitions file -in "$1_def.r"; - -%Read the differential-algebraic equations file -in "$1_ode.r"; - -%Read the symbolic parameter file -%%in "$1_sympar.r"; - - - -OFF Echo; -OFF Nat; - -%Read the substitution file -IN "$1_subs.r"; - -%Read the simplifying expressions file -IN "$1_simp.r"; - -OUT "$1_ode.tex"; - -%Write out the differential-algebraic equations. - -write "%File: $1_ode.tex"; - -write "%ordinary differential equations"; -write "% Generated by MTT"; - -IF MTTNx>0 THEN -BEGIN - write"\begin{equation} \label{eq_$1_ode_x}"; - write"\begin{aligned}"; - FOR Row := 1:MTTNx DO - BEGIN - write "\dot MTTX", Row, " &= "; - write "{"; - write MTTdx(Row,1); - write "}"; - IF Row0 THEN -BEGIN - write"\begin{equation}"; - write"\begin{aligned}"; -FOR Row := 1:MTTNyz DO - BEGIN - write "0 &= "; - write "{"; - write MTTyz(Row,1); - write "}"; - IF Row0 THEN -BEGIN - write"\begin{equation} \label{eq_$1_ode_y}"; - write"\begin{aligned}"; - FOR Row := 1:MTTNy DO - BEGIN - write "MTTy", Row, " &= "; - write "{"; - write MTTy(Row,1); - write "}"; - IF Row $1_odes.sdat - DELETED mttroot/mtt/bin/trans/odeso_dat2sdat Index: mttroot/mtt/bin/trans/odeso_dat2sdat ================================================================== --- mttroot/mtt/bin/trans/odeso_dat2sdat +++ /dev/null @@ -1,29 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: odeso_dat2sdat - -# Structure file - dat to sdat conversion -# P.J.Gawthrop April 1997 -# Copyright (c) P.J.Gawthrop, 1997. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.1 1999/03/28 21:29:40 peterg -## Initial revision -## -############################################################### - - - -# Inform user -echo "Creating $1_odeso.sdat" - -dat2sdat $1 odeso | dat2siag > $1_odeso.sdat - DELETED mttroot/mtt/bin/trans/p/README Index: mttroot/mtt/bin/trans/p/README ================================================================== --- mttroot/mtt/bin/trans/p/README +++ /dev/null @@ -1,113 +0,0 @@ -Some of the files in this directory are derived from the NUMERICAL -RECIPES PASCAL SHAREWARE DISKETTE. Please note that any use of these -filse may be subject to the following notice: - - - NUMERICAL RECIPES PASCAL SHAREWARE DISKETTE - -The entire contents of this diskette are -Copyright (C) 1986 by Numerical Recipes Software. - -HERE ARE ANSWERS TO YOUR IMMEDIATE QUESTIONS: - -** What is this diskette? ** This NUMERICAL RECIPES PASCAL SHAREWARE -DISKETTE contains Pascal procedures originally published as the Pascal -Appendix to the FORTRAN book NUMERICAL RECIPES: THE ART OF SCIENTIFIC -COMPUTING (Cambridge University Press, 1986), and test driver programs -originally published as the NUMERICAL RECIPES EXAMPLE BOOK (PASCAL) -(Cambridge University Press, 1986). - -** What kinds of procedures are these Numerical Recipes? ** They are -practically a complete library for scientific computation. Numbering -more than 200, their scope includes integration, linear algebra, -differential equations, Fourier methods, data analysis, statistics, -lots of special functions, random numbers, sorting, root finding, -optimization, and much more. - -** Do I really get this whole library for FREE? ** Yes, providing that -you follow these simple rules: (1) You must read and accept the -disclaimer of warranty at the end of this document. (2) You must not -expect any user support from Numerical Recipes Software, Cambridge -University Press, or the authors of the Numerical Recipes books. (3) -You must not copy or redistribute any of the programs or procedures -for commercial purposes. You CAN make copies of the programs for your -friends and colleagues, providing that you include this file -(especially its copyright notice and disclaimer of warranty) with any -copy that you make. - -** What's the catch, then? ** None at all. Many thousands of -satisfied users paid more than $20 to purchase exactly the programs on -this disk, which were sold by Cambridge University Press (C.U.P.) -between 1986 and 1989. C.U.P. now sells a revised version of the -Numerical Recipes program library, whose Pascal style is much -improved, but whose basic algorithmic workings are identical to this -disk. Rather than let the older version go to waste, its authors -decided to make it available to the shareware community of users. - -** How can I figure out what the procedures do? ** One way is to read -the brief descriptions of all the programs in the file NRINFO.DOC. A -better way is to look at the book Numerical Recipes: The Art of -Scientific Computing in any one of its three editions (FORTRAN, -Pascal, or C). If you don't want to buy this book from Cambridge -University Press (see the file NRINFO.DOC), you can find it in -libraries. Or, take a pencil and a small piece of paper into a -bookstore that carries the book and take notes on which programs you -might find interesting. - -** How do I figure out how to use the procedures? ** Again, you have -several options. All the procedures (named *.PAS) come with -demonstration programs (named *.DEM). These demonstration programs -are included on this shareware diskette. (When sold, they are sold as -a separate diskette.) Usually you can figure out how to use a -procedure by figuring out its .DEM program. Another way is to look at -the Numerical Recipes book in a library or bookstore. - -** Aren't you just trying to get me to buy the book? ** Think of it -this way: Most shareware comes with the requirement that if you use it -more than casually, you are required to become a registered user and -pay a fee. We are not requiring any fee at all. We think that you -will be able to use MOST of the procedures on this diskette without -the Numerical Recipes book. If you become a more-than-casual user, or -if you look at the book in a bookstore, we are betting that you will -WANT to buy it, and perhaps then want to purchase the revised and -improved versions of the programs, also. But it is completely up to -you. - -** OK, what if I do want to get the book? ** Call Cambridge University -Press at their toll-free number, 800-872-7423. (In New York call -800-227-0247 or 914-937-9600.) Ask for "Numerical Recipes in Pascal", -ISBN number 0-521-37516-9. We think you'll like it. (Over 100,000 -copies of the book are in print, in FORTRAN, Pascal, and C.) - -** What are the files on this diskette? ** All the procedures, in -Pascal source code, are in the ZIP file NRPAS13.ZIP. You use -PKUNZIP.EXE to decompress them. (For info just execute PKUNZIP with -no command line arguments.) All the demonstration programs are -similarly in NRPEX10.ZIP (PEX means Pascal EXamples). Some data files -used by the procedures and demonstrations programs are in NRPDATA.ZIP. -The files NRPAS13.LST and NRPEX10.LST each list the names of the files -in their corresponding ZIP file. The short file MODFILE.PAS is used -by many of the procedures to customize to your particular variety of -Pascal compiler; feel free to modify it, if you need to. The file -NRINFO.DOC tells about the book Numerical Recipes in Pascal and gives -a brief description of all the procedures. The file you are now -reading is NRREADME.DOC. - -Good luck, and happy number-crunching! - - DISCLAIMER OF WARRANTY - ---------- -- -------- -THE PROGRAMS AND PROCEDURES ON THIS DISKETTE ARE PROVIDED "AS IS" -WITHOUT WARRANTY OF ANY KIND. WE MAKE NO WARRANTIES, EXPRESS OR -IMPLIED, THAT THE PROGRAMS AND PROCEDURES ARE FREE OF ERROR, OR ARE -CONSISTENT WITH ANY PARTICULAR STANDARD OF MERCHANTABILITY, OR THAT -THEY WILL MEET YOUR REQUIREMENTS FOR ANY PARTICULAR APPLICATION. THEY -SHOULD NOT BE RELIED ON FOR SOLVING A PROBLEM WHOSE INCORRECT SOLUTION -COULD RESULT IN INJURY TO A PERSON OR LOSS OF PROPERTY. IF YOU DO USE -THE PROGRAMS OR PROCEDURES IN SUCH A MANNER, IT IS AT YOUR OWN RISK. -THE AUTHORS AND PUBLISHER DISCLAIM ALL LIABILITY FOR DIRECT, -INCIDENTAL, OR CONSEQUENTIAL DAMAGES RESULTING FROM YOUR USE OF THE -PROGRAMS OR PROCEDURES ON THIS DISKETTE. ANY LIABILITY OF THE PERSON -OR PERSONS FROM WHOM YOU DIRECTLY OR INDIRECTLY OBTAINED THIS DISKETTE -WILL BE LIMITED EXCLUSIVELY TO PRODUCT REPLACEMENT OF DISKETTES WITH -MANUFACTURING DEFECTS. DELETED mttroot/mtt/bin/trans/p/mtt_euler.p Index: mttroot/mtt/bin/trans/p/mtt_euler.p ================================================================== --- mttroot/mtt/bin/trans/p/mtt_euler.p +++ /dev/null @@ -1,16 +0,0 @@ -PROCEDURE mtt_euler(VAR x_out, x,dx : StateVector; - dt : REAL; - Nx : INTEGER; - Open : StateVector); - -VAR i : INTEGER; - -BEGIN{mtt_euler} - FOR i := 1 TO Nx DO - BEGIN - IF Open[i]>0.5 THEN{Open switch} - x_out[i] := 0.0 - ELSE - x_out[i] := x[i] + dx[i]*dt; - END; -END;{mtt_euler} DELETED mttroot/mtt/bin/trans/p/mtt_getargs.p Index: mttroot/mtt/bin/trans/p/mtt_getargs.p ================================================================== --- mttroot/mtt/bin/trans/p/mtt_getargs.p +++ /dev/null @@ -1,26 +0,0 @@ -{ Substitute for p2c PASCAL_MAIN - Copies pogramme arguments in to mtt_parameters array - This c code is embedded in a pascal routine in a p2c compatible way -} - -{EMBED -Static Void PASCAL_MAIN(argc, argv) -int argc; -char *argv[]; - -\[ - int i; - mttnpar = argc-1; - if (mttnpar>0) \[ - for (i=0;i 0) THEN BEGIN - FOR j := ii TO i-1 DO BEGIN - sum := sum-a[i,j]*b[j] - END - END ELSE IF (sum <> 0.0) THEN BEGIN - ii := i - END; - b[i] := sum - END; - FOR i := n DOWNTO 1 DO BEGIN - sum := b[i]; - IF (i < n) THEN BEGIN - FOR j := i+1 TO n DO BEGIN - sum := sum-a[i,j]*b[j] - END - END; - b[i] := sum/a[i,i] - END -END; DELETED mttroot/mtt/bin/trans/p/mtt_ludcmp.p Index: mttroot/mtt/bin/trans/p/mtt_ludcmp.p ================================================================== --- mttroot/mtt/bin/trans/p/mtt_ludcmp.p +++ /dev/null @@ -1,84 +0,0 @@ -PROCEDURE mtt_ludcmp(VAR a: StateMatrix; n: integer; - VAR indx: StateVector; VAR d: real); - -{ This file is derived from the NUMERICAL RECIPES PASCAL SHAREWARE DISKETTE. - Please read the README file in $MTTPATH/trans/p - } - -{ -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.1 1998/08/14 07:58:13 peterg -## Initial revision -## -############################################################### -} - -(* Programs using LUDCMP must define the types -TYPE - glnpbynp = ARRAY [1..np,1..np] OF real; - glnarray = ARRAY [1..n] OF real; - glindx = ARRAY [1..n] OF integer; -in the main routine. *) - -CONST - tiny=1.0e-20; - -VAR - k,j,imax,i: integer; - sum,dum,big: real; - vv: glnarray; - -BEGIN - d := 1.0; - FOR i := 1 TO n DO BEGIN - big := 0.0; - FOR j := 1 TO n DO IF (abs(a[i,j]) > big) THEN big := abs(a[i,j]); - IF (big = 0.0) THEN BEGIN - writeln('pause in LUDCMP - singular matrix'); readln - END; - vv[i] := 1.0/big - END; - FOR j := 1 TO n DO BEGIN - FOR i := 1 TO j-1 DO BEGIN - sum := a[i,j]; - FOR k := 1 TO i-1 DO BEGIN - sum := sum-a[i,k]*a[k,j] - END; - a[i,j] := sum - END; - big := 0.0; - FOR i := j TO n DO BEGIN - sum := a[i,j]; - FOR k := 1 TO j-1 DO BEGIN - sum := sum-a[i,k]*a[k,j] - END; - a[i,j] := sum; - dum := vv[i]*abs(sum); - IF (dum > big) THEN BEGIN - big := dum; - imax := i - END - END; - IF (j <> imax) THEN BEGIN - FOR k := 1 TO n DO BEGIN - dum := a[imax,k]; - a[imax,k] := a[j,k]; - a[j,k] := dum - END; - d := -d; - vv[imax] := vv[j] - END; - indx[j] := imax; - IF (a[j,j] = 0.0) THEN a[j,j] := tiny; - IF (j <> n) THEN BEGIN - dum := 1.0/a[j,j]; - FOR i := j+1 TO n DO BEGIN - a[i,j] := a[i,j]*dum - END - END - END; -END; DELETED mttroot/mtt/bin/trans/p/mtt_par_update.p Index: mttroot/mtt/bin/trans/p/mtt_par_update.p ================================================================== --- mttroot/mtt/bin/trans/p/mtt_par_update.p +++ /dev/null @@ -1,49 +0,0 @@ -PROCEDURE mtt_numpar_update(VAR new_numpar : ParameterVector; - old_numpar : ParameterVector); -VAR i : INTEGER; - -BEGIN {mtt_numpar_update} - - for i:=1 TO MTT_Npar DO {copy values} - new_numpar[i] := old_numpar[i]; - - WHILE NOT eof(numparfile) DO {read and update values} - IF NOT (numparfile^ = chr("#")) THEN - BEGIN - read(numparfile,i); read(numparfile,new_numpar[i]); - END - ELSE - readln(numparfile); - -END {mtt_numpar_update}; - -PROCEDURE mtt_state_update(VAR new_state : StateVector; - old_state : StateVector); - -VAR i : INTEGER; - -BEGIN {mtt_state_update} - - for i:=1 TO MTT_Nx DO {copy values} - new_state[i] := old_state[i]; - - WHILE NOT eof(statefile) DO {read and update values} - IF NOT (statefile^ = chr("#")) THEN - BEGIN - read(statefile,i); read(statefile,new_state[i]); - END - ELSE - readln(statefile); - -END {mtt_state_update}; - -PROCEDURE mtt_simpar_update(VAR dt : REAL); -BEGIN {mtt_simpar_update} - - WHILE NOT eof(simparfile) DO {read and update values} - BEGIN - IF NOT (simparfile^ = chr("#")) THEN - read(simparfile,dt); - readln(simparfile); - END -END {mtt_simpar_update}; DELETED mttroot/mtt/bin/trans/p/mtt_solve.p Index: mttroot/mtt/bin/trans/p/mtt_solve.p ================================================================== --- mttroot/mtt/bin/trans/p/mtt_solve.p +++ /dev/null @@ -1,38 +0,0 @@ -PROCEDURE mtt_solve(VAR x : StateVector; - A : StateMatrix; - B : StateVector; - n : integer); - -{ - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% % Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% % $Id$ -% % $Log$ -% % Revision 1.3 1999/10/26 23:44:36 peterg -% % Now packages up mtt_solve_lud OR mtt_solve_svd -% % -% % Revision 1.2 1998/08/14 12:09:13 peterg -% % A passed by value - its destroyed by SVDcm -% % -% % Revision 1.1 1998/08/13 08:51:57 peterg -% % Initial revision -% % -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - } - -VAR - i : integer; - wmax,wmin : real; - w : StateVector ; - v : StateMatrix; - - -(*$I $MTTPATH/trans/p/mtt_solve_lud.p *) -(* I $MTTPATH/trans/p/mtt_solve_svd.p *) - -BEGIN{mtt_solve} - mtt_solve_lud(x,A,B,N); - (*** mtt_solve_svd(x,A,B,N); ***) -END{mtt_solve}; DELETED mttroot/mtt/bin/trans/p/mtt_solve_lu.p Index: mttroot/mtt/bin/trans/p/mtt_solve_lu.p ================================================================== --- mttroot/mtt/bin/trans/p/mtt_solve_lu.p +++ /dev/null @@ -1,54 +0,0 @@ -PROCEDURE mtt_solve_lu.p(VAR x : StateVector; - A : StateMatrix; - VAR B : StateVector; - n : integer; - Small : real); - -{ -Linear equation solution via LU factorisation} - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% % Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% % $Id$ -% % $Log$ -% % Revision 1.2 1998/08/14 12:09:13 peterg -% % A passed by value - its destroyed by SVDcm -% % -% % Revision 1.1 1998/08/13 08:51:57 peterg -% % Initial revision -% % -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - } - -VAR - i : integer; - wmax,wmin : real; - w : StateVector ; - v : StateMatrix; - -(*$I svdcmp.p *) -(*$I svbksb.p *) - -BEGIN{mtt_solve} -(* decompose matrix A using SVD *) - svdcmp(A,n,n,w,v); - -(* find maximum singular value *) - wmax := 0.0; - FOR i := 1 to n DO BEGIN - IF (w[i] > wmax) THEN wmax := w[i] - END; - -(* define "small" *) - wmin := wmax*Small; - -(* zero the "small" singular values *) - FOR i := 1 to n DO BEGIN - IF (w[i] < wmin) THEN w[i] := 0.0 - END; - -(* backsubstitute for B *) - svbksb(A,w,v,n,n,B,x); - -END{mtt_solve}; DELETED mttroot/mtt/bin/trans/p/mtt_solve_lud.p Index: mttroot/mtt/bin/trans/p/mtt_solve_lud.p ================================================================== --- mttroot/mtt/bin/trans/p/mtt_solve_lud.p +++ /dev/null @@ -1,61 +0,0 @@ -PROCEDURE mtt_solve_lud(VAR x : StateVector; - A : StateMatrix; - B : StateVector; - n : integer); - -{ -Linear equation solution via LU factorisation - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% % Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% % $Id$ -% % $Log$ -% % Revision 1.3 1999/10/26 23:37:20 peterg -% % Put include files here. -% % -% % Revision 1.2 1998/08/17 15:56:10 peterg -% % Uses LU decomposition - much faster than SVD when N>100 -% % -% % Revision 1.1 1998/08/17 12:52:16 peterg -% % Initial revision -% % -% % Revision 1.1 1998/08/17 12:41:37 peterg -% % Initial revision -% % -% % Revision 1.2 1998/08/14 12:09:13 peterg -% % A passed by value - its destroyed by SVDcm -% % -% % Revision 1.1 1998/08/13 08:51:57 peterg -% % Initial revision -% % -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - } - -VAR - i : integer; - d : real; - Index : StateVector; - - -(*$I $MTTPATH/trans/p/mtt_ludcmp.p *) -(*$I $MTTPATH/trans/p/mtt_lubksb.p *) - -BEGIN{mtt_solve_lud} - (* decompose matrix A using LU decomposition *) - mtt_ludcmp(A,n,Index,d); - - (* backsubstitute for B *) - mtt_lubksb(A,n,Index,B); - - (* x now lives in B *) - FOR i := 1 TO n DO - x[i] := B[i]; - -END{mtt_solve_lud}; - - - - - - DELETED mttroot/mtt/bin/trans/p/mtt_solve_svd.p Index: mttroot/mtt/bin/trans/p/mtt_solve_svd.p ================================================================== --- mttroot/mtt/bin/trans/p/mtt_solve_svd.p +++ /dev/null @@ -1,63 +0,0 @@ -PROCEDURE mtt_solve_svd(VAR x : StateVector; - A : StateMatrix; - VAR B : StateVector; - n : integer); - -{Solve linear equation via svd} - -{ - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% % Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% % $Id$ -% % $Log$ -% % Revision 1.2 1998/08/17 12:40:25 peterg -% % Renamed mtt_solve to mtt_solve_svd -% % -- now also have mtt_solve_lu -% % -% % Revision 1.1 1998/08/17 12:38:52 peterg -% % Initial revision -% % -% % Revision 1.2 1998/08/14 12:09:13 peterg -% % A passed by value - its destroyed by SVDcm -% % -% % Revision 1.1 1998/08/13 08:51:57 peterg -% % Initial revision -% % -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - } - -CONST - Small = 1e-6; (* Criteroion for small svd *) -VAR - i : integer; - wmax,wmin : real; - w : StateVector ; - v : StateMatrix; - -(*$I svdcmp.p *) -(*$I svbksb.p *) - -BEGIN{mtt_solve} -(* decompose matrix A using SVD *) - svdcmp(A,n,n,w,v); - -(* find maximum singular value *) - wmax := 0.0; - FOR i := 1 to n DO BEGIN - IF (w[i] > wmax) THEN wmax := w[i] - END; - -(* define "small" *) - wmin := wmax*Small; - -(* zero the "small" singular values *) - FOR i := 1 to n DO BEGIN - IF (w[i] < wmin) THEN w[i] := 0.0 - END; - -(* backsubstitute for B *) - svbksb(A,w,v,n,n,B,x); - -END{mtt_solve}; DELETED mttroot/mtt/bin/trans/p/mtt_sparse.p Index: mttroot/mtt/bin/trans/p/mtt_sparse.p ================================================================== --- mttroot/mtt/bin/trans/p/mtt_sparse.p +++ /dev/null @@ -1,92 +0,0 @@ -PROCEDURE mtt_sparse( b : glnarray; - n,iters : INTEGER; - VAR x : glnarray); - -{ This file is derived from the NUMERICAL RECIPES PASCAL SHAREWARE DISKETTE. - Please read the README file in $MTTPATH/trans/p - } -{* -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.5 1998/08/15 13:49:19 peterg -## iters now passed as an argument. -## -## Revision 1.4 1998/08/15 09:33:25 peterg -## Deleted the commented out stuff -## -## Revision 1.3 1998/08/15 09:30:05 peterg -## Commented out the cariabel iteration stuff -## -## Revision 1.2 1998/08/15 08:26:30 peterg -## This is variable interations version - now going on to fixed -## iterations -## -## Revision 1.1 1998/08/13 14:58:35 peterg -## Initial revision -## -## Revision 1.1 1998/08/13 08:40:40 peterg -## Initial revision -## -############################################################### -*} - -(* Programs using routine SPARSE must define the type -TYPE - glnarray = ARRAY [1..n] OF real; -in the main routine. They must also provide two routines, -PROCEDURE asub(x: glnarray; VAR y: glnarray; n: integer); -and -PROCEDURE atsub(x: glnarray; VAR z: glnarray; n: integer); -which calculate A*x and (A transpose)*x *) - -VAR - j,iter,irst: integer; - rp,gg,gam,eps2,dgg,bsq,anum,aden: real; - g,h,xi,xj: glnarray; - -BEGIN {mtt_sparse} - mtt_asub(x,xi,n); - rp := 0.0; - bsq := 0.0; - FOR j := 1 TO n DO BEGIN - xi[j] := xi[j]-b[j]; - END; - mtt_atsub(xi,g,n); - FOR j := 1 TO n DO BEGIN - g[j] := -g[j]; - h[j] := g[j] - END; - FOR iter := 1 TO iters DO BEGIN - mtt_asub(h,xi,n); - anum := 0.0; - aden := 0.0; - FOR j := 1 TO n DO BEGIN - anum := anum+g[j]*h[j]; - aden := aden+sqr(xi[j]) - END; - anum := anum/aden; - FOR j := 1 TO n DO BEGIN - xi[j] := x[j]; - x[j] := x[j]+anum*h[j] - END; - mtt_asub(x,xj,n); - FOR j := 1 TO n DO BEGIN - xj[j] := xj[j]-b[j]; - END; - mtt_atsub(xj,xi,n); - gg := 0.0; - dgg := 0.0; - FOR j := 1 TO n DO BEGIN - gg := gg+sqr(g[j]); - dgg := dgg+(xi[j]+g[j])*xi[j] - END; - gam := dgg/gg; - FOR j := 1 TO n DO BEGIN - g[j] := -xi[j]; - h[j] := g[j]+gam*h[j] - END - END; -END {mtt_sparse}; DELETED mttroot/mtt/bin/trans/p/mtt_update.p Index: mttroot/mtt/bin/trans/p/mtt_update.p ================================================================== --- mttroot/mtt/bin/trans/p/mtt_update.p +++ /dev/null @@ -1,62 +0,0 @@ -PROCEDURE mtt_update(VAR xnew : StateVector; - dx,x,AAx : StateVector; - VAR AA : StateMatrix; - DT : REAL; - STEPFACTOR : INTEGER; - Nx : INTEGER; - METHOD : IntegrationMethod); - -{ - ############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.5 1998/08/15 13:48:35 peterg -## New update methods -## -## Revision 1.4 1998/08/14 10:54:58 peterg -## Use sparse computation where possible -## -############################################################### -} - -CONST - Small = 0.000001; - -VAR - i,j : INTEGER; - BB : StateVector; - DDT : REAL; - -(*$I mtt_solve_lud.p *) -(*$I mtt_sparse.p *) - -BEGIN{mtt_update} - - IF Method=1 THEN {Euler} - BEGIN{Euler} - DDT := DT/STEPFACTOR; - FOR i := 1 TO Nx DO - xnew[i] := xnew[i] + dx[i]*DDT; - END {Euler} - ELSE IF (Method=2) OR (METHOD=3) OR (METHOD=4) THEN {Implicit} - BEGIN {Implicit methods} - - FOR i := 1 TO Nx DO {BB is (1-A*dt)*x +dx*dt} - BB[i] := AAx[i] + DT*dx[i]; - - {Solve the equation AAx = B} - IF (Method=2) OR (METHOD=3) THEN {Use SVD} - mtt_solve_lud(xnew,AA,BB,Nx) - ELSE {Sparse CG solution} - mtt_sparse(BB,Nx,STEPFACTOR,xnew); - END{Implicit methods} - ELSE - Writeln("Method >4 is not defined"); - -END{mtt_update}; - - - - DELETED mttroot/mtt/bin/trans/p/mtt_write.p Index: mttroot/mtt/bin/trans/p/mtt_write.p ================================================================== --- mttroot/mtt/bin/trans/p/mtt_write.p +++ /dev/null @@ -1,54 +0,0 @@ -PROCEDURE mtt_write(t : REAL; - x : StateVector; - y : OutputVector; - nx,ny : INTEGER); - -{* -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %%%%% Model Transformation Tools %%%%% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% - Pascal function mtt_write - P.J. Gawthrop July 1998 - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.5 1999/03/15 21:57:38 peterg -## Removed the # symbol -## -## Revision 1.4 1998/11/26 13:31:30 peterg -## Put missing space after 2nd t -## -## Revision 1.3 1998/07/25 20:41:38 peterg -## Spaces between numbers -## -## Revision 1.2 1998/07/25 14:04:14 peterg -## Changed format -## -## Revision 1.1 1998/07/25 09:47:25 peterg -## Initial revision -## -############################################################### - - -*} - -CONST TAB=9; - -VAR - i : INTEGER; - -BEGIN - write(t,chr(TAB)); - FOR i := 1 TO ny DO - write(y[i],chr(TAB)); - - write(t,chr(TAB)); - FOR i := 1 TO nx DO - write(x[i],chr(TAB)); - writeln; -END; - DELETED mttroot/mtt/bin/trans/p/sign.p Index: mttroot/mtt/bin/trans/p/sign.p ================================================================== --- mttroot/mtt/bin/trans/p/sign.p +++ /dev/null @@ -1,10 +0,0 @@ -FUNCTION sign(x : REAL) : REAL; -{ This useful function is missing from Pascal } - -BEGIN - IF X>=0 THEN - sign := 1 - ELSE - sign := -1; -END; { sign } - DELETED mttroot/mtt/bin/trans/p/sparse.p Index: mttroot/mtt/bin/trans/p/sparse.p ================================================================== --- mttroot/mtt/bin/trans/p/sparse.p +++ /dev/null @@ -1,91 +0,0 @@ -PROCEDURE sparse(b: glnarray; n: integer; VAR x: glnarray; VAR rsq: real); -{* -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### -*} - -(* Programs using routine SPARSE must define the type -TYPE - glnarray = ARRAY [1..n] OF real; -in the main routine. They must also provide two routines, -PROCEDURE asub(x: glnarray; VAR y: glnarray; n: integer); -and -PROCEDURE atsub(x: glnarray; VAR z: glnarray; n: integer); -which calculate A*x and (A transpose)*x *) -LABEL 1,99; -CONST - eps=1.0e-6; -VAR - j,iter,irst: integer; - rp,gg,gam,eps2,dgg,bsq,anum,aden: real; - g,h,xi,xj: glnarray; -BEGIN - eps2 := n*sqr(eps); - irst := 0; -1: irst := irst+1; - asub(x,xi,n); - rp := 0.0; - bsq := 0.0; - FOR j := 1 TO n DO BEGIN - bsq := bsq+sqr(b[j]); - xi[j] := xi[j]-b[j]; - rp := rp+sqr(xi[j]) - END; - atsub(xi,g,n); - FOR j := 1 TO n DO BEGIN - g[j] := -g[j]; - h[j] := g[j] - END; - FOR iter := 1 TO 10*n DO BEGIN - asub(h,xi,n); - anum := 0.0; - aden := 0.0; - FOR j := 1 TO n DO BEGIN - anum := anum+g[j]*h[j]; - aden := aden+sqr(xi[j]) - END; - IF (aden = 0.0) THEN BEGIN - writeln('pause in routine SPARSE'); - writeln('very singular matrix'); readln - END; - anum := anum/aden; - FOR j := 1 TO n DO BEGIN - xi[j] := x[j]; - x[j] := x[j]+anum*h[j] - END; - asub(x,xj,n); - rsq := 0.0; - FOR j := 1 TO n DO BEGIN - xj[j] := xj[j]-b[j]; - rsq := rsq+sqr(xj[j]) - END; - IF ((rsq = rp) OR (rsq <= bsq*eps2)) THEN GOTO 99; - IF (rsq > rp) THEN BEGIN - FOR j := 1 TO n DO BEGIN - x[j] := xi[j] - END; - IF (irst >= 3) THEN GOTO 99; - GOTO 1 - END; - rp := rsq; - atsub(xj,xi,n); - gg := 0.0; - dgg := 0.0; - FOR j := 1 TO n DO BEGIN - gg := gg+sqr(g[j]); - dgg := dgg+(xi[j]+g[j])*xi[j] - END; - IF (gg = 0.0) THEN GOTO 99; - gam := dgg/gg; - FOR j := 1 TO n DO BEGIN - g[j] := -xi[j]; - h[j] := g[j]+gam*h[j] - END - END; - writeln('pause in routine SPARSE'); - writeln('too many iterations'); readln; -99: END; DELETED mttroot/mtt/bin/trans/p/svbksb.p Index: mttroot/mtt/bin/trans/p/svbksb.p ================================================================== --- mttroot/mtt/bin/trans/p/svbksb.p +++ /dev/null @@ -1,51 +0,0 @@ -PROCEDURE svbksb(u: glmpbynp; w: glnparray; v: glnpbynp; - m,n: integer; b: glmparray; VAR x: glnparray); -{ - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% % Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% % $Id$ -% % $Log$ -% % Revision 1.2 1998/08/12 11:09:54 peterg -% % Taken from NR share library nrpas13 as SVBKSB.PAS -% % and renamed svbksb.p -% % -% % Revision 1.1 1998/08/12 11:09:02 peterg -% % Initial revision -% % -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - } - - -(* Programs using SVBKSB must define the types -TYPE - glnparray = ARRAY [1..np] OF real; - glmparray = ARRAY [1..mp] OF real; - glnpbynp = ARRAY [1..np,1..np] OF real; - glmpbynp = ARRAY [1..mp,1..np] OF real; -in the main routine. *) -VAR - jj,j,i: integer; - s: real; - tmp: glnparray; -BEGIN - FOR j := 1 TO n DO BEGIN - s := 0.0; - IF (w[j] <> 0.0) THEN BEGIN - FOR i := 1 TO m DO BEGIN - s := s+u[i,j]*b[i] - END; - s := s/w[j] - END; - tmp[j] := s - END; - FOR j := 1 TO n DO BEGIN - s := 0.0; - FOR jj := 1 TO n DO BEGIN - s := s+v[j,jj]*tmp[jj]; - END; - x[j] := s - END -END; - DELETED mttroot/mtt/bin/trans/p/svdcmp.p Index: mttroot/mtt/bin/trans/p/svdcmp.p ================================================================== --- mttroot/mtt/bin/trans/p/svdcmp.p +++ /dev/null @@ -1,312 +0,0 @@ -PROCEDURE svdcmp(VAR a: glmpbynp; m,n: integer; - VAR w: glnparray; VAR v: glnpbynp); - -{ This file is derived from the NUMERICAL RECIPES PASCAL SHAREWARE DISKETTE. - Please read the README file in $MTTPATH/trans/p - } - -{ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% % Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% % $Id$ -% % $Log$ -% % Revision 1.4 1998/08/12 11:26:39 peterg -% % Zapped unnecessary np and mp arguments -% % -% % Revision 1.3 1998/08/12 11:08:03 peterg -% % Put in pythag routine to compute z = sqrt(y^2 + z^2) (as in book) -% % Save loop index l as ll when jumping from loop - using l itself is -% % undefined -% % -% % Revision 1.2 1998/08/12 11:05:33 peterg -% % Taken from NR share library nrpas13 as SVDCMP.PAS -% % and renamed svdcmp.p -% % -% % Revision 1.1 1998/08/12 11:03:57 peterg -% % Initial revision -% % -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -} - - -(* Programs using routine SVDCMP must define the types -TYPE - glnparray = ARRAY [1..np] OF real; - glmpbynp = ARRAY [1..mp,1..np] OF real; - glnpbynp = ARRAY [1..np,1..np] OF real; -in the main routine. *) -LABEL 1,2,3; -CONST - nmax=100; -VAR - nm,l,k,j,jj,its,i,ll : integer; - z,y,x,scale,s,h,g,f,c,anorm : real; - rv1 : ARRAY [1..nmax] OF real; - -FUNCTION pythag(a,b : real): real; -VAR p,at,bt : REAL; -BEGIN - at:=abs(a); - bt:=abs(b); - IF at>bt THEN - p:= at*sqrt(1.0+sqr(bt/at)) - ELSE - IF bt=0.0 THEN - p := 0.0 - ELSE - p := bt*sqrt(1.0+sqr(at/bt)); - pythag := p; -END{pythag}; - - -FUNCTION sign(a,b : real): real; - BEGIN - IF (b >= 0.0) THEN sign := abs(a) ELSE sign := -abs(a) - END; -FUNCTION max(a,b: real): real; - BEGIN - IF (a > b) THEN max := a ELSE max := b - END; -BEGIN - g := 0.0; - scale := 0.0; - anorm := 0.0; - FOR i := 1 TO n DO BEGIN - l := i+1; - rv1[i] := scale*g; - g := 0.0; - s := 0.0; - scale := 0.0; - IF (i <= m) THEN BEGIN - FOR k := i TO m DO BEGIN - scale := scale+abs(a[k,i]) - END; - IF (scale <> 0.0) THEN BEGIN - FOR k := i TO m DO BEGIN - a[k,i] := a[k,i]/scale; - s := s+a[k,i]*a[k,i] - END; - f := a[i,i]; - g := -sign(sqrt(s),f); - h := f*g-s; - a[i,i] := f-g; - IF (i <> n) THEN BEGIN - FOR j := l TO n DO BEGIN - s := 0.0; - FOR k := i TO m DO BEGIN - s := s+a[k,i]*a[k,j] - END; - f := s/h; - FOR k := i TO m DO BEGIN - a[k,j] := a[k,j]+ - f*a[k,i] - END - END - END; - FOR k := i TO m DO BEGIN - a[k,i] := scale*a[k,i] - END - END - END; - w[i] := scale*g; - g := 0.0; - s := 0.0; - scale := 0.0; - IF ((i <= m) AND (i <> n)) THEN BEGIN - FOR k := l TO n DO BEGIN - scale := scale+abs(a[i,k]) - END; - IF (scale <> 0.0) THEN BEGIN - FOR k := l TO n DO BEGIN - a[i,k] := a[i,k]/scale; - s := s+a[i,k]*a[i,k] - END; - f := a[i,l]; - g := -sign(sqrt(s),f); - h := f*g-s; - a[i,l] := f-g; - FOR k := l TO n DO BEGIN - rv1[k] := a[i,k]/h - END; - IF (i <> m) THEN BEGIN - FOR j := l TO m DO BEGIN - s := 0.0; - FOR k := l TO n DO BEGIN - s := s+a[j,k]*a[i,k] - END; - FOR k := l TO n DO BEGIN - a[j,k] := a[j,k] - +s*rv1[k] - END - END - END; - FOR k := l TO n DO BEGIN - a[i,k] := scale*a[i,k] - END - END - END; - anorm := max(anorm,(abs(w[i])+abs(rv1[i]))); - END; - FOR i := n DOWNTO 1 DO BEGIN - IF (i < n) THEN BEGIN - IF (g <> 0.0) THEN BEGIN - FOR j := l TO n DO BEGIN - v[j,i] := (a[i,j]/a[i,l])/g; - END; - FOR j := l TO n DO BEGIN - s := 0.0; - FOR k := l TO n DO BEGIN - s := s+a[i,k]*v[k,j] - END; - FOR k := l TO n DO BEGIN - v[k,j] := v[k,j]+s*v[k,i] - END - END - END; - FOR j := l TO n DO BEGIN - v[i,j] := 0.0; - v[j,i] := 0.0 - END - END; - v[i,i] := 1.0; - g := rv1[i]; - l := i - END; - FOR i := n DOWNTO 1 DO BEGIN - l := i+1; - g := w[i]; - IF (i < n) THEN BEGIN - FOR j := l TO n DO BEGIN - a[i,j] := 0.0 - END - END; - IF (g <> 0.0) THEN BEGIN - g := 1.0/g; - IF (i <> n) THEN BEGIN - FOR j := l TO n DO BEGIN - s := 0.0; - FOR k := l TO m DO BEGIN - s := s+a[k,i]*a[k,j] - END; - f := (s/a[i,i])*g; - FOR k := i TO m DO BEGIN - a[k,j] := a[k,j]+f*a[k,i] - END - END - END; - FOR j := i TO m DO BEGIN - a[j,i] := a[j,i]*g - END - END ELSE BEGIN - FOR j := i TO m DO BEGIN - a[j,i] := 0.0 - END - END; - a[i,i] := a[i,i]+1.0 - END; - FOR k := n DOWNTO 1 DO BEGIN - FOR its := 1 TO 30 DO BEGIN - FOR l := k DOWNTO 1 DO BEGIN - nm := l-1; - IF ((abs(rv1[l])+anorm) = anorm) THEN - BEGIN - ll:=l; - GOTO 2; - END; - IF nm>0 THEN {* Put in by me - see book *} - IF ((abs(w[nm])+anorm) = anorm) THEN - BEGIN - ll:=l; - GOTO 1 - END; - END; -1: c := 0.0; - s := 1.0; - FOR i := ll TO k DO BEGIN - f := s*rv1[i]; - IF ((abs(f)+anorm) <> anorm) THEN BEGIN - g := w[i]; - {**h := sqrt(f*f+g*g);**} - h := pythag(f,g); - w[i] := h; - h := 1.0/h; - c := (g*h); - s := -(f*h); - FOR j := 1 TO m DO BEGIN - y := a[j,nm]; - z := a[j,i]; - a[j,nm] := (y*c)+(z*s); - a[j,i] := -(y*s)+(z*c) - END - END - END; -2: z := w[k]; - IF (ll = k) THEN BEGIN - IF (z < 0.0) THEN BEGIN - w[k] := -z; - FOR j := 1 TO n DO BEGIN - v[j,k] := -v[j,k] - END - END; - GOTO 3 - END; - IF (its = 30) THEN BEGIN - writeln ('no convergence in 30 SVDCMP iterations'); readln - END; - x := w[l]; - nm := k-1; - y := w[nm]; - g := rv1[nm]; - h := rv1[k]; - f := ((y-z)*(y+z)+(g-h)*(g+h))/(2.0*h*y); - {***g := sqrt(f*f+1.0); writeln(g);***} - g := pythag(f,1.0); - f := ((x-z)*(x+z)+h*((y/(f+sign(g,f)))-h))/x; - c := 1.0; - s := 1.0; - FOR j := ll TO nm DO BEGIN - i := j+1; - g := rv1[i]; - y := w[i]; - h := s*g; - g := c*g; - {**z := sqrt(f*f+h*h);**} - z := pythag(f,h); - rv1[j] := z; - c := f/z; - s := h/z; - f := (x*c)+(g*s); - g := -(x*s)+(g*c); - h := y*s; - y := y*c; - FOR jj := 1 TO n DO BEGIN - x := v[jj,j]; - z := v[jj,i]; - v[jj,j] := (x*c)+(z*s); - v[jj,i] := -(x*s)+(z*c) - END; - {**z := sqrt(f*f+h*h);**} - z := pythag(f,h); - w[j] := z; - IF (z <> 0.0) THEN BEGIN - z := 1.0/z; - c := f*z; - s := h*z - END; - f := (c*g)+(s*y); - x := -(s*g)+(c*y); - FOR jj := 1 TO m DO BEGIN - y := a[jj,j]; - z := a[jj,i]; - a[jj,j] := (y*c)+(z*s); - a[jj,i] := -(y*s)+(z*c) - END - END; - rv1[l] := 0.0; - rv1[k] := f; - w[k] := x - END; -3: END -END; - DELETED mttroot/mtt/bin/trans/p/zero_input.p Index: mttroot/mtt/bin/trans/p/zero_input.p ================================================================== --- mttroot/mtt/bin/trans/p/zero_input.p +++ /dev/null @@ -1,10 +0,0 @@ -PROCEDURE zero_input(VAR x : InputVector; - N : INTEGER); -VAR i : INTEGER; - -BEGIN - FOR i:=1 TO N DO - x[i] := 0.0; -END; - - DELETED mttroot/mtt/bin/trans/p/zero_matrix.p Index: mttroot/mtt/bin/trans/p/zero_matrix.p ================================================================== --- mttroot/mtt/bin/trans/p/zero_matrix.p +++ /dev/null @@ -1,11 +0,0 @@ -PROCEDURE zero_matrix(VAR A : StateMatrix; - N : INTEGER); -VAR i,j : INTEGER; - -BEGIN - FOR i:=1 TO N DO - FOR j:=1 TO N DO - A[i,j] := 0.0; -END; - - DELETED mttroot/mtt/bin/trans/p/zero_state.p Index: mttroot/mtt/bin/trans/p/zero_state.p ================================================================== --- mttroot/mtt/bin/trans/p/zero_state.p +++ /dev/null @@ -1,10 +0,0 @@ -PROCEDURE zero_state(VAR x : StateVector; - N : INTEGER); -VAR i : INTEGER; - -BEGIN - FOR i:=1 TO N DO - x[i] := 0.0; -END; - - DELETED mttroot/mtt/bin/trans/p/zero_vector.p Index: mttroot/mtt/bin/trans/p/zero_vector.p ================================================================== --- mttroot/mtt/bin/trans/p/zero_vector.p +++ /dev/null @@ -1,10 +0,0 @@ -PROCEDURE zero_vector(VAR x : StateVector; - N : INTEGER); -VAR i : INTEGER; - -BEGIN - FOR i:=1 TO N DO - x[i] := 0.0; -END; - - DELETED mttroot/mtt/bin/trans/p/zeros.p Index: mttroot/mtt/bin/trans/p/zeros.p ================================================================== --- mttroot/mtt/bin/trans/p/zeros.p +++ /dev/null @@ -1,11 +0,0 @@ -PROCEDURE zeros(VAR A : StateMatrix; - N : INTEGER); -VAR i,j : INTEGER; - -BEGIN - FOR i:=1 TO N DO - FOR j:=1 TO N DO - A[i,j] = 0.0; -END; - - DELETED mttroot/mtt/bin/trans/p2oct Index: mttroot/mtt/bin/trans/p2oct ================================================================== --- mttroot/mtt/bin/trans/p2oct +++ /dev/null @@ -1,46 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: lbl2cr_txt2txt - -# Label file to constitutive relationship conversion -# P.J.Gawthrop March 1997 -# Copyright (c) P.J.Gawthrop, 1997. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.3 1998/07/29 11:09:39 peterg -## Now matches ^$1$ not $1! -## -## Revision 1.2 1998/03/08 21:02:55 peterg -## Now does multiple crs. -## -# Revision 1.1 1997/03/20 12:23:21 peterg -# Initial revision -# -############################################################### - - - -# Inform user -echo "Creating $1_cr.txt" - -rm -f mtt_error - - -# This is the main transformation using gawk -# And remove crs with same name as system -awk -f $MTTPATH/trans/awk/lbl2cr.awk $1_lbl.txt 2>mtt_error.txt |\ -grep -v "^$1$" \ -> $1_cr.txt - -# Now invoke the standard error handling. -mtt_error mtt_error.txt - - DELETED mttroot/mtt/bin/trans/rbg2abg_m Index: mttroot/mtt/bin/trans/rbg2abg_m ================================================================== --- mttroot/mtt/bin/trans/rbg2abg_m +++ /dev/null @@ -1,230 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: rbg2abg_m -# -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.17 2000/12/05 12:04:03 peterg -## Changed function name to name() -## -## Revision 1.16 2000/12/05 09:04:08 peterg -## Fixed function () compatibility problem. -## -## Revision 1.15 2000/11/03 14:53:33 peterg -## Copy NOTPAR as well -## -## Revision 1.14 2000/09/14 08:41:35 peterg -## Strip off the additional direction info from rbonds -## -## Revision 1.13 2000/03/16 12:53:26 peterg -## Added copy of the %VAR declarations -## Put in the endfunction statement -## -## Revision 1.12 1998/07/28 19:07:48 peterg -## Writes out N_ports as well as n_ports -## -## Revision 1.11 1998/07/25 16:14:44 peterg -## *** empty log message *** -## -## Revision 1.10 1998/07/08 15:34:56 peterg -## Sorted out error exit status -## -## Revision 1.9 1998/07/08 08:24:26 peterg -## Added -I option -- if set prints out the indormation messages -## -## Revision 1.8 1998/02/19 08:57:02 peterg -## Fixed mtt-info bug -- confused filename with number -## -## Revision 1.7 1997/08/05 08:38:23 peterg -## Added n-ports to the argument list in the comment. -## -## Revision 1.6 1996/12/04 21:52:01 peterg -## Uses filenum and fopen instead of filename. -## -## Revision 1.5 1996/08/25 09:20:32 peter -## General error handling. -## -## Revision 1.4 1996/08/24 17:57:41 peter -## Removed `touch mtt_info.txt' -## -## Revision 1.3 1996/08/24 14:58:56 peter -## Fixed missprint - mtt_err --> mtt_error -## -## Revision 1.2 1996/08/24 14:33:07 peter -## Error handling included. -## -## Revision 1.1 1996/08/05 12:22:16 peter -## Initial revision -## -############################################################### - -# Raw bond graph to structured acausal bond graph: mfile format -# The structured BG is described by four matrices: -# junctions: describes the junctions - -# Column 1 Index of component (see components) -# Column 2.. Indices of bonds on junction (see jbonds) -# rows may be padded with zeros -# -# jbonds: describes the true bonds - -# Column 1 Index of component (see components) -# Column 2 Direction -# 1 away from junction -# -1 towards junction -# Column 3 Causality -# 1 stroke at arrow end -# -1 stroke at other end -# 0 no stroke (ie acausal) -# Columns 4:5 x,y coordinates of non-arrow end (in Fig) -# Columns 6:7 x,y coordinates of arrow end (in Fig) -# -# mbonds: describes the modulation bonds - -# Column 1 Index of component at non-arrow end -# Column 2 Index of component at arrow end -# Columns 4:5 x,y coordinates of non-arrow end (in Fig) -# Columns 6:7 x,y coordinates of arrow end (in Fig) -# -# components: describes the comonents - -# Column 1 Type of component -# 0 0-junction -# 1 1-junction -# 2 R component -# 3 C component -# 4 I component -# 11 TF component -# 12 GY component -# 13 A component -# Column 2 Flag for explicit junction -# 4 Explicit component (4 means text type) -# 0 Implicit component -# Column 3-14 fig file information (see fig documentation) -# -# P.J.Gawthrop May 1996 -# Copyright (c) P.J.Gawthrop, 1996. - -while [ -n "`echo $1 | grep '^-'`" ]; do - case $1 in - -I ) - info=info;; - -nounits ) - units=no;; - *) - echo "$1 is an invalid argument - ignoring" ;; - esac - shift -done - -## Set up some vars -sys=$1 -lbl_file=${sys}_lbl.txt -abg_file=${sys}_abg.m - -# Remove the old log file -rm -f rbg2abg_m.log -rm -f ${abg_file} - -#Inform user -echo Creating ${abg_file} - -# Use matrix manipulation to accomplish the transformation -$MATRIX > rbg2abg_m.log 2>mtt_error.txt << EOF - name = '$1' - infofile = fopen('mtt_info.txt', 'w'); - errorfile = fopen('mtt_error.txt', 'w'); - - %Convert from the fig version of the bonds to a structured version - [rbonds,rstrokes,rcomponents,port_coord,port_name,port_list] = $1_rbg; - [n_ports, junk] = size(port_list); - - N_ports = 0; - for i=1:n_ports # Count the true number of ports. - [subport,n_sub] = split_port(port_list(i,:), ','); - N_ports = N_ports+n_sub; - end; - - - rbonds = rbonds(:,1:6); # Strip the directional information - [bonds,components,n_vector_bonds] = rbg2abg(name,rbonds,rstrokes,rcomponents,port_coord,port_name,\ - infofile,errorfile); - - %Write the function m-file for the causal bond graph - write_abg(name,bonds,components,n_vector_bonds); -EOF - -## Sets the units for the abg file -test_units() -{ - grep '^[\s]*[#|%]UNITS' < ${lbl_file} >/dev/null - if [ $? = "0" ]; then - grep '^[\s]*[#|%]UNITS' < ${lbl_file} |\ - awk '{ - printf("mtt_units.sh %s %s %s %s %s\n", sys, $2, $3, $4, $5) - }' sys=${sys} | sh | grep ERROR - if [ $? = "0" ]; then - echo " " *MTT_ERRROR: domains and units are not OK - exiting - exit 1 - else - echo " " domains and units are OK - fi - else - echo " no domains or units declared" - fi -} - -check_ports_exist() -{ - declared_ports=`grep '^[\s]*[#|%]UNITS' < ${lbl_file} | awk '{print $2}'` - for declared_port in $declared_ports; do - grep "${sys}\.ports\.${declared_port}\.type" ${abg_file} >/dev/null - if [ $? = "1" ]; then - echo "*MTT_ERRROR: Units declared for non-existent port ${declared_port}" - exit 1 - fi - done -} - -set_units() -{ - grep '^[\s]*[#|%]UNITS' < ${lbl_file} |\ - awk '{ - printf(" %s.ports.%s.domain = \"%s\";\n", sys, $2, $3); - printf(" %s.ports.%s.units.effort = \"%s\";\n", sys, $2, $4); - printf(" %s.ports.%s.units.flow = \"%s\";\n", sys, $2, $5); - }' sys=${sys} -} - -if [ -z "$units" ]; then - echo Checking port domains and units - check_ports_exist; - test_units; - echo "## Port domain and units" >> ${abg_file} - set_units >> ${abg_file} -fi - -# Append any VAR declarations -if [ -f "$1_lbl.txt" ]; then - echo "## Explicit variable declarations" >> ${abg_file} - grep '^[\s]*[%|#][V|P]AR' $1_lbl.txt | tr '%' '#' >> ${abg_file} - grep '^[\s]*[%|#]NOT[V|P]AR' $1_lbl.txt | tr '%' '#' >> ${abg_file} -fi - -## Close off the function -echo "endfunction" >> ${abg_file} - -## Errors and info -if [ "$info" = "info" ]; then - cat mtt_info.txt -fi - -if mtt_error mtt_error.txt -then - exit 0 -else - exit 1 -fi DELETED mttroot/mtt/bin/trans/rbg_fig2m Index: mttroot/mtt/bin/trans/rbg_fig2m ================================================================== --- mttroot/mtt/bin/trans/rbg_fig2m +++ /dev/null @@ -1,109 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: rbg_fig2m -# Raw bond-graph conversion from fig to matlab -# P.J.Gawthrop May 1996 -# Modified June 1996 to handle xfig version 3 -# Copyright (c) P.J.Gawthrop, 1996. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.8 2001/10/15 14:25:44 gawthrop -## Now handles white space at the end of component names -## Converts ports lables [1:5] into [1,2,3,4,5] -## -## Revision 1.7 2001/07/24 22:42:59 geraint -## Fixes problem when lbl.txt does not end with newline. -## -## Revision 1.6 2001/05/24 07:48:17 gawthrop -## Include artwork in the cbg.fig file -## -## Revision 1.5 2001/03/23 14:56:21 gawthrop -## Now puts space after header fields + write _port.fig -## -## Revision 1.4 2000/09/14 08:41:51 peterg -## *** empty log message *** -## -## Revision 1.3 1997/03/19 09:50:24 peterg -## Now creates the sabg (stripped abg) file. -## -# Revision 1.2 1996/08/30 10:17:41 peter -# New path for awk script. -# -## Revision 1.1 1996/08/05 20:13:33 peter -## Initial revision -## -############################################################### - - -# Inform user -echo "Creating $1_rbg.m" -echo "Creating $1_cmp.m" -echo "Creating $1_head.fig" -echo "Creating $1_fig.fig" -echo "Creating $1_cmp.fig" -echo "Creating $1_port.fig" -echo "Creating $1_sabg.fig" -echo "Creating $1_art.fig" - - -# Remove some files that I'm going to append to. -rm -f $1_fig.fig -rm -f $1_head.fig -rm -f $1_cmp.fig -rm -f $1_port.fig -rm -f $1_bnd.fig -rm -f $1_art.fig - -# Create blank files -touch $1_fig.fig -touch $1_head.fig -touch $1_cmp.fig -touch $1_port.fig -touch $1_bnd.fig -touch $1_art.fig - -# Deletes trailing white space in component names -# and break compound objects -sed 's/[ ]*\\001/\\001/' < $1_abg.fig |\ -grep -v "^6 [0-9 ]*" | grep -v "^-6$" >$1_abg.mtt1 - -# Replace [1:5] with [1,2,3,4,5] -awk '{ - if (match($14, /\[1:[0-9]*\]/)){ - range = substr($14,2,length($14)-6); - split(range,a,":"); - str = "1"; - for (i=2;i<=a[2];i++) str = sprintf("%s,%i", str, i); - sub(/1:[0-9]*/, str, $14); - } - print $0 -}' < $1_abg.mtt1 > $1_abg.mtt2 - - -# The following horrible sed thing is to replace tab by ---- -# this is because I can't get sed to recognise tabs even if FS=" ". -echo "" > $1_abg.mtt3 -sed 's/ /---- /'<$1_abg.mtt2 >> $1_abg.mtt3 - -# This is the main transformation using awk -cat $1_lbl.txt $1_abg.mtt3 | awk -f $MTTPATH/trans/awk/rbg_fig2m.awk $1 - -rm -f $1_abg.mtt - -#Create the stripped abg file -cat $1_head.fig $1_bnd.fig $1_cmp.fig> $1_sabg.fig - - - - - - - DELETED mttroot/mtt/bin/trans/rcs_header.m Index: mttroot/mtt/bin/trans/rcs_header.m ================================================================== --- mttroot/mtt/bin/trans/rcs_header.m +++ /dev/null @@ -1,9 +0,0 @@ - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% % Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% % $Id$ -% % $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - DELETED mttroot/mtt/bin/trans/rcs_header.sh Index: mttroot/mtt/bin/trans/rcs_header.sh ================================================================== --- mttroot/mtt/bin/trans/rcs_header.sh +++ /dev/null @@ -1,7 +0,0 @@ -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - DELETED mttroot/mtt/bin/trans/rdae2dae_r Index: mttroot/mtt/bin/trans/rdae2dae_r ================================================================== --- mttroot/mtt/bin/trans/rdae2dae_r +++ /dev/null @@ -1,251 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: rdae2dae_r -# Reduce equations to raw differential-algebraic equation conversion -# P.J.Gawthrop 8th May 1991, May 1994, June 1996 -# Copyright (c) P.J.Gawthrop, 1991, 1994, 1996 - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.7 2001/04/11 09:44:26 gawthrop -## Fixed cc and c problems to do with pow(x,y) and integers -## mtt/lib/reduce/fix_c.r is included in rdae2dae and cse2smx_lang for -## -c, -cc and -oct options -## -## Revision 1.6 2001/02/03 13:40:45 gawthrop -## Added explicit MTTNu -## -## Revision 1.5 2000/12/28 12:39:02 peterg -## Put under RCS -## -## Revision 1.4 2000/09/04 08:42:53 peterg -## Put in extra echo to space output -## -## Revision 1.3 2000/09/02 15:55:11 peterg -## Now doesn't include def files in da files -## -## Revision 1.2 2000/09/01 13:36:15 peterg -## Added -partition option -## -## Revision 1.1 2000/09/01 12:14:44 peterg -## Initial revision -## -## Revision 1.3 1998/03/07 12:57:19 peterg -## Fixed logname bug -## -## Revision 1.2 1998/03/07 12:51:20 peterg -## This is the new version of ese2dae - it does not do the CRs at this -## stage to give reduce an easier time. -## -## rese2ese_r does the constitutive relationship bit -## -## Revision 1.1 1998/03/07 12:49:31 peterg -## Initial revision -## -## Revision 1.12 1998/01/31 16:22:59 peterg -## Added IF MTTNx>0 THEN and IF MTTNy>0 THEN before the relevant -## assignements of MTTdX and MTTY to themselves. -## -## Revision 1.11 1997/09/18 09:45:08 peterg -## Canged the comment about linux reduce -- reduce reads this for some -## reason. -## -## Revision 1.10 1997/09/15 14:21:18 peterg -## Reads ese file twice to avoid a bug in Linux reduce !!!??? -## -## Revision 1.9 1997/08/30 09:59:31 peterg -## Changed mehtod of writing out mtty to avoid a strange segmentation violation. -## Now uses MTTY := MTTY; approach. -## -## Revision 1.8 1997/04/23 09:31:20 peterg -## Now reads in the (top level) def file in the generated reduce code. -## -# Revision 1.7 1997/04/23 09:23:15 peterg -# Two argument version in preparation for heirarchical version -# -# Revision 1.6 1996/11/21 15:47:48 peterg -# Now inputs _params.r not _sympar.r -# -## Revision 1.5 1996/11/02 10:17:35 peterg -## Removed default constitutive relationship input. -## -# Revision 1.4 1996/09/12 12:10:05 peter -# Now reads the default constitutive relationship file. -# -## Revision 1.3 1996/08/25 09:43:26 peter -## General error handling. -## -## Revision 1.2 1996/08/25 08:31:28 peter -## Error handling added. -## -############################################################### - - -while [ -n "`echo $1 | grep '^-'`" ]; do - case $1 in - -I ) - info=info;; - -partition ) - partition=yes; - blurb='with partitioning'; - ;; - -fixcc ) - include=`echo 'in "'$MTT_LIB'/reduce/fix_c.r";'` - blurb2='fixing c and cc code'; - ;; - *) - echo "$1 is an invalid argument - ignoring"; - exit ;; - esac - shift -done - -#Create the top-level system name -topname=$1 - -#Create the system names -if [ -z "$2" ]; - then - sysname=$topname; - else - sysname=$1_$2; -fi - -defname=$topname"_def.r" -crname=$topname"_cr.r" -subsname=$topname"_subs.r" -rdaename=$sysname"_rdae.r" -daename=$sysname"_dae.r" -logname="rdae2dae.log" - -# Inform user -echo Creating $daename $blurb $blurb2 - -# Remove the old log file -rm -f $logname - -# Use symbolic algebra to accomplish the transformation -$SYMBOLIC >$logname << EOF - -%Read the formatting function -in "$MTTPATH/trans/reduce_matrix.r"; - -% CRs -in "$crname"; - -% Raw dae -in "$rdaename"; - -% Substitution -in "$subsname"; - -% Fix c code if required -$include - - -OFF Echo; -OFF Nat; - -%Create the output file -OUT "$daename"; - -%write "in ""$defname"""; - -write "MTTNu := ", MTTNu; -write "MTTNx := ", MTTNx; -write "MTTNz := ", MTTNz; -write "MTTNy := ", MTTNy; -write "MTTNyz := ", MTTNyz; - -% State -MTT_Matrix := MTTdX$ -MTT_Matrix_name := "MTTdX"$ -MTT_Matrix_n := MTTNx$ -MTT_Matrix_m := 1$ -Reduce_Matrix()$ - -% Nonstate -MTT_Matrix := MTTZ$ -MTT_Matrix_name := "MTTZ"$ -MTT_Matrix_n := MTTNz$ -MTT_Matrix_m := 1$ -Reduce_Matrix()$ - -% Output -MTT_Matrix := MTTy$ -MTT_Matrix_name := "MTTy"$ -MTT_Matrix_n := MTTNy$ -MTT_Matrix_m := 1$ -Reduce_Matrix()$ - -% Zero outputs -MTT_Matrix := MTTYz$ -MTT_Matrix_name := "MTTYz"$ -MTT_Matrix_n := MTTNyz$ -MTT_Matrix_m := 1$ -Reduce_Matrix()$ -SHUT "$daename"; -quit; - -EOF - -#if [ -n "$partition" ]; then -# rm -f mtt_junk -# # Now for the subsystems -# # Find subsystems -# subsystems=`mtt_get_subsystems $1` -# -# for subsystem in $subsystems; do -# echo Doing $subsystem -# ucname="MTT_"$subsystem"_uc" -# -# Nu=`mtt_getsize -internal $subsystem u` -# echo Nu $Nu -# -# # Use symbolic algebra to accomplish the transformation -# $SYMBOLIC >$logname << EOF -# -# %Read the formatting function -# in "$MTTPATH/trans/reduce_matrix.r"; -# -# % Definitions -# in "$defname"; -# -# % Elementary system equations -# in "$rdaename"; -# -# OFF Echo; -# OFF Nat; -# -# %Create the output file -# OUT "mtt_junk"; -# % Connecting inputs -# MTT_Matrix := $ucname $ -# MTT_Matrix_name := "$ucname" $ -# MTT_Matrix_n := $Nu $ -# MTT_Matrix_m := 1$ -# Reduce_Matrix()$ -# -# shut "mtt_junk"; -#EOF -# echo >> $1_dae.r -# echo %Connections for subsystem $subsystem >> $1_dae.r -# echo >> $1_dae.r -# -# cat mtt_junk >> $1_dae.r -# rm -rf mtt_junk -# done -#fi - -echo "END;" >> $1_dae.r - -# Now invoke the standard error handling. -mtt_error_r $logname - DELETED mttroot/mtt/bin/trans/reduce_matrix.r Index: mttroot/mtt/bin/trans/reduce_matrix.r ================================================================== --- mttroot/mtt/bin/trans/reduce_matrix.r +++ /dev/null @@ -1,39 +0,0 @@ - %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - %%%%% Model Transformation Tools %%%%% - %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -% Reduce function to write matrices in reduce form -% P.J.Gawthrop January 22 1998 -% Copyright (c) P.J.Gawthrop, 1998 - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% % Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% % $Id$ -% % $Log$ -% % Revision 1.1 1998/01/22 10:39:01 peterg -% % Initial revision -% % -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - - - -PROCEDURE Reduce_Matrix; -BEGIN - IF MTT_Matrix_n>0 THEN - IF MTT_Matrix_m>0 THEN - BEGIN - write "clear ", MTT_Matrix_name, ";"; - write "MATRIX ", MTT_Matrix_name, "(", MTT_Matrix_n, ",", - MTT_Matrix_m, ");"; - - FOR i := 1:MTT_Matrix_n DO - FOR j := 1:MTT_Matrix_m DO IF MTT_Matrix(i,j) NEQ 0 THEN - write MTT_Matrix_name, "(", i, ",", j, ") := ", - MTT_Matrix(i,j), ";"; - END; -END; - -END;; DELETED mttroot/mtt/bin/trans/rep_txt2sh Index: mttroot/mtt/bin/trans/rep_txt2sh ================================================================== --- mttroot/mtt/bin/trans/rep_txt2sh +++ /dev/null @@ -1,64 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: rep_txt2sh -# Executes shell commands for report. - -# P.J.Gawthrop August 1996 -# Copyright (c) P.J.Gawthrop, 1996. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.4 1998/04/14 18:17:15 peterg -## More messages about Makefile -## -## Revision 1.3 1998/04/14 18:01:04 peterg -## Now executes a Makefile (if it exists) -## -# Revision 1.2 1997/12/06 14:27:53 peterg -# No changes. -# -## Revision 1.1 1997/08/26 09:06:11 peterg -## Initial revision -## -############################################################### - -# Execute a make if Makefile exists -if [ -f Makefile ]; then - echo Executing the Makefile - make - echo Done executing the Makefile - echo -fi - -## Get switches (if any) -mtt_switches=$2 - -# Inform user -echo "Creating representations for $1_rep.tex" - -# Check for old (2 arg) version and update if necessary -mtt_count=`strip_comments < $1_rep.txt | grep -c 'mtt '` -if [ "$mtt_count" = "0" ]; then - echo 'Hmm .. seems to be an old format. creating new file' - echo "Old version saved as $1_rep.txt.SAVE" - mv $1_rep.txt $1_rep.txt.SAVE - strip_comments < $1_rep.txt.SAVE |\ - awk '{print "mtt", sys, $1, $2}' sys="$1" >$1_rep.txt -fi - -# Execute the commands - quietly and untidily! -# But use switches -strip_comments< $1_rep.txt | sed "s/mtt /mtt -q -u $mtt_switches /" | tee -a JUNK | sh - -echo "Done creating representations for $1_rep.tex" - - - - DELETED mttroot/mtt/bin/trans/rep_txt2tex Index: mttroot/mtt/bin/trans/rep_txt2tex ================================================================== --- mttroot/mtt/bin/trans/rep_txt2tex +++ /dev/null @@ -1,194 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: rep_txt2tex -# Converts the text file dercribing a report to a report. -# P.J.Gawthrop August 1996 -# Copyright (c) P.J.Gawthrop, 1996. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.15 2000/04/06 10:57:12 peterg -## Removed debug line -## -## Revision 1.14 2000/04/06 10:51:14 peterg -## replaces $PWD by `pwd` for sh compatibility -## -## Revision 1.13 1999/10/19 23:47:27 peterg -## Rewrote for the extra representations - but with .ps at the end -## Need to retrofit old desc files using multiple figures -## -## Revision 1.12 1999/10/19 03:33:01 peterg -## Temporaraly removed argument stripping -## -## Revision 1.11 1999/02/17 02:00:29 peterg -## Absolute pathname for files. -## Indirect include via \input -## -## Revision 1.10 1998/08/25 12:45:27 peterg -## Added icad to languages -## -## Revision 1.9 1998/03/09 13:26:22 peterg -## Removed `system' from part and section headers. -## -## Revision 1.8 1998/02/09 08:59:35 peterg -## Minor debugging lines removed. -## -## Revision 1.7 1998/01/29 19:32:33 peterg -## Removed a spurious X from the file -- tried to run the X server !!! -## -## Revision 1.6 1997/12/04 22:08:52 peterg -## Handles multiple odes.ps files -## -## Revision 1.5 1997/12/04 17:05:57 peterg -## Now handles multiple odeso.ps files -## -## Revision 1.4 1997/08/25 09:15:48 peterg -## Don't do sections for unrecognised languages. -## -# Revision 1.3 1997/06/27 13:28:25 peterg -# New version using explicit command line arguments in the text file -# -## Revision 1.2 1997/05/19 16:11:36 peterg -## Modified section headers. -## -# Revision 1.1 1996/08/18 20:00:38 peter -# Initial revision -# -############################################################### - -documenttype=$2; - -if [ "$documenttype" = "book" ]; then # do book version - # Inform user - echo "Creating $1_rep.tex (directory version)" - strip_comments < $1_rep.txt|\ - awk ' -BEGIN{ -oldpart = "" -} -{ - # Find directory name. - for (i=1;i1) - part = a[N-1]; - if (length(part)>0) - if (part!=oldpart) - printf("\\part{\\textbf{%s}}\n", part); - oldpart=part; - printf("\\chapter{\\textbf{%s}}\n", $(NF-2)); - printf("\\label{chap:%s(%s)}\n", $(NF-2), directory); - printf("\\input{%s/%s_rep}\n\n", directory, $(NF-2)); - }' > $1_rep.tex - - -else # do article and section version - -if [ -z "$3" ]; then - directory=""; -else - directory=$3/; -fi - -# Inform user -echo "Creating $1_rep.tex" - -# Create the LaTeX file -strip_comments <$1_rep.txt |\ -awk ' -{ - ## Count the switches (noting that -i has an argument) - Switches=0; - for (i=2;i<=NF;i++) { - if (match($i,"-")==1) Switches++; - if (match($i,"-i")==1) Switches++; - } - - System = $(Switches+2) - Representation = $(Switches+3); - Multiple = "odes odeso sms smso daes daeso"; - Language = $(Switches+4); - Languages = "tex txt r m c h ps icad"; - args = $(Switches+5); - quote = "\047"; - args = gensub(quote, "", "g", args); - args = gensub(/"/, "", "g", args); -# args = substr(Args,2,length(Args)-2); -# if ( (length(Args)>0)&&(match(Multiple,Representation)>0)) { - if ( (length(args)>0)&&(match(Language,"ps")>0)) { - _Args = sprintf("-%s", args); - __Args = sprintf("-%s", gensub(/_/, "-", "g", args) ); - ___Args = sprintf("-%s", gensub(/,/, "-", "g", args) ); - } - else - { - _Args = ""; - __Args = ""; - ___Args = ""; - } -# print "DEBUG", Language, args, _Args, __Args - RepLang = sprintf("%s%s.%s", Representation, __Args, Language); - SysRepLang = sprintf("%s_%s", System, RepLang); - SysRep = sprintf("%s_%s%s", System, Representation, _Args); - filename = gensub(/,/, "-", "g", SysRep); - section_head = sprintf("\\textbf{%s.%s}: System %s, representation \\textbf{%s%s}, language \\textbf{%s}", - Representation,Language,System,Representation,__Args,Language); - -# section headings - if (match(Languages,Language)>0) { - print "\n\n\\section{" section_head "}"; - print "\\label{sec:" SysRepLang "}"; - print "\\index{\\textbf{" System "} -- " Representation "}"; - - print "\n\nMTT command:"; - print "\\begin{verbatim}"; - for (i=1;i<=NF;i++) printf("%s ", $i); - print "\n\\end{verbatim}"; - } - -# tex files - if( match("tex",Language)>0) { - printf(" \\input{%s/%s_%s.%s}\n", PWD, System, Representation, Language); -# command = sprintf("sed s!fig{!fig{%s! < %s_%s.%s", Directory, System, Representation, Language); -# system(command); -} - -# text files - if( match("txt r m c h icad",Language)>0) { - print " \\begin{verbatim}"; - command = sprintf("cat %s_%s.%s", System, Representation, Language); - system(command); - print " \\end{verbatim}"; - } -# ps files - if( match("ps",Language)>0) { - printf("This representation is given as Figure \\Ref{fig:%s}.\n", SysRepLang); - FileName = sprintf("%s/%s", PWD, filename); - Label = sprintf("%s", SysRepLang); - Caption = sprintf("System \\textbf{%s}, representation %s%s", System, Representation, __Args); - printf("\\fig{%s}\n {%s}\n {0.9}\n {%s}\n",FileName,Label,Caption); - } -} -END { - -}' system=$1 Directory=$directory PWD=`pwd` > $1_rep.tex - -fi - - - - - - - DELETED mttroot/mtt/bin/trans/reps_txt2tk Index: mttroot/mtt/bin/trans/reps_txt2tk ================================================================== --- mttroot/mtt/bin/trans/reps_txt2tk +++ /dev/null @@ -1,68 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: reps_txt2tk -# Creates tk/tcl file for xmtt. -# Copyright (c) P.J.Gawthrop, 1998 - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.4 2000/04/05 07:37:27 peterg -## *** empty log message *** -## -## Revision 1.3 1999/08/18 06:15:48 peterg -## Stripped down to just representations menu - see mtt_make_menu -## -## Revision 1.2 1999/03/09 00:03:19 peterg -## Revisions for xmtt -## -## Revision 1.1 1998/10/20 08:13:14 peterg -## Initial revision -## -############################################################### - -sep='|'; # Separates the languages from the rest. - -# Create reps menu -awk --field-separator=$sep '{ - -# Find the rep and the title - split($1,REP," "); - rep=REP[1]; -# find the languages - N=split($2,LANG," "); - -# Important representation? - if (index(rep,"*")) { - # Zap * - rep=substr(rep,1,length(rep)-1); - sub(/\*/,"",$1); - printf("\n# Menus for representation %s\n", rep) - printf(".rep.rep add cascade -label \"%s\" -menu .rep.rep.%s\n", $1, rep); - printf("menu .rep.rep.%s\n", rep); - for (i=1;i<=N;i++) { - lang = LANG[i]; - printf(" set mtt {mtt_pause $args $system %s %s} \n", rep, lang); - title = sprintf("Output_log_for_representation_%s_(language_%s)", rep, lang); - printf(".rep.rep.%s add command -label \"%s\" ", rep, lang); - printf(" -command \"exec xterm -title %s -e $mtt &\" \n", title); - } - } - else { - printf("\n# Menus for representation %s\n", rep) - printf(".repall.repall add cascade -label \"%s\" -menu .repall.repall.%s\n", $1, rep); - printf("menu .repall.repall.%s\n", rep); - for (i=1;i<=N;i++) { - printf(" set mtt {mtt $args $system %s %s; mtt_pause} \n", rep, LANG[i]); - printf(".repall.repall.%s add command -label \"%s\" ", rep, LANG[i]); - printf(" -command \"exec echo $mtt &; exec $mtt &\" \n"); - } - } -}' - DELETED mttroot/mtt/bin/trans/rest Index: mttroot/mtt/bin/trans/rest ================================================================== --- mttroot/mtt/bin/trans/rest +++ /dev/null @@ -1,22 +0,0 @@ -#!/bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: rest -# Gives remainder of space seperated string -# Copyright (C) 2000 by Peter J. Gawthrop - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.1 2000/10/10 07:44:20 peterg -## Initial revision -## -############################################################### - -echo $1 | cut -d ' ' -f 2- - DELETED mttroot/mtt/bin/trans/simpar_txt2h Index: mttroot/mtt/bin/trans/simpar_txt2h ================================================================== --- mttroot/mtt/bin/trans/simpar_txt2h +++ /dev/null @@ -1,47 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: simpar_txt2h - -# Numerical parameters to c format -# P.J.Gawthrop May 1997 -# Copyright (c) P.J.Gawthrop, 1997. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - - -system=$1 - - -# Inform user -echo "Creating $1_simpar.h" - -rm -f mtt_error - -#Write some file headers -echo '/*' > $1_simpar.h -echo "Simulation parameter file for system $1 ($1_simpar.h)" >> $1_simpar.h -echo "This file provides the system simulation parameters in c form" >> $1_simpar.h -echo "Generated by MTT at `date`" >> $1_simpar.h -echo "from $1_simpar.txt" >> $1_simpar.h -echo '*/' >> $1_simpar.h -echo >> $1_simpar.h - -# Now do the parameters - -sed 's/ //g' $1_simpar.txt |\ - awk -F '=' '/=/ {print "#define", $1, $2}' >> $1_simpar.h - - - - - - DELETED mttroot/mtt/bin/trans/sm2can_r Index: mttroot/mtt/bin/trans/sm2can_r ================================================================== --- mttroot/mtt/bin/trans/sm2can_r +++ /dev/null @@ -1,372 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: sm2can_r -# state matrices to various canonical forms. -# P.J.Gawthrop 12 Jan 1997 -# Copyright (c) P.J.Gawthrop 1997 - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - - -# Inform user -echo Creating $1_can.r -- NOTE this is for SISO systems only. - -# Remove the old log file -rm -f sm2can_r.log - -# Use reduce to accomplish the transformation -reduce >sm2can_r.log << EOF - -in "$1_def.r"; -in "$1_sm.r"; -in "$1_tf.r"; - -%Read the formatting function -in "$MTTPATH/trans/reduce_matrix.r"; - - -OFF Echo; -OFF Nat; - -% Find the controllability and observibility matrices. -MATRIX MTTCon(MTTNx,MTTNX); -MTTAB := MTTB; -FOR j := 1:MTTNx DO - BEGIN - FOR i := 1:MTTNx DO - MTTCon(i,j) := MTTAB(i,1); - MTTAB := MTTA*MTTAB; - END; - -MATRIX MTTObs(MTTNx,MTTNX); -MTTCA := MTTC; -FOR i := 1:MTTNx DO - BEGIN - FOR j := 1:MTTNx DO - MTTObs(i,j) := MTTCA(1,j); - MTTCA := MTTCA*MTTA; - END; - -%Canonical forms: -% This statement makes Gs a scalar transfer function -Gs := MTTtf(1,1); - -% Numerator and denominator polynomials -bs := num(gs); -as := den(gs); - -% extract coeficients and divide by coeff of s^n -% reverse operator puts list with highest oder coeffs first -ai := reverse(coeff(as,s)); -a0 := first(ai); -MTTn := length(ai) - 1; - - -% Normalised coeficients; -ai := reverse(coeff(as/a0,s)); -bi := reverse(coeff(bs/a0,s)); -MTTm := length(bi)-1; - -% Zap the (unity) first element of ai list; -ai := rest(ai); - -% System in controller form -% MTTA_c matrix -matrix MTTA_c(MTTn,MTTn); - -% First row is ai coefficients -for i := 1:MTTn do - MTTA_c(1,i) := -part(ai,i); - -% (MTTn-1)x(MTTn-1) unit matrix in lower left-land corner (if n>1) -if MTTn>1 then - for i := 1:MTTn-1 do - MTTA_c(i+1,i) := 1; - -% B_c vector; -matrix MTTB_c(MTTn,1); -MTTB_c(1,1) := 1; - -% C_c vector; -matrix MTTC_c(1,MTTn); -for i := 1:MTTm+1 do - MTTC_c(1,i+MTTn-MTTm-1) := part(bi,i); - -% D_c -MTTD_c := MTTD; - -%Observable form. -MTTA_o := tp(MTTA_c); -MTTB_o := tp(MTTC_c); -MTTC_o := tp(MTTB_c); -MTTD_o := MTTD; - -%Controllability matrix of controllable form -MATRIX MTTCon_c(MTTNx,MTTNX); -MTTAB := MTTB_c; -FOR j := 1:MTTNx DO - BEGIN - FOR i := 1:MTTNx DO - MTTCon_c(i,j) := MTTAB(i,1); - MTTAB := MTTA_c*MTTAB; - END; - -% Transformation matrix; -MTTT_c := MTTCon_c*MTTCon^(-1); - -%Observability matrix of observer form -MATRIX MTTObs_o(MTTNx,MTTNX); -MTTCA := MTTC_o; -FOR i := 1:MTTNx DO - BEGIN - FOR j := 1:MTTNx DO - MTTObs_o(i,j) := MTTCA(1,j); - MTTCA := MTTCA*MTTA_o; - END; - -% Transformation matrix; -MTTT_o := MTTObs^(-1)*MTTObs_o; - -%%%% Controller design %%%%% - -% gain in controller form: -matrix MTTk_c(1,mttn); -matrix alpha_c(9,1); -alpha_c(1,1) := alpha_c1; -alpha_c(2,1) := alpha_c2; -alpha_c(3,1) := alpha_c3; -alpha_c(4,1) := alpha_c4; -alpha_c(5,1) := alpha_c5; -alpha_c(6,1) := alpha_c6; -alpha_c(7,1) := alpha_c7; -alpha_c(8,1) := alpha_c8; -alpha_c(9,1) := alpha_c9; - - -for i := 1:MTTNx do - MTTk_c(1,i) := alpha_c(i,1) - part(ai,i); - -% Gain in physical form -MTTk := MTTk_c*MTTT_c; - -%%%% Observer design %%%%% -% gain in Observer form: -matrix MTTl_o(MTTn,1); -matrix alpha_o(9,1); -alpha_o(1,1) := alpha_o1; -alpha_o(2,1) := alpha_o2; -alpha_o(3,1) := alpha_o3; -alpha_o(4,1) := alpha_o4; -alpha_o(5,1) := alpha_o5; -alpha_o(6,1) := alpha_o6; -alpha_o(7,1) := alpha_o7; -alpha_o(8,1) := alpha_o8; -alpha_o(9,1) := alpha_o9; - -for i := 1:MTTNx DO - MTTL_o(i,1) := alpha_o(i,1) - part(ai,i); - -% Gain in physical form -MTTL := MTTT_o*MTTL_o; - -% Steady-state stuff -% Create the matrix [A B; C D]; -matrix ABCD(MTTn+1,MTTn+1); -for i := 1:MTTNx do - for j := 1:MTTNx do - ABCD(i,j) := MTTA(i,j); - -for i :=1:MTTNx do - ABCD(i,MTTNx+1) := MTTB(i,1); - -for j := 1:MTTNx do - ABCD(MTTNx+1,j) := MTTC(1,j); - -ABCD(MTTNx+1,MTTNx+1) := MTTD(1,1); - -matrix zero_one(MTTNx+1,1); -zero_one(MTTNx+1,1) := 1; - -%Find N vector -Nxu := ABCD^(-1)*zero_one; - -%Extract the parts -MATRIX MTTX_r(MTTNx,1); -FOR i := 1:MTTNx DO - MTTX_r(i,1) := Nxu(i,1); - -MTTu_r := Nxu(MTTNx+1,1); - - -% Compensator - -matrix zero(MTTNx,1); -%State matrices -MTTA_comp := MTTA - MTTL*MTTC - MTTB*MTTK; -MTTB_comp := -MTTL; -MTTC_comp := -MTTK; - -%Transfer function -%Ds := C_d*((s*MTTI - A_d)^(-1))*B_d; -%MTTTFC := Ds; - -%Create the output file -OUT "$1_can.r"; - -%Write out the matrices. - -% Controllable form -MTT_Matrix := MTTA_c$ -MTT_Matrix_name := "MTTA_c"$ -MTT_Matrix_n := MTTNx$ -MTT_Matrix_m := MTTNx$ -Reduce_Matrix()$ - -MTT_Matrix := MTTB_c$ -MTT_Matrix_name := "MTTB_c"$ -MTT_Matrix_n := MTTNx$ -MTT_Matrix_m := MTTNu$ -Reduce_Matrix()$ - -MTT_Matrix := MTTC_c$ -MTT_Matrix_name := "MTTC_c"$ -MTT_Matrix_n := MTTNy$ -MTT_Matrix_m := MTTNx$ -Reduce_Matrix()$ - - -% Observable form -MTT_Matrix := MTTA_o$ -MTT_Matrix_name := "MTTA_o"$ -MTT_Matrix_n := MTTNx$ -MTT_Matrix_m := MTTNx$ -Reduce_Matrix()$ - -MTT_Matrix := MTTB_o$ -MTT_Matrix_name := "MTTB_o"$ -MTT_Matrix_n := MTTNx$ -MTT_Matrix_m := MTTNu$ -Reduce_Matrix()$ - -MTT_Matrix := MTTC_o$ -MTT_Matrix_name := "MTTC_o"$ -MTT_Matrix_n := MTTNy$ -MTT_Matrix_m := MTTNx$ -Reduce_Matrix()$ - -write "% - Controllability matrix"; -MTT_Matrix := MTTCon$ -MTT_Matrix_name := "MTTCon"$ -MTT_Matrix_n := MTTNx$ -MTT_Matrix_m := MTTNx$ -Reduce_Matrix()$ - -write "% -Observability matrix"; -MTT_Matrix := MTTObs$ -MTT_Matrix_name := "MTTObs"$ -MTT_Matrix_n := MTTNx$ -MTT_Matrix_m := MTTNx$ -Reduce_Matrix()$ - -write "% -Controllability matrix - controller form"; -MTT_Matrix := MTTCon_c$ -MTT_Matrix_name := "MTTCon_c"$ -MTT_Matrix_n := MTTNx$ -MTT_Matrix_m := MTTNx$ -Reduce_Matrix()$ - -write "% - Transformation matrix - controller form"; -MTT_Matrix := MTTT_c$ -MTT_Matrix_name := "MTTT_c"$ -MTT_Matrix_n := MTTNx$ -MTT_Matrix_m := MTTNx$ -Reduce_Matrix()$ - -write "% - Gain matrix - controller form"; -MTT_Matrix := MTTK_c$ -MTT_Matrix_name := "MTTK_c"$ -MTT_Matrix_n := MTTNu$ -MTT_Matrix_m := MTTNx$ -Reduce_Matrix()$ - -write "% - Gain matrix - physical form"; -MTT_Matrix := MTTK$ -MTT_Matrix_name := "MTTK"$ -MTT_Matrix_n := MTTNu$ -MTT_Matrix_m := MTTNx$ -Reduce_Matrix()$ - - -write "% -Observability matrix - Observer form"; -MTT_Matrix := MTTObs_o$ -MTT_Matrix_name := "MTTObs_o"$ -MTT_Matrix_n := MTTNx$ -MTT_Matrix_m := MTTNx$ -Reduce_Matrix()$ - -write "% - Transformation matrix - Observer form"; -MTT_Matrix := MTTT_o$ -MTT_Matrix_name := "MTTT_o"$ -MTT_Matrix_n := MTTNx$ -MTT_Matrix_m := MTTNx$ -Reduce_Matrix()$ - -write "% - Observer Gain matrix - observer form"; -MTT_Matrix := MTTL_o$ -MTT_Matrix_name := "MTTL_o"$ -MTT_Matrix_n := MTTNx$ -MTT_Matrix_m := MTTNy$ -Reduce_Matrix()$ - -write "% - Gain matrix - physical form"; -MTT_Matrix := MTTL$ -MTT_Matrix_name := "MTTL"$ -MTT_Matrix_n := MTTNx$ -MTT_Matrix_m := MTTNy$ -Reduce_Matrix()$ - - -% Controllable form -MTT_Matrix := MTTA_comp$ -MTT_Matrix_name := "MTTA_comp"$ -MTT_Matrix_n := MTTNx$ -MTT_Matrix_m := MTTNx$ -Reduce_Matrix()$ - -MTT_Matrix := MTTB_comp$ -MTT_Matrix_name := "MTTB_comp"$ -MTT_Matrix_n := MTTNx$ -MTT_Matrix_m := MTTNu$ -Reduce_Matrix()$ - -MTT_Matrix := MTTC_comp$ -MTT_Matrix_name := "MTTC_comp"$ -MTT_Matrix_n := MTTNy$ -MTT_Matrix_m := MTTNx$ -Reduce_Matrix()$ - - -KX := MTTK*MTTX_r; -MTTu_r := MTTu_r + KX(1,1); - - - -MTTu_r := MTTu_r; -write "END;"; - -SHUT "$1_can.r"; -quit; - -EOF - -# Now invoke the standard error handling. -mtt_error_r sm2can_r.log DELETED mttroot/mtt/bin/trans/sm2ir_m Index: mttroot/mtt/bin/trans/sm2ir_m ================================================================== --- mttroot/mtt/bin/trans/sm2ir_m +++ /dev/null @@ -1,80 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: sm2ir_m - -# Transforms descriptor matrix rep to step response - - -# Copyright (c) P.J.Gawthrop, 1996. - - -echo Creating $1_ir.m -echo Creating $1_iro.m -rm -f sm2ir_m.log -rm -f $1_ir.m -rm -f $1_iro.m -rm -f mtt_error - -# if [ "$2" = "" ]; -# then -# PARAMS='T=[0:0.1:10];u0=ones(nu,1);x0=zeros(nx,1);' -# echo Using default parameter $PARAMS -# else -# PARAMS=$2; -# fi - -# PARAMS="$PARAMS ;" - -$MATRIX << EOF > sm2ir_m.log 2>mtt_error.txt - - % Read in the numeric system parameters - mttpar = $1_numpar; - - [nx,ny,nu,nz,nyz] = $1_def; - t=0; %Just in case it appears in the parameter list. - - $PARAMS - - %Defaults - if exist('T')==0 - T=[0:0.1:10] - end; - - if exist('u0')==0 - u0 = ones(nu,1); - end; - - if exist('x0')==0 - x0 = zeros(nx,1); - end; - - - [n,m]=size(T); - if m>n - T=T'; - end; - - [A,B,C,D] = $1_sm(mttpar); - [y,x] = sm2ir(A,B,C,D,T,u0,x0); - - if nx>0 - write_matrix([T x], '$1_ir'); - end; - if ny>0 - write_matrix([T y], '$1_iro'); - end; - -EOF - -# Write info -touch mtt_info.txt -cat mtt_info.txt - -# Now invoke the standard error handling. -mtt_error mtt_error.txt - - DELETED mttroot/mtt/bin/trans/sm2smc_r Index: mttroot/mtt/bin/trans/sm2smc_r ================================================================== --- mttroot/mtt/bin/trans/sm2smc_r +++ /dev/null @@ -1,195 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: sm2smc_r -# state matrices to controller canonical form + related matrices -# P.J.Gawthrop 12 Jan 1997 -# Copyright (c) P.J.Gawthrop 1997 - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.1 1998/01/22 13:17:37 peterg -## Initial revision -## -############################################################### -Nu=`mtt_getsize $1 u` -Ny=`mtt_getsize $1 y` - -if [ "$Nu" = "1" ]; then - if [ "$Ny" = "1" ]; then - blurb=' for this siso system' - else - blurb=" using first output of $Ny" - fi -else - if [ "$Ny" = "1" ]; then - blurb=" using first input of $Nu" - else - blurb=" using first input of $Nu and using first output of $Ny" - fi -fi - - -# Inform user -echo Creating $1_smc.r $blurb - -# Remove the old log file -rm -f sm2smc_r.log - -# Use reduce to accomplish the transformation -reduce >sm2smc_r.log << EOF - -in "$1_def.r"; -in "$1_sm.r"; -in "$1_tf.r"; - -%Read the formatting function -in "$MTTPATH/trans/reduce_matrix.r"; - - -OFF Echo; -OFF Nat; - -% Find the controllability matrix -MATRIX MTTCon(MTTNx,MTTNX); -MTTAB := MTTB; -FOR j := 1:MTTNx DO - BEGIN - FOR i := 1:MTTNx DO - MTTCon(i,j) := MTTAB(i,1); - MTTAB := MTTA*MTTAB; - END; - - -%Canonical forms: -% This statement makes Gs a scalar transfer function -Gs := MTTtf(1,1); - -% Numerator and denominator polynomials -bs := num(gs); -as := den(gs); - -% extract coeficients and divide by coeff of s^n -% reverse operator puts list with highest oder coeffs first -ai := reverse(coeff(as,s)); -a0 := first(ai); -MTTn := length(ai) - 1; - - -% Normalised coeficients; -ai := reverse(coeff(as/a0,s)); -bi := reverse(coeff(bs/a0,s)); -MTTm := length(bi)-1; - -% Zap the (unity) first element of ai list; -ai := rest(ai); - -% System in controller form -% MTTA_c matrix -matrix MTTA_c(MTTn,MTTn); - -% First row is ai coefficients -for i := 1:MTTn do - MTTA_c(1,i) := -part(ai,i); - -% (MTTn-1)x(MTTn-1) unit matrix in lower left-land corner (if n>1) -if MTTn>1 then - for i := 1:MTTn-1 do - MTTA_c(i+1,i) := 1; - -% B_c vector; -matrix MTTB_c(MTTn,1); -MTTB_c(1,1) := 1; - -% C_c vector; -matrix MTTC_c(1,MTTn); -for i := 1:MTTm+1 do - MTTC_c(1,i+MTTn-MTTm-1) := part(bi,i); - -% D_c -MTTD_c := MTTD; - -%Controllability matrix of controllable form -MATRIX MTTCon_c(MTTNx,MTTNX); -MTTAB := MTTB_c; -FOR j := 1:MTTNx DO - BEGIN - FOR i := 1:MTTNx DO - MTTCon_c(i,j) := MTTAB(i,1); - MTTAB := MTTA_c*MTTAB; - END; - -% Transformation matrix; -MTTT_c := MTTCon_c*MTTCon^(-1); - - - -%Create the output file -OUT "$1_smc.r"; - -%Write out the matrices. - -% Controllable form -write "% - Controller form"; -MTT_Matrix := MTTA_c$ -MTT_Matrix_name := "MTTA_c"$ -MTT_Matrix_n := MTTNx$ -MTT_Matrix_m := MTTNx$ -Reduce_Matrix()$ - -MTT_Matrix := MTTB_c$ -MTT_Matrix_name := "MTTB_c"$ -MTT_Matrix_n := MTTNx$ -MTT_Matrix_m := 1$ -Reduce_Matrix()$ - -MTT_Matrix := MTTC_c$ -MTT_Matrix_name := "MTTC_c"$ -MTT_Matrix_n := 1$ -MTT_Matrix_m := MTTNx$ -Reduce_Matrix()$ - -MTT_Matrix := MTTD_c$ -MTT_Matrix_name := "MTTD_c"$ -MTT_Matrix_n := 1$ -MTT_Matrix_m := 1$ -Reduce_Matrix()$ - - -write "% - Controllability matrix"; -MTT_Matrix := MTTCon$ -MTT_Matrix_name := "MTTCon"$ -MTT_Matrix_n := MTTNx$ -MTT_Matrix_m := MTTNx$ -Reduce_Matrix()$ - - -write "% -Controllability matrix - controller form"; -MTT_Matrix := MTTCon_c$ -MTT_Matrix_name := "MTTCon_c"$ -MTT_Matrix_n := MTTNx$ -MTT_Matrix_m := MTTNx$ -Reduce_Matrix()$ - -write "% - Transformation matrix - controller form"; -MTT_Matrix := MTTT_c$ -MTT_Matrix_name := "MTTT_c"$ -MTT_Matrix_n := MTTNx$ -MTT_Matrix_m := MTTNx$ -Reduce_Matrix()$ - -write "END;"; - -SHUT "$1_smc.r"; -quit; - -EOF - -# Now invoke the standard error handling. -mtt_error_r sm2smc_r.log DELETED mttroot/mtt/bin/trans/sm2smo_r Index: mttroot/mtt/bin/trans/sm2smo_r ================================================================== --- mttroot/mtt/bin/trans/sm2smo_r +++ /dev/null @@ -1,196 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: sm2smo_r -# state matrices to cobserver form -# P.J.Gawthrop 12 Jan 1997 -# Copyright (c) P.J.Gawthrop 1998 - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.3 2000/09/11 10:53:54 peterg -## Uses 1st io of mimo to create siso -## -## Revision 1.2 1998/01/22 13:25:22 peterg -## Added END;; to output file. -## -## Revision 1.1 1998/01/22 13:16:43 peterg -## Initial revision -## -############################################################### - -Nu=`mtt_getsize $1 u` -Ny=`mtt_getsize $1 y` - -if [ "$Nu" = "1" ]; then - if [ "$Ny" = "1" ]; then - blurb=' for this siso system' - else - blurb=" using first output of $Ny" - fi -else - if [ "$Ny" = "1" ]; then - blurb=" using first input of $Nu" - else - blurb=" using first input of $Nu and using first output of $Ny" - fi -fi -# Inform user -echo Creating $1_smo.r $blurb - -# Remove the old log file -rm -f sm2smo_r.log - -# Use reduce to accomplish the transformation -reduce >sm2smo_r.log << EOF - -in "$1_def.r"; -in "$1_sm.r"; -in "$1_tf.r"; - -%Read the formatting function -in "$MTTPATH/trans/reduce_matrix.r"; - - -OFF Echo; -OFF Nat; - -% Find observibility matrix. -MATRIX MTTObs(MTTNx,MTTNX); -MTTCA := MTTC; -FOR i := 1:MTTNx DO - BEGIN - FOR j := 1:MTTNx DO - MTTObs(i,j) := MTTCA(1,j); - MTTCA := MTTCA*MTTA; - END; - -%Canonical forms: -% This statement makes Gs a scalar transfer function -Gs := MTTtf(1,1); - -% Numerator and denominator polynomials -bs := num(gs); -as := den(gs); - -% extract coeficients and divide by coeff of s^n -% reverse operator puts list with highest oder coeffs first -ai := reverse(coeff(as,s)); -a0 := first(ai); -MTTn := length(ai) - 1; - - -% Normalised coeficients; -ai := reverse(coeff(as/a0,s)); -bi := reverse(coeff(bs/a0,s)); -MTTm := length(bi)-1; - -% Zap the (unity) first element of ai list; -ai := rest(ai); - -% System in observer form -% MTTA_o matrix -matrix MTTA_o(MTTNx,MTTNx); - -% First column is ai coefficients -for i := 1:MTTNx do - MTTA_o(i,1) := -part(ai,i); - -% (MTTNx-1)x(MTTNx-1) unit matrix in upper right-hand corner (if n>1) -if MTTNx>1 then - for i := 1:MTTNx-1 do - MTTA_o(i,i+1) := 1; - -% C_o vector; -matrix MTTC_o(1,MTTNx); - MTTC_o(1,1) := 1; -MTTC_o; -% B_o vector; -matrix MTTB_o(MTTNx,1); -for i := 1:MTTm+1 do - MTTB_o(i+MTTNx-MTTm-1,1) := part(bi,i); - -% D_o -MTTD_o := MTTD; - -%Observability matrix of observer form -MATRIX MTTObs_o(MTTNx,MTTNX); -MTTCA := MTTC_o; -FOR i := 1:MTTNx DO - BEGIN - FOR j := 1:MTTNx DO - MTTObs_o(i,j) := MTTCA(1,j); - MTTCA := MTTCA*MTTA_o; - END; - -% Transformation matrix; -MTTT_o := MTTObs^(-1)*MTTObs_o; - - -%Create the output file -OUT "$1_smo.r"; - -%Write out the matrices. - -% Observable form -MTT_Matrix := MTTA_o$ -MTT_Matrix_name := "MTTA_o"$ -MTT_Matrix_n := MTTNx$ -MTT_Matrix_m := MTTNx$ -Reduce_Matrix()$ - -MTT_Matrix := MTTB_o$ -MTT_Matrix_name := "MTTB_o"$ -MTT_Matrix_n := MTTNx$ -MTT_Matrix_m := 1$ -Reduce_Matrix()$ - -MTT_Matrix := MTTC_o$ -MTT_Matrix_name := "MTTC_o"$ -MTT_Matrix_n := 1$ -MTT_Matrix_m := MTTNx$ -Reduce_Matrix()$ - -MTT_Matrix := MTTD_o$ -MTT_Matrix_name := "MTTD_o"$ -MTT_Matrix_n := 1$ -MTT_Matrix_m := 1$ -Reduce_Matrix()$ - -write "% -Observability matrix"; -MTT_Matrix := MTTObs$ -MTT_Matrix_name := "MTTObs"$ -MTT_Matrix_n := MTTNx$ -MTT_Matrix_m := MTTNx$ -Reduce_Matrix()$ - - -write "% -Observability matrix - Observer form"; -MTT_Matrix := MTTObs_o$ -MTT_Matrix_name := "MTTObs_o"$ -MTT_Matrix_n := MTTNx$ -MTT_Matrix_m := MTTNx$ -Reduce_Matrix()$ - -write "% - Transformation matrix - Observer form"; -MTT_Matrix := MTTT_o$ -MTT_Matrix_name := "MTTT_o"$ -MTT_Matrix_n := MTTNx$ -MTT_Matrix_m := MTTNx$ -Reduce_Matrix()$ - - -write "END;;"; -SHUT "$1_smo.r"; -quit; - -EOF - -# Now invoke the standard error handling. -mtt_error_r sm2smo_r.log DELETED mttroot/mtt/bin/trans/sm2sr_m Index: mttroot/mtt/bin/trans/sm2sr_m ================================================================== --- mttroot/mtt/bin/trans/sm2sr_m +++ /dev/null @@ -1,122 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: sm2sr_m - -# Transforms descriptor matrix rep to step response - - -# Copyright (c) P.J.Gawthrop, 1996. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.16 1998/08/11 13:31:05 peterg -## Lowercase mttLAST etc -## -## Revision 1.15 1998/07/27 20:31:40 peterg -## New simpar version -## -## Revision 1.14 1998/07/25 10:00:48 peterg -## *** empty log message *** -## -## Revision 1.13 1997/06/13 12:52:18 peterg -## Removed extra ; from $PARAMS -## -# Revision 1.12 1996/09/12 18:45:31 peter -# Back to rcs. -# -# Revision 1.11 1996/08/24 14:02:39 peter -# Included glabal parameter passing. -# Proper error handling. -# -## Revision 1.10 1996/08/19 15:34:14 peter -## Now based on state - not descriptor matrices. -## -## Revision 1.9 1996/08/18 12:01:45 peter -## Unified format of time responses. -## -## Revision 1.8 1996/08/15 16:23:39 peter -## Uses T in place of t to avoid name clash within function. -## -## Revision 1.7 1996/08/15 11:54:32 peter -## Now has optional initial condition. -## -## Revision 1.6 1996/08/14 09:15:02 peter -## Now encapsulates the data into an m file -## Name changed -## -## Revision 1.5 1996/08/12 20:19:06 peter -## Fiddled about with parameter passing - still not right -## -## Revision 1.4 1996/08/11 19:48:04 peter -## Parameter passing added. -## -## Revision 1.3 1996/08/11 10:38:30 peter -## Minor debugging changes. -## -## Revision 1.2 1996/08/11 10:06:50 peter -## Now allows e format and NaN numbers. -## -## Revision 1.1 1996/08/11 09:45:46 peter -## Initial revision -## -############################################################### - -echo Creating $1_sr.m -echo Creating $1_sro.m -rm -f sm2sr_m.log -rm -f $1_sr.m -rm -f $1_sro.m -rm -f mtt_error - - -# PARAMS="$PARAMS ;" - -$MATRIX << EOF > sm2sr_m.log 2>mtt_error.txt - - % Read in the numeric system parameters - mttpar = $1_numpar; - - % Read in the simulation parameters - simpar = $1_simpar; - - [nx,ny,nu,nz,nyz] = $1_def; - t=0; %Just in case it appears in the parameter list. - - T=[0:simpar.dt:simpar.last]' - - if exist('u0')==0 - u0 = ones(nu,1); - end; - - if exist('x0')==0 - x0 = zeros(nx,1); - end; - - - [n,m]=size(T); - if m>n - T=T'; - end; - - [A,B,C,D] = $1_sm(mttpar); - [y,x] = sm2sr(A,B,C,D,T,u0,x0); - - if nx>0 - write_matrix([T x], '$1_sr'); - end; - if ny>0 - write_matrix([T y], '$1_sro'); - end; - -EOF - -# Now invoke the standard error handling. -mtt_error mtt_error.txt - DELETED mttroot/mtt/bin/trans/sm_r2m Index: mttroot/mtt/bin/trans/sm_r2m ================================================================== --- mttroot/mtt/bin/trans/sm_r2m +++ /dev/null @@ -1,89 +0,0 @@ -#!/bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: sm_r2m -# Reduce constained state-space A,B,C,D and E matrices to Matlab -# P.J.Gawthrop July 1990, Feb 1991, May 1991, Sep 91, Dec 93, Jan 94, May 94. -# Copyright (c) P.J.Gawthrop, 1989, 1990, 1991, 1993, 1994, 1996. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.7 1998/06/23 19:18:33 peterg -## Added optional state argument. -## -# Revision 1.6 1997/02/24 14:43:21 peterg -# Now ignores parameters that are numerical. -# -## Revision 1.5 1996/09/12 18:34:44 peter -## Back under rcs. -## -# Revision 1.4 1996/08/24 14:12:26 peter -# Global parameter passing. -# -## Revision 1.3 1996/08/19 18:38:43 peter -## Read in the numerical params etc ... -## -## Revision 1.2 1996/08/19 16:25:18 peter -## Fixed bug when Nx=0. -## -## Revision 1.1 1996/08/19 15:14:51 peter -## Initial revision -## -############################################################### - - -# Inform user -echo Creating $1_sm.m - -# Remove the old log file -rm -f sm_r2m.log - -#Header -lang_header $1 sm m '' '[mtta,mttb,mttc,mttd]' >$1_sm.m - -# Use reduce to accomplish the transformation -$SYMBOLIC >sm_r2m.log << EOF - -%Read in the definitions file -IN "$1_def.r"; - -%Read the reduce state-space A,B,C and D matrices file -IN "$1_sm.r"; - -%Read in the parameter file -IN "$1_sympar.r"; - -OUT "$1_sm.m1"; - -%Fortran switches - one line expressions -OFF echo; -ON fort$ -cardno!* := 1$ -fortwidth!* := 100$ -OFF period$ - -write "mtta = zeros(", MTTNx, ",", MTTNx, ");"; -write "mttb = zeros(", MTTNx, ",", MTTNu, ");"; -write "mttc = zeros(", MTTNy, ",", MTTNx, ");"; -write "mttd = zeros(", MTTNy, ",", MTTNu, ");"; - -ON NERO; % Suppress zero elements. -mtta := mtta; -mttb := mttb; -mttc := mttc; -mttd := mttd; - -OFF FORT; -write ""; - -SHUT "$1_sm.m1"; -EOF - -cat $1_sm.m1 >> $1_sm.m -#rm -f $1_sm.m1 DELETED mttroot/mtt/bin/trans/sm_r2tex Index: mttroot/mtt/bin/trans/sm_r2tex ================================================================== --- mttroot/mtt/bin/trans/sm_r2tex +++ /dev/null @@ -1,97 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: sm_r2tex -# Reduce constrained-state matrices to LaTex constrained-state matrices. -# P.J.Gawthrop 9 Sep 1991, May 1994 -# Copyright (c) P.J.Gawthrop, 1991, May 1994, 1996. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.4 1998/02/18 08:25:36 peterg -## Now uses latex_matrix for formatting -## -## Revision 1.3 1997/06/13 13:50:11 peterg -## Matrices in amstex format -## -# Revision 1.2 1997/04/18 12:54:00 peterg -# No longer does labels. -# -# Revision 1.1 1996/08/19 15:19:23 peter -# Initial revision -# -############################################################### - - -# Inform user -echo Creating $1_$2.tex - -# Remove the old log file -rm -f sm_r2tex.log - -# Use reduce to accomplish the transformation -reduce >sm_r2tex.log << EOF - -%Read the definitions file -in "$1_def.r"; - -%Read the constrained-state matrices file -in "$1_$2.r"; - -%Read the symbolic parameters file -%%in "$1_sympar.r"; - -%Read the substitution file -in "$1_subs.r"; - -%Read the simplification file -in "$1_simp.r"; - -%Read the formatting function -in "$MTTPATH/trans/latex_matrix.r"; - -OFF Echo; -OFF Nat; - -MATRIX MTT_Matrix(MTTNx,MTTNx); - -OUT "$1_$2.tex"; - -%Write out the state matrices. -write "%state matrices $1"; -write "%File: $1_$2.tex"; -write""; - -MTT_Matrix := MTTA$ -MTT_Matrix_name := "MTTA"$ -MTT_Matrix_n := MTTNx$ -MTT_Matrix_m := MTTNx$ -LaTeX_Matrix()$ - -MTT_Matrix := MTTB$ -MTT_Matrix_name := "MTTB"$ -MTT_Matrix_n := MTTNx$ -MTT_Matrix_m := MTTNu$ -LaTeX_Matrix()$ - -MTT_Matrix := MTTC$ -MTT_Matrix_name := "MTTC"$ -MTT_Matrix_n := MTTNy$ -MTT_Matrix_m := MTTNx$ -LaTeX_Matrix()$ - -MTT_Matrix := MTTD$ -MTT_Matrix_name := "MTTD"$ -MTT_Matrix_n := MTTNu$ -MTT_Matrix_m := MTTNu$ -LaTeX_Matrix()$ - -SHUT "$1_$2.tex"; -quit; -EOF DELETED mttroot/mtt/bin/trans/smc2ssk_r Index: mttroot/mtt/bin/trans/smc2ssk_r ================================================================== --- mttroot/mtt/bin/trans/smc2ssk_r +++ /dev/null @@ -1,117 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: smc2ssk_r -# controller-form state matrices to controller gain k -# P.J.Gawthrop Jan 1998 -# Copyright (c) P.J.Gawthrop 1998 - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.3 1998/02/09 14:16:52 peterg -## Writes end statement to the o/p file -## -## Revision 1.2 1998/01/23 09:30:36 peterg -## Fixed a sign error - the coeficients of a(s) appear with - signs in -## the A_c matrix! -## -## Revision 1.1 1998/01/22 13:16:16 peterg -## Initial revision -## -############################################################### - -Nu=`mtt_getsize $1 u` -Ny=`mtt_getsize $1 y` - -if [ "$Nu" = "1" ]; then - if [ "$Ny" = "1" ]; then - blurb=' for this siso system' - else - blurb=" using first output of $Ny" - fi -else - if [ "$Ny" = "1" ]; then - blurb=" using first input of $Nu" - else - blurb=" using first input of $Nu and using first output of $Ny" - fi -fi - -# Inform user -echo Creating $1_ssk.r $blurb - -# Remove the old log file -rm -f smc2ssk_r.log - -# Use reduce to accomplish the transformation -reduce >smc2ssk_r.log << EOF - -in "$1_def.r"; -in "$1_smc.r"; - -%Read the formatting function -in "$MTTPATH/trans/reduce_matrix.r"; - - -OFF Echo; -OFF Nat; - - -%%%% Controller design %%%%% - -% gain in controller form: -matrix MTTk_c(1,MTTNx); - -matrix alpha_c(9,1); -alpha_c(1,1) := alpha_c1; -alpha_c(2,1) := alpha_c2; -alpha_c(3,1) := alpha_c3; -alpha_c(4,1) := alpha_c4; -alpha_c(5,1) := alpha_c5; -alpha_c(6,1) := alpha_c6; -alpha_c(7,1) := alpha_c7; -alpha_c(8,1) := alpha_c8; -alpha_c(9,1) := alpha_c9; - - -for i := 1:MTTNx do - MTTk_c(1,i) := alpha_c(i,1) + MTTA_c(1,i); - -% Gain in physical form -MTTk := MTTk_c*MTTT_c; - - -%Create the output file -OUT "$1_ssk.r"; - -%Write out the matrices. - -write "% - Gain matrix - controller form"; -MTT_Matrix := MTTK_c$ -MTT_Matrix_name := "MTTK_c"$ -MTT_Matrix_n := 1$ -MTT_Matrix_m := MTTNx$ -Reduce_Matrix()$ - -write "% - Gain matrix - physical form"; -MTT_Matrix := MTTK$ -MTT_Matrix_name := "MTTK"$ -MTT_Matrix_n := 1$ -MTT_Matrix_m := MTTNx$ -Reduce_Matrix()$ - -write "END;"; - -SHUT "$1_ssk.r"; -quit; - -EOF - -# Now invoke the standard error handling. -mtt_error_r smc2ssk_r.log DELETED mttroot/mtt/bin/trans/smc_r2tex Index: mttroot/mtt/bin/trans/smc_r2tex ================================================================== --- mttroot/mtt/bin/trans/smc_r2tex +++ /dev/null @@ -1,114 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: smc_r2tex -# Reduce constrained-state matrices to LaTex constrained-state matrices. -# P.J.Gawthrop January 8th 1997 -# Copyright (c) P.J.Gawthrop, 1997 - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.2 2000/08/24 11:43:42 peterg -## Include subs file -## -## Revision 1.1 1998/01/22 13:25:55 peterg -## Initial revision -## -############################################################### - - -# Inform user -echo Creating $1_smc.tex - -# Remove the old log file -rm -f smc_r2tex.log - -# Use reduce to accomplish the transformation -$SYMBOLIC >smc_r2tex.log<< EOF - -%Read the definitions file -in "$1_def.r"; - -%Read the smconical-form matrices file -in "$1_smc.r"; - -%Read the substitution file -in "$1_subs.r"; - -%Read the simplification file -in "$1_simp.r"; - -%Read the formatting function -in "$MTTPATH/trans/latex_matrix.r"; - -OFF Echo; -OFF Nat; -OFF EXP; -%ON Rounded; -%Precision 5; - - -OUT "$1_smc.tex"; - -%Write out the canonical matrices -write "%Canonical-form matrices $1"; -write "%File: $1_smc.tex"; -write""; - - -% Controllable form -MTT_Matrix := MTTA_c$ -MTT_Matrix_name := "MTTA_c"$ -MTT_Matrix_n := MTTNx$ -MTT_Matrix_m := MTTNx$ -LaTeX_Matrix()$ - -MTT_Matrix := MTTB_c$ -MTT_Matrix_name := "MTTB_c"$ -MTT_Matrix_n := MTTNx$ -MTT_Matrix_m := 1$ -LaTeX_Matrix()$ - -MTT_Matrix := MTTC_c$ -MTT_Matrix_name := "MTTC_c"$ -MTT_Matrix_n := 1$ -MTT_Matrix_m := MTTNx$ -LaTeX_Matrix()$ - -MTT_Matrix := MTTD_c$ -MTT_Matrix_name := "MTTD_c"$ -MTT_Matrix_n := 1$ -MTT_Matrix_m := 1$ -LaTeX_Matrix()$ - -write "% - Controllability matrix"; -MTT_Matrix := MTTCon$ -MTT_Matrix_name := "MTTCon"$ -MTT_Matrix_n := MTTNx$ -MTT_Matrix_m := MTTNx$ -LaTeX_Matrix()$ - -write "% -Controllability matrix - controller form"; -MTT_Matrix := MTTCon_c$ -MTT_Matrix_name := "MTTCon_c"$ -MTT_Matrix_n := MTTNx$ -MTT_Matrix_m := MTTNx$ -LaTeX_Matrix()$ - -write "% - Transformation matrix - controller form"; -MTT_Matrix := MTTT_c$ -MTT_Matrix_name := "MTTT_c"$ -MTT_Matrix_n := MTTNx$ -MTT_Matrix_m := MTTNx$ -LaTeX_Matrix()$ - - -SHUT "$1_smc.tex"; -quit; -EOF DELETED mttroot/mtt/bin/trans/smo2ssl_r Index: mttroot/mtt/bin/trans/smo2ssl_r ================================================================== --- mttroot/mtt/bin/trans/smo2ssl_r +++ /dev/null @@ -1,107 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: smo2ssl_r -# observer-form state matrices to Kobserver gain -# P.J.Gawthrop Jan 1998 -# Copyright (c) P.J.Gawthrop 1998 - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.1 1998/01/23 09:31:03 peterg -## Initial revision -## -############################################################### - -Nu=`mtt_getsize $1 u` -Ny=`mtt_getsize $1 y` - -if [ "$Nu" = "1" ]; then - if [ "$Ny" = "1" ]; then - blurb=' for this siso system' - else - blurb=" using first output of $Ny" - fi -else - if [ "$Ny" = "1" ]; then - blurb=" using first input of $Nu" - else - blurb=" using first input of $Nu and using first output of $Ny" - fi -fi - - -# Inform user -echo Creating $1_ssl.r $blurb - -# Remove the old log file -rm -f smo2ssl_r.log - -# Use reduce to accomplish the transformation -reduce >smo2ssl_r.log << EOF - -in "$1_def.r"; -in "$1_smo.r"; - -%Read the formatting function -in "$MTTPATH/trans/reduce_matrix.r"; - -OFF Echo; -OFF Nat; - - -%%%% Observer design %%%%% -% gain in Observer form: -matrix MTTl_o(MTTNx,1); -matrix alpha_o(9,1); -alpha_o(1,1) := alpha_o1; -alpha_o(2,1) := alpha_o2; -alpha_o(3,1) := alpha_o3; -alpha_o(4,1) := alpha_o4; -alpha_o(5,1) := alpha_o5; -alpha_o(6,1) := alpha_o6; -alpha_o(7,1) := alpha_o7; -alpha_o(8,1) := alpha_o8; -alpha_o(9,1) := alpha_o9; - -for i := 1:MTTNx DO - MTTL_o(i,1) := alpha_o(i,1) + MTTA_o(i,1); - -% Gain in physical form -MTTL := MTTT_o*MTTL_o; - -%Create the output file -OUT "$1_ssl.r"; - -%Write out the matrices. - - -write "% - Observer Gain matrix - observer form"; -MTT_Matrix := MTTL_o$ -MTT_Matrix_name := "MTTL_o"$ -MTT_Matrix_n := MTTNx$ -MTT_Matrix_m := MTTNy$ -Reduce_Matrix()$ - -write "% - Gain matrix - physical form"; -MTT_Matrix := MTTL$ -MTT_Matrix_name := "MTTL"$ -MTT_Matrix_n := MTTNx$ -MTT_Matrix_m := MTTNy$ -Reduce_Matrix()$ - -write "END;"; - -SHUT "$1_ssl.r"; -quit; - -EOF - -# Now invoke the standard error handling. -mtt_error_r smo2ssl_r.log DELETED mttroot/mtt/bin/trans/smo_r2tex Index: mttroot/mtt/bin/trans/smo_r2tex ================================================================== --- mttroot/mtt/bin/trans/smo_r2tex +++ /dev/null @@ -1,112 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: smo_r2tex -# Reduce constrained-state matrices to LaTex constrained-state matrices. -# P.J.Gawthrop January 8th 1997 -# Copyright (c) P.J.Gawthrop, 1997 - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.1 1998/01/22 13:17:14 peterg -## Initial revision -## -############################################################### - - -# Inform user -echo Creating $1_smo.tex - -# Remove the old log file -rm -f smo_r2tex.log - -# Use reduce to accomplish the transformation -reduce >smo_r2tex.log<< EOF - -%Read the definitions file -in "$1_def.r"; - -%Read the observer-form matrices file -in "$1_smo.r"; - - -%Read the substitution file -in "$1_subs.r"; - -%Read the simplification file -in "$1_simp.r"; - -%Read the formatting function -in "$MTTPATH/trans/latex_matrix.r"; - -OFF Echo; -OFF Nat; -OFF EXP; -%ON Rounded; -%Precision 5; - - -OUT "$1_smo.tex"; - -%Write out the canonical matrices -write "%Canonical-form matrices $1"; -write "%File: $1_smo.tex"; -write""; - - -% Observable form -MTT_Matrix := MTTA_o$ -MTT_Matrix_name := "MTTA_o"$ -MTT_Matrix_n := MTTNx$ -MTT_Matrix_m := MTTNx$ -LaTeX_Matrix()$ - -MTT_Matrix := MTTB_o$ -MTT_Matrix_name := "MTTB_o"$ -MTT_Matrix_n := MTTNx$ -MTT_Matrix_m := MTTNu$ -LaTeX_Matrix()$ - -MTT_Matrix := MTTC_o$ -MTT_Matrix_name := "MTTC_o"$ -MTT_Matrix_n := MTTNy$ -MTT_Matrix_m := MTTNx$ -LaTeX_Matrix()$ - -MTT_Matrix := MTTD_o$ -MTT_Matrix_name := "MTTD_o"$ -MTT_Matrix_n := MTTNu$ -MTT_Matrix_m := MTTNu$ -LaTeX_Matrix()$ - -write "% - Observability matrix"; -MTT_Matrix := MTTObs$ -MTT_Matrix_name := "MTTObs"$ -MTT_Matrix_n := MTTNx$ -MTT_Matrix_m := MTTNx$ -LaTeX_Matrix()$ - -write "% -Observability matrix - Observer form"; -MTT_Matrix := MTTObs_o$ -MTT_Matrix_name := "MTTObs_o"$ -MTT_Matrix_n := MTTNx$ -MTT_Matrix_m := MTTNx$ -LaTeX_Matrix()$ - -write "% - Transformation matrix - Observer form"; -MTT_Matrix := MTTT_o$ -MTT_Matrix_name := "MTTT_o"$ -MTT_Matrix_n := MTTNx$ -MTT_Matrix_m := MTTNx$ -LaTeX_Matrix()$ - - -SHUT "$1_smo.tex"; -quit; -EOF DELETED mttroot/mtt/bin/trans/sort_sympar Index: mttroot/mtt/bin/trans/sort_sympar ================================================================== --- mttroot/mtt/bin/trans/sort_sympar +++ /dev/null @@ -1,37 +0,0 @@ -#!/bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: sort_sympar -# Sorts the symbolic parameters in a nice way. -# P.J.Gawthrop March 1998 -# Copyright (c) P.J.Gawthrop, 1998. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - - -# Step 1: sort by variable name -# Step 2: put all varables with same name on same line - - -sort -k 1,1 | \ -awk '{ - var = $1; sys = $2; - if (var==oldvar) { - oldsys=sprintf("%s,%s",oldsys,sys) - } - else{ - if (length(oldvar)>0) print oldvar "\t" oldsys; - oldvar=var; oldsys=sys - } -} -END{ - print oldvar "\t" oldsys; -}' DELETED mttroot/mtt/bin/trans/ss_r2m Index: mttroot/mtt/bin/trans/ss_r2m ================================================================== --- mttroot/mtt/bin/trans/ss_r2m +++ /dev/null @@ -1,94 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: ss_r2m -# Reduce steady-state values to Fortran -# P.J.Gawthrop 10 July 1990, Dec 1993, Jan 1994, May 1994. -# Copyright (c) P.J.Gawthrop, 1989, 1990, 1993, 1994. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - -#Inform user -echo Creating $1_ss.m -# Remove the old log file -rm -f ss_r2m.log - -# Usv reduce to accomplish the transformation -reduce >ss_r2m.log << EOF - -%Read the reduce definitions file -in "$1_def.r"; - -%Set up the number of argument variables to zero in case the user has forgotten -MTTNVar := 0; - -%Read the reduce steady-state values file -in "$1_ss.r"; - -%Read in the parameter file -in "$1_sympar.r"; - -ON BigFloat, numval; -PRECISION 16; %Compatible with Matlab - -OUT "$1_ss.m"; -%Headings - Matlab style -%(Note. The ;; are deleted by for2mat) - -IF MTTNvar>0 THEN -BEGIN - write "function [MTTX0,MTTY0,MTTU0] = $1_ss(..."; - FOR i := 1:MTTNvar DO - BEGIN - IF i0 THEN -BEGIN - write "%function [MTTX0,MTTY0,MTTU0] = $1_ss(..."; - FOR i := 1:MTTNvar DO - BEGIN - IF iss_r2tex.log << EOF - - -%Read the definitions file -in "$1_def.r"; - -%Read the parameter file -%%in "$1_sympar.r"; - -%Read the substitution file -in "$1_subs.r"; - -%Read the simplifiy file -in "$1_simp.r"; - -%Read the CR file -in "$1_cr.r"; - -%Read the steady-state file -in "$1_ss.r"; - -%Read the formatting function -in "$MTTPATH/trans/latex_matrix.r"; - -OFF Echo; -OFF Nat; -%ON Rounded; -%Precision 5; - -OUT "$1_ss.tex"; -write "% - X0"; -MTT_Matrix := MTTX$ -MTT_Matrix_name := "MTTX"$ -MTT_Matrix_n := MTTNx$ -MTT_Matrix_m := 1$ -LaTeX_Matrix()$ - -write "% - U"; -MTT_Matrix := MTTU$ -MTT_Matrix_name := "MTTU"$ -MTT_Matrix_n := MTTNu$ -MTT_Matrix_m := 1$ -LaTeX_Matrix()$ - - -write "% - Y"; -MTT_Matrix := MTTY$ -MTT_Matrix_name := "MTTY"$ -MTT_Matrix_n := MTTNy$ -MTT_Matrix_m := 1$ -LaTeX_Matrix()$ - -write "% - dX"; -MTT_Matrix := MTTdX$ -MTT_Matrix_name := "MTTdX"$ -MTT_Matrix_n := MTTNx$ -MTT_Matrix_m := 1$ -LaTeX_Matrix()$ - -SHUT "$1_ss.tex"; -quit; -EOF DELETED mttroot/mtt/bin/trans/ssk2ctf_r Index: mttroot/mtt/bin/trans/ssk2ctf_r ================================================================== --- mttroot/mtt/bin/trans/ssk2ctf_r +++ /dev/null @@ -1,75 +0,0 @@ -#! /bin/sh - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: ssk2ctf_r -# Controller gain k and observer gain l to controller TF -# P.J.Gawthrop Feb 1998 -# Copyright (c) P.J.Gawthrop 1998 - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.2 1998/02/09 14:04:00 peterg -## Renamed matrix to cTF; -## -## Revision 1.1 1998/02/09 13:54:34 peterg -## Initial revision -## -############################################################### - - -# Inform user -echo Creating $1_ctf.r - -# Remove the old log file -rm -f ssk2ctf_r.log - -# Use reduce to accomplish the transformation -reduce >ssk2ctf_r.log << EOF - -in "$1_def.r"; -in "$1_ssk.r"; -in "$1_ssl.r"; -in "$1_sm.r"; - -%Read the formatting function -in "$MTTPATH/trans/reduce_matrix.r"; - - -OFF Echo; -OFF Nat; - - - -%State matrices of the compensator -A_d := MTTA - MTTL*MTTC - MTTB*MTTK; -B_d := -MTTL; -C_d := -MTTK; -D_d := 0; - -%Transfer function -MTTcTF := C_d*((s*MTTI - A_d)^(-1))*B_d; - -%Create the output file -OUT "$1_ctf.r"; -%Write out the matrices. - -write "% - Compensator TF"; -MTT_Matrix := MTTcTF$ -MTT_Matrix_name := "MTTcTF"$ -MTT_Matrix_n := MTTNu$ -MTT_Matrix_m := MTTNy$ -Reduce_Matrix()$ - - -SHUT "$1_ctf.r"; -quit; - -EOF - -# Now invoke the standard error handling. -mtt_error_r ssk2ctf_r.log DELETED mttroot/mtt/bin/trans/ssk_r2tex Index: mttroot/mtt/bin/trans/ssk_r2tex ================================================================== --- mttroot/mtt/bin/trans/ssk_r2tex +++ /dev/null @@ -1,82 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: ssk_r2tex -# Reduce constrained-state matrices to LaTex constrained-state matrices. -# P.J.Gawthrop January 8th 1997 -# Copyright (c) P.J.Gawthrop, 1997 - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.2 2000/08/24 11:42:46 peterg -## Read subs file -## -## Revision 1.1 1998/01/22 13:16:30 peterg -## Initial revision -## -############################################################### - - -# Inform user -echo Creating $1_ssk.tex - -# Remove the old log file -rm -f ssk_r2tex.log - -# Use reduce to accomplish the transformation -reduce >ssk_r2tex.log<< EOF - -%Read the definitions file -in "$1_def.r"; - -%Read the smconical-form matrices file -in "$1_ssk.r"; - - -%Read the substitution file -in "$1_subs.r"; - -%Read the simplification file -in "$1_simp.r"; - -%Read the formatting function -in "$MTTPATH/trans/latex_matrix.r"; - -OFF Echo; -OFF Nat; -OFF EXP; -%ON Rounded; -%Precision 5; - - -OUT "$1_ssk.tex"; - -%Write out the canonical matrices -write "%Canonical-form matrices $1"; -write "%File: $1_ssk.tex"; -write""; - - -write "% - Gain matrix - controller form"; -MTT_Matrix := MTTK_c$ -MTT_Matrix_name := "MTTK_c"$ -MTT_Matrix_n := 1$ -MTT_Matrix_m := MTTNx$ -Latex_Matrix()$ - -write "% - Gain matrix - physical form"; -MTT_Matrix := MTTK$ -MTT_Matrix_name := "MTTK"$ -MTT_Matrix_n := 1$ -MTT_Matrix_m := MTTNx$ -Latex_Matrix()$ - -SHUT "$1_ssk.tex"; -quit; -EOF DELETED mttroot/mtt/bin/trans/ssl_r2tex Index: mttroot/mtt/bin/trans/ssl_r2tex ================================================================== --- mttroot/mtt/bin/trans/ssl_r2tex +++ /dev/null @@ -1,78 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: ssl_r2tex -# Reduce constrained-state matrices to LaTex constrained-state matrices. -# P.J.Gawthrop January 8th 1997 -# Copyright (c) P.J.Gawthrop, 1997 - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.1 1998/01/22 13:16:30 peterg -## Initial revision -## -############################################################### - - -# Inform user -echo Creating $1_ssl.tex - -# Remove the old log file -rm -f ssl_r2tex.log - -# Use reduce to accomplish the transformation -reduce >ssl_r2tex.log<< EOF - -%Read the definitions file -in "$1_def.r"; - -%Read the obsever gains file -in "$1_ssl.r"; - -%Read the substitution file -in "$1_subs.r"; - -%Read the simplification file -in "$1_simp.r"; - -%Read the formatting function -in "$MTTPATH/trans/latex_matrix.r"; - -OFF Echo; -OFF Nat; -OFF EXP; -%ON Rounded; -%Precision 5; - - -OUT "$1_ssl.tex"; - -%Write out the canonical matrices -write "%Canonical-form matrices $1"; -write "%File: $1_ssl.tex"; -write""; - - -write "% - Gain matrix - controller form"; -MTT_Matrix := MTTL_o$ -MTT_Matrix_name := "MTTL_o"$ -MTT_Matrix_n := MTTNx$ -MTT_Matrix_m := 1$ -Latex_Matrix()$ - -write "% - Gain matrix - physical form"; -MTT_Matrix := MTTL$ -MTT_Matrix_name := "MTTL"$ -MTT_Matrix_n := MTTNx$ -MTT_Matrix_m := 1$ -Latex_Matrix()$ - -SHUT "$1_ssl.tex"; -quit; -EOF DELETED mttroot/mtt/bin/trans/sspar2ss_r Index: mttroot/mtt/bin/trans/sspar2ss_r ================================================================== --- mttroot/mtt/bin/trans/sspar2ss_r +++ /dev/null @@ -1,144 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: sspar2ss_r -# Reduce steady steady-state parameter file to reduce steady-state: -# X0, and Y0 and U0; -# P.J.Gawthrop 10 July 1990, 22 April 1991, Dec 1993, April 1994 -# Copyright (c) P.J.Gawthrop, 1990, 1994. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.3 1998/11/18 11:42:55 peterg -## Added "IF MTTNx>0 THEN" to avoid error message when no states -## -## Revision 1.2 1998/07/22 15:47:28 peterg -## Now operates on ordinary differential equation file. -## -## Revision 1.1 1996/08/25 09:52:20 peter -## Initial revision -## -############################################################### - -#Inform user -echo Creating $1_ss.r - -# Remove the old log file -rm -f sspar2ss_r.log - -# Use reduce to accomplish the transformation -$SYMBOLIC >sspar2ss_r.log << EOF - -%Read the definition file -in "$1_def.r"; - -%Read the constitutive relationships (May be used in rss file). -%in "$1_cr.r"; - -%Read the steady-state values -in "$1_sspar.r"; - -%Read in the constrained-state equation -%in "$1_cse.r"; - -%Read in the ode -in "$1_ode.r"; - -%Read the formatting function -in "$MTTPATH/trans/reduce_matrix.r"; - -OFF Echo; -OFF Nat; -OUT "$1_ss.r"; - -IF MTTNx>0 THEN - MTTdx:= MTTdx; - -%Write out the steady-state values (if any) -write "%Steady-state values"; - - -% State -MTT_Matrix := MTTX$ -MTT_Matrix_name := "MTTx"$ -MTT_Matrix_n := MTTNx$ -MTT_Matrix_m := 1$ -Reduce_Matrix()$ - -% State derivative -MTT_Matrix := MTTdX$ -MTT_Matrix_name := "MTTdX"$ -MTT_Matrix_n := MTTNx$ -MTT_Matrix_m := 1$ -Reduce_Matrix()$ - -% Nonstate -MTT_Matrix := MTTZ$ -MTT_Matrix_name := "MTTZ"$ -MTT_Matrix_n := MTTNz$ -MTT_Matrix_m := 1$ -Reduce_Matrix()$ - -% Output -MTT_Matrix := MTTy$ -MTT_Matrix_name := "MTTy"$ -MTT_Matrix_n := MTTNy$ -MTT_Matrix_m := 1$ -Reduce_Matrix()$ - -% Zero outputs -MTT_Matrix := MTTYz$ -MTT_Matrix_name := "MTTYz"$ -MTT_Matrix_n := MTTNyz$ -MTT_Matrix_m := 1$ -Reduce_Matrix()$ - -% Input -MTT_Matrix := MTTu$ -MTT_Matrix_name := "MTTu"$ -MTT_Matrix_n := MTTNu$ -MTT_Matrix_m := 1$ -Reduce_Matrix()$ - - -%Write them out by component - but only if values have been set -%(This assumes that if element 1 not set then the rest aren't either) -%ON Rounded; %Make numbers have dec. points-- nice for c -% -%clear MTTx1; -%IF MTTNx>0 THEN -%IF MTTX0(1,1) NEQ MTTX1 THEN -%FOR i := 1:MTTNx DO -%BEGIN -% write "MTTx", i, " := ", MTTX0(i,1); -%END; -% -%clear MTTu1; -%IF MTTNu>0 THEN -%IF MTTu0(1,1) NEQ MTTu1 THEN -%FOR i := 1:MTTNu DO -%BEGIN -% write "MTTu", i, " := ", MTTu0(i,1); -%END; -% -%%Derivatives are zero in the steady-state -%IF MTTNz>0 THEN -%FOR i := 1:MTTNz DO -%BEGIN -% write "MTTdz", i, " := 0"; -%END; - -write "END;"; - -SHUT "$1_ss.r"; -quit; -EOF - -# Now invoke the standard error handling. -mtt_error_r sspar2ss_r.log DELETED mttroot/mtt/bin/trans/strip_comments Index: mttroot/mtt/bin/trans/strip_comments ================================================================== --- mttroot/mtt/bin/trans/strip_comments +++ /dev/null @@ -1,24 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - - -# Bourne shell script: strip_comments -# Strips comments from mtt text files -# P.J.Gawthrop July 1997 -# Copyright (c) P.J.Gawthrop, 1997. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - - -sed 's/%/#/' |\ -awk --field-separator '#' '{if (length($1)>0) print $1}' |\ -awk '{if (NF>0) print $0}' - DELETED mttroot/mtt/bin/trans/strip_notvars.sh Index: mttroot/mtt/bin/trans/strip_notvars.sh ================================================================== --- mttroot/mtt/bin/trans/strip_notvars.sh +++ /dev/null @@ -1,11 +0,0 @@ -#! /bin/sh - -type=$1 -name=$2 -file=$3 - -notvar="[%|#]NOT[V|P]AR" -grep ${notvar} ${type}_lbl.txt |\ - awk '{ printf ("%s\t%s\n", $2, name) }' name=${name} \ - >> ${file} - DELETED mttroot/mtt/bin/trans/strip_pars.sh Index: mttroot/mtt/bin/trans/strip_pars.sh ================================================================== --- mttroot/mtt/bin/trans/strip_pars.sh +++ /dev/null @@ -1,10 +0,0 @@ -#! /bin/sh -infile=$1 -name=$2 - - - -var="[%|#][V|P]AR" -grep ${var} ${infile} |\ - awk '{ printf ("%s\t%s\n", $2, name) }' name=${name} \ - DELETED mttroot/mtt/bin/trans/struc2gnuplot_txt2wish Index: mttroot/mtt/bin/trans/struc2gnuplot_txt2wish ================================================================== --- mttroot/mtt/bin/trans/struc2gnuplot_txt2wish +++ /dev/null @@ -1,180 +0,0 @@ -#! /bin/sh - -sys=$1 - -out=${sys}_gnuplot.wish -tmp=${sys}_gnuplot.tmp - -struc=${sys}_struc.txt -dat2=${sys}_odes.dat2 - -Nx=`mtt_getsize ${sys} x` -Ny=`mtt_getsize ${sys} y` - - -## write header -cat < ${out} -#!/bin/sh -# Next line replaces shell with wish\\ -exec wish "\$0" "\$@" - -## main window -wm title . "MTT Viewer: ${sys}" - -set parameter "" -button .print -text "Print" -command { - global parameter; - if {"\$parameter"==""} { - tk_dialog ".mtt_Print_Error" "Print Error" "Select a parameter!" "" "0" "Try Again" - } else { - print \$parameter - } -} -button .quit -text "Quit" -command exit - -## states canvas -canvas .cx -listbox .cx.l -scrollbar .cx.sy -orient v -checkbutton .cx.t -text "States" - -## outputs canvas -canvas .cy -listbox .cy.l -scrollbar .cy.sy -orient v -checkbutton .cy.t -text "Outputs" - -## configure scrollbars -.cx.sy configure -command ".cx.l yview" -.cy.sy configure -command ".cy.l yview" -.cx.l configure -yscrollcommand ".cx.sy set" -.cy.l configure -yscrollcommand ".cy.sy set" - -## bind lists -bind .cx.l <> { set parameter [ .cx.l get anchor ] ; plot \$parameter } -bind .cy.l <> { set parameter [ .cy.l get anchor ] ; plot \$parameter } - -proc "reverse_name" "name" { - set delim "_" - set split_name [split \$name \$delim] - set reversed_name [lindex \$split_name 0] - for {set i 1} {\$i<[llength \$split_name]} {incr i} { - set reversed_name [lindex \$split_name \$i]\$delim\$reversed_name - } - return \$reversed_name -} - -proc "reverse_sort" "list" { - set temp_list {} - set delim " " - foreach name [split \$list \$delim] { - set temp_list \$temp_list\$delim[reverse_name \$name] - } - set temp_list [lsort -ascii \$temp_list] - set list {} - foreach name [split \$temp_list \$delim] { - set list \$list\$delim[reverse_name \$name] - } - return \$list -} - -proc "sort_list" "list sortorder" { - puts "sortorder: \$sortorder" - if ("\$sortorder"=="normal") { - return [lsort -ascii \$list] - } - if ("\$sortorder"=="reverse") { - return [reverse_sort \$list] - } -} - -EOF - -## create states and outputs lists -awk ' -($1 == "state") { - printf "lappend xl state:%s\n", $4 -} -($1 == "output") { - printf "lappend yl output:%s\n", $4 -}' ${struc} >> ${out} - -cat <> ${out} -.cx.l configure -listvar xl -.cy.l configure -listvar yl - -.cx.t configure -command { set xl [sort_list \$xl \$xsortorder] } -indicatoron false -onvalue "reverse" -offvalue "normal" -variable xsortorder -.cy.t configure -command { set yl [sort_list \$yl \$ysortorder] } -indicatoron false -onvalue "reverse" -offvalue "normal" -variable ysortorder - -pack .cx.t -expand false -fill x -side top -pack .cy.t -expand false -fill x -side top - -pack .cx.sy -expand false -fill y -side right -pack .cy.sy -expand false -fill y -side right - -pack .cx.l -expand true -fill both -side left -pack .cy.l -expand true -fill both -side left - -pack .cx -expand true -fill both -place .cy -in .cx -relx 0 -rely 0 -relwidth 1 -relheight 1 -anchor nw -bordermode outside - -radiobutton .states -text "States" -value states -variable view -command { raise .cx } -relief solid -radiobutton .outputs -text "Outputs" -value outputs -variable view -command { raise .cy } -relief solid - -pack .states .outputs -side left - -pack .quit -expand false -fill x -side right -pack .print -expand false -fill x -side right - - -## map names to column numbers -EOF - -awk ' -BEGIN { - print "proc \"plot\" \"title\" {"; -} -($1 == "state") { - printf "if (\"%s\"==\"state:%s\") { plot_var \"%s\" %d }\n", Title, $4, $4, $2+2+Ny; -} -($1 == "output") { - printf "if (\"%s\"==\"output:%s\") { plot_var \"%s\" %d }\n", Title, $4, $4, $2+1; -} -END { - print "}" -} -' Title=\$title Ny=${Ny} ${struc} >> ${out} - - -cat <> ${out} - -## call gnuplot -proc "plot_var" "title column" { - exec echo set grid\; > ${tmp} - exec echo plot \"${dat2}\" using 1:\$column title \"\$title\" with lines\; >> ${tmp} - exec echo exit\; >> ${tmp} - exec gnuplot -geometry 400x300 -persist -title "\$title" ${tmp} & -} - -## print output -proc "print" "parameter" { - set filename [tk_getSaveFile\ - -initialdir ".."\ - -initialfile "\$parameter.ps"\ - -defaultextension ".ps"\ - -filetypes { - {{Postscript} {.ps}} - {{All files} {*}} - } - ] - if {\$filename != ""} { - exec echo set term postscript > ${tmp}.print - exec echo set output \"\$filename\" >> ${tmp}.print - exec grep -v pause ${tmp} >> ${tmp}.print - exec gnuplot ${tmp}.print - puts "Graph printed to \$filename" - } -} - -EOF -chmod +x ${out} DELETED mttroot/mtt/bin/trans/struc2input_txt2txt Index: mttroot/mtt/bin/trans/struc2input_txt2txt ================================================================== --- mttroot/mtt/bin/trans/struc2input_txt2txt +++ /dev/null @@ -1,127 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: struc2input_txt2txt -# Creates the deafault numerical parameters file for the system (txt) - -# Copyright (c) P.J.Gawthrop 1997 - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.14 2000/10/16 08:28:56 peterg -## Tidied up: -## SS broken due to incorrect ss.r file -## Switches?? -## -## Revision 1.13 2000/03/03 11:33:19 peterg -## *** empty log message *** -## -## Revision 1.12 1998/08/10 14:29:05 peterg -## Removed -s (switches) stuff -## -## Revision 1.11 1998/08/10 14:23:58 peterg -## Added -ss option -## -## Revision 1.10 1998/07/27 11:10:38 peterg -## Put in octave-mode line for Emacs -## -## Revision 1.9 1998/07/25 20:10:37 peterg -## lower case mttu -## -## Revision 1.8 1998/07/25 09:42:09 peterg -## Just sets finrst input to 1 - rest to zero -## -## Revision 1.7 1998/07/25 08:05:41 peterg -## Reverted to original default - not using SS mechanism -## -## Revision 1.6 1998/02/24 10:14:56 peterg -## Now defaults to the steady-state values -## -## Revision 1.5 1998/02/04 12:26:47 peterg -## Simplified output format -## -## Revision 1.4 1998/02/04 11:45:05 peterg -## Less verbose comments. -## -## Revision 1.3 1998/01/29 17:06:21 peterg -## Better annotation of each input -## -## Revision 1.2 1997/05/15 09:44:12 peterg -## Put switches into the input file. -## -# Revision 1.1 1997/05/03 14:55:17 peterg -# Initial revision -# -############################################################### - -#Look for a command line argument -# By default, don't look for BG switches - -while [ -n "`echo $1 | grep '-'`" ]; do - case $1 in - -ss ) - steadystate_computation=yes ;; - *) - echo "$1 is an invalid argument - ignoring" ;; - esac - shift -done - -# Default input -default='1.0' - -#Create the input file complete with headers. -echo '# -*-octave-*- Put Emacs into octave-mode' > $1_input.txt -echo "# Input specification ($1_input.txt)" >> $1_input.txt -echo "# Generated by MTT at `date`" >> $1_input.txt -cat $MTTPATH/trans/rcs_header.sh >> $1_input.txt -echo "# Set the inputs" >> $1_input.txt - -if [ -n "$steadystate_computation" ]; then -# Compute inputs from ss.r file -# Inform user -echo Creating $1_input.txt - compute from steady-state information - -cat $1_ss.r $1_struc.txt | sed 's/\$//' |\ -awk '{ - if(match($1,"MTTu")>0) { - j++ - split($0,a,"="); - u[j]=a[2]; - } - - if($1=="input") { - i++; - if (length(u[i])==0) u[i]="0.0;"; - # print "u(" i ") =\t", u[i], " \# " $4 " (" $3 ")" - printf("%s =\t%s # MTT initial value from steady state\n", $4, u[i]); - } -}' >> $1_input.txt -else -#Write out the defaults -- unit inputs -echo Creating $1_input.txt - using defaults - -awk '{ - if ($1=="input") { - if ($2==1) - printf("%s = \t%s; # MTT initial value\n", $4, default) - else - printf("%s = \t%s; # MTT initial value\n", $4, "0.0") - } -}' Nu=$Nu default=$default <$1_struc.txt >> $1_input.txt -fi - -#Set some switches -# echo >> $1_input.txt -# echo "# Set the switches" >> $1_input.txt -# strip_comments<$1_switch.txt |\ -# awk '{if (length($1)>0) print tolower($1) "= (t>=0);"}' >> $1_input.txt - - - DELETED mttroot/mtt/bin/trans/struc2sspar_txt2r Index: mttroot/mtt/bin/trans/struc2sspar_txt2r ================================================================== --- mttroot/mtt/bin/trans/struc2sspar_txt2r +++ /dev/null @@ -1,43 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: struc2sspar_txt2txt -# Creates the deafault numerical parameters file for the system (txt) - -# Copyright (c) P.J.Gawthrop 1998 - - -# Inform user -echo Creating $1_sspar.r - - -#Write out the default ss values (0) -#Create the sspar file complete with headers. -echo "% Steady-state parameter file ($1_sspar.r)" > $1_sspar.r -echo "% Generated by MTT at `date`" >> $1_sspar.r -cat $MTTPATH/trans/rcs_header.m >> $1_sspar.r - -echo >> $1_sspar.r - -echo "% Steady-state states" >> $1_sspar.r -awk '{ - if ($1=="state") - print "MTTX" $2 " := \t0; \% " $4 " (" $3 ")" -}' \ - $1_struc.txt >> $1_sspar.r - - -echo "% Steady-state inputs" >> $1_sspar.r -awk '{ - if ($1=="input") - print "MTTU" $2 " := \t0; \% " $4 " (" $3 ")" -}' \ - $1_struc.txt >> $1_sspar.r - - -echo ";;END;" >> $1_sspar.r - - DELETED mttroot/mtt/bin/trans/struc2state_txt2txt Index: mttroot/mtt/bin/trans/struc2state_txt2txt ================================================================== --- mttroot/mtt/bin/trans/struc2state_txt2txt +++ /dev/null @@ -1,100 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: struc2state_txt2txt -# Creates the default state file for the system (txt) - -# Copyright (c) P.J.Gawthrop 1998 - - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %% Revision 1.9 2000/10/10 21:03:06 peterg -# %% *** empty log message *** -# %% -# %% Revision 1.8 1998/08/10 13:57:33 peterg -# %% Removed debugging lines -# %% -# %% Revision 1.7 1998/08/10 13:55:11 peterg -# %% Added option of computing from ss values -# %% -# %% Revision 1.6 1998/07/27 20:32:11 peterg -# %% Octave mode forced -# %% -# %% Revision 1.5 1998/07/25 20:10:01 peterg -# %% Lower case mttx -# %% -# %% Revision 1.4 1998/07/25 09:42:37 peterg -# %% Now writes out an array -# %% -# %% Revision 1.3 1998/07/25 08:11:35 peterg -# %% No longer used the SS method - just sets zero states -# %% -# %% Revision 1.2 1998/07/21 16:54:15 peterg -# %% Changed erroneous header -# %% -# %% Revision 1.1 1998/06/27 15:06:40 peterg -# %% Initial revision -# %% -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -while [ -n "`echo $1 | grep '-'`" ]; do - case $1 in - -ss ) - steadystate_computation=yes ;; - *) - echo "$1 is an invalid argument - ignoring" ;; - esac - shift -done - -# Default state -default='0.0' - -#Create the state file complete with headers. -echo '# -*-octave-*- Put Emacs into octave-mode' > $1_state.txt -echo "# Initial state file ($1_state.txt)" >> $1_state.txt -echo "# Generated by MTT at `date`" >> $1_state.txt -cat $MTTPATH/trans/rcs_header.sh >> $1_state.txt - -#Write out the defaults -- states to steady-state values -echo "# Set the states" >> $1_state.txt - -if [ -n "$steadystate_computation" ]; then -# Compute state from ss.r file -# Inform user -echo Creating $1_state.txt - compute from steady-state information - -cat $1_ss.r $1_struc.txt | sed 's/\$//' |\ -awk '{ - if(match($1,"MTTx")>0) { - j++ - split($0,a,"="); - x[j]=a[2]; - } - - if($1=="state") { - i++; - # print "x(" i ") =\t", x[i], " \# " $4 " (" $3 ")" - printf("%s =\t%s; # MTT initial value\n", $4, x[i]); - } -}' >> $1_state.txt -else -# Set states to zero -# Inform user -echo Creating $1_state.txt - default states to $default - -awk '{ - if ($1=="state") printf("%s \t= %s; # MTT initial value\n", $4, default) -}' default=$default <$1_struc.txt >> $1_state.txt - -fi - - DELETED mttroot/mtt/bin/trans/struc2switch_txt Index: mttroot/mtt/bin/trans/struc2switch_txt ================================================================== --- mttroot/mtt/bin/trans/struc2switch_txt +++ /dev/null @@ -1,61 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: struc2switch_txt - -# Structure file - generate a file for switching on states -# P.J.Gawthrop May 1997 -# Copyright (c) P.J.Gawthrop, 1997. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.5 2000/10/17 09:20:00 peterg -## *** empty log message *** -## -## Revision 1.4 1998/07/26 10:28:30 peterg -## Added a header line to avoid empty file and to trigger -## switch_txt2m to write initial stuff. -## -## Revision 1.3 1998/07/25 18:50:53 peterg -## Lower case names -## -## Revision 1.2 1997/06/03 15:17:09 peterg -## Changed label to MTT_SWITCH -## -# Revision 1.1 1997/05/13 16:58:59 peterg -# Initial revision -# -############################################################### - - - - -echo Creating $1_switch.txt - -rm -f $1_switch.txt -echo "# These are the switches deduced from ISW and CSW components"\ - > $1_switch.txt - -# This is the main transformation using awk -awk '{ - if ($1=="state") {i++; if ($3=="MTT_SWITCH") print tolower($4) "\t" i}; -} -END{ -} -' < $1_struc.txt| sort >> $1_switch.txt - -strip_comments < $1_switch.txt | wc -l | awk '{print $1 " switches found"}' - - - - - - - - DELETED mttroot/mtt/bin/trans/struc_txt2m Index: mttroot/mtt/bin/trans/struc_txt2m ================================================================== --- mttroot/mtt/bin/trans/struc_txt2m +++ /dev/null @@ -1,78 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: struc_txt2m - -# Structure file - txt to m conversion -# P.J.Gawthrop April 1997 -# Copyright (c) P.J.Gawthrop, 1997. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.2 2001/03/19 02:28:52 geraint -## Branch merge: merging-ode2odes-exe back to MAIN. -## -## Revision 1.1.2.1 2001/03/06 03:52:15 geraint -## Put back struc_txt2m - required by mtt2sys. -## -############################################################### - - - -# Inform user -echo "Creating $1_struc.m" - -rm -f mtt_error - -#Write some file headers -echo "function [input_name,output_name,state_name] = $1_struc" > $1_struc.m -echo "%% Structure file ($1_struc.m)" >> $1_struc.m -echo "%% Generated by MTT at `date`" >> $1_struc.m - -cat >> $1_struc.m <> $1_struc.m 2>mtt_error.txt - -# Now invoke the standard error handling. -mtt_error mtt_error.txt - - DELETED mttroot/mtt/bin/trans/struc_txt2tex Index: mttroot/mtt/bin/trans/struc_txt2tex ================================================================== --- mttroot/mtt/bin/trans/struc_txt2tex +++ /dev/null @@ -1,94 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: struc_txt2tex - -# Structure file - text to TeX table conversion -# P.J.Gawthrop April 1997 -# Copyright (c) P.J.Gawthrop, 1997. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -# Revision 1.3 1997/12/06 19:10:41 peterg -# Reverted to tabular --- from supertabular -# -# Revision 1.2 1997/04/15 11:17:58 peterg -# Uses supertabular for long tables. -# -# Revision 1.1 1997/04/15 09:49:04 peterg -# Initial revision -# -############################################################### - - -# Inform user -echo "Creating $1_struc.tex" - -rm -f mtt_error - -#Write some file headers -echo "%% Structure file ($1_struc.txt)" > $1_struc.tex -echo "%% Generated by MTT at `date`" >> $1_struc.tex - -# This is the main transformation using awk -sed 's/_/\\_/g' < $1_struc.txt | awk ' -function header(what){ - print " \\centering"; - print " \\tablefirsthead{\\hline %"; - print " \\multicolumn{4}{|c|}{\\bf List of " what "s for system " SYSTEM "} \\\\"; - print " \\hline"; - print " & Component & System & Repetition \\\\"; - print " \\hline}"; - - print " \\tablehead{\\hline %"; - print " \\multicolumn{4}{|c|}{\\bf List of " what "s for system " SYSTEM " (continued)} \\\\"; - print " \\hline"; - print " & Component & System & Repetition \\\\"; - print " \\hline}"; - - print " \\tabletail{\\hline}"; - print " \\begin{supertabular}{|l|l|l|l|}"; -} -#function header(what){ -# print "\\begin{table}[htbp]"; -# print " \\centering"; -# print " \\begin{tabular}{|l|l|l|l|}"; print " \\hline"; -# print " & Component & System & Repetition \\\\"; -# print " \\hline"; -#} -function footer(what){ - print " \\hline"; - print " \\end{supertabular}"; -# print " \\end{tabular}"; -# print " \\caption{" what "}"; -# print "\\end{table}"; - print " \\bigskip"; - print " \\bigskip"; -} - -BEGIN{ -Which="" -} -{ - if ($1!=Which) { - if (Which!="") footer(Which); - header($1); - } - print $2, "&", $3,"&", $4, "&", $5, "\\\\"; - Which = $1; -} -END{ - footer(Which) -} -' SYSTEM=$1 >> $1_struc.tex 2>mtt_error.txt - -# Now invoke the standard error handling. -mtt_error mtt_error.txt - - DELETED mttroot/mtt/bin/trans/sub2subs Index: mttroot/mtt/bin/trans/sub2subs ================================================================== --- mttroot/mtt/bin/trans/sub2subs +++ /dev/null @@ -1,29 +0,0 @@ -#!/bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: sub2subs -# Generates a list of all subsystems associated with system $1 - -# P.J.Gawthrop May 1997 -# Copyright (c) P.J.Gawthrop, 1997. - -# echo the name of the subsystems one level down -sh $1\_sub.sh "echo " - -# Create the corresponding subsystems -- quietly! -#(sh $1\_sub.sh "mtt -q " " sub sh") #>/dev/null -(sh $1\_sub.sh " cmp2sub_m2sh " " ") >/dev/null - - -# Recursively execute the subsystem files -sh $1\_sub.sh "sub2subs " - - - - - - - DELETED mttroot/mtt/bin/trans/sub_sh2tex Index: mttroot/mtt/bin/trans/sub_sh2tex ================================================================== --- mttroot/mtt/bin/trans/sub_sh2tex +++ /dev/null @@ -1,139 +0,0 @@ -#!/bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: sub_sh2tex -# Converts _sub_sh files to a latex itemized list. -# P.J.Gawthrop May 1997 -# Copyright (c) P.J.Gawthrop, 1997. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.7 1998/02/04 10:59:37 peterg -## Tidied up. -## -# Revision 1.6 1997/09/08 19:42:37 peterg -# Replaced copy by compcopy -# -## Revision 1.5 1997/08/15 11:20:13 peterg -## Explicitly copies compound components (if not already there) -## -# Revision 1.4 1997/06/24 08:28:26 peterg -# Now takes %SUMMARY description from the label file -# Appends count of number of subsystems at that level -# -## Revision 1.3 1997/05/21 10:07:36 peterg -## Fixed \ probs for GNU sh/echo -## -## Revision 1.2 1997/05/19 16:46:17 peterg -## *** empty log message *** -## -# Revision 1.1 1997/05/19 11:29:44 peterg -# Initial revision -# -############################################################### - - -#Useful strings -quote="'"; -listtype="itemize" - -# Maximum list depth - maybe I should learn sh arithmetic!! -# Just go to two levels -maxlevel='0+1+1'; - -#Look for a command line argument -labels=''; arg=''; -while [ -n "`echo $1 | grep '-'`" ]; do - case $1 in - -l ) - labels='yes'; arg='-l' ;; - *) - echo "$1 is an invalid argument - ignoring" ;; - esac - shift -done - - -system=$1 -filename=$2 - - -if [ -z "$3" ]; then - level=0; -else - level=$4; -fi - -#Top-level commands -if [ -z "$2" ]; then - filename="$1_sub.tex" - - # Inform user - echo "Creating $filename" - - #Write some file headers - echo "% Subsystem file for system $system ($filename)" > $filename - echo "% Generated by MTT at `date`" >> $filename - echo >> $filename -fi - -# Write list item if not at the top level. -if [ -n "$2" ]; then - #Set up some names - filename=$2 - figfile=$3_abg.fig - lblfile=$1_lbl.txt - summary='%SUMMARY' - - #Get the system description, copying where necesary - mtt -q -u compcopy $system $MTTPATH/lib/comp/compound - # mtt -q -u $system lbl txt - desc=`grep $summary $lblfile | sed "s/$summary//"` - - #Count the number of subsystems - subs=`grep -c $system $figfile` - - if [ "$labels" = "yes" ]; then - echo ' \item '$desc ' ('$subs') Section \Ref{sec:'$system'}' >> $filename - else - echo ' \item' $desc ' ('$subs')' >> $filename - fi -fi - -# Create the subsystem sh files (if not too deep) -if [ "$level" != "$maxlevel" ]; then - mtt -q -u -l 1 $system sub sh - - # Write the list of subsystems (if they exist). - n_subsystems=`grep -c '$1' $1_sub.sh` - - if [ "$n_subsystems" != "0" ]; then - cat <> $filename - \begin{$listtype} -EOF - # Recursively generate the subsystems - level1="$level+1" - sh $system\_sub.sh "sub_sh2tex $arg " " $filename $system $level1" - cat <> $filename - \end{$listtype} -EOF -else - cat <> $filename - No subsystems. -EOF -fi -fi - - - - - - - - DELETED mttroot/mtt/bin/trans/switch_txt2m Index: mttroot/mtt/bin/trans/switch_txt2m ================================================================== --- mttroot/mtt/bin/trans/switch_txt2m +++ /dev/null @@ -1,152 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: switch_txt2m - -# Convert switch file from txt to m -# P.J.Gawthrop May 1997 -# Copyright (c) P.J.Gawthrop, 1997. - - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.14 2000/11/09 10:29:21 peterg -## open --> mtt_open -## -## Revision 1.13 2000/11/09 10:19:12 peterg -## Explicitly write out the open switches .... -## -## Revision 1.12 2000/11/09 09:52:07 peterg -## Removed [] from zero_state output -## -## Revision 1.11 2000/10/17 09:55:55 peterg -## Now writes to standard output -## Write the name, not the array -## -## Revision 1.10 2000/10/17 09:04:12 peterg -## *** empty log message *** -## -## Revision 1.9 1999/08/02 12:44:21 peterg -## zero_vector --> zero_state. -## -## Revision 1.8 1999/04/20 00:55:40 peterg -## Changed <= to < in switchopen.m -## Removed switch.m generation - redundant -## -## Revision 1.7 1999/04/02 06:30:37 peterg -## New _switchopen -## Removed switcha -## -## Revision 1.6 1998/10/01 18:20:50 peterg -## Split up the three if conditions on the switch and state value into -## three separate ifs. This is because p2c seems to generate incorrect -## code id just the one if is used (???). -## -## Revision 1.5 1998/10/01 16:05:34 peterg -## Separate switch.m file for euler and implicit integration -## -############################################################### - - -# Find system constants -Nx=`mtt_getsize $1 x` # States - -#Write some file headers -#lang_header $1 switch m 'mttx' '[mttx]' > $1_switch.m - -#echo Creating $1_switch.m -# Set states to zero -# awk '{ -# if ($1=="#"){ -# printf("#== Switches set element of state vector to zero ==#\n") -# } -# else{ -# printf("\n#== Switch: %s ==#\n",$1) -# printf("if (%s==0.0) \n", $1); -# printf(" mttx(%s)=0.0;\n", $2); -# printf("end;\n"); -# printf("if (%s<0.0)\n",$1); -# printf(" if (mttx(%s)<=0.0)\n",$2); -# printf(" mttx(%s)=0.0;\n", $2); -# printf(" end;\n"); -# printf("end;\n"); - -# } -# }' Nx=$Nx < $1_switch.txt >> $1_switch.m - -## Set index version -#echo Creating $1_switchopen.m - -#Write some file headers -#lang_header $1 switchopen m 'mttx' '[open]' > $1_switchopen.m - -## Add the switching logic -#cat >> $1_switchopen.m <> $1_switchopen.m - -# Set states to zero -awk '{ - if ($1=="#"){ - printf("#== mttopen - boolean vector of open switches ==#\n") - for (i=1;i<=Nx;i++) - printf("mttopen(%i) = 0; # Default to not open\n", i); - } - else{ - printf("\n#== Switch: %s ==#\n",$1) - printf("mttopen(%s) = (abs(%s_logic)<0.5)||((%s_logic<0.0)&&(%s<0.0));\n", $2, $1, $1, $1); -# printf("if (%s_logic==0.0) \n", $1); -# printf(" mttopen(%s) = 1;\n", $2); -# printf("end;\n"); -# printf("if (%s_logic<0.0)\n",$1); -# printf(" if (%s<0.0)\n",$1); -# printf(" mttopen(%s) = 1;\n", $2); -# printf(" end;\n"); -# printf("end;\n"); - - } -}' Nx=$Nx < $1_switch.txt #>> $1_switchopen.m - -#echo Creating $1_switcha.m - -# Implicit integration version -#Write some file headers -# lang_header $1 switcha m 'mttAA,mttx' '[mttAA]' > $1_switcha.m -# awk '{ -# if ($1=="#"){ -# printf("#== Switches set row and column of A matrix to zero ==#\n") -# } -# else{ -# printf("#== Switch: %s ==#\n",$1) -# printf("if (%s==0.0) \n", $1); -# printf(" for MTTi=1:%s\n",Nx) -# printf(" mttAA(MTTi,%s)=0.0;\n", $2) -# printf(" mttAA(%s,MTTi)=0.0;\n", $2) -# printf(" end;\n"); -# printf(" mttAA(%s,%s) = 1.0;\n", $2,$2); -# printf("end;\n\n") -# -# printf("if (%s<0.0)\n",$1); -# printf(" if (mttx(%s)<=0.0)\n",$2); -# printf(" for MTTi=1:%s\n",Nx) -# printf(" mttAA(MTTi,%s)=0.0;\n", $2) -# printf(" mttAA(%s,MTTi)=0.0;\n", $2) -# printf(" end;\n"); -# printf(" mttAA(%s,%s) = 1.0;\n", $2,$2); -# printf(" end;\n"); -# printf("end;\n"); -# -# } -# }' Nx=$Nx < $1_switch.txt >> $1_switcha.m - - - DELETED mttroot/mtt/bin/trans/sympar2global_txt2lang Index: mttroot/mtt/bin/trans/sympar2global_txt2lang ================================================================== --- mttroot/mtt/bin/trans/sympar2global_txt2lang +++ /dev/null @@ -1,91 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: sympar2global_txt2lang - -# Symbolic parameters to default paramers in computer language -# P.J.Gawthrop March 1997 -# Copyright (c) P.J.Gawthrop, 1997. - - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.5 1998/07/26 11:00:18 peterg -## Put in exits-- this all needs a good clean -## -## Revision 1.4 1998/07/26 10:50:30 peterg -## Corrected bug. -## -## Revision 1.3 1998/07/26 10:48:18 peterg -## Now strips comments -## -## Revision 1.2 1998/07/25 18:49:00 peterg -## Now uses extended sympars -- sympar + switches -## -## Revision 1.1 1998/06/15 15:24:33 peterg -## Initial revision -## -############################################################### - -# Set up language stuff. -language=$2 - -case $language in - m) - Lc='#'; - Rc='#'; - ;; - c) - Lc='/*'; - Rc='*/'; - ;; - java) - Lc='/*'; - Rc='*/'; - ;; - *) - echo Language $2 not supported - sorry; exit 1 -esac - -cat <0)) { - printf ("global"); - globals_exist=1 - } - if (NF>0) - printf (" ...\n %s", tolower($1)); -} -END{ - if (globals_exist) - print " ;" -}' - -# Now invoke the standard error handling. -# mtt_error mtt_error.txt - - DELETED mttroot/mtt/bin/trans/sympar2numpar_r2c Index: mttroot/mtt/bin/trans/sympar2numpar_r2c ================================================================== --- mttroot/mtt/bin/trans/sympar2numpar_r2c +++ /dev/null @@ -1,97 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: sympar2numpar_r2m -# Creates the deafault numerical parameters file for the system - -# Copyright (c) P.J.Gawthrop 1996 - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.1 1997/01/21 11:36:26 peterg -## Initial revision -## -############################################################### - -# Inform user -echo Creating $1_numpar.c - -# Remove the old log file -rm -f sympar2numpar_r2c.log - -# Use reduce to accomplish the transformation -reduce >sympar2numpar_r2c.log 2>mtt_error.txt << EOF - -%Set up the number of argument variables to zero in case the user has forgotten -MTTNVar := 0; - -%Read the symbolic parameters file -IN "$1_sympar.r"; - -OUT "$1_numpar1.c"; - -IF MTTNvar>0 THEN -BEGIN - FOR i := 1:MTTNvar DO - IF numberp(MTTVar(i,1)) - THEN - BEGIN - % Do nowt - END - ELSE - BEGIN - write "extern float ", MTTVar(i,1)$ - END; -END; - - -IF MTTNvar>0 THEN -BEGIN - FOR i := 1:MTTNvar DO - IF numberp(MTTVar(i,1)) - THEN - BEGIN - write "/* Variable ", i, " has already been set to ", MTTVar(i,1), "*/"; - END - ELSE - BEGIN - write MTTVar(i,1), " = 1; /* Default value */"; - END; -END; - - -SHUT "$1_numpar1.c"; - -EOF - -matlab_tidy $1_numpar1.c - -#Create the numpar file complete with headers. -echo "/*" > $1_numpar.c -echo "%% Numerical parameter file ($1_numpar.c)" >> $1_numpar.c -echo "%% Generated by MTT at `date`" >> $1_numpar.c -echo "*/" >> $1_numpar.c - -echo "$1_numpar()" >> $1_numpar.c -echo "{" >> $1_numpar.c -echo " extern $1_params();" >> $1_numpar.c - -cat $1_numpar1.c >> $1_numpar.c - -echo "/*" >> $1_numpar.c -echo '%% Input the user-defined parameters' >> $1_numpar.c -echo "*/" >> $1_numpar.c - -echo "$1_params;" >> $1_numpar.c -echo "};" >> $1_numpar.c - -rm $1_numpar1.c - -# Now invoke the standard error handling. -mtt_error_r sympar2numpar_r2c.log DELETED mttroot/mtt/bin/trans/sympar2numpar_r2m Index: mttroot/mtt/bin/trans/sympar2numpar_r2m ================================================================== --- mttroot/mtt/bin/trans/sympar2numpar_r2m +++ /dev/null @@ -1,137 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: sympar2numpar_r2m -# Creates the deafault numerical parameters file for the system - -# Copyright (c) P.J.Gawthrop 1996 - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.9 1996/09/12 19:26:05 peter -## Input _params file. -## -## Revision 1.8 1996/08/30 19:37:43 peter -## Moved headers in shell script. -## -## Revision 1.7 1996/08/24 14:11:56 peter -## Global parameter passing. -## -## Revision 1.6 1996/08/20 08:21:24 peter -## *** empty log message *** -## -## Revision 1.5 1996/08/16 14:27:25 peter -## Make a dummy function when no parameters (MTTNVar=0). -## -## Revision 1.4 1996/08/15 12:46:59 peter -## Removed a spuriuos echo. -## -## Revision 1.3 1996/08/12 20:20:59 peter -## Explicit parameters via out put list. -## Parameter conversion stuff deleted. -## -## Revision 1.2 1996/08/11 10:41:52 peter -## Fixed various bugs. -## -## Revision 1.1 1996/08/11 08:48:07 peter -## Initial revision -## -############################################################### - -# Inform user -echo Creating $1_numpar.m - -# Remove the old log file -rm -f sympar2numpar_r2m.log - -# Use reduce to accomplish the transformation -reduce >sympar2numpar_r2m.log << EOF - -%Set up the number of argument variables to zero in case the user has forgotten -MTTNVar := 0; - -%Read the symbolic parameters file -IN "$1_sympar.r"; - -OUT "$1_numpar1.m"; - -IF MTTNvar>0 THEN -BEGIN - write "global ...;;"; - FOR i := 1:MTTNvar DO - IF numberp(MTTVar(i,1)) - THEN - BEGIN - % Do nowt - END - ELSE - BEGIN - IF i0 THEN -BEGIN - FOR i := 1:MTTNvar DO - IF numberp(MTTVar(i,1)) - THEN - BEGIN - write "% Variable ", i, " has already been set to ", MTTVar(i,1); - END - ELSE - BEGIN - write MTTVar(i,1), " = 1; % Default value"; - END; -END; - -if MTTNVar=0 THEN - write "foo=0"; - -SHUT "$1_numpar1.m"; - -EOF - -matlab_tidy $1_numpar1.m - -#Create the numpar file complete with headers. -echo "%% Numerical parameter file ($1_numpar.m)" > $1_numpar.m -echo "%% Generated by MTT at `date`" >> $1_numpar.m -cat $MTTPATH/trans/m/rcs_header.txt >> $1_numpar.m -cat $1_numpar1.m >> $1_numpar.m - -echo '%% Input the user-defined parameters' >> $1_numpar.m -echo "$1_params;" >> $1_numpar.m - - -rm $1_numpar1.m - - -# Now invoke the standard error handling. -mtt_error_r sympar2numpar_r2m.log - - - - - - - - - - - - - - - - - - - DELETED mttroot/mtt/bin/trans/sympar2numpar_txt2txt Index: mttroot/mtt/bin/trans/sympar2numpar_txt2txt ================================================================== --- mttroot/mtt/bin/trans/sympar2numpar_txt2txt +++ /dev/null @@ -1,85 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: sympar2numpar_txt2txt -# Creates the deafault numerical parameters file for the system (txt) - -# Copyright (c) P.J.Gawthrop 1996 - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.12 1999/03/02 22:01:21 peterg -## *** empty log message *** -## -## Revision 1.11 1998/06/15 15:14:46 peterg -## Don't print if blank line -## -## Revision 1.10 1998/03/07 15:27:20 peterg -## Don't do initial states. -## -## Revision 1.9 1998/02/04 12:24:35 peterg -## Simplified output format -## -## Revision 1.8 1998/01/29 17:06:36 peterg -## Better annotation -## -## Revision 1.7 1997/09/18 17:10:18 peterg -## Changed comments pertaining to the parameters to use the new column 2 -## of the sympar file (the system type). -## Added blank line to separate parmeters from states. -## (Done in the Chester Court Hotel). -## -## Revision 1.6 1997/06/13 09:34:39 peterg -## changed [] to () -## -# Revision 1.5 1997/05/15 08:30:14 peterg -# Now write default states (using _struc file). -# -# Revision 1.4 1997/05/15 07:19:19 peterg -# Put back "tolower" -# -# Revision 1.3 1997/05/15 07:13:31 peterg -# Removed "tolower" function. -# -# Revision 1.2 1997/05/01 08:19:04 peterg -# # is now used as the comment symbol -# -# Revision 1.1 1997/05/01 07:35:48 peterg -# Initial revision -# -############################################################### - -# Inform user -echo Creating $1_numpar.txt - -#Create the numpar file complete with headers. -echo '# -*-octave-*- Put Emacs into octave-mode' > $1_numpar.txt -echo "# Numerical parameter file ($1_numpar.txt)" >> $1_numpar.txt -echo "# Generated by MTT at `date`" >> $1_numpar.txt -cat $MTTPATH/trans/rcs_header.txt >> $1_numpar.txt - -#Write out the variables -echo "# Parameters" >> $1_numpar.txt -strip_comments <$1_sympar.txt |\ -awk '{i++; if (NF>0) print tolower($1) " = \t1.0; \# " $2}'\ - >> $1_numpar.txt - -#Write out the initial states -#echo >> $1_numpar.txt -#echo "# Initial states" >> $1_numpar.txt -#awk '{ -# if ($1=="state") -# print "x(" $2 ") = \t0.0; \# " $4 " (" $3 ")" -#}' \ -# $1_struc.txt >> $1_numpar.txt - - - - - DELETED mttroot/mtt/bin/trans/sympar2par_txt2m Index: mttroot/mtt/bin/trans/sympar2par_txt2m ================================================================== --- mttroot/mtt/bin/trans/sympar2par_txt2m +++ /dev/null @@ -1,36 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: sympar2par_txt2m - -# Symbolic parameters parameter conversion -# Used in lang_header -# Copyright (C) 2000 by Peter J. Gawthrop - -case $2 in - zero) - strip_comments <$1_sympar.txt |\ - awk '{ - i++; printf(" %s %s = 0.0;\n", tolower($1)); - }' - ;; - set) - strip_comments <$1_sympar.txt |\ - awk '{ - i++; printf(" %s mttpar(%i) \t= %s;\n", i, tolower($1)); - }' - ;; - *) - strip_comments <$1_sympar.txt |\ - awk '{ - i++; printf(" %s %s \t= mttpar(%i%s);\n", decl, tolower($1), i, minusone); - }' decl="$3" minusone="$4" - ;; -esac - - - - DELETED mttroot/mtt/bin/trans/sympar2params_txt2c Index: mttroot/mtt/bin/trans/sympar2params_txt2c ================================================================== --- mttroot/mtt/bin/trans/sympar2params_txt2c +++ /dev/null @@ -1,55 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: sympar2params_txt2c - -# Symbolic parameters to default paramers (c) -# P.J.Gawthrop March 1997 -# Copyright (c) P.J.Gawthrop, 1997. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -# Revision 1.1 1997/03/20 10:25:55 peterg -# Initial revision -# -############################################################### - - - -# Inform user -echo "Creating $1_params.c" - -rm -f mtt_error - -#Write some file headers -echo '/*' > $1_params.c -echo "Parameter file for system $1 ($1_params.c)" >> $1_params.c -echo "This file provides the system params for simulation:" >> $1_params.c -echo "Generated by MTT at `date`" >> $1_params.c -echo "These default parameters should be changed by the user" >> $1_params.c -echo '*/' >> $1_params.c -echo >> $1_params.c - - -cat $MTTPATH/trans/rcs_header.c >> $1_params.c -echo >> $1_params.c - - -echo "#include \"$1_sympar.c\"" >> $1_params.c -echo "$1_params()" >> $1_params.c -echo '{' >> $1_params.c - -#Write out the variables in c format. -awk '{i++; print tolower($1) " = \t1.0;"}' $1_sympar.txt >> $1_params.c -echo '}' >> $1_params.c - -# Now invoke the standard error handling. -# mtt_error mtt_error.txt - - DELETED mttroot/mtt/bin/trans/sympar2params_txt2m Index: mttroot/mtt/bin/trans/sympar2params_txt2m ================================================================== --- mttroot/mtt/bin/trans/sympar2params_txt2m +++ /dev/null @@ -1,54 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: sympar2params_txt2m - -# Symbolic parameters to default paramers (m) -# P.J.Gawthrop March 1997 -# Copyright (c) P.J.Gawthrop, 1997. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -# Revision 1.2 1997/04/16 11:40:31 peterg -# Added global variables. -# -# Revision 1.1 1997/04/16 11:31:41 peterg -# Initial revision -# -############################################################### - - - -# Inform user -echo "Creating $1_params.m" - -rm -f mtt_error - -#Write some file headers -echo "% Parameter file for system $1 ($1_params.m)" > $1_params.m -echo "% This file provides the system params for simulation:" >> $1_params.m -echo "% Generated by MTT at `date`" >> $1_params.m -echo "% These default parameters should be changed by the user" >> $1_params.m -echo >> $1_params.m - -cat $MTTPATH/trans/rcs_header.m >> $1_params.m -echo >> $1_params.m - - -#Write out the global variables -sympar2global_txt2m $1 >> $1_params.m - - -#Write out the variables in c format. -awk '{i++; print tolower($1) " = \t1.0;"}' $1_sympar.txt >> $1_params.m - -# Now invoke the standard error handling. -# mtt_error mtt_error.txt - - DELETED mttroot/mtt/bin/trans/sympar_r2c Index: mttroot/mtt/bin/trans/sympar_r2c ================================================================== --- mttroot/mtt/bin/trans/sympar_r2c +++ /dev/null @@ -1,60 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: sympar_r2c -# Convert symbolic parameters to a c declaration list - -# Copyright (c) P.J.Gawthrop 1997. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -# Revision 1.1 1997/03/01 11:20:36 peterg -# Initial revision -############################################################### - -# Inform user -echo Creating $1_sympar.c - -# Remove the old log file -rm -f sympar_r2c.log - -# Use reduce to accomplish the transformation -reduce >sympar_r2c.log << EOF - - -%Read the symbolic parameters file -in "$1_sympar.r"; - - -%Generate the global variable list. -OUT "$1_sympar.c"; -%External (global) variable list - -write "/* Symbolic paramaters for system $1 */ "$ -write "/* Generated by MTT */ "$ -write "/* External (global) variable list */ "$ - -IF MTTNvar>0 THEN -BEGIN - FOR i := 1:MTTNvar DO - IF numberp(MTTVar(i,1)) - THEN - BEGIN - % Do nowt - END - ELSE - BEGIN - write "extern double ", MTTVar(i,1), ";"$ - END$ -END$ -SHUT "$1_sympar.c"; - - -EOF - DELETED mttroot/mtt/bin/trans/sympar_txt2c Index: mttroot/mtt/bin/trans/sympar_txt2c ================================================================== --- mttroot/mtt/bin/trans/sympar_txt2c +++ /dev/null @@ -1,54 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: sympar_txt2c - -# Label file to symbolic parameters conversion -# P.J.Gawthrop March 1997 -# Copyright (c) P.J.Gawthrop, 1997. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -# Revision 1.2 1997/05/15 07:10:56 peterg -# removed "tolower" function -# -# Revision 1.1 1997/05/15 07:10:09 peterg -# Initial revision -# -# Revision 1.3 1997/03/19 16:39:12 peterg -# Put in the correct date. -# -# Revision 1.2 1997/03/18 17:56:35 peterg -# Cosmetic changes. -# -############################################################### - - -# Inform user -echo "Creating $1_sympar.c" - -rm -f mtt_error - -#Write some file headers -echo '/*' > $1_sympar.c -echo "Symbolic parameter file ($1_sympar.c)" >> $1_sympar.c -echo "Generated by MTT at `date`" >> $1_sympar.c -echo '*/' >> $1_sympar.c -echo >> $1_sympar.c - - -#Write out the variables in c format. -awk '{i++; print "extern double", tolower($1) ";"}' $1_sympar.txt \ - >> $1_sympar.c - - -# Now invoke the standard error handling. -# mtt_error mtt_error.txt - - DELETED mttroot/mtt/bin/trans/sympar_txt2declare Index: mttroot/mtt/bin/trans/sympar_txt2declare ================================================================== --- mttroot/mtt/bin/trans/sympar_txt2declare +++ /dev/null @@ -1,56 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: sympar_txt2declare - -# Symbolic parameters to variable declaration -# Copyright (C) 2000 by Peter J. Gawthrop - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ - -############################################################### - -sys=$1 -language=$2 - -case $language in - p) - first="VAR"; - delim=", "; - last=': REAL;'; - ;; - *) - echo Language $language not supported - sorry; exit 1 -esac - -# Start -cat<10){ - printf("\n"); j=0; - } - } - printf("%s%s\n",var[n], last); - -}' "delim=$delim" "last=$last" - - DELETED mttroot/mtt/bin/trans/sympar_txt2h Index: mttroot/mtt/bin/trans/sympar_txt2h ================================================================== --- mttroot/mtt/bin/trans/sympar_txt2h +++ /dev/null @@ -1,56 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: sympar_txt2h - -# Label file to symbolic parameters conversion -# P.J.Gawthrop March 1997 -# Copyright (c) P.J.Gawthrop, 1997. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -# Revision 1.5 1997/05/15 07:11:45 peterg -# Removed "tolower" function -# -# Revision 1.4 1997/05/01 13:51:37 peterg -# Replaced float by double. -# -# Revision 1.3 1997/05/01 13:42:43 peterg -# Chaged double to float -# -# Revision 1.2 1997/03/20 15:14:25 peterg -# Lower case conversion. -# -# Revision 1.1 1997/03/20 14:52:41 peterg -# Initial revision -# -############################################################### - - - -# Inform user -echo "Creating $1_sympar.h" - -rm -f mtt_error - -#Write some file headers -echo '/*' > $1_sympar.h -echo "Symbolic parameter file ($1_sympar.h)" >> $1_sympar.h -echo "Generated by MTT at `date`" >> $1_sympar.h -echo '*/' >> $1_sympar.h -echo >> $1_sympar.h - - -#Write out the variables in c format. -awk '{i++; print "double", tolower($1) ";"}' $1_sympar.txt >> $1_sympar.h - -# Now invoke the standard error handling. -# mtt_error mtt_error.txt - - DELETED mttroot/mtt/bin/trans/sympar_txt2m Index: mttroot/mtt/bin/trans/sympar_txt2m ================================================================== --- mttroot/mtt/bin/trans/sympar_txt2m +++ /dev/null @@ -1,18 +0,0 @@ -#!/bin/sh -## Converts sympar.txt to an m file which provides indices in the form -## sympar.name = i - - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Copyright (C) 2000 by Peter J. Gawthrop - -echo Creating $1_sympar.m - -lang_header -noglobals $1 sympar m "" sympar > $1_sympar.m - -awk '{ - printf(" sympar.%s \t= %i; # %s\n", $1, ++i, $2); -}' < $1_sympar.txt >> $1_sympar.m DELETED mttroot/mtt/bin/trans/sympar_txt2r Index: mttroot/mtt/bin/trans/sympar_txt2r ================================================================== --- mttroot/mtt/bin/trans/sympar_txt2r +++ /dev/null @@ -1,61 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: sympar_txt2r - -# Label file to symbolic parameters conversion -# P.J.Gawthrop March 1997 -# Copyright (c) P.J.Gawthrop, 1997. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.5 1998/02/16 12:14:21 peterg -## Corrected writing out of MTTVAR matrix - now does this id non-zero -## number of variables - not vv! -## -## Revision 1.4 1997/05/09 14:20:49 peterg -## Dont declare MTTVAR array when there are no variables. -## -# Revision 1.3 1997/03/19 16:39:12 peterg -# Put in the correct date. -# -# Revision 1.2 1997/03/18 17:56:35 peterg -# Cosmetic changes. -# -############################################################### - - -# Inform user -echo "Creating $1_sympar.r" - -rm -f mtt_error - -#Write some file headers -echo "%% Symbolic parameter file ($1_sympar.r)" > $1_sympar.r -echo "%% Generated by MTT at `date`" >> $1_sympar.r -echo >> $1_sympar.r - -#Count the lines in the file -lines=`grep -c '.' $1_sympar.txt` - -if [ "$lines" != "0" ]; then - echo "MATRIX MTTVAR($lines,1);" >> $1_sympar.r -fi -echo "MTTNVAR := $lines;" >> $1_sympar.r -echo >> $1_sympar.r - -#Write out the variables in reduce format. -awk '{i++; print "MTTVAR(" i ",1) := " $1 ";"}' $1_sympar.txt >> $1_sympar.r - -echo 'END;' >> $1_sympar.r - -# Now invoke the standard error handling. -# mtt_error mtt_error.txt - - DELETED mttroot/mtt/bin/trans/sympar_txt2tex Index: mttroot/mtt/bin/trans/sympar_txt2tex ================================================================== --- mttroot/mtt/bin/trans/sympar_txt2tex +++ /dev/null @@ -1,93 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: sympar_txt2tex - -# Sympar file - text to TeX table conversion -# P.J.Gawthrop April 1997 -# Copyright (c) P.J.Gawthrop, 1997. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.2 1998/01/19 14:17:26 peterg -## Modified struc_txt2tex to make this. -## -## Revision 1.1 1998/01/19 14:16:39 peterg -## Initial revision -## -# Revision 1.3 1997/12/06 19:10:41 peterg -# Reverted to tabular --- from supertabular -# -# Revision 1.2 1997/04/15 11:17:58 peterg -# Uses supertabular for long tables. -# -# Revision 1.1 1997/04/15 09:49:04 peterg -# Initial revision -# -############################################################### - - -# Inform user -echo "Creating $1_sympar.tex" - -rm -f mtt_error - -#Write some file headers -echo "%% Parameter file ($1_sympar.txt)" > $1_sympar.tex -echo "%% Generated by MTT at `date`" >> $1_sympar.tex - -# This is the main transformation using awk -sed 's/_/\\_/g' < $1_sympar.txt | awk ' -#function header(what){ -# print " \\centering"; -# print " \\tablefirsthead{\\hline %"; -# print " \\multicolumn{4}{|c|}{\\bf List of " what "s for system " SYSTEM "} \\\\"; -# print " \\hline"; -# print " & Component & System & Repetition \\\\"; -# print " \\hline}"; -# -# print " \\tablehead{\\hline %"; -# print " \\multicolumn{4}{|c|}{\\bf List of " what "s for system " SYSTEM " (continued)} \\\\"; -# print " \\hline"; -# print " & Component & System & Repetition \\\\"; -# print " \\hline}"; -# -# print " \\tabletail{\\hline}"; -# print " \\begin{supertabular}{|l|l|l|l|}"; -#} -function header(what){ - print "\\begin{table}[htbp]"; - print " \\centering"; - print " \\begin{tabular}{|l|l|}"; print " \\hline"; - print " Parameter & System\\\\"; - print " \\hline"; -} -function footer(what){ - print " \\hline"; - print " \\end{tabular}"; - print " \\caption{" what "}"; - print "\\end{table}"; - print " \\bigskip"; - print " \\bigskip"; -} -BEGIN{ - header($1); -} -{ - print $1, "&", $2, "\\\\"; -} -END{ - footer("Parameters") -} -' SYSTEM=$1 >> $1_sympar.tex 2>mtt_error.txt - -# Now invoke the standard error handling. -mtt_error mtt_error.txt - - DELETED mttroot/mtt/bin/trans/tex2doc Index: mttroot/mtt/bin/trans/tex2doc ================================================================== --- mttroot/mtt/bin/trans/tex2doc +++ /dev/null @@ -1,32 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: tex2doc -# Encapsulates a tex file in a document. - -# P.J.Gawthrop August 1996 -# Copyright (c) P.J.Gawthrop, 1996. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -# Revision 1.2 1996/08/30 10:19:11 peter -# New path for awk script. -# -## Revision 1.1 1996/08/18 20:00:20 peter -## Initial revision -## -############################################################### - -# Inform user -echo "Creating $1_$2.doc" - -# This is the main transformation using awk -awk -f $MTTPATH/trans/awk/tex2doc.awk \ -system_name=$1 representation=$2 > $1_$2.doc - DELETED mttroot/mtt/bin/trans/tf_r2m Index: mttroot/mtt/bin/trans/tf_r2m ================================================================== --- mttroot/mtt/bin/trans/tf_r2m +++ /dev/null @@ -1,151 +0,0 @@ -#!/bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: tf_r2m -# Reduce transfer-function matrices to Matlab MV toolbox matrices. -# P.J.Gawthrop 9 June 1990, 8 July 1990, Dec 993 -# Copyright (c) P.J.Gawthrop, 1990, 1993. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.1 1996/09/18 14:05:31 peter -## Initial revision -## -############################################################### - -#Inform user -echo Creating $1_tf.m - -# Remove the old log file -rm -f tf_r2m.log - -# Use reduce to accomplish the transformation -reduce >tf_r2m.log << EOF - -%Read the definitions file -in "$1_def.r"; - -%Set up the number of argument variables to zero in case the user has forgotten -MTTNVar := 0; - -%Read the parameter file -%%in "$1_sympar.r"; - -%Read the transfer-function matrices file -OFF Exp; ON GCD; -in "$1_tf.r"; - -OFF Echo; -%OFF Nat; -OFF factor; - -%Find the largest degree numerator polynomial -NnMax := 0; - FOR Row := 1:MTTNy DO - BEGIN - FOR Col := 1:MTTNu DO - BEGIN - Nn := length(coeff(num(MTTtf(Row,Col)),s)); - IF Nn>NnMax THEN NnMax := Nn; - END; - END; - -NnMax; - -%Find the largest degree denominator polynomial, and corresp indices -NdMax := 0; - FOR Row := 1:MTTNy DO - BEGIN - FOR Col := 1:MTTNu DO - BEGIN - Nd := length(coeff(den(MTTtf(Row,Col)),s)); - IF Nd>NdMax THEN - BEGIN - NdMax := Nd; MaxRow := Row; MaxCol := Col; - END - END; - END; - -NdMax; MaxRow; MaxCol; - -IF NnMax>NdMax THEN NMax := NnMax ELSE NMax := NdMax; -Nmax; - -%Use any denominator with maximum degree as the common denominator -MTTden := den(MTTtf(MaxRow,MaxCol)); - -%Find the corresponding numerator -matrix MTTnum(MTTNy,MTTNu); - FOR Row := 1:MTTNy DO - BEGIN - FOR Col := 1:MTTNu DO - MTTnum(Row,Col) := num(MTTtf(Row,Col))*(MTTden/den(MTTtf(Row,Col))); - END; -MTTnum; - -%Put coefficients into matrices -matrix MTTdenco(1,Nmax); -MTTCoeff := Coeff(MTTden,s); -FOR i := 1:Nmax DO -BEGIN - j := Nmax-i+1; - IF j>length(MTTCoeff) THEN MTTdenco(1,i) := 0 - ELSE MTTdenco(1,i) := part(MTTCoeff,j); -END; - -matrix MTTnumco(MTTNy,MTTNu*Nmax); -FOR MTTRow := 1:MTTNy DO -BEGIN - FOR MTTCol := 1:MTTNu DO - BEGIN - MTTCoeff := Coeff(MTTnum(MTTRow,MTTCol),s); - FOR MTTi := 1:Nmax DO - BEGIN - MTTj := Nmax-MTTi+1; - MTTk := MTTi + (MTTCol-1)*Nmax; - IF MTTj>length(MTTCoeff) THEN MTTnumco(MTTRow, MTTk) := 0 - ELSE MTTnumco(MTTRow, MTTk) := part(MTTCoeff,MTTj); - END; - END; -END; - - - -OUT "$1_tf.m1"; - -write "mttden = zeros(1,", Nmax, ");"; -write "mttnum = zeros(", MTTNy, ",", Nmax*MTTNu, ");"; - -%Suppress zeros -ON NERO; - -%Fortran switches - one line expressions -ON fort; -cardno!* := 1\$ -fortwidth!* := 100\$ -OFF period; - -%Write out the matlab code -mttden := MTTdenco; -mttnum := MTTnumco; -SHUT "$1_tf.m1"; -quit; -EOF - -#Headers -mtt_header $1 tf m > $1_tf.m - -#Body -cat $1_tf.m1 >> $1_tf.m -echo '## END Code' >> $1_tf.m -rm -f $1_tf.m1 - - - - DELETED mttroot/mtt/bin/trans/tf_r2tex Index: mttroot/mtt/bin/trans/tf_r2tex ================================================================== --- mttroot/mtt/bin/trans/tf_r2tex +++ /dev/null @@ -1,129 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: tf_r2tex -# Reduce transfer-function matrices to LaTex transfer-function matrices. -# P.J.Gawthrop 9 June 1990, 8 July 1990, April 1994. -# Copyright (c) P.J.Gawthrop, 1990, 1994. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.2 1996/12/20 08:59:40 peterg -## Now writes out mtti instead of mtt_{i} -- lets latex_tidy do the -## conversion. -## -## Revision 1.1 1996/11/05 11:01:51 peterg -## Initial revision -## -############################################################### - -#Inform user -echo Creating $1_tf.tex - -# Remove the old log file -rm -f tf_r2tex.log - -# Use reduce to accomplish the transformation -reduce >tf_r2tex.log << EOF - -%Read the definitions file -in "$1_def.r"; - -%Read the parameter file -%%in "$1_sympar.r"; - -%Read the formatting function -in "$MTTPATH/trans/latex_matrix.r"; - -%Read the transfer-function matrices file -in "$1_tf.r"; - -%Read the substitution file -IN "$1_subs.r"; - -%Read the simplification file -in "$1_simp.r"; - -OFF Echo; -OFF Nat; - -OUT "$1_tf.tex"; -MTT_Matrix := MTTTF$ -MTT_Matrix_name := "MTTG"$ -MTT_Matrix_n := MTTNy$ -MTT_Matrix_m := MTTNu$ -LaTeX_Matrix()$ - -%% FOR Row := 1:MTTNy DO -%% BEGIN -%% FOR Col := 1:MTTNu DO -%% BEGIN -%% numerator := num(MTTtf(Row,Col)); -%% denominator := den(MTTtf(Row,Col)); -%% cnumerator := coeff(numerator, s); -%% cdenominator := coeff(denominator, s); -%% write "!begin{equation} !label{eq_$1_tf", Row, Col, "}"; -%% IF MTTNy=1 AND MTTNu=1 -%% THEN -%% write "MTTTF(s) = {" -%% ELSE -%% write "MTTTF", Row, Col, "(s) = {"; -%% IF numerator = 0 -%% THEN write "0" -%% ELSE -%% BEGIN -%% FOR i := 1:Length(cnumerator) DO -%% BEGIN -%% cof := part(cnumerator,i); -%% IF cof NEQ 0 THEN -%% BEGIN -%% IF i>1 THEN write " + "; -%% IF cof NEQ 1 THEN -%% BEGIN -%% IF Terms(cof)>1 THEN write "(", cof, ")" -%% ELSE write cof; -%% END -%% ELSE IF i=1 THEN Write "1"; -%% -%% IF i=2 THEN write "s"; -%% IF i>2 THEN write "s^", i-1; -%% END; -%% END; -%% END; -%% -%% IF denominator NEQ 1 THEN -%% BEGIN -%% Write "!over"; -%% FOR i := 1:Length(cdenominator) DO -%% BEGIN -%% cof := part(cdenominator,i); -%% IF cof NEQ 0 THEN -%% BEGIN -%% IF i>1 THEN write " + "; -%% IF cof NEQ 1 THEN -%% BEGIN -%% IF Terms(cof)>1 THEN write "(", cof, ")" -%% ELSE write cof; -%% END -%% ELSE IF i=1 THEN Write "1"; -%% -%% IF i=2 THEN write "s"; -%% IF i>2 THEN write "s^", i-1; -%% END; -%% END; -%% END; -%% write "}"; -%% write "!end{equation}"; -%% END; -%% END; -%% -SHUT "$1_tf.tex"; -quit; -EOF - DELETED mttroot/mtt/bin/trans/tidy Index: mttroot/mtt/bin/trans/tidy ================================================================== --- mttroot/mtt/bin/trans/tidy +++ /dev/null @@ -1,18 +0,0 @@ -mv $1 $1.old - -cat $1.old | -#Clear out all (and extraneous) new lines -tr -d '\012' |\ - -#Squash blanks -tr -s '\040' '\040' |\ - -#Put in new lines to replace $ -tr '\044' '\012' |\ - -#Remove blanks after E -sed "s/E /E/g" |\ - -#Put in $ at end of each line -sed "s/$/\$/" >$1 - DELETED mttroot/mtt/bin/trans/txt2m Index: mttroot/mtt/bin/trans/txt2m ================================================================== --- mttroot/mtt/bin/trans/txt2m +++ /dev/null @@ -1,183 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: txt2m -# Converts txt file to matlab file (for numpar and state) - -# Copyright (c) P.J.Gawthrop 1998 - - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %% Revision 1.18 1999/11/14 22:22:17 peterg -# %% Removed checks for implicit - now done at command-line level. -# %% -# %% Revision 1.17 1999/11/04 04:54:24 peterg -# %% Removed recreation of smx file. -# %% -# %% Revision 1.16 1999/03/06 02:18:10 peterg -# %% Changed argument list. -# %% -# %% Revision 1.15 1999/02/16 21:44:38 peterg -# %% Revised smx generation -# %% -# %% Revision 1.14 1999/02/16 04:38:22 peterg -# %% Now forces creation of _smx file if METHOD=IMPLICIT in simpar.txt -# %% -# %% Revision 1.13 1998/08/31 11:43:37 peterg -# %% Now lower cases globals in numpar files -# %% -# %% Revision 1.12 1998/08/14 10:47:31 peterg -# %% Put ImplicitS sub before Implicit!! -# %% -# %% Revision 1.11 1998/08/14 10:43:44 peterg -# %% Added ImplicitS - sparse integration -# %% -# %% Revision 1.10 1998/08/11 13:27:51 peterg -# %% Lowercase mttLAST etc -# %% -# %% Revision 1.9 1998/07/30 15:07:17 peterg -# %% Added _ to the disallowed chars around t -# %% -# %% Revision 1.8 1998/07/30 12:52:38 peterg -# %% Adds ; to end of statements -# %% Translates ' to " before removal -# %% -# %% Revision 1.7 1998/07/30 09:32:33 peterg -# %% Replaces: -# %% euler by 1 -# %% implicitl by 1 -# %% implicit by 3 -# %% -# %% Revision 1.6 1998/07/27 18:59:11 peterg -# %% Added WMIN etc -# %% -# %% Revision 1.5 1998/07/26 11:54:20 peterg -# %% Added mtt to variables -# %% -# %% Revision 1.4 1998/07/26 09:50:12 peterg -# %% More forgiving of txt sytax. -# %% -# %% -- can use () or () -# %% -- can use mttx() or x() -# %% -- can use mttu() or u() -# %% -# %% Revision 1.3 1998/07/25 20:40:35 peterg -# %% All vars in lower case now -# %% -# %% Revision 1.2 1998/07/25 09:48:31 peterg -# %% Tidied up for Pascal version -# %% -# %% Revision 1.1 1998/02/25 22:10:25 peterg -# %% Initial revision -# %% -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -system=$1 -representation=$2 - -if [ "$representation" = "state" ]; then - name='mttx'; - arg=''; -fi -if [ "$representation" = "input" ]; then - name='mttu'; - arg='(mttt,mttx,mtty)' -fi - -# Inform user -echo Creating $1_$2.m - -#Create the $2 file complete with headers. -case $representation in - simpar) - echo "% Script file $1_$2.m" > $1_$2.m - echo "%% $2 file ($1_$2.m)" >> $1_$2.m - echo "%% Generated by MTT at `date`" >> $1_$2.m - echo '% Dummy globals' >> $1_$2.m - echo 'global ...' >> $1_$2.m - echo 'mtt_dummy_global;' >> $1_$2.m - ;; - numpar) - echo "% Script file $1_$2.m" > $1_$2.m - echo "%% $2 file ($1_$2.m)" >> $1_$2.m - echo "%% Generated by MTT at `date`" >> $1_$2.m - echo "% Global variable list" >> $1_$2.m - sympar2global_txt2m $1 >> $1_$2.m - ;; - *) - echo "function $name = $1_$2$arg" > $1_$2.m - echo "%% $2 file ($1_$2.m)" >> $1_$2.m - echo "%% Generated by MTT at `date`" >> $1_$2.m - echo "% Global variable list" >> $1_$2.m - sympar2global_txt2m $1 >> $1_$2.m - ;; -esac - -#Write out the variables in m format. -cat $1_$2.txt | grep -v METHOD |\ -awk -F# 'BEGIN{ -quote = "\047"; -doublequote = "\042"; -} -{ - N=split($1,a,"="); - if (N==2) { - LHS = a[1]; - RHS = a[2]; - gsub(quote, doublequote, RHS); - sub(/^[ ]*LAST/, "mttLAST", LHS); - sub(/^[ ]*DT/, "mttDT", LHS); - sub(/^[ ]*STEPFACTOR/, "mttSTEPFACTOR", LHS); - sub(/^[ ]*METHOD/, "mttMETHOD", LHS); - sub(/^[ ]*WMIN/, "mttWMIN", LHS); - sub(/^[ ]*WMAX/, "mttWMAX", LHS); - sub(/^[ ]*WSTEPS/, "mttWSTEPS", LHS); - sub(/^[ ]*INPUT/, "mttinput", LHS); - LHS = tolower(LHS); - RHS = tolower(RHS); - sub(/["]*euler["]*/, 1, RHS); - sub(/["]*implicit["]*/, 2, RHS); - statement = sprintf("%s= %s",LHS,RHS); - if ( (match(statement,";")==0)&&\ - ((match(statement,"if ")==0))&&\ - ((match(statement,"for ")==0)) ) - statement = sprintf("%s;", statement); - } - else if (match($1,"global")==1) { - statement = tolower($1); # Lower case globals as well - } - else - statement = $1; - - if (NF<2) print statement - if (NF>1) print statement " # " $2 -}' | sed\ - -e 's/\[$[0-9]*$\]/(\1)/g' \ - -e 's/$[^a-zA-Z_]$t$[^a-zA-Z_]$/\1mttt\2/g' \ - -e 's/x(/mttx(/g' \ - -e 's/u(/mttu(/g' \ - -e 's/mttmtt/mtt/g' \ - -e 's/#/%/g' \ ->> $1_$2.m - - -if [ "$2" = "numpar" ]; then - awk '{ - printf(" MTTpar(%i) \t= %s;\n",++i, tolower($1)); - }'< $1_sympar.txt >>$1_numpar.m -fi - - - - - - - - DELETED mttroot/mtt/bin/trans/txt2tex Index: mttroot/mtt/bin/trans/txt2tex ================================================================== --- mttroot/mtt/bin/trans/txt2tex +++ /dev/null @@ -1,44 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: txt2tex - -# Generic textual inclusion as verbatim tex. - -# P.J.Gawthrop March 1998 -# Copyright (c) P.J.Gawthrop, 1998. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - -if [ -z "$3" ]; then - echo Usage: txt2tex system representation language - exit 1 -fi -# Inform user -echo "Creating $1_$2.tex" - -rm -f mtt_error - -#Write some file headers -echo "%% Tex file ($1_$2.txt)" > $1_$2.tex -echo "%% Generated by MTT at `date`" >> $1_$2.tex - -cat <> $1_$2.tex -\begin{verbatim} -EOF -cat $1_$2.$3 >> $1_$2.tex -cat<> $1_$2.tex -\end{verbatim} -EOF - - - - DELETED mttroot/mtt/bin/trans/txt_matrix.r Index: mttroot/mtt/bin/trans/txt_matrix.r ================================================================== --- mttroot/mtt/bin/trans/txt_matrix.r +++ /dev/null @@ -1,36 +0,0 @@ - %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - %%%%% Model Transformation Tools %%%%% - %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -% Reduce function to write matrices in text form -% P.J.Gawthrop Febrauary 1998 -% Copyright (c) P.J.Gawthrop, 1998 - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% % Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% % $Id$ -% % $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -PROCEDURE txt_Matrix; -BEGIN - IF MTT_Matrix_n>0 THEN - IF MTT_Matrix_m>0 THEN - BEGIN - FOR i := 1:MTT_Matrix_n DO - IF MTT_Matrix_m>1 THEN - BEGIN - FOR j := 1:MTT_Matrix_m DO - write MTT_Matrix_name, "(", i, ",", j, ") = ", - MTT_Matrix(i,j), ";"; - END - ELSE - write MTT_Matrix_name, "(", i, ") = ", - MTT_Matrix(i,1), ";"; - END; -END; - -END;; DELETED mttroot/mtt/bin/xmtt Index: mttroot/mtt/bin/xmtt ================================================================== --- mttroot/mtt/bin/xmtt +++ /dev/null @@ -1,61 +0,0 @@ -#! /bin/sh - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - -# Bourne shell script: xmtt -# -# x-window version of MTT - -# Copyright (c) P.J.Gawthrop, 1998 - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.4 1999/10/19 00:34:10 peterg -## *** empty log message *** -## -## Revision 1.3 1999/08/18 06:17:55 peterg -## Modular form -## -## Revision 1.2 1999/03/09 00:03:55 peterg -## Major revisions for release 3.5 -## -## Revision 1.1 1998/10/20 08:15:17 peterg -## Initial revision -## -############################################################### - -#Look for a command line argument -while [ -n "`echo $1 | grep '^-'`" ]; do - case $1 in - --help ) echo xmtt - echo xmtt -update - exit;; - -update ) echo Creating representation list for mtt; - mtt2reps_txt> $MTTPATH/REPS; - echo Creating examples list for mtt; - mtt -q help examples> $MTTPATH/EXAMPLES;; - -example ) examples='examples';; - *) - echo "$1 is an invalid argument - ignoring" ;; - esac - shift -done - -if [ -n "$examples" ]; then - mtt -q copy $1; - cd $1; - xmtt - exit -fi - -## Create the menu -mtt_make_menu > .xmtt_menu - -## Use tk shell (wish) -name=`basename $PWD` -wish .xmtt_menu -name $name DELETED mttroot/mtt/cc/Makefile Index: mttroot/mtt/cc/Makefile ================================================================== --- mttroot/mtt/cc/Makefile +++ /dev/null @@ -1,52 +0,0 @@ - -.POSIX: - -CC=g++ - -ifeq (0,1) -CFLAGS+=-static -OCTAVE_LIBS_PATH=-L/usr/local/lib/octave -OCTAVE_LIBRARIES=-loctave -lcruft -lm -lncurses -ldl -lstdc++ -lc -lkpathsea -lreadline -lf2c - -%.exe: %.cc - $(CC) $< $(CFLAGS) $(OCTAVE_LIBS_PATH) $(OCTAVE_LIBRARIES) -o $@ - -%.oct: %.cc - mkoctfile $< -endif - - - -all: $(sys)_$(rep).cc - -parser.exe: parse_m2cc.cc - g++ $< $(CFLAGS) -o ${MTTPATH}/trans/parser.exe -I${MTTPATH}/../cc/include - -ifeq ($(rep),ode2odes) -$(sys)_ode2odes.cc: ode2odes.cc - cat ode2odes.cc | sed 's/\$$/$(sys)/' > $(sys)_ode2odes.cc -else -$(sys)_$(rep).cc: $(sys)_def.h $(sys)_sympar.h $(sys)_def.r $(sys)_$(rep).m - mtt_m2cc.sh ${sys} ${rep} parser -endif - -$(sys)_def.h: $(sys)_def.m $(sys)_sympar.txt - def_m2h.sh $(sys) - -$(sys)_sympar.h: $(sys)_sympar.txt - sympar_txt2h.sh $(sys) - -$(sys)_def.m: - mtt $(sys) def m - -# getsize needs def.r -$(sys)_def.r: - mtt $(sys) def r - -$(sys)_sympar.txt: - mtt $(sys) sympar txt - - -# struc2gnuplot_txt.exe is used by gnuplot_rep.make to create gnuplot input file. -struc2gnuplot_txt.exe: $(MTT_CC)/struc2gnuplot_txt.cc - $(CC) -O3 -Wall -ansi -pedantic -DMAIN $(MTT_CC)/struc2gnuplot_txt.cc -o $(MTTPATH)/trans/struc2gnuplot_txt.exe DELETED mttroot/mtt/cc/def_m2h.sh Index: mttroot/mtt/cc/def_m2h.sh ================================================================== --- mttroot/mtt/cc/def_m2h.sh +++ /dev/null @@ -1,76 +0,0 @@ -#! /bin/sh -# $Id$ -# $Log$ -# Revision 1.3 2000/12/05 12:13:52 peterg -# Changed function name to name() -# -# Revision 1.2 2000/12/04 12:04:46 peterg -# Changed $() to `` for sh compatibility -- geraint -# -# Revision 1.1 2000/12/04 12:02:23 peterg -# Initial revision -# -# Revision 1.1 2000/10/31 04:32:28 geraint -# Initial revision -# - -SYS=$1 -IN=${SYS}_def.m -SYM=${SYS}_sympar.txt -OUT=${SYS}_def.h - -get_array_size () -{ -vec=$1 -awk -v vec=${vec} '($1 == vec && $2 == "=") { print $3 }' | sed s/\;// -} - - echo "// ${SYS}_def.h, generated by MTT on `date`" > ${OUT} - echo "" >> ${OUT} - echo "const int MTTNU = `cat ${IN} | get_array_size nu`;" >> ${OUT} - echo "const int MTTNX = `cat ${IN} | get_array_size nx`;" >> ${OUT} - echo "const int MTTNY = `cat ${IN} | get_array_size ny`;" >> ${OUT} - echo "const int MTTNZ = `cat ${IN} | get_array_size nz`;" >> ${OUT} - echo "const int MTTNYZ = `cat ${IN} | get_array_size nyz`;" >> ${OUT} - echo "const int MTTNPAR = `wc -l ${SYM} | awk '{ print $1 }'`;" >> ${OUT} - -cat <> ${OUT} - -// typedefs won't work because it is illegal to initialise ColumnVector in typedef -// use "ColumnVector mttx (MTTNX);" until the proper classes are ready - - -#if 0 // NB: These classes are not ready for use yet! -class InputVector : public ColumnVector -{ -public: - InputVector (void) : ColumnVector (MTTNU) { ; } -}; -class StateVector : public ColumnVector -{ -public: - StateVector (void) : ColumnVector (MTTNX) { ; } -}; -class OutputVector : public ColumnVector -{ -public: - OutputVector (void) : ColumnVector (MTTNY) { ; } -}; -class ParameterVector : public ColumnVector -{ -public: - ParameterVector (void) : ColumnVector (MTTNPAR) { ; } -}; -class StateMatrix : public Matrix -{ -public: - StateMatrix (void) : Matrix (MTTNX, MTTNX) { ; } -}; -#endif - -EOF - - - - - DELETED mttroot/mtt/cc/include/Bracket.hh Index: mttroot/mtt/cc/include/Bracket.hh ================================================================== --- mttroot/mtt/cc/include/Bracket.hh +++ /dev/null @@ -1,222 +0,0 @@ -/* $Id$ - * $Log$ - * Revision 1.1.4.1 2001/06/30 03:26:20 geraint - * gcc-3.0 compatibility. - * - * Revision 1.1 2000/12/28 09:47:29 peterg - * put under RCS - * - * Revision 1.1 2000/10/31 04:29:11 geraint - * Initial revision - * - */ - - - -#include -#include - - -using namespace std; - -class Bracket -{ -public: - friend ostream &operator<< (ostream &str, Bracket *b); - friend string &operator<< (string &str, Bracket *b); - friend string &operator+= (string &str, Bracket *b); - friend string operator+ (string &str, Bracket *b); - virtual int get_nesting_depth (void) = 0; - -protected: - Bracket (char left, char right) { _l = left; _r = right; } - ostream &open (ostream &str) { this->increment_nesting (); return str << this->_l; } - string &open (string &str) { this->increment_nesting (); return str += this->_l; } - ostream &close (ostream &str) { this->decrement_nesting (); return str << this->_r; } - string &close (string &str) { this->decrement_nesting (); return str += this->_r; } - -protected: - virtual int increment_nesting (void) = 0; - virtual int decrement_nesting (void) = 0; - virtual ostream &display (ostream &str) = 0; - virtual string &display (string &str) = 0; - -private: - char _l, _r; -}; - - - -class Brace : public Bracket -{ -public: - int get_nesting_depth (void) { return (this->nesting_depth);} - string indentation (int n = nesting_depth) - { - string s = ""; - int i; - for (i = 0; i < n; i++) - s += " "; - return s; - } - -protected: - Brace () : Bracket ('{', '}') { ; } - int increment_nesting (void) { return ++(this->nesting_depth); } - int decrement_nesting (void) { return --(this->nesting_depth); } - ostream &open (ostream &str) - { - str << endl << this->indentation (); - this->Bracket::open (str); - str << endl << this->indentation (); - return str; - } - string &open (string &str) - { - str += '\n' + this->indentation (); - this->Bracket::open (str); - str += '\n' + this->indentation (); - return str; - } - ostream &close (ostream &str) - { - str << endl << this->indentation (nesting_depth - 1); - this->Bracket::close (str); - str << endl << this->indentation (); - return str; - } - string &close (string &str) - { - str += '\n' + this->indentation (nesting_depth - 1); - this->Bracket::close (str); - str += '\n' + this->indentation (); - return str; - } - -private: - static int nesting_depth; -}; -int Brace::nesting_depth; - - - -class Paren : public Bracket -{ -public: - int get_nesting_depth (void) { return (this->nesting_depth);} - -protected: - Paren () : Bracket ('(', ')') { ; } - int increment_nesting (void) { return ++(this->nesting_depth); } - int decrement_nesting (void) { return --(this->nesting_depth); } - -private: - static int nesting_depth; -}; -int Paren::nesting_depth; - - - -class SquareBracket : public Bracket -{ -public: - int get_nesting_depth (void) { return (this->nesting_depth);} - -protected: - SquareBracket () : Bracket ('[', ']') { ; } - int increment_nesting (void) { return ++(this->nesting_depth); } - int decrement_nesting (void) { return --(this->nesting_depth); } - -private: - static int nesting_depth; -}; -int SquareBracket::nesting_depth; - - - -class LeftBrace : public Brace -{ -public: - ostream &display (ostream &str) { return this->open (str); } - string &display (string &str) { return this->open (str); } -}; - - - -class RightBrace : public Brace -{ -public: - ostream &display (ostream &str) { return this->close (str); } - string &display (string &str) { return this->close (str); } -}; - - - -class LeftParen : public Paren -{ -public: - ostream &display (ostream &str) { return this->open (str); } - string &display (string &str) { return this->open (str); } -}; - - - -class RightParen : public Paren -{ -public: - ostream &display (ostream &str) { return this->close (str); } - string &display (string &str) { return this->close (str); } -}; - - - -class LeftSquareBracket : public SquareBracket -{ -public: - ostream &display (ostream &str) { return this->open (str); } - string &display (string &str) { return this->open (str); } -}; - - - -class Rightbrace : public SquareBracket -{ -public: - ostream &display (ostream &str) { return this->close (str); } - string &display (string &str) { return this->close (str); } -}; - - - -ostream &operator<< (ostream &str, Bracket *b) -{ - b->display (str); - return str; -} - - - -string &operator<< (string &str, Bracket *b) -{ - string s; - b->display (s); - str += s; - return str; -} - - - -string &operator+= (string &str, Bracket *b) -{ - b->display (str); - return str; -} - - - -string operator+ (string &str, Bracket *b) -{ - string s; - b->display (s); - return (str + s); -} DELETED mttroot/mtt/cc/include/useful-functions.hh Index: mttroot/mtt/cc/include/useful-functions.hh ================================================================== --- mttroot/mtt/cc/include/useful-functions.hh +++ /dev/null @@ -1,84 +0,0 @@ -#define pi 3.14159 // Predefine pi - -#ifndef HAVE_USEFUL_FUNCTIONS_HH -#define HAVE_USEFUL_FUNCTIONS_HH - - -#ifndef __cplusplus -#define inline /* strip */ -#endif // ! __cplusplus - - -static inline double -max (const double x1, const double x2) -{ - return static_cast((x1 >= x2) ? x1 : (x1 < x2) ? x2 : 0); -} - -static inline double -min (const double x1, const double x2) -{ - return static_cast((x1 <= x2) ? x1 : (x1 > x2) ? x2 : 0); -} - -static inline double -nonsingular (const double x) -{ - return static_cast((x == 0) ? 1.0e-30 : x); -} - -static inline double -sign (const double x) -{ - return static_cast((x > 0) ? +1 : (x < 0) ? -1 : 0); -} - - -// Octave functions -#ifdef __cplusplus -static Matrix -ones (const int r = 1, const int c = 1) -{ - Matrix m (r, c, 1.0); - return m; -} - -static ColumnVector -nozeros (const ColumnVector v0, const double tol = 0.0) -{ - ColumnVector v (v0.length ()); - register int i, j; - for (i = j = 0; i < v.length (); i++) - if (tol < std::abs (v0 (i))) - { - v (j) = v0 (i); - j++; - } - if (0 == j) - { - return *new ColumnVector (); - } - else - { - return (v.extract (0, --j)); - } -} - -static ColumnVector -zeros (const int r) -{ - ColumnVector v (r, 0.0); - return v; -} - -static Matrix -zeros (const int r, const int c) -{ - Matrix m (r, c, 0.0); - return m; -} -#endif // __cplusplus - - - -#endif // HAVE_USEFUL_FUNCTIONS_HH DELETED mttroot/mtt/cc/mtt_m2cc.sh Index: mttroot/mtt/cc/mtt_m2cc.sh ================================================================== --- mttroot/mtt/cc/mtt_m2cc.sh +++ /dev/null @@ -1,179 +0,0 @@ -#! /bin/sh - -SYS=$1 -REP=$2 -PARSER=${3:-indent} - -IN=${SYS}_${REP}.m -OUT=${SYS}_${REP}.cc -TMP=${SYS}_${REP}_m2cc.tmp - -rep_declarations () -{ -(case ${REP} in - simpar) - cat < ${TMP} -find_code ${TMP} head > ${OUT} -rep_declarations >> ${OUT} -find_code ${IN} body |\ - decrement_indices |\ - fix_comment_delimiter |\ - fix_pow |\ - strip_junk |\ - ${PARSER} >> ${OUT} -rep_footer >> ${OUT} -find_code ${TMP} foot >> ${OUT} -rm ${TMP} - DELETED mttroot/mtt/cc/parse_m2cc.cc Index: mttroot/mtt/cc/parse_m2cc.cc ================================================================== --- mttroot/mtt/cc/parse_m2cc.cc +++ /dev/null @@ -1,357 +0,0 @@ -/* $Id$ - * $Log$ - * Revision 1.2.2.1 2001/06/30 03:26:17 geraint - * gcc-3.0 compatibility. - * - * Revision 1.2 2001/03/19 02:28:53 geraint - * Branch merge: merging-ode2odes-exe back to MAIN. - * - * Revision 1.1.2.2 2001/03/09 04:01:20 geraint - * \ escapes newline. - * - * Revision 1.1.2.1 2001/03/09 02:59:26 geraint - * got_comment: (char)c no longer compared to (int)EOF. - * - * Revision 1.1 2000/12/28 09:46:05 peterg - * put under RCS - * - * Revision 1.1 2000/10/31 04:29:50 geraint - * Initial revision - * - */ - - - -#include -#include -#include -#include - - - -/* - * Bracket.hh deals with nesting levels of parenthesis - * just add Bracket pointer to string / stream - */ -#include "Bracket.hh" - - - -using namespace std; - -/* - * use lbrace, etc. in expressions to automate nesting calculations - */ -LeftBrace *lbrace = new LeftBrace; -RightBrace *rbrace = new RightBrace; - -LeftParen *lparen = new LeftParen; -RightParen *rparen = new RightParen; - - - -/* - * use brace nesting depth to determine indentation - */ -string indent (void) { return lbrace->indentation (); } - - - -/* - * map contains keyword to look for and function to call when found - */ -map keyword; - - - - -/* - * stack records current nest type - * so that "end" can be handled correctly - */ -enum nest_type -{ - null, - if_statement, - switch_statement, - while_statement -}; - -stack current_nest; - - - -/* - * assuming cin has '(' as next character - * find the matching ')' and return the string contained within - */ -string get_test (void) -{ - const int entry_nesting = lparen->get_nesting_depth (); - char c; - string buf = ""; - cin.setf (ios::skipws); - cin >> c; - if ('(' != c) - { - cerr << "Sorry, test must be enclosed in ( )" << endl; - cerr << "current character is " << c << endl; - /* - * replace this with a call to get_expression maybe? - */ - exit (-1); - } - else - { - buf += lparen; - } - cin.unsetf (ios::skipws); - while (entry_nesting != lparen->get_nesting_depth ()) { - cin >> c; - switch (c) - { - case '(': - buf += lparen; - break; - case ')': - buf += rparen; - break; - case EOF: - cerr << "Oops! EOF reached" << endl; - exit (-1); - default: - buf += c; - break; - } - } - return buf; -} - - - -/* - * functions to be called upon detection of keyword - */ -void got_if (void) -{ - current_nest.push (if_statement); - cout << "if "; - cout << get_test (); - cout << lbrace; -} - -void got_else (void) -{ - cout << rbrace; - cout << "else"; - cout << lbrace; -} - -void got_elseif (void) -{ - cout << rbrace; - got_if (); -} - -void got_switch (void) -{ - current_nest.push (switch_statement); - cout << "switch "; - cout << get_test (); - cout << lbrace; - /* - * open a second brace so that each "case" can be enclosed - */ - cout << lbrace; -} - -void got_case (void) -{ - cout << rbrace; - cout << "case "; - cout << get_test (); - cout << ':'; - cout << lbrace; -} - -void got_otherwise (void) -{ - cout << rbrace; - cout << "default:"; - cout << lbrace; -} - -void got_while (void) -{ - current_nest.push (while_statement); - cout << "while "; - cout << get_test (); - cout << lbrace; -} - -void got_end (void) -{ - enum nest_type n = current_nest.top (); - switch (n) - { - case if_statement: - case while_statement: - cout << rbrace; - break; - case switch_statement: - cout << rbrace - << rbrace; - break; - default: - cerr << "Oops! Unmatched end ... aborting" << endl; - exit (-1); - break; - } - current_nest.pop (); -} - -void got_comment (void) -{ - /* - * get remainder of line in case there are any commented keywords - */ - char c; - cout << " // "; - cin >> c; - do { - cout << c; - } while (c != '\n' && cin >> c); - cout << endl - << indent () << ';' << endl - << indent (); -} - - - -/* - * map contains keyword to look for and functions to call when found - * functions must be of the form "void f (void) {...;}" - * new structures should also be added to enum nest_type - */ -void set_keyword (void) -{ - // if - keyword ["if"] = got_if; - keyword ["else"] = got_else; - keyword ["elseif"] = got_elseif; - keyword ["endif"] = got_end; - - // switch - keyword ["switch"] = got_switch; - keyword ["case"] = got_case; - keyword ["otherwise"] = got_otherwise; - keyword ["endswitch"] = got_end; - - // while - keyword ["while"] = got_while; - keyword ["endwhile"] = got_end; - - // general - keyword ["end"] = got_end; - - /* - * this won't work inside a string - * or if there is no space around the delimiter - */ - keyword ["#"] = got_comment; - keyword ["//"] = got_comment; - -/* - * unimplemented keywords - * - keyword ["for"] = got_for; - keyword ["endfor"] = got_end; - keyword ["break"] = got_break; - keyword ["continue"] = got_continue; -*/ -} - - - -/* read in one character at a time looking for tokens (delimited by whitespace) - * if the token is a keyword, call the appropriate function - */ -int main (void) -{ - set_keyword (); - string buf = ""; - char c; - cin.unsetf (ios::skipws); - while (cin >> c) - { - switch (c) - { - case EOF: - return 0; - case ' ': - case '\t': - if (keyword [buf]) - { - keyword [buf](); - } - else - { - if (! lbrace->get_nesting_depth ()) - { - buf += c; - } - cout << buf; - } - buf = ""; - break; - case '\n': - if (keyword [buf]) - { - /* - * keyword found, call function - */ - keyword [buf] (); - } - else - { - cout << buf - /* - * keep newline in case this line has an EOL-comment - */ - << endl - /* - * EOL is end-of-statement in Octave, add ; - */ - << indent () << ';' << endl - << indent (); - } - buf = ""; - break; - case '\\': - cin >> c; - if ('\n' == c) - { - buf += '\n'; - } - else - { - buf += '\\'; - buf += c; - } - break; - default: - buf += c; - } - if (lbrace->get_nesting_depth ()) - { - cout.setf (ios::skipws); - } - else - { - cout.unsetf (ios::skipws); - } - } - return 0; -} - - DELETED mttroot/mtt/cc/struc2gnuplot_txt.cc Index: mttroot/mtt/cc/struc2gnuplot_txt.cc ================================================================== --- mttroot/mtt/cc/struc2gnuplot_txt.cc +++ /dev/null @@ -1,82 +0,0 @@ - -#include -#include -#include - - -ostream &struc2gnuplot_txt(const string sys = "sim", istream &in = cin, ostream &out = cout) -{ - typedef struct record_ record_t; - struct record_ - { - string vec; - unsigned int num; - string cmp; - string mod; - unsigned int rpt; - }; - - list Lx; - list Ly; - - record_t r; - - - // read data from struc.txt - - while (in >> r.vec >> r.num >> r.cmp >> r.mod >> r.rpt) - { - if ("state" == r.vec) - { - Lx.push_back(r); - } - else if ("output" == r.vec) - { - Ly.push_back(r); - } - } - - // write header - - out << "wait=-1" << endl - << "set data style lines" << endl - << "set xlabel \"time\"" << endl - << "set grid" << endl - << "set term X11" << endl - << endl; - - // write states (X11) - - for (list::iterator i = Lx.begin(); i != Lx.end() ; i++) - { - out << "plot " << "\"" << sys << "_odes.dat2\" using 1:" << 2 + Ly.size() + i->num - << " axes x1y1 title \"" << i->mod << "_" << i->cmp << ";" << endl - << "pause(wait);" << endl; - } - - // write outputs (X11) - - for (list::iterator i = Ly.begin(); i != Ly.end() ; i++) - { - out << "plot " << "\"" << sys << "_odes.dat2\" using 1:" << 1 + i->num - << " axes x1y1 title \"" << i->mod << "_" << i->cmp << endl - << "; pause(wait);" << endl; - } - - return out; -} - -#ifdef MAIN -int main(int argc, char *argv[]) -{ - if (--argc) - { - struc2gnuplot_txt(argv[1]); - } - else - { - struc2gnuplot_txt(); - } - return 0; -} -#endif // MAIN DELETED mttroot/mtt/cc/sympar_txt2h.sh Index: mttroot/mtt/cc/sympar_txt2h.sh ================================================================== --- mttroot/mtt/cc/sympar_txt2h.sh +++ /dev/null @@ -1,87 +0,0 @@ -#! /bin/sh -# $Id$ -# $Log$ -# Revision 1.3 2001/03/19 02:28:53 geraint -# Branch merge: merging-ode2odes-exe back to MAIN. -# -# Revision 1.2.2.1 2001/03/16 03:56:54 geraint -# Convert variable names to lower case. -# -# Revision 1.2 2001/02/05 13:03:19 geraint -# Restrict scope of variables to file (static). -# Warn GCC that variables may be unused. -# -# Revision 1.7 2001/01/09 15:43:50 geraint -# Warn gcc that variables may be unused. -# -# Revision 1.6 2001/01/08 05:47:56 geraint -# Restrict scope of variables to file (static) -# -# Revision 1.5 2000/12/05 12:44:55 peterg -# Changed $() to `` -# -# Revision 1.4 2000/12/05 12:16:02 peterg -# Changed function name to name() -# -# Revision 1.3 2000/12/04 11:05:01 peterg -# Removed () -- geraint -# -# Revision 1.2 2000/11/07 17:29:27 peterg -# Changed echo -# -# Revision 1.1 2000/11/07 17:28:53 peterg -# Initial revision -# -# Revision 1.1 2000/10/31 04:32:02 geraint -# Initial revision -# - -SYS=$1 - -if [ $# -gt 1 ] -then - NUM_OF_TMP_VAR=$2; - shift; shift; -else - NUM_OF_TMP_VAR=500 - shift; -fi -TMP_VAR_NAMES="mtt_tmp mtt_o $*" - -IN=${SYS}_sympar.txt -OUT=${SYS}_sympar.h - -declare_sys_param () -{ -cat ${IN} | awk '(NF>0){printf ("static double %s MTT_UNUSED;\t// %s\n", tolower($1), $2)}' -} - -declare_temp_vars () -{ -for name in ${TMP_VAR_NAMES} -do - echo "" - i=0 - while [ ${i} -le ${NUM_OF_TMP_VAR} ] - do - echo "static double ${name}${i} MTT_UNUSED;" - i=`expr ${i} + 1` - done -done -} - -echo Creating ${OUT} -cat < ${OUT} -#ifndef MTT_UNUSED -#ifdef __GNUC__ -#define MTT_UNUSED __attribute__ ((__unused__)) -#else -#define MTT_UNUSED -#endif -#endif - -EOF - -declare_sys_param >> ${OUT} -declare_temp_vars >> ${OUT} - DELETED mttroot/mtt/doc/Makefile Index: mttroot/mtt/doc/Makefile ================================================================== --- mttroot/mtt/doc/Makefile +++ /dev/null @@ -1,91 +0,0 @@ -#Makefile for MTT documentation - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.2 1998/07/02 18:40:07 peterg -## More on install option -## -## Revision 1.1 1998/05/14 09:19:52 peterg -## Initial revision -## -############################################################### - - -#MTTPATH = /home/peterg/mtt_new/mtt -#DOCPATH = /home/peterg/web-docs/software/MTT/doc -#INFOPATH = /usr/info - -MTTPATH = /home/peterg/mtt_new/mtt -MTT_COMPONENTS = /home/eng4/peterg/mtt_new/mtt/lib/comp -MTT_EXAMPLES = /home/eng4/peterg/mtt_new/mtt/lib/examples -DOCPATH = /home/peterg/web-docs/software/MTT/doc -#INFOPATH = $(DOCPATH) -INFOPATH = /usr/info - -all: mtt.info mtt.html mtt.pdf mtt.ps.gz - -mtt.info: mtt.texi - echo "Making info manual. Please wait ..."; makeinfo mtt.texi - -mtt.dvi: mtt.texi - echo "Making dvi manual. Please wait ..."; tex mtt.texi; tex mtt.texi - -mtt.html: mtt.texi - echo "Making html manual. Please wait ..."; texi2html -glossary mtt.texi - -mtt.ps.gz: mtt.dvi - echo "Making ps manual. Please wait ..."; dvips -o mtt.ps mtt; gzip -f mtt.ps - -mtt.pdf: mtt.texi - echo "Making pdf manual. Please wait ..."; texi2pdf mtt.texi - -Compound-Components_rep.ps: - (cd $(MTT_COMPONENTS); mtt Compound-Components rep ps) - mv $(MTT_COMPONENTS)/Compound-Components_rep.ps . - -Compound-Components_rep: - (cd $(MTT_COMPONENTS); mtt Compound-Components rep html) - mv $(MTT_COMPONENTS)/Compound-Components_rep . - -Examples_rep.ps: - (cd $(MTT_EXAMPLES); mtt Examples rep ps) - mv $(MTT_EXAMPLES)/Examples_rep.ps . - -Examples_rep: - (cd $(MTT_EXAMPLES); mtt Examples rep html) - mv $(MTT_EXAMPLES)/Examples_rep . - -clean: - rm -f mtt.aux mtt.fns mtt.pg mtt.tp - rm -f mtt.cp mtt.pgs mtt.vr mtt.ps - rm -f mtt.cps mtt.vrs mtt.dvi mtt.ps.gz - rm -f mtt.ky mtt.fn mtt.log mtt.toc - rm -f mtt.ps mtt.info-* mtt.pdf - rm -f mtt.html mtt_toc.html mtt.info - rm -f mtt.log mtt.ky mtt.toc - -tidy: - rm -f mtt.aux mtt.fns mtt.pg mtt.tp - rm -f mtt.cp mtt.pgs mtt.vr - rm -f mtt.cps mtt.vrs mtt.dvi - rm -f mtt.log mtt.ky mtt.toc - - -install-doc: mtt.html mtt.ps.gz mtt.info - cp mtt.info* $(INFOPATH) - cp mtt.html mtt_toc.html mtt.ps.gz $(DOCPATH) - chmod -R a+r $(DOCPATH) - chmod a+x $(DOCPATH) - -install-components: Compound-Components_rep.ps Compound-Components_rep - mv Compound-Components_rep.ps $(DOCPATH)/../components - mv Compound-Components_rep $(DOCPATH)/../components - chmod -R a+r $(DOCPATH)/../components - chmod -R a+x $(DOCPATH)/../components/Compound-Components_re - - - - Index: mttroot/mtt/doc/mtt.texi ================================================================== --- mttroot/mtt/doc/mtt.texi +++ mttroot/mtt/doc/mtt.texi @@ -14,10 +14,19 @@ @comment %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% @comment Version control history @comment %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% @comment $Id$ @comment $Log$ +@comment Revision 1.9 2002/07/05 13:29:34 geraint +@comment Added notes about generating dynamically linked functions for Octave and Matlab. +@comment +@comment Revision 1.8 2002/07/04 21:34:12 geraint +@comment Updated gnuplot view description to describe Tcl/Tk interface instead of obsolete txt method. +@comment +@comment Revision 1.7 2002/04/23 09:51:54 gawthrop +@comment Changed incorrect statement about searching for components. +@comment @comment Revision 1.6 2001/10/15 14:29:50 gawthrop @comment Added documentaton on [1:N] style port labels @comment @comment Revision 1.5 2001/07/23 03:35:29 geraint @comment Updated file structure (mtt/bin). @@ -433,10 +442,14 @@ * Euler integration:: * Implicit integration:: * Runge Kutta IV integration:: * Hybrd algebraic solver:: +Simulation code + +* Dynamically linked functions:: + Simulation output * Viewing results with gnuplot:: * Exporting results to SciGraphica:: @@ -660,10 +673,13 @@ * LaTeX:: Octave * Octave control system toolbox (OCST):: +* Creating GNU Octave .oct files:: +* Creating Matlab .mex files:: +* Embedding MTT models in Simulink:: Administration * Software components:: * REDUCE setup:: @@ -2315,10 +2331,44 @@ To generate an executable based on the C++ representation: @example mtt -cc [options] sys ode2odes exe @end example +@menu +* Dynamically linked functions:: +@end menu + +@node Dynamically linked functions, , Simulation code, Simulation code +@comment node-name, next, previous, up +@subsection Dynamically linked functions + +Some model representations can be compiled into dynamically loaded +code (shared objects) which are compiled prior to use in other +modelling and simulation environments; in particular, .oct files can +be generated for use in GNU Octave (@pxref{Creating GNU Octave .oct +files}) and .mex files can be generated for use in Matlab +(@pxref{Creating Matlab .mex files}) or Simulink (@pxref{Embedding MTT +models in Simulink}). The use of compiled (and possibly +compiler-optimised) code can offer significant processing speed +advantages over equivalent interpreted functions (e.g. .m files) for +computationally intensive procedures. + +The C++ code generated by @strong{MTT} allows the same code to be +generated as standalone code, Octave .oct files or Matlab .mexglx +files. Although @strong{MTT} usually takes care of the compilation +options, if it is necessary to compile the code on a machine on which +@strong{MTT} is not installed, the appropriate flag should be passed +to the compiler pre-processor: +@itemize @bullet +@item +@code{-DCODEGENTARGET=STANDALONE} +@item +@code{-DCODEGENTARGET=OCTAVEDLD} +@item +@code{-DCODEGENTARGET=MATLABMEX} +@end itemize + @node Simulation output, , Simulation code, Simulation @comment node-name, next, previous, up @section Simulation output @cindex Simulation output The view (@pxref{Views}) representation provides a graphical @@ -2359,42 +2409,29 @@ @node Viewing results with gnuplot, Exporting results to SciGraphica, Simulation output, Simulation output @comment node-name, next, previous, up@subsection @subsection Viewing results with gnuplot @cindex gnuplot -Simulation results may be viewed in -@uref{http://www.gnuplot.org,gnuplot} with the command +Simulation plots may be conveniently selected, viewed with +@uref{http://www.gnuplot.org,gnuplot} +and saved to file (in PostScript format) using the command @example mtt [options] rc gnuplot view @end example -The plot format is controlled by the file @emph{sys_gnuplot.txt}. A default version -of this file, which will cause gnuplot to plot the time-history of each state -and each output individually, may be created with the command - -@example -mtt rc gnuplot txt -@end example - -resulting in - -@example -wait=-1 -set data style lines -set xlabel "time" -set grid -set term X11 - -plot "rc_odes.dat2" using 1:4 axes x1y1 title "rc_c_c; -pause(wait); -plot "rc_odes.dat2" using 1:2 axes x1y1 title "rc_e2_e2 -; pause(wait); -@end example - -The file is used as an input to the gnuplot program and may therefore be -edited to contain any valid gnuplot commands. +This will cause a menu to be displayed, from which states and outputs may be selected for viewing. Clicking on a @emph{parameter name} will cause a new window to be opened displaying the time history of the selected parameter. Selecting the @emph{print} option in the main window provides the option of saving to file a plot of the last selected parameter. Clicking on the @emph{title bar} of the main window (``Outputs'' or ``States'') will alter the order in which the parameter names are displayed. + +It should be noted that unlike other representations, if a simulation has been previously run in a directory, this command will @emph{not} cause @strong{MTT} to re-run a simulation, even if any of the input files have been changed. + +If it is desired to re-run a simulation, it is advisable to run the command + +@example +mtt [options] rc odeso view ; mtt [options] rc gnuplot view +@end example + +As with @strong{xMTT} (@pxref{Menu-driven interface}), the Wish Tcl/Tk interpreter must be installed to make use of this feature. @node Exporting results to SciGraphica, , Viewing results with gnuplot, Simulation output @comment node-name, next, previous, up @subsection Exporting results to SciGraphica @cindex SciGraphica @@ -3561,11 +3598,11 @@ %% ss1 acts as a flow sensor - it imposes zero effort. ss2 SS 0,external @end example -@node Other component labels , Component names, SS component labels , Labels (lbl) +@node Other component labels, Component names, SS component labels , Labels (lbl) @comment node-name, next, previous, up @subsection Other component labels @cindex Other component labels In addition to the label there are two information fields, @@ -4540,10 +4577,19 @@ # %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% # %% Version control history # %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% # %% $Id$ # %% $Log$ +# %% Revision 1.9 2002/07/05 13:29:34 geraint +# %% Added notes about generating dynamically linked functions for Octave and Matlab. +# %% +# %% Revision 1.8 2002/07/04 21:34:12 geraint +# %% Updated gnuplot view description to describe Tcl/Tk interface instead of obsolete txt method. +# %% +# %% Revision 1.7 2002/04/23 09:51:54 gawthrop +# %% Changed incorrect statement about searching for components. +# %% # %% Revision 1.6 2001/10/15 14:29:50 gawthrop # %% Added documentaton on [1:N] style port labels # %% # %% Revision 1.5 2001/07/23 03:35:29 geraint # %% Updated file structure (mtt/bin). @@ -5814,13 +5860,16 @@ @end example @menu * Octave control system toolbox (OCST):: +* Creating GNU Octave .oct files:: +* Creating Matlab .mex files:: +* Embedding MTT models in Simulink:: @end menu -@node Octave control system toolbox (OCST), , Octave, Octave +@node Octave control system toolbox (OCST), Creating GNU Octave .oct files, Octave, Octave @comment node-name, next, previous, up @subsection Octave control system toolbox (OCST) @cindex Octave @cindex toolbox @cindex OCST @@ -5854,11 +5903,143 @@ @example step(rc); bode(rc); @end example - +@node Creating GNU Octave .oct files, Creating Matlab .mex files, Octave control system toolbox (OCST), Octave +@comment node-name, next, previous, up +@subsection Creating GNU Octave .oct files +@cindex Creating GNU Octave .oct files + +GNU Octave dynamically loaded functions (.oct files) can be created by +instructing @strong{MTT} to create the ``oct'' representation: + +@example + mtt [options] sys ode oct +@end example + +This will cause @strong{MTT} to create the C++ representation of the system +(sys_ode.cc) and to then compile it as a shared object suitable for +use within Octave. The resultant file may be used in an identical +manner to the equivalent, but generally slower, interpreted .m file. + +Usage information for the function may be obtained within Octave in the usual manner: + +@example + octave:1> help rc_ode + + rc_ode is the dynamically-linked function from the file + /home/mttuser/rc/rc_ode.oct + + Usage: [mttdx] = rc_ode(mttx,mttu,mttt,mttpar) + Octave ode representation of system rc + Generated by MTT on Fri Jul 5 11:23:08 BST 2002 +@end example + +Note that the first line of output from Octave identifies whether the +compiled or interpreted function is being used. + +Alternatively, standard representations may be generated using the +Octave DLDs by use of the ``-oct'' switch: + +@example + mtt -oct rc odeso view +@end example + +In order to successfully generate .oct files, Octave must be correctly +configured prior to compilation and certain headers and libraries must +be correctly installed on the system (@pxref{.oct file dependencies}). + +@node Creating Matlab .mex files, Embedding MTT models in Simulink, Creating GNU Octave .oct files, Octave +@comment node-name, next, previous, up +@subsection Creating Matlab .mex files +@cindex Creating Matlab .mex files + +On GNU/Linux systems, Matlab dynamically linked executables (.mexglx +files) can created by instructing @strong{MTT} to create the +``mexglx'' representation: + +@example + mtt [options] sys ode mexglx +@end example + +This will cause @strong{MTT} to create the C++ representation of the +system (sys_ode.cc) and to then compile it as a shared object suitable +for use within Matlab. + +If it is necessary to compile mex files for another platform, then the +usual C++ representation (generated with the -cc flag) can be created +and the resultant file compiled with the -DCODEGENTARGET=MATLABMEX +flag on the target platform. + +@example + mtt_machine: + mtt -cc rc ode cc + + matlab_machine: + matlab> mex -DCODEGENTARGET=MATLABMEX rc_ode.cc +@end example + +@node Embedding MTT models in Simulink, , Creating Matlab .mex files, Octave +@comment node-name, next, previous, up +@subsection Embedding MTT models in Simulink +@cindex Embedding MTT models in Simulink + +It is possible to embed @strong{MTT} functions or entire @strong{MTT} +models within Simulink simulations as Sfun blocks. If the zip package +is installed on the system, the command + +@example + mtt sys sfun zip +@end example + +will create a compressed archive containing sys.mdl, which may be +embedded into a larger Simulink model. Also contained within the +archive will be four sys_sfun*.c files, + +@itemize @bullet +@item +sys_sfun.c +model state and output equations +@item +sys_sfun_ae.c +model algebraic equations +@item +sys_sfun_input.c +model inputs +@item +sys_sfun_interface.c +interface between MTT model and Simulink +@end itemize + +The last of these files must be edited to correctly map the inputs and +outputs between the @strong{MTT} and Simulink models. The two sections +to edit are clearly marked with + +@example + @code{/* Start EDIT */} + @code{....} + @code{/* End EDIT */} +@end example + +These four files should then be compiled with the Matlab ``mex'' +compiler as described in the @emph{README} file in the archive. + +If it is desired to compile the .mex files directly from within +@strong{MTT} on a machine which has the Matlab header files installed, +this may be done with the command + +@example + mtt sys sfun mexglx +@end example + +which will generated the four .mex files and the .mdl file. In this +case, the user must ensure that @emph{sys_sfun_interface.c} has been +correctly edited prior to compilation. + +Note that solution of algebraic equations within Simulink is not +possible unless the @emph{Matlab Optimisation Toolbox} is installed. @node LaTeX, , Octave, Language tools @comment node-name, next, previous, up @section LaTeX @cindex LaTeX @@ -5984,17 +6165,41 @@ @end example @node .oct file dependencies, , .octaverc, Octave setup @comment node-name, next, previous, up Additionally, it is necessary to @subsection .oct file dependencies -Successful compilation of .oct code requires that Octave has been configured -to use dynamically linked libraries and that the Octave library @code{liboctave} -and the Octave modified version of @code{libkpathsea} are available on the - system. +Successful compilation of .oct code requires that Octave has been +configured to use dynamically linked libraries and that the Octave +libraries @code{liboctave}, @code{libcruft} and @code{liboctinterp} +are available on the system. This can be acheived by compiling Octave from the source code, configured with the options @code{--enable-shared} and @code{--enable-dl}. + +A number of additional libraries and headers are also required to be +installed on a system. These include, +@itemize @bullet +@item +@emph{ncurses} and @emph{readline} + terminal control routines +@item +@emph{blas} or @emph{altas} + basic linear algebra subprograms, usually optimised for the specific processor +@item +@emph{fftw} + fast Fourier transform routines +@item +@emph{g2c} + GNU Fortran to C conversion routines +@item +@emph{kpathsea} + TeX path search routines +@end itemize + +Note that on many GNU/Linux distributions, the necessary headers are +contained in development packages which must be installed in addition +to the standard library package. Further information on configuring and installing Octave to handle dynamic libraries (DLDs) can be found in the @uref{http://www.octave.org/docs.html,Octave documentation}. DELETED mttroot/mtt/doc/mtt_banner.sh Index: mttroot/mtt/doc/mtt_banner.sh ================================================================== --- mttroot/mtt/doc/mtt_banner.sh +++ /dev/null @@ -1,10 +0,0 @@ - ###################################### - ##### Model Transformation Tools ##### - ###################################### - - ############################################################### - ## Version control history - ############################################################### - ## $Id$ - ## $Log$ - ############################################################### DELETED mttroot/mtt/doc/reduce_reserved.tex Index: mttroot/mtt/doc/reduce_reserved.tex ================================================================== --- mttroot/mtt/doc/reduce_reserved.tex +++ /dev/null @@ -1,94 +0,0 @@ -\documentclass[12pt,a4paper]{book} -\newcommand{\REDUCE}{REDUCE} -\begin{document} - - -\appendix -\chapter{Reserved Identifiers} - -We list here all identifiers that are normally reserved in \REDUCE{} -including names of commands, operators and switches initially in the system. -Excluded are words that are reserved in specific implementations of the -system. - -\vspace{13pt} -\begin{list}{}{\renewcommand{\makelabel}[1]{#1\hspace{\fill}}% - \settowidth{\labelwidth}{Numerical Operators}% - \setlength{\labelsep}{1em}% - \settowidth{\leftmargin}{Numerical Operators\hspace*{\labelsep}}% - \sloppy} - -\item[Commands] {\tt ALGEBRAIC} {\tt ANTISYMMETRIC} -{\tt ARRAY} {\tt BYE} {\tt CLEAR} \linebreak -{\tt CLEARRULES} {\tt COMMENT} {\tt -CONT} {\tt DECOMPOSE} {\tt DEFINE} {\tt DEPEND} {\tt DISPLAY} {\tt ED} -{\tt EDITDEF} {\tt END} {\tt EVEN} {\tt FACTOR} {\tt FOR} {\tt FORALL} -{\tt FOREACH} {\tt GO} {\tt GOTO} {\tt IF} {\tt IN} {\tt INDEX} {\tt INFIX} -{\tt INPUT} {\tt INTEGER} {\tt KORDER} {\tt LET} {\tt LINEAR} {\tt LISP} -{\tt LISTARGP} {\tt LOAD} {\tt LOAD\_PACKAGE} {\tt MASS} {\tt MATCH} {\tt -MATRIX} {\tt MSHELL} {\tt NODEPEND} {\tt NONCOM} {\tt NONZERO} {\tt NOSPUR} -{\tt ODD} {\tt OFF} -{\tt ON} {\tt OPERATOR} {\tt ORDER} {\tt OUT} {\tt PAUSE} {\tt PRECEDENCE} -{\tt PRINT\_PRECISION} {\tt PROCEDURE} {\tt QUIT} {\tt REAL} {\tt REMFAC} -{\tt REMIND} {\tt RETRY} {\tt RETURN} {\tt SAVEAS} {\tt SCALAR} {\tt -SETMOD} {\tt SHARE} {\tt SHOWTIME} {\tt SHUT} {\tt SPUR} {\tt SYMBOLIC} -{\tt SYMMETRIC} {\tt VECDIM} {\tt VECTOR} {\tt WEIGHT} {\tt WRITE} {\tt -WTLEVEL} - -\item[Boolean Operators] {\tt EVENP} {\tt FIXP} -{\tt FREEOF} {\tt NUMBERP} {\tt ORDP} {\tt PRIMEP} - -\item[Infix Operators] - \verb|:=| \verb|=| \verb|>=| \verb|>| \verb|<=| \verb|<| \verb|=>| - \verb|+| \verb|*| \verb|/| \verb|^| \verb|**| \verb|.| {\tt WHERE} -{\tt SETQ} {\tt OR} {\tt AND} {\tt MEMBER} {\tt MEMQ} {\tt -EQUAL} {\tt NEQ} {\tt EQ} {\tt GEQ} {\tt GREATERP} {\tt LEQ} {\tt LESSP} -{\tt PLUS} {\tt DIFFERENCE} {\tt MINUS} {\tt TIMES} {\tt QUOTIENT} {\tt -EXPT} {\tt CONS} - -\item[Numerical Operators] {\tt ABS} {\tt ACOS} -{\tt ACOSH} {\tt ACOT} {\tt ACOTH} {\tt ACSC} {\tt ACSCH} {\tt ASEC} {\tt -ASECH} {\tt ASIN} {\tt ASINH} {\tt ATAN} {\tt ATANH} {\tt ATAN2} {\tt COS} -{\tt COSH} {\tt COT} {\tt COTH} {\tt CSC} {\tt CSCH} {\tt EXP} {\tt -FACTORIAL} {\tt FIX} {\tt FLOOR} {\tt HYPOT} {\tt LN} {\tt LOG} {\tt LOGB} -{\tt LOG10} {\tt NEXTPRIME} {\tt ROUND} {\tt SEC} {\tt SECH} {\tt SIN} -{\tt SINH} {\tt SQRT} {\tt TAN} {\tt TANH} - -\item[Prefix Operators] {\tt APPEND} {\tt -ARGLENGTH} {\tt CEILING} {\tt COEFF} {\tt COEFFN} {\tt COFACTOR} {\tt -CONJ} {\tt DEG} {\tt DEN} {\tt DET} {\tt DF} {\tt DILOG} {\tt EI} -{\tt EPS} {\tt ERF} {\tt FACTORIZE} {\tt FIRST} {\tt GCD} {\tt G} {\tt -IMPART} {\tt INT} {\tt INTERPOL} {\tt LCM} {\tt LCOF} {\tt LENGTH} {\tt -LHS} {\tt LINELENGTH} {\tt LTERM} {\tt MAINVAR} {\tt MAT} {\tt MATEIGEN} -{\tt MAX} {\tt MIN} {\tt MKID} {\tt NULLSPACE} {\tt NUM} {\tt PART} {\tt -PF} {\tt PRECISION} {\tt RANDOM} {\tt RANDOM\_NEW\_SEED} {\tt RANK} {\tt -REDERR} {\tt REDUCT} {\tt REMAINDER} {\tt REPART} {\tt REST} {\tt -RESULTANT} {\tt REVERSE} {\tt RHS} {\tt SECOND} {\tt SET} {\tt SHOWRULES} -{\tt SIGN} {\tt SOLVE} {\tt STRUCTR} {\tt SUB} {\tt SUM} {\tt THIRD} {\tt -TP} {\tt TRACE} {\tt VARNAME} - -\item[Reserved Variables] {\tt CARD\_NO} {\tt E} {\tt EVAL\_MODE} -{\tt FORT\_WIDTH} {\tt HIGH\_POW} {\tt I} {\tt INFINITY} {\tt K!*} {\tt -LOW\_POW} {\tt NIL} {\tt PI} {\tt ROOT\_MULTIPLICITY} {\tt T} - -\item[Switches] {\tt ADJPREC} {\tt ALGINT} {\tt ALLBRANCH} {\tt ALLFAC} -{\tt BFSPACE} {\tt COMBINEEXPT} {\tt COMBINELOGS} -{\tt COMP} {\tt COMPLEX} {\tt CRAMER} {\tt CREF} {\tt DEFN} {\tt DEMO} -{\tt DIV} {\tt ECHO} {\tt ERRCONT} {\tt EVALLHSEQP} {\tt EXP} {\tt -EXPANDLOGS} {\tt EZGCD} {\tt FACTOR} {\tt FORT} {\tt FULLROOTS} {\tt GCD} -{\tt IFACTOR} {\tt INT} {\tt INTSTR} {\tt LCM} {\tt LIST} {\tt LISTARGS} -{\tt MCD} {\tt MODULAR} {\tt MSG} {\tt MULTIPLICITIES} {\tt NAT} {\tt -NERO} {\tt NOSPLIT} {\tt OUTPUT} {\tt PERIOD} {\tt PRECISE} {\tt PRET} -{\tt PRI} {\tt RAT} {\tt RATARG} {\tt RATIONAL} {\tt RATIONALIZE} {\tt -RATPRI} {\tt REVPRI} {\tt RLISP88} {\tt ROUNDALL} {\tt ROUNDBF} {\tt -ROUNDED} {\tt SAVESTRUCTR} {\tt SOLVESINGULAR} {\tt TIME} {\tt TRA} {\tt -TRFAC} {\tt TRIGFORM} {\tt TRINT} - -\item[Other Reserved Ids] {\tt BEGIN} {\tt DO} {\tt -EXPR} {\tt FEXPR} {\tt INPUT} {\tt LAMBDA} {\tt -LISP} {\tt MACRO} {\tt PRODUCT} {\tt REPEAT} {\tt SMACRO} {\tt -SUM} {\tt UNTIL} {\tt WHEN} {\tt WHILE} {\tt WS} - -\end{list} - -\end{document} DELETED mttroot/mtt/lib/cc/mtt_AlgebraicSolver.cc Index: mttroot/mtt/lib/cc/mtt_AlgebraicSolver.cc ================================================================== --- mttroot/mtt/lib/cc/mtt_AlgebraicSolver.cc +++ /dev/null @@ -1,33 +0,0 @@ - -#include "mtt_AlgebraicSolver.hh" - -ColumnVector -MTT::AlgebraicSolver::solve (const ColumnVector &x, - const ColumnVector &u, - const double &t, - const ColumnVector &par) -{ - if (_nyz > 0) - { - _x = x; - _uui.insert(u,0); - _t = t; - _par = par; - _ui = ColumnVector(_nyz,0.0); - Solve(); - _uui.insert(_ui,_nu); - } - else - { - _uui = u; - } - return _uui; -} - -ColumnVector -MTT::AlgebraicSolver::eval (const ColumnVector &ui) -{ - if (_nyz > 0) - _uui.insert(ui,_nu); - return mtt_ae(_x,_uui,_t,_par); -} DELETED mttroot/mtt/lib/cc/mtt_AlgebraicSolver.hh Index: mttroot/mtt/lib/cc/mtt_AlgebraicSolver.hh ================================================================== --- mttroot/mtt/lib/cc/mtt_AlgebraicSolver.hh +++ /dev/null @@ -1,49 +0,0 @@ - -#ifndef MTT_ALGEBRAICSOLVER -#define MTT_ALGEBRAICSOLVER - - -#include "mtt_Solver.hh" - - -namespace MTT -{ - class AlgebraicSolver : public MTT::Solver - { - public: - - AlgebraicSolver (const int npar, - const int nu, - const int nx, - const int ny, - const int nyz) - : MTT::Solver (npar,nu,nx,ny,nyz) - {;} - - ColumnVector - solve (const ColumnVector &x, - const ColumnVector &u, - const double &t, - const ColumnVector &par); - - ColumnVector - eval (const ColumnVector &ui); - - virtual ~AlgebraicSolver (void) {}; - - protected: - - virtual void - Solve (void) = 0; - }; -} - - -extern ColumnVector -mtt_ae(ColumnVector &x, - ColumnVector &u, - const double &t, - ColumnVector &par); - - -#endif // MTT_ALGEBRAICSOLVER DELETED mttroot/mtt/lib/cc/mtt_Dassl_Solver.cc Index: mttroot/mtt/lib/cc/mtt_Dassl_Solver.cc ================================================================== --- mttroot/mtt/lib/cc/mtt_Dassl_Solver.cc +++ /dev/null @@ -1,31 +0,0 @@ - -#include "mtt_Dassl_Solver.hh" - - -// used by "-ae dassl" NOT "-i dassl" - - -MTT::Dassl_Solver *MTT::Dassl_Solver::static_ptr; - -ColumnVector -MTT::Dassl_Solver::f_dassl (const ColumnVector &tryUi, - const ColumnVector &tryUidot, - double t, int &ires) -{ - static MTT::Dassl_Solver *p = MTT::Dassl_Solver::static_ptr; - - ColumnVector residual = p->eval(tryUi); - ColumnVector uidoterr = (tryUi - p->_ui) - tryUidot; - p->_yz = residual + uidoterr; - return p->_yz; -} - -void -MTT::Dassl_Solver::Solve (void) -{ - const double t0 = 0.0; - const double t1 = 1.0; - DAEFunc fcn(&MTT::Dassl_Solver::f_dassl); - DASSL eqn(AlgebraicSolver::_ui,t0,fcn); - AlgebraicSolver::_ui = eqn.do_integrate (t1); -} DELETED mttroot/mtt/lib/cc/mtt_Dassl_Solver.hh Index: mttroot/mtt/lib/cc/mtt_Dassl_Solver.hh ================================================================== --- mttroot/mtt/lib/cc/mtt_Dassl_Solver.hh +++ /dev/null @@ -1,62 +0,0 @@ - - -#ifndef MTT_DASSLSOLVER -#define MTT_DASSLSOLVER - - -#include "mtt_AlgebraicSolver.hh" -#include - - -#ifdef OCTAVE_DEV -#include -#define VECTOR_VALUE column_vector_value -#else // !OCTAVE_DEV -#include -#define VECTOR_VALUE vector_value -#endif // OCTAVE_DEV - - -// -ae dassl - - -namespace MTT -{ - class Dassl_Solver : public MTT::AlgebraicSolver { - - // used only when called because of "-ae dassl" - // this is not used when called by "-i dassl" - - public: - - Dassl_Solver (const int npar, - const int nu, - const int nx, - const int ny, - const int nyz) - : MTT::AlgebraicSolver (npar, nu, nx, ny, nyz) - { - static_ptr = this; - } - - static ColumnVector - f_dassl (const ColumnVector &tryUi, - const ColumnVector &tryUidot, - double t, int &ires); - - ~Dassl_Solver (void) {}; - - protected: - - void - Solve (void); - - public: - - static Dassl_Solver *static_ptr; - - }; -} - - -#endif // MTT_DASSLSOLVER DELETED mttroot/mtt/lib/cc/mtt_HJ_Solver.hh Index: mttroot/mtt/lib/cc/mtt_HJ_Solver.hh ================================================================== --- mttroot/mtt/lib/cc/mtt_HJ_Solver.hh +++ /dev/null @@ -1,65 +0,0 @@ - -#ifndef MTT_HJSOLVER -#define MTT_HJSOLVER - - -#include "mtt_AlgebraicSolver.hh" - - -namespace MTT -{ - class HJ_Solver : public MTT::AlgebraicSolver - { - // http://www.netlib.org/opt/hooke.c - // Hooke and Jeeves solution - - public: - - HJ_Solver (const int npar, - const int nu, - const int nx, - const int ny, - const int nyz) - : MTT::AlgebraicSolver (npar,nu,nx,ny,nyz) - { - static_ptr = this; - VARS = nyz; - } - - static double - f (double tryUi[], int nyz); - - ~HJ_Solver (void) {}; - - protected: - - void - Solve (void); - - double - best_nearby (double delta[], - double point[], - double prevbest, - int nvars); - - int - hooke (int nvars, // MTTNYZ - double startpt[], // user's initial guess - double endpt[], // result - double rho = 0.05, // geometric shrink factor - double epsilon = 1e-3, // end value stepsize - int itermax = 5000); // max # iterations - - private: - - int VARS; - - public: - - static HJ_Solver *static_ptr; - - }; -} - - -#endif // MTT_HJSOLVER DELETED mttroot/mtt/lib/cc/mtt_Hybrd_Solver.cc Index: mttroot/mtt/lib/cc/mtt_Hybrd_Solver.cc ================================================================== --- mttroot/mtt/lib/cc/mtt_Hybrd_Solver.cc +++ /dev/null @@ -1,68 +0,0 @@ - -#include "mtt_Hybrd_Solver.hh" - -// http://www.netlib.org/minpack/hybrd.f -// used by Octave's fsolve - -MTT::Hybrd_Solver *MTT::Hybrd_Solver::static_ptr; - -ColumnVector -MTT::Hybrd_Solver::f_hybrd (const ColumnVector &tryUi) -{ - MTT::Hybrd_Solver::static_ptr->_yz = MTT::Hybrd_Solver::static_ptr->eval(tryUi); - return MTT::Hybrd_Solver::static_ptr->_yz; -} - -void -MTT::Hybrd_Solver::Solve (void) -{ - static std::fstream ferr ("MTT.Hybrd_messages", std::ios::out | std::ios::trunc | std::ios::app); - int info; - static int input_errors; - static int user_errors; - static int convergences; - static int progress_errors; - static int limit_errors; - static int unknown_errors; - - NLFunc fcn(&Hybrd_Solver::f_hybrd); - NLEqn eqn(Solver::_ui,fcn); - eqn.set_tolerance(1.0e-3); - Solver::_ui = eqn.solve(info); - - switch (info) - { - case 1: - convergences++; - break; - case -2: - input_errors++; - break; - case -1: - user_errors++; - break; - case 3: - progress_errors++; - break; - case 4: - // if (abs(eval(_ui).max()) > 1.0e-6) - limit_errors++; - // else - // convergences++; - break; - default: - unknown_errors++; - break; - } - if (1 != info) - { - std::cerr - << " time " << _t << " \t" - << " converge (" << convergences << ") " - << " limit (" << limit_errors << ")" - << " (max error = " << std::abs (eval(_ui).max()) << ")" - << " other (" << input_errors + user_errors + progress_errors + unknown_errors << ") " - << std::endl; - } - ferr << info << " "; -} DELETED mttroot/mtt/lib/cc/mtt_Hybrd_Solver.hh Index: mttroot/mtt/lib/cc/mtt_Hybrd_Solver.hh ================================================================== --- mttroot/mtt/lib/cc/mtt_Hybrd_Solver.hh +++ /dev/null @@ -1,47 +0,0 @@ - -#ifndef MTT_HYBRDSOLVER -#define MTT_HYBRDSOLVER - -#include - -#include -#include "mtt_AlgebraicSolver.hh" - - -namespace MTT -{ - class Hybrd_Solver : public MTT::AlgebraicSolver - { - // http://www.netlib.org/minpack/hybrd.f - // used by Octave's fsolve - - public: - - Hybrd_Solver (const int npar, - const int nu, - const int nx, - const int ny, - const int nyz) - : MTT::AlgebraicSolver (npar,nu,nx,ny,nyz) - { - static_ptr = this; - } - - static ColumnVector - f_hybrd (const ColumnVector &tryUi); - - ~Hybrd_Solver (void) {}; - - protected: - - void - Solve (void); - - public: - - static Hybrd_Solver *static_ptr; - }; -} - - -#endif // MTT_HYBRDSOLVER DELETED mttroot/mtt/lib/cc/mtt_Reduce_Solver.cc Index: mttroot/mtt/lib/cc/mtt_Reduce_Solver.cc ================================================================== --- mttroot/mtt/lib/cc/mtt_Reduce_Solver.cc +++ /dev/null @@ -1,17 +0,0 @@ - -#include "mtt_Reduce_Solver.hh" - -void -MTT::Reduce_Solver::Solve (void) -{ - ; -} - -ColumnVector -MTT::Reduce_Solver::solve (const ColumnVector &x, - const ColumnVector &u, - const double &t, - const ColumnVector &par) -{ - return u; -} DELETED mttroot/mtt/lib/cc/mtt_Reduce_Solver.hh Index: mttroot/mtt/lib/cc/mtt_Reduce_Solver.hh ================================================================== --- mttroot/mtt/lib/cc/mtt_Reduce_Solver.hh +++ /dev/null @@ -1,41 +0,0 @@ - -#ifndef MTT_REDUCESOLVER -#define MTT_REDUCESOLVER - - -#include "mtt_AlgebraicSolver.hh" - - -namespace MTT -{ - class Reduce_Solver : public MTT::AlgebraicSolver - { - // Dummy class - // This will not be used unless the Reduce solver has failed earlier - // in the model build process - - public: - - Reduce_Solver (const int npar, - const int nu, - const int nx, - const int ny, - const int nyz) - : AlgebraicSolver (npar,nu,nx,ny,nyz) - {;} - - void - Solve (void); - - ColumnVector - solve (const ColumnVector &x, - const ColumnVector &u, - const double &t, - const ColumnVector &par); - - ~Reduce_Solver (void) {}; - }; -} - - -#endif // MTT_REDUCESOLVER DELETED mttroot/mtt/lib/cc/mtt_Solver.cc Index: mttroot/mtt/lib/cc/mtt_Solver.cc ================================================================== --- mttroot/mtt/lib/cc/mtt_Solver.cc +++ /dev/null @@ -1,16 +0,0 @@ - -#include "mtt_Solver.hh" - -MTT::Solver::Solver (const int npar, - const int nu, - const int nx, - const int ny, - const int nyz) -{ - _np = npar; - _nu = nu; - _nx = nx; - _ny = ny; - _nyz = nyz; - _uui = ColumnVector (_nu+_nyz); -}; DELETED mttroot/mtt/lib/cc/mtt_Solver.hh Index: mttroot/mtt/lib/cc/mtt_Solver.hh ================================================================== --- mttroot/mtt/lib/cc/mtt_Solver.hh +++ /dev/null @@ -1,47 +0,0 @@ - -#ifndef MTT_SOLVER -#define MTT_SOLVER - - -#include -#include -#include - -#include - - -namespace MTT -{ - class Solver - { - public: - - Solver (const int npar, - const int nu, - const int nx, - const int ny, - const int nyz); - - virtual ~Solver (void) {}; - - protected: - - ColumnVector _x; - ColumnVector _uui; - double _t; - ColumnVector _par; - - ColumnVector _ui; - ColumnVector _yz; - - int _nu; - int _np; - int _nx; - int _ny; - int _nyz; - }; -} - - -#endif // MTT_SOLVER - DELETED mttroot/mtt/lib/cc/mtt_dassl.cc Index: mttroot/mtt/lib/cc/mtt_dassl.cc ================================================================== --- mttroot/mtt/lib/cc/mtt_dassl.cc +++ /dev/null @@ -1,87 +0,0 @@ - -#include -#include - - -#ifdef OCTAVE_DEV -#include -#define VECTOR_VALUE column_vector_value -#else // !OCTAVE_DEV -#include -#define VECTOR_VALUE vector_value -#endif // OCTAVE_DEV - - -#ifdef STANDALONE -extern ColumnVector -Fmtt_residual (const ColumnVector &X, const ColumnVector &DX, double t, int &ires); -#endif // STANDALONE - - -ColumnVector -mtt_residual (const ColumnVector &X, const ColumnVector &DX, double t, int &ires) -{ -#ifdef STANDALONE - return Fmtt_residual (X, DX, t, ires); -#else // !STANDALONE - static octave_value_list args, f; - args(0) = octave_value (X); - args(1) = octave_value (DX); - args(2) = octave_value (t); - args(3) = octave_value (ires); - f = feval ("mtt_residual", args, 1); - return f(0).VECTOR_VALUE (); -#endif // STANDALONE -} - - -#ifdef STANDALONE -ColumnVector -Fmtt_dassl ( ColumnVector &x, - const ColumnVector &u, - const double &t, - const ColumnVector &par, - const ColumnVector &dx, - const double &ddt, - const int Nx, - const int Nyz, - const ColumnVector &openx) -{ -#else // !STANDALONE -DEFUN_DLD (mtt_dassl, args, , - "dassl integration method") -{ - ColumnVector x = args(0).VECTOR_VALUE(); - const ColumnVector u = args(1).VECTOR_VALUE(); - const double t = args(2).double_value(); - const ColumnVector par = args(3).VECTOR_VALUE(); - const ColumnVector dx = args(4).VECTOR_VALUE(); - const double ddt = args(5).double_value(); - const int Nx = static_cast (args(6).double_value()); - const int Nyz = static_cast (args(7).double_value()); - const ColumnVector openx = args(8).VECTOR_VALUE(); -#endif // STANDALONE - - static DAEFunc fdae(mtt_residual); - static ColumnVector XX (Nx+Nyz); - XX.insert (x,0); - - for (register int i = Nx; i < Nx+Nyz; i++) - XX(i) = 0.0; - - double tout = t + ddt; - - DASSL fdassl (XX, t, fdae); - x = fdassl.do_integrate (tout).extract (0,Nx-1); - - for (register int i = 0; i < Nx; i++) - if (openx (i) > 0.5) - x (i) = 0.0; - - -#ifdef STANDALONE - return x; -#else - return octave_value (x); -#endif -} DELETED mttroot/mtt/lib/cc/mtt_euler.cc Index: mttroot/mtt/lib/cc/mtt_euler.cc ================================================================== --- mttroot/mtt/lib/cc/mtt_euler.cc +++ /dev/null @@ -1,46 +0,0 @@ -#include - -#ifdef OCTAVE_DEV -#define VECTOR_VALUE column_vector_value -#else // !OCTAVE_DEV -#define VECTOR_VALUE vector_value -#endif // OCTAVE_DEV - -#ifdef STANDALONE -ColumnVector Fmtt_euler ( ColumnVector &x, - const ColumnVector &dx, - const double &ddt, - const int &Nx, - const ColumnVector &openx) -{ -#else // !STANDALONE -DEFUN_DLD (mtt_euler, args, , - "euler integration method") -{ - ColumnVector x = args(0).VECTOR_VALUE (); - const ColumnVector dx = args(1).VECTOR_VALUE (); - const double ddt = args(2).double_value (); - const int Nx = static_cast (args(3).double_value ()); - const ColumnVector openx = args(4).VECTOR_VALUE (); -#endif // STANDALONE - - register int i, n; - - n = Nx; - for (i = 0; i < Nx; i++) - { - if (0 != openx (i)) - { - x (i) = 0.0; - } - else - { - x (i) += dx (i) * ddt; - } - } -#ifdef STANDALONE - return x; -#else // !STANDALONE - return octave_value (x); -#endif // STANDALONE -} DELETED mttroot/mtt/lib/cc/mtt_implicit.cc Index: mttroot/mtt/lib/cc/mtt_implicit.cc ================================================================== --- mttroot/mtt/lib/cc/mtt_implicit.cc +++ /dev/null @@ -1,71 +0,0 @@ -#include -#include - -#ifdef OCTAVE_DEV -#define VECTOR_VALUE column_vector_value -#else // !OCTAVE_DEV -#define VECTOR_VALUE vector_value -#endif // OCTAVE_DEV - -#ifdef STANDALONE -ColumnVector Fmtt_implicit ( ColumnVector &x, - ColumnVector &dx, - Matrix &AA, - ColumnVector &AAx, - const double &t, - const int &Nx, - const ColumnVector &openx) -{ -#else // !STANDALONE -DEFUN_DLD (mtt_implicit, args, , - "implicit integration method") -{ - ColumnVector x = args(0).VECTOR_VALUE (); - ColumnVector dx = args(1).VECTOR_VALUE (); - Matrix AA = args(2).matrix_value (); - ColumnVector AAx = args(3).VECTOR_VALUE (); - const double t = args(4).double_value (); - const int Nx = (int) (args(5).double_value ()); - const ColumnVector openx = args(6).VECTOR_VALUE (); -#endif // STANDALONE - - register int row, col; - - for (row = 0; row < Nx; row++) - { - if (openx (row) > 0.5) - { - AAx (row) = 0.0; - dx (row) = 0.0; - for (col = 0; col < Nx; col++) - { - AA (row,col) = 0.0; - AA (col,row) = 0.0; - } - } - } - -#ifdef OCTAVE_DEV - x = static_cast (xleftdiv (AA, static_cast(AAx + dx * t))); -#else // !OCTAVE_DEV - Matrix tmp = xleftdiv (AA, static_cast(static_cast(AAx + dx * t))); - for (row = 0; row < Nx; row++) - { - x (row) = tmp (row,0); - } -#endif // OCTAVE_DEV - - for (row = 0; row < Nx; row++) - { - if (openx (row) > 0.5) - { - x (row) = 0.0; - } - } - -#ifdef STANDALONE - return x; -#else // !STANDALONE - return octave_value (x); -#endif // STANDALONE -} DELETED mttroot/mtt/lib/cc/mtt_kpathsea.cc Index: mttroot/mtt/lib/cc/mtt_kpathsea.cc ================================================================== --- mttroot/mtt/lib/cc/mtt_kpathsea.cc +++ /dev/null @@ -1,4 +0,0 @@ - -extern "C" { - int kpse_clear_dir_cache (void) {return 0;} -} DELETED mttroot/mtt/lib/comp/compound/Chemical/Rate/Rate_abg.fig Index: mttroot/mtt/lib/comp/compound/Chemical/Rate/Rate_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Chemical/Rate/Rate_abg.fig +++ /dev/null @@ -1,30 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -6 3780 2880 5220 3195 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 3825 2925 5175 2925 4950 3150 --6 -6 1755 2880 3195 3195 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 1800 2925 3150 2925 2925 3150 --6 -6 3105 2655 3195 3195 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 3150 2700 3150 3150 --6 -6 3780 2655 3870 3195 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 3825 2700 3825 3150 --6 -4 1 0 100 0 18 26 0.0000 4 300 525 3510 3060 R:r\001 -4 1 4 100 0 18 14 0.0000 4 210 270 3015 2655 [1]\001 -4 1 4 100 0 18 14 0.0000 4 210 270 3960 2655 [2]\001 -4 1 4 100 0 18 18 0.0000 4 270 1275 1080 3015 SS:[conc]\001 -4 1 4 100 0 18 18 0.0000 4 270 1605 6120 3015 SS:[thermal]\001 DELETED mttroot/mtt/lib/comp/compound/Chemical/Rate/Rate_cr.r Index: mttroot/mtt/lib/comp/compound/Chemical/Rate/Rate_cr.r ================================================================== --- mttroot/mtt/lib/comp/compound/Chemical/Rate/Rate_cr.r +++ /dev/null @@ -1,21 +0,0 @@ -%% CR file for rate-of reaction component RATE - -OPERATOR Rate; - -% Reaction rate -FOR ALL k,q,h,n,Conc,Temp LET - Rate(k,q,h,n,flow,1, - Conc,effort,1, - Temp,effort,2 - ) - = k*Conc^n*e^(-q/Temp); - -% Heat -FOR ALL k,q,h,n,Conc,Temp LET - Rate(k,q,h,n,flow,2, - Conc,effort,1, - Temp,effort,2 - ) - = k*Conc^n*h*e^(-q/Temp); - -END; DELETED mttroot/mtt/lib/comp/compound/Chemical/Rate/Rate_desc.tex Index: mttroot/mtt/lib/comp/compound/Chemical/Rate/Rate_desc.tex ================================================================== --- mttroot/mtt/lib/comp/compound/Chemical/Rate/Rate_desc.tex +++ /dev/null @@ -1,32 +0,0 @@ -% -*-latex-*- Put EMACS into LaTeX-mode -% Verbal description for system Rate (Rate_desc.tex) -% Generated by MTT on Tue Mar 14 17:54:06 GMT 2000. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{Rate} is - displayed in Figure \Ref{fig:Rate_abg.ps} and its label - file is listed in Section \Ref{sec:Rate_lbl}. - The subsystems are listed in Section \Ref{sec:Rate_sub}. - - -This component represents rate of reaction equations corresponding to -the chemical reaction: -\begin{equation} - \text{nA} \rightarrow \text{B} -\end{equation} -The relevant equations are -\begin{equation} - \begin{align} - \frac{dc_a}{dt} &= k_a c_a^n e^{-\frac{q_a}{T}} \tag{Rate of reaction}\\ - Q &= h_a k_a c_a^n e^{-\frac{q_a}{T}} \tag{Heat of reaction} - \end{align} -\end{equation} -where $\frac{dc_a}{dt}$ is the rate of change of concentration of -species A and $Q$ is the corresponding heat generated. - DELETED mttroot/mtt/lib/comp/compound/Chemical/Rate/Rate_lbl.txt Index: mttroot/mtt/lib/comp/compound/Chemical/Rate/Rate_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Chemical/Rate/Rate_lbl.txt +++ /dev/null @@ -1,30 +0,0 @@ -%% Label file for system Rate (Rate_lbl.txt) -%SUMMARY Rate -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS in conc -%ALIAS out thermal - -% Argument aliases -%ALIAS $1 k,q,h,n - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - r Rate k,q,h,n - -% Component type SS - [conc] SS external,external - [thermal] SS external,external DELETED mttroot/mtt/lib/comp/compound/Control/Collocated/PDe/PDe_abg.fig Index: mttroot/mtt/lib/comp/compound/Control/Collocated/PDe/PDe_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Control/Collocated/PDe/PDe_abg.fig +++ /dev/null @@ -1,29 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 1575 3375 2925 3375 2700 3600 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 3375 3375 4725 3375 4500 3600 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4950 3150 4950 1800 5175 2025 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 5175 3375 6525 3375 6300 3600 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 3150 3150 3150 1800 3375 2025 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 6525 3150 6525 3600 -2 4 0 2 31 7 51 0 -1 0.000 0 0 7 0 0 5 - 7875 4275 7875 900 450 900 450 4275 7875 4275 -4 1 0 100 0 18 18 0.0000 4 195 150 3150 3465 0\001 -4 1 0 100 0 18 18 0.0000 4 195 150 4950 3465 1\001 -4 2 4 100 0 18 18 0.0000 4 270 870 1530 3465 SS:[in]\001 -4 0 4 100 0 18 18 0.0000 4 270 1065 6660 3465 SS:[out]\001 -4 1 0 100 0 18 18 0.0000 4 270 780 3150 1665 C:k_p\001 -4 1 0 100 0 18 18 0.0000 4 270 765 4950 1665 R:k_d\001 DELETED mttroot/mtt/lib/comp/compound/Control/Collocated/PDe/PDe_desc.tex Index: mttroot/mtt/lib/comp/compound/Control/Collocated/PDe/PDe_desc.tex ================================================================== --- mttroot/mtt/lib/comp/compound/Control/Collocated/PDe/PDe_desc.tex +++ /dev/null @@ -1,56 +0,0 @@ -% -*-latex-*- Put EMACS into LaTeX-mode -% Verbal description for system PDe (PDe_desc.tex) -% Generated by MTT on Tue May 1 09:26:33 BST 2001. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 2000/12/28 09:13:38 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{PDe} is - displayed in Figure \Ref{fig:PDe_abg.ps} and its label - file is listed in Section \Ref{sec:PDe_lbl}. - The subsystems are listed in Section \Ref{sec:PDe_sub}. - - This is a proportional + derivative (PD) controller for a - collocated sutuation where the control signal is an effort and the - measured signal is a (collocated) flow. - - The controller can be thought of as controlling \emph{integated - flow}, and it is with respect to this that the P and D terms are defined. - - The setpoint is a \emph{flow}; and must be generated to give the - desired \emph{integrated} flow. - - Physically, the controller is a \textbf{C} and an \textbf{R} - component - for mechanical systems a mass and a spring. - - Mathematically, in integral causality, the equations are: -%file: pde_{dae}.tex -%differential-algebraic equations - \begin{equation} - \begin{aligned} - \dot x_{1} &= - { - f_d - f - } - \end{aligned} - \end{equation} - \begin{equation} - \begin{aligned} - u &= - { - - k_{d} f + k_{p} x_{1} - } - \end{aligned} - \end{equation} - - The state $x_1$ is the the integrated difference between - \emph{desired} flow $f_d$ and the actual flow $f$. Thus the control - signal $u$ is $k_p$ multiplied by the position error minus $k_d$ time - the flow. DELETED mttroot/mtt/lib/comp/compound/Control/Collocated/PDe/PDe_lbl.txt Index: mttroot/mtt/lib/comp/compound/Control/Collocated/PDe/PDe_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Control/Collocated/PDe/PDe_lbl.txt +++ /dev/null @@ -1,39 +0,0 @@ -%% Label file for system PDe (PDe_lbl.txt) -%SUMMARY PDe: Proportional + Derivative controller with effort output -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 2000/12/28 09:13:38 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS in in -%ALIAS out out - -% Argument aliases -%ALIAS $1 k_p -%ALIAS $2 k_d - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type C - k_p lin state,k_p - -% Component type R - k_d lin flow,k_d - -% Component type SS - [in] SS internal,external - [out] SS external,external DELETED mttroot/mtt/lib/comp/compound/Electrical/RC/RC_abg.fig Index: mttroot/mtt/lib/comp/compound/Electrical/RC/RC_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Electrical/RC/RC_abg.fig +++ /dev/null @@ -1,65 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3152 4277 4052 4277 3827 4502 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4502 4277 5402 4277 5177 4502 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4276 4051 4276 3151 4501 3376 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5626 4051 5626 3151 5851 3376 -2 2 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 5 - 3825 585 4725 585 4725 765 3825 765 3825 585 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 5400 1215 5850 1215 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 3150 675 3825 675 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 4725 675 6750 675 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 5625 675 5625 1080 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 5625 1215 5625 1575 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 3150 1575 6750 1575 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5852 4277 6752 4277 6527 4502 -2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 9225 5625 9225 225 900 225 900 5625 9225 5625 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 5400 1080 5850 1080 -2 1 0 2 0 7 50 0 -1 0.000 0 0 -1 0 0 2 - 4050 4050 4050 4500 -4 2 4 0 0 0 20 0.0000 4 255 2040 3105 4365 SS:[in]\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 4277 4367 1\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 5627 4367 0\001 -4 1 -1 0 0 0 20 0.0000 4 195 375 4276 2926 R:r\001 -4 1 -1 0 0 0 20 0.0000 4 195 390 5626 2926 C:c\001 -4 0 1 1 0 0 20 0.0000 4 135 105 4230 450 r\001 -4 0 1 1 0 0 20 0.0000 4 135 120 6030 1215 c\001 -4 1 1 1 0 0 20 0.0000 4 255 1350 4950 4995 Bond graph\001 -4 1 1 1 0 0 20 0.0000 4 195 1200 4950 2025 Schematic\001 -4 0 4 0 0 0 20 0.0000 4 255 2190 6887 4367 SS:[out]\001 -4 0 1 1 0 0 20 0.0000 4 135 135 3375 4005 v\001 -4 0 1 1 0 0 20 0.0000 4 195 135 3465 4140 1\001 -4 0 1 1 0 0 20 0.0000 4 195 75 3375 4590 i\001 -4 0 1 1 0 0 20 0.0000 4 195 135 3465 4725 1\001 -4 0 1 1 0 0 20 0.0000 4 195 75 6165 4590 i\001 -4 0 1 1 0 0 20 0.0000 4 195 135 6255 4725 2\001 -4 0 1 1 0 0 20 0.0000 4 135 135 6165 4005 v\001 -4 0 1 1 0 0 20 0.0000 4 195 135 6255 4140 2\001 -4 0 1 1 0 0 20 0.0000 4 135 135 6660 1170 v\001 -4 0 1 1 0 0 20 0.0000 4 195 135 6750 1305 2\001 -4 0 1 1 0 0 20 0.0000 4 195 75 6300 450 i\001 -4 0 1 1 0 0 20 0.0000 4 195 135 6390 585 2\001 -4 0 1 1 0 0 20 0.0000 4 195 75 3375 450 i\001 -4 0 1 1 0 0 20 0.0000 4 195 135 3465 585 1\001 -4 0 1 1 0 0 20 0.0000 4 135 135 3060 1170 v\001 -4 0 1 1 0 0 20 0.0000 4 195 135 3150 1305 1\001 DELETED mttroot/mtt/lib/comp/compound/Electrical/RC/RC_desc.tex Index: mttroot/mtt/lib/comp/compound/Electrical/RC/RC_desc.tex ================================================================== --- mttroot/mtt/lib/comp/compound/Electrical/RC/RC_desc.tex +++ /dev/null @@ -1,17 +0,0 @@ -% Verbal description for system RC (RC_desc.tex) -% Generated by MTT on Tue Aug 26 09:43:25 BST 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -\textbf{RC} is a Simple two-port RC circuit. The two ports are [in] -and [out] and the two parameters are c and r respectively - - The acausal bond graph of system \textbf{RC} is - displayed in Figure \Ref{RC_abg} and its label - file is listed in Section \Ref{sec:RC_lbl}. - The subsystems are listed in Section \Ref{sec:RC_sub}. DELETED mttroot/mtt/lib/comp/compound/Electrical/RC/RC_lbl.txt Index: mttroot/mtt/lib/comp/compound/Electrical/RC/RC_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Electrical/RC/RC_lbl.txt +++ /dev/null @@ -1,45 +0,0 @@ -%% Label file for system RC (RC_lbl.txt) -%SUMMARY RC A Simple two-port RC circuit -%DESCRIPTION This simple example is used in the manual. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.3 2000/09/14 15:13:02 peterg -% %% Changed port CRs to give SISO system when used in isolation -% %% -% %% Revision 1.2 1998/07/27 11:09:36 peterg -% %% Commented the aliases. -% %% -% %% Revision 1.1 1998/07/16 20:16:30 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS in in # The left-hand port -%ALIAS out out # The right-hand port - -% Argument aliases -%ALIAS $1 c # Capacitance -%ALIAS $2 r # Resistance - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type C - c lin effort,c - -% Component type R - r lin flow,r - -% Component type SS - [in] SS external,internal - [out] SS external,0 DELETED mttroot/mtt/lib/comp/compound/Electrical/Tee/Tee_abg.fig Index: mttroot/mtt/lib/comp/compound/Electrical/Tee/Tee_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Electrical/Tee/Tee_abg.fig +++ /dev/null @@ -1,79 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 2 0 2 1 7 1 0 -1 0.000 0 0 0 0 0 5 - 2250 765 3375 765 3375 1035 2250 1035 2250 765 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 4275 1575 5175 1575 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 4275 1800 5175 1800 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 1 0 2 - 2 1 2.00 120.00 240.00 - 1350 900 2250 900 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 1 0 2 - 2 1 2.00 120.00 240.00 - 4725 900 4725 1575 -2 2 0 2 1 7 1 0 -1 0.000 0 0 0 0 0 5 - 5850 765 6975 765 6975 1035 5850 1035 5850 765 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 1 0 2 - 2 1 2.00 120.00 240.00 - 3375 900 4725 900 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 1 0 2 - 2 1 2.00 120.00 240.00 - 5805 900 4725 900 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 1 0 2 - 2 1 2.00 120.00 240.00 - 8100 900 6975 900 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 3 - 4725 1800 4725 2475 1350 2475 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 3 - 4725 2475 8100 2475 8100 2430 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3151 6076 4501 6076 4276 6301 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2926 5851 2926 4501 3151 4726 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8100 6077 6750 6077 6975 6302 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6300 6077 4950 6077 5175 6302 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6525 5852 6525 4502 6750 4727 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4726 5851 4726 4501 4951 4726 -2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 9226 6976 226 6976 226 3826 9226 3826 9226 6976 -2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 9225 3375 225 3375 225 225 9225 225 9225 3375 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1350 6075 2700 6075 2475 6300 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 2700 5850 2700 6300 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 6750 5850 6750 6300 -4 1 1 1 0 3 20 0.0000 4 270 465 1350 1710 u_1\001 -4 1 1 1 0 3 20 0.0000 4 270 465 8145 1710 u_2\001 -4 1 1 1 0 3 20 0.0000 4 285 420 1800 675 y_1\001 -4 1 1 1 0 3 20 0.0000 4 285 420 7830 720 y_2\001 -4 1 1 1 0 3 20 0.0000 4 285 420 7695 6345 y_2\001 -4 1 1 1 0 3 20 0.0000 4 270 465 7650 5940 u_2\001 -4 1 -1 0 0 2 20 0.0000 4 210 150 4726 6166 0\001 -4 1 -1 0 0 2 20 0.0000 4 210 150 2926 6166 1\001 -4 1 -1 0 0 2 20 0.0000 4 285 720 2926 4366 R:r_1\001 -4 1 -1 0 0 2 20 0.0000 4 210 150 6525 6167 1\001 -4 1 -1 0 0 2 20 0.0000 4 285 720 6525 4367 R:r_2\001 -4 1 -1 0 0 2 20 0.0000 4 210 420 4726 4366 C:c\001 -4 1 1 1 0 3 20 0.0000 4 210 1335 4680 3060 Schematic\001 -4 1 1 1 0 3 20 0.0000 4 285 1470 4725 6705 Bond graph\001 -4 1 1 1 0 3 20 0.0000 4 270 390 2835 1350 r_1\001 -4 1 1 1 0 3 20 0.0000 4 270 390 6345 1350 r_2\001 -4 1 1 1 0 3 20 0.0000 4 135 135 3870 1800 c\001 -4 1 1 1 0 3 20 0.0000 4 270 465 1980 5940 u_1\001 -4 1 1 1 0 3 20 0.0000 4 285 420 1980 6390 y_1\001 -4 1 4 0 0 2 20 0.0000 4 285 1050 765 6165 SS:[e_1]\001 -4 1 4 0 0 2 20 0.0000 4 285 1050 8640 6165 SS:[e_2]\001 DELETED mttroot/mtt/lib/comp/compound/Electrical/Tee/Tee_desc.tex Index: mttroot/mtt/lib/comp/compound/Electrical/Tee/Tee_desc.tex ================================================================== --- mttroot/mtt/lib/comp/compound/Electrical/Tee/Tee_desc.tex +++ /dev/null @@ -1,26 +0,0 @@ -% -*-latex-*- Put EMACS into LaTeX-mode -% Verbal description for system Tee (Tee_desc.tex) -% Generated by MTT on Fri Mar 13 16:28:54 GMT 1998. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{Tee} is - displayed in Figure \Ref{Tee_abg} and its label - file is listed in Section \Ref{sec:Tee_lbl}. - -This simple ``tee'' RC circuit has two ports: -\begin{itemize} -\item Port [1] carrying $v_1$ and $i_1$ and -\item Port [2] carrying $v_2$ and $i_2$. -\end{itemize} - - -%%% Local Variables: -%%% mode: latex -%%% TeX-master: t -%%% End: DELETED mttroot/mtt/lib/comp/compound/Electrical/Tee/Tee_lbl.txt Index: mttroot/mtt/lib/comp/compound/Electrical/Tee/Tee_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Electrical/Tee/Tee_lbl.txt +++ /dev/null @@ -1,43 +0,0 @@ -%SUMMARY Tee Electrical T circuit -%DESCRIPTION A two port circuit composed of 2 resistors and one -%DESCRIPTION capacitor in a T form, - -%% Label file for system Tee (Tee_lbl.txt) - -%ALIAS $1 r_1 -%ALIAS $2 r_2 -%ALIAS $3 c - -%ALIAS in e_1 -%ALIAS out e_2 - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.2 1999/12/16 22:21:09 peterg -% %% Changed port names -% %% -% %% Revision 1.1 1998/07/16 16:30:41 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type C - c lin effort,c - -% Component type R - r_1 lin flow,r_1 - r_2 lin flow,r_2 - -% Component type SS - [e_1] SS external,external - [e_2] SS external,external DELETED mttroot/mtt/lib/comp/compound/Electromechanical/CM/CM_abg.fig Index: mttroot/mtt/lib/comp/compound/Electromechanical/CM/CM_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Electromechanical/CM/CM_abg.fig +++ /dev/null @@ -1,37 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5175 4050 5175 2700 5400 2925 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5175 2250 5175 900 5400 1125 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5400 2475 6750 2475 6525 2700 -2 2 0 3 1 7 1 0 -1 0.000 0 0 -1 0 0 5 - 7650 2025 2700 2025 2700 2925 7650 2925 7650 2025 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5175 5850 5175 4500 5400 4725 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5175 7680 5175 6330 5400 6555 -2 2 0 3 1 7 1 0 -1 0.000 0 0 -1 0 0 5 - 7650 5625 2700 5625 2700 6525 7650 6525 7650 5625 -2 1 0 3 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 6750 2250 6750 2700 -2 1 0 3 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4950 2700 5400 2700 -2 1 0 3 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4950 5850 5400 5850 -2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 8325 8325 8325 450 2025 450 2025 8325 8325 8325 -4 1 4 0 0 0 20 0.0000 4 240 960 5175 810 SS:[out]\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 5175 2565 1\001 -4 1 -1 0 0 0 20 0.0000 4 195 1485 5175 4365 C:transducer\001 -4 0 -1 0 0 0 20 0.0000 4 195 735 6840 2565 I:mass\001 -4 0 1 1 0 0 20 0.0000 4 255 885 2880 2340 Moving\001 -4 0 1 1 0 0 20 0.0000 4 195 585 2880 2670 Plate\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 5175 6165 1\001 -4 1 4 0 0 0 20 0.0000 4 240 810 5175 8055 SS:[in]\001 -4 0 1 1 0 0 20 0.0000 4 195 585 2880 6315 Plate\001 -4 0 1 1 0 0 20 0.0000 4 195 630 2880 5940 Fixed\001 DELETED mttroot/mtt/lib/comp/compound/Electromechanical/CM/CM_desc.tex Index: mttroot/mtt/lib/comp/compound/Electromechanical/CM/CM_desc.tex ================================================================== --- mttroot/mtt/lib/comp/compound/Electromechanical/CM/CM_desc.tex +++ /dev/null @@ -1,30 +0,0 @@ -% Verbal description for system CM (CM_desc.tex) -% Generated by MTT on Fri Sep 19 18:07:12 BST 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{CM} is - displayed in Figure \Ref{CM_abg} and its label - file is listed in Section \Ref{sec:CM_lbl}. - The subsystems are listed in Section \Ref{sec:CM_sub}. - -{\bf CM} is an electromechanical moving-plate capacitor with linear -electrical capacitance $c$ of the form -\begin{equation} - c = c_0 \frac{x_0}{x} -\end{equation} -where $x_0$ is the plate separation corresponding to a capacitance of -$c_0$. -The corresponding electrical constitutive relationship (which gives an -energy-conserving two-port \textbf{C}) is -\begin{equation} - F = Q c_0 \frac{x_0}{x^2} -\end{equation} -where $F$ is the force between the plates and $Q$ the charge on the -capacitor. -This is implemented in the \emph{cm.cr} Constitutive Relationship. DELETED mttroot/mtt/lib/comp/compound/Electromechanical/CM/CM_lbl.txt Index: mttroot/mtt/lib/comp/compound/Electromechanical/CM/CM_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Electromechanical/CM/CM_lbl.txt +++ /dev/null @@ -1,30 +0,0 @@ -%SUMMARY CM: Mechanical (moving-plate) capacitor -%DESCRIPTION Parameter 1: Capacitance at plate separation of x_0 -%DESCRIPTION Parameter 2: x_0 -%DESCRIPTION Parameter 3: mass of moving-plate - -%% Label file for system CM (CM_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type C - transducer cm $1,$2 - -% Component type I - mass lin flow,$3 - -% Component type SS - [in] SS external,external - [out] SS external,external DELETED mttroot/mtt/lib/comp/compound/Electromechanical/DC/DC_abg.fig Index: mttroot/mtt/lib/comp/compound/Electromechanical/DC/DC_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Electromechanical/DC/DC_abg.fig +++ /dev/null @@ -1,40 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 4860 4730 4860 494 2293 494 2293 4730 4860 4730 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2036 2724 3371 2724 3063 2947 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3576 2501 3576 1342 3833 1609 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3782 2724 5116 2724 4808 2947 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3576 2947 3576 4106 3833 3839 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6656 2724 7991 2724 7683 2947 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8196 2546 8196 1386 8453 1654 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8196 2947 8196 4106 8453 3839 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8453 2724 9788 2724 9480 2947 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 9480 4730 9480 494 6913 494 6913 4730 9480 4730 -2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 12150 5175 45 5175 45 316 12150 316 12150 5175 -4 2 4 0 0 0 20 0.0000000 4 240 1815 1980 2790 SS:[Electrical]\001 -4 1 -1 0 0 0 23 0.0000000 4 240 171 3525 2858 1\001 -4 1 -1 0 0 0 23 0.0000000 4 274 1198 5938 2813 GY:k_m\001 -4 1 -1 0 0 0 23 0.0000000 4 240 171 8196 2813 1\001 -4 1 -1 0 0 0 23 0.0000000 4 274 650 3525 1252 I:l_a\001 -4 1 -1 0 0 0 23 0.0000000 4 308 770 8299 1252 I:j_m\001 -4 1 -1 0 0 0 23 0.0000000 4 274 770 3628 4463 R:r_a\001 -4 1 -1 0 0 0 23 0.0000000 4 274 941 8248 4463 R:b_m\001 -4 1 1 1 0 0 23 0.0000000 4 240 1352 3576 5043 Electrical\001 -4 1 1 1 0 0 23 0.0000000 4 240 1626 8196 5043 Mechanical\001 -4 1 1 1 0 0 23 0.0000000 4 240 736 10404 3170 Shaft\001 -4 1 1 1 0 0 23 0.0000000 4 240 1420 1472 3170 Terminals\001 -4 0 4 0 0 0 20 0.0000000 4 240 2055 9945 2835 SS:[Mechanical]\001 DELETED mttroot/mtt/lib/comp/compound/Electromechanical/DC/DC_desc.tex Index: mttroot/mtt/lib/comp/compound/Electromechanical/DC/DC_desc.tex ================================================================== --- mttroot/mtt/lib/comp/compound/Electromechanical/DC/DC_desc.tex +++ /dev/null @@ -1,37 +0,0 @@ -% Verbal description for system DC (DC_desc.tex) -% Generated by MTT on Thu Sep 11 10:09:58 BST 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{DC} is - displayed in Figure \Ref{DC_abg} and its label - file is listed in Section \Ref{sec:DC_lbl}. - The subsystems are listed in Section \Ref{sec:DC_sub}. - - \begin{table}[htbp] - \begin{center} - \leavevmode - \begin{tabular}{|l|l|} - \hline - Index & Parameter\\ - \hline - 1 & Motor gain ($k_m$) \\ - 2 & Armature inductance ($l_a$) \\ - 3 & Armature resistance ($r_a$) \\ - 4 & Inertia ($j_m$) \\ - 5 & Friction coefficient ($b_m$) \\ - \hline - \end{tabular} - \caption{DC motor parameters} - \label{tab:DC_components} - \end{center} - \end{table} -{\bf DC} is a two-port component representing a DC motor. It has the 5 -parameters listed in Table \Ref{tab:DC_components}. - - DELETED mttroot/mtt/lib/comp/compound/Electromechanical/DC/DC_lbl.txt Index: mttroot/mtt/lib/comp/compound/Electromechanical/DC/DC_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Electromechanical/DC/DC_lbl.txt +++ /dev/null @@ -1,69 +0,0 @@ -%SUMMARY DC: DC motor (or generator) - -%% Port Alias -%ALIAS in Electrical -%ALIAS out Mechanical - -%% Unit definition -%UNITS Electrical electrical volt amp -%UNITS Mechanical rotational N*m radians/s - -%ALIAS $1 k_m -%ALIAS $2 l_a -%ALIAS $3 r_a -%ALIAS $4 j_m -%ALIAS $5 b_m - - -%% Label file for system DC (DC_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.6 2000/11/16 09:45:51 peterg -% %% Added unit definitions -% %% -% %% Revision 1.5 1998/07/26 12:49:24 peterg -% %% Corrected some errors -% %% -% %% Revision 1.4 1998/07/26 12:45:33 peterg -% %% Added ports -% %% -% %% Revision 1.3 1998/07/22 12:01:17 peterg -% %% Aliased ports and parameters. -% %% -% %% Revision 1.2 1996/12/04 16:01:42 peterg -% %% Documantation added. -% %% -% %% Revision 1.1 1996/12/04 16:00:56 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - -%Motor gain -k_m lin flow,k_m - -% Electrical components -%Inductance -l_a lin effort,l_a - -%Resistance -r_a lin flow,r_a - -% Mechanical components -%Inertia -j_m lin flow,j_m - -%Friction -b_m lin flow,b_m - -% Ports - [Electrical] SS external,external - [Mechanical] SS external,external DELETED mttroot/mtt/lib/comp/compound/GasDynamics/CG/CG_abg.fig Index: mttroot/mtt/lib/comp/compound/GasDynamics/CG/CG_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/GasDynamics/CG/CG_abg.fig +++ /dev/null @@ -1,53 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 4 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3600 2700 3600 3150 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3600 2025 4950 2025 4725 2250 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3600 2925 4950 2925 4725 3150 -2 1 0 4 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 9675 2250 9675 2700 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1800 2025 3150 2025 2925 2250 -2 1 0 4 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 1800 1800 1800 2250 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 5 - 7875 2250 7875 900 3375 900 3375 1800 3600 1575 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7425 2475 6075 2475 6300 2700 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 9630 2475 8280 2475 8505 2700 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 4500 3600 6525 3600 -2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 6525 4725 4500 4725 4500 1350 6525 1350 6525 4725 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 1 0 2 - 0 0 2.00 120.00 240.00 - 9315 540 8055 900 -2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 8910 4725 8910 1800 6975 1800 6975 4725 8910 4725 -4 2 4 0 0 0 20 0.0000 4 240 1185 3510 3015 SS:[mass]\001 -4 1 4 0 0 0 20 0.0000 4 240 315 4860 1800 [1]\001 -4 1 4 0 0 0 20 0.0000 4 240 315 4860 2745 [2]\001 -4 1 -1 0 0 2 30 0.0000 4 405 885 5445 2610 C:cg\001 -4 1 -1 0 0 0 20 0.0000 4 255 645 7830 2565 PS:ps\001 -4 0 4 0 0 0 20 0.0000 4 240 1920 9855 2565 SS:[mechanical]\001 -4 1 4 0 0 0 20 0.0000 4 240 315 6120 2205 [3]\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 3375 2115 0\001 -4 2 4 0 0 0 20 0.0000 4 240 1575 1755 2115 SS:[thermal]\001 -4 1 4 0 0 0 20 0.0000 4 240 405 7245 2295 [in]\001 -4 0 4 0 0 0 20 0.0000 4 255 885 7965 2160 [power]\001 -4 0 4 0 0 0 20 0.0000 4 240 555 8325 2790 [out]\001 -4 1 1 1 0 0 20 0.0000 4 255 1050 5490 3915 Enthalpy\001 -4 1 1 1 0 0 20 0.0000 4 195 600 5490 4245 Mass\001 -4 1 1 1 0 0 20 0.0000 4 195 915 5490 4575 Volume\001 -4 1 1 1 0 0 20 0.0000 4 195 135 9405 2295 p\001 -4 1 1 1 0 0 20 0.0000 4 255 645 9270 2745 dV/dt\001 -4 1 1 1 0 0 20 0.0000 4 255 915 7380 1440 p*dV/dt\001 -4 1 1 1 0 0 20 0.0000 4 255 3885 9360 450 Joule's work-enthalpy conversion\001 -4 1 1 1 0 0 20 0.0000 4 195 1590 7920 3960 Power Sensor\001 -4 1 1 1 0 0 20 0.0000 4 255 1800 7920 4380 Work-enthalpy\001 DELETED mttroot/mtt/lib/comp/compound/GasDynamics/CG/CG_cr.r Index: mttroot/mtt/lib/comp/compound/GasDynamics/CG/CG_cr.r ================================================================== --- mttroot/mtt/lib/comp/compound/GasDynamics/CG/CG_cr.r +++ /dev/null @@ -1,40 +0,0 @@ -%SUMMARY CG CR two-port C thermal pseudo Bond Graph for gas dynamics - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% % Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% % $Id$ -% % $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - - -OPERATOR CG; - -% Port 1 : temperature -FOR ALL c_v,r,Enthalpy,Stored_Mass,Volume -LET CG(c_v,r, effort, 1, - Enthalpy,state,1, - Stored_Mass,state,2, - Volume,state,3) - = Enthalpy/(c_v*Stored_Mass); - -% Port 2 : Pressure -FOR ALL c_v,r,Enthalpy,Stored_Mass,Volume -LET CG(c_v,r, effort, 2, - Enthalpy,state,1, - Stored_Mass,state,2, - Volume,state,3) - = (R/c_v)*(Enthalpy/Volume); - -% Port 3 : (Also) Pressure -FOR ALL c_v,r,Enthalpy,Stored_Mass,Volume -LET CG(c_v,r, effort, 3, - Enthalpy,state,1, - Stored_Mass,state,2, - Volume,state,3) - = (R/c_v)*(Enthalpy/Volume); - -END;; - DELETED mttroot/mtt/lib/comp/compound/GasDynamics/CG/CG_lbl.txt Index: mttroot/mtt/lib/comp/compound/GasDynamics/CG/CG_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/GasDynamics/CG/CG_lbl.txt +++ /dev/null @@ -1,42 +0,0 @@ -%SUMMARY CG: C component for compressible gas dynamics -%DESCRIPTION Port [Thermal]: Temperature/Enthalpy pseudo bond -%DESCRIPTION Port [Mass]: Pressure/mass-flow pseudo bond -%DESCRIPTION Port [Mechanical]: Pressure/volume flow energy bond -%DESCRIPTION -%DESCRIPTION Parameter 1: c_v (specific heat at constant volume) -%DESCRIPTION Parameter 2: R (universal gas constant) -%DESCRIPTION Based on Karnopp, Margolis and Rosenberg: Section 12.4. - - -%% Label file for system CG (CG_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.2 1998/03/04 12:06:06 peterg -% %% Renamed CR from GasAccumulator to CG -% %% -% %% Revision 1.1 1997/11/21 17:06:34 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type C - cg CG $1,$2 - -% Component type PS - ps lin effort,1 - -% Component type SS - [mass] SS external,external - [mechanical] SS external,external - [thermal] SS external,external DELETED mttroot/mtt/lib/comp/compound/GasDynamics/RG/RG_abg.fig Index: mttroot/mtt/lib/comp/compound/GasDynamics/RG/RG_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/GasDynamics/RG/RG_abg.fig +++ /dev/null @@ -1,36 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3600 2925 4950 2925 4725 3150 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 4500 3600 6525 3600 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3600 2025 4950 2025 4725 2250 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6075 2925 7425 2925 7200 3150 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6075 2025 7425 2025 7200 2250 -2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 6525 4500 4500 4500 4500 1350 6525 1350 6525 4500 -2 1 0 4 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4950 1800 4950 2250 -2 1 0 4 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4950 2700 4950 3150 -2 1 0 4 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 6075 1800 6075 2250 -2 1 0 4 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 6075 2700 6075 3150 -4 2 4 0 0 0 20 0.0000 4 255 1545 3510 3015 SS:[mass_in]\001 -4 1 1 1 0 0 20 0.0000 4 255 1125 5490 3915 Isentropic\001 -4 1 1 1 0 0 20 0.0000 4 195 780 5490 4245 Nozzle\001 -4 1 -1 0 0 2 30 0.0000 4 405 885 5535 2520 R:rg\001 -4 2 4 0 0 0 20 0.0000 4 255 1935 3510 2115 SS:[thermal_in]\001 -4 0 4 0 0 0 20 0.0000 4 255 2085 7515 2115 SS:[thermal_out]\001 -4 0 4 0 0 0 20 0.0000 4 255 1695 7515 2970 SS:[mass_out]\001 -4 1 4 0 0 0 20 0.0000 4 240 315 4725 1935 [1]\001 -4 1 4 0 0 0 20 0.0000 4 240 315 4725 2835 [2]\001 -4 1 4 0 0 0 20 0.0000 4 240 315 6300 1935 [3]\001 -4 1 4 0 0 0 20 0.0000 4 240 315 6300 2835 [4]\001 DELETED mttroot/mtt/lib/comp/compound/GasDynamics/RG/RG_cr.r Index: mttroot/mtt/lib/comp/compound/GasDynamics/RG/RG_cr.r ================================================================== --- mttroot/mtt/lib/comp/compound/GasDynamics/RG/RG_cr.r +++ /dev/null @@ -1,63 +0,0 @@ -%SUMMARY RG CR for 2 port gas dymanics R: isentropic nozzle - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% % Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% % $Id$ -% % $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - - -OPERATOR RG; - -% Port 1 : Enthalpy flow -FOR ALL gamma,R,A,T_u,P_u,T_d,P_d -LET RG(gamma,R,A, flow, 1, - T_u,effort,1, - P_u,effort,2, - T_d,effort,3, - P_d,effort,4) - = A*( P_u/sqrt(T_u) ) - *sqrt( (2*gamma)/(R*(gamma-1)) ) - *sqrt( (P_d/P_u)^(2/gamma) - (P_d/P_u)^((1+gamma)/gamma) ) - *(gamma/(gamma-1))*R*T_u; - -% Port 2 : Mass flow -FOR ALL gamma,R,A,T_u,P_u,T_d,P_d -LET RG(gamma,R,A, flow, 2, - T_u,effort,1, - P_u,effort,2, - T_d,effort,3, - P_d,effort,4) - = A*( P_u/sqrt(T_u) ) - *sqrt( (2*gamma)/(R*(gamma-1)) ) - *sqrt( (P_d/P_u)^(2/gamma) - (P_d/P_u)^((1+gamma)/gamma) ); - -% Port 3 : Enthalpy flow -FOR ALL gamma,R,A,T_u,P_u,T_d,P_d -LET RG(gamma,R,A, flow, 3, - T_u,effort,1, - P_u,effort,2, - T_d,effort,3, - P_d,effort,4) - = A*( P_u/sqrt(T_u) ) - *sqrt( (2*gamma)/(R*(gamma-1)) ) - *sqrt( (P_d/P_u)^(2/gamma) - (P_d/P_u)^((1+gamma)/gamma) ) - *(gamma/(gamma-1))*R*T_u; - -% Port 4 : Mass flow -FOR ALL gamma,R,A,T_u,P_u,T_d,P_d -LET RG(gamma,R,A, flow, 4, - T_u,effort,1, - P_u,effort,2, - T_d,effort,3, - P_d,effort,4) - = A*( P_u/sqrt(T_u) ) - *sqrt( (2*gamma)/(R*(gamma-1)) ) - *sqrt( (P_d/P_u)^(2/gamma) - (P_d/P_u)^((1+gamma)/gamma) ); - - -END;; - DELETED mttroot/mtt/lib/comp/compound/GasDynamics/RG/RG_lbl.txt Index: mttroot/mtt/lib/comp/compound/GasDynamics/RG/RG_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/GasDynamics/RG/RG_lbl.txt +++ /dev/null @@ -1,43 +0,0 @@ -%SUMMARY RG: R component for compressible gas dynamics: isentropic nozzle -%DESCRIPTION Port [Thermal_in]: Temperature/Enthalpy pseudo bond -%DESCRIPTION Port [Thermal_out]: Temperature/Enthalpy pseudo bond -%DESCRIPTION Port [Mass_in]: Pressure/mass-flow pseudo bond -%DESCRIPTION Port [Mass_out]: Pressure/mass-flow pseudo bond -%DESCRIPTION -%DESCRIPTION Parameter 1: gamma (c_p/c_v) -%DESCRIPTION Parameter 2: R (universal gas constant) -%DESCRIPTION Parameter 3: A (nozzle cross-section) -%DESCRIPTION Based on Karnopp, Margolis and Rosenberg: Section 12.4. - - - -%% Label file for system RG (RG_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.2 1998/03/04 12:07:37 peterg -% %% Renamed CR from Isentropic nozzle to RG -% %% -% %% Revision 1.1 1997/11/21 19:18:28 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type RG - rg RG $1,$2,$3 - -% Component type SS - [mass_in] SS external,external - [mass_out] SS external,external - [thermal_in] SS external,external - [thermal_out] SS external,external DELETED mttroot/mtt/lib/comp/compound/General/AEf/AEf_abg.fig Index: mttroot/mtt/lib/comp/compound/General/AEf/AEf_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/General/AEf/AEf_abg.fig +++ /dev/null @@ -1,25 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 1350 2475 2475 2475 2250 2700 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 3397 2497 4522 2497 4297 2722 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 5197 2475 6322 2475 6097 2700 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 2475 2250 2475 2700 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 4500 2250 4500 2745 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 5175 2250 5175 2700 -4 1 0 100 0 18 20 0.0000 4 225 675 2880 2610 AE:a\001 -4 1 0 100 0 18 20 0.0000 4 225 435 4860 2610 GY\001 -4 1 4 100 0 18 20 0.0000 4 285 975 810 2565 SS:[in]\001 -4 1 4 100 0 18 20 0.0000 4 285 1170 6975 2610 SS:[out]\001 DELETED mttroot/mtt/lib/comp/compound/General/AEf/AEf_lbl.txt Index: mttroot/mtt/lib/comp/compound/General/AEf/AEf_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/General/AEf/AEf_lbl.txt +++ /dev/null @@ -1,43 +0,0 @@ -%% Label file for system AEf (AEf_lbl.txt) -%SUMMARY AEf Flow input amplifier with effort output -%DESCRIPTION Made from AE with GY on output - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.2 1999/03/05 08:25:11 peterg -% %% Changed default to lin. -% %% -% %% Revision 1.1 1999/03/04 06:05:46 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS in in -%ALIAS out out - -% Argument aliases -%ALIAS $1 g - -% CR aliases -%ALIAS $1 lin - - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type AF - a lin g - -% Component type SS - [in] SS external,external - [out] SS external,external - DELETED mttroot/mtt/lib/comp/compound/General/AFe/AFe_abg.fig Index: mttroot/mtt/lib/comp/compound/General/AFe/AFe_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/General/AFe/AFe_abg.fig +++ /dev/null @@ -1,25 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 1350 2475 2475 2475 2250 2700 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 3397 2497 4522 2497 4297 2722 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 5197 2475 6322 2475 6097 2700 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 1350 2250 1350 2700 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 3375 2250 3375 2745 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 6300 2250 6300 2700 -4 1 0 100 0 18 20 0.0000 4 225 660 2880 2610 AF:a\001 -4 1 0 100 0 18 20 0.0000 4 225 435 4860 2610 GY\001 -4 1 4 100 0 18 20 0.0000 4 285 975 810 2565 SS:[in]\001 -4 1 4 100 0 18 20 0.0000 4 285 1170 6975 2610 SS:[out]\001 DELETED mttroot/mtt/lib/comp/compound/General/AFe/AFe_lbl.txt Index: mttroot/mtt/lib/comp/compound/General/AFe/AFe_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/General/AFe/AFe_lbl.txt +++ /dev/null @@ -1,39 +0,0 @@ -%% Label file for system AFe (AFe_lbl.txt) -%SUMMARY AFe Flow input amplifier with effort output -%DESCRIPTION Made from AF with GY on output - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1999/03/04 06:05:46 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS in in -%ALIAS out out - -% Argument aliases -%ALIAS $1 g - -% CR aliases -%ALIAS $1 lin - - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type AF - a lin g - -% Component type SS - [in] SS external,external - [out] SS external,external DELETED mttroot/mtt/lib/comp/compound/General/CDx/CDx_abg.fig Index: mttroot/mtt/lib/comp/compound/General/CDx/CDx_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/General/CDx/CDx_abg.fig +++ /dev/null @@ -1,24 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 1800 3150 3150 3150 2925 3375 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 3375 2925 3375 1575 3600 1800 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 3375 3375 3375 4725 3150 4500 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 3825 4950 5175 4950 4950 5175 -2 4 0 2 31 7 101 0 -1 0.000 0 0 7 0 0 5 - 6750 5850 675 5850 675 900 6750 900 6750 5850 -4 1 0 100 0 18 18 0.0000 4 210 450 3375 1440 C:c\001 -4 1 0 100 0 18 18 0.0000 4 195 150 3375 3240 0\001 -4 2 4 100 0 18 18 0.0000 4 270 870 1755 3240 SS:[in]\001 -4 1 0 100 0 18 18 0.0000 4 210 615 3330 5085 AE:a\001 -4 0 4 100 0 18 18 0.0000 4 270 1065 5310 5040 SS:[out]\001 DELETED mttroot/mtt/lib/comp/compound/General/CDx/CDx_desc.tex Index: mttroot/mtt/lib/comp/compound/General/CDx/CDx_desc.tex ================================================================== --- mttroot/mtt/lib/comp/compound/General/CDx/CDx_desc.tex +++ /dev/null @@ -1,25 +0,0 @@ -% -*-latex-*- Put EMACS into LaTeX-mode -% Verbal description for system CDx (CDx_desc.tex) -% Generated by MTT on Thu Apr 19 10:28:34 BST 2001. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 2000/12/28 09:13:38 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{CDx} is - displayed in Figure \Ref{fig:CDx_abg.ps} and its label - file is listed in Section \Ref{sec:CDx_lbl}. - - This component is a standard compliance except that: - \begin{itemize} - \item There is an additional output equal to the integrated flow - variable - \item the re is a single parameter $c$ -- the compliance. - \end{itemize} - DELETED mttroot/mtt/lib/comp/compound/General/CDx/CDx_lbl.txt Index: mttroot/mtt/lib/comp/compound/General/CDx/CDx_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/General/CDx/CDx_lbl.txt +++ /dev/null @@ -1,38 +0,0 @@ -%% Label file for system CDx (CDx_lbl.txt) -%SUMMARY CDx: C component with state output -%DESCRIPTION Parameter 1: compliance - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 2000/12/28 09:13:38 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS in in -%ALIAS out out - -% Argument aliases -%ALIAS $1 c - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type AE - a lin c - -% Component type C - c lin effort,c - -% Component type SS - [in] SS external,external - [out] SS external,external DELETED mttroot/mtt/lib/comp/compound/General/CS/CS_abg.fig Index: mttroot/mtt/lib/comp/compound/General/CS/CS_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/General/CS/CS_abg.fig +++ /dev/null @@ -1,23 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -6 2340 3915 2610 4185 -4 1 0 100 0 18 20 0.0000 4 270 195 2475 4185 1\001 --6 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2475 3825 2475 2475 2700 2700 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2475 5625 2475 4275 2700 4500 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2700 4050 4050 4050 3825 4275 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 2700 3825 2700 4275 -4 1 0 100 0 18 20 0.0000 4 285 570 2475 2295 C:c\001 -4 0 0 100 0 18 20 0.0000 4 360 1185 4185 4185 Se:e_0\001 -4 1 4 100 0 18 20 0.0000 4 360 1185 2475 6030 SS:[in]\001 DELETED mttroot/mtt/lib/comp/compound/General/CS/CS_lbl.txt Index: mttroot/mtt/lib/comp/compound/General/CS/CS_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/General/CS/CS_lbl.txt +++ /dev/null @@ -1,36 +0,0 @@ -%% Label file for system CS (CS_lbl.txt) -%SUMMARY CS C component with initial state - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS in in - -% Argument aliases -%ALIAS $1 effort,c -%ALIAS $2 e_0 - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type C - c lin effort,c - -% Component type SS - [in] SS external,external - -% Component type Se - e_0 SS e_0 - - DELETED mttroot/mtt/lib/comp/compound/General/CSW/CSW_abg.fig Index: mttroot/mtt/lib/comp/compound/General/CSW/CSW_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/General/CSW/CSW_abg.fig +++ /dev/null @@ -1,11 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2475 2925 2475 1575 2700 1800 -2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 4770 3600 4770 900 225 900 225 3600 4770 3600 -4 1 4 0 0 0 20 0.0000 4 240 810 2475 3240 SS:[in]\001 -4 1 -1 0 0 0 20 0.0000 4 255 2130 2520 1440 C:MTT_SWITCH\001 DELETED mttroot/mtt/lib/comp/compound/General/CSW/CSW_lbl.txt Index: mttroot/mtt/lib/comp/compound/General/CSW/CSW_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/General/CSW/CSW_lbl.txt +++ /dev/null @@ -1,44 +0,0 @@ -%SUMMARY CSW: Switched C component -%DESCRIPTION CSW acts as an C component except when the -s -c option is used. -%DESCRIPTION When the -s -c option is used: -%DESCRIPTION The component label is used as a variable name (eg Name) -%DESCRIPTION In the ode simulation: -%DESCRIPTION Name = 1 implies normal C (closed switch) -%DESCRIPTION Name = 0 implies state=0 (open switch) -%DESCRIPTION Name = -1 implies state>0 (Diode) - -%ALIAS out in -%ALIAS $1 lin -%ALIAS $1 effort,c_s - -%% Label file for system CSW (CSW_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.2 1997/09/11 09:00:52 peterg -% %% More documentation. -% %% -% %% Revision 1.1 1997/06/16 10:55:20 peterg -% %% Initial revision -% %% -% %% Revision 1.1 1997/06/03 15:26:09 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type C - MTT_SWITCH lin effort,c_s - -% Component type SS - [in] SS external,external - DELETED mttroot/mtt/lib/comp/compound/General/CX/CX_abg.fig Index: mttroot/mtt/lib/comp/compound/General/CX/CX_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/General/CX/CX_abg.fig +++ /dev/null @@ -1,25 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1800 2700 3150 2700 2925 2925 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3600 2700 4950 2700 4725 2925 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3375 1125 3375 2475 3600 2250 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 1 - 3600 2925 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3600 2475 3600 2925 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 1800 2475 1800 2925 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3600 1125 3150 1125 -2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 6075 3600 6075 450 225 450 225 3600 6075 3600 -4 1 -1 0 0 22 20 0.0000 4 195 150 3375 2835 0\001 -4 1 -1 0 0 22 20 0.0000 4 210 465 5355 2790 C:c\001 -4 2 4 0 0 22 20 0.0000 4 270 900 1665 2790 SS:[in]\001 -4 1 -1 0 0 22 20 0.0000 4 210 660 3375 990 SS:X\001 DELETED mttroot/mtt/lib/comp/compound/General/CX/CX_lbl.txt Index: mttroot/mtt/lib/comp/compound/General/CX/CX_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/General/CX/CX_lbl.txt +++ /dev/null @@ -1,31 +0,0 @@ -%SUMMARY CX C component with state i/o -%DESCRIPTION Port [X]: state i/o -%% Label file for system CX (CX_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.2 1998/04/14 17:06:44 peterg -% %% Input only to SS -% %% -% %% Revision 1.1 1998/04/12 15:21:11 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type C - c $1 $1 - -% Component type SS - X SS internal,external - - DELETED mttroot/mtt/lib/comp/compound/General/De/De_abg.fig Index: mttroot/mtt/lib/comp/compound/General/De/De_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/General/De/De_abg.fig +++ /dev/null @@ -1,17 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 4 0 2 31 7 99 0 -1 0.000 0 0 7 0 0 5 - 4950 3600 4950 1800 675 1800 675 3600 4950 3600 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 3150 2475 3150 2925 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 1800 2700 3150 2700 2925 2925 -4 0 0 100 0 18 20 0.0000 4 285 660 3285 2790 SS:y\001 -4 2 4 100 0 18 20 0.0000 4 285 975 1755 2790 SS:[in]\001 DELETED mttroot/mtt/lib/comp/compound/General/De/De_lbl.txt Index: mttroot/mtt/lib/comp/compound/General/De/De_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/General/De/De_lbl.txt +++ /dev/null @@ -1,33 +0,0 @@ -%% Label file for system De (De_lbl.txt) -%SUMMARY De Simple effort detector -%DESCRIPTION Simple effort detector constructed from SS with fixed causality - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.2 1999/09/07 03:21:02 peterg -% %% Aliased to out as well as in -% %% -% %% Revision 1.1 1999/03/03 22:02:04 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS in|out in - -% Argument aliases - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type SS - [in] SS external,external - y SS external,0 DELETED mttroot/mtt/lib/comp/compound/General/Df/Df_abg.fig Index: mttroot/mtt/lib/comp/compound/General/Df/Df_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/General/Df/Df_abg.fig +++ /dev/null @@ -1,17 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 4 0 2 31 7 99 0 -1 0.000 0 0 7 0 0 5 - 4950 3600 4950 1800 675 1800 675 3600 4950 3600 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 1800 2700 3150 2700 2925 2925 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 1800 2475 1800 2925 -4 0 0 100 0 18 20 0.0000 4 285 660 3285 2790 SS:y\001 -4 2 4 100 0 18 20 0.0000 4 285 975 1755 2790 SS:[port]\001 DELETED mttroot/mtt/lib/comp/compound/General/Df/Df_lbl.txt Index: mttroot/mtt/lib/comp/compound/General/Df/Df_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/General/Df/Df_lbl.txt +++ /dev/null @@ -1,34 +0,0 @@ -%% Label file for system Df (Df_lbl.txt) -%SUMMARY Df Simple flow detector -%DESCRIPTION Simple flow detector constructed from SS with fixed causality - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.2 1999/09/07 03:20:34 peterg -% %% Aliased to out as well as in -% %% -% %% Revision 1.1 1999/03/03 22:05:16 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS in|out port - -% Argument aliases - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type SS - [port] SS external,external - y SS 0,external DELETED mttroot/mtt/lib/comp/compound/General/EMAF/EMAF_abg.fig Index: mttroot/mtt/lib/comp/compound/General/EMAF/EMAF_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/General/EMAF/EMAF_abg.fig +++ /dev/null @@ -1,23 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1575 3150 2970 3150 2700 3420 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3600 3150 4995 3150 4725 3420 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6750 3150 8145 3150 7875 3420 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5850 1080 5850 2475 5580 2205 -2 4 0 2 31 7 0 0 -1 0.000 0 0 7 0 0 5 - 10125 4275 10125 225 225 225 225 4275 10125 4275 -4 1 -1 0 0 22 20 0.0000 4 210 390 3330 3240 AF\001 -4 1 -1 0 0 22 20 0.0000 4 270 1455 5895 3240 EMTF:gain\001 -4 2 4 0 0 22 20 0.0000 4 270 900 1485 3240 SS:[in]\001 -4 0 4 0 0 22 20 0.0000 4 270 1095 8370 3240 SS:[out]\001 -4 1 4 0 0 22 20 0.0000 4 270 1275 5805 945 SS:[mod]\001 -4 1 4 0 0 22 20 0.0000 4 270 795 5850 2925 [mod]\001 -4 2 4 0 0 22 20 0.0000 4 270 420 4995 2925 [in]\001 -4 0 4 0 0 22 20 0.0000 4 270 615 6705 2925 [out]\001 DELETED mttroot/mtt/lib/comp/compound/General/EMAF/EMAF_lbl.txt Index: mttroot/mtt/lib/comp/compound/General/EMAF/EMAF_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/General/EMAF/EMAF_lbl.txt +++ /dev/null @@ -1,29 +0,0 @@ -%SUMMARY EMAF Effort-modulated AF component -%DESCRIPTION Ports: [in], [out] and [mod] - - -%% Label file for system EMAF (EMAF_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type EMTF - gain lin flow - -% Component type SS - [in] SS external,external - [mod] SS external,external - [out] SS external,external - - DELETED mttroot/mtt/lib/comp/compound/General/INTF/INTF_abg.fig Index: mttroot/mtt/lib/comp/compound/General/INTF/INTF_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/General/INTF/INTF_abg.fig +++ /dev/null @@ -1,23 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1801 3151 2701 3151 2476 3376 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3376 3151 4276 3151 4051 3376 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4501 2926 4501 2026 4726 2251 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4726 3151 5626 3151 5401 3376 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6301 3150 7201 3150 6976 3375 -2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 9900 4050 450 4050 450 1350 9900 1350 9900 4050 -4 2 4 0 0 0 20 0.0000 4 240 1170 1711 3241 SS:[Flow]\001 -4 1 -1 0 0 0 20 0.0000 4 195 375 3016 3241 AF\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 4501 3241 0\001 -4 1 -1 0 0 0 20 0.0000 4 195 195 4501 1891 C\001 -4 1 -1 0 0 0 20 0.0000 4 195 390 5986 3241 AE\001 -4 0 4 0 0 0 20 0.0000 4 255 2400 7336 3241 SS:[Integrated_flow]\001 DELETED mttroot/mtt/lib/comp/compound/General/INTF/INTF_desc.tex Index: mttroot/mtt/lib/comp/compound/General/INTF/INTF_desc.tex ================================================================== --- mttroot/mtt/lib/comp/compound/General/INTF/INTF_desc.tex +++ /dev/null @@ -1,17 +0,0 @@ -% Verbal description for system INTF (INTF_desc.tex) -% Generated by MTT on Fri Aug 15 09:53:16 BST 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{INTF} is - displayed in Figure \Ref{INTF_abg} and its label - file is listed in Section \Ref{sec:INTF_lbl}. - The subsystems are listed in Section \Ref{sec:INTF_sub}. - -\textbf{INTF} is a two-port component where the effort on port [out] - is the integral of the flow on port [in]. DELETED mttroot/mtt/lib/comp/compound/General/INTF/INTF_lbl.txt Index: mttroot/mtt/lib/comp/compound/General/INTF/INTF_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/General/INTF/INTF_lbl.txt +++ /dev/null @@ -1,30 +0,0 @@ -%% Label file for system INTF (INTF_lbl.txt) -%SUMMARY INTF: flow integrator -%DESCRIPTION Port [in]: Flow to be integrated -%DESCRIPTION Port [out]: Effort = integral of flow on port [in] - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS in Flow -%ALIAS out Integrated_flow - -% Argument aliases - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type SS - [Flow] SS external,external - [Integrated_flow] SS external,external DELETED mttroot/mtt/lib/comp/compound/General/INTFS/INTFS_abg.fig Index: mttroot/mtt/lib/comp/compound/General/INTFS/INTFS_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/General/INTFS/INTFS_abg.fig +++ /dev/null @@ -1,23 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1801 3151 2701 3151 2476 3376 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3376 3151 4276 3151 4051 3376 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4501 2926 4501 2026 4726 2251 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4726 3151 5626 3151 5401 3376 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6301 3150 7201 3150 6976 3375 -2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 9900 4050 450 4050 450 1350 9900 1350 9900 4050 -4 2 4 0 0 0 20 0.0000 4 240 1170 1711 3241 SS:[Flow]\001 -4 1 -1 0 0 0 20 0.0000 4 195 375 3016 3241 AF\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 4501 3241 0\001 -4 1 -1 0 0 0 20 0.0000 4 195 195 4501 1891 CS:unit\001 -4 1 -1 0 0 0 20 0.0000 4 195 390 5986 3241 AE\001 -4 0 4 0 0 0 20 0.0000 4 255 2400 7336 3241 SS:[Integrated_flow]\001 DELETED mttroot/mtt/lib/comp/compound/General/INTFS/INTFS_desc.tex Index: mttroot/mtt/lib/comp/compound/General/INTFS/INTFS_desc.tex ================================================================== --- mttroot/mtt/lib/comp/compound/General/INTFS/INTFS_desc.tex +++ /dev/null @@ -1,21 +0,0 @@ -% Verbal description for system INTF (INTF_desc.tex) -% Generated by MTT on Fri Aug 15 09:53:16 BST 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1997/08/24 11:20:18 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{INTFS} is - displayed in Figure \Ref{INTFS_abg} and its label - file is listed in Section \Ref{sec:INTFS_lbl}. - The subsystems are listed in Section \Ref{sec:INTFS_sub}. - -\textbf{INTFS} is a two-port component where the effort on port [out] - is the integral of the flow on port [in]. The single parameter e_0 - is the initial value of the integral. DELETED mttroot/mtt/lib/comp/compound/General/INTFS/INTFS_lbl.txt Index: mttroot/mtt/lib/comp/compound/General/INTFS/INTFS_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/General/INTFS/INTFS_lbl.txt +++ /dev/null @@ -1,38 +0,0 @@ -%% Label file for system INTF (INTF_lbl.txt) -%SUMMARY INTFS: flow integrator with explicit initial state -%DESCRIPTION Port [in]: Flow to be integrated -%DESCRIPTION Port [out]: Effort = integral of flow on port [in] - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.3 1998/07/16 07:35:10 peterg -% %% Aliased version -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS in Flow -%ALIAS out Integrated_flow - -% Argument aliases -%ALIAS $1 e_0 - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type CS - unit lin effort,1;e_0 - -% Component type SS - [Flow] SS external,external - [Integrated_flow] SS external,external - DELETED mttroot/mtt/lib/comp/compound/General/IS/IS_abg.fig Index: mttroot/mtt/lib/comp/compound/General/IS/IS_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/General/IS/IS_abg.fig +++ /dev/null @@ -1,23 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2475 3825 2475 2475 2700 2700 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2475 5625 2475 4275 2700 4500 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2700 4050 4050 4050 3825 4275 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 4050 3825 4050 4275 -2 4 0 2 31 7 52 0 -1 0.000 0 0 7 0 0 5 - 5625 6570 5625 1575 1350 1575 1350 6570 5625 6570 -4 1 0 100 0 18 20 0.0000 4 210 240 2475 2295 I:i\001 -4 0 0 100 0 18 20 0.0000 4 270 795 4185 4185 Sf:f_0\001 -4 1 4 100 0 18 20 0.0000 4 270 900 2475 6030 SS:[in]\001 -4 1 0 100 0 18 20 0.0000 4 195 150 2475 4185 0\001 DELETED mttroot/mtt/lib/comp/compound/General/IS/IS_abg.fig.bak Index: mttroot/mtt/lib/comp/compound/General/IS/IS_abg.fig.bak ================================================================== --- mttroot/mtt/lib/comp/compound/General/IS/IS_abg.fig.bak +++ /dev/null @@ -1,23 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -6 2340 3915 2610 4185 -4 1 0 100 0 18 20 0.0000 4 270 195 2475 4185 0\001 --6 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2475 3825 2475 2475 2700 2700 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2475 5625 2475 4275 2700 4500 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2700 4050 4050 4050 3825 4275 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 4050 3825 4050 4275 -4 1 0 100 0 18 20 0.0000 4 285 315 2475 2295 I:i\001 -4 0 0 100 0 18 20 0.0000 4 360 1035 4185 4185 Sf:f_0\001 -4 1 4 100 0 18 20 0.0000 4 360 1185 2475 6030 SS:[in]\001 DELETED mttroot/mtt/lib/comp/compound/General/IS/IS_lbl.txt Index: mttroot/mtt/lib/comp/compound/General/IS/IS_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/General/IS/IS_lbl.txt +++ /dev/null @@ -1,39 +0,0 @@ -%% Label file for system IS (IS_lbl.txt) -%SUMMARY IS I component with initial state - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 2000/12/28 17:29:11 peterg -% %% To RCS -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS in in - -% Argument aliases -%ALIAS $1 flow,i -%ALIAS $2 f_0 - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type I - i lin flow,i - -% Component type SS - [in] SS external,external - -% Component type Sf - f_0 SS f_0 - - DELETED mttroot/mtt/lib/comp/compound/General/ISW/ISW_abg.fig Index: mttroot/mtt/lib/comp/compound/General/ISW/ISW_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/General/ISW/ISW_abg.fig +++ /dev/null @@ -1,11 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2475 2925 2475 1575 2700 1800 -2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 4770 3600 4770 900 225 900 225 3600 4770 3600 -4 1 4 0 0 0 20 0.0000 4 240 810 2475 3240 SS:[in]\001 -4 1 -1 0 0 0 20 0.0000 4 255 2025 2520 1440 I:MTT_SWITCH\001 DELETED mttroot/mtt/lib/comp/compound/General/ISW/ISW_lbl.txt Index: mttroot/mtt/lib/comp/compound/General/ISW/ISW_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/General/ISW/ISW_lbl.txt +++ /dev/null @@ -1,42 +0,0 @@ -%SUMMARY ISW: Switched I component -%DESCRIPTION ISW acts as an I component except when the -s -c option is used. -%DESCRIPTION When the -s -c option is used: -%DESCRIPTION The component label is used as a variable name (eg Name) -%DESCRIPTION In the ode simulation: -%DESCRIPTION Name = 1 implies normal I (closed switch) -%DESCRIPTION Name = 0 implies state=0 (open switch) -%DESCRIPTION Name = -1 implies state>0 (Diode) - -%ALIAS out in -%ALIAS $1 lin -%ALIAS $1 flow,i_s - - - -%% Label file for system ISW (ISW_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1998/07/26 12:57:00 peterg -% %% Initial revision -% %% -% %% Revision 1.1 1997/06/03 15:26:09 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type I - MTT_SWITCH lin flow,i_s - -% Component type SS - [in] SS external,external DELETED mttroot/mtt/lib/comp/compound/General/IX/IX_abg.fig Index: mttroot/mtt/lib/comp/compound/General/IX/IX_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/General/IX/IX_abg.fig +++ /dev/null @@ -1,23 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1800 2700 3150 2700 2925 2925 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3600 2700 4950 2700 4725 2925 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3375 1125 3375 2475 3600 2250 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4950 2475 4950 2925 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3150 2475 3150 2925 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3555 2475 3105 2475 -2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 5850 3825 5850 450 225 450 225 3825 5850 3825 -4 1 -1 0 0 22 20 0.0000 4 195 150 3375 2835 1\001 -4 1 -1 0 0 22 20 0.0000 4 210 240 5355 2790 I:i\001 -4 2 4 0 0 22 20 0.0000 4 270 900 1665 2790 SS:[in]\001 -4 1 -1 0 0 22 20 0.0000 4 210 660 3375 990 SS:X\001 DELETED mttroot/mtt/lib/comp/compound/General/IX/IX_lbl.txt Index: mttroot/mtt/lib/comp/compound/General/IX/IX_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/General/IX/IX_lbl.txt +++ /dev/null @@ -1,31 +0,0 @@ -%SUMMARY IX I component with state i/o -%DESCRIPTION Port [X]: state i/o - -%% Label file for system IX (IX_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.2 1998/04/14 17:08:50 peterg -% %% Input only on SS -% %% -% %% Revision 1.1 1998/04/12 15:20:11 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type I - i $1 $1 - -% Component type SS - X SS external,internal - DELETED mttroot/mtt/lib/comp/compound/General/Se/Se_abg.fig Index: mttroot/mtt/lib/comp/compound/General/Se/Se_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/General/Se/Se_abg.fig +++ /dev/null @@ -1,17 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 1800 2700 3150 2700 2925 2925 -2 4 0 2 31 7 99 0 -1 0.000 0 0 7 0 0 5 - 4950 3600 4950 1800 675 1800 675 3600 4950 3600 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 3150 2475 3150 2925 -4 2 0 100 0 18 20 0.0000 4 225 675 1710 2790 SS:u\001 -4 0 4 100 0 18 20 0.0000 4 285 1170 3330 2790 SS:[out]\001 DELETED mttroot/mtt/lib/comp/compound/General/Se/Se_lbl.txt Index: mttroot/mtt/lib/comp/compound/General/Se/Se_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/General/Se/Se_lbl.txt +++ /dev/null @@ -1,35 +0,0 @@ -%% Label file for system Se (Se_lbl.txt) -%SUMMARY Se Simple effort source -%DESCRIPTION Simple effort source constructed from SS with fixed causality - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.2 1999/03/12 04:04:27 peterg -% %% Single argument - the effort value e_s -% %% -% %% Revision 1.1 1999/03/03 21:55:46 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS out|in out - -% Argument aliases -%ALIAS $1 e_s - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type SS - [out] SS external,external - u SS e_s,internal DELETED mttroot/mtt/lib/comp/compound/General/Sf/Sf_abg.fig Index: mttroot/mtt/lib/comp/compound/General/Sf/Sf_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/General/Sf/Sf_abg.fig +++ /dev/null @@ -1,17 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 1800 2700 3150 2700 2925 2925 -2 4 0 2 31 7 99 0 -1 0.000 0 0 7 0 0 5 - 4950 3600 4950 1800 675 1800 675 3600 4950 3600 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 1800 2475 1800 2925 -4 2 0 100 0 18 20 0.0000 4 225 675 1710 2790 SS:u\001 -4 0 4 100 0 18 20 0.0000 4 285 1170 3330 2790 SS:[out]\001 DELETED mttroot/mtt/lib/comp/compound/General/Sf/Sf_lbl.txt Index: mttroot/mtt/lib/comp/compound/General/Sf/Sf_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/General/Sf/Sf_lbl.txt +++ /dev/null @@ -1,33 +0,0 @@ -%% Label file for system Sf (Sf_lbl.txt) -%SUMMARY Sf Simple flow source -%DESCRIPTION Simple flow source constructed from SS with fixed causality - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.2 1999/03/12 04:03:09 peterg -% %% Single argument - the value of the flow -% %% -% %% Revision 1.1 1999/03/03 21:50:15 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS out|in out - -% Argument aliases -%ALIAS $1 f_s -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type SS - [out] SS external,external - u SS internal,f_s DELETED mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-1D/BernoulliEuler/BernoulliEuler_abg.fig Index: mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-1D/BernoulliEuler/BernoulliEuler_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-1D/BernoulliEuler/BernoulliEuler_abg.fig +++ /dev/null @@ -1,68 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2700 2250 3825 2250 3600 2475 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4275 2250 5400 2250 5175 2475 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 5850 2250 6975 2250 6750 2475 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4050 2025 4050 900 4275 1125 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 6975 2025 6975 2475 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 5625 2475 4950 3150 5175 3150 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2700 4500 3825 4500 3600 4725 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 5850 4500 6975 4500 6750 4725 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4275 4500 5400 4500 5175 4725 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4725 3600 4050 4275 4275 4275 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 3825 4275 3825 4725 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 6975 4275 6975 4725 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 3825 2025 3825 2475 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 5625 4725 5625 5850 5850 5625 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 5850 6075 6975 6075 6750 6300 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 5400 6075 4275 6075 4500 6300 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 5400 5850 5400 6300 -2 4 0 2 31 7 101 0 -1 0.000 0 0 7 0 0 5 - 675 225 675 6975 9225 6975 9225 225 675 225 -4 2 4 100 0 18 20 0.0000 4 360 1605 2655 4590 SS:[a_in]\001 -4 1 0 100 0 18 20 0.0000 4 270 195 4050 2340 1\001 -4 1 0 100 0 18 20 0.0000 4 270 195 5625 2340 0\001 -4 1 0 100 0 18 20 0.0000 4 285 750 4050 765 I:dm\001 -4 0 4 100 0 18 20 0.0000 4 360 1860 7110 2340 SS:[y_out]\001 -4 2 4 100 0 18 20 0.0000 4 360 1620 2565 2340 SS:[y_in]\001 -4 0 4 100 0 18 20 0.0000 4 360 1845 7065 4590 SS:[a_out]\001 -4 1 0 100 0 18 20 0.0000 4 270 195 4050 4590 1\001 -4 1 0 100 0 18 20 0.0000 4 270 195 5625 4590 0\001 -4 1 0 100 0 18 20 0.0000 4 285 975 4815 3510 TF:dz\001 -4 1 1 101 0 32 20 0.0000 4 255 270 4635 4095 W\001 -4 1 1 101 0 32 20 0.0000 4 255 945 6345 4950 W+DW\001 -4 1 1 101 0 32 20 0.0000 4 255 270 4680 4950 W\001 -4 1 1 101 0 32 20 0.0000 4 255 270 3150 4950 W\001 -4 1 1 101 0 18 20 0.0000 4 210 210 3150 2610 v\001 -4 1 1 101 0 18 20 0.0000 4 210 210 4725 2610 v\001 -4 1 1 101 0 18 20 0.0000 4 210 825 6255 2610 v+ v\001 -4 1 1 101 0 32 20 0.0000 4 255 225 6390 2610 D\001 -4 1 1 101 0 32 20 0.0000 4 255 225 5400 3015 D\001 -4 1 1 101 0 18 20 0.0000 4 210 210 5625 3015 v\001 -4 1 0 100 0 18 20 0.0000 4 270 195 5625 6210 1\001 -4 1 0 100 0 18 20 0.0000 4 285 810 7425 6165 C:dk\001 -4 1 0 100 0 18 20 0.0000 4 285 735 3915 6165 R:dr\001 DELETED mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-1D/BernoulliEuler/BernoulliEuler_desc.tex Index: mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-1D/BernoulliEuler/BernoulliEuler_desc.tex ================================================================== --- mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-1D/BernoulliEuler/BernoulliEuler_desc.tex +++ /dev/null @@ -1,48 +0,0 @@ -% -*-latex-*- Put EMACS into LaTeX-mode -% Verbal description for system BernoulliEuler (BernoulliEuler_desc.tex) -% Generated by MTT on Mon Apr 19 06:43:36 BST 1999. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{BernoulliEuler} is - displayed in Figure \Ref{fig:BernoulliEuler_abg.ps} and its label - file is listed in Section \Ref{sec:BernoulliEuler_lbl}. - The subsystems are listed in Section \Ref{sec:BernoulliEuler_sub}. - -This component represents one lump of a lumped model of a uniform beam -modelled using the the Bernoulli-Euler assumptions: -\begin{enumerate} -\item The shear forces can be neglected. -\item Rotational inertia can be neglected. -\end{enumerate} - -\begin{itemize} -\item The \textbf{I} component represents the inertial properties of - the lump in the perpendicular direction. In particular the velocity - of the lump $v$ is: - \begin{equation} - \dot v = \frac{\Delta f}{\Delta m} - \end{equation} - where $\Delta m$ is the lump mass and $\Delta f$ is the net vertical - force. -\item The \textbf{C} component represents the angular stiffness of the - lump. In particular the torque acting on the lump is: - \begin{equation} - \dot \tau = \Delta k \Delta \Omega - \end{equation} - where $\Delta k$ is the lump (angular) stiffness and $\Delta \Omega$ - is the net angular velocity. -\item The \textbf{TF} component represents the relation between the - angular domains - \begin{equation} - \begin{align} - \tau &= \Delta x \Delta f \\ - \Delta v &= \Delta x \Omega - \end{align} - \end{equation} -\end{itemize} DELETED mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-1D/BernoulliEuler/BernoulliEuler_lbl.txt Index: mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-1D/BernoulliEuler/BernoulliEuler_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-1D/BernoulliEuler/BernoulliEuler_lbl.txt +++ /dev/null @@ -1,65 +0,0 @@ -%% Label file for system BernoulliEuler (BernoulliEuler_lbl.txt) -%SUMMARY BernoulliEuler -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.4 1999/10/13 07:01:58 peterg -% %% Added aliases: -% %% a_in theta_in -% %% a_out theta_out -% %% -% %% Revision 1.3 1999/09/02 03:07:16 peterg -% %% r_d --> dr -% %% -% %% Revision 1.2 1999/05/17 21:27:05 peterg -% %% Added damping -% %% -% %% Revision 1.1 1999/05/16 07:12:40 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS theta_in a_in -%ALIAS theta_out a_out -%ALIAS in y_in,a_in -%ALIAS out y_out,a_out - -% Argument aliases -%ALIAS $1 dk -%ALIAS $2 dm -%ALIAS $3 dz -%ALIAS $4 dr - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type I - dm lin flow,dm - -% Component type C - dk lin state,dk - -% Component type R - dr lin flow,dr - -% Component type SS - [y_in] SS external,external - [y_out] SS external,external - [a_in] SS external,external - [a_out] SS external,external - -% Component type TF - dz lin effort,dz - - - DELETED mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-1D/pBernoulliEuler/pBernoulliEuler_abg.fig Index: mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-1D/pBernoulliEuler/pBernoulliEuler_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-1D/pBernoulliEuler/pBernoulliEuler_abg.fig +++ /dev/null @@ -1,67 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2700 2250 3825 2250 3600 2475 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4275 2250 5400 2250 5175 2475 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 5850 2250 6975 2250 6750 2475 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4050 2025 4050 900 4275 1125 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 6975 2025 6975 2475 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 5625 2475 4950 3150 5175 3150 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2700 4500 3825 4500 3600 4725 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 5850 4500 6975 4500 6750 4725 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4275 4500 5400 4500 5175 4725 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 5625 4725 5625 5850 5850 5625 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4725 3600 4050 4275 4275 4275 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 3825 4275 3825 4725 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 6975 4275 6975 4725 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 3825 2025 3825 2475 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4275 6075 5400 6075 5175 6300 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 5850 6075 6975 6075 6750 6300 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 5625 6300 5625 7425 5850 7200 -4 2 4 100 0 18 20 0.0000 4 285 1860 2655 4590 SS:[theta_in]\001 -4 1 0 100 0 18 20 0.0000 4 210 165 4050 2340 1\001 -4 1 0 100 0 18 20 0.0000 4 210 165 5625 2340 0\001 -4 1 0 100 0 18 20 0.0000 4 225 645 4050 765 I:dm\001 -4 0 4 100 0 18 20 0.0000 4 285 1500 7110 2340 SS:[y_out]\001 -4 2 4 100 0 18 20 0.0000 4 285 1305 2565 2340 SS:[y_in]\001 -4 0 4 100 0 18 20 0.0000 4 285 2055 7065 4590 SS:[theta_out]\001 -4 1 0 100 0 18 20 0.0000 4 210 165 4050 4590 1\001 -4 1 0 100 0 18 20 0.0000 4 210 165 5625 4590 0\001 -4 1 0 100 0 18 20 0.0000 4 225 795 4815 3510 TF:dz\001 -4 1 1 101 0 32 20 0.0000 4 210 225 4635 4095 W\001 -4 1 1 101 0 32 20 0.0000 4 210 795 6345 4950 W+DW\001 -4 1 1 101 0 32 20 0.0000 4 210 225 4680 4950 W\001 -4 1 1 101 0 32 20 0.0000 4 210 225 3150 4950 W\001 -4 1 1 101 0 18 20 0.0000 4 165 165 3150 2610 v\001 -4 1 1 101 0 18 20 0.0000 4 165 165 4725 2610 v\001 -4 1 1 101 0 18 20 0.0000 4 165 690 6255 2610 v+ v\001 -4 1 1 101 0 32 20 0.0000 4 210 180 6390 2610 D\001 -4 1 1 101 0 32 20 0.0000 4 210 180 5400 3015 D\001 -4 1 1 101 0 18 20 0.0000 4 165 165 5625 3015 v\001 -4 1 0 100 0 18 20 0.0000 4 210 165 5625 6165 1\001 -4 1 0 100 0 18 20 0.0000 4 225 660 7380 6165 C:dk\001 -4 2 4 100 0 18 20 0.0000 4 300 1500 4230 6165 SS:[patch]\001 -4 1 0 100 0 18 20 0.0000 4 285 780 5625 7785 R:dr\001 DELETED mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-1D/pBernoulliEuler/pBernoulliEuler_desc.tex Index: mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-1D/pBernoulliEuler/pBernoulliEuler_desc.tex ================================================================== --- mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-1D/pBernoulliEuler/pBernoulliEuler_desc.tex +++ /dev/null @@ -1,22 +0,0 @@ -% -*-latex-*- Put EMACS into LaTeX-mode -% Verbal description for system pBernoulliEuler (pBernoulliEuler_desc.tex) -% Generated by MTT on Mon Apr 19 06:43:36 BST 1999. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{pBernoulliEuler} is - displayed in Figure \Ref{fig:pBernoulliEuler_abg.ps} and its label - file is listed in Section \Ref{sec:pBernoulliEuler_lbl}. - The subsystems are listed in Section \Ref{sec:pBernoulliEuler_sub}. - -This is identical to component \textbf{pBernoulliEuler} except that a -\emph{piezoelectric patch} is included. This provides: -\begin{enumerate} -\item an moment-generating \emph{actuator} and -\item a curvature \emph{sensor}. -\end{enumerate} DELETED mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-1D/pBernoulliEuler/pBernoulliEuler_lbl.txt Index: mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-1D/pBernoulliEuler/pBernoulliEuler_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-1D/pBernoulliEuler/pBernoulliEuler_lbl.txt +++ /dev/null @@ -1,60 +0,0 @@ -%% Label file for system pBernoulliEuler (pBernoulliEuler_lbl.txt) -%SUMMARY pBernoulliEuler -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.3 1999/05/17 21:27:39 peterg -% %% Added damping -% %% -% %% Revision 1.2 1999/05/16 21:31:48 peterg -% %% Renamed SS to patch -% %% -% %% Revision 1.1 1999/05/16 21:08:13 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS in y_in,theta_in -%ALIAS out y_out,theta_out -%ALIAS torque patch -%ALIAS curvature patch - - -% Argument aliases -%ALIAS $1 dk -%ALIAS $2 dm -%ALIAS $3 dz -%ALIAS $4 dr - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type I - dm lin flow,dm - -% Component type C - dk lin state,dk - -% Component type R - dr lin flow,dr - -% Component type SS - [y_in] SS external,external - [y_out] SS external,external - [theta_in] SS external,external - [theta_out] SS external,external - [patch] SS external,external - -% Component type TF - dz lin effort,dz - DELETED mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/ACCEL/ACCEL_abg.fig Index: mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/ACCEL/ACCEL_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/ACCEL/ACCEL_abg.fig +++ /dev/null @@ -1,22 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2027 2252 3377 2252 3152 2477 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3827 2252 5177 2252 4952 2477 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3601 2026 3601 676 3826 901 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5850 2250 7200 2250 6975 2475 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3375 2025 3375 2475 -2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 9450 3375 9450 45 225 45 225 3375 9450 3375 -4 1 -1 0 0 0 20 0.0000 4 195 135 3602 2387 1\001 -4 1 -1 0 0 0 20 0.0000 4 195 90 3601 541 I\001 -4 1 -1 0 0 0 20 0.0000 4 195 375 5535 2340 AF\001 -4 1 24 0 0 0 20 0.0000 4 195 1050 1440 2340 SS:Force\001 -4 0 24 0 0 0 20 0.0000 4 240 2040 7290 2340 SS:[Acceleration]\001 DELETED mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/ACCEL/ACCEL_lbl.txt Index: mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/ACCEL/ACCEL_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/ACCEL/ACCEL_lbl.txt +++ /dev/null @@ -1,33 +0,0 @@ -%SUMMARY ACCEL: Provides a acceleration (useful for simulating gravity. -%DESCRIPTION Useful for simulating gravity as explaned in Section 10.9 -%DESCRIPTION of "Metamodelling". - -%ALIAS in|out Acceleration - -%% Label file for system ACCEL (ACCEL_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.3 1998/07/27 06:50:41 peterg -% %% *** empty log message *** -% %% -% %% Revision 1.2 1998/07/27 06:49:57 peterg -% %% Added blank line at end -% %% -% %% Revision 1.1 1998/07/27 06:47:32 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - -% SS components - Force SS external,internal - [Acceleration] SS external,external - DELETED mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/ROD/ROD_abg.fig Index: mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/ROD/ROD_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/ROD/ROD_abg.fig +++ /dev/null @@ -1,121 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4728 4278 5403 4953 5178 4953 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5854 5404 6529 6079 6304 6079 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4728 6078 5403 5403 5403 5628 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5853 4953 6528 4278 6528 4503 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 1 - 4277 3827 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3152 2702 4277 3827 4052 3827 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6977 6527 8102 7652 7877 7652 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3152 7652 4277 6527 4277 6752 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6977 3827 8102 2702 8102 2927 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5852 5177 6527 5177 6392 5312 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2927 2927 2927 4952 3152 4727 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2927 5402 2927 7427 3152 7202 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2701 5176 2026 5176 2161 5311 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2926 1351 2926 2476 3196 2206 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2926 7876 2926 9001 3196 8731 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8328 2928 8328 4953 8553 4728 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8328 5403 8328 7428 8553 7203 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8327 1352 8327 2477 8597 2207 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8327 7877 8327 9002 8597 8732 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5626 1351 5626 4951 5851 4726 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5626 5401 5626 9001 5851 8776 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 1 - 6526 5401 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 6526 4951 6526 5401 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8551 5176 9226 5176 9091 5311 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3826 4951 6526 4051 6436 4231 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3826 4996 3826 5356 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4276 5176 3826 5176 3961 5311 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3826 5401 6301 6301 6121 6301 -2 1 0 1 5 -1 0 0 -1 0.000 0 0 -1 0 0 3 - 3601 5401 4051 6301 3826 6301 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3601 4951 4051 4051 4051 4276 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5536 5176 5086 5176 5221 5311 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 6300 9675 6300 675 4950 675 4950 9675 6300 9675 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 9000 9675 9000 675 7650 675 7650 9675 9000 9675 -2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 11025 10305 11025 225 225 225 225 10305 11025 10305 -2 4 0 1 1 7 0 0 -1 0.000 0 0 7 0 0 5 - 3600 9675 2250 9675 2250 675 3600 675 3600 9675 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 10125 2250 990 2250 990 900 10125 900 10125 2250 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 10125 5850 990 5850 990 4500 10125 4500 10125 5850 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 10125 9450 990 9450 990 8100 10125 8100 10125 9450 -4 1 -1 0 0 0 20 0.0000 4 195 135 5628 5268 1\001 -4 1 -1 0 0 0 20 0.0000 4 195 270 6933 5268 I:J\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 2927 5312 1\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 2972 2792 0\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 2927 7742 0\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 8328 5313 1\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 8373 2793 0\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 8328 7743 0\001 -4 1 -1 0 0 0 20 0.0000 4 255 660 9676 5266 I:m_y\001 -4 1 -1 0 0 0 20 0.0000 4 255 660 1531 5221 I:m_x\001 -4 1 -1 0 0 0 20 0.0000 4 195 1110 4636 4141 EMTF:c1\001 -4 1 -1 0 0 0 20 0.0000 4 195 1110 4681 6391 EMTF:c2\001 -4 1 -1 0 0 0 20 0.0000 4 195 1095 7156 4141 EMTF:s1\001 -4 1 -1 0 0 0 20 0.0000 4 195 1095 7156 6391 EMTF:s2\001 -4 1 5 0 0 0 20 0.0000 4 195 135 3603 5313 0\001 -4 1 26 0 0 0 16 0.0000 4 210 345 6751 4456 [in]\001 -4 1 26 0 0 0 16 0.0000 4 210 465 6751 3781 [out]\001 -4 1 26 0 0 0 16 0.0000 4 210 345 6751 6076 [in]\001 -4 1 26 0 0 0 16 0.0000 4 210 465 6751 6706 [out]\001 -4 1 26 0 0 0 16 0.0000 4 210 585 6211 6526 [mod]\001 -4 1 5 0 0 0 20 0.0000 4 195 960 4681 5266 INTF:th\001 -4 1 1 1 0 0 20 0.0000 4 195 210 2925 10035 X\001 -4 1 1 1 0 32 20 0.0000 4 135 180 5580 9990 a\001 -4 1 1 1 0 0 20 0.0000 4 195 210 8280 9990 Y\001 -4 2 26 0 0 0 16 0.0000 4 210 585 3960 4140 [mod]\001 -4 2 26 0 0 0 16 0.0000 4 210 585 6345 4095 [mod]\001 -4 2 26 0 0 0 16 0.0000 4 210 585 3960 6210 [mod]\001 -4 1 26 0 0 0 16 0.0000 4 210 345 4590 4455 [in]\001 -4 1 26 0 0 0 16 0.0000 4 210 465 4545 3780 [out]\001 -4 1 26 0 0 0 16 0.0000 4 210 465 4590 6660 [out]\001 -4 0 26 0 0 0 16 0.0000 4 210 345 4365 6030 [in]\001 -4 1 4 0 0 0 20 0.0000 4 255 1950 2971 1216 SS:[xTip_a]\001 -4 1 4 0 0 0 20 0.0000 4 255 1950 2971 9361 SS:[xTip_b]\001 -4 1 4 0 0 0 20 0.0000 4 255 1950 8372 1217 SS:[yTip_a]\001 -4 1 4 0 0 0 20 0.0000 4 255 1950 8417 9362 SS:[yTip_b]\001 -4 1 4 0 0 0 20 0.0000 4 255 2700 5671 1216 SS:[angularTip_a]\001 -4 1 4 0 0 0 20 0.0000 4 255 2700 5671 9361 SS:[angularTip_b]\001 -4 1 1 1 0 0 20 0.0000 4 255 600 1350 2700 Tip a\001 -4 1 1 1 0 0 20 0.0000 4 195 1380 1260 6300 Mass centre\001 -4 1 1 1 0 0 20 0.0000 4 255 600 1350 9855 Tip b\001 DELETED mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/ROD/ROD_desc.tex Index: mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/ROD/ROD_desc.tex ================================================================== --- mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/ROD/ROD_desc.tex +++ /dev/null @@ -1,17 +0,0 @@ -% Verbal description for system ROD (ROD_desc.tex) -% Generated by MTT on Fri Aug 15 09:53:23 BST 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{ROD} is - displayed in Figure \Ref{ROD_abg} and its label - file is listed in Section \Ref{sec:ROD_lbl}. - The subsystems are listed in Section \Ref{sec:ROD_sub}. - -{\bf ROD} is essentially as described in Figure 10.2 of -``Metamodelling''. DELETED mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/ROD/ROD_lbl.txt Index: mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/ROD/ROD_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/ROD/ROD_lbl.txt +++ /dev/null @@ -1,71 +0,0 @@ -%SUMMARY ROD: rigid rod in two dimensions -%DESCRIPTION See Section 10.2 of "Metamodelling" - -%ALIAS $1 l_a # length from end a to mass centre -%ALIAS $2 l_b # length from end b to mass centre -%ALIAS $3 j_m # inertia about mass centre -%ALIAS $4 m # mass - -%ALIAS in|Tip_a xTip_a,angularTip_a,yTip_a -%ALIAS out|Tip_b xTip_b,angularTip_b,yTip_b - -%ALIAS x_a xTip_a # Force/velocity at tip a in x direction -%ALIAS y_a yTip_a # Force/velocity at tip a in y direction -%ALIAS alpha_a angularTip_a # Torque/angular velocity at tip a - -%ALIAS x_b xTip_b # Force/velocity at tip b in x direction -%ALIAS y_b yTip_b # Force/velocity at tip b in y direction -%ALIAS alpha_b angularTip_b # Torque/angular velocity at tip b - -%ALIAS INTF General/INTF # The flow integration component. - -%% Label file for system ROD (ROD_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.4 1998/07/27 10:51:20 peterg -% %% Aliased INTF as well. -% %% -% %% Revision 1.3 1998/07/27 10:49:10 peterg -% %% Major revision to include aliases etc -% %% -% %% Revision 1.2 1997/08/15 09:43:06 peterg -% %% Now has lablelled (as opposed to numbered) ports. -% %% -% Revision 1.1 1996/11/07 10:57:17 peterg -% Initial revision -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - -%Inertias -J lin flow,j_m -m_x lin flow,m -m_y lin flow,m - -%Integrate angular velocity to get angle -th - -%Modulated transformers -s1 lsin flow,l_a -s2 lsin flow,l_b -c1 lcos flow,l_a -c2 lcos flow,l_b - -% Component type SS - [angularTip_a] SS external,external - [angularTip_b] SS external,external - [xTip_a] SS external,external - [xTip_b] SS external,external - [yTip_a] SS external,external - [yTip_b] SS external,external - - - DELETED mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/RODa/RODa_abg.fig Index: mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/RODa/RODa_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/RODa/RODa_abg.fig +++ /dev/null @@ -1,124 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4728 4278 5403 4953 5178 4953 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5854 5404 6529 6079 6304 6079 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4728 6078 5403 5403 5403 5628 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5853 4953 6528 4278 6528 4503 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 1 - 4277 3827 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3152 2702 4277 3827 4052 3827 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6977 6527 8102 7652 7877 7652 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3152 7652 4277 6527 4277 6752 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6977 3827 8102 2702 8102 2927 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5852 5177 6527 5177 6392 5312 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2927 2927 2927 4952 3152 4727 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2927 5402 2927 7427 3152 7202 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2701 5176 2026 5176 2161 5311 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2926 1351 2926 2476 3196 2206 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2926 7876 2926 9001 3196 8731 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8328 2928 8328 4953 8553 4728 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8328 5403 8328 7428 8553 7203 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8327 1352 8327 2477 8597 2207 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8327 7877 8327 9002 8597 8732 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5626 1351 5626 4951 5851 4726 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5626 5401 5626 9001 5851 8776 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 1 - 6526 5401 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 6526 4951 6526 5401 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8551 5176 9226 5176 9091 5311 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3826 4951 6526 4051 6436 4231 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3826 4996 3826 5356 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4276 5176 3826 5176 3961 5311 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3826 5401 6301 6301 6121 6301 -2 1 0 1 5 -1 0 0 -1 0.000 0 0 -1 0 0 3 - 3601 5401 4051 6301 3826 6301 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3601 4951 4051 4051 4051 4276 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5536 5176 5086 5176 5221 5311 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 6300 9675 6300 675 4950 675 4950 9675 6300 9675 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 9000 9675 9000 675 7650 675 7650 9675 9000 9675 -2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 11025 10305 11025 225 225 225 225 10305 11025 10305 -2 4 0 1 1 7 0 0 -1 0.000 0 0 7 0 0 5 - 3600 9675 2250 9675 2250 675 3600 675 3600 9675 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 10125 2250 990 2250 990 900 10125 900 10125 2250 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 10125 5850 990 5850 990 4500 10125 4500 10125 5850 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 10125 9450 990 9450 990 8100 10125 8100 10125 9450 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3375 4950 1800 3375 1800 3600 -4 1 -1 0 0 0 20 0.0000 4 195 135 5628 5268 1\001 -4 1 -1 0 0 0 20 0.0000 4 195 270 6933 5268 I:J\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 2927 5312 1\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 2972 2792 0\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 2927 7742 0\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 8328 5313 1\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 8373 2793 0\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 8328 7743 0\001 -4 1 -1 0 0 0 20 0.0000 4 255 660 9676 5266 I:m_y\001 -4 1 -1 0 0 0 20 0.0000 4 255 660 1531 5221 I:m_x\001 -4 1 -1 0 0 0 20 0.0000 4 195 1110 4636 4141 EMTF:c1\001 -4 1 -1 0 0 0 20 0.0000 4 195 1110 4681 6391 EMTF:c2\001 -4 1 -1 0 0 0 20 0.0000 4 195 1095 7156 4141 EMTF:s1\001 -4 1 -1 0 0 0 20 0.0000 4 195 1095 7156 6391 EMTF:s2\001 -4 1 5 0 0 0 20 0.0000 4 195 135 3603 5313 0\001 -4 1 26 0 0 0 16 0.0000 4 210 345 6751 4456 [in]\001 -4 1 26 0 0 0 16 0.0000 4 210 465 6751 3781 [out]\001 -4 1 26 0 0 0 16 0.0000 4 210 345 6751 6076 [in]\001 -4 1 26 0 0 0 16 0.0000 4 210 465 6751 6706 [out]\001 -4 1 26 0 0 0 16 0.0000 4 210 585 6211 6526 [mod]\001 -4 1 5 0 0 0 20 0.0000 4 195 960 4681 5266 INTF:th\001 -4 1 1 1 0 0 20 0.0000 4 195 210 2925 10035 X\001 -4 1 1 1 0 32 20 0.0000 4 135 180 5580 9990 a\001 -4 1 1 1 0 0 20 0.0000 4 195 210 8280 9990 Y\001 -4 2 26 0 0 0 16 0.0000 4 210 585 3960 4140 [mod]\001 -4 2 26 0 0 0 16 0.0000 4 210 585 6345 4095 [mod]\001 -4 2 26 0 0 0 16 0.0000 4 210 585 3960 6210 [mod]\001 -4 1 26 0 0 0 16 0.0000 4 210 345 4590 4455 [in]\001 -4 1 26 0 0 0 16 0.0000 4 210 465 4545 3780 [out]\001 -4 1 26 0 0 0 16 0.0000 4 210 465 4590 6660 [out]\001 -4 0 26 0 0 0 16 0.0000 4 210 345 4365 6030 [in]\001 -4 1 4 0 0 0 20 0.0000 4 255 990 2971 1216 SS:[x_a]\001 -4 1 4 0 0 0 20 0.0000 4 255 990 2971 9361 SS:[x_b]\001 -4 1 4 0 0 0 20 0.0000 4 255 990 8372 1217 SS:[y_a]\001 -4 1 4 0 0 0 20 0.0000 4 255 990 8417 9362 SS:[y_b]\001 -4 1 4 0 0 0 20 0.0000 4 255 1485 5671 1216 SS:[alpha_a]\001 -4 1 4 0 0 0 20 0.0000 4 255 1485 5671 9361 SS:[alpha_b]\001 -4 1 1 1 0 0 20 0.0000 4 255 600 1350 2700 Tip a\001 -4 1 1 1 0 0 20 0.0000 4 195 1380 1260 6300 Mass centre\001 -4 1 1 1 0 0 20 0.0000 4 255 600 1350 9855 Tip b\001 -4 1 4 0 0 0 20 0.0000 4 255 1215 1756 3286 SS:[alpha]\001 DELETED mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/RODa/RODa_desc.tex Index: mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/RODa/RODa_desc.tex ================================================================== --- mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/RODa/RODa_desc.tex +++ /dev/null @@ -1,22 +0,0 @@ -% Verbal description for system RODa (RODa_desc.tex) -% Generated by MTT on Fri Aug 15 09:53:23 BST 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% Revision 1.1 1997/08/15 09:41:19 peterg -% Initial revision -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{RODa} is - displayed in Figure \Ref{RODa_abg} and its label - file is listed in Section \Ref{sec:RODa_lbl}. - The subsystems are listed in Section \Ref{sec:RODa_sub}. - -{\bf RODa} is essentially as described in Figure 10.2 of -``Metamodelling''. It has an additional port ``[angle]'' to provide -access to the rod angle. - DELETED mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/RODa/RODa_lbl.txt Index: mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/RODa/RODa_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/RODa/RODa_lbl.txt +++ /dev/null @@ -1,52 +0,0 @@ -%SUMMARY RODa: rigid rod in two dimensions - angle port. -%DESCRIPTION Port [alpha_a]: Angular torque/velocity - end a -%DESCRIPTION Port [alpha_b]: Angular torque/velocity - end b -%DESCRIPTION Port [x_a]: x force/velocity - end a -%DESCRIPTION Port [x_b]: x force/velocity - end b -%DESCRIPTION Port [y_a]: y force/velocity - end a -%DESCRIPTION Port [y_b]: y force/velocity - end b -%DESCRIPTION Port [alpha]: rod angle -%DESCRIPTION -%DESCRIPTION Parameter 1: length from end 1 to mass centre -%DESCRIPTION Parameter 2: length from end 2 to mass centre -%DESCRIPTION Parameter 3: inertia about mass centre -%DESCRIPTION Parameter 4: mass -%DESCRIPTION See Section 10.2 of "Metamodelling" - - -%% Label file for system RODa (RODa_lbl.txt) - - - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% % Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% % $Id$ -% % $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - -%Inertias -J lin flow,$3 -m_x lin flow,$4 -m_y lin flow,$4 - -%Integrate angular velocity to get angle -th - -%Modulated transformers -s1 lsin flow,$1 -s2 lsin flow,$2 -c1 lcos flow,$1 -c2 lcos flow,$2 - - - - DELETED mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/ROT2/ROT2_abg.fig Index: mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/ROT2/ROT2_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/ROT2/ROT2_abg.fig +++ /dev/null @@ -1,86 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3375 4905 4500 5805 4275 5805 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3376 7379 4501 6479 4276 6479 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1801 7604 2926 7604 2701 7829 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3376 7604 4501 7604 4276 7829 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3150 6030 4950 4905 4950 5130 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 1 - 4950 7155 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3150 6255 4950 7425 4950 7155 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1800 4680 2925 4680 2700 4905 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1800 6165 2925 6165 2700 6390 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3375 4680 4500 4680 4275 4905 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5895 4680 7020 4680 6795 4905 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5850 6255 7200 4905 7200 5130 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5850 5805 7200 7380 7200 7155 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5850 7605 6975 7605 6750 7830 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7425 4680 8550 4680 8325 4905 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7425 7605 8550 7605 8325 7830 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3375 6030 4950 6030 4815 5895 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3375 6255 4950 6255 4815 6390 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 1 0 2 - 1 1 2.00 120.00 240.00 - 2554 3028 1317 885 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 1 0 2 - 1 1 2.00 120.00 240.00 - 2554 3028 4698 1791 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 1 0 2 - 1 1 2.00 120.00 240.00 - 2566 3016 2566 541 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 1 0 2 - 1 1 2.00 120.00 240.00 - 2566 3016 5041 3016 -2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 9675 8550 9675 225 225 225 225 8550 9675 8550 -4 0 1 1 0 0 20 0.0000 4 135 135 5220 3105 x\001 -4 0 1 1 0 0 20 0.0000 4 195 135 2700 585 y\001 -4 0 1 1 0 0 20 0.0000 4 195 210 1485 855 Y\001 -4 0 1 1 0 0 20 0.0000 4 195 210 4590 1710 X\001 -4 0 1 1 0 32 20 0.0000 4 195 150 3420 2880 q\001 -4 0 -1 0 0 2 20 0.0000 4 195 135 3060 4770 1\001 -4 0 -1 0 0 2 20 0.0000 4 195 135 3060 7695 1\001 -4 0 -1 0 0 2 20 0.0000 4 195 135 3015 6255 0\001 -4 1 4 0 0 2 16 0.0000 4 210 390 4635 4455 [in]\001 -4 1 4 0 0 2 16 0.0000 4 210 390 4635 7965 [in]\001 -4 0 -1 0 0 2 20 0.0000 4 195 135 7155 4770 0\001 -4 0 -1 0 0 2 20 0.0000 4 195 135 7110 7740 0\001 -4 1 -1 0 0 2 20 0.0000 4 195 1260 5175 4770 EMTF:xX\001 -4 1 -1 0 0 2 20 0.0000 4 195 1260 5175 5850 EMTF:xY\001 -4 1 -1 0 0 2 20 0.0000 4 255 1260 5220 6615 EMTF:yX\001 -4 1 -1 0 0 2 20 0.0000 4 255 1260 5175 7695 EMTF:yY\001 -4 1 4 0 0 2 16 0.0000 4 210 525 5760 4455 [out]\001 -4 1 4 0 0 2 16 0.0000 4 210 525 5760 7965 [out]\001 -4 1 4 0 0 2 16 0.0000 4 210 390 4635 6795 [in]\001 -4 1 4 0 0 2 16 0.0000 4 210 390 4545 5625 [in]\001 -4 1 4 0 0 2 16 0.0000 4 210 525 5940 5625 [out]\001 -4 1 4 0 0 2 16 0.0000 4 210 525 5985 6795 [out]\001 -4 0 4 0 0 2 16 0.0000 4 210 630 5040 7335 [mod]\001 -4 0 4 0 0 2 16 0.0000 4 210 630 5085 6075 [mod]\001 -4 0 4 0 0 2 16 0.0000 4 210 630 5085 6300 [mod]\001 -4 0 4 0 0 2 16 0.0000 4 210 630 5040 5040 [mod]\001 -4 2 4 0 0 2 20 0.0000 4 240 1215 1710 6255 SS:[theta]\001 -4 2 4 0 0 2 20 0.0000 4 240 795 1665 4770 SS:[X]\001 -4 2 4 0 0 2 20 0.0000 4 240 795 1710 7695 SS:[Y]\001 -4 0 4 0 0 2 20 0.0000 4 240 720 8640 4770 SS:[x]\001 -4 0 4 0 0 2 20 0.0000 4 255 720 8685 7695 SS:[y]\001 DELETED mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/ROT2/ROT2_desc.tex Index: mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/ROT2/ROT2_desc.tex ================================================================== --- mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/ROT2/ROT2_desc.tex +++ /dev/null @@ -1,20 +0,0 @@ -% Verbal description for system ROT2 (ROT2_desc.tex) -% Generated by MTT on Fri Aug 15 21:09:17 BST 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{ROT2} is - displayed in Figure \Ref{ROT2_abg} and its label - file is listed in Section \Ref{sec:ROT2_lbl}. - The subsystems are listed in Section \Ref{sec:ROT2_sub}. - -\textbf{ROT2} implements a 2D rotational {\em transformation\/} in -terms of a set of {\em transformers}. A flow expressed in the $XY$ -coordinates of Figure \Ref{ROT2_abg} is transformed by \textbf{ROT2} -into the coordinates of $xy$. The corresponding (energy conserving) -effort transformation is implied by \textbf{ROT2}. DELETED mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/ROT2/ROT2_lbl.txt Index: mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/ROT2/ROT2_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/ROT2/ROT2_lbl.txt +++ /dev/null @@ -1,31 +0,0 @@ -%SUMMARY ROT2: 2D rotational transformer -%DESCRIPTION {ROT2} implements a 2D rotational transformation in terms -%DESCRIPTION of a set of transformers. A flow expressed in the X-Y -%DESCRIPTION coordinates is transformed by ROT2 into the coordinates -%DESCRIPTION of x-y. The corresponding (energy conserving) effort -%DESCRIPTION transformation is implied. -%DESCRIPTION Ports X and Y correspond to the old coordinate system -%DESCRIPTION Ports x and y correspond to the new coordinate system -%DESCRIPTION Port theta is the angle of XY with respect to xy. - -%% Label file for system ROT2 (ROT2_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type EMTF - xX lcos flow,1 - xY lsin flow,1 - yX lsin flow,-1 - yY lcos flow,1 DELETED mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/gROD/ROD_desc.tex Index: mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/gROD/ROD_desc.tex ================================================================== --- mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/gROD/ROD_desc.tex +++ /dev/null @@ -1,17 +0,0 @@ -% Verbal description for system ROD (ROD_desc.tex) -% Generated by MTT on Fri Aug 15 09:53:23 BST 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{ROD} is - displayed in Figure \Ref{ROD_abg} and its label - file is listed in Section \Ref{sec:ROD_lbl}. - The subsystems are listed in Section \Ref{sec:ROD_sub}. - -{\bf ROD} is essentially as described in Figure 10.2 of -``Metamodelling''. DELETED mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/gROD/ROD_lbl.txt Index: mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/gROD/ROD_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/gROD/ROD_lbl.txt +++ /dev/null @@ -1,71 +0,0 @@ -%SUMMARY ROD: rigid rod in two dimensions -%DESCRIPTION See Section 10.2 of "Metamodelling" - -%ALIAS $1 l_a # length from end a to mass centre -%ALIAS $2 l_b # length from end b to mass centre -%ALIAS $3 j_m # inertia about mass centre -%ALIAS $4 m # mass - -%ALIAS in|Tip_a xTip_a,angularTip_a,yTip_a -%ALIAS out|Tip_b xTip_b,angularTip_b,yTip_b - -%ALIAS x_a xTip_a # Force/velocity at tip a in x direction -%ALIAS y_a yTip_a # Force/velocity at tip a in y direction -%ALIAS alpha_a angularTip_a # Torque/angular velocity at tip a - -%ALIAS x_b xTip_b # Force/velocity at tip b in x direction -%ALIAS y_b yTip_b # Force/velocity at tip b in y direction -%ALIAS alpha_b angularTip_b # Torque/angular velocity at tip b - -%ALIAS INTF General/INTF # The flow integration component. - -%% Label file for system ROD (ROD_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.4 1998/07/27 10:51:20 peterg -% %% Aliased INTF as well. -% %% -% %% Revision 1.3 1998/07/27 10:49:10 peterg -% %% Major revision to include aliases etc -% %% -% %% Revision 1.2 1997/08/15 09:43:06 peterg -% %% Now has lablelled (as opposed to numbered) ports. -% %% -% Revision 1.1 1996/11/07 10:57:17 peterg -% Initial revision -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - -%Inertias -J lin flow,j_m -m_x lin flow,m -m_y lin flow,m - -%Integrate angular velocity to get angle -th - -%Modulated transformers -s1 lsin flow,l_a -s2 lsin flow,l_b -c1 lcos flow,l_a -c2 lcos flow,l_b - -% Component type SS - [angularTip_a] SS external,external - [angularTip_b] SS external,external - [xTip_a] SS external,external - [xTip_b] SS external,external - [yTip_a] SS external,external - [yTip_b] SS external,external - - - DELETED mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/gROD/gROD_abg.fig Index: mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/gROD/gROD_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/gROD/gROD_abg.fig +++ /dev/null @@ -1,126 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4728 4278 5403 4953 5178 4953 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5854 5404 6529 6079 6304 6079 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4728 6078 5403 5403 5403 5628 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5853 4953 6528 4278 6528 4503 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 1 - 4277 3827 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3152 2702 4277 3827 4052 3827 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6977 6527 8102 7652 7877 7652 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3152 7652 4277 6527 4277 6752 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6977 3827 8102 2702 8102 2927 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5852 5177 6527 5177 6392 5312 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2927 2927 2927 4952 3152 4727 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2927 5402 2927 7427 3152 7202 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2701 5176 2026 5176 2161 5311 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2926 1351 2926 2476 3196 2206 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2926 7876 2926 9001 3196 8731 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8328 2928 8328 4953 8553 4728 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8328 5403 8328 7428 8553 7203 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8327 1352 8327 2477 8597 2207 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8327 7877 8327 9002 8597 8732 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5626 1351 5626 4951 5851 4726 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5626 5401 5626 9001 5851 8776 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 1 - 6526 5401 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 6526 4951 6526 5401 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8551 5176 9226 5176 9091 5311 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3826 4951 6526 4051 6436 4231 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3826 4996 3826 5356 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4276 5176 3826 5176 3961 5311 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3826 5401 6301 6301 6121 6301 -2 1 0 1 5 -1 0 0 -1 0.000 0 0 -1 0 0 3 - 3601 5401 4051 6301 3826 6301 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3601 4951 4051 4051 4051 4276 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5536 5176 5086 5176 5221 5311 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 6300 9675 6300 675 4950 675 4950 9675 6300 9675 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 9000 9675 9000 675 7650 675 7650 9675 9000 9675 -2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 11025 10305 11025 225 225 225 225 10305 11025 10305 -2 4 0 1 1 7 0 0 -1 0.000 0 0 7 0 0 5 - 3600 9675 2250 9675 2250 675 3600 675 3600 9675 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 10125 2250 990 2250 990 900 10125 900 10125 2250 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 10125 5850 990 5850 990 4500 10125 4500 10125 5850 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 10125 9450 990 9450 990 8100 10125 8100 10125 9450 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8550 5400 9225 6075 8955 6075 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 8685 5265 8415 5535 -4 1 -1 0 0 0 20 0.0000000 4 210 150 5628 5268 1\001 -4 1 -1 0 0 0 20 0.0000000 4 210 315 6933 5268 I:J\001 -4 1 -1 0 0 0 20 0.0000000 4 210 150 2927 5312 1\001 -4 1 -1 0 0 0 20 0.0000000 4 210 150 2972 2792 0\001 -4 1 -1 0 0 0 20 0.0000000 4 210 150 2927 7742 0\001 -4 1 -1 0 0 0 20 0.0000000 4 210 150 8328 5313 1\001 -4 1 -1 0 0 0 20 0.0000000 4 210 150 8373 2793 0\001 -4 1 -1 0 0 0 20 0.0000000 4 210 150 8328 7743 0\001 -4 1 -1 0 0 0 20 0.0000000 4 270 735 9676 5266 I:m_y\001 -4 1 -1 0 0 0 20 0.0000000 4 240 735 1531 5221 I:m_x\001 -4 1 -1 0 0 0 20 0.0000000 4 210 1170 4636 4141 EMTF:c1\001 -4 1 -1 0 0 0 20 0.0000000 4 210 1170 4681 6391 EMTF:c2\001 -4 1 -1 0 0 0 20 0.0000000 4 210 1155 7156 4141 EMTF:s1\001 -4 1 -1 0 0 0 20 0.0000000 4 210 1155 7156 6391 EMTF:s2\001 -4 1 5 0 0 0 20 0.0000000 4 210 150 3603 5313 0\001 -4 1 26 0 0 0 16 0.0000000 4 195 330 6751 4456 [in]\001 -4 1 26 0 0 0 16 0.0000000 4 195 450 6751 3781 [out]\001 -4 1 26 0 0 0 16 0.0000000 4 195 330 6751 6076 [in]\001 -4 1 26 0 0 0 16 0.0000000 4 195 450 6751 6706 [out]\001 -4 1 26 0 0 0 16 0.0000000 4 195 570 6211 6526 [mod]\001 -4 1 5 0 0 0 20 0.0000000 4 210 990 4681 5266 INTF:th\001 -4 1 1 1 0 0 20 0.0000000 4 210 210 2925 10035 X\001 -4 1 1 1 0 32 20 0.0000000 4 135 195 5580 9990 a\001 -4 1 1 1 0 0 20 0.0000000 4 210 210 8280 9990 Y\001 -4 2 26 0 0 0 16 0.0000000 4 195 570 3960 4140 [mod]\001 -4 2 26 0 0 0 16 0.0000000 4 195 570 6345 4095 [mod]\001 -4 2 26 0 0 0 16 0.0000000 4 195 570 3960 6210 [mod]\001 -4 1 26 0 0 0 16 0.0000000 4 195 330 4590 4455 [in]\001 -4 1 26 0 0 0 16 0.0000000 4 195 450 4545 3780 [out]\001 -4 1 26 0 0 0 16 0.0000000 4 195 450 4590 6660 [out]\001 -4 0 26 0 0 0 16 0.0000000 4 195 330 4365 6030 [in]\001 -4 1 4 0 0 0 20 0.0000000 4 270 1485 2971 1216 SS:[xTip_a]\001 -4 1 4 0 0 0 20 0.0000000 4 270 1500 2971 9361 SS:[xTip_b]\001 -4 1 4 0 0 0 20 0.0000000 4 270 1485 8372 1217 SS:[yTip_a]\001 -4 1 4 0 0 0 20 0.0000000 4 270 1500 8417 9362 SS:[yTip_b]\001 -4 1 4 0 0 0 20 0.0000000 4 270 2250 5671 1216 SS:[angularTip_a]\001 -4 1 4 0 0 0 20 0.0000000 4 270 2265 5671 9361 SS:[angularTip_b]\001 -4 1 1 1 0 0 20 0.0000000 4 270 630 1350 2700 Tip a\001 -4 1 1 1 0 0 20 0.0000000 4 240 1470 1260 6300 Mass centre\001 -4 1 1 1 0 0 20 0.0000000 4 270 645 1350 9855 Tip b\001 -4 1 -1 0 0 0 20 0.0000000 4 270 810 9360 6345 SS:mg\001 DELETED mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/gROD/gROD_desc.tex Index: mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/gROD/gROD_desc.tex ================================================================== --- mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/gROD/gROD_desc.tex +++ /dev/null @@ -1,20 +0,0 @@ -% Verbal description for system gROD (gROD_desc.tex) -% Generated by MTT on Fri Aug 15 09:53:23 BST 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% Revision 1.1 1997/08/15 09:41:19 peterg -% Initial revision -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{gROD} is - displayed in Figure \Ref{gROD_abg} and its label - file is listed in Section \Ref{sec:gROD_lbl}. - The subsystems are listed in Section \Ref{sec:gROD_sub}. - -{\bf gROD} is essentially as described in Figure 10.2 of -``Metamodelling''. DELETED mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/gROD/gROD_lbl.txt Index: mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/gROD/gROD_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/gROD/gROD_lbl.txt +++ /dev/null @@ -1,86 +0,0 @@ -%SUMMARY gROD: rigid rod in two dimensions - with gravity -%DESCRIPTION See Section 10.2 of "Metamodelling" -%DESCRIPTION Gravity term added at centre - -%ALIAS $1 l_a # length from end a to mass centre -%ALIAS $2 l_b # length from end b to mass centre -%ALIAS $3 j_m # inertia about mass centre -%ALIAS $4 m # mass -%ALIAS $5 g # gravity - -%ALIAS in|Tip_a xTip_a,angularTip_a,yTip_a -%ALIAS out|Tip_b xTip_b,angularTip_b,yTip_b - -%ALIAS in|Tip_a xTip_a,angularTip_a,yTip_a -%ALIAS out|Tip_b xTip_b,angularTip_b,yTip_b - -%ALIAS x_a xTip_a # Force/velocity at tip a in x direction -%ALIAS y_a yTip_a # Force/velocity at tip a in y direction -%ALIAS alpha_a|a_a angularTip_a # Torque/angular velocity at tip a - -%ALIAS x_b xTip_b # Force/velocity at tip b in x direction -%ALIAS y_b yTip_b # Force/velocity at tip b in y direction -%ALIAS alpha_b|a_b angularTip_b # Torque/angular velocity at tip b - -%ALIAS INTF General/INTF # The flow integration component. - -%% Label file for system gROD (gROD_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.2 1998/11/25 13:55:42 peterg -% %% Added missig attribute field m*g,internal -% %% -% %% Revision 1.1 1998/11/25 10:48:34 peterg -% %% Initial revision -% %% -% %% Revision 1.5 1998/07/27 12:27:27 peterg -% %% Added vector port aliases -% %% -% %% Revision 1.4 1998/07/27 10:51:20 peterg -% %% Aliased INTF as well. -% %% -% %% Revision 1.3 1998/07/27 10:49:10 peterg -% %% Major revision to include aliases etc -% %% -% %% Revision 1.2 1997/08/15 09:43:06 peterg -% %% Now has lablelled (as opposed to numbered) ports. -% %% -% Revision 1.1 1996/11/07 10:57:17 peterg -% Initial revision -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - -%Inertias -J lin flow,j_m -m_x lin flow,m -m_y lin flow,m - -%Integrate angular velocity to get angle -th - -%Modulated transformers -s1 lsin flow,l_a -s2 lsin flow,l_b -c1 lcos flow,l_a -c2 lcos flow,l_b - -% Component type SS - mg SS m*g,internal - [angularTip_a] SS external,external - [angularTip_b] SS external,external - [xTip_a] SS external,external - [xTip_b] SS external,external - [yTip_a] SS external,external - [yTip_b] SS external,external - - - DELETED mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/gRODa/ROD_desc.tex Index: mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/gRODa/ROD_desc.tex ================================================================== --- mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/gRODa/ROD_desc.tex +++ /dev/null @@ -1,17 +0,0 @@ -% Verbal description for system ROD (ROD_desc.tex) -% Generated by MTT on Fri Aug 15 09:53:23 BST 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{ROD} is - displayed in Figure \Ref{ROD_abg} and its label - file is listed in Section \Ref{sec:ROD_lbl}. - The subsystems are listed in Section \Ref{sec:ROD_sub}. - -{\bf ROD} is essentially as described in Figure 10.2 of -``Metamodelling''. DELETED mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/gRODa/ROD_lbl.txt Index: mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/gRODa/ROD_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/gRODa/ROD_lbl.txt +++ /dev/null @@ -1,71 +0,0 @@ -%SUMMARY ROD: rigid rod in two dimensions -%DESCRIPTION See Section 10.2 of "Metamodelling" - -%ALIAS $1 l_a # length from end a to mass centre -%ALIAS $2 l_b # length from end b to mass centre -%ALIAS $3 j_m # inertia about mass centre -%ALIAS $4 m # mass - -%ALIAS in|Tip_a xTip_a,angularTip_a,yTip_a -%ALIAS out|Tip_b xTip_b,angularTip_b,yTip_b - -%ALIAS x_a xTip_a # Force/velocity at tip a in x direction -%ALIAS y_a yTip_a # Force/velocity at tip a in y direction -%ALIAS alpha_a angularTip_a # Torque/angular velocity at tip a - -%ALIAS x_b xTip_b # Force/velocity at tip b in x direction -%ALIAS y_b yTip_b # Force/velocity at tip b in y direction -%ALIAS alpha_b angularTip_b # Torque/angular velocity at tip b - -%ALIAS INTF General/INTF # The flow integration component. - -%% Label file for system ROD (ROD_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.4 1998/07/27 10:51:20 peterg -% %% Aliased INTF as well. -% %% -% %% Revision 1.3 1998/07/27 10:49:10 peterg -% %% Major revision to include aliases etc -% %% -% %% Revision 1.2 1997/08/15 09:43:06 peterg -% %% Now has lablelled (as opposed to numbered) ports. -% %% -% Revision 1.1 1996/11/07 10:57:17 peterg -% Initial revision -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - -%Inertias -J lin flow,j_m -m_x lin flow,m -m_y lin flow,m - -%Integrate angular velocity to get angle -th - -%Modulated transformers -s1 lsin flow,l_a -s2 lsin flow,l_b -c1 lcos flow,l_a -c2 lcos flow,l_b - -% Component type SS - [angularTip_a] SS external,external - [angularTip_b] SS external,external - [xTip_a] SS external,external - [xTip_b] SS external,external - [yTip_a] SS external,external - [yTip_b] SS external,external - - - DELETED mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/gRODa/gROD_lbl.txt Index: mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/gRODa/gROD_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/gRODa/gROD_lbl.txt +++ /dev/null @@ -1,86 +0,0 @@ -%SUMMARY gROD: rigid rod in two dimensions - with gravity -%DESCRIPTION See Section 10.2 of "Metamodelling" -%DESCRIPTION Gravity term added at centre - -%ALIAS $1 l_a # length from end a to mass centre -%ALIAS $2 l_b # length from end b to mass centre -%ALIAS $3 j_m # inertia about mass centre -%ALIAS $4 m # mass -%ALIAS $5 g # gravity - -%ALIAS in|Tip_a xTip_a,angularTip_a,yTip_a -%ALIAS out|Tip_b xTip_b,angularTip_b,yTip_b - -%ALIAS in|Tip_a xTip_a,angularTip_a,yTip_a -%ALIAS out|Tip_b xTip_b,angularTip_b,yTip_b - -%ALIAS x_a xTip_a # Force/velocity at tip a in x direction -%ALIAS y_a yTip_a # Force/velocity at tip a in y direction -%ALIAS alpha_a|a_a angularTip_a # Torque/angular velocity at tip a - -%ALIAS x_b xTip_b # Force/velocity at tip b in x direction -%ALIAS y_b yTip_b # Force/velocity at tip b in y direction -%ALIAS alpha_b|a_b angularTip_b # Torque/angular velocity at tip b - -%ALIAS INTF General/INTF # The flow integration component. - -%% Label file for system gROD (gROD_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.2 1998/11/25 13:55:42 peterg -% %% Added missig attribute field m*g,internal -% %% -% %% Revision 1.1 1998/11/25 10:48:34 peterg -% %% Initial revision -% %% -% %% Revision 1.5 1998/07/27 12:27:27 peterg -% %% Added vector port aliases -% %% -% %% Revision 1.4 1998/07/27 10:51:20 peterg -% %% Aliased INTF as well. -% %% -% %% Revision 1.3 1998/07/27 10:49:10 peterg -% %% Major revision to include aliases etc -% %% -% %% Revision 1.2 1997/08/15 09:43:06 peterg -% %% Now has lablelled (as opposed to numbered) ports. -% %% -% Revision 1.1 1996/11/07 10:57:17 peterg -% Initial revision -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - -%Inertias -J lin flow,j_m -m_x lin flow,m -m_y lin flow,m - -%Integrate angular velocity to get angle -th - -%Modulated transformers -s1 lsin flow,l_a -s2 lsin flow,l_b -c1 lcos flow,l_a -c2 lcos flow,l_b - -% Component type SS - mg SS m*g,internal - [angularTip_a] SS external,external - [angularTip_b] SS external,external - [xTip_a] SS external,external - [xTip_b] SS external,external - [yTip_a] SS external,external - [yTip_b] SS external,external - - - DELETED mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/gRODa/gRODa_abg.fig Index: mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/gRODa/gRODa_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/gRODa/gRODa_abg.fig +++ /dev/null @@ -1,133 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4728 4278 5403 4953 5178 4953 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5854 5404 6529 6079 6304 6079 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4728 6078 5403 5403 5403 5628 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5853 4953 6528 4278 6528 4503 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 1 - 4277 3827 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3152 2702 4277 3827 4052 3827 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6977 6527 8102 7652 7877 7652 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3152 7652 4277 6527 4277 6752 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6977 3827 8102 2702 8102 2927 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5852 5177 6527 5177 6392 5312 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2927 2927 2927 4952 3152 4727 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2927 5402 2927 7427 3152 7202 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2701 5176 2026 5176 2161 5311 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2926 1351 2926 2476 3196 2206 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2926 7876 2926 9001 3196 8731 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8328 2928 8328 4953 8553 4728 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8328 5403 8328 7428 8553 7203 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8327 1352 8327 2477 8597 2207 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8327 7877 8327 9002 8597 8732 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5626 1351 5626 4951 5851 4726 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5626 5401 5626 9001 5851 8776 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 1 - 6526 5401 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 6526 4951 6526 5401 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8551 5176 9226 5176 9091 5311 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3826 4951 6526 4051 6436 4231 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3826 4996 3826 5356 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4276 5176 3826 5176 3961 5311 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3826 5401 6301 6301 6121 6301 -2 1 0 1 5 -1 0 0 -1 0.000 0 0 -1 0 0 3 - 3601 5401 4051 6301 3826 6301 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3601 4951 4051 4051 4051 4276 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5536 5176 5086 5176 5221 5311 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 6300 9675 6300 675 4950 675 4950 9675 6300 9675 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 9000 9675 9000 675 7650 675 7650 9675 9000 9675 -2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 11025 10305 11025 225 225 225 225 10305 11025 10305 -2 4 0 1 1 7 0 0 -1 0.000 0 0 7 0 0 5 - 3600 9675 2250 9675 2250 675 3600 675 3600 9675 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 10125 2250 990 2250 990 900 10125 900 10125 2250 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 10125 5850 990 5850 990 4500 10125 4500 10125 5850 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 10125 9450 990 9450 990 8100 10125 8100 10125 9450 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8550 5400 9225 6075 8955 6075 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 8685 5265 8415 5535 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3375 5175 2025 3825 2250 3825 -4 1 -1 0 0 0 20 0.0000 4 195 135 5628 5268 1\001 -4 1 -1 0 0 0 20 0.0000 4 195 270 6933 5268 I:J\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 2927 5312 1\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 2972 2792 0\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 2927 7742 0\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 8328 5313 1\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 8373 2793 0\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 8328 7743 0\001 -4 1 -1 0 0 0 20 0.0000 4 255 660 9676 5266 I:m_y\001 -4 1 -1 0 0 0 20 0.0000 4 255 660 1531 5221 I:m_x\001 -4 1 -1 0 0 0 20 0.0000 4 195 1110 4636 4141 EMTF:c1\001 -4 1 -1 0 0 0 20 0.0000 4 195 1110 4681 6391 EMTF:c2\001 -4 1 -1 0 0 0 20 0.0000 4 195 1095 7156 4141 EMTF:s1\001 -4 1 -1 0 0 0 20 0.0000 4 195 1095 7156 6391 EMTF:s2\001 -4 1 5 0 0 0 20 0.0000 4 195 135 3603 5313 0\001 -4 1 26 0 0 0 16 0.0000 4 210 345 6751 4456 [in]\001 -4 1 26 0 0 0 16 0.0000 4 210 465 6751 3781 [out]\001 -4 1 26 0 0 0 16 0.0000 4 210 345 6751 6076 [in]\001 -4 1 26 0 0 0 16 0.0000 4 210 465 6751 6706 [out]\001 -4 1 26 0 0 0 16 0.0000 4 210 585 6211 6526 [mod]\001 -4 1 5 0 0 0 20 0.0000 4 195 960 4681 5266 INTF:th\001 -4 1 1 1 0 0 20 0.0000 4 195 210 2925 10035 X\001 -4 1 1 1 0 32 20 0.0000 4 135 180 5580 9990 a\001 -4 1 1 1 0 0 20 0.0000 4 195 210 8280 9990 Y\001 -4 2 26 0 0 0 16 0.0000 4 210 585 3960 4140 [mod]\001 -4 2 26 0 0 0 16 0.0000 4 210 585 6345 4095 [mod]\001 -4 2 26 0 0 0 16 0.0000 4 210 585 3960 6210 [mod]\001 -4 1 26 0 0 0 16 0.0000 4 210 345 4590 4455 [in]\001 -4 1 26 0 0 0 16 0.0000 4 210 465 4545 3780 [out]\001 -4 1 26 0 0 0 16 0.0000 4 210 465 4590 6660 [out]\001 -4 0 26 0 0 0 16 0.0000 4 210 345 4365 6030 [in]\001 -4 1 4 0 0 0 20 0.0000 4 255 1380 2971 1216 SS:[xTip_a]\001 -4 1 4 0 0 0 20 0.0000 4 255 1380 2971 9361 SS:[xTip_b]\001 -4 1 4 0 0 0 20 0.0000 4 255 1380 8372 1217 SS:[yTip_a]\001 -4 1 4 0 0 0 20 0.0000 4 255 1380 8417 9362 SS:[yTip_b]\001 -4 1 4 0 0 0 20 0.0000 4 255 2130 5671 1216 SS:[angularTip_a]\001 -4 1 4 0 0 0 20 0.0000 4 255 2130 5671 9361 SS:[angularTip_b]\001 -4 1 1 1 0 0 20 0.0000 4 255 600 1350 2700 Tip a\001 -4 1 1 1 0 0 20 0.0000 4 195 1380 1260 6300 Mass centre\001 -4 1 1 1 0 0 20 0.0000 4 255 600 1350 9855 Tip b\001 -4 1 -1 0 0 0 20 0.0000 4 255 720 9360 6345 Se:mg\001 -4 2 4 0 0 0 20 0.0000 4 255 1200 1935 3735 SS:[angle]\001 DELETED mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/gRODa/gRODa_desc.tex Index: mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/gRODa/gRODa_desc.tex ================================================================== --- mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/gRODa/gRODa_desc.tex +++ /dev/null @@ -1,20 +0,0 @@ -% Verbal description for system gRODa (gRODa_desc.tex) -% Generated by MTT on Fri Aug 15 09:53:23 BST 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% Revision 1.1 1997/08/15 09:41:19 peterg -% Initial revision -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{gRODa} is - displayed in Figure \Ref{gRODa_abg} and its label - file is listed in Section \Ref{sec:gRODa_lbl}. - The subsystems are listed in Section \Ref{sec:gRODa_sub}. - -{\bf gRODa} is essentially as described in Figure 10.2 of -``Metamodelling''. DELETED mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/gRODa/gRODa_lbl.txt Index: mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/gRODa/gRODa_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/gRODa/gRODa_lbl.txt +++ /dev/null @@ -1,98 +0,0 @@ -%SUMMARY gRODa: rigid rod in two dimensions - with gravity and angle port -%DESCRIPTION See Section 10.2 of "Metamodelling" -%DESCRIPTION Gravity term added at centre - -%ALIAS $1 l_a # length from end a to mass centre -%ALIAS $2 l_b # length from end b to mass centre -%ALIAS $3 j_m # inertia about mass centre -%ALIAS $4 m # mass -%ALIAS $5 g # gravity - -%ALIAS in|Tip_a xTip_a,angularTip_a,yTip_a -%ALIAS out|Tip_b xTip_b,angularTip_b,yTip_b - -%ALIAS in|Tip_a xTip_a,angularTip_a,yTip_a -%ALIAS out|Tip_b xTip_b,angularTip_b,yTip_b - -%ALIAS x_a xTip_a # Force/velocity at tip a in x direction -%ALIAS y_a yTip_a # Force/velocity at tip a in y direction -%ALIAS alpha_a|a_a angularTip_a # Torque/angular velocity at tip a - -%ALIAS x_b xTip_b # Force/velocity at tip b in x direction -%ALIAS y_b yTip_b # Force/velocity at tip b in y direction -%ALIAS alpha_b|a_b angularTip_b # Torque/angular velocity at tip b - -%ALIAS angle|a angle # Angle port - -%ALIAS INTF General/INTF # The flow integration component. - -%% Label file for system gRODa (gRODa_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1999/08/05 08:04:40 peterg -% %% Initial revision -% %% -% %% Revision 1.3 1998/11/30 10:47:53 peterg -% %% Added extra a_a and a_b aliases -% %% -% %% Revision 1.2 1998/11/25 13:55:42 peterg -% %% Added missig attribute field m*g,internal -% %% -% %% Revision 1.1 1998/11/25 10:48:34 peterg -% %% Initial revision -% %% -% %% Revision 1.5 1998/07/27 12:27:27 peterg -% %% Added vector port aliases -% %% -% %% Revision 1.4 1998/07/27 10:51:20 peterg -% %% Aliased INTF as well. -% %% -% %% Revision 1.3 1998/07/27 10:49:10 peterg -% %% Major revision to include aliases etc -% %% -% %% Revision 1.2 1997/08/15 09:43:06 peterg -% %% Now has lablelled (as opposed to numbered) ports. -% %% -% Revision 1.1 1996/11/07 10:57:17 peterg -% Initial revision -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - -%Inertias -J lin flow,j_m -m_x lin flow,m -m_y lin flow,m - -%Integrate angular velocity to get angle -th - -%Modulated transformers -s1 lsin flow,l_a -s2 lsin flow,l_b -c1 lcos flow,l_a -c2 lcos flow,l_b - - -% Component type Se - mg SS m*g - - - [angularTip_a] SS external,external - [angularTip_b] SS external,external - [xTip_a] SS external,external - [xTip_b] SS external,external - [yTip_a] SS external,external - [yTip_b] SS external,external - [angle] SS external,external - - - DELETED mttroot/mtt/lib/comp/compound/Physiological/Movement/Muscles/LowerLeg1/LowerLeg1_abg.fig Index: mttroot/mtt/lib/comp/compound/Physiological/Movement/Muscles/LowerLeg1/LowerLeg1_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Physiological/Movement/Muscles/LowerLeg1/LowerLeg1_abg.fig +++ /dev/null @@ -1,57 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2475 1800 3825 1800 3600 2025 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4950 5400 6300 5400 6075 5625 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2475 9000 3825 9000 3600 9225 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 5625 1800 6975 1800 6750 2025 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4725 5625 4725 6975 4950 6750 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4725 7425 4725 8775 4950 8550 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 5625 9000 6975 9000 6750 9225 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 3825 1575 3825 2025 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 6975 1575 6975 2025 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 4500 5175 4500 5625 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 3825 8775 3825 9225 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 6975 8775 6975 9225 -2 4 0 2 31 7 101 0 -1 0.000 0 0 7 0 0 5 - 8550 9450 1350 9450 1350 1125 8550 1125 8550 9450 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4950 5175 5905 4220 5905 4539 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4725 3375 4725 2025 4950 2250 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4725 5175 4725 3825 4950 4050 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4500 5400 3150 5400 3375 5625 -4 1 4 100 0 18 18 0.0000 4 270 1110 1935 1890 SS:[F_1]\001 -4 1 0 100 0 18 18 0.0000 4 270 1710 4770 1890 Muscle1:m_1\001 -4 1 0 100 0 18 18 0.0000 4 270 840 4770 3690 TF:r_1\001 -4 1 0 100 0 18 18 0.0000 4 210 390 6615 5490 I:m\001 -4 1 0 100 0 18 18 0.0000 4 270 840 4815 7290 TF:r_2\001 -4 1 0 100 0 18 18 0.0000 4 270 1710 4725 9090 Muscle1:m_2\001 -4 1 0 100 0 18 18 0.0000 4 270 840 2610 5490 Se:mg\001 -4 1 4 100 0 18 14 0.0000 4 210 285 3510 8775 [F]\001 -4 1 4 100 0 18 14 0.0000 4 210 285 3510 1530 [F]\001 -4 1 0 100 0 18 18 0.0000 4 270 900 7515 1890 De:x_1\001 -4 1 0 100 0 18 18 0.0000 4 270 900 7515 9090 De:x_2\001 -4 1 0 100 0 18 18 0.0000 4 195 150 4725 5490 1\001 -4 1 0 100 0 18 18 0.0000 4 270 915 6075 4140 Df:v_m\001 -4 1 4 100 0 18 18 0.0000 4 270 1110 1890 9045 SS:[F_2]\001 DELETED mttroot/mtt/lib/comp/compound/Physiological/Movement/Muscles/LowerLeg1/LowerLeg1_desc.tex Index: mttroot/mtt/lib/comp/compound/Physiological/Movement/Muscles/LowerLeg1/LowerLeg1_desc.tex ================================================================== --- mttroot/mtt/lib/comp/compound/Physiological/Movement/Muscles/LowerLeg1/LowerLeg1_desc.tex +++ /dev/null @@ -1,37 +0,0 @@ -% -*-latex-*- Put EMACS into LaTeX-mode -% Verbal description for system LowerLeg1 (LowerLeg1_desc.tex) -% Generated by MTT on Thu Apr 19 10:39:20 BST 2001. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 2000/12/28 09:13:38 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -\fig{LowerLeg1_pic} - {LowerLeg1_pic} - {0.9} - {Simple lower-leg model} - - A schematic of a simple muscle model with skeleton appears in - Figure \Ref{fig:LowerLeg1_pic} and the acausal bond graph is - displayed in Figure \Ref{fig:LowerLeg1_abg.ps} and its label file - is listed in Section \Ref{sec:LowerLeg1_lbl.txt}. The subsystems - are listed in Section \Ref{sec:LowerLeg1_sub}. The model is a - rough approximation of the lower leg, knee joint and thigh muscles - with the lower leg horizontal. - - The components are: - \begin{description} - \item[F\_1 and F\_2] the force inputs to the upper and lower muscles - \item[m\_1 and m\_2] the upper and lower muscles - \item[r\_1 and r\_2] the transformers reflecting the geometry of the - muscle attachments - \item[m] load mass - \item[mg] force due to gravity. - \end{description} - DELETED mttroot/mtt/lib/comp/compound/Physiological/Movement/Muscles/LowerLeg1/LowerLeg1_input.txt Index: mttroot/mtt/lib/comp/compound/Physiological/Movement/Muscles/LowerLeg1/LowerLeg1_input.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Physiological/Movement/Muscles/LowerLeg1/LowerLeg1_input.txt +++ /dev/null @@ -1,9 +0,0 @@ -## -*-octave-*- Put Emacs into octave-mode ## - -## -## System LowerLeg1, representation input, language txt; -## File Example2_input.txt; -## Generated by MTT on Mon Apr 30 10:08:54 BST 2001; - -example2_f_1 = 1.0*((t>2.0)&&(t<4.0)); # On for 26.0)&&(t<8.0)); # On for 6 } - imagemask } bind -] def -/PaintProc { - pop - exec fill -} def -currentdict -end -/P8 exch def - -/cp {closepath} bind def -/ef {eofill} bind def -/gr {grestore} bind def -/gs {gsave} bind def -/sa {save} bind def -/rs {restore} bind def -/l {lineto} bind def -/m {moveto} bind def -/rm {rmoveto} bind def -/n {newpath} bind def -/s {stroke} bind def -/sh {show} bind def -/slc {setlinecap} bind def -/slj {setlinejoin} bind def -/slw {setlinewidth} bind def -/srgb {setrgbcolor} bind def -/rot {rotate} bind def -/sc {scale} bind def -/sd {setdash} bind def -/ff {findfont} bind def -/sf {setfont} bind def -/scf {scalefont} bind def -/sw {stringwidth} bind def -/tr {translate} bind def -/tnt {dup dup currentrgbcolor - 4 -2 roll dup 1 exch sub 3 -1 roll mul add - 4 -2 roll dup 1 exch sub 3 -1 roll mul add - 4 -2 roll dup 1 exch sub 3 -1 roll mul add srgb} - bind def -/shd {dup dup currentrgbcolor 4 -2 roll mul 4 -2 roll mul - 4 -2 roll mul srgb} bind def - /DrawEllipse { - /endangle exch def - /startangle exch def - /yrad exch def - /xrad exch def - /y exch def - /x exch def - /savematrix mtrx currentmatrix def - x y tr xrad yrad sc 0 0 1 startangle endangle arc - closepath - savematrix setmatrix - } def - -/$F2psBegin {$F2psDict begin /$F2psEnteredState save def} def -/$F2psEnd {$F2psEnteredState restore end} def - -$F2psBegin -%%Page: 1 1 -10 setmiterlimit - 0.06299 0.06299 sc -% Polyline -15.000 slw -n 555 675 m 450 675 450 3720 105 arcto 4 {pop} repeat - 450 3825 6870 3825 105 arcto 4 {pop} repeat - 6975 3825 6975 780 105 arcto 4 {pop} repeat - 6975 675 555 675 105 arcto 4 {pop} repeat - cp gs col31 s gr -% Arc -n 1800.0 -821.0 2576.0 105.2 74.8 arcn -gs col0 s gr - -% Arc -n 1800.0 4151.0 2576.0 -105.2 -74.8 arc -gs col0 s gr - -% Arc -n 1800.0 349.0 2576.0 105.2 74.8 arcn -gs col0 s gr - -% Arc -n 1800.0 5321.0 2576.0 -105.2 -74.8 arc -gs col0 s gr - -% Ellipse -n 2700 2250 127 127 0 360 DrawEllipse gs col0 s gr - -% Polyline -n 2475 2025 m 5625 2025 l 5625 2475 l 2475 2475 l - cp gs col0 s gr -% Polyline -n 2475 1575 m 2700 1575 l 2700 2025 l 2475 2025 l - cp gs col0 s gr -% Polyline -n 2475 2475 m 2700 2475 l 2700 2925 l 2475 2925 l - cp gs col0 s gr -% Polyline -7.500 slw -n 675 1125 m 1125 1125 l 1125 3375 l 675 3375 l - cp gs /PC [[1.00 1.00 1.00] [0.00 0.00 0.00]] def -15.00 15.00 sc P8 [16 0 0 -16 45.00 75.00] PATmp PATsp ef gr PATusp gs col0 s gr -% Polyline -15.000 slw -gs clippath -2731 2196 m 2646 2281 l 2801 2436 l 2717 2267 l 2886 2351 l cp -eoclip -n 2700 2250 m - 3780 3330 l gs col1 s gr gr - -% arrowhead -n 2886 2351 m 2717 2267 l 2801 2436 l 2886 2436 l 2886 2351 l - cp gs col1 1.00 shd ef gr col1 s -% Polyline -gs clippath -1746 1543 m 1831 1628 l 1986 1473 l 1817 1558 l 1901 1388 l cp -eoclip -n 1800 1575 m - 2250 1125 l gs col1 s gr gr - -% arrowhead -n 1901 1388 m 1817 1558 l 1986 1473 l 1986 1388 l 1901 1388 l - cp gs col1 1.00 shd ef gr col1 s -% Polyline -gs clippath -1746 2668 m 1831 2753 l 1986 2598 l 1817 2683 l 1901 2513 l cp -eoclip -n 1800 2700 m - 3375 1125 l gs col1 s gr gr - -% arrowhead -n 1901 2513 m 1817 2683 l 1986 2598 l 1986 2513 l 1901 2513 l - cp gs col1 1.00 shd ef gr col1 s -% Polyline -gs clippath -3996 1948 m 4081 2033 l 4236 1878 l 4067 1963 l 4151 1793 l cp -eoclip -n 4050 1980 m - 4905 1125 l gs col1 s gr gr - -% arrowhead -n 4151 1793 m 4067 1963 l 4236 1878 l 4236 1793 l 4151 1793 l - cp gs col1 1.00 shd ef gr col1 s -% Polyline -gs clippath -5818 1745 m 5903 1830 l 6058 1675 l 5889 1760 l 5973 1590 l cp -eoclip -n 5872 1777 m - 6524 1125 l gs col1 s gr gr - -% arrowhead -n 5973 1590 m 5889 1760 l 6058 1675 l 6058 1590 l 5973 1590 l - cp gs col1 1.00 shd ef gr col1 s -% Polyline -n 5625 1890 m 6345 1890 l 6345 2565 l 5625 2565 l - cp gs col0 s gr -/Times-BoldItalic ff 300.00 scf sf -3825 3645 m -gs 1 -1 sc (Pivot) dup sw pop 2 div neg 0 rm col1 sh gr -/Times-BoldItalic ff 300.00 scf sf -2250 1080 m -gs 1 -1 sc (Muscle 1) dup sw pop 2 div neg 0 rm col1 sh gr -/Times-BoldItalic ff 300.00 scf sf -3555 1080 m -gs 1 -1 sc (Muscle 2) dup sw pop 2 div neg 0 rm col1 sh gr -/Times-BoldItalic ff 300.00 scf sf -4905 1080 m -gs 1 -1 sc (Bone) dup sw pop 2 div neg 0 rm col1 sh gr -/Times-BoldItalic ff 300.00 scf sf -6480 1080 m -gs 1 -1 sc (Load) dup sw pop 2 div neg 0 rm col1 sh gr -/Times-Roman ff 375.00 scf sf -5850 2295 m -gs 1 -1 sc (m) col0 sh gr -$F2psEnd -rs -end DELETED mttroot/mtt/lib/comp/compound/Physiological/Movement/Muscles/LowerLeg1/LowerLeg1_rep.txt Index: mttroot/mtt/lib/comp/compound/Physiological/Movement/Muscles/LowerLeg1/LowerLeg1_rep.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Physiological/Movement/Muscles/LowerLeg1/LowerLeg1_rep.txt +++ /dev/null @@ -1,37 +0,0 @@ -## -*-octave-*- Put Emacs into octave-mode -## Outline report file for system LowerLeg1 (Example1_rep.txt) -## Generated by MTT on" Thu Apr 19 10:26:57 BST 2001. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.1 2000/12/28 11:58:07 peterg -## Put under RCS -## -############################################################### - -mtt LowerLeg1 abg tex # The system description -mtt LowerLeg1 cbg ps # The causal bond graph -mtt LowerLeg1 lbl txt -mtt Muscle1 lbl txt -mtt LowerLeg1 struc tex # The system structure -mtt LowerLeg1 sympar tex # The system parameters -## Uncomment the following lines or add others -## mtt LowerLeg1 dae tex # The system dae -mtt LowerLeg1 ode tex # The system ode -## mtt LowerLeg1 sspar tex # Steady-state parameters -## mtt LowerLeg1 ss tex # Steady state -## mtt LowerLeg1 dm tex # Descriptor matrices (of linearised system) -mtt LowerLeg1 sm tex # State matrices (of linearised system) -mtt LowerLeg1 tf tex # Transfer function (of linearised system) -## mtt LowerLeg1 lmfr ps # log modulus of frequency response (of linearised system) - mtt LowerLeg1 simpar tex # Simulation parameters - mtt LowerLeg1 numpar tex # Numerical simulation parameters -## mtt LowerLeg1 state tex # Simulation initial state - mtt LowerLeg1 input tex # Simulation input -## mtt LowerLeg1 logic tex # Logic control - mtt LowerLeg1 odeso ps # Simulation output - -mtt LowerLeg1 rep txt # This file DELETED mttroot/mtt/lib/comp/compound/Physiological/Movement/Muscles/Muscle1/Muscle1_abg.fig Index: mttroot/mtt/lib/comp/compound/Physiological/Movement/Muscles/Muscle1/Muscle1_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Physiological/Movement/Muscles/Muscle1/Muscle1_abg.fig +++ /dev/null @@ -1,31 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2700 2700 4050 2700 3825 2925 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4500 2700 5850 2700 5625 2925 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4275 2475 4275 1125 4500 1350 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 7200 2700 8550 2700 8325 2925 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4275 4275 4275 2925 4500 3150 -2 4 0 2 31 7 101 0 -1 0.000 0 0 7 0 0 5 - 9900 4950 1575 4950 1575 450 9900 450 9900 4950 -4 1 0 100 0 18 18 0.0000 4 195 150 4275 2790 1\001 -4 2 4 100 0 18 18 0.0000 4 270 870 2610 2790 SS:[in]\001 -4 1 0 100 0 18 18 0.0000 4 270 840 4455 945 R:d_m\001 -4 1 0 100 0 18 18 0.0000 4 270 1170 6525 2790 CDx:c_m\001 -4 0 4 100 0 18 18 0.0000 4 270 1065 8640 2790 SS:[out]\001 -4 1 1 101 0 3 20 0.0000 4 210 1170 8055 3285 Extension\001 -4 1 4 100 0 18 18 0.0000 4 270 810 4275 4545 SS:[F]\001 -4 1 1 101 0 3 20 0.0000 4 270 3150 7875 4680 Simple linear muscle model\001 -4 1 1 101 0 3 20 0.0000 4 210 1365 2340 3240 Connection\001 -4 1 1 101 0 3 20 0.0000 4 270 1335 3015 4545 Force input\001 DELETED mttroot/mtt/lib/comp/compound/Physiological/Movement/Muscles/Muscle1/Muscle1_desc.tex Index: mttroot/mtt/lib/comp/compound/Physiological/Movement/Muscles/Muscle1/Muscle1_desc.tex ================================================================== --- mttroot/mtt/lib/comp/compound/Physiological/Movement/Muscles/Muscle1/Muscle1_desc.tex +++ /dev/null @@ -1,37 +0,0 @@ -% -*-latex-*- Put EMACS into LaTeX-mode -% Verbal description for system Muscle1 (Muscle1_desc.tex) -% Generated by MTT on Thu Apr 19 10:39:29 BST 2001. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 2000/12/28 09:13:38 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{Muscle1} is - displayed in Figure \Ref{fig:Muscle1_abg.ps} and its label - file is listed in Section \Ref{sec:Muscle1_lbl}. - The subsystems are listed in Section \Ref{sec:Muscle1_sub}. - - -This model is a highly simplified linear model of a muscle. The two -main components are: -\begin{itemize} -\item a \textbf{CDx} component representing the muscle compliance and - also providing a measurement of muscle extension and -\item an \textbf{R} component representing mechanical damping in the muscle -\end{itemize} - -The component has three ports: -\begin{description} -\item [in] representing the connection of the muscle to the outside world. The - corresponding force corresponds to the sum of the muscle force and - the reaction force of connected components. -\item[out] a measurement of the muscle extension. -\item[F] Representing the force component of the muscle model. -\end{description} - DELETED mttroot/mtt/lib/comp/compound/Physiological/Movement/Muscles/Muscle1/Muscle1_lbl.txt Index: mttroot/mtt/lib/comp/compound/Physiological/Movement/Muscles/Muscle1/Muscle1_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Physiological/Movement/Muscles/Muscle1/Muscle1_lbl.txt +++ /dev/null @@ -1,41 +0,0 @@ -%% Label file for system Muscle1 (Muscle1_lbl.txt) -%SUMMARY Muscle1 -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 2000/12/28 09:13:38 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS F F -%ALIAS in in -%ALIAS out out - -% Argument aliases -%ALIAS $1 c_m -%ALIAS $2 d_m - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type CDx - c_m lin c_m - -% Component type R - d_m lin flow,d_m - -% Component type SS - [F] SS external,external - [in] SS external,external - [out] SS external,external DELETED mttroot/mtt/lib/comp/compound/Sensitivity/O/O_abg.fig Index: mttroot/mtt/lib/comp/compound/Sensitivity/O/O_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Sensitivity/O/O_abg.fig +++ /dev/null @@ -1,29 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2295 6075 3645 6075 3420 6300 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 3825 5760 3825 4410 4050 4635 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4050 6075 5400 6075 5175 6300 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2295 3150 3645 3150 3420 3375 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 3825 2835 3825 1485 4050 1710 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4050 3150 5400 3150 5175 3375 -4 1 4 100 0 18 20 0.0000 4 285 1080 3870 4185 SS:[B2]\001 -4 1 4 100 0 18 20 0.0000 4 285 1080 6075 6165 SS:[B3]\001 -4 1 4 100 0 18 20 0.0000 4 285 1080 1665 6165 SS:[B1]\001 -4 1 0 100 0 18 20 0.0000 4 210 165 3825 6165 0\001 -4 1 4 100 0 18 20 0.0000 4 285 1080 3870 1260 SS:[A2]\001 -4 1 4 100 0 18 20 0.0000 4 285 1080 6075 3240 SS:[A3]\001 -4 1 4 100 0 18 20 0.0000 4 285 1080 1665 3240 SS:[A1]\001 -4 1 0 100 0 18 20 0.0000 4 210 165 3825 3240 0\001 DELETED mttroot/mtt/lib/comp/compound/Sensitivity/O/O_lbl.txt Index: mttroot/mtt/lib/comp/compound/Sensitivity/O/O_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Sensitivity/O/O_lbl.txt +++ /dev/null @@ -1,36 +0,0 @@ -%% Label file for system O (O_lbl.txt) -%SUMMARY O Three-port zero junction for 2-bond vector bonds :-) -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1999/07/29 04:47:49 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS in A1,B1 -%ALIAS out A2,B2 -%ALIAS in_2|out_2 A3,B3 - -% Argument aliases - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type SS - [A1] SS external,external - [A2] SS external,external - [A3] SS external,external - [B1] SS external,external - [B2] SS external,external - [B3] SS external,external DELETED mttroot/mtt/lib/comp/compound/Sensitivity/l/l_abg.fig Index: mttroot/mtt/lib/comp/compound/Sensitivity/l/l_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Sensitivity/l/l_abg.fig +++ /dev/null @@ -1,29 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2295 6075 3645 6075 3420 6300 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 3825 5760 3825 4410 4050 4635 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4050 6075 5400 6075 5175 6300 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2295 3150 3645 3150 3420 3375 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 3825 2835 3825 1485 4050 1710 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4050 3150 5400 3150 5175 3375 -4 1 4 100 0 18 20 0.0000 4 285 1080 3870 4185 SS:[B2]\001 -4 1 4 100 0 18 20 0.0000 4 285 1080 6075 6165 SS:[B3]\001 -4 1 4 100 0 18 20 0.0000 4 285 1080 1665 6165 SS:[B1]\001 -4 1 0 100 0 18 20 0.0000 4 210 165 3825 6165 1\001 -4 1 4 100 0 18 20 0.0000 4 285 1080 3870 1260 SS:[A2]\001 -4 1 4 100 0 18 20 0.0000 4 285 1080 6075 3240 SS:[A3]\001 -4 1 4 100 0 18 20 0.0000 4 285 1080 1665 3240 SS:[A1]\001 -4 1 0 100 0 18 20 0.0000 4 210 165 3825 3240 1\001 DELETED mttroot/mtt/lib/comp/compound/Sensitivity/l/l_lbl.txt Index: mttroot/mtt/lib/comp/compound/Sensitivity/l/l_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Sensitivity/l/l_lbl.txt +++ /dev/null @@ -1,36 +0,0 @@ -%% Label file for system l (l_lbl.txt) -%SUMMARY l Three port 1 junction with 2-bond vector ports :-) -%DESCRIPTIlN - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1999/07/29 04:49:49 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS in A1,B1 -%ALIAS out A2,B2 -%ALIAS in_2|out_2 A3,B3 - -% Argument aliases - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type SS - [A1] SS external,external - [A2] SS external,external - [A3] SS external,external - [B1] SS external,external - [B2] SS external,external - [B3] SS external,external DELETED mttroot/mtt/lib/comp/compound/Sensitivity/sAE/sAE_abg.fig Index: mttroot/mtt/lib/comp/compound/Sensitivity/sAE/sAE_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Sensitivity/sAE/sAE_abg.fig +++ /dev/null @@ -1,38 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4275 4050 5625 4050 5400 4275 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 7650 4050 9000 4050 8775 4275 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 9450 4050 10800 4050 10575 4275 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2475 450 3825 450 3600 675 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4275 450 5625 450 5400 675 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 7650 450 9000 450 8775 675 -2 1 0 2 -1 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4050 2520 9225 3825 9225 3600 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4050 675 4050 2025 4275 1800 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 5625 3825 5625 4275 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 3825 225 3825 675 -4 1 0 100 0 18 20 0.0000 4 210 1155 6660 4140 AE:sens\001 -4 1 0 100 0 18 20 0.0000 4 195 150 9225 4140 1\001 -4 1 0 100 0 18 20 0.0000 4 195 150 4050 540 0\001 -4 1 0 100 0 18 20 0.0000 4 270 960 4050 2340 AE:k_s\001 -4 1 0 100 0 18 20 0.0000 4 210 1320 6660 540 AE:actual\001 -4 1 4 100 0 18 20 0.0000 4 270 1740 3060 4140 SS:[Sens_in]\001 -4 1 4 100 0 18 20 0.0000 4 270 1935 12240 4140 SS:[Sens_out]\001 -4 1 4 100 0 18 20 0.0000 4 270 2115 10575 585 SS:[Actual_out]\001 -4 1 4 100 0 18 20 0.0000 4 270 1920 1170 585 SS:[Actual_in]\001 DELETED mttroot/mtt/lib/comp/compound/Sensitivity/sAE/sAE_lbl.txt Index: mttroot/mtt/lib/comp/compound/Sensitivity/sAE/sAE_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Sensitivity/sAE/sAE_lbl.txt +++ /dev/null @@ -1,39 +0,0 @@ -%% Label file for system sAE (sAE_lbl.txt) -%SUMMARY sAE -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS in Actual_in,Sens_in -%ALIAS out Actual_out,Sens_out - - -% Argument aliases -%ALIAS $1 k -%ALIAS $2 k_s - - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type AE - actual lin k - sens lin k - k_s lin k_s - -% Component type SS - [Actual_in] SS external,external - [Actual_out] SS external,external - [Sens_in] SS external,external - [Sens_out] SS external,external DELETED mttroot/mtt/lib/comp/compound/Sensitivity/sAF/sAF_abg.fig Index: mttroot/mtt/lib/comp/compound/Sensitivity/sAF/sAF_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Sensitivity/sAF/sAF_abg.fig +++ /dev/null @@ -1,42 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -6 2430 180 2520 720 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 2475 225 2475 675 --6 -6 4230 3780 4320 4320 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 4275 3825 4275 4275 --6 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4275 4050 5625 4050 5400 4275 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 7650 4050 9000 4050 8775 4275 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 9450 4050 10800 4050 10575 4275 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2475 450 3825 450 3600 675 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4275 450 5625 450 5400 675 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 7650 450 9000 450 8775 675 -2 1 0 2 -1 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4050 2520 9225 3825 9225 3600 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4050 675 4050 2025 4275 1800 -4 1 0 100 0 18 20 0.0000 4 285 1425 6660 4140 AF:sens\001 -4 1 0 100 0 18 20 0.0000 4 270 195 9225 4140 0\001 -4 1 0 100 0 18 20 0.0000 4 270 195 4050 540 1\001 -4 1 0 100 0 18 20 0.0000 4 360 1215 4050 2340 AF:k_s\001 -4 1 0 100 0 18 20 0.0000 4 285 1680 6660 540 AF:actual\001 -4 1 4 100 0 18 20 0.0000 4 360 2280 3060 4140 SS:[Sens_in]\001 -4 1 4 100 0 18 20 0.0000 4 360 2520 12240 4140 SS:[Sens_out]\001 -4 1 4 100 0 18 20 0.0000 4 360 2775 10575 585 SS:[Actual_out]\001 -4 1 4 100 0 18 20 0.0000 4 360 2535 1170 585 SS:[Actual_in]\001 DELETED mttroot/mtt/lib/comp/compound/Sensitivity/sAF/sAF_lbl.txt Index: mttroot/mtt/lib/comp/compound/Sensitivity/sAF/sAF_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Sensitivity/sAF/sAF_lbl.txt +++ /dev/null @@ -1,39 +0,0 @@ -%% Label file for system sAF (sAF_lbl.txt) -%SUMMARY sAF -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS in Actual_in,Sens_in -%ALIAS out Actual_out,Sens_out - - -% Argument aliases -%ALIAS $1 k -%ALIAS $2 k_s - - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type AF - actual lin k - sens lin k - k_s lin k_s - -% Component type SS - [Actual_in] SS external,external - [Actual_out] SS external,external - [Sens_in] SS external,external - [Sens_out] SS external,external DELETED mttroot/mtt/lib/comp/compound/Sensitivity/sC/sC_abg.fig Index: mttroot/mtt/lib/comp/compound/Sensitivity/sC/sC_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Sensitivity/sC/sC_abg.fig +++ /dev/null @@ -1,20 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 6750 3375 5400 3375 5625 3600 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 3150 3375 4500 3375 4275 3600 -2 4 0 3 31 7 101 0 -1 0.000 0 0 11 0 0 5 - 9000 4725 1350 4725 1350 2253 9000 2253 9000 4725 -4 1 4 100 0 18 14 0.0000 4 210 270 4410 3105 [1]\001 -4 1 4 100 0 18 14 0.0000 4 210 270 5535 3105 [2]\001 -4 0 4 100 0 18 18 0.0000 4 270 1935 6840 3465 SS:[sensitivity]\001 -4 2 4 100 0 18 18 0.0000 4 270 1410 3060 3465 SS:[actual]\001 -4 1 0 100 0 18 18 0.0000 4 210 450 4950 3465 C:c\001 DELETED mttroot/mtt/lib/comp/compound/Sensitivity/sC/sC_lbl.txt Index: mttroot/mtt/lib/comp/compound/Sensitivity/sC/sC_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Sensitivity/sC/sC_lbl.txt +++ /dev/null @@ -1,40 +0,0 @@ -%% Label file for system sC (sC_lbl.txt) -%SUMMARY sC Sensitivity C component -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 2001/04/05 12:00:18 gawthrop -% %% Identification example -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS in actual,sensitivity - -% Argument aliases -%ALIAS $1 effort,c -%ALIAS $2 cs - -%CR alias -%ALIAS $1 slin - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- -% Component type C - c slin effort,c;cs - -% Component type SS - [actual] SS external,external - [sensitivity] SS external,external - - - DELETED mttroot/mtt/lib/comp/compound/Sensitivity/sCS/sCS_abg.fig Index: mttroot/mtt/lib/comp/compound/Sensitivity/sCS/sCS_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Sensitivity/sCS/sCS_abg.fig +++ /dev/null @@ -1,25 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -6 2340 3915 2610 4185 -4 1 6 100 0 18 20 0.0000 4 271 196 2476 4186 [1,2]\001 -4 1 0 100 0 18 20 0.0000 4 270 195 2476 4185 1\001 --6 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2475 3825 2475 2475 2700 2700 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2475 5625 2475 4275 2700 4500 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2700 4050 4050 4050 3825 4275 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 2700 3825 2700 4275 -4 1 0 100 0 18 20 0.0000 4 285 570 2475 2295 sC:c\001 -4 0 0 100 0 18 20 0.0000 4 360 1185 4185 4185 sSe:e_0\001 -4 1 6 100 0 18 20 0.0000 4 361 1186 2476 6031 [1,2]\001 -4 1 4 100 0 18 20 0.0000 4 360 1185 2476 6030 SS:[in]\001 DELETED mttroot/mtt/lib/comp/compound/Sensitivity/sCS/sCS_lbl.txt Index: mttroot/mtt/lib/comp/compound/Sensitivity/sCS/sCS_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Sensitivity/sCS/sCS_lbl.txt +++ /dev/null @@ -1,41 +0,0 @@ -%% Label file for system sCS (sCS_lbl.txt) -%SUMMARY sCS C component with initial state - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 2000/12/28 10:31:35 peterg -% %% Put under RCS -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS in in_1,in_2 - -% Argument aliases -%ALIAS $1 effort,c -%ALIAS $2 e_0 -%ALIAS $3 c_s -%ALIAS $4 e_0s - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type C - c slin effort,c;c_s - -% Component type SS - [in] SS external,external - -% Component type Se - e_0 SS e_0;e_0s - - DELETED mttroot/mtt/lib/comp/compound/Sensitivity/sCT/sCT_abg.fig Index: mttroot/mtt/lib/comp/compound/Sensitivity/sCT/sCT_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Sensitivity/sCT/sCT_abg.fig +++ /dev/null @@ -1,27 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2025 2700 3375 2700 3150 2925 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4275 2700 5625 2700 5400 2925 -2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 6525 3825 6525 1575 900 1575 900 3825 6525 3825 -4 1 4 0 0 0 20 0.0000 4 240 270 3285 2475 [f]\001 -4 1 1 1 0 3 20 0.0000 4 195 165 2475 3105 S\001 -4 1 1 1 0 3 20 0.0000 4 195 165 2475 2475 T\001 -4 1 1 1 0 3 30 0.0000 4 60 105 2520 2835 .\001 -4 2 6 0 0 0 20 0.0000 4 240 510 1981 2791 [1,2]\001 -4 2 4 0 0 0 20 0.0000 4 240 810 1981 2790 SS:[in]\001 -4 1 -1 0 0 0 20 0.0000 4 255 735 3825 2790 sFP:fp\001 -4 1 4 0 0 0 20 0.0000 4 255 315 4410 2475 [p]\001 -4 1 1 1 0 3 20 0.0000 4 240 210 4950 3105 Q\001 -4 1 1 1 0 3 20 0.0000 4 195 165 4950 2475 T\001 -4 1 1 1 0 3 30 0.0000 4 60 105 4995 2835 .\001 -4 1 -1 0 0 0 20 0.0000 4 195 495 5940 2790 sC:c\001 DELETED mttroot/mtt/lib/comp/compound/Sensitivity/sCT/sCT_lbl.txt Index: mttroot/mtt/lib/comp/compound/Sensitivity/sCT/sCT_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Sensitivity/sCT/sCT_lbl.txt +++ /dev/null @@ -1,35 +0,0 @@ -#SUMMARY sCT Sensitivity version of Continuous-Time (thermal C) component - -## System sCT, representation lbl, language txt -## File sCT_lbl.txt -## Generated by MTT on Fri Jul 6 05:16:27 BST 2001 - - ############################################################### - ## Version control history - ############################################################### - ## $Id$ - ## $Log$ - ############################################################### - -## Port aliases -#ALIAS in in_1,in_2 - -## Argument aliases -#ALIAS $1 effort,c -#ALIAS $2 cs - -## Each line should be of one of the following forms: -## a comment (ie starting with #) -## component-name cr_name arg1,arg2,..argn -## blank - -## ---- Component labels ---- - -## Component type SS - [in] SS external,external - -## Component type C - c slin effort,c;cs - -## Component type FP - fp lin DELETED mttroot/mtt/lib/comp/compound/Sensitivity/sCT/sCT_rep.txt Index: mttroot/mtt/lib/comp/compound/Sensitivity/sCT/sCT_rep.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Sensitivity/sCT/sCT_rep.txt +++ /dev/null @@ -1,35 +0,0 @@ -## -*-octave-*- Put Emacs into octave-mode -## Outline report file for system sCT (sCT_rep.txt) -## Generated by MTT on" Fri Jul 6 05:27:38 BST 2001. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.1 2000/12/28 11:58:07 peterg -## Put under RCS -## -############################################################### - -mtt sCT abg tex # The system description -##mtt sCT cbg ps # The causal bond graph -mtt sCT struc tex # The system structure -mtt sCT sympar tex # The system parameters -## Uncomment the following lines or add others -mtt sCT dae tex # The system dae -## mtt sCT ode tex # The system ode -## mtt sCT sspar tex # Steady-state parameters -## mtt sCT ss tex # Steady state -## mtt sCT dm tex # Descriptor matrices (of linearised system) -## mtt sCT sm tex # State matrices (of linearised system) -## mtt sCT tf tex # Transfer function (of linearised system) -## mtt sCT lmfr ps # log modulus of frequency response (of linearised system) -## mtt sCT simpar tex # Simulation parameters -## mtt sCT numpar tex # Numerical simulation parameters -## mtt sCT state tex # Simulation initial state -## mtt sCT input tex # Simulation input -## mtt sCT logic tex # Logic control -## mtt sCT odeso ps # Simulation output - -## mtt sCT rep txt # This file DELETED mttroot/mtt/lib/comp/compound/Sensitivity/sDC/sDC_abg.fig Index: mttroot/mtt/lib/comp/compound/Sensitivity/sDC/sDC_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Sensitivity/sDC/sDC_abg.fig +++ /dev/null @@ -1,56 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2036 2724 3371 2724 3063 2947 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3836 2700 5171 2700 4863 2923 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5421 2501 5421 1342 5678 1609 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8501 2724 9836 2724 9528 2947 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 11325 4730 11325 494 8758 494 8758 4730 11325 4730 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5672 2700 7006 2700 6698 2923 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 6300 4725 6300 494 2293 494 2293 4725 6300 4725 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3600 2501 3600 1342 3857 1609 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 11886 2546 11886 1386 12143 1654 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 12143 2724 13478 2724 13170 2947 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 10041 2546 10041 1386 10298 1654 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 10298 2724 11633 2724 11325 2947 -2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 15750 5175 45 5175 45 316 15750 316 15750 5175 -4 2 4 0 0 0 20 0.0000 4 255 1815 1980 2790 SS:[Electrical]\001 -4 1 1 1 0 0 23 0.0000 4 240 1395 1472 3170 Terminals\001 -4 1 -1 0 0 0 23 0.0000 4 240 90 5370 2858 l\001 -4 1 -1 0 0 0 23 0.0000 4 285 1365 7783 2813 sGY:k_m\001 -4 1 -1 0 0 0 23 0.0000 4 285 765 5370 1252 sI:l_a\001 -4 1 1 1 0 0 23 0.0000 4 240 1290 5421 5043 Electrical\001 -4 1 1 1 0 0 23 0.0000 4 240 1605 10041 5043 Mechanical\001 -4 1 -1 0 0 0 23 0.0000 4 240 90 3600 2835 l\001 -4 1 -1 0 0 0 23 0.0000 4 270 900 3645 1260 sR:r_a\001 -4 1 4 100 0 18 4 0.0000 4 75 270 3780 2475 [out_2]\001 -4 1 4 100 0 18 4 0.0000 4 75 270 5580 2475 [out_2]\001 -4 1 -1 0 0 0 23 0.0000 4 240 90 11880 2835 l\001 -4 1 4 100 0 18 4 0.0000 4 75 270 11745 2475 [out_2]\001 -4 1 -1 0 0 0 23 0.0000 4 300 885 10144 1252 sI:j_m\001 -4 1 -1 0 0 0 23 0.0000 4 240 90 10035 2835 l\001 -4 1 4 100 0 18 4 0.0000 4 75 270 9900 2475 [out_2]\001 -4 1 -1 0 0 0 23 0.0000 4 285 1080 11880 1260 sR:b_m\001 -4 0 4 0 0 0 20 0.0000 4 255 2055 13635 2790 SS:[Mechanical]\001 -4 1 1 1 0 0 23 0.0000 4 240 735 12645 3150 Shaft\001 -4 1 4 100 0 18 16 0.0000 4 225 480 2115 2520 [1,2]\001 -4 1 4 100 0 18 16 0.0000 4 225 480 13365 2565 [1,2]\001 DELETED mttroot/mtt/lib/comp/compound/Sensitivity/sDC/sDC_desc.tex Index: mttroot/mtt/lib/comp/compound/Sensitivity/sDC/sDC_desc.tex ================================================================== --- mttroot/mtt/lib/comp/compound/Sensitivity/sDC/sDC_desc.tex +++ /dev/null @@ -1,38 +0,0 @@ -% Verbal description for system sDC (sDC_desc.tex) -% Generated by MTT on Thu Sep 11 10:09:58 BST 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{sDC} is - displayed in Figure \Ref{sDC_abg} and its label - file is listed in Section \Ref{sec:sDC_lbl}. - The subsystems are listed in Section \Ref{sec:sDC_sub}. - - \begin{table}[htbp] - \begin{center} - \leavevmode - \begin{tabular}{|l|l|} - \hline - Index & Parameter\\ - \hline - 1 & Motor gain ($k_m$) \\ - 2 & Armature inductance ($l_a$) \\ - 3 & Armature resistance ($r_a$) \\ - 4 & Inertia ($j_m$) \\ - 5 & Friction coefficient ($b_m$) \\ - \hline - \end{tabular} - \caption{sDC motor parameters} - \label{tab:sDC_components} - \end{center} - \end{table} -{\bf sDC} is a two(vector)-port component representing a DC motor and its -sensitivity functions. It has the 5 -parameters listed in Table \Ref{tab:sDC_components}. - - DELETED mttroot/mtt/lib/comp/compound/Sensitivity/sDC/sDC_lbl.txt Index: mttroot/mtt/lib/comp/compound/Sensitivity/sDC/sDC_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Sensitivity/sDC/sDC_lbl.txt +++ /dev/null @@ -1,52 +0,0 @@ -%% Label file for system sDC (sDC_lbl.txt) -%SUMMARY sDC -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS in Electrical_1,Electrical_2 -%ALIAS out Mechanical_1,Mechanical_2 - -% Argument aliases -%ALIAS $1 k_m -%ALIAS $2 l_a -%ALIAS $3 r_a -%ALIAS $4 j_m -%ALIAS $5 b_m - -%ALIAS $6 k_ms -%ALIAS $7 l_as -%ALIAS $8 r_as -%ALIAS $9 j_ms -%ALIAS $10 b_ms - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type SS - [Electrical] SS external,external - [Mechanical] SS external,external - -% Component type sGY - k_m lin flow,k_m;k_ms - -% Component type sI - j_m lin flow,j_m;j_ms - l_a lin flow,l_a;l_as - -% Component type sR - b_m lin flow,b_m;b_ms - r_a lin flow,r_a;r_as - - DELETED mttroot/mtt/lib/comp/compound/Sensitivity/sDe/sDe_abg.fig Index: mttroot/mtt/lib/comp/compound/Sensitivity/sDe/sDe_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Sensitivity/sDe/sDe_abg.fig +++ /dev/null @@ -1,17 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2250 2025 3600 2025 3375 2250 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2250 1350 3600 1350 3375 1575 -4 1 0 100 0 18 20 0.0000 4 270 1110 1485 2115 SS:ss_2\001 -4 1 0 100 0 18 20 0.0000 4 270 1110 1485 1440 SS:ss_1\001 -4 1 4 100 0 18 20 0.0000 4 270 1515 4545 1440 SS:[port_1]\001 -4 1 4 100 0 18 20 0.0000 4 270 1515 4500 2115 SS:[port_2]\001 DELETED mttroot/mtt/lib/comp/compound/Sensitivity/sDe/sDe_lbl.txt Index: mttroot/mtt/lib/comp/compound/Sensitivity/sDe/sDe_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Sensitivity/sDe/sDe_lbl.txt +++ /dev/null @@ -1,33 +0,0 @@ -%% Label file for system sDe (sDe_lbl.txt) -%SUMMARY sDe Sensitivity version of Effort detector (De) -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1999/07/29 04:53:34 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS in|out port_1,port_2 - -% Argument aliases -%ALIAS $1 external - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type SS - [port_1] SS external,external - [port_2] SS external,external - ss_1 SS external,0 - ss_2 SS external,0 DELETED mttroot/mtt/lib/comp/compound/Sensitivity/sDf/sDf_abg.fig Index: mttroot/mtt/lib/comp/compound/Sensitivity/sDf/sDf_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Sensitivity/sDf/sDf_abg.fig +++ /dev/null @@ -1,29 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -6 900 1215 2070 1530 -4 1 0 100 0 18 20 0.0000 4 285 1155 1485 1440 SS:ss_1\001 --6 -6 900 1890 2070 2205 -4 1 0 100 0 18 20 0.0000 4 285 1155 1485 2115 SS:ss_2\001 --6 -6 2205 1305 3645 1620 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2250 1350 3600 1350 3375 1575 --6 -6 2205 1980 3645 2295 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2250 2025 3600 2025 3375 2250 --6 -6 3735 1215 5355 1530 -4 1 4 100 0 18 20 0.0000 4 300 1620 4545 1440 SS:[port_1]\001 --6 -6 3690 1890 5310 2205 -4 1 4 100 0 18 20 0.0000 4 300 1620 4500 2115 SS:[port_2]\001 --6 DELETED mttroot/mtt/lib/comp/compound/Sensitivity/sDf/sDf_lbl.txt Index: mttroot/mtt/lib/comp/compound/Sensitivity/sDf/sDf_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Sensitivity/sDf/sDf_lbl.txt +++ /dev/null @@ -1,36 +0,0 @@ -%% Label file for system sDf (sDf_lbl.txt) -%SUMMARY sDf Sensitivity version of Effort detector (De) -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1999/09/07 05:32:17 peterg -% %% Initial revision -% %% -% %% Revision 1.1 1999/07/29 04:53:34 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS in|out port_1,port_2 - -% Argument aliases -%ALIAS $1 external - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type SS - [port_1] SS external,external - [port_2] SS external,external - ss_1 SS 0,external - ss_2 SS 0,external DELETED mttroot/mtt/lib/comp/compound/Sensitivity/sEMTF/sEMTF_abg.fig Index: mttroot/mtt/lib/comp/compound/Sensitivity/sEMTF/sEMTF_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Sensitivity/sEMTF/sEMTF_abg.fig +++ /dev/null @@ -1,103 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -6 2205 3555 2295 4095 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 2250 3600 2250 4050 --6 -6 2205 3555 2295 4095 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 2250 3600 2250 4050 --6 -6 2205 7155 2295 7695 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 2250 7200 2250 7650 --6 -6 3510 4005 4050 4095 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 4005 4050 3555 4050 --6 -6 3645 5850 4185 5940 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 4140 5895 3690 5895 --6 -6 8730 5355 9270 5445 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 9225 5400 8775 5400 --6 -6 3600 7155 4140 7245 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 4095 7200 3645 7200 --6 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2250 7425 3600 7425 3375 7650 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4050 7425 5400 7425 5175 7650 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 7425 7425 8775 7425 8550 7650 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 9225 7425 10575 7425 10350 7650 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2250 3825 3600 3825 3375 4050 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4050 3825 5400 3825 5175 4050 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 7425 3825 8775 3825 8550 4050 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 9225 3825 10575 3825 10350 4050 -2 1 0 2 -1 7 100 0 -1 0.000 0 0 -1 0 0 3 - 3825 5895 9000 7200 9000 6975 -2 1 0 2 -1 7 100 0 -1 0.000 0 0 -1 0 0 3 - 9006 5873 3831 7178 3831 6953 -2 1 0 2 5 7 100 0 -1 0.000 0 0 -1 0 0 3 - 6300 450 6300 1800 6525 1575 -2 1 0 2 5 7 100 0 -1 0.000 0 0 -1 0 0 3 - 6300 2250 6300 3600 6525 3375 -2 1 0 2 5 7 100 0 -1 0.000 0 0 -1 0 0 2 - 6075 1800 6525 1800 -2 1 0 2 5 7 100 0 -1 0.000 0 0 -1 0 0 4 - 6075 2025 4275 2025 4275 5400 4500 5175 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 3825 4050 3825 5400 4050 5175 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 9000 4050 9000 5400 9225 5175 -2 1 0 2 5 7 100 0 -1 0.000 0 0 -1 0 0 3 - 6525 2250 6525 7200 6750 6975 -2 1 0 2 5 7 100 0 -1 0.000 0 0 -1 0 0 4 - 6525 2025 8550 2025 8550 5400 8775 5175 -2 1 0 2 5 7 100 0 -1 0.000 0 0 -1 0 0 4 - 6525 8550 9225 8550 9225 5850 9450 6075 -2 1 0 2 5 7 100 0 -1 0.000 0 0 -1 0 0 4 - 6075 8550 3600 8550 3600 5850 3375 6075 -2 1 0 2 5 7 100 0 -1 0.000 0 0 -1 0 0 3 - 6300 10125 6300 8775 6525 9000 -2 1 0 2 5 7 100 0 -1 0.000 0 0 -1 0 0 2 - 6075 8775 6525 8775 -4 1 4 100 0 18 20 0.0000 4 285 2415 6210 360 SS:[Actual_mod]\001 -4 1 5 100 0 18 20 0.0000 4 210 165 6300 2115 0\001 -4 1 4 100 0 18 20 0.0000 4 285 1845 1215 7515 SS:[Sens_in]\001 -4 1 0 100 0 18 20 0.0000 4 210 165 3825 7515 1\001 -4 1 0 100 0 18 20 0.0000 4 225 1590 6435 7515 EMTF:sens\001 -4 1 0 100 0 18 20 0.0000 4 210 165 9000 7515 0\001 -4 1 4 100 0 18 20 0.0000 4 285 2040 11790 7515 SS:[Sens_out]\001 -4 1 4 100 0 18 20 0.0000 4 285 2055 1215 3915 SS:[Actual_in]\001 -4 1 0 100 0 18 20 0.0000 4 210 165 3825 3915 1\001 -4 1 0 100 0 18 20 0.0000 4 225 1785 6435 3915 EMTF:actual\001 -4 1 0 100 0 18 20 0.0000 4 210 165 9000 3915 0\001 -4 1 4 100 0 18 20 0.0000 4 285 2250 11790 3915 SS:[Actual_out]\001 -4 1 0 100 0 18 20 0.0000 4 225 1170 8955 5715 AE3:ae3\001 -4 1 0 100 0 18 20 0.0000 4 225 1095 3825 5715 AF3:af3\001 -4 2 4 100 0 18 14 0.0000 4 210 600 6255 3600 [mod]\001 -4 2 4 100 0 18 14 0.0000 4 210 600 6435 7155 [mod]\001 -4 1 4 100 0 18 20 0.0000 4 285 2205 6300 10395 SS:[Sens_mod]\001 -4 1 5 100 0 18 20 0.0000 4 210 165 6345 8640 0\001 -4 2 4 100 0 18 14 0.0000 4 210 720 3420 5985 [smod]\001 -4 0 4 100 0 18 14 0.0000 4 210 720 9540 5940 [smod]\001 -4 2 4 100 0 18 14 0.0000 4 210 600 8505 5355 [mod]\001 -4 0 4 100 0 18 14 0.0000 4 210 600 4455 5400 [mod]\001 DELETED mttroot/mtt/lib/comp/compound/Sensitivity/sEMTF/sEMTF_lbl.txt Index: mttroot/mtt/lib/comp/compound/Sensitivity/sEMTF/sEMTF_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Sensitivity/sEMTF/sEMTF_lbl.txt +++ /dev/null @@ -1,55 +0,0 @@ -%% Label file for system sEMTF (sEMTF_lbl.txt) -%SUMMARY sEMTF Effort modulated TF - sensitivity version -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 2000/12/28 17:29:10 peterg -% %% To RCS -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS in Actual_in,Sens_in -%ALIAS out Actual_out,Sens_out -%ALIAS mod Actual_mod,Sens_mod - - -% Argument aliases -%ALIAS $1 l - -% CR aliases -%ALIAS $1 lsin -%ALIAS $2 slsin - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type EMTF - actual lsin flow,l - sens lsin flow,l - -% Component type AE3 (????NB NEGATIVE GAIN HERE!!!!) - ae3 slsin l - -% Component type AF3 - af3 slsin l - -% Component type SS - [Actual_in] SS external,external - [Actual_out] SS external,external - [Actual_mod] SS external,internal - [Sens_in] SS external,external - [Sens_out] SS external,external - [Sens_mod] SS external,internal - - - DELETED mttroot/mtt/lib/comp/compound/Sensitivity/sFMR/sFMR_abg.fig Index: mttroot/mtt/lib/comp/compound/Sensitivity/sFMR/sFMR_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Sensitivity/sFMR/sFMR_abg.fig +++ /dev/null @@ -1,42 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2700 675 4050 675 3825 900 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2700 1350 4050 1350 3825 1575 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 4050 1125 4050 1575 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 4050 450 4050 900 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 6075 675 4725 675 4950 900 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 6075 1350 4725 1350 4950 1575 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 8100 675 6750 675 6975 900 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 8100 1350 6750 1350 6975 1575 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 8100 450 8100 900 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 8100 1125 8100 1575 -2 4 0 2 31 7 101 0 -1 0.000 0 0 7 0 0 5 - 9900 1800 1350 1800 1350 225 9900 225 9900 1800 -4 1 4 100 0 18 18 0.0000 4 270 870 2115 765 SS:[In]\001 -4 1 4 100 0 18 18 0.0000 4 270 1020 2115 1395 SS:[sIn]\001 -4 1 0 100 0 18 24 0.0000 4 285 510 4410 1125 R:r\001 -4 1 4 100 0 18 14 0.0000 4 210 270 4860 540 [3]\001 -4 1 4 100 0 18 14 0.0000 4 210 270 4860 1215 [4]\001 -4 1 4 100 0 18 14 0.0000 4 210 270 3870 1215 [2]\001 -4 1 4 100 0 18 14 0.0000 4 210 270 3870 540 [1]\001 -4 1 0 100 0 18 18 0.0000 4 210 375 6390 765 AF\001 -4 1 0 100 0 18 18 0.0000 4 210 375 6390 1440 AF\001 -4 1 4 100 0 18 18 0.0000 4 270 1230 8820 765 SS:[Mod]\001 -4 1 4 100 0 18 18 0.0000 4 270 1380 8865 1440 SS:[sMod]\001 DELETED mttroot/mtt/lib/comp/compound/Sensitivity/sFMR/sFMR_cr.r Index: mttroot/mtt/lib/comp/compound/Sensitivity/sFMR/sFMR_cr.r ================================================================== --- mttroot/mtt/lib/comp/compound/Sensitivity/sFMR/sFMR_cr.r +++ /dev/null @@ -1,68 +0,0 @@ -%% CR file for sFMR -%% Just for flow input definition of r, ie must use with flow,r;k_s -in "$MTT_CRS/r/slin.cr"; - -OPERATOR sFMR; - -% Ordinary FMR port -FOR ALL gain_cause,r,k_s,out_cause,in,sin,in_cause,modu,smodu -LET sFMR(gain_cause,r,k_s,out_cause,1, - in,in_cause,1, - sin,in_cause,2, - modu,flow,3, - smodu,flow,4 - ) - = slin(gain_cause,r*modu,k_s,out_cause,1, - in,in_cause,1, - sin,in_cause,2); - -% Sensitivity FMR port - effort input -FOR ALL r,k_s,out_cause,inp,sinp,inp_cause,modu,smodu -LET sFMR(flow,r,k_s,out_cause,2, - inp,effort,1, - sinp,effort,2, - modu,flow,3, - smodu,flow,4 - ) - = ( - slin(flow,r,k_s,out_cause,2, - inp/modu,effort,1, - sinp/modu,effort,2) - - smodu*(1/(r*(modu^2))) - ); - -% Sensitivity FMR port - flow input -FOR ALL r,k_s,out_cause,inp,sinp,inp_cause,modu,smodu -LET sFMR(flow,r,k_s,out_cause,2, - inp,flow,1, - sinp,flow,2, - modu,flow,3, - smodu,flow,4 - ) - = ( - slin(flow,r,k_s,out_cause,2, - inp*modu,flow,1, - sinp*modu,flow,2) - + r*inp*smodu - ); - -% Modulation port -FOR ALL gain_cause,r,k_s,out_cause,inp,sinp,inp_cause,modu,smodu -LET sFMR(gain_cause,r,k_s,out_cause,3, - inp,inp_cause,1, - sinp,inp_cause,2, - modu,flow,3, - smodu,flow,4 - ) - = 0; - -% Sensitivity modulation port -FOR ALL gain_cause,r,k_s,out_cause,inp,sinp,inp_cause,modu,smodu -LET sFMR(gain_cause,r,k_s,out_cause,4, - inp,inp_cause,1, - sinp,inp_cause,2, - modu,flow,3, - smodu,flow,4 - ) - = 0; -END; DELETED mttroot/mtt/lib/comp/compound/Sensitivity/sFMR/sFMR_desc.tex Index: mttroot/mtt/lib/comp/compound/Sensitivity/sFMR/sFMR_desc.tex ================================================================== --- mttroot/mtt/lib/comp/compound/Sensitivity/sFMR/sFMR_desc.tex +++ /dev/null @@ -1,34 +0,0 @@ -% -*-latex-*- Put EMACS into LaTeX-mode -% Verbal description for system sFMR (sFMR_desc.tex) -% Generated by MTT on Thu Jul 5 23:47:35 BST 2001. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 2000/12/28 09:13:38 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{sFMR} is - displayed in Figure \Ref{fig:sFMR_abg.ps} and its label - file is listed in Section \Ref{sec:sFMR_lbl}. - The subsystems are listed in Section \Ref{sec:sFMR_sub}. - - -This is the sensitivity version of the \textbf{FMR} (flow-modulated -resistor) component. - -In the linear case, the CR of the standard port is: -\begin{equation} - e = mrf -\end{equation} -where $e$ is the effort, $m$ the (flow) modulation, $r$ the -``resistance'' and $f$ the flow. - -The corresponding sensitivity CR is: -\begin{equation} - e^\prime = m^\prime rf + mr^\prime f + mrf^\prime -\end{equation} DELETED mttroot/mtt/lib/comp/compound/Sensitivity/sFMR/sFMR_lbl.txt Index: mttroot/mtt/lib/comp/compound/Sensitivity/sFMR/sFMR_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Sensitivity/sFMR/sFMR_lbl.txt +++ /dev/null @@ -1,38 +0,0 @@ -#SUMMARY sFMR Sensitivity version of FMR (Flow-modulated R) - -## System sFMR, representation lbl, language txt -## File sFMR_lbl.txt -## Generated by MTT on Thu Jul 5 04:45:59 BST 2001 - - ############################################################### - ## Version control history - ############################################################### - ## $Id$ - ## $Log$ - ############################################################### - -## Port aliases -#ALIAS in In,sIn -#ALIAS out Mod,sMod - - -## Argument aliases -#ALIAS $1 flow,r -#ALIAS $2 k_s - -## Each line should be of one of the following forms: -## a comment (ie starting with #) -## component-name cr_name arg1,arg2,..argn -## blank - -## ---- Component labels ---- - -## Component type R - r sFMR flow,r,k_s - -## Component type SS - [In] SS external,external - [sIn] SS external,external - [Mod] SS external,external - [sMod] SS external,external - DELETED mttroot/mtt/lib/comp/compound/Sensitivity/sFMR/sFMR_rep.txt Index: mttroot/mtt/lib/comp/compound/Sensitivity/sFMR/sFMR_rep.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Sensitivity/sFMR/sFMR_rep.txt +++ /dev/null @@ -1,36 +0,0 @@ -## -*-octave-*- Put Emacs into octave-mode -## Outline report file for system sFMR (sFMR_rep.txt) -## Generated by MTT on" Thu Jul 5 23:56:36 BST 2001. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.1 2000/12/28 11:58:07 peterg -## Put under RCS -## -############################################################### - -mtt sFMR abg tex # The system description -mtt sFMR cr tex # The CR -##mtt sFMR cbg ps # The causal bond graph -mtt sFMR struc tex # The system structure -mtt sFMR sympar tex # The system parameters -## Uncomment the following lines or add others -mtt sFMR dae tex # The system dae -## mtt sFMR ode tex # The system ode -## mtt sFMR sspar tex # Steady-state parameters -## mtt sFMR ss tex # Steady state -## mtt sFMR dm tex # Descriptor matrices (of linearised system) -## mtt sFMR sm tex # State matrices (of linearised system) -## mtt sFMR tf tex # Transfer function (of linearised system) -## mtt sFMR lmfr ps # log modulus of frequency response (of linearised system) -## mtt sFMR simpar tex # Simulation parameters -## mtt sFMR numpar tex # Numerical simulation parameters -## mtt sFMR state tex # Simulation initial state -## mtt sFMR input tex # Simulation input -## mtt sFMR logic tex # Logic control -## mtt sFMR odeso ps # Simulation output - -## mtt sFMR rep txt # This file DELETED mttroot/mtt/lib/comp/compound/Sensitivity/sFP/sFP_abg.fig Index: mttroot/mtt/lib/comp/compound/Sensitivity/sFP/sFP_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Sensitivity/sFP/sFP_abg.fig +++ /dev/null @@ -1,42 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2700 675 4050 675 3825 900 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2700 1350 4050 1350 3825 1575 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4725 675 6075 675 5850 900 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4725 1350 6075 1350 5850 1575 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 2700 1125 2700 1575 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 2700 450 2700 900 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 4725 450 4725 900 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 4725 1125 4725 1575 -2 4 0 2 31 7 101 0 -1 0.000 0 0 7 0 0 5 - 7875 1800 1350 1800 1350 225 7875 225 7875 1800 -4 1 4 100 0 18 18 0.0000 4 270 810 2115 765 SS:[F]\001 -4 1 4 100 0 18 18 0.0000 4 270 960 2115 1395 SS:[sF]\001 -4 1 4 100 0 18 18 0.0000 4 270 960 6885 1440 SS:[sP]\001 -4 1 0 100 0 18 24 0.0000 4 285 510 4410 1125 R:r\001 -4 1 4 100 0 18 18 0.0000 4 270 810 6840 765 SS:[P]\001 -4 1 4 100 0 18 14 0.0000 4 210 270 4860 540 [2]\001 -4 1 4 100 0 18 14 0.0000 4 210 270 4860 1215 [4]\001 -4 1 4 100 0 18 14 0.0000 4 210 270 3870 1215 [3]\001 -4 1 4 100 0 18 14 0.0000 4 210 270 3870 540 [1]\001 -4 1 1 101 0 3 20 0.0000 4 195 165 3195 945 S\001 -4 1 1 101 0 3 20 0.0000 4 240 210 5535 945 Q\001 -4 1 1 101 0 3 20 0.0000 4 195 165 3195 450 T\001 -4 1 1 101 0 3 20 0.0000 4 195 135 3330 585 1\001 -4 1 1 101 0 3 20 0.0000 4 195 165 5445 450 T\001 -4 1 1 101 0 3 20 0.0000 4 195 135 5580 585 2\001 DELETED mttroot/mtt/lib/comp/compound/Sensitivity/sFP/sFP_cr.r Index: mttroot/mtt/lib/comp/compound/Sensitivity/sFP/sFP_cr.r ================================================================== --- mttroot/mtt/lib/comp/compound/Sensitivity/sFP/sFP_cr.r +++ /dev/null @@ -1,92 +0,0 @@ -%% CR file for sFP - -OPERATOR sFP; - -% Entropy flow in - -% Ordinary FP port -% Temperature -FOR ALL Entropy,Temperature,sEntropy,sTemperature -LET sFP(effort,1, - Entropy,flow,1, - Temperature,effort,2, - sEntropy,flow,3, - sTemperature,effort,4 - ) - = Temperature; - -% Heat -FOR ALL Entropy,Temperature,sEntropy,sTemperature -LET sFP(flow,2, - Entropy,flow,1, - Temperature,effort,2, - sEntropy,flow,3, - sTemperature,effort,4 - ) - = Entropy*Temperature; - -% Temperature sensitivity -% Sensitivity FP port -FOR ALL Entropy,Temperature,sEntropy,sTemperature -LET sFP(effort,3, - Entropy,flow,1, - Temperature,effort,2, - sEntropy,flow,3, - sTemperature,effort,4 - ) - = sTemperature; - -% Heat sensitivity -FOR ALL Entropy,Temperature,sEntropy,sTemperature -LET sFP(flow,4, - Entropy,flow,1, - Temperature,effort,2, - sEntropy,flow,3, - sTemperature,effort,4 - ) - = (Entropy*sTemperature + sEntropy*Temperature); - -% Heat flow in - -% Ordinary FP port -% Temperature -FOR ALL Heat,Temperature,sHeat,sTemperature -LET sFP(effort,2, - Temperature,effort,1, - Heat,flow,2, - sTemperature,effort,3, - sHeat,flow,4 - ) - = Temperature; - -% Heat -FOR ALL Heat,Temperature,sHeat,sTemperature -LET sFP(flow,1, - Temperature,effort,1, - Heat,flow,2, - sTemperature,effort,3, - sHeat,flow,4 - ) - = Heat/Temperature; - -% Temperature sensitivity -% Sensitivity FP port -FOR ALL Heat,Temperature,sHeat,sTemperature -LET sFP(effort,4, - Temperature,effort,1, - Heat,flow,2, - sTemperature,effort,3, - sHeat,flow,4 - ) - = sTemperature; - -% Heat sensitivity -FOR ALL Heat,Temperature,sHeat,sTemperature -LET sFP(flow,3, - Temperature,effort,1, - Heat,flow,2, - sTemperature,effort,3, - sHeat,flow,4 - ) - = (sHeat*Temperature - Heat*sTemperature)/Temperature^2; -END; DELETED mttroot/mtt/lib/comp/compound/Sensitivity/sFP/sFP_desc.tex Index: mttroot/mtt/lib/comp/compound/Sensitivity/sFP/sFP_desc.tex ================================================================== --- mttroot/mtt/lib/comp/compound/Sensitivity/sFP/sFP_desc.tex +++ /dev/null @@ -1,34 +0,0 @@ -% -*-latex-*- Put EMACS into LaTeX-mode -% Verbal description for system sFP (sFP_desc.tex) -% Generated by MTT on Fri Jul 6 01:55:23 BST 2001. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 2000/12/28 09:13:38 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{sFP} is - displayed in Figure \Ref{fig:sFP_abg.ps} and its label - file is listed in Section \Ref{sec:sFP_lbl}. - The subsystems are listed in Section \Ref{sec:sFP_sub}. - -This is the sensitivity version of the \textbf{FP} (flow/power -real-pseuso component). - -The standard ports implement the CR: -\begin{align} - T_1 &= T_2 \\ - Q &= S*T_2 -\end{align} - -The \emph{sensitivity} ports implement the CR: -\begin{align} - T_1^\prime &= T_2^\prime \\ - Q^\prime &= S^\prime *T_2 + S*T_2^\prime -\end{align} - DELETED mttroot/mtt/lib/comp/compound/Sensitivity/sFP/sFP_lbl.txt Index: mttroot/mtt/lib/comp/compound/Sensitivity/sFP/sFP_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Sensitivity/sFP/sFP_lbl.txt +++ /dev/null @@ -1,34 +0,0 @@ -#SUMMARY sFP Sensitivity version of FP - real-pseudo conversion - -## System sFP, representation lbl, language txt -## File sFP_lbl.txt -## Generated by MTT on Thu Jul 5 08:03:02 BST 2001 - - ############################################################### - ## Version control history - ############################################################### - ## $Id$ - ## $Log$ - ############################################################### - -## Port aliases -#ALIAS in|f F,sF -#ALIAS out|p P,sP - - -## Each line should be of one of the following forms: -## a comment (ie starting with #) -## component-name cr_name arg1,arg2,..argn -## blank - -## ---- Component labels ---- - -## Component type R - r sFP - -## Component type SS - [F] SS external,external - [P] SS external,external - [sF] SS external,external - [sP] SS external,external - DELETED mttroot/mtt/lib/comp/compound/Sensitivity/sFP/sFP_rep.txt Index: mttroot/mtt/lib/comp/compound/Sensitivity/sFP/sFP_rep.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Sensitivity/sFP/sFP_rep.txt +++ /dev/null @@ -1,36 +0,0 @@ -## -*-octave-*- Put Emacs into octave-mode -## Outline report file for system sFP (sFP_rep.txt) -## Generated by MTT on" Fri Jul 6 02:04:19 BST 2001. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.1 2000/12/28 11:58:07 peterg -## Put under RCS -## -############################################################### - -mtt sFP abg tex # The system description -mtt sFP cr tex # The system description -##mtt sFP cbg ps # The causal bond graph -mtt sFP struc tex # The system structure -mtt sFP sympar tex # The system parameters -## Uncomment the following lines or add others -mtt sFP dae tex # The system dae -## mtt sFP ode tex # The system ode -## mtt sFP sspar tex # Steady-state parameters -## mtt sFP ss tex # Steady state -## mtt sFP dm tex # Descriptor matrices (of linearised system) -## mtt sFP sm tex # State matrices (of linearised system) -## mtt sFP tf tex # Transfer function (of linearised system) -## mtt sFP lmfr ps # log modulus of frequency response (of linearised system) -## mtt sFP simpar tex # Simulation parameters -## mtt sFP numpar tex # Numerical simulation parameters -## mtt sFP state tex # Simulation initial state -## mtt sFP input tex # Simulation input -## mtt sFP logic tex # Logic control -## mtt sFP odeso ps # Simulation output - -## mtt sFP rep txt # This file DELETED mttroot/mtt/lib/comp/compound/Sensitivity/sGY/sGY_abg.fig Index: mttroot/mtt/lib/comp/compound/Sensitivity/sGY/sGY_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Sensitivity/sGY/sGY_abg.fig +++ /dev/null @@ -1,32 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2475 450 3825 450 3600 675 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2475 1125 3825 1125 3600 1350 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 5175 450 6525 450 6300 675 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 5175 1125 6525 1125 6300 1350 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 7200 450 8550 450 8325 675 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 7200 1125 8550 1125 8325 1350 -4 1 4 100 0 18 20 0.0000 4 270 1920 1440 540 SS:[Actual_in]\001 -4 1 0 100 0 18 20 0.0000 4 210 960 4545 855 sTF:stf\001 -4 1 4 100 0 18 20 0.0000 4 270 1740 1440 1215 SS:[Sens_in]\001 -4 1 0 100 0 18 20 0.0000 4 210 420 6840 540 GY\001 -4 1 0 100 0 18 20 0.0000 4 210 420 6840 1215 GY\001 -4 1 4 100 0 18 20 0.0000 4 270 2115 9765 540 SS:[Actual_out]\001 -4 1 4 100 0 18 20 0.0000 4 270 1935 9765 1215 SS:[Sens_out]\001 -4 1 4 100 0 18 14 0.0000 4 210 1125 3825 315 [Actual_in]\001 -4 1 4 100 0 18 14 0.0000 4 210 1275 5175 315 [Actual_out]\001 -4 1 4 100 0 18 14 0.0000 4 210 1140 5175 1575 [Sens_out]\001 -4 1 4 100 0 18 14 0.0000 4 210 990 3870 1575 [Sens_in]\001 DELETED mttroot/mtt/lib/comp/compound/Sensitivity/sGY/sGY_lbl.txt Index: mttroot/mtt/lib/comp/compound/Sensitivity/sGY/sGY_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Sensitivity/sGY/sGY_lbl.txt +++ /dev/null @@ -1,38 +0,0 @@ -%% Label file for system sGY (sGY_lbl.txt) -%SUMMARY sGY GY component with sensitivity ports -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS in Actual_in,Sens_in -%ALIAS out Actual_out,Sens_out - - -% Argument aliases -%ALIAS $1 flow,k -%ALIAS $2 k_s - -%ALIAS $1 lin - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- -% Component type sTF - stf lin flow,k;k_s - -% Component type SS - [Actual_in] SS external,external - [Actual_out] SS external,external - [Sens_in] SS external,external - [Sens_out] SS external,external - DELETED mttroot/mtt/lib/comp/compound/Sensitivity/sI/sC_lbl.txt Index: mttroot/mtt/lib/comp/compound/Sensitivity/sI/sC_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Sensitivity/sI/sC_lbl.txt +++ /dev/null @@ -1,40 +0,0 @@ -%% Label file for system sC (sC_lbl.txt) -%SUMMARY sC -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS in Actual,Sensitivity - -% Argument aliases -%ALIAS $1 effort,c -%ALIAS $2 k_s - -% CR aliases -%ALIAS $1 lin -%ALIAS $2 slin - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type AEf - aef lin -1*k_s - -% Component type C - c_1 lin effort,c - c_2 slin effort,c - -% Component type SS - [Actual] SS external,external - [Sensitivity] SS external,external DELETED mttroot/mtt/lib/comp/compound/Sensitivity/sI/sI_abg.fig Index: mttroot/mtt/lib/comp/compound/Sensitivity/sI/sI_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Sensitivity/sI/sI_abg.fig +++ /dev/null @@ -1,20 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 6750 3375 5400 3375 5625 3600 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 3150 3375 4500 3375 4275 3600 -2 4 0 3 31 7 101 0 -1 0.000 0 0 11 0 0 5 - 9000 4725 1350 4725 1350 2253 9000 2253 9000 4725 -4 1 4 100 0 18 14 0.0000 4 210 270 4410 3105 [1]\001 -4 1 4 100 0 18 14 0.0000 4 210 270 5535 3105 [2]\001 -4 0 4 100 0 18 18 0.0000 4 270 1935 6840 3465 SS:[sensitivity]\001 -4 2 4 100 0 18 18 0.0000 4 270 1410 3060 3465 SS:[actual]\001 -4 1 0 100 0 18 18 0.0000 4 210 390 4950 3465 I:m\001 DELETED mttroot/mtt/lib/comp/compound/Sensitivity/sI/sI_lbl.txt Index: mttroot/mtt/lib/comp/compound/Sensitivity/sI/sI_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Sensitivity/sI/sI_lbl.txt +++ /dev/null @@ -1,40 +0,0 @@ -%% Label file for system sI (sI_lbl.txt) -%SUMMARY sI Sensitivity I component -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 2001/04/05 12:00:18 gawthrop -% %% Identification example -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS in actual,sensitivity - -% Argument aliases -%ALIAS $1 flow,m -%ALIAS $2 ms - -%CR alias -%ALIAS $1 slin - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- -% Component type C - m slin flow,m;ms - -% Component type SS - [actual] SS external,external - [sensitivity] SS external,external - - - DELETED mttroot/mtt/lib/comp/compound/Sensitivity/sINTF/sINTF_abg.fig Index: mttroot/mtt/lib/comp/compound/Sensitivity/sINTF/sINTF_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Sensitivity/sINTF/sINTF_abg.fig +++ /dev/null @@ -1,23 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 1800 2925 3150 2925 2925 3150 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 1800 2250 3150 2250 2925 2475 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4950 2925 6300 2925 6075 3150 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4950 2250 6300 2250 6075 2475 -4 1 4 100 0 18 20 0.0000 4 270 1200 990 3015 SS:[in_2]\001 -4 1 4 100 0 18 20 0.0000 4 270 1200 990 2340 SS:[in_1]\001 -4 1 0 100 0 18 20 0.0000 4 270 1455 4050 3015 INTF:intf_2\001 -4 1 0 100 0 18 20 0.0000 4 270 1455 4050 2340 INTF:intf_1\001 -4 1 4 100 0 18 20 0.0000 4 270 1395 7245 3015 SS:[out_2]\001 -4 1 4 100 0 18 20 0.0000 4 270 1395 7245 2340 SS:[out_1]\001 DELETED mttroot/mtt/lib/comp/compound/Sensitivity/sINTF/sINTF_lbl.txt Index: mttroot/mtt/lib/comp/compound/Sensitivity/sINTF/sINTF_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Sensitivity/sINTF/sINTF_lbl.txt +++ /dev/null @@ -1,37 +0,0 @@ -%% Label file for system sINTF (sINTF_lbl.txt) -%SUMMARY sINTF Sensitivity version of INTF -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 2000/12/28 10:32:30 peterg -% %% Put under RCS -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS in in_1,in_2 -%ALIAS out out_1,out_2 - -% Argument aliases - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type INTF - intf_1 - intf_2 - -% Component type SS - [in_1] SS external,external - [in_2] SS external,external - [out_1] SS external,external - [out_2] SS external,external DELETED mttroot/mtt/lib/comp/compound/Sensitivity/sINTFS/sINTFS_abg.fig Index: mttroot/mtt/lib/comp/compound/Sensitivity/sINTFS/sINTFS_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Sensitivity/sINTFS/sINTFS_abg.fig +++ /dev/null @@ -1,23 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 1800 2925 3150 2925 2925 3150 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 1800 2250 3150 2250 2925 2475 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4950 2925 6300 2925 6075 3150 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4950 2250 6300 2250 6075 2475 -4 1 4 100 0 18 20 0.0000 4 270 1200 990 3015 SS:[in_2]\001 -4 1 4 100 0 18 20 0.0000 4 270 1200 990 2340 SS:[in_1]\001 -4 1 0 100 0 18 20 0.0000 4 270 1650 4050 3015 INTFS:intf_2\001 -4 1 4 100 0 18 20 0.0000 4 270 1395 7245 3015 SS:[out_2]\001 -4 1 4 100 0 18 20 0.0000 4 270 1395 7245 2340 SS:[out_1]\001 -4 1 0 100 0 18 20 0.0000 4 270 1650 4095 2340 INTFS:intf_1\001 DELETED mttroot/mtt/lib/comp/compound/Sensitivity/sINTFS/sINTFS_lbl.txt Index: mttroot/mtt/lib/comp/compound/Sensitivity/sINTFS/sINTFS_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Sensitivity/sINTFS/sINTFS_lbl.txt +++ /dev/null @@ -1,39 +0,0 @@ -%% Label file for system sINTFS (sINTFS_lbl.txt) -%SUMMARY sINTFS Sensitivity version of INTF with initial state -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 2000/12/28 10:32:30 peterg -% %% Put under RCS -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS in in_1,in_2 -%ALIAS out out_1,out_2 - -% Argument aliases -%ALIAS $1 e_0 -%ALIAS $2 k_s - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type INTFS - intf_1 none e_0 - intf_2 none k_s - -% Component type SS - [in_1] SS external,external - [in_2] SS external,external - [out_1] SS external,external - [out_2] SS external,external DELETED mttroot/mtt/lib/comp/compound/Sensitivity/sIS/sIS_abg.fig Index: mttroot/mtt/lib/comp/compound/Sensitivity/sIS/sIS_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Sensitivity/sIS/sIS_abg.fig +++ /dev/null @@ -1,25 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2475 3825 2475 2475 2700 2700 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2475 5625 2475 4275 2700 4500 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2700 4050 4050 4050 3825 4275 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 4050 3825 4050 4275 -2 4 0 2 31 7 52 0 -1 0.000 0 0 7 0 0 5 - 6075 6300 6075 1350 1125 1350 1125 6300 6075 6300 -4 1 0 100 0 18 20 0.0000 4 210 405 2475 2295 sI:i\001 -4 0 0 100 0 18 20 0.0000 4 270 960 4185 4185 sSf:f_0\001 -4 1 6 100 0 18 20 0.0000 4 270 555 2476 6031 [1,2]\001 -4 1 4 100 0 18 20 0.0000 4 270 900 2476 6030 SS:[in]\001 -4 1 6 100 0 18 20 0.0000 4 270 555 2476 4186 [1,2]\001 -4 1 0 100 0 18 20 0.0000 4 195 150 2476 4185 0\001 DELETED mttroot/mtt/lib/comp/compound/Sensitivity/sIS/sIS_lbl.txt Index: mttroot/mtt/lib/comp/compound/Sensitivity/sIS/sIS_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Sensitivity/sIS/sIS_lbl.txt +++ /dev/null @@ -1,40 +0,0 @@ -%% Label file for system sIS (sIS_lbl.txt) -%SUMMARY sIS -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 2000/12/28 17:29:10 peterg -% %% To RCS -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -% Port aliases -%ALIAS in in_1,in_2 - -% Argument aliases -%ALIAS $1 flow,i -%ALIAS $2 f_0 -%ALIAS $3 i_s -%ALIAS $4 f_0s - -% Argument aliases - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type SS - [in] SS external,external - -% Component type sI - i slin flow,i;i_s - -% Component type sSf - f_0 SS f_0;f_0s DELETED mttroot/mtt/lib/comp/compound/Sensitivity/sR/sR_abg.fig Index: mttroot/mtt/lib/comp/compound/Sensitivity/sR/sR_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Sensitivity/sR/sR_abg.fig +++ /dev/null @@ -1,20 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 6750 3375 5400 3375 5625 3600 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 3150 3375 4500 3375 4275 3600 -2 4 0 3 31 7 101 0 -1 0.000 0 0 11 0 0 5 - 9000 4725 1350 4725 1350 2253 9000 2253 9000 4725 -4 1 4 100 0 18 14 0.0000 4 210 270 4410 3105 [1]\001 -4 1 4 100 0 18 14 0.0000 4 210 270 5535 3105 [2]\001 -4 0 4 100 0 18 18 0.0000 4 270 1935 6840 3465 SS:[sensitivity]\001 -4 2 4 100 0 18 18 0.0000 4 270 1410 3060 3465 SS:[actual]\001 -4 1 0 100 0 18 18 0.0000 4 210 390 4950 3465 R:r\001 DELETED mttroot/mtt/lib/comp/compound/Sensitivity/sR/sR_lbl.txt Index: mttroot/mtt/lib/comp/compound/Sensitivity/sR/sR_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Sensitivity/sR/sR_lbl.txt +++ /dev/null @@ -1,39 +0,0 @@ -%% Label file for system sR (sR_lbl.txt) -%SUMMARY sR Sensitivity R component -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 2001/04/05 12:00:18 gawthrop -% %% Identification example -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS in actual,sensitivity - -% Argument aliases -%ALIAS $1 flow,r -%ALIAS $2 rs - -%CR alias -%ALIAS $1 slin - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - r slin flow,r;rs - -% Component type SS - [actual] SS external,external - [sensitivity] SS external,external - - - DELETED mttroot/mtt/lib/comp/compound/Sensitivity/sRS/sRS_abg.fig Index: mttroot/mtt/lib/comp/compound/Sensitivity/sRS/sRS_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Sensitivity/sRS/sRS_abg.fig +++ /dev/null @@ -1,36 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2700 675 4050 675 3825 900 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2700 1350 4050 1350 3825 1575 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 4050 1125 4050 1575 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 4050 450 4050 900 -2 4 0 2 31 7 101 0 -1 0.000 0 0 7 0 0 5 - 9900 1800 1350 1800 1350 225 9900 225 9900 1800 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4725 675 6075 675 5850 900 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4725 1350 6075 1350 5850 1575 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 4725 1125 4725 1575 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 4725 450 4725 900 -4 1 4 100 0 18 18 0.0000 4 270 870 2115 765 SS:[In]\001 -4 1 4 100 0 18 18 0.0000 4 270 1020 2115 1395 SS:[sIn]\001 -4 1 0 100 0 18 24 0.0000 4 285 510 4410 1125 R:r\001 -4 1 4 100 0 18 14 0.0000 4 210 270 4860 540 [2]\001 -4 1 4 100 0 18 14 0.0000 4 210 270 4860 1215 [4]\001 -4 1 4 100 0 18 14 0.0000 4 210 270 3870 1215 [3]\001 -4 1 4 100 0 18 14 0.0000 4 210 270 3870 540 [1]\001 -4 1 4 100 0 18 18 0.0000 4 270 1230 6795 765 SS:[Out]\001 -4 1 4 100 0 18 18 0.0000 4 270 1380 6885 1440 SS:[sOut]\001 DELETED mttroot/mtt/lib/comp/compound/Sensitivity/sRS/sRS_cr.r Index: mttroot/mtt/lib/comp/compound/Sensitivity/sRS/sRS_cr.r ================================================================== --- mttroot/mtt/lib/comp/compound/Sensitivity/sRS/sRS_cr.r +++ /dev/null @@ -1,68 +0,0 @@ -%% CR file for sFMR -%% Just for flow input definition of r, ie must use with flow,r;k_s - -in "$MTT_CRS/r/slin.cr"; %% make sure CR slin is there - -OPERATOR sRS; - -% Ordinary RS port -% R component -FOR ALL gain_cause,r,rs,out_cause,inp,sinp,in_cause,temp,stemp -LET sRS(gain_cause,r,rs,out_cause,1, - inp,in_cause,1, - temp,effort,2, - sinp,in_cause,3, - stemp,effort,4 - ) - = lin(gain_cause,r,temp_cause,1, - inp,in_cause,1); -% Entropy flow -FOR ALL gain_cause,r,rs,out_cause,inp,sinp,in_cause,temp,stemp -LET sRS(gain_cause,r,rs,out_cause,2, - inp,in_cause,1, - temp,effort,2, - sinp,in_cause,3, - stemp,effort,4 - ) - = inp*lin(gain_cause,r,temp_cause,1, - inp,in_cause,1)/temp; - -% Sensitivity ports -FOR ALL gain_cause,r,rs,out_cause,inp,sinp,in_cause,temp,stemp -LET sRS(gain_cause,r,rs,out_cause,3, - inp,in_cause,1, - temp,effort,2, - sinp,in_cause,3, - stemp,effort,4 - ) - = slin(gain_cause,r,rs,temp_cause,2, - inp,in_cause,1, - sinp,in_cause,2 - ); - -%% Sensitivity entropy flow -%% - flow in -FOR ALL gain_cause,r,rs,out_cause,inp,sinp,in_cause,temp,stemp -LET sRS(gain_cause,r,rs,out_cause,4, - inp,flow,1, - temp,effort,2, - sinp,flow,3, - stemp,effort,4 - ) - = 2*inp*sinp*r/temp - + (inp^2)*rs/temp - - (inp^2)*r*stemp/(temp^2); - -%% - effort in -FOR ALL gain_cause,r,rs,out_cause,inp,sinp,in_cause,temp,stemp -LET sRS(gain_cause,r,rs,out_cause,4, - inp,effort,1, - temp,effort,2, - sinp,effort,3, - stemp,effort,4 - ) - = 2*inp*sinp/(r*temp) - - (inp^2)*rs/((r^2)*temp) - - (inp^2)*stemp/(r*temp^2); - -END; DELETED mttroot/mtt/lib/comp/compound/Sensitivity/sRS/sRS_desc.tex Index: mttroot/mtt/lib/comp/compound/Sensitivity/sRS/sRS_desc.tex ================================================================== --- mttroot/mtt/lib/comp/compound/Sensitivity/sRS/sRS_desc.tex +++ /dev/null @@ -1,37 +0,0 @@ -% -*-latex-*- Put EMACS into LaTeX-mode -% Verbal description for system sRS (sFMR_desc.tex) -% Generated by MTT on Thu Jul 5 23:47:35 BST 2001. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 2001/07/06 01:17:14 gawthrop -% %% New sensitivity components (for extruder model) -% %% -% %% Revision 1.1 2000/12/28 09:13:38 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{sRS} is - displayed in Figure \Ref{fig:sFMR_abg.ps} and its label - file is listed in Section \Ref{sec:sFMR_lbl}. - The subsystems are listed in Section \Ref{sec:sFMR_sub}. - - -This is the sensitivity version of the \textbf{FMR} (flow-modulated -resistor) component. - -In the linear case, the CR of the standard port is: -\begin{equation} - e = mrf -\end{equation} -where $e$ is the effort, $m$ the (flow) modulation, $r$ the -``resistance'' and $f$ the flow. - -The corresponding sensitivity CR is: -\begin{equation} - e^\prime = m^\prime rf + mr^\prime f + mrf^\prime -\end{equation} DELETED mttroot/mtt/lib/comp/compound/Sensitivity/sRS/sRS_lbl.txt Index: mttroot/mtt/lib/comp/compound/Sensitivity/sRS/sRS_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Sensitivity/sRS/sRS_lbl.txt +++ /dev/null @@ -1,29 +0,0 @@ -#SUMMARY sRS Sensitivity version of RS - -## System sRS, representation lbl, language txt - -## Port aliases -#ALIAS in In,sIn -#ALIAS out Out,sOut - - -## Argument aliases -#ALIAS $1 flow,r -#ALIAS $2 rs - -## Each line should be of one of the following forms: -## a comment (ie starting with #) -## component-name cr_name arg1,arg2,..argn -## blank - -## ---- Component labels ---- - -## Component type R - r sRS flow,r;rs - -## Component type SS - [In] SS external,external - [sIn] SS external,external - [Out] SS external,external - [sOut] SS external,external - DELETED mttroot/mtt/lib/comp/compound/Sensitivity/sRS/sRS_rep.txt Index: mttroot/mtt/lib/comp/compound/Sensitivity/sRS/sRS_rep.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Sensitivity/sRS/sRS_rep.txt +++ /dev/null @@ -1,39 +0,0 @@ -## -*-octave-*- Put Emacs into octave-mode -## Outline report file for system sRS (sFMR_rep.txt) -## Generated by MTT on" Thu Jul 5 23:56:36 BST 2001. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.1 2001/07/06 01:18:24 gawthrop -## New sensitivity components - documentation -## -## Revision 1.1 2000/12/28 11:58:07 peterg -## Put under RCS -## -############################################################### - -mtt sRS abg tex # The system description -mtt sRS cr tex # The CR -##mtt sRS cbg ps # The causal bond graph -mtt sRS struc tex # The system structure -mtt sRS sympar tex # The system parameters -## Uncomment the following lines or add others -mtt sRS dae tex # The system dae -## mtt sRS ode tex # The system ode -## mtt sRS sspar tex # Steady-state parameters -## mtt sRS ss tex # Steady state -## mtt sRS dm tex # Descriptor matrices (of linearised system) -## mtt sRS sm tex # State matrices (of linearised system) -## mtt sRS tf tex # Transfer function (of linearised system) -## mtt sRS lmfr ps # log modulus of frequency response (of linearised system) -## mtt sRS simpar tex # Simulation parameters -## mtt sRS numpar tex # Numerical simulation parameters -## mtt sRS state tex # Simulation initial state -## mtt sRS input tex # Simulation input -## mtt sRS logic tex # Logic control -## mtt sRS odeso ps # Simulation output - -## mtt sRS rep txt # This file DELETED mttroot/mtt/lib/comp/compound/Sensitivity/sRT/sRT_abg.fig Index: mttroot/mtt/lib/comp/compound/Sensitivity/sRT/sRT_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Sensitivity/sRT/sRT_abg.fig +++ /dev/null @@ -1,60 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4275 2701 5625 2701 5400 2926 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6075 2701 7425 2701 7200 2926 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5850 2476 5850 1126 6075 1351 -2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 11475 3600 450 3600 450 451 11475 451 11475 3600 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2025 2701 3375 2701 3150 2926 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8325 2701 9675 2701 9450 2926 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 3375 2520 3375 2970 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 8325 2475 8325 2925 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 5625 2475 5625 2925 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 6075 2475 6075 2925 -4 1 6 0 0 0 20 0.0000 4 240 510 5851 2792 [1,2]\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 5851 2791 1\001 -4 1 -1 0 0 0 20 0.0000 4 195 480 5850 991 sR:r\001 -4 1 4 0 0 0 20 0.0000 4 255 315 4410 2476 [p]\001 -4 1 4 0 0 0 20 0.0000 4 255 315 7290 2476 [p]\001 -4 1 1 1 0 3 20 0.0000 4 240 210 5040 3106 Q\001 -4 1 1 1 0 3 30 0.0000 4 60 105 5085 2836 .\001 -4 1 1 1 0 3 20 0.0000 4 195 165 5040 2521 T\001 -4 1 1 1 0 3 20 0.0000 4 240 210 6615 3106 Q\001 -4 1 1 1 0 3 30 0.0000 4 60 105 6660 2836 .\001 -4 1 1 1 0 3 20 0.0000 4 195 165 6615 2521 T\001 -4 1 1 1 0 3 20 0.0000 4 195 135 6795 2611 2\001 -4 1 1 1 0 3 20 0.0000 4 195 135 5220 2611 1\001 -4 1 -1 0 0 0 20 0.0000 4 255 870 3825 2790 sFP:fp1\001 -4 2 6 0 0 0 20 0.0000 4 240 510 1981 2791 [1,2]\001 -4 2 4 0 0 0 20 0.0000 4 240 810 1981 2790 SS:[in]\001 -4 1 4 0 0 0 20 0.0000 4 240 270 3285 2476 [f]\001 -4 1 1 1 0 3 20 0.0000 4 195 165 2475 3106 S\001 -4 1 1 1 0 3 30 0.0000 4 60 105 2520 2836 .\001 -4 1 1 1 0 3 20 0.0000 4 195 165 2475 2521 T\001 -4 1 1 1 0 3 20 0.0000 4 195 135 2610 2611 1\001 -4 1 1 1 0 3 20 0.0000 4 195 135 2610 3241 1\001 -4 1 -1 0 0 0 20 0.0000 4 255 870 7920 2790 sFP:fp2\001 -4 1 4 0 0 0 20 0.0000 4 240 270 8505 2476 [f]\001 -4 1 1 1 0 3 20 0.0000 4 195 165 9090 3106 S\001 -4 1 1 1 0 3 30 0.0000 4 60 105 9135 2836 .\001 -4 1 1 1 0 3 20 0.0000 4 195 165 9090 2521 T\001 -4 1 1 1 0 3 20 0.0000 4 195 135 9270 3241 2\001 -4 1 1 1 0 3 20 0.0000 4 195 135 9270 2611 2\001 -4 0 6 0 0 0 20 0.0000 4 240 510 9811 2792 [1,2]\001 -4 0 4 0 0 0 20 0.0000 4 240 960 9811 2791 SS:[out]\001 DELETED mttroot/mtt/lib/comp/compound/Sensitivity/sRT/sRT_lbl.txt Index: mttroot/mtt/lib/comp/compound/Sensitivity/sRT/sRT_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Sensitivity/sRT/sRT_lbl.txt +++ /dev/null @@ -1,39 +0,0 @@ -#SUMMARY sRT Sensitivity version of RT - -## System sRT, representation lbl, language txt -## File sRT_lbl.txt -## Generated by MTT on Fri Jul 6 05:51:50 BST 2001 - - ############################################################### - ## Version control history - ############################################################### - ## $Id$ - ## $Log$ - ############################################################### - -## Port aliases -#ALIAS in in_1,in_2 -#ALIAS out out_1,out_2 - -## Argument aliases -#ALIAS $1 flow,r -#ALIAS $2 rs - -## Each line should be of one of the following forms: -## a comment (ie starting with #) -## component-name cr_name arg1,arg2,..argn -## blank - -## ---- Component labels ---- - -## Component type SS - [in] SS external,external - [out] SS external,external - -## Component type FP - fp1 lin - fp2 lin - -## Component type R - r slin flow,r;rs - DELETED mttroot/mtt/lib/comp/compound/Sensitivity/sSe/sSe_abg.fig Index: mttroot/mtt/lib/comp/compound/Sensitivity/sSe/sSe_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Sensitivity/sSe/sSe_abg.fig +++ /dev/null @@ -1,17 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2250 2025 3600 2025 3375 2250 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2250 1350 3600 1350 3375 1575 -4 1 0 100 0 18 20 0.0000 4 270 1080 1485 2115 Se:se_2\001 -4 1 4 100 0 18 20 0.0000 4 270 1515 4500 2115 SS:[port_2]\001 -4 1 4 100 0 18 20 0.0000 4 270 1515 4545 1440 SS:[port_1]\001 -4 1 0 100 0 18 20 0.0000 4 270 1080 1485 1440 Se:se_1\001 DELETED mttroot/mtt/lib/comp/compound/Sensitivity/sSe/sSe_lbl.txt Index: mttroot/mtt/lib/comp/compound/Sensitivity/sSe/sSe_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Sensitivity/sSe/sSe_lbl.txt +++ /dev/null @@ -1,38 +0,0 @@ -%% Label file for system sSe (sSe_lbl.txt) -%SUMMARY sSe Sensitivity version of effort source (Se) -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1999/07/29 04:54:41 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS in|out port_1,port_2 - -% Argument aliases -%ALIAS $1 e_s -%ALIAS $2 k_s - - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type SS - [port_1] SS external,external - [port_2] SS external,external - -% Component type Se - se_1 SS e_s - se_2 SS k_s - DELETED mttroot/mtt/lib/comp/compound/Sensitivity/sSe/sSe_sSe_abg.fig Index: mttroot/mtt/lib/comp/compound/Sensitivity/sSe/sSe_sSe_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Sensitivity/sSe/sSe_sSe_abg.fig +++ /dev/null @@ -1,29 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -6 900 1215 2070 1530 -4 1 0 100 0 18 20 0.0000 4 285 1155 1485 1440 Sf:sf_1\001 --6 -6 900 1890 2070 2205 -4 1 0 100 0 18 20 0.0000 4 285 1155 1485 2115 Sf:sf_2\001 --6 -6 2205 1305 3645 1620 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2250 1350 3600 1350 3375 1575 --6 -6 2205 1980 3645 2295 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2250 2025 3600 2025 3375 2250 --6 -6 3735 1215 5355 1530 -4 1 4 100 0 18 20 0.0000 4 300 1620 4545 1440 SS:[port_1]\001 --6 -6 3690 1890 5310 2205 -4 1 4 100 0 18 20 0.0000 4 300 1620 4500 2115 SS:[port_2]\001 --6 DELETED mttroot/mtt/lib/comp/compound/Sensitivity/sSf/sSf_abg.fig Index: mttroot/mtt/lib/comp/compound/Sensitivity/sSf/sSf_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Sensitivity/sSf/sSf_abg.fig +++ /dev/null @@ -1,29 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -6 900 1215 2070 1530 -4 1 0 100 0 18 20 0.0000 4 285 1155 1485 1440 Sf:sf_1\001 --6 -6 900 1890 2070 2205 -4 1 0 100 0 18 20 0.0000 4 285 1155 1485 2115 Sf:sf_2\001 --6 -6 2205 1305 3645 1620 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2250 1350 3600 1350 3375 1575 --6 -6 2205 1980 3645 2295 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2250 2025 3600 2025 3375 2250 --6 -6 3735 1215 5355 1530 -4 1 4 100 0 18 20 0.0000 4 300 1620 4545 1440 SS:[port_1]\001 --6 -6 3690 1890 5310 2205 -4 1 4 100 0 18 20 0.0000 4 300 1620 4500 2115 SS:[port_2]\001 --6 DELETED mttroot/mtt/lib/comp/compound/Sensitivity/sSf/sSf_lbl.txt Index: mttroot/mtt/lib/comp/compound/Sensitivity/sSf/sSf_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Sensitivity/sSf/sSf_lbl.txt +++ /dev/null @@ -1,38 +0,0 @@ -%% Label file for system sSf (sSf_lbl.txt) -%SUMMARY sSf Sensitivity version of flow source (Sf) -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1999/07/29 04:54:41 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS in|out port_1,port_2 - -% Argument aliases -%ALIAS $1 f_s -%ALIAS $2 k_s - - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type SS - [port_1] SS external,external - [port_2] SS external,external - -% Component type Sf - sf_1 SS f_s - sf_2 SS k_s - DELETED mttroot/mtt/lib/comp/compound/Sensitivity/sTF/sTF_abg.fig Index: mttroot/mtt/lib/comp/compound/Sensitivity/sTF/sTF_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Sensitivity/sTF/sTF_abg.fig +++ /dev/null @@ -1,49 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2475 4050 3825 4050 3600 4275 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4275 4050 5625 4050 5400 4275 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 7650 4050 9000 4050 8775 4275 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 9450 4050 10800 4050 10575 4275 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2475 450 3825 450 3600 675 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4275 450 5625 450 5400 675 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 7650 450 9000 450 8775 675 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 9450 450 10800 450 10575 675 -2 1 0 2 -1 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4050 2520 9225 3825 9225 3600 -2 1 0 2 -1 7 100 0 -1 0.000 0 0 -1 0 0 3 - 9231 2498 4056 3803 4056 3578 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4050 675 4050 2025 4275 1800 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 9225 675 9225 2025 9450 1800 -2 1 0 2 0 7 50 0 -1 0.000 0 0 -1 0 0 2 - 3825 675 4275 675 -2 1 0 2 0 7 50 0 -1 0.000 0 0 -1 0 0 2 - 9000 2025 9450 2025 -4 1 4 100 0 18 20 0.0000 4 270 1740 1440 4140 SS:[Sens_in]\001 -4 1 0 100 0 18 20 0.0000 4 195 150 4050 4140 1\001 -4 1 0 100 0 18 20 0.0000 4 210 1095 6660 4140 TF:sens\001 -4 1 0 100 0 18 20 0.0000 4 195 150 9225 4140 0\001 -4 1 4 100 0 18 20 0.0000 4 270 1935 12015 4140 SS:[Sens_out]\001 -4 1 4 100 0 18 20 0.0000 4 270 1920 1440 540 SS:[Actual_in]\001 -4 1 0 100 0 18 20 0.0000 4 195 150 4050 540 1\001 -4 1 0 100 0 18 20 0.0000 4 195 150 9225 540 0\001 -4 1 4 100 0 18 20 0.0000 4 270 2115 12015 540 SS:[Actual_out]\001 -4 1 0 100 0 18 20 0.0000 4 210 825 9180 2340 AE:ae\001 -4 1 0 100 0 18 20 0.0000 4 210 750 4050 2340 AF:af\001 -4 1 0 100 0 18 20 0.0000 4 210 1260 6660 540 TF:actual\001 DELETED mttroot/mtt/lib/comp/compound/Sensitivity/sTF/sTF_lbl.txt Index: mttroot/mtt/lib/comp/compound/Sensitivity/sTF/sTF_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Sensitivity/sTF/sTF_lbl.txt +++ /dev/null @@ -1,52 +0,0 @@ -%% Label file for system sTF (sTF_lbl.txt) -%SUMMARY sTF TF component with sensitivity ports -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.3 1999/08/26 01:34:59 peterg -% %% Summary line added -% %% -% %% Revision 1.2 1999/08/26 01:22:25 peterg -% %% New alias $1 flow,k -% %% -% %% Revision 1.1 1999/08/26 00:15:58 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS in Actual_in,Sens_in -%ALIAS out Actual_out,Sens_out - - -% Argument aliases -%ALIAS $1 flow,k -%ALIAS $2 k_s - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type AE - ae lin effort,-k_s - -% Component type AF - af lin flow,k_s - -% Component type SS - [Actual_in] SS external,external - [Actual_out] SS external,external - [Sens_in] SS external,external - [Sens_out] SS external,external - -% Component type TF - actual lin flow,k - sens lin flow,k DELETED mttroot/mtt/lib/comp/compound/Sensitivity/sTF/testsTF_abg.fig Index: mttroot/mtt/lib/comp/compound/Sensitivity/sTF/testsTF_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Sensitivity/sTF/testsTF_abg.fig +++ /dev/null @@ -1,20 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4725 2925 6075 2925 5850 3150 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 2250 2700 2250 3150 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2250 2925 3600 2925 3375 3150 -4 1 0 100 0 18 18 0.0000 4 210 930 4185 3060 sTF:stf\001 -4 1 0 100 0 18 18 0.0000 4 270 1050 1620 3015 SS:ss_1\001 -4 1 0 100 0 18 18 0.0000 4 270 1050 6750 3015 SS:ss_2\001 -4 1 4 100 0 18 14 0.0000 4 210 450 2385 2700 [1,2]\001 -4 1 4 100 0 18 14 0.0000 4 210 450 6030 2790 [1,2]\001 DELETED mttroot/mtt/lib/comp/compound/Sensitivity/sTF/testsTF_lbl.txt Index: mttroot/mtt/lib/comp/compound/Sensitivity/sTF/testsTF_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Sensitivity/sTF/testsTF_lbl.txt +++ /dev/null @@ -1,34 +0,0 @@ -#SUMMARY testsTF -#DESCRIPTION Detailed description here - -## System testsTF, representation lbl, language txt -## File testsTF_lbl.txt -## Generated by MTT on Thu Aug 9 12:38:50 BST 2001 - - ############################################################### - ## Version control history - ############################################################### - ## $Id$ - ## $Log$ - ############################################################### - -## Port aliases - -## Argument aliases -#ALIAS $1 k -#ALIAS $2 k_s - -## Each line should be of one of the following forms: -## a comment (ie starting with #) -## component-name cr_name arg1,arg2,..argn -## blank - -## ---- Component labels ---- - -## Component type - ss_1 SS external,external - ss_2 SS external,external - -## Component type sTF - stf slin flow,n;n_s - DELETED mttroot/mtt/lib/comp/compound/Thermal/CT/CT_abg.fig Index: mttroot/mtt/lib/comp/compound/Thermal/CT/CT_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/CT/CT_abg.fig +++ /dev/null @@ -1,26 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2025 2700 3375 2700 3150 2925 -2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 5850 3825 5850 1575 225 1575 225 3825 5850 3825 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4275 2700 5625 2700 5400 2925 -4 1 4 0 0 0 20 0.0000 4 240 270 3285 2475 [f]\001 -4 1 1 1 0 3 20 0.0000 4 195 165 2475 3105 S\001 -4 1 1 1 0 3 20 0.0000 4 195 165 2475 2475 T\001 -4 1 1 1 0 3 30 0.0000 4 60 105 2520 2835 .\001 -4 2 4 0 0 0 20 0.0000 4 240 810 1980 2790 SS:[in]\001 -4 1 -1 0 0 0 20 0.0000 4 255 630 3825 2790 FP:fp\001 -4 1 4 0 0 0 20 0.0000 4 255 315 4410 2475 [p]\001 -4 1 1 1 0 3 20 0.0000 4 240 210 4950 3105 Q\001 -4 1 1 1 0 3 20 0.0000 4 195 165 4950 2475 T\001 -4 1 1 1 0 3 30 0.0000 4 60 105 4995 2835 .\001 -4 1 -1 0 0 0 20 0.0000 4 195 390 5940 2790 C:c\001 DELETED mttroot/mtt/lib/comp/compound/Thermal/CT/CT_desc.tex Index: mttroot/mtt/lib/comp/compound/Thermal/CT/CT_desc.tex ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/CT/CT_desc.tex +++ /dev/null @@ -1,7 +0,0 @@ - -Component \textbf{CT} is a two port thermal resistor with true power -bonds. Internally, it has a pseudo Bond Graph representation, and the -corresponding thermal resistance just acts as an ordinary one-port -\textbf{C} component. - - DELETED mttroot/mtt/lib/comp/compound/Thermal/CT/CT_lbl.txt Index: mttroot/mtt/lib/comp/compound/Thermal/CT/CT_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/CT/CT_lbl.txt +++ /dev/null @@ -1,60 +0,0 @@ -%SUMMARY CT: One-port thermal C component with T/Sdot bond -%DESCRIPTION CR and parameters as for a one-port C component -%DESCRIPTION Internally pseudo -%DESCRIPTION Example label file entry: -%DESCRIPTION % Component type CT -%DESCRIPTION c lin effort,c - -%Port aliases -%ALIAS Thermal|out in - -%CR aliases -%ALIAS $1 effort,c_t -%ALIAS $a1 lin - -%% Label file for system CT (CT_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.7 2001/07/03 22:59:10 gawthrop -% %% Fixed problems with argument passing for CRs -% %% -% %% Revision 1.6 2001/06/13 17:10:26 gawthrop -% %% Alias for the cr (ie ALIAS $1 lin) -% %% -% %% Revision 1.5 2001/06/11 15:09:18 gawthrop -% %% Removed spurious parameter -% %% -% %% Revision 1.4 1998/07/22 11:28:15 peterg -% %% Out as port alias -% %% -% %% Revision 1.3 1998/07/22 11:27:41 peterg -% %% Changed port name -% %% -% %% Revision 1.2 1998/06/29 10:12:58 peterg -% %% Converted to FP component -% %% Removed FP label -% %% -% %% Revision 1.1 1997/09/04 09:49:19 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type C - c lin effort,c_t - -% Component type FP - fp - -% Component type SS - [in] SS external,external DELETED mttroot/mtt/lib/comp/compound/Thermal/CT2/CT2.cr Index: mttroot/mtt/lib/comp/compound/Thermal/CT2/CT2.cr ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/CT2/CT2.cr +++ /dev/null @@ -1,44 +0,0 @@ -%SUMMARY CT2 Constitutive Relationship for a two port thermo C -%DESCRIPTION Parameter 1: c_v (specific heat at constant volume) -%DESCRIPTION Parameter 2: gamma = c_p/c_v -%DESCRIPTION Parameter 3: mass of (ideal) gas within component. -%DESCRIPTION Parameter 4: t_0 -- the temperature at which internal -%DESCRIPTION energy is zero. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %%%%% Model Transformation Tools %%%%% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1997/12/07 20:45:21 peterg -% %% Initial revision -% %% -% %% Revision 1.1 1996/11/02 10:21:19 peterg -% %% Initial revision -% %% -% %% Revision 1.1 1996/09/12 11:18:26 peter -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -OPERATOR CT2; -Port 1 - Thermal -FOR ALL c_v,gamma,m,t_0,InternalEnergy,Volume -LET CT2(c_v,gamma,m,t_0,effort,1, - InternalEnergy, state, 1, - Volume, state, 2) - = InternalEnergy/(m*c_v); - -Port 2 - Mechanical -FOR ALL c_v,gamma,m,t_0,InternalEnergy,Volume -LET CT2(c_v,gamma,m,t_0,effort,2, - InternalEnergy, state, 1, - Volume, state, 2) - = (gamma-1)*(InternalEnergy+c_v*m*t_0)/Volume; - -END; DELETED mttroot/mtt/lib/comp/compound/Thermal/CT2/CT2_abg.fig Index: mttroot/mtt/lib/comp/compound/Thermal/CT2/CT2_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/CT2/CT2_abg.fig +++ /dev/null @@ -1,57 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2700 5400 4050 5400 3825 5625 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6075 5400 4725 5400 4950 5625 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2475 3825 2475 5175 2700 4950 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2475 2025 2475 3375 2700 3150 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6525 3825 6525 5175 6750 4950 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6525 3375 6525 2025 6750 2250 -2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 5085 5895 5085 4950 3690 4950 3690 5895 5085 5895 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 1 0 2 - 1 0 2.00 120.00 240.00 - 2024 6750 3262 5512 -2 1 0 3 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 2700 5175 2700 5625 -2 1 0 3 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 6075 5175 6075 5625 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 4 - 6525 5625 6525 6750 4500 6750 4725 6975 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 4 - 2475 5625 2475 6750 4050 6750 3825 6975 -4 1 4 0 0 0 20 0.0000000 4 240 345 2250 4005 [e]\001 -4 1 4 0 0 0 20 0.0000000 4 240 330 2250 3375 [s]\001 -4 0 -1 0 0 0 20 0.0000000 4 210 150 2430 5490 0\001 -4 1 -1 0 0 0 20 0.0000000 4 210 420 4410 5490 C:c\001 -4 1 -1 0 0 0 20 0.0000000 4 270 690 6525 5490 PS:ps\001 -4 0 4 0 0 0 20 0.0000000 4 270 960 6660 5850 [power]\001 -4 1 -1 0 0 0 20 0.0000000 4 210 690 2430 3690 ES:es\001 -4 1 4 0 0 0 20 0.0000000 4 240 870 2475 1845 SS:[in]\001 -4 2 4 0 0 0 20 0.0000000 4 240 600 5985 5265 [out]\001 -4 0 4 0 0 0 20 0.0000000 4 240 450 6750 5175 [in]\001 -4 0 -1 0 0 0 20 0.0000000 4 210 150 6435 3690 0\001 -4 1 4 0 0 0 20 0.0000000 4 240 1020 6480 1890 SS:[out]\001 -4 1 1 1 0 3 20 0.0000000 4 240 2340 6480 1530 Mechanical Power\001 -4 1 1 1 0 3 20 0.0000000 4 210 180 2160 2700 T\001 -4 1 1 1 0 3 20 0.0000000 4 210 180 6300 2700 P\001 -4 0 1 1 0 3 20 0.0000000 4 210 675 6660 2700 dV/dt\001 -4 1 1 1 0 3 20 0.0000000 4 240 1935 2475 1530 Thermal Power\001 -4 0 1 1 0 3 20 0.0000000 4 210 720 2610 4365 dH/dt\001 -4 1 1 1 0 3 20 0.0000000 4 255 840 1935 4365 T-T_0\001 -4 1 1 1 0 3 20 0.0000000 4 210 180 6300 4365 P\001 -4 0 1 1 0 3 20 0.0000000 4 210 855 6705 4365 -dV/dt\001 -4 2 1 1 0 3 20 0.0000000 4 210 1755 2025 6660 dH/dt-PdV/dt\001 -4 1 1 1 0 3 20 0.0000000 4 270 1485 4365 4770 Two-port C\001 -4 1 4 0 0 0 20 0.0000000 4 240 450 4050 5265 [in]\001 -4 1 4 0 0 0 20 0.0000000 4 240 600 4770 5265 [out]\001 -4 0 1 1 0 3 20 0.0000000 4 210 855 4005 7335 PdV/dt\001 -4 0 -1 0 0 0 20 0.0000000 4 210 150 4230 6840 1\001 DELETED mttroot/mtt/lib/comp/compound/Thermal/CT2/CT2_desc.tex Index: mttroot/mtt/lib/comp/compound/Thermal/CT2/CT2_desc.tex ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/CT2/CT2_desc.tex +++ /dev/null @@ -1,41 +0,0 @@ -% Verbal description for system CT2 (CT2_desc.tex) -% Generated by MTT on Thu Dec 4 16:00:14 GMT 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1997/12/07 20:29:56 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{CT2} is - displayed in Figure \Ref{CT2_abg} and its label - file is listed in Section \Ref{sec:CT2_lbl}. - The subsystems are listed in Section \Ref{sec:CT2_sub}. - -\textbf{CT2} is a two port thermal capacitor representing an ideal -heat engine converting heat to work without energy loss. There are two -ports {\bf [in]} (with covariables Temperature (absolute) and -entropy flow) and {\bf [out]} with covariables Pressure and rate of -change of volume. - -Rather than using the corresponding (nonlinear) Constitutive -Relationship (with entropy and volume as states) directly, the -component is built up from a {\em linear\/} two-port capacitor with -internal energy and volume as states. The {\bf ES} component provides -the conversion from the pseudo Bond Graph with temperature (relative) -and enthalpy flow as covariables to the true Bond Graph with with -covariables Temperature (absolute) and entropy flow. - -The power-sensor {\bf PS} component is used to subtract the work enrgy -from the internal energy. - - - - - - - DELETED mttroot/mtt/lib/comp/compound/Thermal/CT2/CT2_lbl.txt Index: mttroot/mtt/lib/comp/compound/Thermal/CT2/CT2_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/CT2/CT2_lbl.txt +++ /dev/null @@ -1,40 +0,0 @@ -%SUMMARY CT2: Two-port thermal C component - a heat engine. -%DESCRIPTION Port [in]: a (true) thermal bond -%DESCRIPTION Port [out]: a mechanical (P, dV/dT) bond. -%DESCRIPTION Parameter 1: c_v (specific heat at constant volume) -%DESCRIPTION Parameter 2: gamma = c_p/c_v -%DESCRIPTION Parameter 3: mass of (ideal) gas within component. -%DESCRIPTION Parameter 4: t_0 -- the temperature at which internal -%DESCRIPTION energy is zero. - -%% Label file for system CT2 (CT2_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type C c_v,gamma,m,t_0 - c CT2 $1,$2,$3,$4 - -% Component type ES - es - -% Component type PS - ps - -% Component type SS - [in] SS external,external - [out] SS external,external - - - DELETED mttroot/mtt/lib/comp/compound/Thermal/CU/CU_abg.fig Index: mttroot/mtt/lib/comp/compound/Thermal/CU/CU_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/CU/CU_abg.fig +++ /dev/null @@ -1,65 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1125 3375 2250 3375 2025 3600 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2700 3375 3825 3375 3600 3600 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4275 3375 5400 3375 5175 3600 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 4 - 5175 4725 4050 4725 4050 3600 4275 3825 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6075 3375 7200 3375 6975 3600 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7650 3375 8775 3375 8550 3600 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 9225 3375 10350 3375 10125 3600 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 10800 3375 11925 3375 11700 3600 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 4 - 9000 3600 9000 4725 6075 4725 6300 4950 -4 1 -1 0 0 2 20 0.0000 4 195 360 2475 3465 FP\001 -4 1 -1 0 0 2 20 0.0000 4 195 135 4050 3465 0\001 -4 1 4 0 0 2 16 0.0000 4 210 270 2160 3105 [f]\001 -4 1 4 0 0 2 16 0.0000 4 225 315 2835 3105 [p]\001 -4 1 1 1 0 3 22 0.0000 4 225 195 1440 3150 T\001 -4 1 1 1 0 3 22 0.0000 4 225 195 3240 3150 T\001 -4 1 1 1 0 3 22 0.0000 4 225 195 4815 3150 T\001 -4 1 1 1 0 3 22 0.0000 4 285 720 4815 3825 Q-W\001 -4 1 1 1 0 3 22 0.0000 4 285 240 3240 3825 Q\001 -4 1 1 1 0 3 30 0.0000 4 60 120 3285 3555 .\001 -4 1 1 1 0 3 22 0.0000 4 225 195 1440 3825 S\001 -4 1 1 1 0 3 30 0.0000 4 60 120 1485 3555 .\001 -4 1 1 1 0 3 30 0.0000 4 60 120 4590 3555 .\001 -4 1 1 1 0 3 30 0.0000 4 60 120 5040 3555 .\001 -4 1 -1 0 0 2 20 0.0000 4 195 360 7425 3465 FP\001 -4 1 -1 0 0 2 20 0.0000 4 195 360 10575 3465 FP\001 -4 1 -1 0 0 2 20 0.0000 4 195 135 9000 3465 1\001 -4 0 4 0 0 2 20 0.0000 4 240 990 12060 3465 SS:[out]\001 -4 1 4 0 0 2 16 0.0000 4 210 270 10935 3105 [f]\001 -4 1 4 0 0 2 16 0.0000 4 210 270 7110 3105 [f]\001 -4 1 4 0 0 2 16 0.0000 4 225 315 7785 3105 [p]\001 -4 1 4 0 0 2 16 0.0000 4 225 315 10260 3105 [p]\001 -4 1 1 1 0 3 22 0.0000 4 225 195 6615 3150 P\001 -4 1 1 1 0 3 22 0.0000 4 225 195 9765 3150 P\001 -4 1 1 1 0 3 22 0.0000 4 225 195 11385 3150 P\001 -4 1 1 1 0 3 22 0.0000 4 225 225 11385 3825 V\001 -4 1 1 1 0 3 30 0.0000 4 60 120 11430 3555 .\001 -4 1 1 1 0 3 22 0.0000 4 225 285 9765 3825 W\001 -4 1 1 1 0 3 30 0.0000 4 60 120 9810 3555 .\001 -4 1 1 1 0 3 22 0.0000 4 225 225 6615 3825 V\001 -4 1 1 1 0 3 30 0.0000 4 60 120 6660 3555 .\001 -4 1 -1 0 0 2 20 0.0000 4 195 405 5715 3465 C:c\001 -4 1 1 1 0 3 22 0.0000 4 225 195 8190 3150 P\001 -4 1 1 1 0 3 22 0.0000 4 225 285 8190 3825 W\001 -4 1 1 1 0 3 30 0.0000 4 60 120 8235 3555 .\001 -4 1 1 1 0 3 22 0.0000 4 225 195 8190 4500 P\001 -4 1 1 1 0 3 22 0.0000 4 225 285 8190 5175 W\001 -4 1 1 1 0 3 30 0.0000 4 60 120 8235 4905 .\001 -4 2 4 0 0 2 20 0.0000 4 240 825 990 3465 SS:[in]\001 -4 1 -1 0 0 2 20 0.0000 4 195 690 5625 4815 AF:af\001 -4 1 1 1 0 3 22 0.0000 4 300 1275 900 4275 Heat port\001 -4 1 1 1 0 3 22 0.0000 4 315 1305 11295 4275 Work port\001 DELETED mttroot/mtt/lib/comp/compound/Thermal/CU/CU_cr.r Index: mttroot/mtt/lib/comp/compound/Thermal/CU/CU_cr.r ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/CU/CU_cr.r +++ /dev/null @@ -1,76 +0,0 @@ -%SUMMARY CU Constitutive Relationship for a two port thermo C -%DESCRIPTION Parameter 1: c_v (specific heat at constant volume) -%DESCRIPTION Parameter 2: gamma = c_p/c_v -%DESCRIPTION Parameter 3: mass of (ideal) gas within component. - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %%%%% Model Transformation Tools %%%%% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1997/12/07 20:45:21 peterg -% %% Initial revision -% %% -% %% Revision 1.1 1996/11/02 10:21:19 peterg -% %% Initial revision -% %% -% %% Revision 1.1 1996/09/12 11:18:26 peter -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -OPERATOR CU; - -%% Integral/Integral causality -Port 1 - Thermal -FOR ALL c_v,gamma,m,InternalEnergy,Volume -LET CU(ideal_gas,c_v,gamma,m,effort,1, - InternalEnergy, state, 1, - Volume, state, 2) - = InternalEnergy/(m*c_v); - -Port 2 - Mechanical -FOR ALL c_v,gamma,m,InternalEnergy,Volume -LET CU(ideal_gas,c_v,gamma,m,effort,2, - InternalEnergy, state, 1, - Volume, state, 2) - = (gamma-1)*(InternalEnergy)/Volume; - -%% Derivative/Integral causality -Port 1 - Thermal -FOR ALL c_v,gamma,m,Temperature,Volume -LET CU(ideal_gas,c_v,gamma,m,state,1, - Temperature, effort, 1, - Volume, state, 2) - = Temperature*(m*c_v); - -Port 2 - Mechanical -FOR ALL c_v,gamma,m,Temperature,Volume -LET CU(ideal_gas,c_v,gamma,m,effort,2, - Temperature, effort, 1, - Volume, state, 2) - = (gamma-1)*(m*c_v)*(Temperature)/Volume; - -%% Integral/Derivative causality -Port 1 - Thermal -FOR ALL c_v,gamma,m,InternalEnergy,Pressure -LET CU(ideal_gas,c_v,gamma,m,effort,1, - InternalEnergy, state, 1, - Pressure, effort, 2) - = InternalEnergy/(m*c_v); - -Port 2 - Mechanical -FOR ALL c_v,gamma,m,InternalEnergy,Pressure -LET CU(ideal_gas,c_v,gamma,m,state,2, - InternalEnergy, state, 1, - Pressure, effort, 2) - = (gamma-1)*(InternalEnergy)/Pressure; - - -END; DELETED mttroot/mtt/lib/comp/compound/Thermal/CU/CU_lbl.txt Index: mttroot/mtt/lib/comp/compound/Thermal/CU/CU_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/CU/CU_lbl.txt +++ /dev/null @@ -1,25 +0,0 @@ -%SUMMARY CU -%DESCRIPTION -%% Label file for system CU (CU_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - -% Component type AF (gain of -1) - af lin -1 - -% Component type C - c CU $1 - -% Component type SS - [in] SS external,external - [out] SS external,external DELETED mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Comb/Comb_abg.fig Index: mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Comb/Comb_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Comb/Comb_abg.fig +++ /dev/null @@ -1,62 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4953 2928 6528 2928 6303 3153 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2476 2926 4051 2926 3826 3151 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2476 4051 4051 4051 3826 4276 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4951 4051 6526 4051 6301 4276 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4501 5618 4501 4493 4726 4718 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6978 2925 8553 2925 8328 3150 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6978 4050 8553 4050 8328 4275 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6750 2693 6750 1568 6975 1793 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6750 4268 6750 5393 6975 5168 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 6480 1575 6975 1575 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 6480 5400 6975 5400 -2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 11025 6300 11025 675 225 675 225 6300 11025 6300 -4 2 4 0 0 0 20 0.0000 4 255 2085 2436 4101 SS:[Hydraulic_in]\001 -4 2 4 0 0 0 20 0.0000 4 255 1935 2438 3023 SS:[Thermal_in]\001 -4 2 4 0 0 0 12 0.0000 4 180 540 4102 3337 [Th_in]\001 -4 2 4 0 0 0 12 0.0000 4 180 570 4147 3922 [Hy_in]\001 -4 0 4 0 0 0 12 0.0000 4 180 675 5002 3922 [Hy_out]\001 -4 0 4 0 0 0 12 0.0000 4 180 645 5002 3337 [Th_out]\001 -4 1 -1 0 0 22 20 0.0000 4 270 1470 4504 3649 hPipe:pipe\001 -4 1 1 1 0 3 20 0.0000 4 195 135 2933 3968 1\001 -4 1 1 1 0 3 30 0.0000 4 60 120 2798 4238 .\001 -4 1 1 1 0 3 20 0.0000 4 195 165 2798 3878 P\001 -4 1 1 1 0 3 20 0.0000 4 195 195 2798 4508 V\001 -4 1 1 1 0 3 20 0.0000 4 195 165 2842 2752 T\001 -4 1 1 1 0 3 20 0.0000 4 195 135 2977 2842 1\001 -4 1 1 1 0 3 20 0.0000 4 195 135 2977 3517 1\001 -4 1 1 1 0 3 20 0.0000 4 195 165 2842 3382 S\001 -4 1 1 1 0 3 30 0.0000 4 60 120 2842 3112 .\001 -4 1 4 0 0 0 20 0.0000 4 240 1140 4501 5986 SS:[Heat]\001 -4 1 1 1 0 3 30 0.0000 4 60 120 7933 4244 .\001 -4 1 1 1 0 3 20 0.0000 4 195 165 7933 3884 P\001 -4 1 1 1 0 3 20 0.0000 4 195 195 7933 4514 V\001 -4 1 1 1 0 3 20 0.0000 4 195 135 8068 3974 2\001 -4 1 1 1 0 3 20 0.0000 4 195 165 7933 2713 T\001 -4 1 1 1 0 3 20 0.0000 4 195 135 8068 2803 2\001 -4 1 1 1 0 3 20 0.0000 4 195 165 7933 3343 S\001 -4 1 1 1 0 3 30 0.0000 4 60 120 7933 3073 .\001 -4 1 1 1 0 3 20 0.0000 4 195 135 8068 3478 2\001 -4 0 4 0 0 0 20 0.0000 4 255 2235 8696 4197 SS:[Hydraulic_out]\001 -4 0 4 0 0 0 20 0.0000 4 255 2085 8651 3026 SS:[Thermal_out]\001 -4 1 -1 0 0 22 20 0.0000 4 195 150 6750 3060 0\001 -4 1 -1 0 0 22 20 0.0000 4 195 150 6750 4140 0\001 -4 1 -1 0 0 22 20 0.0000 4 210 675 6705 5715 SS:P\001 -4 1 -1 0 0 22 20 0.0000 4 210 645 6705 1440 SS:T\001 -4 1 4 0 0 0 12 0.0000 4 180 495 4501 4366 [Heat]\001 DELETED mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Comb/Comb_desc.tex Index: mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Comb/Comb_desc.tex ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Comb/Comb_desc.tex +++ /dev/null @@ -1,27 +0,0 @@ -% -*-latex-*- Put EMACS into LaTeX-mode -% Verbal description for system Comb (Comb_desc.tex) -% Generated by MTT on Tue Mar 31 15:58:34 BST 1998. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{Comb} is - displayed in Figure \Ref{Comb_abg} and its label - file is listed in Section \Ref{sec:Comb_lbl}. - The subsystems are listed in Section \Ref{sec:Comb_sub}. - - This thermal tank model has been developed to represent an ideal - (and non-dynamic) combustion chamber for a gas turbine. The major - simplification is that the mass contained in the tank is assumed - constant -- this is consistent with using an ideal compressor and an - ideal turbine with identical mass flows. Energy conservatioin is - ensured by using true bonds and \textbf{TF} components. - -%%% Local Variables: -%%% mode: latex -%%% TeX-master: t -%%% End: DELETED mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Comb/Comb_lbl.txt Index: mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Comb/Comb_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Comb/Comb_lbl.txt +++ /dev/null @@ -1,73 +0,0 @@ -%SUMMARY Comb: Combustion chamber model - -%DESCRIPTION This thermal tank model has been developed to represent an ideal -%DESCRIPTION (and non-dynamic) combustion chamber for a gas turbine. The major -%DESCRIPTION simplification is that the mass contained in the tank is assumed -%DESCRIPTION constant -- this is consistent with using an ideal compressor and an -%DESCRIPTION ideal turbine with identical mass flows. Energy conservation is -%DESCRIPTION ensured by using true bonds and components. - -%ALIAS in Thermal_in,Hydraulic_in -%ALIAS out Thermal_out,Hydraulic_out - -%ALIAS Th_in Thermal_in -%ALIAS Hy_in Hydraulic_in - -%ALIAS Th_out Thermal_out -%ALIAS Hy_out Hydraulic_out - -%ALIAS $1 m_c -%ALIAS $2 v_c -%ALIAS $3 r - -%ALIAS hPipe CompressibleFlow/hPipe - -%% Label file for system Comb (Comb_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.6 1998/07/04 08:24:25 peterg -% %% New-style SS -% %% -% %% Revision 1.5 1998/07/03 14:55:33 peterg -% %% Aliased parameters. -% %% Removed _c from parameters, -% %% -% %% Revision 1.4 1998/07/02 19:46:34 peterg -% %% New aliases -% %% -% %% Revision 1.3 1998/07/02 10:54:42 peterg -% %% Lower case in out -% %% -% %% Revision 1.2 1998/07/02 10:49:32 peterg -% %% Added port aliases -% %% -% %% Revision 1.1 1998/05/19 09:11:29 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type SS - [Hydraulic_in] SS external,external - [Hydraulic_out] SS external,external - [Heat] SS external,external - [Thermal_in] SS external,external - [Thermal_out] SS external,external - P SS external,0 - T SS external,0 - -% Component type hPipe - pipe none m_c;v_c;r - - - DELETED mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Density/Density_abg.fig Index: mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Density/Density_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Density/Density_abg.fig +++ /dev/null @@ -1,35 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4501 2476 5626 2476 5401 2701 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4501 3376 5626 3376 5401 3601 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5626 2251 5626 2701 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5626 3151 5626 3601 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6752 2927 7877 2927 7652 3152 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 7877 2702 7877 3152 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2701 2475 3826 2475 3601 2700 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2701 3375 3826 3375 3601 3600 -2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 10125 4725 10125 1350 90 1350 90 4725 10125 4725 -4 2 4 0 0 22 20 0.0000 4 270 1890 2610 2565 SS:[Pressure]\001 -4 2 4 0 0 22 20 0.0000 4 270 2385 2655 3465 SS:[Temperature]\001 -4 1 1 1 0 3 20 0.0000 4 195 165 5041 2251 P\001 -4 1 1 1 0 3 20 0.0000 4 195 165 4996 3241 T\001 -4 1 4 0 0 22 20 0.0000 4 270 330 5895 2520 [1]\001 -4 1 4 0 0 22 20 0.0000 4 270 330 5895 3465 [2]\001 -4 1 -1 0 0 18 30 0.0000 4 345 600 6030 3060 R:r\001 -4 1 4 0 0 22 20 0.0000 4 270 330 6570 3015 [3]\001 -4 1 1 1 0 32 30 0.0000 4 345 210 7337 2792 r\001 -4 0 4 0 0 22 20 0.0000 4 270 1695 8146 3016 SS:[Density]\001 -4 1 -1 0 0 18 20 0.0000 4 210 405 4140 2610 AE\001 -4 1 -1 0 0 18 20 0.0000 4 210 405 4140 3465 AE\001 DELETED mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Density/Density_cr.r Index: mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Density/Density_cr.r ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Density/Density_cr.r +++ /dev/null @@ -1,36 +0,0 @@ -% Constitutive relation file for Density (Density_cr.r) -% Generated by MTT at Wed Mar 11 11:01:28 GMT 1998 - -OPERATOR Density; - -% Ideal gas -FOR ALL R,Temperature,Pressure,Nothing -LET Density(density,ideal_gas,R,effort,3, - Pressure,effort,1, - Temperature,effort,2, - Nothing,flow,3 - ) = Pressure/(R*Temperature); - -FOR ALL R,Temperature,Pressure,Nothing -LET Density(specific_volume,ideal_gas,R,effort,3, - Pressure,effort,1, - Temperature,effort,2, - Nothing,flow,3 - ) = (R*Temperature)/Pressure; - -% Incompressible -FOR ALL rho,Temperature,Pressure,Nothing -LET Density(density,incompressible,rho,effort,3, - Pressure,effort,1, - Temperature,effort,2, - Nothing,flow,3 - ) = rho; - -FOR ALL rho,Temperature,Pressure,Nothing -LET Density(specific_volume,incompressible,rho,effort,3, - Pressure,effort,1, - Temperature,effort,2, - Nothing,flow,3 - ) = 1/rho; - -END; DELETED mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Density/Density_desc.tex Index: mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Density/Density_desc.tex ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Density/Density_desc.tex +++ /dev/null @@ -1,39 +0,0 @@ -% -*-latex-*- Put EMACS into LaTeX-mode -% Verbal description for system Density (Density_desc.tex) -% Generated by MTT on Thu Mar 19 13:24:59 GMT 1998. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{Density} is - displayed in Figure \Ref{Density_abg} and its label - file is listed in Section \Ref{sec:Density_lbl}. - -This three port component computes the density $\rho$ of substance in -terms of the temperature $T$ and the pressure $P$. At the moment, -there are four forms dependent on the four forms of the component parameter: -\begin{enumerate} -\item \emph{density,incompressible,rho} -\item \emph{specific\_volume,incompressible,rho} -\item \emph{density,ideal\_gas,R} -\item \emph{specific\_volume,ideal\_gas,R} -\end{enumerate} - -\begin{equation} - y = - \begin{cases} - \rho & \text{if the parameter is - \emph{density,incompressible,rho}}\\ - \frac{1}{\rho} & \text{if the parameter is - \emph{specific\_volume,incompressible,rho}}\\ - \frac{P}{RT} & \text{if the parameter is \emph{density,ideal\_gas,R}}\\ - \frac{RT}{P} & \text{if the parameter is - \emph{specific\_volume,ideal\_gas,R}} - \end{cases} -\end{equation} -where $\rho$ is the density of the incompressible fluid and $R$ the -universal gas constant of the ideal gas. DELETED mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Density/Density_lbl.txt Index: mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Density/Density_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Density/Density_lbl.txt +++ /dev/null @@ -1,41 +0,0 @@ -%SUMMARY Density - Computes P and T. - -%DESCRIPTION Parameter: density,ideal_gas,gas_constant -%DESCRIPTION OR : specific_volume,ideal_gas,gas_constant -%DESCRIPTION OR : density,incompressible,gas_constant -%DESCRIPTION OR : specific_volume,incompressible,gas_constant -%DESCRIPTION Port [P]: Pressure -%DESCRIPTION Port [T]: Temperature -%DESCRIPTION Port [rho]: Density - -%ALIAS P Pressure -%ALIAS T Temperature -%ALIAS rho|out Density - -%ALIAS $1 density,ideal_gas,r - - - -%% Label file for system Density (Density_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type R - r Density density,ideal_gas,r - -% Component type SS - [Pressure] SS external,external - [Temperature] SS external,external - [Density] SS external,external DELETED mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/ICV/ICV_abg.fig Index: mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/ICV/ICV_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/ICV/ICV_abg.fig +++ /dev/null @@ -1,64 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4503 2928 6078 2928 5853 3153 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2026 2926 3601 2926 3376 3151 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2026 4051 3601 4051 3376 4276 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4501 4051 6076 4051 5851 4276 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6528 2925 8103 2925 7878 3150 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6528 4050 8103 4050 7878 4275 -2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 9900 6300 9900 675 225 675 225 6300 9900 6300 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6300 2693 6300 1568 6525 1793 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6300 4268 6300 5393 6525 5168 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 6030 1575 6525 1575 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 6030 5400 6525 5400 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3825 4500 4320 4500 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4050 4507 4050 5632 4275 5407 -4 2 4 0 0 0 12 0.0000 4 180 540 3652 3337 [Th_in]\001 -4 2 4 0 0 0 12 0.0000 4 180 570 3697 3922 [Hy_in]\001 -4 0 4 0 0 0 12 0.0000 4 180 675 4552 3922 [Hy_out]\001 -4 0 4 0 0 0 12 0.0000 4 180 645 4552 3337 [Th_out]\001 -4 1 -1 0 0 22 20 0.0000 4 270 1470 4054 3649 hPipe:pipe\001 -4 1 1 1 0 3 20 0.0000 4 195 135 2483 3968 1\001 -4 1 1 1 0 3 30 0.0000 4 60 120 2348 4238 .\001 -4 1 1 1 0 3 20 0.0000 4 195 165 2348 3878 P\001 -4 1 1 1 0 3 20 0.0000 4 195 195 2348 4508 V\001 -4 1 1 1 0 3 20 0.0000 4 195 165 2392 2752 T\001 -4 1 1 1 0 3 20 0.0000 4 195 135 2527 2842 1\001 -4 1 1 1 0 3 20 0.0000 4 195 135 2527 3517 1\001 -4 1 1 1 0 3 20 0.0000 4 195 165 2392 3382 S\001 -4 1 1 1 0 3 30 0.0000 4 60 120 2392 3112 .\001 -4 2 4 0 0 0 20 0.0000 4 255 1290 1896 4191 SS:[Hy_in]\001 -4 2 4 0 0 0 20 0.0000 4 255 1275 1943 3023 SS:[Th_in]\001 -4 1 4 0 0 22 12 0.0000 4 180 540 4051 4366 [Heat]\001 -4 1 -1 0 0 0 20 0.0000 4 195 570 4051 5986 CT:c\001 -4 1 1 1 0 3 30 0.0000 4 60 120 7483 4244 .\001 -4 1 1 1 0 3 20 0.0000 4 195 165 7483 3884 P\001 -4 1 1 1 0 3 20 0.0000 4 195 195 7483 4514 V\001 -4 1 1 1 0 3 20 0.0000 4 195 135 7618 3974 2\001 -4 1 1 1 0 3 20 0.0000 4 195 165 7483 2713 T\001 -4 1 1 1 0 3 20 0.0000 4 195 135 7618 2803 2\001 -4 1 1 1 0 3 20 0.0000 4 195 165 7483 3343 S\001 -4 1 1 1 0 3 30 0.0000 4 60 120 7483 3073 .\001 -4 1 1 1 0 3 20 0.0000 4 195 135 7618 3478 2\001 -4 0 4 0 0 0 20 0.0000 4 255 1440 8246 4197 SS:[Hy_out]\001 -4 0 4 0 0 0 20 0.0000 4 255 1425 8201 3026 SS:[Th_out]\001 -4 1 -1 0 0 22 20 0.0000 4 195 150 6300 3060 0\001 -4 1 -1 0 0 22 20 0.0000 4 195 150 6300 4140 0\001 -4 1 -1 0 0 22 20 0.0000 4 210 675 6255 5715 SS:P\001 -4 1 -1 0 0 22 20 0.0000 4 210 645 6255 1440 SS:T\001 DELETED mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/ICV/ICV_desc.tex Index: mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/ICV/ICV_desc.tex ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/ICV/ICV_desc.tex +++ /dev/null @@ -1,27 +0,0 @@ -% -*-latex-*- Put EMACS into LaTeX-mode -% Verbal description for system ICV (ICV_desc.tex) -% Generated by MTT on Tue Mar 31 15:58:34 BST 1998. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{ICV} is - displayed in Figure \Ref{ICV_abg} and its label - file is listed in Section \Ref{sec:ICV_lbl}. - The subsystems are listed in Section \Ref{sec:ICV_sub}. - - This thermal tank model has been developed to represent an - inter-volume component (ICV) for a gas turbine. The major - simplification is that the mass contained in the ICV is assumed - constant -- this is consistent with using an ideal compressor and an - ideal turbine with identical mass flows. Energy conservation is - ensured by using true bonds and \textbf{TF} components. - -%%% Local Variables: -%%% mode: latex -%%% TeX-master: t -%%% End: DELETED mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/ICV/ICV_lbl.txt Index: mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/ICV/ICV_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/ICV/ICV_lbl.txt +++ /dev/null @@ -1,34 +0,0 @@ -%SUMMARY ICV Inter-component volume for a gas turbine. -%DESCRIPTION Parameter 1 Thermal capacity (c) - -%% Label file for system ICV (ICV_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type CT - c lin effort,$1 - -% Component type SS - [Hy_in] external external - [Hy_out] external external - [T] external external - [Th_in] external external - [Th_out] external external - P external 0 - T external 0 - -% Component type hPipe - pipe none m_c;v_c;r - DELETED mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/NozzleFlow/NozzleFlow_abg.fig Index: mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/NozzleFlow/NozzleFlow_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/NozzleFlow/NozzleFlow_abg.fig +++ /dev/null @@ -1,56 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5852 2927 6977 2927 6752 3152 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2926 2926 4051 2926 3826 3151 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4051 2701 4051 3151 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1126 2925 2251 2925 2026 3150 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2926 2026 4051 2026 3826 2251 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4051 1801 4051 2251 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1126 2025 2251 2025 2026 2250 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2926 3826 4051 3826 3826 4051 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4051 3601 4051 4051 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1126 3825 2251 3825 2026 4050 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4951 4949 4951 3824 5176 4049 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4726 3824 5176 3824 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4950 6749 4950 5624 5175 5849 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5850 2700 5850 3150 -4 1 4 0 0 22 20 0.0000 4 270 330 5670 3015 [5]\001 -4 1 1 1 0 22 20 0.0000 4 150 255 6437 2792 m\001 -4 0 4 0 0 22 20 0.0000 4 270 2055 7246 3016 SS:[MassFlow]\001 -4 1 -1 0 0 18 30 0.0000 4 345 600 5040 3060 R:r\001 -4 1 1 1 0 3 20 0.0000 4 195 165 3466 2701 P\001 -4 1 4 0 0 22 20 0.0000 4 270 330 4320 2970 [2]\001 -4 1 -1 0 0 18 20 0.0000 4 210 405 2565 3060 AE\001 -4 2 4 0 0 22 20 0.0000 4 270 1005 1080 3015 SS:[P2]\001 -4 1 1 1 0 3 20 0.0000 4 195 165 3466 1801 P\001 -4 1 4 0 0 22 20 0.0000 4 270 330 4320 2070 [1]\001 -4 1 -1 0 0 18 20 0.0000 4 210 405 2565 2160 AE\001 -4 2 4 0 0 22 20 0.0000 4 270 1005 1080 2115 SS:[P1]\001 -4 1 1 1 0 3 20 0.0000 4 195 135 3601 1981 1\001 -4 1 1 1 0 3 20 0.0000 4 195 135 3601 2881 2\001 -4 1 1 1 0 3 30 0.0000 4 60 120 6436 2566 .\001 -4 1 1 1 0 3 20 0.0000 4 195 165 3421 3691 T\001 -4 1 4 0 0 22 20 0.0000 4 270 330 4320 3915 [3]\001 -4 1 -1 0 0 18 20 0.0000 4 210 405 2565 3915 AE\001 -4 2 4 0 0 22 20 0.0000 4 270 975 1080 3915 SS:[T1]\001 -4 1 1 1 0 3 20 0.0000 4 195 135 3601 3781 1\001 -4 1 4 0 0 22 20 1.5708 4 270 330 5040 3555 [4]\001 -4 1 -1 0 0 18 20 1.5708 4 210 405 5040 5310 AE\001 -4 2 4 0 0 22 20 1.5708 4 270 1305 5040 6795 SS:[Area]\001 DELETED mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/NozzleFlow/NozzleFlow_cr.r Index: mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/NozzleFlow/NozzleFlow_cr.r ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/NozzleFlow/NozzleFlow_cr.r +++ /dev/null @@ -1,27 +0,0 @@ -% Constitutive relation file for NozzleFlow (NozzleFlow_cr.r) -% Generated by PJG at Wed Apr 8 09:30 GMT 1998 - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% % Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% % $Id$ -% % $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - - -OPERATOR NozzleFlow; -% Ideal gas - but polytropic expansion -FOR ALL R, n, p1, p2, T1, A, Nothing -LET NozzleFlow(R,n,flow,5, - p1,effort,1, - p2,effort,2, - T1,effort,3, - A,effort,4, - Nothing,effort,5 - ) = A*p1*( (2*n/(n-1)) * (1/(R*T1)) * - ((p2/p1)^(2/n)) * (1 - (p2/p1)^(n-1/n) ) ^(1/2) - ); - -END; DELETED mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/NozzleFlow/NozzleFlow_desc.tex Index: mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/NozzleFlow/NozzleFlow_desc.tex ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/NozzleFlow/NozzleFlow_desc.tex +++ /dev/null @@ -1,42 +0,0 @@ -% -*-latex-*- Put EMACS into LaTeX-mode -% Verbal description for system NozzleFlow (NozzleFlow_desc.tex) -% Generated by MTT on Thu Mar 19 13:24:59 GMT 1998. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{NozzleFlow} is - displayed in Figure \Ref{NozzleFlow_abg} and its label - file is listed in Section \Ref{sec:NozzleFlow_lbl}. - -This 5 port component computes the mass flow in a polytropic -convergent nozzle from the formula: -\begin{equation} - \dot m = A p_1 \sqrt{\frac{2n}{n-1}\frac{1}{RT_1} - \left ( \frac{p_2}{p_1} \right )^\frac{2}{n} - \left [ 1- \left ( \frac{p_2}{p_1} \right )^\frac{n-1}{n} \right ] } -\end{equation} - -where: -\begin{itemize} -\item $n$ is the coefficient of polytropic expansion and -\item $R$ is the universal gas constant. -\end{itemize} - -If the expansion is isentropic -\begin{equation} - n=\gamma=\frac{c_p}{c_v} -\end{equation} -whre $c_p$ and $c_v$ are the spesicfic heats at constant pressure and volume. - -Typical values for air are -\begin{equation} - \begin{align} - R &= 287 \text{Nm}\text{kg}^{-1}{K}^{-1}\\ - \gamma &= 1.4 - \end{align} -\end{equation} DELETED mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/NozzleFlow/NozzleFlow_lbl.txt Index: mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/NozzleFlow/NozzleFlow_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/NozzleFlow/NozzleFlow_lbl.txt +++ /dev/null @@ -1,32 +0,0 @@ -%SUMMARY NozzleFlow Subsonic ideal gas nozzle flow with polytropic expansion -%DESCRIPTION Polytropic expansion coefficient n=gamma=c_p/c_v for isentropic expansion. - - -%ALIAS $1 R Ideal gas constant -%ALIAS $2 n Index of polytropic expansion - -%% Label file for system NozzleFlow (NozzleFlow_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type R - r NozzleFlow R,n - -% Component type SS - [Area] SS external,external - [MassFlow] SS external,external - [P1] SS external,external - [P2] SS external,external - [T1] SS external,external DELETED mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/NozzleFlow/NozzleFlow_rep.txt Index: mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/NozzleFlow/NozzleFlow_rep.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/NozzleFlow/NozzleFlow_rep.txt +++ /dev/null @@ -1,22 +0,0 @@ -# Outline report file for system NozzleFlow (NozzleFlow_rep.txt) -# Generated by MTT on" Thursday September 24 09:49:01 BST 1998. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - -mtt NozzleFlow abg tex # The system description - -# Uncomment the following lines or add others -mtt NozzleFlow ode tex # The system ode -# mtt NozzleFlow sspar tex # Steady-state parameters -# mtt NozzleFlow ss tex # Steady state -# mtt NozzleFlow sm tex # State matrices (of linearised system) -# mtt NozzleFlow lmfr ps # log modulus of frequency response (of linearised system) -# mtt NozzleFlow simpar tex # Simulation parameters -# mtt NozzleFlow numpar tex # Numerical simulation parameters -# mtt NozzleFlow input tex # Simulation input -# mtt NozzleFlow odeso ps # Simulation output DELETED mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Poly/Poly_abg.fig Index: mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Poly/Poly_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Poly/Poly_abg.fig +++ /dev/null @@ -1,49 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4727 2027 5852 2027 5627 2252 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5852 1802 5852 2252 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2927 2026 4052 2026 3827 2251 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4727 2702 5852 2702 5627 2927 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2927 2701 4052 2701 3827 2926 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4727 3377 5852 3377 5627 3602 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5852 3152 5852 3602 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2927 3376 4052 3376 3827 3601 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7428 2703 8553 2703 8328 2928 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5850 2478 5850 2928 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 9003 2700 10128 2700 9903 2925 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8778 4050 8778 2925 9003 3150 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 8550 2925 8775 2925 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 8775 4050 9000 4050 -2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 13050 5625 135 5625 135 1125 13050 1125 13050 5625 -4 1 -1 0 0 18 20 0.0000 4 210 405 4366 2161 AE\001 -4 1 -1 0 0 18 20 0.0000 4 210 405 4366 2836 AE\001 -4 1 -1 0 0 18 20 0.0000 4 210 405 4366 3466 AE\001 -4 2 4 0 0 22 20 0.0000 4 270 2190 2881 2116 SS:[Pressure_1]\001 -4 2 4 0 0 22 20 0.0000 4 270 2190 2881 2791 SS:[Pressure_2]\001 -4 2 4 0 0 22 20 0.0000 4 270 2685 2881 3466 SS:[Temperature_1]\001 -4 1 -1 0 0 18 30 0.0000 4 345 600 6706 2836 R:r\001 -4 1 4 0 0 22 20 0.0000 4 270 330 6120 2790 [2]\001 -4 1 4 0 0 22 20 0.0000 4 270 330 6120 3465 [3]\001 -4 1 4 0 0 22 20 0.0000 4 270 330 6120 2115 [1]\001 -4 1 4 0 0 22 20 0.0000 4 270 330 7245 2790 [4]\001 -4 0 4 0 0 22 20 0.0000 4 270 2685 10260 2790 SS:[Temperature_2]\001 -4 1 -1 0 0 18 20 0.0000 4 210 1080 8775 4410 SS:zero\001 -4 1 -1 0 0 18 20 0.0000 4 195 150 8820 2790 1\001 DELETED mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Poly/Poly_cr.r Index: mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Poly/Poly_cr.r ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Poly/Poly_cr.r +++ /dev/null @@ -1,19 +0,0 @@ -% Constitutive relation file for Poly (Poly_cr.r) -% Generated by MTT at Wed Mar 11 11:01:28 GMT 1998 - -OPERATOR Poly; - -% Ideal gas - -% Temperature output on port [T2] -FOR ALL alpha,P1,P2,T1,Nothing -LET Poly(alpha,effort,4, - P1,effort,1, - P2,effort,2, - T1,effort,3, - Nothing,flow,4 - ) = T1*(P2/P1)^alpha; - - - -END; DELETED mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Poly/Poly_desc.tex Index: mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Poly/Poly_desc.tex ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Poly/Poly_desc.tex +++ /dev/null @@ -1,37 +0,0 @@ -% -*-latex-*- Put EMACS into LaTeX-mode -% Verbal description for system Poly (Poly_desc.tex) -% Generated by MTT on Thu Mar 19 13:24:59 GMT 1998. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.3 1998/03/31 15:05:33 peterg -% %% Spell checked -% %% -% %% Revision 1.2 1998/03/27 10:56:14 peterg -% %% Added bicausal bit -% %% -% %% Revision 1.1 1998/03/26 15:13:35 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{Poly} is - displayed in Figure \Ref{Poly_abg} and its label - file is listed in Section \Ref{sec:Poly_lbl}. - -This four-port component computes the temperature following a -polytropic expansion using: -\begin{equation} - T_2 = T_1 \left ( \frac{P_2}{P_1} \right )^\alpha -\end{equation} -where $\alpha = \frac{n-1}{n}$ and $n$ is the coefficient of -polytropic expansion. This component imposes zero flow at all its -ports and therefore does not affect energy balance. - -The output is \emph{bicausal} as it imposes both $T_2$ and a zero flow. -This is implemented using the bicausal \textbf{SS} component labeled -``zero''. - DELETED mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Poly/Poly_lbl.txt Index: mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Poly/Poly_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Poly/Poly_lbl.txt +++ /dev/null @@ -1,47 +0,0 @@ -%SUMMARY Poly - computes polytropic expansion temperature. -%DESCRIPTION Parameter: alpha = (n-1)/n (n = polytropic index) - -%DESCRIPTION This four-port component computes the temperature following -%DESCRIPTION a polytropic expansion using where alpha = (n-1)/n and n is -%DESCRIPTION the coefficient of polytropic expansion. This component -%DESCRIPTION imposes zero flow at all its ports and therefore does not -%DESCRIPTION affect energy balance. The output is bicausal as it -%DESCRIPTION imposes both T_2 and a zero flow. This is implemented using -%DESCRIPTION the bicausal SS component labeled ``zero''. - -%ALIAS P1 Pressure_1 -%ALIAS P2 Pressure_2 -%ALIAS T1 Temperature_1 -%ALIAS T2|out Temperature_2 - -%ALIAS $1 alpha - -%% Label file for system Poly (Poly_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1998/03/27 10:48:50 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type R - r Poly alpha - -% Component type SS - zero SS 0,0 - [Pressure_1] SS external,external - [Temperature_1] SS external,external - [Pressure_2] SS external,external - [Temperature_2] SS external,external - DELETED mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Pump/Pump_abg.fig Index: mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Pump/Pump_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Pump/Pump_abg.fig +++ /dev/null @@ -1,89 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7203 2028 8778 2028 8553 2253 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4726 2026 6301 2026 6076 2251 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5176 3151 6301 3151 6076 3376 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2703 2028 4278 2028 4053 2253 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2656 3151 4683 3151 4458 3376 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8776 3151 10803 3151 10578 3376 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7201 3151 8326 3151 8101 3376 -2 1 0 2 5 7 0 0 -1 0.000 0 0 -1 0 0 4 - 4501 1801 4501 901 6076 901 5851 1126 -2 1 0 2 5 7 0 0 -1 0.000 0 0 -1 0 0 4 - 4951 2926 4951 1351 6076 1351 5851 1576 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 4 - 7426 901 9001 901 9001 1801 9226 1576 -2 1 0 2 5 -1 0 0 -1 0.000 0 0 -1 0 0 4 - 8551 2926 8551 1351 7426 1351 7651 1576 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6755 7969 6755 6844 6980 7069 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6754 6371 6754 5246 6979 5471 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6752 4751 6752 3626 6977 3851 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 9228 2025 10803 2025 10578 2250 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 11704 2028 13279 2028 13054 2253 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 9225 1800 10125 900 10125 1125 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 10013 788 10238 1013 -2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 15705 8550 15705 225 225 225 225 8550 15705 8550 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 6525 7965 6975 7965 -4 2 4 0 0 0 20 0.0000 4 255 1935 2617 2122 SS:[Thermal_in]\001 -4 2 4 0 0 0 20 0.0000 4 255 2085 2615 3245 SS:[Hydraulic_in]\001 -4 2 4 0 0 0 12 0.0000 4 180 540 6352 2437 [Th_in]\001 -4 2 4 0 0 0 12 0.0000 4 180 570 6397 3022 [Hy_in]\001 -4 0 4 0 0 0 12 0.0000 4 180 675 7252 3022 [Hy_out]\001 -4 0 4 0 0 0 12 0.0000 4 180 645 7252 2437 [Th_out]\001 -4 1 -1 0 0 22 20 0.0000 4 195 150 9047 2117 0\001 -4 1 1 1 0 3 30 0.0000 4 60 120 10181 3297 .\001 -4 1 1 1 0 3 20 0.0000 4 195 165 10181 2937 P\001 -4 1 1 1 0 3 20 0.0000 4 195 195 10181 3567 V\001 -4 1 1 1 0 3 20 0.0000 4 195 135 10316 3027 2\001 -4 0 4 0 0 0 20 0.0000 4 255 2235 10944 3250 SS:[Hydraulic_out]\001 -4 1 -1 0 0 22 20 0.0000 4 270 1305 6796 1261 Poly:poly\001 -4 2 4 0 0 22 12 0.0000 4 180 345 7291 856 [T2]\001 -4 2 4 0 0 22 12 0.0000 4 180 345 7336 1531 [P2]\001 -4 0 4 0 0 22 12 0.0000 4 180 345 6211 856 [T1]\001 -4 0 4 0 0 22 12 0.0000 4 180 345 6211 1531 [P1]\001 -4 1 -1 0 0 22 20 0.0000 4 195 150 8596 3286 0\001 -4 1 -1 0 0 22 20 0.0000 4 195 150 4951 3286 0\001 -4 1 -1 0 0 22 20 0.0000 4 195 150 4501 2161 0\001 -4 1 4 0 0 0 20 0.0000 4 240 1215 6755 8330 SS:[Shaft]\001 -4 1 1 1 0 32 30 0.0000 4 240 195 6530 7610 t\001 -4 1 1 1 0 32 30 0.0000 4 240 285 6980 7610 w\001 -4 1 4 0 0 0 12 0.0000 4 180 540 6751 3421 [Work]\001 -4 1 -1 0 0 22 20 0.0000 4 210 750 11250 2115 EBTF\001 -4 1 1 1 0 3 20 0.0000 4 195 165 12657 1767 T\001 -4 1 1 1 0 3 20 0.0000 4 195 135 12792 1857 2\001 -4 1 1 1 0 3 20 0.0000 4 195 165 12657 2397 S\001 -4 1 1 1 0 3 30 0.0000 4 60 120 12657 2127 .\001 -4 1 1 1 0 3 20 0.0000 4 195 135 12792 2532 2\001 -4 0 4 0 0 0 20 0.0000 4 255 2085 13375 2080 SS:[Thermal_out]\001 -4 1 -1 0 0 22 20 0.0000 4 270 1530 6754 2749 wPipe:pipe\001 -4 1 -1 0 0 22 20 0.0000 4 210 645 10305 765 SS:T\001 -4 1 1 1 0 3 20 0.0000 4 195 135 3157 3022 1\001 -4 1 1 1 0 3 30 0.0000 4 60 120 3022 3292 .\001 -4 1 1 1 0 3 20 0.0000 4 195 165 3022 2932 P\001 -4 1 1 1 0 3 20 0.0000 4 195 195 3022 3562 V\001 -4 1 1 1 0 3 20 0.0000 4 195 165 3066 1806 T\001 -4 1 1 1 0 3 20 0.0000 4 195 135 3201 1896 1\001 -4 1 1 1 0 3 20 0.0000 4 195 135 3201 2571 1\001 -4 1 1 1 0 3 20 0.0000 4 195 165 3066 2436 S\001 -4 1 1 1 0 3 30 0.0000 4 60 120 3066 2166 .\001 -4 1 -1 0 0 22 20 0.0000 4 195 150 6755 6710 1\001 -4 1 -1 0 0 22 20 0.0000 4 270 915 6800 5090 TF:k_p\001 DELETED mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Pump/Pump_desc.tex Index: mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Pump/Pump_desc.tex ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Pump/Pump_desc.tex +++ /dev/null @@ -1,46 +0,0 @@ -% -*-latex-*- Put EMACS into LaTeX-mode -% Verbal description for system Pump (Pump_desc.tex) -% Generated by MTT on Fri Mar 20 15:53:12 GMT 1998. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1998/04/01 08:09:06 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{Pump} is - displayed in Figure \Ref{Pump_abg} and its label - file is listed in Section \Ref{sec:Pump_lbl}. - The subsystems are listed in Section \Ref{sec:Pump_sub}. - -\textbf{Pump} represents an ideal pumping component for compressible -or incompressible flow though a pipe, it may also be used as a turbine. - -The pump is ideal in the sense that the mass flow rate $\dot m$ -depends only on the shaft speed $\omega$: -\begin{equation} - \dot m = k_p \omega -\end{equation} - -It is implemented using three components: -\begin{itemize} -\item the ideal isentropic \textbf{wPipe} component which gives the - correct energy flows -\item the polytropic expansion \textbf{Poly} component which imposes - the correct temperature at the output of the pump. This component - imposes zero flow at all its ports and therefore does not affect - energy balance. It has a bicausal output imposing both the - temperature measured by the \textbf{SS} component ``T'' and a zero - flow. -\item the \emph{effort-bicausal transformer} \textbf{EBTF} - component. This component is an energy-conserving \textbf{TF} - component with non-standard causality. The modulus is determined by - the two imposed efforts ($T$ and $T_2$), and this modulus determines - the flows in the usual way. In particular, it makes sure that the - internal energy flowing from the pump to the following components - (imposing $T_2$) is correct. -\end{itemize} DELETED mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Pump/Pump_lbl.txt Index: mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Pump/Pump_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Pump/Pump_lbl.txt +++ /dev/null @@ -1,86 +0,0 @@ -%SUMMARY Pump Ideal pump component for compressible flow - -%DESCRIPTION Pump represents an ideal pumping component for compressible -%DESCRIPTION or incompressible flow though a pipe, it may also be used as a turbine. -%DESCRIPTION The pump is ideal in the sense that the mass flow rate -%DESCRIPTION depends only on the shaft speed. - -%DESCRIPTION Parameter 1: c_v - specific heat of fluid -%DESCRIPTION Parameter 2: Parameter passed to Density component -%DESCRIPTION Parameter 3: alpha = (n-1)/n, n coefficient of polytropic -%DESCRIPTION expansion. -%DESCRIPTION Parameter 4: k_p pump constant: mass flow = k_p*shaft speed - -%ALIAS in Thermal_in,Hydraulic_in -%ALIAS out Thermal_out,Hydraulic_out - -%ALIAS Th_in Thermal_in -%ALIAS Hy_in Hydraulic_in - -%ALIAS Th_out Thermal_out -%ALIAS Hy_out Hydraulic_out - -%ALIAS Work Shaft - -%ALIAS $1 c_v -%ALIAS $2 density,ideal_gas,r -%ALIAS $3 alpha -%ALIAS $4 flow,k_p - -%ALIAS wPipe CompressibleFlow/wPipe -%ALIAS Poly CompressibleFlow/Poly - -%% Label file for system Pump (Pump_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.7 1998/07/04 08:39:58 peterg -% %% New-style SS -% %% -% %% Revision 1.6 1998/07/03 15:02:25 peterg -% %% Work alias added -% %% -% %% Revision 1.5 1998/07/03 14:43:24 peterg -% %% Added parameter aliases -% %% -% %% Revision 1.4 1998/07/02 19:46:19 peterg -% %% New aliases -% %% -% %% Revision 1.3 1998/07/02 10:55:54 peterg -% %% Lower case in out -% %% -% %% Revision 1.2 1998/07/02 10:52:33 peterg -% %% Added port aliases -% %% -% %% Revision 1.1 1998/04/07 15:23:30 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type wPipe - pipe none c_v;density,ideal_gas,r - -% Component type Poly - poly Poly alpha - -% Component type SS - [Hydraulic_in] SS external,external - [Hydraulic_out] SS external,external - [Shaft] SS external,external - [Thermal_in] SS external,external - [Thermal_out] SS external,external - T SS external,0 - -% Component type TF - k_p lin flow,k_p - DELETED mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Tank/Tank_abg.fig Index: mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Tank/Tank_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Tank/Tank_abg.fig +++ /dev/null @@ -1,110 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7650 3600 9680 3602 9455 3827 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 9900 3825 9900 5850 10125 5625 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1575 6300 4725 6300 4500 6525 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6077 6301 7202 6301 6977 6526 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7650 6299 9230 6302 9005 6527 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 10575 6300 13725 6300 13500 6525 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 10125 3600 11700 3600 11475 3825 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 12150 3600 13725 3600 13500 3825 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7425 3825 7425 4725 7650 4500 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7425 6075 7425 5175 7650 5400 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7425 2228 7425 3353 7650 3128 -2 4 1 2 1 7 1 0 -1 6.000 0 0 7 0 0 5 - 9675 9000 5625 9000 5625 1350 9675 1350 9675 9000 -2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 15525 9450 15525 675 90 675 90 9450 15525 9450 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 5 - 7650 6525 8775 7650 9945 7650 9945 6750 10170 6975 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 5 - 7200 6525 6030 7695 5400 7695 5400 6750 5625 6975 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7425 7657 7425 6532 7650 6757 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5625 3600 6300 3600 6075 3825 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6750 3600 7200 3600 6975 3825 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3375 3600 5175 3600 4950 3825 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1575 3600 2925 3600 2700 3825 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5400 3825 5400 4725 5625 4500 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5400 5175 5400 5850 5625 5625 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5175 4950 4275 4950 4500 5175 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4275 4725 4275 4950 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5175 4950 5175 5175 -4 1 1 1 0 3 20 0.0000000 4 210 150 2073 4143 1\001 -4 1 1 1 0 3 20 0.0000000 4 210 165 1938 4008 S\001 -4 1 1 1 0 3 30 0.0000000 4 60 105 1938 3738 .\001 -4 1 -1 0 0 22 20 0.0000000 4 225 135 7426 3691 0\001 -4 1 1 1 0 3 20 0.0000000 4 210 165 13102 4012 S\001 -4 1 1 1 0 3 30 0.0000000 4 60 105 13102 3742 .\001 -4 1 1 1 0 3 20 0.0000000 4 210 150 13237 4147 2\001 -4 0 4 0 0 0 20 0.0000000 4 240 1500 13820 3695 SS:[Th_out]\001 -4 1 -1 0 0 22 20 0.0000000 4 225 135 9901 3691 0\001 -4 1 1 1 0 3 20 0.0000000 4 210 150 2029 6169 1\001 -4 1 1 1 0 3 30 0.0000000 4 60 105 1894 6439 .\001 -4 1 1 1 0 3 20 0.0000000 4 210 180 1894 6079 P\001 -4 1 1 1 0 3 20 0.0000000 4 210 195 1894 6709 V\001 -4 2 4 0 0 0 20 0.0000000 4 270 1380 1442 6392 SS:[Hy_in]\001 -4 2 4 0 0 0 12 0.0000000 4 180 570 4680 6165 [Hy_in]\001 -4 1 -1 0 0 22 20 0.0000000 4 225 135 7427 6437 0\001 -4 2 4 0 0 0 12 0.0000000 4 180 570 9225 6165 [Hy_in]\001 -4 0 4 0 0 0 12 0.0000000 4 180 660 6076 6166 [Hy_out]\001 -4 1 -1 0 0 22 20 0.0000000 4 225 945 5401 6391 VM:v2m\001 -4 1 1 1 0 3 30 0.0000000 4 60 105 13102 6488 .\001 -4 1 1 1 0 3 20 0.0000000 4 210 180 13102 6128 P\001 -4 1 1 1 0 3 20 0.0000000 4 210 195 13102 6758 V\001 -4 1 1 1 0 3 20 0.0000000 4 210 150 13237 6218 2\001 -4 0 4 0 0 0 20 0.0000000 4 270 1530 13865 6441 SS:[Hy_out]\001 -4 0 4 0 0 0 12 0.0000000 4 180 660 10531 6166 [Hy_out]\001 -4 1 -1 0 0 22 20 0.0000000 4 225 945 9901 6391 VM:m2v\001 -4 1 4 0 0 0 12 0.0000000 4 165 225 5402 6077 [T]\001 -4 1 4 0 0 0 12 0.0000000 4 165 225 5402 6617 [P]\001 -4 1 4 0 0 0 12 0.0000000 4 165 225 9902 6077 [T]\001 -4 1 4 0 0 0 12 0.0000000 4 165 225 9902 6617 [P]\001 -4 2 4 0 0 0 20 0.0000000 4 240 1350 1534 3694 SS:[Th_in]\001 -4 1 -1 0 0 22 20 0.0000000 4 225 330 11926 3691 ES\001 -4 1 4 0 0 0 12 0.0000000 4 165 195 11567 3332 [e]\001 -4 1 4 0 0 0 12 0.0000000 4 165 195 12242 3332 [s]\001 -4 1 -1 0 0 22 20 0.0000000 4 285 1290 7471 5041 Tankp:tank\001 -4 2 4 0 0 0 12 0.0000000 4 165 315 7200 4680 [Th]\001 -4 2 4 0 0 0 12 0.0000000 4 180 345 7245 5265 [Hy]\001 -4 1 1 1 0 3 20 0.0000000 4 270 2400 7425 8685 Pseudo bond graph\001 -4 1 4 0 0 0 20 0.0000000 4 270 1110 7426 2116 SS:[pTh]\001 -4 1 4 0 0 0 20 0.0000000 4 270 1140 7426 7966 SS:[pHy]\001 -4 1 -1 0 0 22 20 0.0000000 4 225 330 6570 3690 AF\001 -4 1 1 1 0 3 20 0.0000000 4 210 180 13102 3382 T\001 -4 1 1 1 0 3 20 0.0000000 4 210 150 13237 3472 2\001 -4 1 4 0 0 0 12 0.0000000 4 165 195 2793 3378 [s]\001 -4 1 4 0 0 0 12 0.0000000 4 165 195 3423 3378 [e]\001 -4 1 -1 0 0 22 20 0.0000000 4 225 330 3150 3735 ES\001 -4 1 -1 0 0 22 20 0.0000000 4 225 135 5401 3691 1\001 -4 1 -1 0 0 22 20 0.0000000 4 225 135 5400 5085 0\001 -4 1 -1 0 0 22 20 0.0000000 4 225 900 3735 5040 SS:zero\001 -4 1 1 1 0 3 20 0.0000000 4 210 180 4999 5674 T\001 -4 1 1 1 0 3 20 0.0000000 4 210 150 5134 5764 1\001 -4 1 1 1 0 3 20 0.0000000 4 210 180 1938 3378 T\001 -4 1 1 1 0 3 20 0.0000000 4 210 150 2073 3468 1\001 -4 1 1 1 0 3 20 0.0000000 4 210 180 10358 5454 T\001 -4 1 1 1 0 3 20 0.0000000 4 210 150 10493 5544 2\001 DELETED mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Tank/Tank_desc.tex Index: mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Tank/Tank_desc.tex ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Tank/Tank_desc.tex +++ /dev/null @@ -1,14 +0,0 @@ -% Verbal description for system Tank (Tank_desc.tex) -% Generated by MTT on Tue Jan 13 18:03:04 GMT 1998. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{Tank} is - displayed in Figure \Ref{Tank_abg} and its label - file is listed in Section \Ref{sec:Tank_lbl}. - The subsystems are listed in Section \Ref{sec:Tank_sub}. DELETED mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Tank/Tank_lbl.txt Index: mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Tank/Tank_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Tank/Tank_lbl.txt +++ /dev/null @@ -1,51 +0,0 @@ -%SUMMARY Tank - thermal storage component for compressible fluids. -%DESCRIPTION Two port thermal storage component for compressible -%DESCRIPTION fluids -%DESCRIPTION Parameter 1 Passed to Tankp subcomponent -%DESCRIPTION Parameter 2 Parameter two of density component. -%DESCRIPTION Typical label file entry: -%DESCRIPTION % Component type Tank -%DESCRIPTION C1 none ideal_gas,r_g,c_p,v_t;r_g -%DESCRIPTION Port [Th_in]: Thermal flow bond (T/Sdot) -%DESCRIPTION Port [Th_out]: Thermal flow bond (T/Sdot) -%DESCRIPTION Port [Hy_in]: Hydraulic flow bond (P/Vdot) -%DESCRIPTION Port [Hy_out]: Hydraulic flow bond (P/Vdot) -%DESCRIPTION Port [pTh]: Thermal flow pseudo bond direct to tank (T/Edot) -%DESCRIPTION Port [pHy]: Hydraulic flow pseudo bond direct to tank (P/mdot) - -%% Label file for system Tank (Tank_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1998/03/26 09:00:26 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type SS - [Hy_in] external external - [Hy_out] external external - [pHy] external external - [pTh] external external - [Th_in] external external - [Th_out] external external - zero internal internal - -% Component type Tankp - tank none $1 - -% Component type VMe - v2m none density,$2 - m2v none specific_volume,$2 - - DELETED mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Tankp/Tankp_abg.fig Index: mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Tankp/Tankp_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Tankp/Tankp_abg.fig +++ /dev/null @@ -1,20 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 2926 3646 3376 3646 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 2926 946 3376 946 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3151 947 3151 2072 3376 1847 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3151 3646 3151 2521 3376 2746 -2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 5850 4275 5850 225 225 225 225 4275 5850 4275 -4 1 -1 0 0 22 20 0.0000 4 210 870 3151 2431 C:tank\001 -4 1 4 0 0 0 20 0.0000 4 240 915 3150 765 SS:[Th]\001 -4 1 4 0 0 0 20 0.0000 4 255 930 3105 3960 SS:[Hy]\001 -4 1 4 0 0 0 20 0.0000 4 240 405 2836 2026 [in]\001 -4 1 4 0 0 0 20 0.0000 4 240 555 2791 2746 [out]\001 DELETED mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Tankp/Tankp_cr.r Index: mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Tankp/Tankp_cr.r ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Tankp/Tankp_cr.r +++ /dev/null @@ -1,35 +0,0 @@ -% Constitutive relation file for Tankp (Tankp_cr.r) -% Generated by MTT at Thu Mar 5 10:30:23 GMT 1998 - -OPERATOR Tankp; -%%%% Incompressible %%%% -%Temperature -FOR ALL c_p,c,StoredMass,StoredEnthalpy -LET Tankp(incompressible,c_p,c,effort,1, - StoredEnthalpy,state,1, - StoredMass,state,2 - ) = StoredEnthalpy/(StoredMass*c_p); - -%Pressure -FOR ALL c_p,c,StoredMass,StoredEnthalpy -LET Tankp(incompressible,c_p,c,effort,2, - StoredEnthalpy,state,1, - StoredMass,state,2 - ) = StoredMass/c; - -%%%% Ideal gas %%%% -%Temperature -FOR ALL R,c_p,Volume,StoredMass,StoredEnthalpy -LET Tankp(ideal_gas,R,c_p,Volume,effort,1, - StoredEnthalpy,state,1, - StoredMass,state,2 - ) = (StoredEnthalpy/(c_p*StoredMass)); - -%Pressure -FOR ALL R,c_p,Volume,StoredMass,StoredEnthalpy -LET Tankp(ideal_gas,R,c_p,Volume,effort,2, - StoredEnthalpy,state,1, - StoredMass,state,2 - ) = R*( ( (StoredEnthalpy/(c_p*StoredMass)))/(Volume/StoredMass) ); - -END; DELETED mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Tankp/Tankp_desc.tex Index: mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Tankp/Tankp_desc.tex ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Tankp/Tankp_desc.tex +++ /dev/null @@ -1,38 +0,0 @@ -% -*-latex-*- Put EMACS into LaTeX-mode -% Verbal description for system Tankp (Tankp_desc.tex) -% Generated by MTT on Fri Mar 20 12:21:36 GMT 1998. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{Tankp} is - displayed in Figure \Ref{Tankp_abg} and its label - file is listed in Section \Ref{sec:Tankp_lbl}. - The subsystems are listed in Section \Ref{sec:Tankp_sub}. - -\textbf{Tankp} is a pseudo bond graph based model of a tank storing -(as the two states) -\begin{itemize} -\item enthalpy and -\item mass -\end{itemize} - -There are two versions: -\begin{itemize} -\item the incompressible version where the tank has a pressure-based - capacitance $c_t$ and -\item the ideal-gas version were the tank has a volume $v_t$ and $r$ - and $c_p$ are the universal gas constant and the specific heat respectively. -\end{itemize} - - - - - - - - DELETED mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Tankp/Tankp_lbl.txt Index: mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Tankp/Tankp_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Tankp/Tankp_lbl.txt +++ /dev/null @@ -1,27 +0,0 @@ -%SUMMARY Tankp Pseudo bond graph model of a tank storing mass and enthalpy -%DESCRIPTION Parameter 1: EITHER -%DESCRIPTION incompressible,c OR -%DESCRIPTION ideal_gas,R,c_p,v_t - -%% Label file for system Tankp (Tankp_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type C - tank Tankp $1 - -% Component type SS - [Hy] external external - [Th] external external DELETED mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Turb/Turb_abg.fig Index: mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Turb/Turb_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Turb/Turb_abg.fig +++ /dev/null @@ -1,85 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6528 2028 8103 2028 7878 2253 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4051 2026 5626 2026 5401 2251 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4501 3151 5626 3151 5401 3376 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2028 2028 3603 2028 3378 2253 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1981 3151 4008 3151 3783 3376 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8101 3151 10128 3151 9903 3376 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6526 3151 7651 3151 7426 3376 -2 1 0 2 5 7 0 0 -1 0.000 0 0 -1 0 0 4 - 3826 1801 3826 901 5401 901 5176 1126 -2 1 0 2 5 7 0 0 -1 0.000 0 0 -1 0 0 4 - 4276 2926 4276 1351 5401 1351 5176 1576 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 4 - 6751 901 8326 901 8326 1801 8551 1576 -2 1 0 2 5 -1 0 0 -1 0.000 0 0 -1 0 0 4 - 7876 2926 7876 1351 6751 1351 6976 1576 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8553 2025 10128 2025 9903 2250 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 11029 2028 12604 2028 12379 2253 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8550 1800 9450 900 9450 1125 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 9338 788 9563 1013 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6075 3619 6075 4744 6300 4519 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6075 5194 6075 6319 6300 6094 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6075 6994 6075 8119 6300 7894 -4 2 4 0 0 0 12 0.0000 4 180 540 5677 2437 [Th_in]\001 -4 2 4 0 0 0 12 0.0000 4 180 570 5722 3022 [Hy_in]\001 -4 0 4 0 0 0 12 0.0000 4 180 675 6577 3022 [Hy_out]\001 -4 0 4 0 0 0 12 0.0000 4 180 645 6577 2437 [Th_out]\001 -4 1 -1 0 0 22 20 0.0000 4 195 150 8372 2117 0\001 -4 1 1 1 0 3 30 0.0000 4 60 120 9506 3297 .\001 -4 1 1 1 0 3 20 0.0000 4 195 165 9506 2937 P\001 -4 1 1 1 0 3 20 0.0000 4 195 195 9506 3567 V\001 -4 1 1 1 0 3 20 0.0000 4 195 135 9641 3027 2\001 -4 0 4 0 0 0 20 0.0000 4 255 1440 10269 3250 SS:[Hydraulic_out]\001 -4 1 1 1 0 3 20 0.0000 4 195 135 2482 3022 1\001 -4 1 1 1 0 3 30 0.0000 4 60 120 2347 3292 .\001 -4 1 1 1 0 3 20 0.0000 4 195 165 2347 2932 P\001 -4 1 1 1 0 3 20 0.0000 4 195 195 2347 3562 V\001 -4 1 1 1 0 3 20 0.0000 4 195 165 2391 1806 T\001 -4 1 1 1 0 3 20 0.0000 4 195 135 2526 1896 1\001 -4 1 1 1 0 3 20 0.0000 4 195 135 2526 2571 1\001 -4 1 1 1 0 3 20 0.0000 4 195 165 2391 2436 S\001 -4 1 1 1 0 3 30 0.0000 4 60 120 2391 2166 .\001 -4 2 4 0 0 0 20 0.0000 4 255 1290 1895 3245 SS:[Hydraulic_in]\001 -4 2 4 0 0 0 20 0.0000 4 255 1275 1942 2077 SS:[Thermal_in]\001 -4 1 -1 0 0 22 20 0.0000 4 270 1305 6121 1261 Poly:poly\001 -4 2 4 0 0 22 12 0.0000 4 180 345 6616 856 [T2]\001 -4 2 4 0 0 22 12 0.0000 4 180 345 6661 1531 [P2]\001 -4 0 4 0 0 22 12 0.0000 4 180 345 5536 856 [T1]\001 -4 0 4 0 0 22 12 0.0000 4 180 345 5536 1531 [P1]\001 -4 1 -1 0 0 22 20 0.0000 4 195 150 7921 3286 0\001 -4 1 -1 0 0 22 20 0.0000 4 195 150 4276 3286 0\001 -4 1 -1 0 0 22 20 0.0000 4 195 150 3826 2161 0\001 -4 1 -1 0 0 22 20 0.0000 4 195 150 6080 5090 1\001 -4 1 1 1 0 32 30 0.0000 4 240 195 5855 7610 t\001 -4 1 1 1 0 32 30 0.0000 4 240 285 6305 7610 w\001 -4 1 -1 0 0 22 20 0.0000 4 210 750 10575 2115 EBTF\001 -4 1 1 1 0 3 20 0.0000 4 195 165 11982 1767 T\001 -4 1 1 1 0 3 20 0.0000 4 195 135 12117 1857 2\001 -4 1 1 1 0 3 20 0.0000 4 195 165 11982 2397 S\001 -4 1 1 1 0 3 30 0.0000 4 60 120 11982 2127 .\001 -4 1 1 1 0 3 20 0.0000 4 195 135 12117 2532 2\001 -4 0 4 0 0 0 20 0.0000 4 255 1425 12700 2080 SS:[Thermal_out]\001 -4 1 -1 0 0 22 20 0.0000 4 270 1530 6079 2749 wPipe:pipe\001 -4 1 -1 0 0 22 20 0.0000 4 210 645 9630 765 SS:T\001 -4 1 -1 0 0 22 20 0.0000 4 270 825 6080 6755 TF:k_t\001 -4 1 4 0 0 0 20 0.0000 4 240 1215 6120 8460 SS:[Shaft]\001 -4 1 4 0 0 0 12 0.0000 4 180 495 6076 3421 [Work]\001 DELETED mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Turb/Turb_desc.tex Index: mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Turb/Turb_desc.tex ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Turb/Turb_desc.tex +++ /dev/null @@ -1,21 +0,0 @@ -% -*-latex-*- Put EMACS into LaTeX-mode -% Verbal description for system Turb (Turb_desc.tex) -% Generated by MTT on Fri Mar 20 15:53:12 GMT 1998. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{Turb} is - displayed in Figure \Ref{Turb_abg} and its label - file is listed in Section \Ref{sec:Turb_lbl}. - The subsystems are listed in Section \Ref{sec:Turb_sub}. - -\textbf{Turb} represents an ideal turbine component for compressible -or incompressible flow though a pipe. - -It is identical to the \textbf{Pump} component (which has a more -complete description) exept for the direction of work flow. DELETED mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Turb/Turb_lbl.txt Index: mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Turb/Turb_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/Turb/Turb_lbl.txt +++ /dev/null @@ -1,72 +0,0 @@ -%SUMMARY Turb Ideal turbine component for compressible flow -%DESCRIPTION Parameter 1: c_p - specific heat of fluid -%DESCRIPTION Parameter 2: Parameter passed to Density component -%DESCRIPTION Parameter 3: alpha = (n-1)/n, n coefficient of polytropic -%DESCRIPTION expansion. -%DESCRIPTION Parameter 4: k_t pump constant: mass flow = k_t*shaft speed - -%ALIAS in Thermal_in,Hydraulic_in -%ALIAS out Thermal_out,Hydraulic_out - -%ALIAS Th_in Thermal_in -%ALIAS Hy_in Hydraulic_in - -%ALIAS Th_out Thermal_out -%ALIAS Hy_out Hydraulic_out - -%ALIAS $1 c_p -%ALIAS $2 ideal_gas,r -%ALIAS $3 alpha -%ALIAS $4 effort,k - -%% Label file for system Turb (Turb_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.5 1998/07/03 10:12:18 peterg -% %% New aliased parameter form -% %% -% %% Revision 1.4 1998/07/02 19:48:45 peterg -% %% Changed aliases -% %% -% %% Revision 1.3 1998/07/02 10:55:24 peterg -% %% Lower case in out -% %% -% %% Revision 1.2 1998/07/02 10:51:10 peterg -% %% Added port aliases -% %% -% %% Revision 1.1 1998/04/07 15:21:02 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type Pipe - pipe none c_p;ideal_gas,r - -% Component type Poly - poly Poly alpha - -% Component type SS - [Hydraulic_in] external external - [Hydraulic_out] external external - [Shaft] external external - [Thermal_in] external external - [Thermal_out] external external - T external 0 - -% Component type TF - k_t lin effort,k - - - - DELETED mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/hPipe/hPipe_abg.fig Index: mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/hPipe/hPipe_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/hPipe/hPipe_abg.fig +++ /dev/null @@ -1,47 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5143 4050 6088 3105 6088 3375 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 4 - 2488 1822 5210 1822 6110 2722 5840 2722 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6313 4500 6313 3150 6538 3375 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6538 3150 7438 4050 7213 4050 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2445 4052 4020 4052 3795 4277 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8564 4052 10139 4052 9914 4277 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 4 - 6538 2700 7438 1800 10138 1800 9913 2025 -2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 13050 4950 45 4950 45 450 13050 450 13050 4950 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 6165 3105 6435 3105 -4 1 -1 0 0 22 20 0.0000 4 195 150 6315 3017 0\001 -4 1 1 1 0 3 20 0.0000 4 195 510 5865 3872 mp v\001 -4 1 1 1 0 3 20 0.0000 4 195 330 6043 4050 1 1\001 -4 1 1 1 0 3 30 0.0000 4 60 120 5729 3691 .\001 -4 1 1 1 0 3 20 0.0000 4 195 510 6675 3872 mp v\001 -4 1 1 1 0 3 20 0.0000 4 195 330 6853 4050 2 2\001 -4 1 1 1 0 3 30 0.0000 4 60 120 6539 3691 .\001 -4 2 4 0 0 22 20 0.0000 4 270 2355 2399 4141 SS:[Hydraulic_in]\001 -4 1 1 1 0 3 20 0.0000 4 195 165 2805 3782 P\001 -4 1 1 1 0 3 20 0.0000 4 195 135 2941 4683 1\001 -4 1 1 1 0 3 20 0.0000 4 195 195 2806 4548 V\001 -4 1 1 1 0 3 30 0.0000 4 60 120 2805 4277 .\001 -4 2 4 0 0 22 20 0.0000 4 270 2145 2355 1892 SS:[Thermal_in]\001 -4 1 1 1 0 3 20 0.0000 4 195 165 2894 1531 T\001 -4 0 4 0 0 22 20 0.0000 4 270 2550 10319 4187 SS:[Hydraulic_out]\001 -4 1 1 1 0 3 20 0.0000 4 195 165 9689 3783 P\001 -4 1 1 1 0 3 20 0.0000 4 195 195 9600 4458 V\001 -4 1 1 1 0 3 30 0.0000 4 60 120 9599 4187 .\001 -4 1 1 1 0 3 20 0.0000 4 195 135 9735 4593 2\001 -4 0 4 0 0 22 20 0.0000 4 270 2340 10365 1892 SS:[Thermal_out]\001 -4 1 1 1 0 3 20 0.0000 4 195 165 9734 1532 T\001 -4 1 -1 0 0 22 20 0.0000 4 210 945 4558 4185 TF:P2T\001 -4 1 -1 0 0 22 20 0.0000 4 210 945 8068 4140 TF:T2P\001 -4 1 4 0 0 22 20 0.0000 4 270 1290 6359 4771 SS:[Heat]\001 DELETED mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/hPipe/hPipe_desc.tex Index: mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/hPipe/hPipe_desc.tex ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/hPipe/hPipe_desc.tex +++ /dev/null @@ -1,31 +0,0 @@ -% -*-latex-*- Put EMACS into LaTeX-mode -% Verbal description for system hPipe (hPipe_desc.tex) -% Generated by MTT on Tue Mar 31 09:54:08 BST 1998. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{hPipe} is - displayed in Figure \Ref{hPipe_abg} and its label - file is listed in Section \Ref{sec:hPipe_lbl}. - The subsystems are listed in Section \Ref{sec:hPipe_sub}. - - -\textbf{hPipe} represents an ideal (energy conserving) pipe carrying a -fluid with heat transfer. To ensure energy conservation, power bonds are used and -connected by (energy conserving) \textbf{TF} components. -It is assumed that the working fluid is an ideal gas (gas constant $r$) and that a mass -$m_t$ is stored within pipe with a volume $v_t$. - -The central \textbf{0} junction carries temperature ($T$) and the two -hydraulic ports are connected to this by appropriate transformers. -The modulus of the \textbf{TF} component labeled ``P2T'' is such P and -T are related by the ideal gas law -\begin{equation} - P = \frac{Rm_t}{v_t} T -\end{equation} - DELETED mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/hPipe/hPipe_lbl.txt Index: mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/hPipe/hPipe_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/hPipe/hPipe_lbl.txt +++ /dev/null @@ -1,59 +0,0 @@ -%SUMMARY hPipe: Pipe for compressible fluid with heat transfer and heat storage. - -%DESCRIPTION hPipe represents an ideal (energy conserving) pipe carrying a -%DESCRIPTION fluid with heat transfer. To ensure energy conservation, power bonds are used and -%DESCRIPTION connected by (energy conserving) TF components. -%DESCRIPTION It is assumed that the working fluid is an ideal gas (gas constant r) and that a mass -%DESCRIPTION m_t is stored within pipe with a volume v_t. - -%DESCRIPTION Parameter 1: m_t (mass in pipe) -%DESCRIPTION Parameter 2: v_t (volume of pipe) -%DESCRIPTION Parameter 3: r (gas constant) -%DESCRIPTION Typical lable entry -%DESCRIPTION % Component type hPipe -%DESCRIPTION pipe none m_p;v_p;r - -%ALIAS in Thermal_in,Hydraulic_in -%ALIAS out Thermal_out,Hydraulic_out - -%ALIAS Th_in Thermal_in -%ALIAS Hy_in Hydraulic_in - -%ALIAS Th_out Thermal_out -%ALIAS Hy_out Hydraulic_out - -%ALIAS $1 m -%ALIAS $2 v -%ALIAS $3 r - - - -%% Label file for system hPipe (hPipe_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1998/07/03 17:38:32 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type SS - [Heat] SS external,external - [Hydraulic_in] SS external,external - [Hydraulic_out] SS external,external - [Thermal_in] SS external,external - [Thermal_out] SS external,external - -% Component type TF - P2T lin flow,r*m/v - T2P lin effort,r*m/v DELETED mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/wPipe/wPipe_abg.fig Index: mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/wPipe/wPipe_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/wPipe/wPipe_abg.fig +++ /dev/null @@ -1,108 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1666 3781 3241 3781 3016 4006 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3691 3781 4591 3781 4366 4006 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3466 1756 3466 2431 3691 2206 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3466 3556 3466 2881 3691 3106 -2 1 0 2 5 7 0 0 -1 0.000 0 0 -1 0 0 4 - 4366 2656 5491 2656 5491 3331 5716 3106 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6392 1532 7292 2432 7022 2432 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7742 2882 8642 3782 8372 3782 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7764 2454 8664 1554 8664 1824 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6392 3782 7292 2882 7292 3152 -2 1 0 2 5 7 0 0 -1 0.000 0 0 -1 0 0 4 - 10666 2658 9766 2658 9766 3333 9993 3106 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 11566 1758 11566 2433 11791 2208 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 11566 3558 11566 2883 11791 3108 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 9766 1531 11341 1531 11116 1756 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1666 1531 3241 1531 3016 1756 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3691 1531 5266 1531 5041 1756 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 11836 1533 13411 1533 13186 1758 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 11791 3781 13366 3781 13141 4006 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 10411 3781 11311 3781 11086 4006 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7515 4275 7516 3106 7741 3331 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7515 5895 7516 4726 7741 4951 -2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 16200 6300 45 6300 45 180 16200 180 16200 6300 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 7335 5895 7695 5895 -4 2 4 0 0 22 20 0.0000 4 270 2355 2430 3915 SS:[Hydraulic_in]\001 -4 2 4 0 0 22 20 0.0000 4 270 2145 2476 1666 SS:[Thermal_in]\001 -4 1 -1 0 0 22 20 0.0000 4 195 150 3466 1621 0\001 -4 1 -1 0 0 22 20 0.0000 4 195 150 3466 3916 0\001 -4 1 4 0 0 22 12 0.0000 4 180 405 4186 2521 [rho]\001 -4 1 -1 0 0 22 20 0.0000 4 195 150 7517 2792 1\001 -4 1 -1 0 0 22 20 0.0000 4 195 150 11566 1623 0\001 -4 1 -1 0 0 22 20 0.0000 4 195 150 11566 3918 0\001 -4 1 4 0 0 22 12 0.0000 4 180 405 10846 2523 [rho]\001 -4 1 4 0 0 22 12 0.0000 4 180 495 9766 3558 [mod]\001 -4 1 -1 0 0 22 20 0.0000 4 210 840 5851 1621 TF:t2u\001 -4 1 -1 0 0 22 20 0.0000 4 270 1515 5536 3916 EMTF:p2pv\001 -4 1 4 0 0 22 12 0.0000 4 180 495 5491 3601 [mod]\001 -4 2 4 0 0 22 12 0.0000 4 180 240 3331 3016 [P]\001 -4 2 4 0 0 22 12 0.0000 4 180 240 3331 2386 [T]\001 -4 2 4 0 0 22 12 0.0000 4 180 240 11431 2386 [T]\001 -4 2 4 0 0 22 12 0.0000 4 180 240 11431 3016 [P]\001 -4 0 4 0 0 22 20 0.0000 4 270 2340 13591 1621 SS:[Thermal_out]\001 -4 0 4 0 0 22 20 0.0000 4 270 2550 13546 3916 SS:[Hydraulic_out]\001 -4 1 4 0 0 22 12 0.0000 4 180 270 4816 3601 [in]\001 -4 1 4 0 0 22 12 0.0000 4 180 405 6301 3601 [out]\001 -4 1 4 0 0 22 12 0.0000 4 180 405 10441 3556 [out]\001 -4 1 4 0 0 22 12 0.0000 4 180 270 8911 3556 [in]\001 -4 1 -1 0 0 22 20 0.0000 4 210 840 9316 1621 TF:u2t\001 -4 1 -1 0 0 22 20 0.0000 4 270 1515 9631 3871 EMTF:pv2p\001 -4 1 1 1 0 3 20 0.0000 4 195 135 2161 3646 1\001 -4 1 1 1 0 3 20 0.0000 4 195 165 2026 3511 P\001 -4 1 1 1 0 3 20 0.0000 4 195 165 12960 1261 T\001 -4 1 1 1 0 3 20 0.0000 4 195 135 13095 1396 2\001 -4 1 1 1 0 3 20 0.0000 4 195 135 13051 3647 2\001 -4 1 1 1 0 3 20 0.0000 4 195 165 12916 3512 P\001 -4 1 1 1 0 3 20 0.0000 4 195 195 12827 4187 V\001 -4 1 1 1 0 3 30 0.0000 4 60 120 12826 3916 .\001 -4 1 1 1 0 3 20 0.0000 4 195 135 12962 4322 2\001 -4 1 1 1 0 3 20 0.0000 4 195 135 2162 4412 1\001 -4 1 1 1 0 3 20 0.0000 4 195 195 2027 4277 V\001 -4 1 1 1 0 3 30 0.0000 4 60 120 2026 4006 .\001 -4 1 1 1 0 3 20 0.0000 4 135 210 6841 3736 m\001 -4 1 1 1 0 3 30 0.0000 4 60 120 6841 3511 .\001 -4 1 1 1 0 3 20 0.0000 4 135 210 8101 3691 m\001 -4 1 1 1 0 3 30 0.0000 4 60 120 8101 3466 .\001 -4 1 1 1 0 3 20 0.0000 4 135 210 6570 2295 m\001 -4 1 1 1 0 3 30 0.0000 4 60 120 6570 2070 .\001 -4 1 1 1 0 3 20 0.0000 4 135 210 8461 2341 m\001 -4 1 1 1 0 3 30 0.0000 4 60 120 8461 2116 .\001 -4 1 1 1 0 3 20 0.0000 4 135 150 7922 1847 u\001 -4 1 1 1 0 3 20 0.0000 4 195 135 8057 1982 2\001 -4 1 1 1 0 3 20 0.0000 4 195 300 6482 3062 p v\001 -4 1 1 1 0 3 20 0.0000 4 195 330 6570 3240 1 1\001 -4 1 1 1 0 3 20 0.0000 4 195 300 8372 3063 p v\001 -4 1 1 1 0 3 20 0.0000 4 195 330 8460 3241 2 2\001 -4 1 -1 0 0 22 20 0.0000 4 270 1725 3511 2791 Density:rho1\001 -4 1 -1 0 0 22 20 0.0000 4 270 1725 11521 2793 Density:rho2\001 -4 1 1 1 0 3 20 0.0000 4 195 135 7246 1981 1\001 -4 1 1 1 0 3 20 0.0000 4 135 150 7111 1846 u\001 -4 1 1 1 0 3 20 0.0000 4 195 165 2115 1260 T\001 -4 1 1 1 0 3 20 0.0000 4 195 135 2250 1395 1\001 -4 1 -1 0 0 22 20 0.0000 4 195 150 7517 4592 1\001 -4 1 4 0 0 22 20 0.0000 4 270 1380 7516 6211 SS:[Shaft]\001 DELETED mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/wPipe/wPipe_desc.tex Index: mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/wPipe/wPipe_desc.tex ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/wPipe/wPipe_desc.tex +++ /dev/null @@ -1,44 +0,0 @@ -% Verbal description for system wPipe (wPipe_desc.tex) -% Generated by MTT on Mon Mar 9 09:11:22 GMT 1998. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{wPipe} is - displayed in Figure \Ref{wPipe_abg} and its label - file is listed in Section \Ref{sec:wPipe_lbl}. - The subsystems are listed in Section \Ref{sec:wPipe_sub}. - -\textbf{wPipe} represents an ideal (energy conserving) pipe carrying a -fluid with work transfer. To ensure energy conservation, power bonds are used and -connected by (energy conserving) \textbf{TF} components. - -The central \textbf{1} junction carries mass flow ($\dot m$) and the -four ports are connected to this by appropriate transformers. In the -case of the hydraulic ports, these transformers are \emph{modulated} -by the corresponding fluid density. -The bonds impinging on this \textbf{1} junction carry the -corresponding effort variables; in particular, the thermal bonds carry -specific internal energy $u$ and the hydraulic bonds carry $Pv$ where -$P$ is the pressure and $v$ the specific volume. - -The ports ``Work\_in'' and ``Work\_out'' are convenient for attaching -(for example) the shadt work of a pump, turbine or compressor. - -The ports are -\begin{itemize} -\item [Hy\_in] Pressure/volume-flow inflow -\item [Hy\_in] Pressure/volume-flow outflow -\item [Th\_in] Temperature/Entropy-flow in flow -\item [Th\_out] Temperature/Entropy-flow out flow -\item [Shaft] Torque/angular velocity input. -\end{itemize} - -%%% Local Variables: -%%% mode: latex -%%% TeX-master: t -%%% End: DELETED mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/wPipe/wPipe_lbl.txt Index: mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/wPipe/wPipe_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/CompressibleFlow/wPipe/wPipe_lbl.txt +++ /dev/null @@ -1,76 +0,0 @@ -%SUMMARY wPipe Isentropic pipe with work transfer. - -%DESCRIPTION wPipe represents an ideal (energy conserving) pipe carrying a -%DESCRIPTION fluid with work transfer. To ensure energy conservation, power bonds are used and -%DESCRIPTION connected by (energy conserving) TF components. - -%DESCRIPTION Parameter 1: c_v - specific heat of fluid -%DESCRIPTION Parameter 2: Parameter passed to Density component -%DESCRIPTION Ports: - -%DESCRIPTION [Hy_in] Pressure/volume-flow inflow -%DESCRIPTION [Hy_in] Pressure/volume-flow outflow -%DESCRIPTION [Th_in] Temperature/Entropy-flow in flow -%DESCRIPTION [Th_out] Temperature/Entropy-flow out flow -%DESCRIPTION [Shaft] Torque/angular velocity input. - -%ALIAS in Thermal_in,Hydraulic_in -%ALIAS out Thermal_out,Hydraulic_out - -%ALIAS Th_in Thermal_in -%ALIAS Hy_in Hydraulic_in - -%ALIAS Th_out Thermal_out -%ALIAS Hy_out Hydraulic_out - -%ALIAS Work Shaft - -%ALIAS $1 c_v -%ALIAS $2 density,ideal_gas,r - -%ALIAS Density CompressibleFlow/Density - -%% Label file for system wPipe (wPipe_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.2 1998/07/04 08:33:30 peterg -% %% New-style SS -% %% -% %% Revision 1.1 1998/07/03 17:38:20 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type Density - rho1 none density,ideal_gas,r - rho2 none density,ideal_gas,r - -% Component type EMTF - p2pv lin flow - pv2p lin effort - -% Component type SS - [Hydraulic_in] SS external,external - [Hydraulic_out] SS external,external - [Shaft] SS external,external - [Thermal_in] SS external,external - [Thermal_out] SS external,external - -% Component type TF - t2u lin effort,c_v - u2t lin flow,c_v - - - - DELETED mttroot/mtt/lib/comp/compound/Thermal/Conv/Conv_abg.fig Index: mttroot/mtt/lib/comp/compound/Thermal/Conv/Conv_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/Conv/Conv_abg.fig +++ /dev/null @@ -1,64 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4051 1351 5176 1351 4951 1576 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5401 1576 5401 2701 5626 2476 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5401 3151 5401 4276 5626 4051 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2251 4501 5176 4501 4951 4726 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5626 1351 6751 1351 6526 1576 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7426 1351 8551 1351 8326 1576 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 9226 1350 10351 1350 10126 1575 -2 4 1 2 1 7 1 0 -1 6.000 0 0 7 0 0 5 - 8370 2925 4275 2925 4275 630 8370 630 8370 2925 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2206 1351 3331 1351 3106 1576 -2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 11925 6075 11925 225 675 225 675 6075 11925 6075 -4 1 -1 0 0 22 20 0.0000 4 210 390 3736 1441 ES\001 -4 1 -1 0 0 22 20 0.0000 4 195 150 5401 1441 1\001 -4 1 -1 0 0 22 20 0.0000 4 195 150 5401 4636 1\001 -4 1 -1 0 0 22 20 0.0000 4 270 1215 5401 3061 FMR:c_p\001 -4 1 1 1 0 3 30 0.0000 4 60 120 2657 4682 .\001 -4 1 1 1 0 3 20 0.0000 4 135 210 2657 4952 m\001 -4 1 4 0 0 0 20 0.0000 4 240 285 3466 1126 [s]\001 -4 1 4 0 0 0 20 0.0000 4 240 300 4006 1126 [e]\001 -4 1 1 1 0 3 20 0.0000 4 195 135 4592 1262 1\001 -4 1 1 1 0 3 20 0.0000 4 195 615 4770 1080 T - T\001 -4 1 1 1 0 3 20 0.0000 4 195 135 5085 1260 0\001 -4 1 1 1 0 3 20 0.0000 4 195 180 4683 1803 E\001 -4 1 1 1 0 3 30 0.0000 4 60 120 4683 1533 .\001 -4 1 1 1 0 3 20 0.0000 4 195 180 6079 1804 E\001 -4 1 1 1 0 3 30 0.0000 4 60 120 6079 1534 .\001 -4 1 1 1 0 3 20 0.0000 4 195 135 6120 1125 0\001 -4 1 -1 0 0 22 20 0.0000 4 210 390 7111 1441 AF\001 -4 1 -1 0 0 22 20 0.0000 4 210 390 8911 1441 ES\001 -4 1 1 1 0 3 20 0.0000 4 195 180 7832 1803 E\001 -4 1 4 0 0 0 20 0.0000 4 240 300 8641 1081 [e]\001 -4 1 4 0 0 0 20 0.0000 4 240 285 9136 1081 [s]\001 -4 1 1 1 0 3 30 0.0000 4 60 120 7832 1533 .\001 -4 1 1 1 0 3 20 0.0000 4 195 615 7922 1082 T - T\001 -4 1 1 1 0 3 20 0.0000 4 195 135 8237 1262 0\001 -4 1 1 1 0 3 20 0.0000 4 195 135 7744 1264 2\001 -4 1 1 1 0 3 20 0.0000 4 270 2340 6930 2340 Pseudo Bond Graph\001 -4 2 4 0 0 0 20 0.0000 4 240 1200 2160 4590 SS:[Mdot]\001 -4 2 4 0 0 0 20 0.0000 4 255 1275 2072 1442 SS:[Th_in]\001 -4 1 1 1 0 3 20 0.0000 4 195 165 2611 1171 T\001 -4 1 1 1 0 3 20 0.0000 4 195 135 2746 1261 1\001 -4 1 1 1 0 3 20 0.0000 4 195 135 2746 1936 1\001 -4 1 1 1 0 3 20 0.0000 4 195 165 2611 1801 S\001 -4 1 1 1 0 3 30 0.0000 4 60 120 2611 1531 .\001 -4 1 1 1 0 3 20 0.0000 4 195 165 9590 1220 T\001 -4 1 1 1 0 3 20 0.0000 4 195 135 9725 1310 2\001 -4 1 1 1 0 3 20 0.0000 4 195 165 9590 1850 S\001 -4 1 1 1 0 3 30 0.0000 4 60 120 9590 1580 .\001 -4 1 1 1 0 3 20 0.0000 4 195 135 9725 1985 2\001 -4 0 4 0 0 0 20 0.0000 4 255 1425 10443 1443 SS:[Th_out]\001 DELETED mttroot/mtt/lib/comp/compound/Thermal/Conv/Conv_desc.tex Index: mttroot/mtt/lib/comp/compound/Thermal/Conv/Conv_desc.tex ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/Conv/Conv_desc.tex +++ /dev/null @@ -1,47 +0,0 @@ -% Verbal description for system Conv (Conv_desc.tex) -% Generated by MTT on Tue Jan 13 18:02:53 GMT 1998. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.2 1998/03/09 10:19:43 peterg -% %% Added note about energy consevation. -% %% -% %% Revision 1.1 1998/03/09 10:13:27 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{Conv} is - displayed in Figure \Ref{Conv_abg} and its label - file is listed in Section \Ref{sec:Conv_lbl}. - The subsystems are listed in Section \Ref{sec:Conv_sub}. - -The \textbf{Conv} component represents one way isenentropic flow of -fluid though a pipe. Externally, it has true energy bonds: $P$/$\dot V$ -(Pressure/volume-flow) representing hydraulic energy and $T$/$\dot -S$(Temperature/Entropy-flow) representing convected thermal energy. - -Internally, however, the thermal part is represented by a pseudo bond -graph which computes the flow of internal energy $\dot E$ from the -upstream temperature $T_1$ and the mass flow rate $\dot m$ as: -\begin{equation} - \dot E = c_p T_1 \dot m -\end{equation} -The $AF$ component makes the $FMR$ component use $T_1$ rather than -$T_1-T_2$. - -The two \textbf{ES} components provide the conversion from true to -psuedo thermal bonds and vice versa. - -%The pipe has an resistance to flow represented by the \textbf{RS} -%component labeled `r' which can be linear or nonlinear. The hydraulic -%energy loss reappears on the thermal bond of this (energy-conserving) -%\textbf{RS} component. - -%%% Local Variables: -%%% mode: latex -%%% TeX-master: t -%%% End: DELETED mttroot/mtt/lib/comp/compound/Thermal/Conv/Conv_lbl.txt Index: mttroot/mtt/lib/comp/compound/Thermal/Conv/Conv_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/Conv/Conv_lbl.txt +++ /dev/null @@ -1,27 +0,0 @@ -%SUMMARY Conv Convection of heat through a pipe -%DESCRIPTION Parameter 1: Specific heat of fluid (c_p) - -%% Label file for system Conv (Conv_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type FMR - c_p lin effort,$1 - -% Component type SS - [Hy_in] SS external,external - [Hy_out] SS external,external - [Th_in] SS external,external - [Th_out] SS external,external DELETED mttroot/mtt/lib/comp/compound/Thermal/Cycle/Cycle_abg.fig Index: mttroot/mtt/lib/comp/compound/Thermal/Cycle/Cycle_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/Cycle/Cycle_abg.fig +++ /dev/null @@ -1,77 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5400 1800 6750 1800 6525 2025 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5175 2025 5175 3375 5400 3150 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5175 3825 5175 5175 5400 4950 -2 2 0 3 1 7 1 0 -1 0.000 1 0 -1 0 0 5 - 6075 900 9000 900 9000 2700 6075 2700 6075 900 -2 2 0 2 1 3 1 0 20 0.000 0 0 -1 0 0 5 - 8325 900 8550 900 8550 2700 8325 2700 8325 900 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 10125 3825 10125 5175 10350 4950 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7875 1800 9900 1800 9675 2025 -2 2 0 2 1 3 1 0 20 0.000 0 0 -1 0 0 5 - 8550 1665 9585 1665 9585 1935 8550 1935 8550 1665 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 1 0 2 - 1 0 2.00 120.00 240.00 - 4725 1440 5805 1440 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 1 0 2 - 1 0 2.00 120.00 240.00 - 9675 1440 10755 1440 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 1 0 2 - 1 0 2.00 120.00 240.00 - 7785 3465 8415 2835 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3600 1800 4950 1800 4725 2025 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1755 1800 3105 1800 2880 2025 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3375 2025 3375 5175 3600 4950 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3150 5175 3600 5175 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 10350 1800 11700 1800 11475 2025 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 12150 1800 13500 1800 13275 2025 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 11700 5175 12150 5175 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 11925 2025 11925 5175 12150 4950 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 10125 2025 10125 3375 10350 3150 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4950 2025 5400 2025 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 9900 2025 10350 2025 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 9900 5175 10350 5175 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4950 5175 5400 5175 -4 1 -1 0 0 0 20 0.0000 4 255 855 7290 1890 CU:gas\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 5175 1890 1\001 -4 1 -1 0 0 0 20 0.0000 4 255 1590 5175 3690 INTF:entropy\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 10125 1890 1\001 -4 1 1 1 0 3 20 0.0000 4 270 1035 7200 1440 Ideal gas\001 -4 1 1 1 0 3 20 0.0000 4 210 885 4635 1305 Heat in\001 -4 1 1 1 0 3 20 0.0000 4 210 1080 10170 1305 Work out\001 -4 1 1 1 0 3 20 0.0000 4 270 1800 5130 5895 Entropy change\001 -4 1 1 1 0 3 20 0.0000 4 270 1365 7110 3690 Ideal piston\001 -4 1 -1 0 0 0 20 0.0000 4 195 1560 10125 3690 INTF:volume\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 3375 1890 0\001 -4 2 4 0 0 0 20 0.0000 4 240 1140 1575 1890 SS:[Heat]\001 -4 1 -1 0 0 0 20 0.0000 4 195 585 3375 5490 SS:T\001 -4 1 1 1 0 3 20 0.0000 4 255 1485 3240 5895 Temperature\001 -4 1 -1 0 0 0 20 0.0000 4 195 570 5130 5490 SS:S\001 -4 1 -1 0 0 0 20 0.0000 4 195 615 10125 5490 SS:V\001 -4 1 -1 0 0 0 20 0.0000 4 195 570 11880 5490 SS:P\001 -4 0 4 0 0 0 20 0.0000 4 240 1230 13680 1890 SS:[Work]\001 -4 1 1 1 0 3 20 0.0000 4 270 1815 10080 5850 Volume change\001 -4 1 1 1 0 3 20 0.0000 4 195 975 11925 5850 Pressure\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 11925 1890 0\001 DELETED mttroot/mtt/lib/comp/compound/Thermal/Cycle/Cycle_desc.tex Index: mttroot/mtt/lib/comp/compound/Thermal/Cycle/Cycle_desc.tex ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/Cycle/Cycle_desc.tex +++ /dev/null @@ -1,71 +0,0 @@ -% Verbal description for system Cycle (Cycle_desc.tex) -% Generated by MTT on Thu Dec 4 15:59:55 GMT 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1998/06/30 12:46:24 peterg -% %% Initial revision -% %% -% Revision 1.1 1997/12/08 09:37:04 peterg -% Initial revision -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{Cycle} is - displayed in Figure \Ref{Cycle_abg} and its label - file is listed in Section \Ref{sec:Cycle_lbl}. - The subsystems are listed in Section \Ref{sec:Cycle_sub}. - -The system has two heat engine ports: -\begin{enumerate} -\item \textbf{[Heat]} and -\item \textbf{[Work]} -\end{enumerate} -By convention, energy flows in to the \textbf{[Heat]} port and out of -the \textbf{[Work]} port. Both ports are true energy ports. - - -The subsystem \textbf{CU} (Section \Ref{sec:CU}) is a two-port -component describing an ideal gas. It has two energy ports which, with -integral causality correspond to -\begin{enumerate} -\item Entropy flow in; temperature out -\item Volume rate of change in; pressure out -\end{enumerate} - -Four \textbf{SS} components are set up as sensors to measure the -important quantities pertaining to the cycle: -\begin{enumerate} -\item \textbf{S} to measure the integrated entropy flow -\item \textbf{T} to measure the (absolute) temperature -\item \textbf{V} to measure the integrated volume change -\item \textbf{P} to measure the pressure -\end{enumerate} - - \begin{table}[htbp] - \begin{center} - \leavevmode - \begin{tabular}{|l|l|l|l|l|} - \hline - Cycle & Compression & Heating & Expansion & Cooling \\ - \hline - Otto & II & II & II & II \\ - Carnot & II & DI & II & DI \\ - Diesel & II & ID & II & II \\ - Joule & II & ID & II & ID \\ - \hline - \end{tabular} - \caption{Cycles and their causality} - \label{tab:cycles} - \end{center} - \end{table} - - A number of cycles can be built depending on the causality of the - two ports \textbf{[Heat]} and \textbf{[Work]} of \textbf{Cycle} - Some possible cycles listed in Tables \Ref{tab:cycles} where each - table entry gives the causality on the heat and work ports - respectively. - DELETED mttroot/mtt/lib/comp/compound/Thermal/Cycle/Cycle_lbl.txt Index: mttroot/mtt/lib/comp/compound/Thermal/Cycle/Cycle_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/Cycle/Cycle_lbl.txt +++ /dev/null @@ -1,54 +0,0 @@ -#SUMMARY Cycle: Closed cycle with ideal gas -#DESCRIPTION Uses the CU two-port thermal capacitor. - -#ALIAS in Heat -#ALIAS out Work - -#ALIAS $1 ideal_gas -#ALIAS $2 c_v -#ALIAS $3 gamma_g -#ALIAS $4 m_g - -## Label file for system Cycle (Cycle_lbl.txt) - -# ############################################################### -# ## Version control history -# ############################################################### -# ## $Id$ -# ## $Log$ -# ## Revision 1.2 1998/07/21 14:21:04 peterg -# ## New style file -# ## -# ## Revision 1.1 1997/12/08 20:24:43 peterg -# ## Initial revision -# ## -# ## Revision 1.1 1997/12/07 20:38:05 peterg -# ## Initial revision -# ## -# ############################################################### - -## Each line should be of one of the following forms: -# a comment (ie starting with #) -# Component-name CR_name arg1,arg2,..argn -# blank - - - - -# Component type CU - gas CU ideal_gas,c_v,gamma_g,m_g - -# Component type INTF - entropy - volume - -# Component type SS - S SS external,0 - T SS external,0 - V SS external,0 - P SS external,0 - [Heat] SS external,external - [Work] SS external,external - - - DELETED mttroot/mtt/lib/comp/compound/Thermal/Cycle/Cycle_simp.r Index: mttroot/mtt/lib/comp/compound/Thermal/Cycle/Cycle_simp.r ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/Cycle/Cycle_simp.r +++ /dev/null @@ -1,10 +0,0 @@ -%% Reduce commands to simplify output for system Cycle (Cycle_simp.r) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -END; DELETED mttroot/mtt/lib/comp/compound/Thermal/IncompressibleFlow/Pipe/Pipe_abg.fig Index: mttroot/mtt/lib/comp/compound/Thermal/IncompressibleFlow/Pipe/Pipe_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/IncompressibleFlow/Pipe/Pipe_abg.fig +++ /dev/null @@ -1,84 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2715 1351 3840 1351 3615 1576 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4515 1351 5640 1351 5415 1576 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5865 1576 5865 2701 6090 2476 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5865 3151 5865 4276 6090 4051 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2715 4501 5640 4501 5415 4726 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6090 1351 7215 1351 6990 1576 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7890 1351 9015 1351 8790 1576 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6090 4501 10815 4501 10590 4726 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 9690 1350 10815 1350 10590 1575 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 11039 4274 11039 3149 11264 3374 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 11039 2699 11039 1574 11264 1799 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 11267 1353 12392 1353 12167 1578 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 11267 4500 12392 4500 12167 4725 -2 4 1 2 1 7 1 0 -1 6.000 0 0 7 0 0 5 - 8834 2925 4739 2925 4739 630 8834 630 8834 2925 -2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 15075 6075 15075 450 450 450 450 6075 15075 6075 -4 2 4 0 0 0 20 0.0000 4 255 2085 2624 4590 SS:[Hydraulic_in]\001 -4 2 4 0 0 0 20 0.0000 4 255 1935 2581 1442 SS:[Thermal_in]\001 -4 1 -1 0 0 22 20 0.0000 4 210 390 4200 1441 ES\001 -4 1 -1 0 0 22 20 0.0000 4 195 150 5865 1441 1\001 -4 1 -1 0 0 22 20 0.0000 4 195 150 5865 4636 1\001 -4 1 -1 0 0 22 20 0.0000 4 210 390 7575 1441 AF\001 -4 1 -1 0 0 22 20 0.0000 4 270 1665 5865 3061 FMR:rho_cp\001 -4 1 -1 0 0 22 20 0.0000 4 210 390 9375 1441 ES\001 -4 1 1 1 0 3 20 0.0000 4 195 180 8296 1803 E\001 -4 1 1 1 0 3 20 0.0000 4 195 135 3256 4412 1\001 -4 1 1 1 0 3 30 0.0000 4 60 120 3121 4682 .\001 -4 1 1 1 0 3 20 0.0000 4 195 165 3121 4322 P\001 -4 1 1 1 0 3 20 0.0000 4 195 195 3121 4952 V\001 -4 1 4 0 0 0 20 0.0000 4 240 285 3930 1126 [s]\001 -4 1 4 0 0 0 20 0.0000 4 240 300 4470 1126 [e]\001 -4 1 4 0 0 0 20 0.0000 4 240 300 9105 1081 [e]\001 -4 1 4 0 0 0 20 0.0000 4 240 285 9600 1081 [s]\001 -4 1 1 1 0 3 20 0.0000 4 195 165 3120 1171 T\001 -4 1 1 1 0 3 20 0.0000 4 195 135 3255 1261 1\001 -4 1 1 1 0 3 20 0.0000 4 195 135 3255 1936 1\001 -4 1 1 1 0 3 20 0.0000 4 195 165 3120 1801 S\001 -4 1 1 1 0 3 30 0.0000 4 60 120 3120 1531 .\001 -4 1 1 1 0 3 20 0.0000 4 195 135 5056 1262 1\001 -4 1 1 1 0 3 20 0.0000 4 195 615 5234 1080 T - T\001 -4 1 1 1 0 3 20 0.0000 4 195 135 5549 1260 0\001 -4 1 1 1 0 3 30 0.0000 4 60 120 8296 1533 .\001 -4 1 1 1 0 3 20 0.0000 4 195 615 8386 1082 T - T\001 -4 1 1 1 0 3 20 0.0000 4 195 135 8701 1262 0\001 -4 1 1 1 0 3 20 0.0000 4 195 135 8208 1264 2\001 -4 1 -1 0 0 22 20 0.0000 4 195 150 11039 1440 0\001 -4 1 -1 0 0 22 20 0.0000 4 195 150 11039 4590 1\001 -4 1 -1 0 0 22 20 0.0000 4 210 600 11084 3015 RS:r\001 -4 0 4 0 0 0 20 0.0000 4 255 2235 12617 4593 SS:[Hydraulic_out]\001 -4 0 4 0 0 0 20 0.0000 4 255 2085 12572 1443 SS:[Thermal_out]\001 -4 1 1 1 0 3 30 0.0000 4 60 120 11674 4685 .\001 -4 1 1 1 0 3 20 0.0000 4 195 165 11674 4325 P\001 -4 1 1 1 0 3 20 0.0000 4 195 195 11674 4955 V\001 -4 1 1 1 0 3 20 0.0000 4 195 135 11809 4415 2\001 -4 1 1 1 0 3 20 0.0000 4 195 165 11674 1175 T\001 -4 1 1 1 0 3 20 0.0000 4 195 135 11809 1265 2\001 -4 1 1 1 0 3 20 0.0000 4 195 165 11674 1805 S\001 -4 1 1 1 0 3 30 0.0000 4 60 120 11674 1535 .\001 -4 1 1 1 0 3 20 0.0000 4 195 135 11809 1940 2\001 -4 1 1 1 0 3 20 0.0000 4 270 2340 7394 2340 Pseudo Bond Graph\001 -4 1 1 1 0 3 20 0.0000 4 195 180 5147 1803 E\001 -4 1 1 1 0 3 30 0.0000 4 60 120 5147 1533 .\001 -4 1 1 1 0 3 20 0.0000 4 195 180 6543 1804 E\001 -4 1 1 1 0 3 30 0.0000 4 60 120 6543 1534 .\001 -4 1 1 1 0 3 20 0.0000 4 195 135 6584 1125 0\001 DELETED mttroot/mtt/lib/comp/compound/Thermal/IncompressibleFlow/Pipe/Pipe_desc.tex Index: mttroot/mtt/lib/comp/compound/Thermal/IncompressibleFlow/Pipe/Pipe_desc.tex ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/IncompressibleFlow/Pipe/Pipe_desc.tex +++ /dev/null @@ -1,44 +0,0 @@ -% Verbal description for system Pipe (Pipe_desc.tex) -% Generated by MTT on Tue Jan 13 18:02:53 GMT 1998. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1998/03/09 10:13:27 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{Pipe} is - displayed in Figure \Ref{Pipe_abg} and its label - file is listed in Section \Ref{sec:Pipe_lbl}. - The subsystems are listed in Section \Ref{sec:Pipe_sub}. - -The \textbf{Pipe} component represents one way flow of incompressible -fluid though a pipe. Externally, it has true energy bonds: $P$/$\dot V$ -(Pressure/volume-flow) representing hydraulic energy and $T$/$\dot -S$(Temperature/Entropy-flow) representing convected thermal energy. - -Internally, however, the thermal part is represented by a pseudo bond -graph which computes the flow of internal energy $\dot E$ from the -upstream temperature $T_1$ and the volumetric flow rate $\dot V$ as: -\begin{equation} - \dot E = \rho c_p T_1 \dot V -\end{equation} -The $AF$ component makes the $FMR$ component use $T_1$ rather than -$T_1-T_2$. - -The two \textbf{ES} components provide the conversion from true to -psuedo thermal bonds and vice versa. - -The pipe has an resistance to flow represented by the \textbf{RS} -component labeled `r' which can be linear or nonlinear. The hydraulic -energy loss reappears on the thermal bond of this (energy-conserving) -\textbf{RS} component. - -%%% Local Variables: -%%% mode: latex -%%% TeX-master: t -%%% End: DELETED mttroot/mtt/lib/comp/compound/Thermal/IncompressibleFlow/Pipe/Pipe_lbl.txt Index: mttroot/mtt/lib/comp/compound/Thermal/IncompressibleFlow/Pipe/Pipe_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/IncompressibleFlow/Pipe/Pipe_lbl.txt +++ /dev/null @@ -1,52 +0,0 @@ -%% Label file for system Pipe (Pipe_lbl.txt) -%SUMMARY Pipe: Pipe containing hot incompressible liquid -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1998/11/20 11:34:17 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS in Thermal_in,Hydraulic_in -%ALIAS out Thermal_out,Hydraulic_out - -%ALIAS Th_in Thermal_in -%ALIAS Hy_in Hydraulic_in - -%ALIAS Th_out Thermal_out -%ALIAS Hy_out Hydraulic_out - - -%ALIAS $1 rho -%ALIAS $2 c_p -%ALIAS $3 flow,r - - -% Argument aliases - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type FMR - rho_cp lin effort,$1*$2 - -% Component type RS - r $1 $3 - -% Component type SS - [Hydraulic_in] SS external,external - [Hydraulic_out] SS external,external - [Thermal_in] SS external,external - [Thermal_out] SS external,external - DELETED mttroot/mtt/lib/comp/compound/Thermal/IncompressibleFlow/Pump/Pump_abg.fig Index: mttroot/mtt/lib/comp/compound/Thermal/IncompressibleFlow/Pump/Pump_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/IncompressibleFlow/Pump/Pump_abg.fig +++ /dev/null @@ -1,56 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2714 2476 3839 2476 3614 2701 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4289 2476 5414 2476 5189 2701 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6313 2477 8297 2478 8072 2703 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2713 1351 5418 1353 5193 1578 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6313 1351 8297 1352 8072 1577 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4050 3825 4050 2700 4275 2925 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4050 5400 4050 4275 4275 4500 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4063 7020 4063 5895 4288 6120 -2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 10800 7650 10800 450 405 450 405 7650 10800 7650 -4 2 4 0 0 0 20 0.0000 4 255 2085 2669 2567 SS:[Hydraulic_in]\001 -4 1 -1 0 0 22 20 0.0000 4 195 150 4064 2612 1\001 -4 1 1 1 0 3 20 0.0000 4 195 135 3166 2389 1\001 -4 1 1 1 0 3 30 0.0000 4 60 120 3031 2659 .\001 -4 1 1 1 0 3 20 0.0000 4 195 165 3031 2299 P\001 -4 0 4 0 0 0 20 0.0000 4 255 2235 8522 2571 SS:[Hydraulic_out]\001 -4 1 1 1 0 3 30 0.0000 4 60 120 7579 2663 .\001 -4 1 1 1 0 3 20 0.0000 4 195 165 7579 2303 P\001 -4 1 1 1 0 3 20 0.0000 4 195 195 7579 2933 V\001 -4 1 1 1 0 3 20 0.0000 4 195 135 7714 2393 2\001 -4 0 4 0 0 0 20 0.0000 4 255 1035 6313 2341 [Hy_out]\001 -4 1 -1 0 0 22 20 0.0000 4 270 1305 5953 1936 Pipe:pipe\001 -4 2 4 0 0 0 20 0.0000 4 255 870 5459 1172 [Th_in]\001 -4 2 4 0 0 0 20 0.0000 4 255 1935 2536 1444 SS:[Thermal_in]\001 -4 1 1 1 0 3 20 0.0000 4 195 165 3075 1173 T\001 -4 1 1 1 0 3 20 0.0000 4 195 135 3210 1263 1\001 -4 1 1 1 0 3 20 0.0000 4 195 135 3210 1938 1\001 -4 1 1 1 0 3 20 0.0000 4 195 165 3075 1803 S\001 -4 1 1 1 0 3 30 0.0000 4 60 120 3075 1533 .\001 -4 0 4 0 0 0 20 0.0000 4 255 1020 6313 1171 [Th_out]\001 -4 0 4 0 0 0 20 0.0000 4 255 2085 8477 1400 SS:[Thermal_out]\001 -4 1 1 1 0 3 20 0.0000 4 195 165 7579 1132 T\001 -4 1 1 1 0 3 20 0.0000 4 195 135 7714 1222 2\001 -4 1 1 1 0 3 20 0.0000 4 195 165 7579 1762 S\001 -4 1 1 1 0 3 30 0.0000 4 60 120 7579 1492 .\001 -4 1 1 1 0 3 20 0.0000 4 195 135 7714 1897 2\001 -4 2 4 0 0 0 20 0.0000 4 255 885 5457 2340 [Hy_in]\001 -4 1 1 1 0 3 20 0.0000 4 195 195 3031 2929 V\001 -4 1 -1 0 0 22 20 0.0000 4 270 915 4063 4141 TF:k_p\001 -4 1 -1 0 0 22 20 0.0000 4 195 150 4064 5717 1\001 -4 1 4 0 0 0 20 0.0000 4 240 1215 4063 7381 SS:[Shaft]\001 -4 1 1 1 0 32 30 0.0000 4 240 195 3838 6661 t\001 -4 1 1 1 0 32 30 0.0000 4 240 285 4288 6661 w\001 DELETED mttroot/mtt/lib/comp/compound/Thermal/IncompressibleFlow/Pump/Pump_desc.tex Index: mttroot/mtt/lib/comp/compound/Thermal/IncompressibleFlow/Pump/Pump_desc.tex ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/IncompressibleFlow/Pump/Pump_desc.tex +++ /dev/null @@ -1,35 +0,0 @@ -% Verbal description for system Pump (Pump_desc.tex) -% Generated by MTT on Mon Mar 9 09:11:22 GMT 1998. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{Pump} is - displayed in Figure \Ref{Pump_abg} and its label - file is listed in Section \Ref{sec:Pump_lbl}. - The subsystems are listed in Section \Ref{sec:Pump_sub}. - -\textbf{Pump} represents an ideal pump for incompressible fluid -driving fluid though a \textbf{Pipe} component. The pipe component -provides the correct thermal flow; if its resistance is set to zero, -the pump is an ideal component. - -The flow must be one way (in to out) for correct thermal properties. - -The ports are -\begin{itemize} -\item [Hy_in] Pressure/volume-flow inflow -\item [Hy_in] Pressure/volume-flow outflow -\item [Th_in] Temperature/Entropy-flow in flow -\item [Th_out] Temperature/Entropy-flow out flow -\item [Shaft] Torque/angular velocity input. -\end{itemize} - -%%% Local Variables: -%%% mode: latex -%%% TeX-master: t -%%% End: DELETED mttroot/mtt/lib/comp/compound/Thermal/IncompressibleFlow/Pump/Pump_lbl.txt Index: mttroot/mtt/lib/comp/compound/Thermal/IncompressibleFlow/Pump/Pump_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/IncompressibleFlow/Pump/Pump_lbl.txt +++ /dev/null @@ -1,53 +0,0 @@ -%SUMMARY Pump: a hydraulic pump - incompressible flow -%DESCRIPTION Typical lable: pump lin rho;c_p;flow,r;k_p - -%% Label file for system Pump (Pump_lbl.txt) - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1998/11/20 10:07:14 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%ALIAS Pipe IncompressibleFlow/Pipe -%ALIAS in Thermal_in,Hydraulic_in -%ALIAS out Thermal_out,Hydraulic_out - -%ALIAS Th_in Thermal_in -%ALIAS Hy_in Hydraulic_in - -%ALIAS Th_out Thermal_out -%ALIAS Hy_out Hydraulic_out - -%ALIAS Work Shaft - -%ALIAS $1 rho -%ALIAS $2 c_p -%ALIAS $3 flow,r -%ALIAS $4 flow,k_p - -%ALIAS $1 lin - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - -% Component type Pipe - pipe lin rho;c_p;flow,r - -% Component type TF - k_p lin flow,k_p - -% Component type SS - [Hydraulic_in] SS external,external - [Hydraulic_out] SS external,external - [Thermal_in] SS external,external - [Thermal_out] SS external,external - [Shaft] SS external,external DELETED mttroot/mtt/lib/comp/compound/Thermal/IncompressibleFlow/Tank/Tank_abg.fig Index: mttroot/mtt/lib/comp/compound/Thermal/IncompressibleFlow/Tank/Tank_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/IncompressibleFlow/Tank/Tank_abg.fig +++ /dev/null @@ -1,76 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2940 2477 4065 2477 3840 2702 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4740 2477 5865 2477 5640 2702 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2940 5627 5865 5627 5640 5852 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6315 2478 7440 2478 7215 2703 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8116 2479 9241 2479 9016 2704 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6315 5626 9240 5626 9015 5851 -2 4 1 2 1 7 1 0 -1 6.000 0 0 7 0 0 5 - 7484 6571 4739 6571 4739 1801 7484 1801 7484 6571 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5864 5401 6314 5401 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5864 2701 6314 2701 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6089 2702 6089 3827 6314 3602 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6089 5401 6089 4276 6314 4501 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6088 1127 6088 2252 6313 2027 -2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 11700 7200 11700 225 675 225 675 7200 11700 7200 -4 0 4 0 0 0 20 0.0000 4 255 2235 9421 5719 SS:[Hydraulic_out]\001 -4 0 4 0 0 0 20 0.0000 4 255 2085 9376 2569 SS:[Thermal_out]\001 -4 2 4 0 0 0 20 0.0000 4 255 2085 2894 5716 SS:[Hydraulic_in]\001 -4 2 4 0 0 0 20 0.0000 4 255 1935 2806 2568 SS:[Thermal_in]\001 -4 1 -1 0 0 22 20 0.0000 4 210 390 4425 2567 ES\001 -4 1 1 1 0 3 20 0.0000 4 195 135 3481 5538 1\001 -4 1 1 1 0 3 30 0.0000 4 60 120 3346 5808 .\001 -4 1 1 1 0 3 20 0.0000 4 195 165 3346 5448 P\001 -4 1 1 1 0 3 20 0.0000 4 195 195 3346 6078 V\001 -4 1 4 0 0 0 20 0.0000 4 240 285 4155 2252 [s]\001 -4 1 4 0 0 0 20 0.0000 4 240 300 4695 2252 [e]\001 -4 1 1 1 0 3 20 0.0000 4 195 165 3345 2297 T\001 -4 1 1 1 0 3 20 0.0000 4 195 135 3480 2387 1\001 -4 1 1 1 0 3 20 0.0000 4 195 135 3480 3062 1\001 -4 1 1 1 0 3 20 0.0000 4 195 165 3345 2927 S\001 -4 1 1 1 0 3 30 0.0000 4 60 120 3345 2657 .\001 -4 1 1 1 0 3 20 0.0000 4 195 135 5281 2388 1\001 -4 1 1 1 0 3 20 0.0000 4 195 615 5459 2206 T - T\001 -4 1 1 1 0 3 20 0.0000 4 195 135 5774 2386 0\001 -4 1 1 1 0 3 30 0.0000 4 60 120 5372 2659 .\001 -4 1 1 1 0 3 20 0.0000 4 195 180 5372 2929 E\001 -4 1 -1 0 0 22 20 0.0000 4 210 870 6089 4186 C:tank\001 -4 1 -1 0 0 22 20 0.0000 4 195 150 6090 2567 0\001 -4 1 -1 0 0 22 20 0.0000 4 195 150 6090 5762 0\001 -4 1 -1 0 0 22 20 0.0000 4 210 390 7800 2568 ES\001 -4 1 1 1 0 3 30 0.0000 4 60 120 8523 5811 .\001 -4 1 1 1 0 3 20 0.0000 4 195 165 8523 5451 P\001 -4 1 1 1 0 3 20 0.0000 4 195 195 8523 6081 V\001 -4 1 1 1 0 3 20 0.0000 4 195 135 8658 5541 2\001 -4 1 1 1 0 3 20 0.0000 4 195 180 6721 2930 E\001 -4 1 4 0 0 0 20 0.0000 4 240 300 7530 2208 [e]\001 -4 1 4 0 0 0 20 0.0000 4 240 285 8025 2208 [s]\001 -4 1 1 1 0 3 20 0.0000 4 195 165 8523 2301 T\001 -4 1 1 1 0 3 20 0.0000 4 195 135 8658 2391 2\001 -4 1 1 1 0 3 20 0.0000 4 195 165 8523 2931 S\001 -4 1 1 1 0 3 30 0.0000 4 60 120 8523 2661 .\001 -4 1 1 1 0 3 20 0.0000 4 195 135 8658 3066 2\001 -4 1 1 1 0 3 30 0.0000 4 60 120 6721 2660 .\001 -4 1 1 1 0 3 20 0.0000 4 195 615 6811 2209 T - T\001 -4 1 1 1 0 3 20 0.0000 4 195 135 7126 2389 0\001 -4 1 1 1 0 3 20 0.0000 4 195 135 6633 2391 2\001 -4 1 1 1 0 3 20 0.0000 4 270 2340 6134 6346 Pseudo Bond Graph\001 -4 1 4 0 0 0 20 0.0000 4 240 555 5639 3826 [out]\001 -4 1 4 0 0 0 20 0.0000 4 240 405 5684 4501 [in]\001 -4 1 4 0 0 0 20 0.0000 4 255 1500 6088 990 SS:[Heat_in]\001 DELETED mttroot/mtt/lib/comp/compound/Thermal/IncompressibleFlow/Tank/Tank_cr.r Index: mttroot/mtt/lib/comp/compound/Thermal/IncompressibleFlow/Tank/Tank_cr.r ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/IncompressibleFlow/Tank/Tank_cr.r +++ /dev/null @@ -1,20 +0,0 @@ -% Constitutive relation file for Tank (Tank_cr.r) -% Generated by MTT at Thu Mar 5 10:30:23 GMT 1998 - -OPERATOR tank; - -%Pressure -FOR ALL rho,c_p,c,Volume,Energy -LET tank(rho,c_p,c,effort,1, - Volume,state,1, - Energy,state,2 - ) = (Volume*rho)/c; - -%Temperature -FOR ALL rho,c_p,c,Volume,Energy -LET tank(rho,c_p,c,effort,2, - Volume,state,1, - Energy,state,2 - ) = Energy/(Volume*rho*c_p); - -END; DELETED mttroot/mtt/lib/comp/compound/Thermal/IncompressibleFlow/Tank/Tank_desc.tex Index: mttroot/mtt/lib/comp/compound/Thermal/IncompressibleFlow/Tank/Tank_desc.tex ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/IncompressibleFlow/Tank/Tank_desc.tex +++ /dev/null @@ -1,14 +0,0 @@ -% Verbal description for system Tank (Tank_desc.tex) -% Generated by MTT on Tue Jan 13 18:03:04 GMT 1998. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{Tank} is - displayed in Figure \Ref{Tank_abg} and its label - file is listed in Section \Ref{sec:Tank_lbl}. - The subsystems are listed in Section \Ref{sec:Tank_sub}. DELETED mttroot/mtt/lib/comp/compound/Thermal/IncompressibleFlow/Tank/Tank_lbl.txt Index: mttroot/mtt/lib/comp/compound/Thermal/IncompressibleFlow/Tank/Tank_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/IncompressibleFlow/Tank/Tank_lbl.txt +++ /dev/null @@ -1,52 +0,0 @@ -%% Label file for system Tank (Tank_lbl.txt) -%SUMMARY Tank: Tank of hot incompressible liquid -%DESCRIPTION c is the pressure constant: P=(rho*V)/c -%DESCRIPTION Typical lable: tank Tank rho;c_p;c - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.2 1998/11/20 09:46:34 peterg -% %% Modernised lbl syntax -% %% -% %% Revision 1.1 1998/11/20 08:57:19 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS in Thermal_in,Hydraulic_in -%ALIAS out Thermal_out,Hydraulic_out - -%ALIAS Th_in Thermal_in -%ALIAS Hy_in Hydraulic_in - -%ALIAS Th_out Thermal_out -%ALIAS Hy_out Hydraulic_out - -%ALIAS Heat Heat_in - -% Argument aliases -%ALIAS $1 rho -%ALIAS $2 c_p -%ALIAS $3 c - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type C - tank Tank rho,c_p,c - -% Component type SS - [Heat_in] SS external,external - [Hydraulic_in] SS external,external - [Hydraulic_out] SS external,external - [Thermal_in] SS external,external - [Thermal_out] SS external,external DELETED mttroot/mtt/lib/comp/compound/Thermal/IncompressibleFlow/lPump/lPump_abg.fig Index: mttroot/mtt/lib/comp/compound/Thermal/IncompressibleFlow/lPump/lPump_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/IncompressibleFlow/lPump/lPump_abg.fig +++ /dev/null @@ -1,74 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6526 7426 6526 6301 6751 6526 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3826 6302 6078 6302 5853 6527 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3826 5177 6078 5177 5853 5402 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6076 2476 3601 4951 3871 4951 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6076 3601 3601 6076 3871 6076 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6976 2701 6976 2476 9451 4951 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6975 3825 6975 3600 9450 6075 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6976 6301 9228 6301 9003 6526 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6976 5176 9228 5176 9003 5401 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2253 6302 3378 6302 3153 6527 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2253 5177 3378 5177 3153 5402 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 9678 5177 10803 5177 10578 5402 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 9678 6302 10803 6302 10578 6527 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6525 9001 6525 7876 6750 8101 -2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 13275 9675 13275 1350 45 1350 45 9675 13275 9675 -4 2 4 0 0 0 20 0.0000 4 255 2085 2205 6390 SS:[Hydraulic_in]\001 -4 2 4 0 0 0 20 0.0000 4 255 1935 2205 5265 SS:[Thermal_in]\001 -4 2 4 0 0 0 20 0.0000 4 255 870 6123 4998 [Th_in]\001 -4 0 4 0 0 0 20 0.0000 4 255 1020 6977 4997 [Th_out]\001 -4 1 4 0 0 0 20 0.0000 4 240 810 6572 6167 [Shaft]\001 -4 2 4 0 0 0 20 0.0000 4 255 885 5986 6166 [Hy_in]\001 -4 0 4 0 0 0 20 0.0000 4 255 1035 7112 6167 [Hy_out]\001 -4 1 -1 0 0 22 20 0.0000 4 270 1665 6527 5762 Pump:pump\001 -4 1 -1 0 0 22 20 0.0000 4 270 1260 6527 3152 Pipe:leak\001 -4 1 1 1 0 3 20 0.0000 4 195 135 2705 6215 1\001 -4 1 1 1 0 3 20 0.0000 4 195 165 2570 6125 P\001 -4 1 1 1 0 3 20 0.0000 4 195 165 2614 4999 T\001 -4 1 1 1 0 3 20 0.0000 4 195 135 2749 5089 1\001 -4 1 1 1 0 3 20 0.0000 4 195 135 2749 5764 1\001 -4 1 1 1 0 3 20 0.0000 4 195 165 2614 5629 S\001 -4 1 1 1 0 3 30 0.0000 4 60 120 2614 5359 .\001 -4 1 1 1 0 3 20 0.0000 4 195 195 2570 6755 V\001 -4 1 1 1 0 3 30 0.0000 4 60 120 2570 6485 .\001 -4 1 -1 0 0 22 20 0.0000 4 195 150 3603 6393 0\001 -4 1 -1 0 0 22 20 0.0000 4 195 150 3603 5268 0\001 -4 0 4 0 0 0 20 0.0000 4 255 2085 10941 5271 SS:[Thermal_out]\001 -4 0 4 0 0 0 20 0.0000 4 255 2235 10941 6397 SS:[Hydraulic_out]\001 -4 1 1 1 0 3 20 0.0000 4 195 165 10043 4958 T\001 -4 1 1 1 0 3 20 0.0000 4 195 135 10178 5048 2\001 -4 1 1 1 0 3 20 0.0000 4 195 165 10043 5588 S\001 -4 1 1 1 0 3 30 0.0000 4 60 120 10043 5318 .\001 -4 1 1 1 0 3 20 0.0000 4 195 135 10178 5723 2\001 -4 1 -1 0 0 22 20 0.0000 4 195 150 9453 5268 0\001 -4 1 1 1 0 3 30 0.0000 4 60 120 10088 6489 .\001 -4 1 1 1 0 3 20 0.0000 4 195 165 10088 6129 P\001 -4 1 1 1 0 3 20 0.0000 4 195 195 10088 6759 V\001 -4 1 1 1 0 3 20 0.0000 4 195 135 10223 6219 2\001 -4 1 -1 0 0 22 20 0.0000 4 195 150 9498 6438 0\001 -4 0 4 0 0 0 20 0.0000 4 255 870 7023 2343 [Th_in]\001 -4 0 4 0 0 0 20 0.0000 4 255 885 7021 3466 [Hy_in]\001 -4 2 4 0 0 0 20 0.0000 4 255 1020 6032 2342 [Th_out]\001 -4 2 4 0 0 0 20 0.0000 4 255 1035 6032 3467 [Hy_out]\001 -4 1 4 0 0 0 20 0.0000 4 240 1215 6482 9317 SS:[Shaft]\001 -4 1 -1 0 0 22 20 0.0000 4 195 150 6528 7743 1\001 DELETED mttroot/mtt/lib/comp/compound/Thermal/IncompressibleFlow/lPump/lPump_desc.tex Index: mttroot/mtt/lib/comp/compound/Thermal/IncompressibleFlow/lPump/lPump_desc.tex ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/IncompressibleFlow/lPump/lPump_desc.tex +++ /dev/null @@ -1,25 +0,0 @@ -% -*-latex-*- Put EMACS into LaTeX-mode -% Verbal description for system lPump (lPump_desc.tex) -% Generated by MTT on Mon Mar 9 10:35:44 GMT 1998. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{lPump} is - displayed in Figure \Ref{lPump_abg} and its label - file is listed in Section \Ref{sec:lPump_lbl}. - The subsystems are listed in Section \Ref{sec:lPump_sub}. - -\textbf{lPump} corrsponds to the \textbf{Pump} component but with a -backflow leakage around the ump driven by the pressure drop across -the pump. This leakage is implemented using the \textbf{Pipe} -component to give the correct thermal behaviour. - -%%% Local Variables: -%%% mode: latex -%%% TeX-master: t -%%% End: DELETED mttroot/mtt/lib/comp/compound/Thermal/IncompressibleFlow/lPump/lPump_lbl.txt Index: mttroot/mtt/lib/comp/compound/Thermal/IncompressibleFlow/lPump/lPump_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/IncompressibleFlow/lPump/lPump_lbl.txt +++ /dev/null @@ -1,52 +0,0 @@ -%% Label file for system lPump (lPump_lbl.txt) -%SUMMARY lPump: a hydraulic pump with leakage - incompressible flow - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -% Component aliases -%ALIAS Pipe IncompressibleFlow/Pipe -%ALIAS Pump IncompressibleFlow/Pump - -% Port aliases -%ALIAS in Thermal_in,Hydraulic_in -%ALIAS out Thermal_out,Hydraulic_out - -%ALIAS Th_in Thermal_in -%ALIAS Hy_in Hydraulic_in - -%ALIAS Th_out Thermal_out -%ALIAS Hy_out Hydraulic_out - -% Argument aliases -%ALIAS $1 rho -%ALIAS $2 c_p -%ALIAS $3 flow,r -%ALIAS $4 flow,k_p -%ALIAS $5 flow,r_l - - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type Pipe - leak lin $1;$2;$5 - -% Component type Pump - pump lin $1;$2;$3;$4 - -% Component type SS - [Hydraulic_in] SS external,external - [Hydraulic_out] SS external,external - [Thermal_in] SS external,external - [Thermal_out] SS external,external - [Shaft] SS external,external - DELETED mttroot/mtt/lib/comp/compound/Thermal/RT/RT_abg.fig Index: mttroot/mtt/lib/comp/compound/Thermal/RT/RT_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/RT/RT_abg.fig +++ /dev/null @@ -1,49 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4275 2701 5625 2701 5400 2926 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6075 2701 7425 2701 7200 2926 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5850 2476 5850 1126 6075 1351 -2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 11475 3600 450 3600 450 451 11475 451 11475 3600 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2025 2701 3375 2701 3150 2926 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8325 2701 9675 2701 9450 2926 -4 1 -1 0 0 0 20 0.0000 4 195 135 5850 2791 1\001 -4 1 -1 0 0 0 20 0.0000 4 195 375 5850 991 R:r\001 -4 1 4 0 0 0 20 0.0000 4 255 315 4410 2476 [p]\001 -4 1 4 0 0 0 20 0.0000 4 255 315 7290 2476 [p]\001 -4 1 1 1 0 3 20 0.0000 4 240 210 5040 3106 Q\001 -4 1 1 1 0 3 30 0.0000 4 60 105 5085 2836 .\001 -4 1 1 1 0 3 20 0.0000 4 195 165 5040 2521 T\001 -4 1 1 1 0 3 20 0.0000 4 240 210 6615 3106 Q\001 -4 1 1 1 0 3 30 0.0000 4 60 105 6660 2836 .\001 -4 1 1 1 0 3 20 0.0000 4 195 165 6615 2521 T\001 -4 1 1 1 0 3 20 0.0000 4 195 135 6795 2611 2\001 -4 1 1 1 0 3 20 0.0000 4 195 135 5220 2611 1\001 -4 1 -1 0 0 0 20 0.0000 4 255 765 3825 2790 FP:fp1\001 -4 2 4 0 0 0 20 0.0000 4 240 810 1980 2790 SS:[in]\001 -4 1 4 0 0 0 20 0.0000 4 240 270 3285 2476 [f]\001 -4 1 1 1 0 3 20 0.0000 4 195 165 2475 3106 S\001 -4 1 1 1 0 3 30 0.0000 4 60 105 2520 2836 .\001 -4 1 1 1 0 3 20 0.0000 4 195 165 2475 2521 T\001 -4 1 1 1 0 3 20 0.0000 4 195 135 2610 2611 1\001 -4 1 1 1 0 3 20 0.0000 4 195 135 2610 3241 1\001 -4 1 -1 0 0 0 20 0.0000 4 255 765 7920 2790 FP:fp2\001 -4 1 4 0 0 0 20 0.0000 4 240 270 8505 2476 [f]\001 -4 1 1 1 0 3 20 0.0000 4 195 165 9090 3106 S\001 -4 1 1 1 0 3 30 0.0000 4 60 105 9135 2836 .\001 -4 1 1 1 0 3 20 0.0000 4 195 165 9090 2521 T\001 -4 1 1 1 0 3 20 0.0000 4 195 135 9270 3241 2\001 -4 1 1 1 0 3 20 0.0000 4 195 135 9270 2611 2\001 -4 0 4 0 0 0 20 0.0000 4 240 960 9810 2791 SS:[out]\001 DELETED mttroot/mtt/lib/comp/compound/Thermal/RT/RT_desc.tex Index: mttroot/mtt/lib/comp/compound/Thermal/RT/RT_desc.tex ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/RT/RT_desc.tex +++ /dev/null @@ -1,5 +0,0 @@ -Component \textbf{RT} is a two port thermal resistor with true power -bonds. Internally, it has a pseudo Bond Graph representation, and the -corresponding thermal resistance just acts as an ordinary one-port -\textbf{R} component. - DELETED mttroot/mtt/lib/comp/compound/Thermal/RT/RT_lbl.txt Index: mttroot/mtt/lib/comp/compound/Thermal/RT/RT_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/RT/RT_lbl.txt +++ /dev/null @@ -1,63 +0,0 @@ -%SUMMARY RT: Two port thermal resistance with T/Sdot bonds -%DESCRIPTION Port [in]: T/Sdot power in -%DESCRIPTION Port [out]: T/Sdot power out -%DESCRIPTION CR and parameters as for a one-port R component -%DESCRIPTION Internally pseudo bond graph -%DESCRIPTION Example label file entry: -%DESCRIPTION % Component type RT -%DESCRIPTION r lin flow,r - -%ALIAS ThermalIn in -%ALIAS ThermalOut out - -%ALIAS $1 flow,r -%ALIAS $a1 lin - - -%% Label file for system RT (RT_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.7 2001/07/03 22:59:10 gawthrop -% %% Fixed problems with argument passing for CRs -% %% -% %% Revision 1.6 2001/06/13 17:10:26 gawthrop -% %% Alias for the cr (ie ALIAS $1 lin) -% %% -% %% Revision 1.5 2001/06/11 19:51:08 gawthrop -% %% Zapped spurious $1 alias -% %% -% %% Revision 1.4 1998/07/22 11:31:42 peterg -% %% New port names -% %% -% %% Revision 1.3 1998/07/21 16:26:05 peterg -% %% Now has aliased parameters. -% %% -% %% Revision 1.2 1998/06/29 10:08:14 peterg -% %% Converted to FP component -% %% Removed lables from FP -% %% -% %% Revision 1.1 1997/09/04 09:48:47 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - -% Component type R - r lin flow,r - -% Component type FP - fp1 - fp2 - -% Component type SS - [in] SS external,external - [out] SS external,external DELETED mttroot/mtt/lib/comp/compound/Thermal/RT/TestRT_abg.fig Index: mttroot/mtt/lib/comp/compound/Thermal/RT/TestRT_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/RT/TestRT_abg.fig +++ /dev/null @@ -1,18 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2250 3600 3600 3600 3375 3825 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4500 3600 5850 3600 5625 3825 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3600 3420 3600 3780 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4500 3420 4500 3780 -2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 7020 4725 1125 4725 1125 2295 7020 2295 7020 4725 -4 1 -1 0 0 2 20 0.0000 4 195 705 4050 3690 RT:rt\001 -4 1 -1 0 0 2 20 0.0000 4 255 870 1800 3690 SS:T_1\001 -4 1 -1 0 0 2 20 0.0000 4 255 870 6345 3690 SS:T_2\001 DELETED mttroot/mtt/lib/comp/compound/Thermal/RT/TestRT_lbl.txt Index: mttroot/mtt/lib/comp/compound/Thermal/RT/TestRT_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/RT/TestRT_lbl.txt +++ /dev/null @@ -1,24 +0,0 @@ -%SUMMARY TestRT -%DESCRIPTION -%% Label file for system TestRT (TestRT_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type RT - rt lin flow,r;0 - -% Component type SS - T_1 external external - T_2 external external DELETED mttroot/mtt/lib/comp/compound/Thermal/RT1/RT1_abg.fig Index: mttroot/mtt/lib/comp/compound/Thermal/RT1/RT1_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/RT1/RT1_abg.fig +++ /dev/null @@ -1,30 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1575 2700 2925 2700 2700 2925 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3825 2700 5175 2700 4950 2925 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5400 2475 5400 1125 5625 1350 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5625 2700 6975 2700 6750 2925 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7876 2701 9226 2701 9001 2926 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 10081 2701 11431 2701 11206 2926 -2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 12600 4275 12600 450 225 450 225 4275 12600 4275 -4 1 -1 0 0 0 20 0.0000000 4 210 690 3420 2790 ES:es\001 -4 1 -1 0 0 0 20 0.0000000 4 210 150 5400 2790 1\001 -4 1 -1 0 0 0 20 0.0000000 4 210 390 5400 990 R:r\001 -4 2 4 0 0 0 20 0.0000000 4 240 870 1485 2790 SS:[in]\001 -4 1 4 0 0 0 20 0.0000000 4 240 330 2835 2475 [s]\001 -4 1 4 0 0 0 20 0.0000000 4 240 345 3960 2475 [e]\001 -4 1 -1 0 0 0 20 0.0000000 4 210 705 7470 2790 AF:af\001 -4 1 -1 0 0 0 20 0.0000000 4 210 690 9676 2791 ES:se\001 -4 0 4 0 0 0 20 0.0000000 4 240 1020 11611 2791 SS:[out]\001 -4 1 4 0 0 0 20 0.0000000 4 240 345 9091 2476 [e]\001 -4 1 4 0 0 0 20 0.0000000 4 240 330 10306 2476 [s]\001 DELETED mttroot/mtt/lib/comp/compound/Thermal/RT1/RT1_desc.tex Index: mttroot/mtt/lib/comp/compound/Thermal/RT1/RT1_desc.tex ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/RT1/RT1_desc.tex +++ /dev/null @@ -1,18 +0,0 @@ -Component \textbf{RT1} is a two port thermal resistor with true power -bonds. Internally, it has a pseudo Bond Graph representation, and the -corresponding thermal resistance just acts as an ordinary one-port -\textbf{R} component. -Unlike the {\bf RT} component, it is {\em one-sided\/} in the snese -that the paper flow depends only on the upstream temperature. It is -useful for modelling radiation via the Stefan-Boltzmann law when using -the {\bf StefanBoltzmann} CR. - - -This one-sidedness is achieved using the {\bf AF} component to isolate -the intrnal {\bf R} component from the downstream temperature. - - -%%% Local Variables: -%%% mode: latex -%%% TeX-master: t -%%% End: DELETED mttroot/mtt/lib/comp/compound/Thermal/RT1/RT1_lbl.txt Index: mttroot/mtt/lib/comp/compound/Thermal/RT1/RT1_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/RT1/RT1_lbl.txt +++ /dev/null @@ -1,51 +0,0 @@ -%% Label file for system RT1 (RT1_lbl.txt) -%SUMMARY RT1: Two port thermal resistance with T/Sdot bonds -%DESCRIPTION Port [in]: T/Sdot power in -%DESCRIPTION Port [out]: T/Sdot power out -%DESCRIPTION CR and parameters as for a one-port R component -%DESCRIPTION One sided: flow depends on upstream temperature only -%DESCRIPTION Useful for radiation modelling -%DESCRIPTION Example label file entry: -%DESCRIPTION % Component type RT1 -%DESCRIPTION r lin flow,r - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 2000/12/28 10:40:45 peterg -% %% Put under RCS -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS in in -%ALIAS out out - -% Argument aliases -%ALIAS $1 r -%ALIAS $1 lin - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type AF - af - -% Component type ES - es - se - -% Component type R - r lin flow,r - -% Component type SS - [in] SS external,external - [out] SS external,external DELETED mttroot/mtt/lib/comp/compound/Thermal/ThermalConversion/ES/ES_abg.fig Index: mttroot/mtt/lib/comp/compound/Thermal/ThermalConversion/ES/ES_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/ThermalConversion/ES/ES_abg.fig +++ /dev/null @@ -1,25 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4515 2701 5865 2701 5640 2926 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2715 2701 4065 2701 3840 2926 -2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 8325 3600 225 3600 225 1801 8325 1801 8325 3600 -4 1 4 0 0 0 20 0.0000000 4 270 360 4650 2476 [p]\001 -4 1 -1 0 0 0 20 0.0000000 4 210 330 4290 2791 FP\001 -4 1 4 0 0 0 20 0.0000000 4 240 315 3975 2476 [f]\001 -4 1 1 1 0 3 20 0.0000000 4 210 165 3165 3106 S\001 -4 1 1 1 0 3 30 0.0000000 4 60 105 3210 2836 .\001 -4 1 1 1 0 3 20 0.0000000 4 270 210 5280 3106 Q\001 -4 1 1 1 0 3 30 0.0000000 4 60 105 5325 2836 .\001 -4 1 1 1 0 3 20 0.0000000 4 210 180 5280 2521 T\001 -4 1 1 1 0 3 20 0.0000000 4 210 180 3165 2521 T\001 -4 1 1 1 0 3 20 0.0000000 4 210 150 3300 2611 1\001 -4 1 1 1 0 3 20 0.0000000 4 210 150 3300 3241 1\001 -4 1 1 1 0 3 20 0.0000000 4 210 150 5460 2611 1\001 -4 0 4 0 0 0 20 0.0000000 4 270 2115 6000 2791 SS:[EnergyFlow]\001 -4 2 4 0 0 0 20 0.0000000 4 270 2220 2655 2790 SS:[EntropyFlow]\001 DELETED mttroot/mtt/lib/comp/compound/Thermal/ThermalConversion/ES/ES_lbl.txt Index: mttroot/mtt/lib/comp/compound/Thermal/ThermalConversion/ES/ES_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/ThermalConversion/ES/ES_lbl.txt +++ /dev/null @@ -1,28 +0,0 @@ -%% Label file for system ES (ES_lbl.txt) -%SUMMARY ES Identical to the FP component except for the port labels -%DESCRIPTION Converts true thermal to pseudo BGs - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS e|p EnergyFlow -%ALIAS s|f EntropyFlow - -% Argument aliases - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type SS - [EnergyFlow] SS external,external - [EntropyFlow] SS external,external DELETED mttroot/mtt/lib/comp/compound/Thermal/VM/VM_abg.fig Index: mttroot/mtt/lib/comp/compound/Thermal/VM/VM_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/VM/VM_abg.fig +++ /dev/null @@ -1,54 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2250 3825 3600 3825 3375 4050 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3825 3600 4500 2925 4500 3150 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5400 1980 5400 2655 5625 2430 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6300 2925 6975 3600 6750 3600 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7246 3826 8371 3826 8146 4051 -2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 10125 5175 10125 450 225 450 225 5175 10125 5175 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2250 1125 4500 1125 4275 1350 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4500 900 4500 1395 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2250 1800 4500 1800 4275 2025 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4500 1575 4500 2070 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6975 4050 6300 4725 6525 4725 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3825 4050 4500 4725 4320 4725 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5625 4725 4950 4725 5175 4950 -4 2 4 0 0 0 20 0.0000 4 255 1290 2073 3918 SS:[Hy_in]\001 -4 1 1 1 0 3 30 0.0000 4 60 120 2570 4010 .\001 -4 1 1 1 0 3 20 0.0000 4 195 165 2570 3650 P\001 -4 1 1 1 0 3 20 0.0000 4 195 195 2570 4280 V\001 -4 1 4 0 0 0 20 0.0000 4 240 570 5445 1935 [rho]\001 -4 2 4 0 0 0 20 0.0000 4 240 675 5355 2700 [mod]\001 -4 1 -1 0 0 22 20 0.0000 4 210 1365 5400 3015 EMAF:rho\001 -4 1 4 0 0 0 20 0.0000 4 240 405 4860 3285 [in]\001 -4 1 4 0 0 0 20 0.0000 4 240 555 5851 3241 [out]\001 -4 1 1 1 0 3 30 0.0000 4 60 120 8018 3968 .\001 -4 1 1 1 0 3 20 0.0000 4 195 165 8018 3608 P\001 -4 1 1 1 0 3 20 0.0000 4 135 210 8018 4238 m\001 -4 0 4 0 0 0 20 0.0000 4 255 1440 8551 3916 SS:[Hy_out]\001 -4 1 -1 0 0 22 20 0.0000 4 195 150 3825 3915 1\001 -4 1 -1 0 0 22 20 0.0000 4 195 150 6975 3915 0\001 -4 1 1 1 0 3 20 0.0000 4 195 165 2613 948 T\001 -4 2 4 0 0 0 20 0.0000 4 240 345 4410 1665 [P]\001 -4 2 4 0 0 0 20 0.0000 4 240 360 4455 945 [T]\001 -4 2 4 0 0 0 20 0.0000 4 240 750 2119 1849 SS:[P]\001 -4 2 4 0 0 0 20 0.0000 4 240 765 2119 1219 SS:[T]\001 -4 1 -1 0 0 22 20 0.0000 4 270 2130 5715 1530 Density:density\001 -4 1 -1 0 0 22 20 0.0000 4 195 150 4725 4815 0\001 -4 1 -1 0 0 22 20 0.0000 4 210 405 5985 4815 AE\001 DELETED mttroot/mtt/lib/comp/compound/Thermal/VM/VM_desc.tex Index: mttroot/mtt/lib/comp/compound/Thermal/VM/VM_desc.tex ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/VM/VM_desc.tex +++ /dev/null @@ -1,29 +0,0 @@ -% -*-latex-*- Put EMACS into LaTeX-mode -% Verbal description for system VM (VM_desc.tex) -% Generated by MTT on Thu Mar 19 14:37:43 GMT 1998. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{VM} is - displayed in Figure \Ref{VM_abg} and its label - file is listed in Section \Ref{sec:VM_lbl}. - The subsystems are listed in Section \Ref{sec:VM_sub}. - -The \textbf{VM} component acts as a density-modulated transformer -converting a $P$/$\dot V$ energy bond to a $P$/$\dot m$ pseudo bond. It used -the \textbf{Density} component and therfore inherits the properties of -that component -- in particular it takes the same parameter. The four -ports are: - -\begin{itemize} -\item [Hy_in]: hydraulic in -\item [Hy_out]: hydraulic out -\item [P]: Pressure -\item [T]: Temperature -\end{itemize} - DELETED mttroot/mtt/lib/comp/compound/Thermal/VM/VM_lbl.txt Index: mttroot/mtt/lib/comp/compound/Thermal/VM/VM_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/VM/VM_lbl.txt +++ /dev/null @@ -1,33 +0,0 @@ -%SUMMARY VM: Volumetric to mass flow and vv - pseudo mass-flow bond -%DESCRIPTION Converts between P/Vdot energy bond to a P/mdot pseudo bond -%DESCRIPTION Parameter 1: passed to the Density subcomponent -%% Label file for system VM (VM_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1998/03/26 08:37:59 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type Density - density none $1 - -% Component type EMAF - rho - -% Component type SS - [Hy_in] SS external,external - [Hy_out] SS external,external - [P] SS external,external - [T] SS external,external DELETED mttroot/mtt/lib/comp/compound/Thermal/VMe/VMe_abg.fig Index: mttroot/mtt/lib/comp/compound/Thermal/VMe/VMe_abg.fig ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/VMe/VMe_abg.fig +++ /dev/null @@ -1,40 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2250 3825 4950 3825 4725 4050 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2250 1350 4500 1350 4275 1575 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5400 2250 5400 3600 5625 3375 -2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 9045 4725 9045 450 225 450 225 4725 9045 4725 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6076 3826 7201 3826 6976 4051 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4500 1125 4500 1620 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2250 2025 4500 2025 4275 2250 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4500 1800 4500 2295 -4 1 1 1 0 3 20 0.0000 4 195 165 2613 1173 T\001 -4 2 4 0 0 0 20 0.0000 4 255 1290 2073 3918 SS:[Hy_in]\001 -4 1 4 0 0 0 20 0.0000 4 240 570 5400 2115 [rho]\001 -4 1 1 1 0 3 30 0.0000 4 60 120 2570 4010 .\001 -4 1 1 1 0 3 20 0.0000 4 195 165 2570 3650 P\001 -4 1 1 1 0 3 20 0.0000 4 195 195 2570 4280 V\001 -4 1 4 0 0 0 20 0.0000 4 240 405 4725 3690 [in]\001 -4 2 4 0 0 0 20 0.0000 4 240 675 5310 3330 [mod]\001 -4 1 -1 0 0 22 20 0.0000 4 210 1065 5535 3915 EMTF:tf\001 -4 1 4 0 0 0 20 0.0000 4 240 555 6301 3691 [out]\001 -4 1 1 1 0 3 30 0.0000 4 60 120 6848 3968 .\001 -4 1 1 1 0 3 20 0.0000 4 195 270 6848 3608 Pv\001 -4 1 1 1 0 3 20 0.0000 4 135 210 6848 4238 m\001 -4 1 -1 0 0 22 20 0.0000 4 270 2130 5805 1665 Density:density\001 -4 2 4 0 0 0 20 0.0000 4 240 345 4410 1890 [P]\001 -4 2 4 0 0 0 20 0.0000 4 240 360 4455 1170 [T]\001 -4 2 4 0 0 0 20 0.0000 4 240 750 2119 2074 SS:[P]\001 -4 2 4 0 0 0 20 0.0000 4 240 765 2119 1444 SS:[T]\001 -4 0 4 0 0 0 20 0.0000 4 255 1440 7381 3916 SS:[Hy_out]\001 DELETED mttroot/mtt/lib/comp/compound/Thermal/VMe/VMe_desc.tex Index: mttroot/mtt/lib/comp/compound/Thermal/VMe/VMe_desc.tex ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/VMe/VMe_desc.tex +++ /dev/null @@ -1,29 +0,0 @@ -% -*-latex-*- Put EMACS into LaTeX-mode -% Verbal description for system VMe (VMe_desc.tex) -% Generated by MTT on Thu Mar 19 14:37:43 GMT 1998. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{VMe} is - displayed in Figure \Ref{VMe_abg} and its label - file is listed in Section \Ref{sec:VMe_lbl}. - The subsystems are listed in Section \Ref{sec:VMe_sub}. - -The \textbf{VMe} component acts as a density-modulated transformer -converting a $P$/$\dot V$ energy bond to a $Pv$/$\dot m$ bond. It used -the \textbf{Density} component and therfore inherits the properties of -that component -- in particular it takes the same parameter. The four -ports are: - -\begin{itemize} -\item [Hy_in]: hydraulic in -\item [Hy_out]: hydraulic out -\item [P]: Pressure -\item [T]: Temperature -\end{itemize} - DELETED mttroot/mtt/lib/comp/compound/Thermal/VMe/VMe_lbl.txt Index: mttroot/mtt/lib/comp/compound/Thermal/VMe/VMe_lbl.txt ================================================================== --- mttroot/mtt/lib/comp/compound/Thermal/VMe/VMe_lbl.txt +++ /dev/null @@ -1,33 +0,0 @@ -%SUMMARY VMe: Volumetric to mass flow and vv - energy bonds -%DESCRIPTION Converts between P/Vdot energy bond to a Pv/mdot energy bond -%DESCRIPTION Parameter 1: passed to the Density subcomponent -%% Label file for system VMe (VMe_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1998/03/26 08:38:15 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type Density - density none $1 - -% Component type EMTF - tf lin flow - -% Component type SS - [Hy_in] SS external,external - [Hy_out] SS external,external - [P] SS external,external - [T] SS external,external DELETED mttroot/mtt/lib/comp/simple/AE_alias.m Index: mttroot/mtt/lib/comp/simple/AE_alias.m ================================================================== --- mttroot/mtt/lib/comp/simple/AE_alias.m +++ /dev/null @@ -1,15 +0,0 @@ -function alias = AE_alias # Port aliases for AE - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - - alias.in = '1'; - alias.out = '2'; - -endfunction - - DELETED mttroot/mtt/lib/comp/simple/AE_cause.m Index: mttroot/mtt/lib/comp/simple/AE_cause.m ================================================================== --- mttroot/mtt/lib/comp/simple/AE_cause.m +++ /dev/null @@ -1,79 +0,0 @@ -function [bonds,status] = AE_cause(bonds); -% AE_cause - Causality for effort amplifier component -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %%%%% Model Transformation Tools %%%%% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% -% Matlab function AE_cause -% [bonds,status] = AE_cause(bonds) - -%SUMMARY AE: effort amplifier -%DESCRIPTION Port[1]: amplifier effort input e_1 (f_1=0) -%DESCRIPTION Port[2]: amplifier effort output e_2 - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.2 1996/11/01 11:40:30 peterg -% %% Documentation. -% %% -% %% Revision 1.1 1996/08/30 19:05:21 peter -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Copyright (c) P.J. Gawthrop, 1996. - - -status = -1; - -% Check that there are exactly two bonds. -if check_bonds(bonds,2,'AE')==0 - return -end - -% There are 2 ports; extract the information -e_1 = bonds(1,1); -f_1 = bonds(1,2); -e_2 = bonds(2,1); -f_2 = bonds(2,2); - -% Port 1 must impose (zero) flow and port 2 have flow imposed -if (f_1==-1)|(f_2==1) % Conflict - status = 1; - else % Do the rest of the causality - - if f_1 == 0 % Set port 1 effort - f_1 = 1; - end; - - if f_2 == 0 % Set port 2 effort - f_2 = -1; - end; - - number_set = sum(sum([e_1 e_2]~=zeros(1,2) )); - if number_set==0 % Under causal - status = -1; - elseif number_set==1 % Set the causality - if e_1 == 0 - e_1 = -e_2; - else - e_2 = -e_1; - end - status = 0; - elseif number_set==2 % Check the causality - if e_1==-e_2 - status = 0; - else - status = 1; - end - end; -end; - - bonds = [e_1 f_1 - e_2 f_2] - DELETED mttroot/mtt/lib/comp/simple/AE_eqn.m Index: mttroot/mtt/lib/comp/simple/AE_eqn.m ================================================================== --- mttroot/mtt/lib/comp/simple/AE_eqn.m +++ /dev/null @@ -1,68 +0,0 @@ -function structure = AE_eqn(name,bond_number,bonds,direction,cr,args, ... - structure,eqnfile); -% AE_eqn. Equation generation for effort amplifier. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.3 1996/08/30 19:03:10 peter -% %% Added argument check. -% %% Added extra name argument. -% %% -% %% Revision 1.2 1996/08/30 13:23:11 peter -% %% Added bond number check -% %% -% %% Revision 1.1 1996/08/22 13:12:34 peter -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -if nargin<6 - eqnfile = 'stdout'; -end; - -% Check that there are exactly two bonds. -if check_bonds(bonds,2,'AE')==0 - return -end - -% There are 2 ports; extract the information -e_1 = bonds(1,1); -f_1 = bonds(1,2); -e_2 = bonds(2,1); -f_2 = bonds(2,2); - - -% Flow on port 1 is always zero - fprintf(eqnfile, '%s := 0;\n', ... - varname(name,bond_number(1), -1)); - - -outcause = 1; -incause = 1; - -if e_2 == -1 % Unicausal: e_2 := e_1 - outbond = bond_number(2); - inbond = bond_number(1); - outport = 2; - inport = 1; -else % Bicausal: e_1 := e_2 - outbond = bond_number(1); - inbond = bond_number(2); - outport = 1; - inport = 2; -end - - -eqn = equation(name,cr,args,outbond,outcause,outport, ... - inbond,incause,inport); -fprintf(eqnfile, '%s',eqn); - - - - - - - DELETED mttroot/mtt/lib/comp/simple/AF_alias.m Index: mttroot/mtt/lib/comp/simple/AF_alias.m ================================================================== --- mttroot/mtt/lib/comp/simple/AF_alias.m +++ /dev/null @@ -1,15 +0,0 @@ -function alias = AF_alias # Port aliases for AF - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - - alias.in = '1'; - alias.out = '2'; - -endfunction - - DELETED mttroot/mtt/lib/comp/simple/AF_cause.m Index: mttroot/mtt/lib/comp/simple/AF_cause.m ================================================================== --- mttroot/mtt/lib/comp/simple/AF_cause.m +++ /dev/null @@ -1,74 +0,0 @@ -function [bonds,status] = AF_cause(bonds); -% AF_cause - Causality for Flow amplifier component -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %%%%% Model Transformation Tools %%%%% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% -% Matlab function AF_cause -% [bonds,status] = AF_cause(bonds) - -%SUMMARY AF: flow amplifier -%DESCRIPTION Port[1]: amplifier flow input f_1 (e_1=0) -%DESCRIPTION Port[2]: amplifier flow output f_2 - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1996/08/30 19:05:32 peter -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Copyright (c) P.J. Gawthrop, 1996. - -status = -1; - -% Check that there are exactly two bonds. -if check_bonds(bonds,2,'AF')==0 - return -end - -% There are 2 ports; extract the information -e_1 = bonds(1,1); -f_1 = bonds(1,2); -e_2 = bonds(2,1); -f_2 = bonds(2,2); - -% Port 1 must impose (zero) effort and port 2 have effort imposed -if (e_1==1)|(e_2==-1) % Conflict - status = 1; - else % Do the rest of the causality - - if e_1 == 0 % Set port 1 effort - e_1 = -1; - end; - - if e_2 == 0 % Set port 2 effort - e_2 = 1; - end; - - number_set = sum(sum([f_1 f_2]~=zeros(1,2) )); - if number_set==0 % Under causal - status = -1; - elseif number_set==1 % Set the causality - if f_1 == 0 - f_1 = -f_2; - else - f_2 = -f_1; - end - status = 0; - elseif number_set==2 % Check the causality - if f_1==-f_2 - status = 0; - else - status = 1; - end - end; -end; - - bonds = [e_1 f_1 - e_2 f_2]; DELETED mttroot/mtt/lib/comp/simple/AF_eqn.m Index: mttroot/mtt/lib/comp/simple/AF_eqn.m ================================================================== --- mttroot/mtt/lib/comp/simple/AF_eqn.m +++ /dev/null @@ -1,73 +0,0 @@ -function structure = AF_eqn(name,bond_number,bonds,direction,cr,args, ... - structure,eqnfile); -% AF_eqn - equations for flow amplifier -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %%%%% Model Transformation Tools %%%%% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% -% Matlab function AF_eqn -% structure = AF_eqn(bond_number,bonds,direction,cr,args, ... -% structure,eqnfile); - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.2 1996/09/11 13:35:14 peter -% %% New equation.m method used. -% %% -% %% Revision 1.1 1996/08/30 18:38:57 peter -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Copyright (c) P.J. Gawthrop, 1996. - -if nargin<6 - eqnfile = 'stdout'; -end; - -% Check that there are exactly two bonds. -if check_bonds(bonds,2,'AF')==0 - return -end - -% There are 2 ports; extract the information -e_1 = bonds(1,1); -f_1 = bonds(1,2); -e_2 = bonds(2,1); -f_2 = bonds(2,2); - -% Effort on port 1 is always zero - fprintf(eqnfile, '%s := 0;\n', ... - varname(name,bond_number(1), 1)); - -outcause = -1; -incause = -1; - -if f_2 == 1 % Unicausal: f_2 := f_1 - outbond = bond_number(2); - inbond = bond_number(1); - outport = 2; - inport = 1; -else % Bicausal: f_1 := f_2 - outbond = bond_number(1); - inbond = bond_number(2); - outport = 1; - inport = 2; -end - - -eqn = equation(name,cr,args,outbond,outcause,outport, ... - inbond,incause,inport); -fprintf(eqnfile, '%s',eqn); - - - - - - - DELETED mttroot/mtt/lib/comp/simple/C2_cause.m Index: mttroot/mtt/lib/comp/simple/C2_cause.m ================================================================== --- mttroot/mtt/lib/comp/simple/C2_cause.m +++ /dev/null @@ -1,35 +0,0 @@ -function [bonds,status] = C2_cause(bonds); -% C2_cause - Unicausal multiport C2 C2omponent -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %%%%% Model Transformation Tools %%%%% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% -% Matlab function C2_cause -% [bonds,status] = C2_cause(bonds) - -%SUMMARY C2: elementary C component with two ports -%DESCRIPTION Two port dynamic component -%DESCRIPTION Preferred integral causality (flow input) -%DESCRIPTION Cannot be bicausal - - - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - - -% Copyright (c) P.J. Gawthrop, 1996. - -% Unicausal multiport C component -% Same causal pattern as R component - -[bonds,status] = R_cause(bonds); - - DELETED mttroot/mtt/lib/comp/simple/C_alias.m Index: mttroot/mtt/lib/comp/simple/C_alias.m ================================================================== --- mttroot/mtt/lib/comp/simple/C_alias.m +++ /dev/null @@ -1,18 +0,0 @@ -function alias = C_alias # Port aliases for C - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.1 1998/07/02 14:49:14 peterg -## Initial revision -## -############################################################### - - alias.in = '1'; - alias.out = '2'; - -endfunction - - DELETED mttroot/mtt/lib/comp/simple/C_cause.m Index: mttroot/mtt/lib/comp/simple/C_cause.m ================================================================== --- mttroot/mtt/lib/comp/simple/C_cause.m +++ /dev/null @@ -1,69 +0,0 @@ -function [bonds,status] = C_cause(bonds); -% C_cause - Unicausal multiport C component -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %%%%% Model Transformation Tools %%%%% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% -% Matlab function C_cause -% [bonds,status] = C_cause(bonds) - -%SUMMARY C: elementary C component -%DESCRIPTION Single port dynamic component -%DESCRIPTION Preferred integral causality (flow input) -%DESCRIPTION Cannot be bicausal - - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1996/11/01 12:35:36 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Copyright (c) P.J. Gawthrop, 1996. - -% Unicausal multiport C component -% Same causal pattern as R component - -% [bonds,status] = R_cause(bonds); - -% Set causality to preferred if not already set. -% Find the number of ports -[ports,junk] = size(bonds); - -% default undercausal status -statuses = -ones(ports,1); - -% Force unicausality but DONT set if not already set -preferred = -1; -for i = 1:ports - if (bonds(i,1)~=0)&(bonds(i,2)~=0) % Both bonds set - statuses(i) = bonds(i,1)~=bonds(i,2); - elseif bonds(i,2)~=0 % Bond 1 set - bonds(i,1) = bonds(i,2); - statuses(i) = 0; - elseif bonds(i,1)~=0 % Bond 2 set - bonds(i,2) = bonds(i,1); - statuses(i) = 0; - else # Don't set -# bonds(i,1) = preferred; -# bonds(i,2) = preferred; -# statuses(i) = 0; - end; -end; - -if max(statuses)==1 - status = 1; -elseif min(statuses)==-1 - status = -1; -else - status = 0; -end; - - DELETED mttroot/mtt/lib/comp/simple/C_eqn.m Index: mttroot/mtt/lib/comp/simple/C_eqn.m ================================================================== --- mttroot/mtt/lib/comp/simple/C_eqn.m +++ /dev/null @@ -1,38 +0,0 @@ -function structure = C_eqn(name,bond_number,bonds,direction,cr,args, ... - structure,eqnfile); -% C_eqn - equation generation for C component -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %%%%% Model Transformation Tools %%%%% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% -% Matlab function C_eqn -% structure = C_eqn(name,bond_number,bonds,direction,cr,args, ... -% structure,eqnfile); - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Copyright (c) P.J. Gawthrop, 1996. - - -if nargin<8 - eqnfile = 'stdout'; -end; - -% Unicausal version -CorI = 1; -structure = cieqn(name,bond_number,bonds,direction,cr,args, structure, ... - CorI, eqnfile); - - - - - - - DELETED mttroot/mtt/lib/comp/simple/EBTF_alias.m Index: mttroot/mtt/lib/comp/simple/EBTF_alias.m ================================================================== --- mttroot/mtt/lib/comp/simple/EBTF_alias.m +++ /dev/null @@ -1,15 +0,0 @@ -function alias = EBTF_alias # Port aliases for EBTF - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - - alias.in = '1'; - alias.out = '2'; - -endfunction - - DELETED mttroot/mtt/lib/comp/simple/EBTF_cause.m Index: mttroot/mtt/lib/comp/simple/EBTF_cause.m ================================================================== --- mttroot/mtt/lib/comp/simple/EBTF_cause.m +++ /dev/null @@ -1,67 +0,0 @@ -function [bonds,status] = EBTF_cause(bonds); -% EBTF_cause - causality for a EBTF component -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %%%%% Model Transformation Tools %%%%% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% -% Matlab function EBTF_cause -% [bonds,status] = EBTF_cause(bonds) - -%SUMMARY EBTF: transformer component - bicausal on effort -%DESCRIPTION Energy conserving two-port -%DESCRIPTION e_1 f_1 = e_2 f_2 and e_1 and e_2 are both imposed. - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% % Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% % $Id$ -% % $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - - - -% Copyright (c) P.J. Gawthrop, 1998. - -% Check that there are exactly two bonds. -if check_bonds(bonds,2,'EBTF')==0 - return -end - -% Effort must be imposed by both bonds -if (bonds(1,1)==-1)|(bonds(2,1)==-1) % Overcausal - status = 1; - return -end; - -bonds(1,1) = 1; -bonds(2,1) = 1; - -% Flow bond must have through causality -if (bonds(1,2)==0)&(bonds(2,2)==0) % Undercausal - status = -1; - return -end; - -if (bonds(1,2)==bonds(2,2))&(bonds(1,2)!=0) % Overcausal - status = 1; - return -end; - -%Set flow causality -if (bonds(1,2)!=0) - bonds(2,2) = -bonds(1,2) -else - bonds(1,2) = -bonds(2,2) -end; - -status = 0; - - - - - - - DELETED mttroot/mtt/lib/comp/simple/EBTF_eqn.m Index: mttroot/mtt/lib/comp/simple/EBTF_eqn.m ================================================================== --- mttroot/mtt/lib/comp/simple/EBTF_eqn.m +++ /dev/null @@ -1,51 +0,0 @@ -function structure = EBTF_eqn(name,bond_number,bonds,direction,cr,args, ... - structure,eqnfile); - -if nargin<8 - eqnfile = 'stdout'; -end; - -% Check that there are exactly two bonds. -if check_bonds(bonds,2,'EBTF')==0 - return -end - -% There are 2 ports; extract the information -e_1 = bonds(1,1); -f_1 = bonds(1,2); -e_2 = bonds(2,1); -f_2 = bonds(2,2); - - -% Effort -- no equation - -% Flow -effort1_name = varname(name,bond_number(1), 1); -effort2_name = varname(name,bond_number(2), 1); -flow1_name = varname(name,bond_number(1), -1); -flow2_name = varname(name,bond_number(2), -1); - -if f_1==-1 %Write flow on port 2 - fprintf(eqnfile,'%s := (%s/%s)*%s;\n' , ... - flow2_name, ... - effort1_name, ... - effort2_name, ... - flow1_name); -else %Write flow on port 1 - fprintf(eqnfile,'%s := (%s/%s)*%s;\n' , ... - flow1_name, ... - effort2_name, ... - effort1_name, ... - flow2_name); -end; - - - - - - - - - - - DELETED mttroot/mtt/lib/comp/simple/EMTF_alias.m Index: mttroot/mtt/lib/comp/simple/EMTF_alias.m ================================================================== --- mttroot/mtt/lib/comp/simple/EMTF_alias.m +++ /dev/null @@ -1,16 +0,0 @@ -function alias = EMTF_alias # Port aliases for EMTF - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - - alias.in = '1'; - alias.out = '2'; - alias.mod = '3'; - -endfunction - - DELETED mttroot/mtt/lib/comp/simple/EMTF_cause.m Index: mttroot/mtt/lib/comp/simple/EMTF_cause.m ================================================================== --- mttroot/mtt/lib/comp/simple/EMTF_cause.m +++ /dev/null @@ -1,83 +0,0 @@ -function [bonds,status] = EMTF_cause(bonds); -% EMTF_cause - causality for a modulated TF component -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %%%%% Model Transformation Tools %%%%% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% -% Matlab function EMTF_cause -% [bonds,status] = EMTF_cause(bonds) -% Causality for effort-modulated EMTF -% At the moment, modulation can NOT be inverted. - -%SUMMARY EMTF: effort-modulated transformer -%DESCRIPTION Energy conserving three-port -%DESCRIPTION Ports [1] and [2] as for TF -%DESCRIPTION e_1 = f(f_2); f_1 = f(e_2) -%DESCRIPTION Effort on port[3] modulates the CR - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Copyright (c) P.J. Gawthrop, 1996. - -status = -1; - -% Check that there are exactly three bonds. -if check_bonds(bonds,3,'EMTF')==0 - return -end - -% Extract the bond information -TF_bonds = bonds(1:2,:); -e_3 = bonds(3,1); -f_3 = bonds(3,2); - -%Causality of EMTF is same as that of a TF on ports 1 and 2 -[TF_bonds,TF_status] = TF_cause(TF_bonds); - - -% Effort is the modulation - imposed on component. -if e_3==-1 % Conflict - mod_status_e = 1; -else % Do the rest of the causality - if e_3==0 % Set to the fixed causality - e_3 = 1; - end; - mod_status_e = 0; -end; - -% Zero flow imposed by component. -if f_3==-1 % Conflict - mod_status_f = 1; -else % Do the rest of the causality - if f_3==0 % Set to the fixed causality - f_3 = 1; - end; - mod_status_f = 0; -end; - -bonds = [TF_bonds - e_3 f_3]; - -if (TF_status == 0) & (mod_status_e == 0) & (mod_status_f == 0) - status = 0; -end; - -if (TF_status == 1) | (mod_status_e == 1) | (mod_status_f == 1) - status = 1; -end; - - - - - - - - DELETED mttroot/mtt/lib/comp/simple/EMTF_eqn.m Index: mttroot/mtt/lib/comp/simple/EMTF_eqn.m ================================================================== --- mttroot/mtt/lib/comp/simple/EMTF_eqn.m +++ /dev/null @@ -1,78 +0,0 @@ -function structure = EMTF_eqn(name,bond_number,bonds,direction,cr,args, ... - structure,eqnfile); - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - - -if nargin<8 - eqnfile = 'stdout'; -end; - -% Check that there are exactly two bonds. -if check_bonds(bonds,3,'EMTF')==0 - return -end - -% There are 3 ports; extract the information -e_1 = bonds(1,1); -f_1 = bonds(1,2); -e_2 = bonds(2,1); -f_2 = bonds(2,2); -e_3 = bonds(3,1); - - -% Effort -outcause = 1; -incause = [1;1]; -if e_1==1 - outbond = bond_number(2); - inbond = bond_number([1 3]); - outport = 2; - inport = [1;3]; -else - outbond = bond_number(1); - inbond = bond_number([2 3]); - outport = 1; - inport = [2;3]; -end; - -eqn = equation(name,cr,args,outbond,outcause,outport, ... - inbond,incause,inport); -fprintf(eqnfile, '%s',eqn); - -% Flow -outcause = -1; -incause = [-1;1]; -if f_1==-1 - outbond = bond_number(2); - inbond = bond_number([1 3]); - outport = 2; - inport = [1;3]; -else - outbond = bond_number(1); - inbond = bond_number([2 3]); - outport = 1; - inport = [2;3]; -end; - -eqn = equation(name,cr,args,outbond,outcause,outport, ... - inbond,incause,inport); -fprintf(eqnfile, '%s',eqn); - -% Modulation: flow on port 3 is always zero - fprintf(eqnfile, '%s := 0;\n', ... - varname(name,bond_number(3), -1)); - - - - - - - DELETED mttroot/mtt/lib/comp/simple/ES_alias.m Index: mttroot/mtt/lib/comp/simple/ES_alias.m ================================================================== --- mttroot/mtt/lib/comp/simple/ES_alias.m +++ /dev/null @@ -1,15 +0,0 @@ -function alias = ES_alias # Port aliases for ES - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - - alias.in = '1'; - alias.out = '2'; - -endfunction - - DELETED mttroot/mtt/lib/comp/simple/ES_cause.m Index: mttroot/mtt/lib/comp/simple/ES_cause.m ================================================================== --- mttroot/mtt/lib/comp/simple/ES_cause.m +++ /dev/null @@ -1,30 +0,0 @@ -function [bonds,status] = ES_cause(bonds); -% Causality for ES component - -%SUMMARY ES: converts thermal pseudobond to true bond and vv -%DESCRIPTION Port [e]: temperature (T) / enthalpy flow (E) bond -%DESCRIPTION Port [s]: temperature (T) / entropy flow (S) bond - - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Copyright (c) P.J. Gawthrop, 1997. - -status = -1; - -% Check that there are exactly two bonds. -if check_bonds(bonds,2,'ES')==0 - return -end - -% Same causality as TF -[bonds,status] = TF_cause(bonds); - - DELETED mttroot/mtt/lib/comp/simple/ES_eqn.m Index: mttroot/mtt/lib/comp/simple/ES_eqn.m ================================================================== --- mttroot/mtt/lib/comp/simple/ES_eqn.m +++ /dev/null @@ -1,72 +0,0 @@ -function structure = ES_eqn(name,bond_number,bonds,direction,cr,args, ... - structure,eqnfile); -% ES_eqn - equations for ES component -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %%%%% Model Transformation Tools %%%%% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% -% Matlab function ES_eqn -% ES_eqn(name,bond_number,bonds,direction,cr,args, ... -% structure,eqnfile); - - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.2 1998/02/25 16:59:56 peterg -% %% Corrected enthalpy-entropy conversion -- use temp on the entropy side. -% %% -% %% Revision 1.1 1998/02/25 15:03:51 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Copyright (c) P.J. Gawthrop, 1997. - - -if nargin<6 - eqnfile = 'stdout'; -end; - -% Check that there are exactly two bonds. -ports = 2; -if check_bonds(bonds,ports,'ES')==0 - return -end - - -% There are 2 ports; extract the information -e_bond = bonds(1,:); -s_bond = bonds(2,:); - -% The efforts are the same - but the enthalpy side has relative T -if e_bond(1)==1 %effort imposed on the enthalpy bond -% fprintf(eqnfile,'%s := %s + t_0;\n' , ... - fprintf(eqnfile,'%s := %s;\n' , ... - varname(name,bond_number(2), 1), ... - varname(name,bond_number(1), 1) ); -else %effort imposed on the entropy bond -% fprintf(eqnfile,'%s := %s - t_0;\n' , ... - fprintf(eqnfile,'%s := %s;\n' , ... - varname(name,bond_number(1), 1), ... - varname(name,bond_number(2), 1) ); -end; - -% The flows need to be converted - use the absolute temp on the -% entropy side -if e_bond(2)==-1 %flow imposed on the enthalpy bond - fprintf(eqnfile,'%s := %s/%s;\n' , ... - varname(name,bond_number(2), -1), ... - varname(name,bond_number(1), -1), ... - varname(name,bond_number(2), 1) ); -else % flow imposed on the entropy bond - fprintf(eqnfile,'%s := %s*%s;\n' , ... - varname(name,bond_number(1), -1), ... - varname(name,bond_number(2), -1), ... - varname(name,bond_number(2), 1) ); -end; DELETED mttroot/mtt/lib/comp/simple/FMR_alias.m Index: mttroot/mtt/lib/comp/simple/FMR_alias.m ================================================================== --- mttroot/mtt/lib/comp/simple/FMR_alias.m +++ /dev/null @@ -1,16 +0,0 @@ -function alias = FMR_alias # Port aliases for FMR - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - - alias.in = '1'; - alias.out = '2'; - alias.mod = '3'; - -endfunction - - DELETED mttroot/mtt/lib/comp/simple/FMR_cause.m Index: mttroot/mtt/lib/comp/simple/FMR_cause.m ================================================================== --- mttroot/mtt/lib/comp/simple/FMR_cause.m +++ /dev/null @@ -1,83 +0,0 @@ -function [bonds,status] = FMR_cause(bonds); - -% Causality for Flow-modulated R component - -%SUMMARY FMR: flow-modulated resistor -%DESCRIPTION Port[in]: a simple one port resistor -%DESCRIPTION Port[out]: flow provides modulation for the resistor -%DESCRIPTION Used with the lin CR, with parameters flow,r this gives -%DESCRIPTION a resistance r*f_m where f_m is the flow on port [out] -%DESCRIPTION Can be bicausal - deduces modulation from e and f on port[in] - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.3 1996/11/01 11:53:48 peterg -% %% Documentation -% %% -% %% Revision 1.2 1996/08/30 13:29:05 peter -% %% Error check on bond numbers. -% %% -% %% Revision 1.1 1996/08/09 08:28:02 peter -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -status = -1; - -% Check that there are exactly two bonds. -if check_bonds(bonds,2,'FMR')==0 - return -end - - -% There are 2 ports; extract the information -e_1 = bonds(1,1); -f_1 = bonds(1,2); -e_2 = bonds(2,1); -f_2 = bonds(2,2); - -% e_2 must be effort causality (imposes zero effort) - if e_2 == 1 % Conflict - status = 1; - else % Do the rest of the causality - if e_2==0 % Set to the fixed causality - e_2 = -1; - end; - - number_set = sum(sum([e_1 f_1 f_2]~=zeros(1,3) )); - if number_set<2 % Under causal - status = -1; - elseif number_set==2 % Set the causality - if f_2 == -1 % Unicausal - if e_1 == 0 - e_1 = f_1; - else - f_1 = e_1; - end; - elseif f_2 == 1 % Bicausal - e_1 = 1; - f_1 = -1; - elseif f_2 == 0 - if e_1==f_1 - f_2 = -1; % Unicausal - else - f_2 = 1; % Bicausal - end; - end; - status = 0; - elseif number_set==3 % Check the causality - if ( (f_2==-1)&(e_1~=f_1) )|( (f_2==1)&(e_1==f_1) ) - status = 1; - else - status = 0; - end; - end; - end; - - bonds = [e_1 f_1 - e_2 f_2]; - DELETED mttroot/mtt/lib/comp/simple/FMR_eqn.m Index: mttroot/mtt/lib/comp/simple/FMR_eqn.m ================================================================== --- mttroot/mtt/lib/comp/simple/FMR_eqn.m +++ /dev/null @@ -1,105 +0,0 @@ -function structure = FMR_eqn(name,bond_number,bonds,direction,cr,args, ... - structure,eqnfile); -% FMR_eqn - equations for flow-modulated resistor -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %%%%% Model Transformation Tools %%%%% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% -% Matlab function FMR_eqn -% FMR_eqn(name,bond_number,bonds,direction,cr,args, ... -% structure,eqnfile); - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.2 1996/08/30 18:35:43 peter -% %% New name argument added. -% %% -% %% Revision 1.1 1996/08/30 16:38:25 peter -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Copyright (c) P.J. Gawthrop, 1996. - - -if nargin<6 - eqnfile = 'stdout'; -end; - -% Check that there are exactly two bonds. -ports = 2; -if check_bonds(bonds,ports,'FMR')==0 - return -end - - -% There are 2 ports; extract the information -e_1 = bonds(1,1); -f_1 = bonds(1,2); -e_2 = bonds(2,1); -f_2 = bonds(2,2); - -if length(cr)==0 % Then do default unity CR - if f_2 == -1 % Standard with modulation - if f_1 == 1 % Flow out - op = '*'; - else % Effort out - op = '/'; - end; - - fprintf(eqnfile, '%s := %s%s%s;\n', ... - varname(name,bond_number(1), -e_1), ... - varname(name,bond_number(1), e_1), ... - op, ... - varname(name,bond_number(2), -1)); - else % Deduce modulation - - fprintf(eqnfile, '%s := %s/%s;\n', ... - varname(name,bond_number(2), -1), ... - varname(name,bond_number(1), -1), ... - varname(name,bond_number(1), 1)); - end; -else % write the full works - if f_2 == -1 % Standard with modulation - outport = 1; - outnumber = bond_number(1); - if f_1 == 1 % Flow out - outcause = -1; - else % Effort out - outcause = 1; - end; - incause = [-outcause; -1]; % Flow input on port 2 - eqn = equation(name,cr,args,outnumber,outcause,outport, ... - bond_number,incause,1:ports); - fprintf(eqnfile, '%s',eqn); - - else % Modulation is output - outport = 2; - outcause = -1; - outnumber = bond_number(2); - innumber = bond_number(1)*[1;1]; - incause = [1; -1]; % Effort and flow on port 1 - inports = [1; 1]; - eqn = equation(name,cr,args,outnumber,outcause,outport, ... - innumber,incause,inports); - fprintf(eqnfile, '%s',eqn); - end; -end; - - % Effort on port 2 is always zero - fprintf(eqnfile, '%s := 0;\n', ... - varname(name,bond_number(2), 1)); - - - - - - - - - DELETED mttroot/mtt/lib/comp/simple/FP_alias.m Index: mttroot/mtt/lib/comp/simple/FP_alias.m ================================================================== --- mttroot/mtt/lib/comp/simple/FP_alias.m +++ /dev/null @@ -1,24 +0,0 @@ -function alias = FP_alias # Port aliases for FP - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.2 1998/07/07 15:01:09 peterg -## Named ports correctely f --> 1, p --> 2 -## -## Revision 1.1 1998/07/02 14:46:42 peterg -## Initial revision -## -############################################################### - - alias.f = '1'; - alias.p = '2'; - - alias.s = '1'; - alias.e = '2'; - -endfunction - - DELETED mttroot/mtt/lib/comp/simple/FP_cause.m Index: mttroot/mtt/lib/comp/simple/FP_cause.m ================================================================== --- mttroot/mtt/lib/comp/simple/FP_cause.m +++ /dev/null @@ -1,40 +0,0 @@ -function [bonds,status] = FP_cause(bonds); -% Causality for FP component - -%SUMMARY FP: converts true bond to a pseudo bond with power flow as flow -%DESCRIPTION Port [f]: True bond with a flow covariable -%DESCRIPTION Port [p]: Pseudo bond with power (ef) as flow variable - - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.2 1998/06/29 09:56:24 peterg -% %% Changed name to FP from ES -% %% -% %% Revision 1.1 1998/06/29 09:56:02 peterg -% %% Initial revision -% %% -% %% Revision 1.1 1997/09/04 08:34:53 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Copyright (c) P.J. Gawthrop, 1997. - -status = -1; - -% Check that there are exactly two bonds. -if check_bonds(bonds,2,'FP')==0 - return -end - -% Same causality as TF -[bonds,status] = TF_cause(bonds); - - - DELETED mttroot/mtt/lib/comp/simple/FP_eqn.m Index: mttroot/mtt/lib/comp/simple/FP_eqn.m ================================================================== --- mttroot/mtt/lib/comp/simple/FP_eqn.m +++ /dev/null @@ -1,82 +0,0 @@ -function structure = FP_eqn(name,bond_number,bonds,direction,cr,args, ... - structure,eqnfile); -% FP_eqn - equations for FP component -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %%%%% Model Transformation Tools %%%%% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% -% Matlab function FP_eqn -% FP_eqn(name,bond_number,bonds,direction,cr,args, ... -% structure,eqnfile); - - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.3 1998/07/07 15:00:04 peterg -% %% Replaced e_ by f_ -% %% s_ by p_ -% %% -% %% Revision 1.2 1998/06/29 09:54:16 peterg -% %% Changed name from ES to FP -% %% -% %% Revision 1.1 1998/06/29 09:53:22 peterg -% %% Initial revision -% %% -% %% Revision 1.3 1998/03/27 10:59:43 peterg -% %% Zapped t_0 again ... -% %% -% %% Revision 1.2 1998/02/25 16:59:56 peterg -% %% Corrected enthalpy-entropy conversion -- use temp on the entropy side. -% %% -% %% Revision 1.1 1998/02/25 15:03:51 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Copyright (c) P.J. Gawthrop, 1997. - - -if nargin<6 - eqnfile = 'stdout'; -end; - -% Check that there are exactly two bonds. -ports = 2; -if check_bonds(bonds,ports,'FP')==0 - return -end - - -% There are 2 ports; extract the information -f_bond = bonds(1,:); -p_bond = bonds(2,:); - -% The efforts are the same -if p_bond(1)==1 %effort imposed on the pseudo bond - fprintf(eqnfile,'%s := %s;\n' , ... - varname(name,bond_number(1), 1), ... - varname(name,bond_number(2), 1) ); -else %effort imposed on the true bond - fprintf(eqnfile,'%s := %s;\n' , ... - varname(name,bond_number(2), 1), ... - varname(name,bond_number(1), 1) ); -end; - -% The flows need to be converted -if p_bond(2)==-1 %flow imposed on the pseudo bond - fprintf(eqnfile,'%s := %s/%s;\n' , ... - varname(name,bond_number(1), -1), ... - varname(name,bond_number(2), -1), ... - varname(name,bond_number(1), 1) ); -else % flow imposed on the true bond - fprintf(eqnfile,'%s := %s*%s;\n' , ... - varname(name,bond_number(2), -1), ... - varname(name,bond_number(1), -1), ... - varname(name,bond_number(2), 1) ); -end; DELETED mttroot/mtt/lib/comp/simple/GY_alias.m Index: mttroot/mtt/lib/comp/simple/GY_alias.m ================================================================== --- mttroot/mtt/lib/comp/simple/GY_alias.m +++ /dev/null @@ -1,15 +0,0 @@ -function alias = GY_alias # Port aliases for GY - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - - alias.in = '1'; - alias.out = '2'; - -endfunction - - DELETED mttroot/mtt/lib/comp/simple/GY_cause.m Index: mttroot/mtt/lib/comp/simple/GY_cause.m ================================================================== --- mttroot/mtt/lib/comp/simple/GY_cause.m +++ /dev/null @@ -1,36 +0,0 @@ -function [bonds,status] = GY_cause(bonds); -% GY_cause - causality for GY component -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %%%%% Model Transformation Tools %%%%% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% -% Matlab function GY_cause -% [bonds,status] = GY_cause(bonds); - -%SUMMARY GY: elementary gyrator component -%DESCRIPTION Energy conserving two-port -%DESCRIPTION e_1 = f(f_2); f_1 = f(e_2) - - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.2 1997/09/12 09:42:12 peterg -% %% Fixed causality bug. -% %% -% %% Revision 1.1 1996/11/01 12:04:25 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Copyright (c) P.J. Gawthrop, 1996. - -%Causality of GY is same as that of a TF but with flipped effort/flow -bonds(2,:) = - bonds(2,2:-1:1); -[bonds,status] = TF_cause(bonds); -bonds(2,:) = - bonds(2,2:-1:1); DELETED mttroot/mtt/lib/comp/simple/GY_eqn.m Index: mttroot/mtt/lib/comp/simple/GY_eqn.m ================================================================== --- mttroot/mtt/lib/comp/simple/GY_eqn.m +++ /dev/null @@ -1,77 +0,0 @@ -function structure = GY_eqn(name,bond_number,bonds,direction,cr,args, ... - structure,eqnfile); -% GY_eqn - equations for GY component -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %%%%% Model Transformation Tools %%%%% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% -% Matlab function GY_eqn -% structure = GY_eqn(bond_number,bonds,direction,cr,args, ... -% structure,eqnfile); - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Copyright (c) P.J. Gawthrop, 1996. - - -if nargin<8 - eqnfile = 'stdout'; -end; - - -% There are 2 ports; extract the information -e_1 = bonds(1,1); -f_1 = bonds(1,2); -e_2 = bonds(2,1); -f_2 = bonds(2,2); - - -% Effort - flow -if e_1==1 - outbond = bond_number(2); - inbond = bond_number(1); - outport = 2; - inport = 1; - outcause = -1; - incause = 1; -else - outbond = bond_number(1); - inbond = bond_number(2); - outport = 1; - inport = 2; - outcause = 1; - incause = -1; -end; - -eqn = equation(name,cr,args,outbond,outcause,outport, ... - inbond,incause,inport); -fprintf(eqnfile, '%s',eqn); - -% Flow-effort -if f_1==-1 - outbond = bond_number(2); - inbond = bond_number(1); - outport = 2; - inport = 1; - outcause = 1; - incause = -1; -else - outbond = bond_number(1); - inbond = bond_number(2); - outport = 1; - inport = 2; - outcause = -1; - incause = 1; -end; - -eqn = equation(name,cr,args,outbond,outcause,outport, ... - inbond,incause,inport); -fprintf(eqnfile, '%s',eqn); - DELETED mttroot/mtt/lib/comp/simple/I_alias.m Index: mttroot/mtt/lib/comp/simple/I_alias.m ================================================================== --- mttroot/mtt/lib/comp/simple/I_alias.m +++ /dev/null @@ -1,15 +0,0 @@ -function alias = I_alias # Port aliases for I - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - - alias.in = '1'; - alias.out = '1'; - -endfunction - - DELETED mttroot/mtt/lib/comp/simple/I_cause.m Index: mttroot/mtt/lib/comp/simple/I_cause.m ================================================================== --- mttroot/mtt/lib/comp/simple/I_cause.m +++ /dev/null @@ -1,30 +0,0 @@ -function [bonds,status] = I_cause(bonds); -% I_cause - Unicausal multiport C component -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %%%%% Model Transformation Tools %%%%% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% -% Matlab function I_cause -% [bonds,status] = I_cause(bonds) - -%SUMMARY I: elementary I component -%DESCRIPTION Single port dynamic component -%DESCRIPTION Preferred integral causality (effort input) -%DESCRIPTION Cannot be bicausal - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Copyright (c) P.J. Gawthrop, 1996. - -% Same causal pattern as R component -[bonds,status] = R_cause(bonds); - - DELETED mttroot/mtt/lib/comp/simple/I_eqn.m Index: mttroot/mtt/lib/comp/simple/I_eqn.m ================================================================== --- mttroot/mtt/lib/comp/simple/I_eqn.m +++ /dev/null @@ -1,32 +0,0 @@ -function structure = I_eqn(name,bond_number,bonds,direction,cr,args, ... - structure,eqnfile); -% I_eqn - equations for I component -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %%%%% Model Transformation Tools %%%%% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% -% Matlab function I_eqn -% structure = I_eqn(bond_number,bonds,direction,cr,args, ... -% structure,eqnfile); - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Copyright (c) P.J. Gawthrop, 1996. - - -if nargin<8 - eqnfile = 'stdout'; -end; - -% Unicausal version -CorI = -1; -structure = cieqn(name,bond_number,bonds,direction,cr,args, structure, ... - CorI, eqnfile); - DELETED mttroot/mtt/lib/comp/simple/PS_alias.m Index: mttroot/mtt/lib/comp/simple/PS_alias.m ================================================================== --- mttroot/mtt/lib/comp/simple/PS_alias.m +++ /dev/null @@ -1,16 +0,0 @@ -function alias = PS_alias # Port aliases for PS - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - - alias.in = '1'; - alias.out = '2'; - alias.power = '3'; - -endfunction - - DELETED mttroot/mtt/lib/comp/simple/PS_cause.m Index: mttroot/mtt/lib/comp/simple/PS_cause.m ================================================================== --- mttroot/mtt/lib/comp/simple/PS_cause.m +++ /dev/null @@ -1,62 +0,0 @@ -function [bonds,status] = PS_cause(bonds); -% Causality for PS component - -%SUMMARY PS: Power sensor -%DESCRIPTION Port[in]: Inflowing bond -%DESCRIPTION Port[out]: Outflowing bond e_2=e_1; f_2=f_1. -%DESCRIPTION Port[power]: f = power = e_1*f_1 = e_2*f_2 - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Copyright (c) P.J. Gawthrop, 1997. - -status = -1; - -% Check that there are exactly three bonds. -if check_bonds(bonds,3,'PS')==0 - return -end - -% Do the [in] and [out] ports -- like a TF -inout_bonds = bonds(1:2,:); -[inout_bonds,inout_status] = TF_cause(inout_bonds); - -% Do the power port -- must have flow out and effort in -power_bonds = bonds(3,:); -for i = 1:2 - if (power_bonds(i)==1) - power_status = 0; - elseif (power_bonds(i)==0) - power_bonds(i)==1; - power_status = 0; - else - power_status = 1; - end; -end; - - - - - - -% Reconstruct the bonds -bonds = [inout_bonds; power_bonds]; - -% Generate an overall status -if (inout_status==1)|(power_status==1) - status = 1; -elseif - (inout_status==-1)|(power_status==-1) - status=-1; -else - status = 0; -end; - - DELETED mttroot/mtt/lib/comp/simple/PS_eqn.m Index: mttroot/mtt/lib/comp/simple/PS_eqn.m ================================================================== --- mttroot/mtt/lib/comp/simple/PS_eqn.m +++ /dev/null @@ -1,56 +0,0 @@ -function structure = PS_eqn(name,bond_number,bonds,direction,cr,args, ... - structure,eqnfile); -% PS_eqn - equations for a power sensor -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %%%%% Model Transformation Tools %%%%% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% -% Matlab function PS_eqn -% PS_eqn(name,bond_number,bonds,direction,cr,args, ... -% structure,eqnfile); - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - - -% Copyright (c) P.J. Gawthrop, 1997. - - -if nargin<6 - eqnfile = 'stdout'; -end; - -% Check that there are exactly three bonds. -ports = 3; -if check_bonds(bonds,ports,'PS')==0 - return -end - - -% There are 3 ports; extract the information -inout_bonds = bonds(1:2,:); -power_bonds = bonds(3,:); - -inout_direction = direction(1:2,:); -power_direction = direction(3,:); - -% Do ports [in] and [out] - unit gain TF. -structure = TF_eqn(name,bond_number(1:2),inout_bonds,inout_direction, ... -'lin','effort,1', structure,eqnfile); - -% Do port [power] - the power bit. -% This computes f_2 = e_1*f_1 -fprintf(eqnfile,'%s := %s*%s;\n' , ... - varname(name,bond_number(3), -power_bonds(1)), ... - varname(name,bond_number(1), 1), ... - varname(name,bond_number(1), -1) ); - - - DELETED mttroot/mtt/lib/comp/simple/RST_alias.m Index: mttroot/mtt/lib/comp/simple/RST_alias.m ================================================================== --- mttroot/mtt/lib/comp/simple/RST_alias.m +++ /dev/null @@ -1,15 +0,0 @@ -function alias = RST_alias # Port aliases for RST - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - - alias.in = '1'; - alias.out = '2'; - -endfunction - - DELETED mttroot/mtt/lib/comp/simple/RST_cause.m Index: mttroot/mtt/lib/comp/simple/RST_cause.m ================================================================== --- mttroot/mtt/lib/comp/simple/RST_cause.m +++ /dev/null @@ -1,30 +0,0 @@ -function [bonds,status] = RST_cause(bonds); -% Causality for RST component - -%SUMMARY RST: thermal resistor with entropy generation -%DESCRIPTION Port[in]: a simple one port resistor but: -%DESCRIPTION flow is multiplied by e_out -%DESCRIPTION Port[out]: thermal power - effort is temperature, flow is entropy flow -%DESCRIPTION Not bicausal (yet) - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Copyright (c) P.J. Gawthrop, 1997. - -status = -1; - -% Check that there are exactly two bonds. -if check_bonds(bonds,2,'RST')==0 - return -end - -% Same causality as RS -[bonds,status] = RS_cause(bonds); - DELETED mttroot/mtt/lib/comp/simple/RST_eqn.m Index: mttroot/mtt/lib/comp/simple/RST_eqn.m ================================================================== --- mttroot/mtt/lib/comp/simple/RST_eqn.m +++ /dev/null @@ -1,76 +0,0 @@ -function structure = RT_eqn(name,bond_number,bonds,direction,cr,args, ... - structure,eqnfile); -% RT_eqn - equations for flow-modulated resistor -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %%%%% Model Transformation Tools %%%%% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% -% Matlab function RT_eqn -% RT_eqn(name,bond_number,bonds,direction,cr,args, ... -% structure,eqnfile); - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% VeRTion control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1997/09/03 09:30:45 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - - -% Copyright (c) P.J. Gawthrop, 1997. - - -if nargin<6 - eqnfile = 'stdout'; -end; - -% Check that there are exactly two bonds. -ports = 2; -if check_bonds(bonds,ports,'RT')==0 - return -end - - -% There are 2 ports; extract the information -in_bonds = bonds(1,:); -out_bonds = bonds(2,:); -in_direction = direction(1,:); -out_direction = direction(2,:); - -% Do port [in] - a standard resistor -- except for modulation by e_2 -structure = R_eqn(name,bond_number(1),in_bonds,in_direction,cr,args, ... - structure,eqnfile); - -% Resistance is multiplied by effort e_1 + e_2 (ie effort on upsteam side of -% the 1 junction) -if in_bonds(1) == 1 % Flow output - divide by e_1+e_2 - fprintf(eqnfile,'%s := %s/(%s+%s);\n' , ... - varname(name,bond_number(1), -1), ... - varname(name,bond_number(1), -1), ... - varname(name,bond_number(1), 1), ... - varname(name,bond_number(2), 1) ); -else - % Effort output - multiply by e_1+e_2 - fprintf(eqnfile,'%s := %s*(%s+%s);\n' , ... - varname(name,bond_number(1), 1), ... - varname(name,bond_number(1), 1), ... - varname(name,bond_number(1), 1), ... - varname(name,bond_number(2), 1) ); -end; - - -% Do port [out] - the thermal bit. RT is power conserving. -% This computes f_2 = e_1*f_1/e_2 or e_2 = e_1*f_1/f_2 -fprintf(eqnfile,'%s := %s*%s/%s;\n' , ... - varname(name,bond_number(2), -out_bonds(1)), ... - varname(name,bond_number(1), 1), ... - varname(name,bond_number(1), -1), ... - varname(name,bond_number(2), out_bonds(1)) ); - - DELETED mttroot/mtt/lib/comp/simple/RS_alias.m Index: mttroot/mtt/lib/comp/simple/RS_alias.m ================================================================== --- mttroot/mtt/lib/comp/simple/RS_alias.m +++ /dev/null @@ -1,15 +0,0 @@ -function alias = RS_alias # Port aliases for RS - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - - alias.in = '1'; - alias.out = '2'; - -endfunction - - DELETED mttroot/mtt/lib/comp/simple/RS_cause.m Index: mttroot/mtt/lib/comp/simple/RS_cause.m ================================================================== --- mttroot/mtt/lib/comp/simple/RS_cause.m +++ /dev/null @@ -1,48 +0,0 @@ -function [bonds,status] = RS_cause(bonds); -% Causality for RS component - -%SUMMARY RS: resistor with entropy generation -%DESCRIPTION Port[in]: a simple one port resistor -%DESCRIPTION Port[out]: thermal power - effort is temperature, flow is entropy flow -%DESCRIPTION Not bicausal (yet) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -% Copyright (c) P.J. Gawthrop, 1997. - -status = -1; - -% Check that there are exactly two bonds. -if check_bonds(bonds,2,'RS')==0 - return -end - -% There are 2 ports; extract the information -in_bonds = bonds(1,:); -out_bonds = bonds(2,:); - -% Port [in] is an ordinary resistor -[in_bonds,in_status] = R_cause(in_bonds); - -% Port [out] has the same causality pattern as an ordinary resistor -[out_bonds,out_status] = R_cause(out_bonds); - -% Reconstruct the bonds -bonds = [in_bonds; out_bonds]; - -% Generate an overall status -if (in_status==1)|(out_status==1) - status = 1; -elseif - (in_status==-1)|(out_status==-1) - status=-1; -else - status = 0; -end; - - DELETED mttroot/mtt/lib/comp/simple/RS_eqn.m Index: mttroot/mtt/lib/comp/simple/RS_eqn.m ================================================================== --- mttroot/mtt/lib/comp/simple/RS_eqn.m +++ /dev/null @@ -1,55 +0,0 @@ -function structure = RS_eqn(name,bond_number,bonds,direction,cr,args, ... - structure,eqnfile); -% RS_eqn - equations for flow-modulated resistor -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %%%%% Model Transformation Tools %%%%% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% -% Matlab function RS_eqn -% RS_eqn(name,bond_number,bonds,direction,cr,args, ... -% structure,eqnfile); - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - - -% Copyright (c) P.J. Gawthrop, 1997. - - -if nargin<6 - eqnfile = 'stdout'; -end; - -% Check that there are exactly two bonds. -ports = 2; -if check_bonds(bonds,ports,'RS')==0 - return -end - - -% There are 2 ports; extract the information -in_bonds = bonds(1,:); -out_bonds = bonds(2,:); -in_direction = direction(1,:); -out_direction = direction(2,:); - -% Do port [in] - a standard resistor -structure = R_eqn(name,bond_number(1),in_bonds,in_direction,cr,args, ... - structure,eqnfile); - -% Do port [out] - the thermal bit. RS is power conserving. -% This computes f_2 = e_1*f_1/e_2 or e_2 = e_1*f_1/f_2 -fprintf(eqnfile,'%s := %s*%s/%s;\n' , ... - varname(name,bond_number(2), -out_bonds(1)), ... - varname(name,bond_number(1), 1), ... - varname(name,bond_number(1), -1), ... - varname(name,bond_number(2), out_bonds(1)) ); - - DELETED mttroot/mtt/lib/comp/simple/R_alias.m Index: mttroot/mtt/lib/comp/simple/R_alias.m ================================================================== --- mttroot/mtt/lib/comp/simple/R_alias.m +++ /dev/null @@ -1,15 +0,0 @@ -function alias = R_alias # Port aliases for R - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - - alias.in = '1'; - alias.out = '1'; - -endfunction - - DELETED mttroot/mtt/lib/comp/simple/R_cause.m Index: mttroot/mtt/lib/comp/simple/R_cause.m ================================================================== --- mttroot/mtt/lib/comp/simple/R_cause.m +++ /dev/null @@ -1,56 +0,0 @@ -function [bonds,status] = R_cause(bonds); -% R_cause - Causality function for a (multi-port) unicausal R component -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %%%%% Model Transformation Tools %%%%% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% -% Matlab function R_cause -% [bonds,status] = R_cause(bonds) - -%SUMMARY R: R component -%DESCRIPTION Multiport component with no dynamics -%DESCRIPTION Cannot be bicausal - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1996/08/30 19:05:08 peter -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Copyright (c) P.J. Gawthrop, 1996. - - -% Find the number of ports -[ports,junk] = size(bonds); - -% default undercausal status -statuses = -ones(ports,1); - -% Force unicausality -for i = 1:ports - if (bonds(i,1)~=0)&(bonds(i,2)~=0) % Both bonds set - statuses(i) = bonds(i,1)~=bonds(i,2); - elseif bonds(i,2)~=0 % Bond 1 set - bonds(i,1) = bonds(i,2); - statuses(i) = 0; - elseif bonds(i,1)~=0 % Bond 2 set - bonds(i,2) = bonds(i,1); - statuses(i) = 0; - end; -end; - -if max(statuses)==1 - status = 1; -elseif min(statuses)==-1 - status = -1; -else - status = 0; -end; - - DELETED mttroot/mtt/lib/comp/simple/R_eqn.m Index: mttroot/mtt/lib/comp/simple/R_eqn.m ================================================================== --- mttroot/mtt/lib/comp/simple/R_eqn.m +++ /dev/null @@ -1,60 +0,0 @@ -function structure = R_eqn(name,bond_number,bonds,direction,cr,args, ... - structure,eqnfile); -% R_eqn - Equation function for a (multi-port) unicausal R component -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %%%%% Model Transformation Tools %%%%% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% -% Matlab function R_eqn -% structure = R_eqn(name,bond_number,bonds,direction,cr,args, ... -% structure,eqnfile) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.3 1996/09/12 16:40:45 peter -% %% Now does a default (when no constitutive relationship) with a unit -% %% constitutive relationship on each port. -% %% -% %% Revision 1.2 1996/09/12 13:12:04 peter -% %% Removed an fprintf that was a mistake. -% %% -% %% Revision 1.1 1996/09/12 11:00:56 peter -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Copyright (c) P.J. Gawthrop, 1996. - -if nargin<8 - eqnfile = 'stdout'; -end; - - -% Find the number of ports -[ports,junk] = size(bonds); - - -for outport = 1:ports - outcause = -bonds(outport,1); - outnumber = bond_number(outport); - if length(cr)>0 - incause = bonds(:,1); - inport = 1:ports; - inbond = bond_number; - else % default if no cr: unit cr on each port - incause = bonds(outport,1); - inport = outport; - inbond = outnumber; - end; - - eqn = equation(name,cr,args,outnumber,outcause,outport, ... - inbond,incause,inport); - fprintf(eqnfile, '%s',eqn); -end; - - DELETED mttroot/mtt/lib/comp/simple/SS_alias.m Index: mttroot/mtt/lib/comp/simple/SS_alias.m ================================================================== --- mttroot/mtt/lib/comp/simple/SS_alias.m +++ /dev/null @@ -1,28 +0,0 @@ -function alias = SS_alias # Port aliases for SS - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.2 1998/07/28 19:08:22 peterg -## Some vector aliases added. -## -## Revision 1.1 1998/07/02 14:37:42 peterg -## Initial revision -## -############################################################### - - alias.in = "1"; - alias.out = "1"; - - MAX = 10; - value = "1"; - for i=1:MAX - eval(sprintf("alias.in%i = \"%s\";", i, value)); - eval(sprintf("alias.out%i = \"%s\";", i, value)); - value = sprintf("%s,%i",value,i+1); - endfor; -endfunction - - DELETED mttroot/mtt/lib/comp/simple/SS_cause.m Index: mttroot/mtt/lib/comp/simple/SS_cause.m ================================================================== --- mttroot/mtt/lib/comp/simple/SS_cause.m +++ /dev/null @@ -1,55 +0,0 @@ -function [bonds,status] = SS_cause(bonds) -% SS_cause = causality for an SS component -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %%%%% Model Transformation Tools %%%%% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% -% Matlab function SS_cause -% [bonds,status] = SS_cause(bonds) - -%SUMMARY SS: source-sensor component -%DESCRIPTION multi-port source sensor component -%DESCRIPTION when the name is [name], acts as port `name' of a system. -%DESCRIPTION may be bicausal - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.2 1996/11/01 14:41:14 peterg -% %% Check correct bonds -% %% -% %% Revision 1.1 1996/11/01 12:18:38 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Copyright (c) P.J. Gawthrop, 1996. - -## Check that there is exactly one bonds. -##if check_bonds(bonds,1,'SS')==0 -## return -##end - -disp("Starting SS_cause"); - -[n_bonds,junk] = size(bonds); -Status=zeros(n_bonds,1); -for i=1:n_bonds - if (bonds(i,1)==0)|(bonds(i,2)==0) % Under causal - Status(i) = -1; - else % causal - Status(i) = 0; - end; -end; -status=min(Status); - - - - - - - DELETED mttroot/mtt/lib/comp/simple/SS_eqn.m Index: mttroot/mtt/lib/comp/simple/SS_eqn.m ================================================================== --- mttroot/mtt/lib/comp/simple/SS_eqn.m +++ /dev/null @@ -1,255 +0,0 @@ -function structure = SS_eqn(name,Bond_number,Bonds,Direction,cr,args, ... - structure,filenum); - -disp("SS_eqn"); -name,Bond_number,Bonds,Direction - -% Set up globals to count the component inputs and outputs. This relies on -% the named SS (the ports) being in the correct order. Using globals here -% avoids changing the common argument list for all _eqn files for something -% which is only used for named SS components. -global local_u_index -global local_y_index -global at_top_level - -% SS_eqn - equations for SS component -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %%%%% Model Transformation Tools %%%%% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% -% Matlab function SS_eqn -% structure = SS_eqn(name,bond_number,bonds,direction,cr,args, ... -% structure,filenum); - - -% Copyright (c) P.J. Gawthrop, 1996. - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.23 1998/12/03 16:46:16 peterg -% %% Deblanked attributes so that zero attribute works. -% %% -% %% Revision 1.22 1998/07/28 19:05:46 peterg -% %% Fixed a few bugs. -% %% -% %% Revision 1.21 1998/07/28 14:21:31 peterg -% %% Vector SS ports. -% %% -% %% Revision 1.20 1998/07/08 14:42:52 peterg -% %% Removed the annoying info message - it causes problems with big -% %% systems -% %% -% %% Revision 1.19 1998/07/08 11:33:54 peterg -% %% Replace mtt_info by mtt_error when appropriate -% %% -% %% Revision 1.18 1998/07/08 11:30:45 peterg -% %% Removed second (fileID) argument from mtt_info -% %% -% %% Revision 1.17 1998/07/04 07:15:44 peterg -% %% Back under RCS -% %% -% %% Revision 1.16 1998/04/11 19:07:16 peterg -% %% Now do named ports as ordinary ports iff at top level. -% %% --- not yet complete, need to pass necesssary info though to this -% %% function -% %% -% %% Revision 1.15 1997/12/16 19:16:07 peterg -% %% Added unknown input to the effort part. -% %% -% %% Revision 1.14 1997/12/16 18:25:19 peterg -% %% Added unknown_input attribure to flow -- effort still needs doing -% %% -% %% Revision 1.13 1997/09/18 13:15:15 peterg -% %% Fixed incorrect error message flagging inappropriate flow outputs -% %% -- used to give the effort rather than the flow in the error message. -% %% -% %% Revision 1.12 1997/08/26 07:51:30 peterg -% %% Now counts the local input and outputs by order of appearence rather -% %% than by port number - it therfore handles ports with bicausality correctely. -% %% -% %% Revision 1.11 1997/05/09 08:21:07 peterg -% %% Explicit computation of port number -- avoids str2num -% %% -% %% Revision 1.10 1997/03/22 17:13:03 peterg -% %% Fixed bug for port nos. > 1 digit! -% %% -% %% Revision 1.9 1997/03/22 15:50:59 peterg -% %% Changed %1.0f to %d format. -% %% -% %% Revision 1.8 1996/12/10 16:52:29 peterg -% %% Detect null string using strcmp, not length. -% %% Put filnum argument to mtt_info. -% %% -% %% Revision 1.7 1996/12/07 17:17:40 peterg -% %% Added some ; -% %% -% %% Revision 1.6 1996/12/05 09:49:09 peterg -% %% Explicit computation of port number from string. -% %% -% %% Revision 1.5 1996/12/04 21:27:53 peterg -% %% Replaced str2num by sprintf -% %% -% %% Revision 1.4 1996/08/18 20:06:21 peter -% %% Included zero outputs. -% %% -% %% Revision 1.3 1996/08/09 14:08:04 peter -% %% Empty effort and flow attributes replaced by 'external'. -% %% -% %% Revision 1.2 1996/08/08 16:38:19 peter -% %% Changed to filenumer type of fprintf -% %% -% %% Revision 1.1 1996/08/08 16:19:08 peter -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% The string 'cr' contains the effort attributes; -% 'arg' contains the flow attributes. -% external indicates an external variable -% internal indicates an internal variable -% anything else is the name of a constant. -% Blank is taken to be external -% If its a numbered port: -% cr contains 'MTT_port' -% arg contains port number - -if (strcmp(cr,"SS")) # Then its the standard file - a = split(args,",") - [N,M]=size(a); - if (N~=2) # Must have 2 arguments - mtt_error(sprintf("SS should have 2 args not %i", N)); - end; - - effort_attribute = deblank(a(1,:)); - flow_attribute = deblank(a(2,:)); - -else # Old style file - effort_attribute = cr; - flow_attribute = args; - # mtt_info(sprintf("SS component: Hmm... looks like an old-style label file")); -end; - -% Default attributes -if strcmp(effort_attribute,'') - effort_attribute = 'external'; -end; - -if strcmp(flow_attribute,'') - flow_attribute = 'external'; -end; - -inputs = structure(3); -outputs = structure(4); -zero_outputs = structure(5); -unknown_inputs = structure(6); - -n_bonds = length(Bond_number) # Multi port? -for i=1:n_bonds # Loop over all the bonds - bond_number = Bond_number(i); - bonds = Bonds(i,:); - direction = Direction(i,:); - - Named_Port = name(1)=="["; - if Named_Port - sname = name(2:length(name)); #Strip the [] - else - sname = name; - end; - - if Named_Port&&~at_top_level % It's a named port - % Effort - if bonds(1,1)==-1 % Source - local_u_index = local_u_index + 1 - fprintf(filenum, "%s := %s_MTTu%d;\n", ... - varname(sname, bond_number,1), sname, local_u_index); - else % Sensor - local_y_index = local_y_index + 1 - fprintf(filenum, "%s_MTTy%d := %s;\n", ... - sname, local_y_index, varname(sname, bond_number,1)); - end; - % Flow - if bonds(1,2)==1 % Source - local_u_index = local_u_index + 1 - fprintf(filenum, "%s := %s_MTTu%d;\n", ... - varname(sname, bond_number,-1), sname, local_u_index); - else % Sensor - local_y_index = local_y_index + 1 - fprintf(filenum, "%s_MTTy%d := %s;\n", ... - sname, local_y_index, varname(sname, bond_number,-1)); - end; - else # Now do SS which are not ports - % Effort - if strcmp(effort_attribute, "external") - if bonds(1,1)==-1 % Source - inputs = inputs+1; - fprintf(filenum, "%s := MTTu(%d,1);\n", ... - varname(sname, bond_number,1),inputs); - else % Sensor - outputs = outputs+1; - fprintf(filenum, "MTTy(%d,1) := %s;\n", ... - outputs, varname(sname, bond_number,1)); - end; - elseif strcmp(effort_attribute, "unknown") % Unknown input - unknown_inputs = unknown_inputs + 1; - fprintf(filenum, "%s := MTTUi%d;\n", ... - varname(sname, bond_number,1), unknown_inputs); - elseif strcmp(effort_attribute, "internal") - % Do nothing - else - if bonds(1,1)==-1 % Named or unknown source - fprintf(filenum, "%s := %s;\n", ... - varname(sname, bond_number,1), effort_attribute); - else % Sensor - if strcmp(effort_attribute, "zero") %Zero output - zero_outputs = zero_outputs + 1; - fprintf(filenum, "MTTyz%d := %s;\n", ... - zero_outputs, varname(sname, bond_number,1)); - else - mtt_error([effort_attribute, " not appropriate for an output "]); - end; - end; - end; - - % Flow - if strcmp(flow_attribute, "external") - if bonds(1,2)==1 % Source - inputs = inputs+1 - fprintf(filenum, "%s := MTTu(%d,1);\n", varname(sname, bond_number,-1),inputs); - else % Sensor - outputs = outputs+1 - fprintf(filenum, "MTTy(%d,1) := %s;\n", outputs, ... - varname(sname, bond_number,-1)); - end; - elseif strcmp(flow_attribute, "unknown") % Unknown input - unknown_inputs = unknown_inputs + 1 - fprintf(filenum, "%s := MTTUi%d;\n", ... - varname(sname, bond_number,-1), unknown_inputs); - elseif strcmp(flow_attribute, "internal") - % Do nothing - else % Named constant - if bonds(1,2)==1 % Source - fprintf(filenum, "%s := %s;\n", ... - varname(sname, bond_number,-1), flow_attribute); - else % Sensor - if strcmp(flow_attribute, "zero") %Zero output - zero_outputs = zero_outputs + 1 - fprintf(filenum, "MTTyz%d := %s;\n", ... - zero_outputs, varname(sname, bond_number,-1)); - else - mtt_error([flow_attribute, " not appropriate for an output "]); - end; - end; - end; - end; - structure(3) = inputs; - structure(4) = outputs; - structure(5) = zero_outputs; - structure(6) = unknown_inputs; - -end; DELETED mttroot/mtt/lib/comp/simple/TF_alias.m Index: mttroot/mtt/lib/comp/simple/TF_alias.m ================================================================== --- mttroot/mtt/lib/comp/simple/TF_alias.m +++ /dev/null @@ -1,15 +0,0 @@ -function alias = TF_alias # Port aliases for TF - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - - alias.in = '1'; - alias.out = '2'; - -endfunction - - DELETED mttroot/mtt/lib/comp/simple/TF_cause.m Index: mttroot/mtt/lib/comp/simple/TF_cause.m ================================================================== --- mttroot/mtt/lib/comp/simple/TF_cause.m +++ /dev/null @@ -1,36 +0,0 @@ -function [bonds,status] = TF_cause(bonds); -% TF_cause - causality for a TF component -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %%%%% Model Transformation Tools %%%%% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% -% Matlab function TF_cause -% [bonds,status] = TF_cause(bonds) - -%SUMMARY TF: elementary transformer component -%DESCRIPTION Energy conserving two-port -%DESCRIPTION e_1 = f(e_2); f_1 = f(f_2) - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1996/11/01 12:05:54 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Copyright (c) P.J. Gawthrop, 1996. - -% Check that there are exactly two bonds. -if check_bonds(bonds,2,'TF')==0 - return -end - - -%Causality of TF is same as that of a junction -[bonds,status] = zero_cause(bonds); DELETED mttroot/mtt/lib/comp/simple/TF_eqn.m Index: mttroot/mtt/lib/comp/simple/TF_eqn.m ================================================================== --- mttroot/mtt/lib/comp/simple/TF_eqn.m +++ /dev/null @@ -1,75 +0,0 @@ -function structure = TF_eqn(name,bond_number,bonds,direction,cr,args, ... - structure,eqnfile); - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1996/08/19 09:05:04 peter -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -if nargin<8 - eqnfile = 'stdout'; -end; - -% Check that there are exactly two bonds. -if check_bonds(bonds,2,'TF')==0 - return -end - -% There are 2 ports; extract the information -e_1 = bonds(1,1); -f_1 = bonds(1,2); -e_2 = bonds(2,1); -f_2 = bonds(2,2); - - -% Effort -outcause = 1; -incause = 1; -if e_1==1 - outbond = bond_number(2); - inbond = bond_number(1); - outport = 2; - inport = 1; -else - outbond = bond_number(1); - inbond = bond_number(2); - outport = 1; - inport = 2; -end; - -eqn = equation(name,cr,args,outbond,outcause,outport, ... - inbond,incause,inport); -fprintf(eqnfile, '%s',eqn); - -% Flow -outcause = -1; -incause = -1; -if f_1==-1 - outbond = bond_number(2); - inbond = bond_number(1); - outport = 2; - inport = 1; -else - outbond = bond_number(1); - inbond = bond_number(2); - outport = 1; - inport = 2; -end; - -eqn = equation(name,cr,args,outbond,outcause,outport, ... - inbond,incause,inport); -fprintf(eqnfile, '%s',eqn); - - - - - - - - DELETED mttroot/mtt/lib/comp/simple/check_bonds.m Index: mttroot/mtt/lib/comp/simple/check_bonds.m ================================================================== --- mttroot/mtt/lib/comp/simple/check_bonds.m +++ /dev/null @@ -1,28 +0,0 @@ -function ok = check_bonds(bonds,n,component); -% check_bonds - check to see correct number (n) of bonds. -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %%%%% Model Transformation Tools %%%%% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% -% Matlab function check_bonds -% err = check_bonds(bonds,n); - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Copyright (c) P.J. Gawthrop, 1996. -% Check that there are exactly two bonds. -[n_bonds,cols] = size(bonds); -if n_bonds~=n - mtt_info(sprintf('MTT error: %s must have %1.0f (not %1.0f) bonds', ... - component, n, n_bonds)); - ok=0; -else - ok=1; -end DELETED mttroot/mtt/lib/comp/simple/cicause.m Index: mttroot/mtt/lib/comp/simple/cicause.m ================================================================== --- mttroot/mtt/lib/comp/simple/cicause.m +++ /dev/null @@ -1,46 +0,0 @@ -function [bonds,status] = cicause(bonds,default); -% cicause - Sets causality for C & I components -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %%%%% Model Transformation Tools %%%%% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% -% Matlab function cicause -% [bonds,status] = cicause(bonds,default) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Copyright (c) P.J. Gawthrop, 1996. - - - -if (norm(bonds)>1) - if (bonds(1)==-bonds(2)) % Over causal - status = 1; - else % Causal - status = 0; - end; -elseif norm(bonds)==0 % Acausal - % bonds = default*[1 1]; %Set integral causality - % status = 0; - status = -1; -else % Set causality - % Effort - if bonds(1)==0 - status = 0; - bonds(1) = bonds(2); - end; - - % Flow - if bonds(2)==0 - status = 0; - bonds(2) = bonds(1); - end; - -end; DELETED mttroot/mtt/lib/comp/simple/cieqn.m Index: mttroot/mtt/lib/comp/simple/cieqn.m ================================================================== --- mttroot/mtt/lib/comp/simple/cieqn.m +++ /dev/null @@ -1,100 +0,0 @@ -function structure = cieqn(name, bond_number,bonds,direction,cr,args, ... - structure,CorI,eqnfile); -% cieqn - Equation function for a (multi-port) unicausal C or I component -% CorI = 1 for C, -1 for I; 0 for ISW - -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %%%%% Model Transformation Tools %%%%% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% -% Matlab function cieqn - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.2 1997/12/04 13:48:00 peterg -% %% Added sign info to take account of direction of bonds. -% %% -% %% Revision 1.1 1997/04/09 10:18:26 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Copyright (c) P.J. Gawthrop, 1996. - -if nargin<8 - eqnfile = 'stdout'; -end; - -CorIorISW = CorI; -if CorIorISW==0 % ISW - CorI = -1; -end; - -% Find the number of ports -[ports,junk] = size(bonds); - -% Right-hand side causality -RHS_cause = (bonds(:,1)==CorI*ones(ports,1))*CorI -state_cause = zeros(ports,1); % State causality - -for outport = 1:ports - -# % Sort out direction -# if direction(outport,1) == 1 -# sign = '+'; -# else -# sign = '-'; -# end; - - sign = '+'; - LHS_number = bond_number(outport); - if bonds(outport,1) == -CorI % Integral causality on this port - state = structure(1)+1; - LHS_cause = CorI; - - % Print equation of form x_i = MTTx(i) - fprintf(eqnfile, '%s := MTTx(%1.0f,1);\n', ... - varname(name,LHS_number, state_cause), state); - - % Print equation of form xdot = input - with sign - fprintf(eqnfile, 'MTTdX(%1.0f,1) := %s%s;\n', state, sign, ... - varname(name,LHS_number,-LHS_cause)); - % Print equation of form output = CR (state) - eqn = equation(name,cr,args,LHS_number,LHS_cause,outport, ... - bond_number,state_cause,1:ports); - fprintf(eqnfile, '%s',eqn); - structure(1) = state; - else % Derivative causality - nonstate = structure(2)+1; - LHS_cause = -CorI; - - % Print equation of form zdot = MTTdz(i) -- with sign - fprintf(eqnfile, '%s := %sMTTdz(%1.0f,1);\n', ... - varname(name,LHS_number,LHS_cause), sign, ... - nonstate); - % Print equation of form MTTz(i) = z_i - fprintf(eqnfile, 'MTTz(%1.0f,1) := %s;\n', nonstate, ... - varname(name,LHS_number, state_cause)); - - % Print equation of form z_i = CR(input) - eqn = equation(name,cr,args,LHS_number,state_cause, outport, ... - bond_number,RHS_cause,1:ports); - fprintf(eqnfile, '%s',eqn); - structure(2) = nonstate; - end; -end; - - - - - - - - - DELETED mttroot/mtt/lib/comp/simple/comp_ports.m Index: mttroot/mtt/lib/comp/simple/comp_ports.m ================================================================== --- mttroot/mtt/lib/comp/simple/comp_ports.m +++ /dev/null @@ -1,81 +0,0 @@ -function ports = comp_ports(comp_type,N) -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %%%%% Model Transformation Tools %%%%% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% -% Matlab function comp_ports -% ports = comp_ports(comp_type) -% Returns the port list for simple components - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.8 1998/06/29 12:16:05 peterg -% %% Whoops - FP bonds are p and f (in that order) -% %% -% %% Revision 1.7 1998/06/29 12:13:36 peterg -% %% Changed FP ports to f and p -% %% -% %% Revision 1.6 1998/06/29 09:55:17 peterg -% %% Changed name to FP from ES -% %% -% %% Revision 1.5 1998/04/12 15:01:53 peterg -% %% Converted to uniform port notation - always use [] -% %% -% %% Revision 1.4 1998/03/31 08:39:31 peterg -% %% Added EBTF -% %% -% %% Revision 1.3 1997/11/21 11:32:57 peterg -% %% N ports numbered 1..N -% %% -% %% Revision 1.2 1997/08/28 08:08:24 peterg -% %% Added RS component to the two-port list -% %% -% %% Revision 1.1 1997/08/02 19:35:47 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -junctions = '-zero-one-'; -one_ports = '-SS-'; -two_ports = '-TF-GY-AE-AF-FMR-RS-EBTF-'; -N_ports = '-R-C-I-'; -comp_type = ['-', comp_type, '-']; - -#if length(findstr(comp_type,junctions))==1 -# ports = ['[undefined]']; -#elseif length(findstr(comp_type,one_ports))==1 -# ports = ['[in]']; -#elseif length(findstr(comp_type,two_ports))==1 -# ports = ['[in]';'[out]']; -#elseif length(findstr(comp_type,'[-EMTF-]'))==1 -# ports = ['[in]';'[out]';'[mod]']; -#elseif length(findstr(comp_type,'[-FP-]'))==1 -# ports = ['[p]';'[f]']; -#elseif length(findstr(comp_type,'[-PS-]'))==1 -# ports = ['[in]';'[out]';'[power]']; -#elseif length(findstr(comp_type,N_ports))==1 -# if N==1 -# ports = ['[in]']; -# elseif N==2 -# ports = ['[in]';'[out]']; -# elseif N>2 -# ports = '[1]'; -# for i=2:N -# ports = [ports; sprintf("[%i]",i)]; -# end; -# end; -#end; - -# All the above is now done in the alias files - ports = '[1]'; - for i=2:N - ports = [ports; sprintf("[%i]",i)]; - end; - -endfunction DELETED mttroot/mtt/lib/comp/simple/juncause.m Index: mttroot/mtt/lib/comp/simple/juncause.m ================================================================== --- mttroot/mtt/lib/comp/simple/juncause.m +++ /dev/null @@ -1,40 +0,0 @@ -function [bonds,status] = juncause(bonds,jun,cause) -% [bonds,status] = juncause(bonds,jun,cause) - -% Causality for either effort or flow on either zero or one junctions - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1996/08/09 08:29:04 peter -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -j = (3-cause)/2; % j is 1 for effort, 2 for flow - -[n_bonds,junk] = size(bonds); -[causing_bond, n,other_bonds,m] = getindex(bonds(:,j),jun); -if n>1 % over causal - status = 1; -elseif n==1 %causal - status = 0; - bonds(other_bonds(:,1),j) = -jun*ones(m,1); -elseif n==0 % undercausal - try other way - [causing_bond, n,other_bonds,m] = getindex(bonds(:,j),-jun); - if n==n_bonds % over causal - status = 1; - elseif n==n_bonds-1 %causal - status = 0; - bonds(other_bonds(:,1),j) = jun*ones(m,1); - else % undercausal - status = -1; - end; -end; - - - - DELETED mttroot/mtt/lib/comp/simple/juneqn.m Index: mttroot/mtt/lib/comp/simple/juneqn.m ================================================================== --- mttroot/mtt/lib/comp/simple/juneqn.m +++ /dev/null @@ -1,52 +0,0 @@ -function juneqn(name,bond_number,bonds,direction,cr,args,jun,filenumber) -% juneqn - Equations for both effort and flow on either -% zero or one junctions -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %%%%% Model Transformation Tools %%%%% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% -% Matlab function juneqn -% juneqn(name,bond_number,bonds,direction,cr,args,jun,filenumber) - -% Copyright (c) P.J. Gawthrop, 1996. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.3 1996/12/05 10:02:45 peterg -% %% Explicit generation of strong-causality equations -- oneequation not -% %% used now. -% %% -% %% Revision 1.2 1996/08/08 18:09:10 peter -% %% Changed to finenumber format. -% %% -% %% Revision 1.1 1996/08/08 16:38:50 peter -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Same causality as junction -column = (3-jun)/2; -[causing_bond,n,other_bonds,m] = getindex(bonds(:,column),jun) -for i=other_bonds' - fprintf(filenumber, '%s \t:=\t%s;\n', ... - varname(name, bond_number(i),jun), ... - varname(name, bond_number(causing_bond),jun) ... - ); -end; - - -% Opposite causality to junction -column = (3+jun)/2; -[caused_bond,n,other_bonds,m] = getindex(bonds(:,column),jun) -fprintf(filenumber, '%s\t:= \n', varname(name, bond_number(caused_bond),-jun)); -for i=other_bonds' - term_sign = -direction(caused_bond,column)*direction(i,column) - fprintf(filenumber, '\t\t%s %s\n', sign2name(term_sign), ... - varname(name, bond_number(i),-jun)); -end; -fprintf(filenumber, ';\n'); DELETED mttroot/mtt/lib/comp/simple/one_cause.m Index: mttroot/mtt/lib/comp/simple/one_cause.m ================================================================== --- mttroot/mtt/lib/comp/simple/one_cause.m +++ /dev/null @@ -1,34 +0,0 @@ -function [bonds,status] = one_cause(bonds); -% one_cause - causality for a one junction -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %%%%% Model Transformation Tools %%%%% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% -% Matlab function one_cause - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Copyright (c) P.J. Gawthrop, 1996. - -%Effort -[bonds,e_status] = juncause(bonds,-1,1); - -%Flow -[bonds,f_status] = juncause(bonds,-1,-1); - -if (e_status==1)|(f_status==1) % Over causal - status = 1; -elseif (e_status==-1)|(f_status==-1) % Under causal - status = -1; -else % causal - status = 0; -end; - DELETED mttroot/mtt/lib/comp/simple/one_eqn.m Index: mttroot/mtt/lib/comp/simple/one_eqn.m ================================================================== --- mttroot/mtt/lib/comp/simple/one_eqn.m +++ /dev/null @@ -1,33 +0,0 @@ -function structure = one_eqn(name,bond_number,bonds,direction,cr,args, ... - structure,eqnfile); -% one_eqn - equations for a one junction -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %%%%% Model Transformation Tools %%%%% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% -% Matlab function one_eqn -% one_eqn(name,bond_number,bonds,direction,cr,args, ... -% structure,eqnfile); - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1996/12/05 10:00:49 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -disp("one-eqn") -name,bond_number,bonds,direction,cr,args -if nargin<7 - eqnfile = 'stdout'; -end; - -juneqn(name,bond_number,bonds,direction,cr,args,-1,eqnfile) - - - - DELETED mttroot/mtt/lib/comp/simple/oneeqn.m Index: mttroot/mtt/lib/comp/simple/oneeqn.m ================================================================== --- mttroot/mtt/lib/comp/simple/oneeqn.m +++ /dev/null @@ -1,28 +0,0 @@ -function oneeqn(name,LHS_number,LHS_cause,RHS_number,RHS_cause,cr,args, ... - eqnfile); -% oneeqn - prints a single equation -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %%%%% Model Transformation Tools %%%%% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% -% Matlab function oneeqn -% oneeqn(name,LHS_number,LHS_cause,RHS_number,RHS_cause,cr,args,eqnfile) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - - -if nargin<7 - eqnfile = 'stdout'; -end; - - -fprintf(eqnfile, '%s := %s;\n', ... - varname(name, LHS_number,LHS_cause), ... - cr2name(name,RHS_number,LHS_cause,RHS_cause,cr,args)); DELETED mttroot/mtt/lib/comp/simple/zero_cause.m Index: mttroot/mtt/lib/comp/simple/zero_cause.m ================================================================== --- mttroot/mtt/lib/comp/simple/zero_cause.m +++ /dev/null @@ -1,32 +0,0 @@ -function [bonds,status] = zero_cause(bonds); -% zero_cause - causality for zero junctions -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %%%%% Model Transformation Tools %%%%% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% -% Matlab function zero_cause -% [bonds,status] = zero_cause(bonds); - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%Effort -[bonds,e_status] = juncause(bonds,1,1); - -%Flow -[bonds,f_status] = juncause(bonds,1,-1); - -status = 0; -if (e_status==1)|(f_status==1) % Over causal - status = 1; -endif; -if (e_status==-1)|(f_status==-1) % Under causal - status = -1; -endif; - - DELETED mttroot/mtt/lib/comp/simple/zero_eqn.m Index: mttroot/mtt/lib/comp/simple/zero_eqn.m ================================================================== --- mttroot/mtt/lib/comp/simple/zero_eqn.m +++ /dev/null @@ -1,29 +0,0 @@ -function structure = zero_eqn(name, bond_number,bonds,direction,cr,args, ... - structure,eqnfile); -% zero_eqn - equations for zero junctions -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %%%%% Model Transformation Tools %%%%% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% -% Matlab function zero_eqn -% zero_eqn(name, bond_number,bonds,direction,cr,args, structure,eqnfile); - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -if nargin<7 - eqnfile = 'stdout'; -end; - - -juneqn(name, bond_number,bonds,direction,cr,args,1,eqnfile) - - - - DELETED mttroot/mtt/lib/control/PPP/Beam_numpar.m Index: mttroot/mtt/lib/control/PPP/Beam_numpar.m ================================================================== --- mttroot/mtt/lib/control/PPP/Beam_numpar.m +++ /dev/null @@ -1,45 +0,0 @@ -% Script file Beam_numpar.m -%% numpar file (Beam_numpar.m) -%% Generated by MTT at Thu Apr 22 07:00:08 BST 1999 -% Global variable list -global ... - area ... - areamoment ... - beamlength ... - beamthickness ... - beamwidth ... - density ... - ei ... - n ... - youngs ... - dk ... - dm ... - dz ... - rhoa ; - % -*-octave-*- Put Emacs into octave-mode - % Numerical parameter file (Beam_numpar.txt) - % Generated by MTT at Mon Apr 19 06:24:08 BST 1999 - - % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - % %% Version control history - % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - % %% $Id$ - % %% $Log$ - % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - % Parameters -n = 7; -beamlength = 0.58; -beamwidth = 0.05; -beamthickness = 0.005; -youngs = 1e6; -density = 1e5; -area = beamwidth*beamthickness; -areamoment = (beamthickness*beamwidth^2)/12; - -ei= 58.6957 ; % from Reza -rhoa= 0.7989 ; % from Reza - -dz = beamlength/n; % BernoulliEuler -dm = rhoa*dz; % BernoulliEuler -dk = ei/dz; % BernoulliEuler DELETED mttroot/mtt/lib/control/PPP/Beam_sm.m Index: mttroot/mtt/lib/control/PPP/Beam_sm.m ================================================================== --- mttroot/mtt/lib/control/PPP/Beam_sm.m +++ /dev/null @@ -1,69 +0,0 @@ -% -*-octave-*- Put Emacs into octave-mode% -function [mtta,mttb,mttc,mttd] = Beam_sm(); -% [mtta,mttb,mttc,mttd] = Beam_sm(); -%System Beam, representation sm, language m; -%File Beam_sm.m; -%Generated by MTT on Thu Apr 22 07:02:48 BST 1999; -% -%====== Set up the global variables ======% -global ... -area ... -areamoment ... -beamlength ... -beamthickness ... -beamwidth ... -density ... -ei ... -n ... -youngs ... -dk ... -dm ... -dz ... -rhoa ; -%a matrix% -mtta = zeros(14,14); -mtta(1,2) = -dk/dz; -mtta(2,1) = 1.0/(dm*dz); -mtta(2,3) = -2.0/(dm*dz); -mtta(2,5) = 1.0/(dm*dz); -mtta(3,2) = (2.0*dk)/dz; -mtta(3,4) = -dk/dz; -mtta(4,3) = 1.0/(dm*dz); -mtta(4,5) = -2.0/(dm*dz); -mtta(4,7) = 1.0/(dm*dz); -mtta(5,2) = -dk/dz; -mtta(5,4) = (2.0*dk)/dz; -mtta(5,6) = -dk/dz; -mtta(6,5) = 1.0/(dm*dz); -mtta(6,7) = -2.0/(dm*dz); -mtta(6,9) = 1.0/(dm*dz); -mtta(7,4) = -dk/dz; -mtta(7,6) = (2.0*dk)/dz; -mtta(7,8) = -dk/dz; -mtta(8,7) = 1.0/(dm*dz); -mtta(8,9) = -2.0/(dm*dz); -mtta(8,11) = 1.0/(dm*dz); -mtta(9,6) = -dk/dz; -mtta(9,8) = (2.0*dk)/dz; -mtta(9,10) = -dk/dz; -mtta(10,9) = 1.0/(dm*dz); -mtta(10,11) = -2.0/(dm*dz); -mtta(10,13) = 1.0/(dm*dz); -mtta(11,8) = -dk/dz; -mtta(11,10) = (2.0*dk)/dz; -mtta(11,12) = -dk/dz; -mtta(12,11) = 1.0/(dm*dz); -mtta(12,13) = -2.0/(dm*dz); -mtta(13,10) = -dk/dz; -mtta(13,12) = (2.0*dk)/dz; -mtta(13,14) = -dk/dz; -mtta(14,13) = 1.0/(dm*dz); -%b matrix% -mttb = zeros(14,1); -mttb(11) = 1.0/dz; -mttb(13) = -2.0/dz; -%c matrix% -mttc = zeros(1,14); -mttc(1,1) = 1.0/dm; -%d matrix% -mttd = zeros(1,1); DELETED mttroot/mtt/lib/control/PPP/NMPsystem.m Index: mttroot/mtt/lib/control/PPP/NMPsystem.m ================================================================== --- mttroot/mtt/lib/control/PPP/NMPsystem.m +++ /dev/null @@ -1,21 +0,0 @@ -function [A,B,C,D] = NMPsystem () - - ## usage: [A,B,C,D] = NMPsystem () - ## - ## NMP system example (2-s)/(s-1)^3 - - A = [3 -3 1 - 1 0 0 - 0 1 0]; - - B = [1 - 0 - 0]; - - C = [0 -0.5 1]; - - D = 0; - - - -endfunction DELETED mttroot/mtt/lib/control/PPP/TwoMassSpring.m Index: mttroot/mtt/lib/control/PPP/TwoMassSpring.m ================================================================== --- mttroot/mtt/lib/control/PPP/TwoMassSpring.m +++ /dev/null @@ -1,34 +0,0 @@ -function [A,B,C,D] = TwoMassSpring (k,m_1,m_2) - - ## usage: [A,B,C,D] = TwoMassSpring (k,m_1,m_2) - ## - ## Two mass-spring example from Middleton et al. EE9908 - - ############################################################### - ## Version control history - ############################################################### - ## $Id$ - ## $Log$ - ## Revision 1.2 1999/05/18 22:31:26 peterg - ## Fixed error in dim of D - ## - ## Revision 1.1 1999/05/18 22:28:56 peterg - ## Initial revision - ## - ############################################################### - - - A = [0 1 0 0 - -k/m_1 0 k/m_1 0 - 0 0 0 1 - k/m_2 0 -k/m_2 0]; - B = [0 - 1/m_1 - 0 - 0]; - C = [1 0 0 0 - 0 0 1 0]; - - D = zeros(2,1); - -endfunction DELETED mttroot/mtt/lib/control/PPP/airc.m Index: mttroot/mtt/lib/control/PPP/airc.m ================================================================== --- mttroot/mtt/lib/control/PPP/airc.m +++ /dev/null @@ -1,27 +0,0 @@ -function [A,B,C,D] = airc -% System AIRC -% This system is the aircraft example from the book: -% J.M Maciejowski: Multivariable Feedback Design Addison-Wesley, 1989 -% It has 5 states, 3 inputs and 3 outputs. - -% P J Gawthrop Jan 1998 - -A = [ 0 0 1.1320 0 -1.0000 - 0 -0.0538 -0.1712 0 0.0705 - 0 0 0 1.0000 0 - 0 0.0485 0 -0.8556 -1.0130 - 0 -0.2909 0 1.0532 -0.6859]; - -B = [ 0 0 0 - -0.1200 1.0000 0 - 0 0 0 - 4.4190 0 -1.6650 - 1.5750 0 -0.0732]; - -C = [1 0 0 0 0 - 0 1 0 0 0 - 0 0 1 0 0]; - -D = zeros(3,3); - - DELETED mttroot/mtt/lib/control/PPP/autm.m Index: mttroot/mtt/lib/control/PPP/autm.m ================================================================== --- mttroot/mtt/lib/control/PPP/autm.m +++ /dev/null @@ -1,40 +0,0 @@ -function [A,B,C,D]=autm -% System AUTM -% This system is the automotive gas turbine example from the book: -% Y.S. Hung and A.G.J. Macfarlane: "Multivariable Feedback. A -% quasi-classical approach." Springer 1982 -% It has 12 states, 2 inputs and 2 outputs. - -% P J Gawthrop Jan 1998 - -%A-matrix -A = zeros(12,12); -A(1,2) = 1; -A(2,1) = -0.202; A(2,2) = -1.150; -A(3,4) = 1; -A(4,5) = 1; -A(5,3) = -2.360; A(5,4) = -13.60; A(5,5) = -12.80; -A(6,7) = 1; -A(7,8) = 1; -A(8,6) = -1.620; A(8,7) = -9.400; A(8,8) = -9.150; -A(9,10) = 1; -A(10,11) = 1; -A(11,12) = 1; -A(12,9) = -188.0; A(12,10) = -111.6; A(12,11) = -116.4; A(12,12) = -20.8; - -%B-matrix -B = zeros(12,2); -B(2,1) = 1.0439; B(2,2) = 4.1486; -B(5,1) = -1.794; B(5,2) = 2.6775; -B(8,1) = 1.0439; B(8,2) = 4.1486; -B(12,1) = -1.794; B(12,2) = 2.6775; - -%C-matrix -C = zeros(2,12); -C(1,1) = 0.2640; C(1,2) = 0.8060; C(1,3) = -1.420; C(2,4) = -15.00; -C(2,6) = 4.9000; C(2,7) = 2.1200; C(2,8) = 1.9500; C(2,9) = 9.3500; -C(2,10) = 25.800; C(2,11) = 7.1400; - -%D-matrix -D = zeros(2,2); - DELETED mttroot/mtt/lib/control/PPP/butterworth_matrix.m Index: mttroot/mtt/lib/control/PPP/butterworth_matrix.m ================================================================== --- mttroot/mtt/lib/control/PPP/butterworth_matrix.m +++ /dev/null @@ -1,16 +0,0 @@ -function A = butterworth_matrix (n,p) - - ## usage: A = butterworth (n,p) - ## - ## A-matrix for generating nth order Butterworth functions with parameter p - - ## Copyright (C) 2000 by Peter J. Gawthrop - - ## Butterworth poly - pol = ppp_butter(n,p); - - ## Create A matrix (controller form) - A = [-pol(2:n+1) - eye(n-1) zeros(n-1,1)]; - -endfunction DELETED mttroot/mtt/lib/control/PPP/damped_matrix.m Index: mttroot/mtt/lib/control/PPP/damped_matrix.m ================================================================== --- mttroot/mtt/lib/control/PPP/damped_matrix.m +++ /dev/null @@ -1,26 +0,0 @@ -function A = damped_matrix (frequency,damping) - - ## usage: A = damped_matrix (frequency,damping) - ## - ## Gives an A matrix with eigenvalues with specified - ## frequencies and damping ratio - - N = length(frequency); - - if nargin<2 - damping = zeros(size(frequency)); - endif - - if length(damping) != N - error("Frequency and damping vectors have different lengths"); - endif - - A = zeros(2*N,2*N); - for i=1:N - j = 2*(i-1)+1; - A_i = [-2*damping(i)*frequency(i) -frequency(i)^2 - 1 0]; - A(j:j+1,j:j+1) = A_i; - endfor - -endfunction DELETED mttroot/mtt/lib/control/PPP/laguerre_matrix.m Index: mttroot/mtt/lib/control/PPP/laguerre_matrix.m ================================================================== --- mttroot/mtt/lib/control/PPP/laguerre_matrix.m +++ /dev/null @@ -1,15 +0,0 @@ -function A = laguerre_matrix (n,p) - - ## usage: A = laguerre_matrix (n,p) - ## - ## A-matrix for generating nth order Laguerre functions with parameter p - - ## Copyright (C) 1999 by Peter J. Gawthrop - - ## Create A matrix - A = diag(-p*ones(n,1)); - for i=1:n-1 - A = A + diag(-2*p*ones(n-i,1),-i); - endfor - -endfunction DELETED mttroot/mtt/lib/control/PPP/ppp_aug.m Index: mttroot/mtt/lib/control/PPP/ppp_aug.m ================================================================== --- mttroot/mtt/lib/control/PPP/ppp_aug.m +++ /dev/null @@ -1,26 +0,0 @@ -function [A,v] = ppp_aug (A_1,A_2) - - ## usage: [A,v] = ppp_aug (A_1,A_2) - ## - ## Augments square matrix A_1 with square matrix A_2 to create A=[A_1 0; A_2 0]; - ## and generates v, a compatible column vector with unit elements - - ## Copyright (C) 1999 by Peter J. Gawthrop - - - [n_1,m_1] = size(A_1); - if n_1 != m_1 - error("A_1 must be square"); - endif - - [n_2,m_2] = size(A_2); - if n_2 != m_2 - error("A_2 must be square"); - endif - - A = [A_1 zeros(n_1,n_2) - zeros(n_2,n_1) A_2]; - - v = ones(n_1+n_2,1); - -endfunction DELETED mttroot/mtt/lib/control/PPP/ppp_butter.m Index: mttroot/mtt/lib/control/PPP/ppp_butter.m ================================================================== --- mttroot/mtt/lib/control/PPP/ppp_butter.m +++ /dev/null @@ -1,23 +0,0 @@ -function pol = ppp_butter (order,radius) - - ## usage: pol = cgpc_butter (order,radius) - ## - ## Butterworth polynomial of given order and pole radius - ## Copyright (C) 1999 by P.J. Gawthrop - - ## $Id$ - - theta = pi/(2*order); # Angle with real axis - - even = (floor(order/2)==order/2); - if even - pol=1; N=order/2; - else - pol=[1 radius]; N=(order-1)/2; - endif - - for i=1:N - pol=conv(pol, [1 2*radius*cos(i*theta) radius^2]); - endfor - -endfunction DELETED mttroot/mtt/lib/control/PPP/ppp_closedloop.m Index: mttroot/mtt/lib/control/PPP/ppp_closedloop.m ================================================================== --- mttroot/mtt/lib/control/PPP/ppp_closedloop.m +++ /dev/null @@ -1,37 +0,0 @@ -function [Ac,Bc,Cc,Dc] = ppp_closedloop (A,B,C,D,k_x,k_w,l_x,l_y) - - ## usage: [Ac,Bc,Cc,Dc] = ppp_closedloop (A,B,C,K_x,K_w,K_y,L) - ## - ## - - - ## Closed loop input is [w;v]. - ## Closed loop output is [y;u]. - ## w is reference signal - ## v is input disturbance - ## Inputs: - ## A,B,C,D MIMO linear system matrices - ## k_x,k_w,k_y Gain matrices: u = k_w*w - k_x*x - ## L Observer gain matrix - ## Outputs - ## Ac,Bc,Cc,Dc Closed-loop charecteristic polynomial - - ## Copyright (C) 1999 by Peter J. Gawthrop - - ## System dimensions - [n_x,n_u,n_y] = abcddim(A,B,C,D); - - ## Create matrices describing closed-loop system - Ac = [ A, -B*k_x - l_x*C, (A - l_x*C - B*k_x)]; - - Bc = [B*k_w B - B*k_w zeros(n_x,n_u)]; - - Cc = [C zeros(n_y,n_x) - zeros(n_u,n_x) -k_x ]; - - Dc = [zeros(n_y,n_y) zeros(n_y,n_u) - k_w zeros(n_u,n_u)]; - -endfunction DELETED mttroot/mtt/lib/control/PPP/ppp_cost.m Index: mttroot/mtt/lib/control/PPP/ppp_cost.m ================================================================== --- mttroot/mtt/lib/control/PPP/ppp_cost.m +++ /dev/null @@ -1,14 +0,0 @@ -function [J J_U] = ppp_cost (U,x,W,J_uu,J_ux,J_uw,J_xx,J_xw,J_ww) - - ## usage: [J J_U] = ppp_cost (U,x,W,J_uu,J_ux,J_uw,J_xx,J_xw,J_ww) - ## Computes the PPP cost function given U,x and W - ## - ## J_uu,J_ux,J_uw,J_xx,J_xw,J_ww cost derivatives from ppp_lin - - ## Copyright (C) 1999 by Peter J. Gawthrop - ## $Id$ - - J = U'*J_uu*U/2 + U'*(J_ux*x - J_uw*W) - x'*J_xw*W + x'*J_xx*x/2 + W'*J_ww*W'/2; - J_U = J_uu*U + (J_ux*x - J_uw*W) ; - -endfunction DELETED mttroot/mtt/lib/control/PPP/ppp_error.m Index: mttroot/mtt/lib/control/PPP/ppp_error.m ================================================================== --- mttroot/mtt/lib/control/PPP/ppp_error.m +++ /dev/null @@ -1,18 +0,0 @@ -function err = ppp_error(par) - - ## usage: err = error (par) - ## - ## - - global ppp_y_0 ppp_sim_command ppp_par ppp_i_par ppp_x0 ppp_sim ppp_u - - pars = ppp_par; - pars(ppp_i_par) = par; - - y = sidSimpleExtruder_ssim(ppp_x0,pars,ppp_sim,ppp_u); - - [N,n_y] = size(y); - - Err = y - ppp_y_0; - err = sum(diag(Err'*Err))/N -endfunction DELETED mttroot/mtt/lib/control/PPP/ppp_ex1.m Index: mttroot/mtt/lib/control/PPP/ppp_ex1.m ================================================================== --- mttroot/mtt/lib/control/PPP/ppp_ex1.m +++ /dev/null @@ -1,62 +0,0 @@ -function name = ppp_ex1 (ReturnName) - - ## usage: ppp_ex1 () - ## - ## PPP example - an unstable, nmp siso system - ## $Id$ - - - ## Example name - name = "Linear unstable non-minimum phase third order system- Laguerre inputs"; - - if nargin>0 - return - endif - - - ## System - unstable & NMP - [A,B,C,D] = NMPsystem; - [n_x,n_u,n_y] = abcddim(A,B,C,D); - - ## Setpoint - A_w = ppp_aug(0,[]); - - ## Controller - - ##Optimisation horizon - t = [4.0:0.05:5]; - - ## A_u - A_u = ppp_aug(laguerre_matrix(3,2.0), A_w); - - ## Design and plot - [ol_poles,cl_poles,ol_zeros,cl_zeros,k_x,k_w,K_x,K_w,cond_uu] = ppp_lin_plot (A,B,C,D,A_u,A_w,t); - - - ## Compute exact version - poles = sort(eig(A_u)); # Desired poles - eigenvalues of A_u - poles = poles(1:n_x); # Loose the last one - due to setpoint - clp = poly(poles); # Closed-loop cp - kk = clp(2:n_x+1)+A(1,:); # Corresponding gain - A_c = A-B*kk; # Closed-loop A - K_X = ppp_open2closed (A_u,[A_c B*k_w; [0 0 0 0]],[kk -k_w]); # Exact - - ## Compute K_x using approx values - A_c_a = A-B*k_x; - K_X_comp = ppp_open2closed (A_u,[A_c_a B*k_w; [0 0 0 0]],[k_x -k_w]); # Computed Kx - - format bank - log_cond_uu = log10(cond_uu) - Exact_closed_loop_poles = poles' - Approximate_closed_loop_poles = cl_poles - Exact_k_x = kk - Approximate_k_x = k_x - Exact_K_X = K_X - Approximate_K_X = [K_x -K_w] - Computed_K_x = K_X_comp - K_xw_error = Approximate_K_X-K_X - format -endfunction - - - DELETED mttroot/mtt/lib/control/PPP/ppp_ex10.m Index: mttroot/mtt/lib/control/PPP/ppp_ex10.m ================================================================== --- mttroot/mtt/lib/control/PPP/ppp_ex10.m +++ /dev/null @@ -1,34 +0,0 @@ -function name = ppp_ex10 (ReturnName) - - ## usage: name = ppp_ex10 (ReturnName) - ## - ## PPP example - shows a standard multivariable system - ## - - ## Example name - name = "Remotely-piloted vehicle example: system RPV from J.M Maciejowski: Multivariable Feedback Design"; - - if nargin>0 - return - endif - - ## System - [A,B,C,D] = rpv; - [n_x,n_u,n_y] = abcddim(A,B,C,D) - - ## Controller - t = 1*[0.9:0.01:1]; # Time horizon - A_w = 0; # Setpoint -# TC = 0.1*[1 1]; # Time constants for each input -# A_u = []; -# for tc=TC # Input -# A_u = [A_u;ppp_aug(laguerre_matrix(2,1/tc), 0)]; -# endfor - A_u = ppp_aug(laguerre_matrix(2,5.0), A_w) - Q = [1;1]; # Output weightings - - ## Design and plot - W = [1;2] - [ol_poles,cl_poles,ol_zeros,cl_zeros,k_x,k_w,K_x,K_w] = ppp_lin_plot (A,B,C,D,A_u,A_w,t,Q,W); - -endfunction DELETED mttroot/mtt/lib/control/PPP/ppp_ex11.m Index: mttroot/mtt/lib/control/PPP/ppp_ex11.m ================================================================== --- mttroot/mtt/lib/control/PPP/ppp_ex11.m +++ /dev/null @@ -1,105 +0,0 @@ -function [name,T,y,u,ys,us,J] = ppp_ex11 (ReturnName) - - ## usage: [name,T,y,u,ys,us,T1,du,dus] = ppp_ex11 (ReturnName) - ## - ## PPP example - - ## $Id$ - - - ## Example name - name = "Input constraints +-1.5 on u* at tau=0,0.5,1,1.5,2"; - - if nargin>0 - return - endif - - ## System - A = [-3 -3 -1 - 1 0 0 - 0 1 0]; - B = [1 - 0 - 0]; - C = [0 -0.5 1]; - D = 0; - [n_x,n_u,n_y] = abcddim(A,B,C,D); - - ## Controller - t = [6:0.02:7]; # Time horizon - A_w = 0; # Setpoint - A_u = ppp_aug(laguerre_matrix(3,2.0), A_w); # Input functions - - Q = ones(n_y,1);; - - - ## Constaints - Gamma = []; - gamma = []; - - ## Constaints - u - Tau_u = [0:0.5:2]; - one = ones(size(Tau_u)); - limit = 1.5; - Min_u = -limit*one; - Max_u = limit*one; - Order_u = 0*one; - - ## Constraints - y - Tau_y = []; # No output constraints - one = ones(size(Tau_y)); - limit = 1.5; - Min_y = -limit*one; - Max_y = limit*one; - Order_y = 0*one; - - ## Simulation - W=1; - x_0 = zeros(3,1); - - ## Constrained - open-loop - disp("Designing controller"); - [k_x,k_w,K_x,K_w,Us0,J_uu,J_ux,J_uw] = ppp_lin (A,B,C,D,A_u,A_w,t,Q); # Unconstrained design - [Gamma_u,gamma_u] = ppp_input_constraint (A_u,Tau_u,Min_u,Max_u); - - Gamma = Gamma_u; - gamma = gamma_u; - - ## Constrained OL simulation - disp("Computing constrained ol response"); - [u,U] = ppp_qp (x_0,W,J_uu,J_ux,J_uw,Us0,Gamma,gamma); - T = [0:t(2)-t(1):t(length(t))]; - [ys,us] = ppp_ystar (A,B,C,D,x_0,A_u,U,T); - - ## Unconstrained OL simulation - disp("Computing unconstrained ol response"); - [uu,Uu] = ppp_qp (x_0,W,J_uu,J_ux,J_uw,Us0,[],[]); - [ysu,usu] = ppp_ystar (A,B,C,D,x_0,A_u,Uu,T); - - title("Constained and unconstrained y*"); - xlabel("t"); - grid; - plot(T,ys,T,ysu) - - ## Non-linear - closed-loop - disp("Computing constrained closed-loop response"); - [T,y,u,J] = ppp_qp_sim (A,B,C,D,A_u,A_w,t,Q, \ - Tau_u,Min_u,Max_u,Order_u, \ - Tau_y,Min_y,Max_y,Order_y,W,x_0); - - title("y,y*,u and u*"); - xlabel("t"); - grid; - plot(T,y,T,u,T,ys,T,us); - - ## Compute derivatives. - dt = t(2)-t(1); - du = diff(u)/dt; - dus = diff(us)/dt; - T1 = T(1:length(T)-1); - ##plot(T1,du,T1,dus); -endfunction - - - - DELETED mttroot/mtt/lib/control/PPP/ppp_ex12.m Index: mttroot/mtt/lib/control/PPP/ppp_ex12.m ================================================================== --- mttroot/mtt/lib/control/PPP/ppp_ex12.m +++ /dev/null @@ -1,75 +0,0 @@ -function [name,T,y,u,ys,us,J,T1,du,dus] = ppp_ex12 (ReturnName) - - ## usage: [name,T,y,u,ys,us,T1,du,dus] = ppp_ex12 (ReturnName) - ## - ## PPP example - shows input derivative constraints - ## $Id$ - - - ## Example name - name = "Input derivative constraints +-1 on u* at tau=0,0.5,1,1.5,2"; - - if nargin>0 - return - endif - - ## System - A = [-3 -3 -1 - 1 0 0 - 0 1 0]; - B = [1 - 0 - 0]; - C = [0 -0.5 1]; - D = 0; - [n_x,n_u,n_y] = abcddim(A,B,C,D) - - ## Controller - t = [4:0.02:5]; # Time horizon - A_w = 0; # Setpoint - A_u = ppp_aug(laguerre_matrix(3,2.0), A_w); # Input functions - Q = ones(n_y,1);; - - ## Constaints - du*/dtau - Tau = [0:0.5:2]; - one = ones(size(Tau)); - limit = 1; - Min = -limit*one; - Max = limit*one; - Order = one; - [Gamma,gamma] = ppp_input_constraint (A_u,Tau,Min,Max,Order); - - W=1; - x_0 = zeros(3,1); - - ## Constrained - open-loop - [k_x,k_w,K_x,K_w,Us0,J_uu,J_ux,J_uw] = ppp_lin (A,B,C,D,A_u,A_w,t,Q); - [u,U] = ppp_qp (x_0,W,J_uu,J_ux,J_uw,Us0,Gamma,gamma); - T = [0:t(2)-t(1):t(length(t))]; - [ys,us] = ppp_ystar(A,B,C,D,x_0,A_u,U,T); - - ## Non-linear - closed-loop - [T,y,u,J] = ppp_qp_sim (A,B,C,D,A_u,A_w,t,Q, \ - Tau,Min,Max,Order, \ - [],[],[],[], W,x_0); - - title("y,y*,u and u*"); - xlabel("t"); - grid; - plot(T,y,T,u,T,ys,T,us); - - ## Compute derivatives. - dt = t(2)-t(1); - du = diff(u)/dt; - dus = diff(us)/dt; - T1 = T(1:length(T)-1); - ##plot(T1,du,T1,dus); -endfunction - - - - - - - - DELETED mttroot/mtt/lib/control/PPP/ppp_ex13.m Index: mttroot/mtt/lib/control/PPP/ppp_ex13.m ================================================================== --- mttroot/mtt/lib/control/PPP/ppp_ex13.m +++ /dev/null @@ -1,49 +0,0 @@ -function name = ppp_ex13 (ReturnName) - - ## usage: ppp_ex13 () - ## - ## PPP example: Sensitivity minimisation (incomplete) - - - ## Example name - name = "Sensitivity minimisation (incomplete)"; - - if nargin>0 - return - endif - - - ## System - unstable - A = [-3 -3 -1 - 1 0 0 - 0 1 0]; - B = [1 - 0 - 0]; - C = [0 -0.5 1 - 0 1.0 0]; - D = [0;0]; - - ## Setpoint - A_w = [0;0] - - ## Controller - t =[0:0.1:5]; # Optimisation horizon - t1 =[0:0.1:1]; - t2 =[1.1:0.1:3.9]; - t3 =[4:0.1:5]; - - - A_u = ppp_aug(laguerre_matrix(3,5.0), 0); - q_s=1e3; - Q = [exp(5*t) - q_s*exp(-t)] - size(Q) - W = [1;0]; - - [ol_poles,cl_poles,ol_zeros,cl_zeros,k_x,k_w] = ppp_lin_plot (A,B,C,D,A_u,A_w,t,Q,W) - -endfunction - - - DELETED mttroot/mtt/lib/control/PPP/ppp_ex14m.m Index: mttroot/mtt/lib/control/PPP/ppp_ex14m.m ================================================================== --- mttroot/mtt/lib/control/PPP/ppp_ex14m.m +++ /dev/null @@ -1,102 +0,0 @@ -function [name,T,y,u,ys,us,ysu,usu,J] = ppp_ex14m (ReturnName) - - ## usage: [name,T,y,u,ys,us,ysu,usu,J] = ppp_ex14 (ReturnName) - ## - ## PPP example - shows output constraints on nonlinear system - ## $Id$ - - - ## Example name - name = "Output constraints -0.1 on y* at tau=0.1,0.5,1,2"; - - if nargin>0 - if ReturnName - return - endif - endif - - ## System - A = [-3 -3 -1 - 1 0 0 - 0 1 0]; - B = [1 - 0 - 0]; - C = [0 -0.5 1]; - D = 0; - [n_x,n_u,n_y] = abcddim(A,B,C,D) - - ## Controller - t = [4:0.02:5]; # Time horizon - A_w = 0; # Setpoint - A_u = ppp_aug(laguerre_matrix(3,2.0), A_w); # Input functions - Q = ones(n_y,1);; - - ## Constaints - u - Tau_u = []; - one = ones(size(Tau_u)); - limit = 3; - Min_u = -limit*one; - Max_u = limit*one; - Order_u = 0*one; - - ## Constraints - y - Tau_y = [0.1 0.5 1 2] - one = ones(size(Tau_y)); - Min_y = -0.01*one; # Min_y(5) = 0.99; - Max_y = 1e5*one; # Max_y(5) = 1.01; - Order_y = 0*one; - - ## Simulation - W=1; - x_0 = zeros(3,1); - - ## Constrained - open-loop - [k_x,k_w,K_x,K_w,Us0,J_uu,J_ux,J_uw] = ppp_lin (A,B,C,D,A_u,A_w,t,Q); # Unconstrained design - [Gamma_u,gamma_u] = ppp_input_constraint (A_u,Tau_u,Min_u,Max_u); - [Gamma_y,gamma_y] = ppp_output_constraint (A,B,C,D,x_0,A_u,Tau_y,Min_y,Max_y,Order_y); - - Gamma = [Gamma_u; Gamma_y]; - gamma = [gamma_u; gamma_y]; - - ## Constrained OL simulation - [u,U] = ppp_qp (x_0,W,J_uu,J_ux,J_uw,Us0,Gamma,gamma); - T = [0:t(2)-t(1):t(length(t))]; - [ys,us] = ppp_ystar (A,B,C,D,x_0,A_u,U,T); - - ## Unconstrained OL simulation - [uu,Uu] = ppp_qp (x_0,W,J_uu,J_ux,J_uw,Us0,[],[]); - [ysu,usu] = ppp_ystar (A,B,C,D,x_0,A_u,Uu,T); - - title("Constained and unconstrained y*"); - xlabel("t"); - grid; - plot(T,ys,T,ysu) - - ## Non-linear - closed-loop - movie = 1; - if movie - hold on; - endif - - [T,y,u,J] = ppp_qp_sim (A,B,C,D,A_u,A_w,t,Q, \ - Tau_u,Min_u,Max_u,Order_u, \ - Tau_y,Min_y,Max_y,Order_y,W,x_0,movie); - - hold off; -# title("y,y*,u and u*"); -# xlabel("t"); -# grid; -# plot(T,y,T,u,T,ysu,T,usu); - - ## Compute derivatives. - dt = t(2)-t(1); - du = diff(u)/dt; - dus = diff(us)/dt; - T1 = T(1:length(T)-1); - ##plot(T1,du,T1,dus); -endfunction - - - - DELETED mttroot/mtt/lib/control/PPP/ppp_ex15.m Index: mttroot/mtt/lib/control/PPP/ppp_ex15.m ================================================================== --- mttroot/mtt/lib/control/PPP/ppp_ex15.m +++ /dev/null @@ -1,61 +0,0 @@ -function [name,T,y,u,ye,ue,J] = ppp_ex15 (ReturnName) - - ## usage: ppp_ex15 () - ## - ## PPP example - an unstable, nmp siso system - ## $Id$ - - ## Example name - name = "Linear unstable non-minimum phase third order system - intermittent control"; - - if nargin>0 - return - endif - - - ## System - unstable - A = [3 -3 1 - 1 0 0 - 0 1 0]; - B = [10 - 0 - 0]; - C = [0 -0.5 1]; - D = 0; - [n_x,n_u,n_y] = abcddim(A,B,C,D); - - ## Setpoint - A_w = ppp_aug(0,[]); - - ## Controller - t =[4.0:0.01:5.0]; # Optimisation horizon - dt = t(2)-t(1); - A_u = ppp_aug(laguerre_matrix(3,2.0), A_w); - Q = 1; # Weight - - ##Simulate - W = 1; # Setpoint - x_0 = zeros(n_x,1); # Initial state - - - ## Closed-loop intermittent solution - Delta_ol = 0.5 # Intermittent time - - disp("Intermittent control simulation"); - [T,y,u,J] = ppp_qp_sim (A,B,C,D,A_u,A_w,t,Q, \ - [],[],[],[], \ - [],[],[],[],W,x_0,Delta_ol); - - ## Exact closed-loop - disp("Exact closed-loop"); - [k_x,k_w] = ppp_lin (A,B,C,D,A_u,A_w,t,Q); - [ye,Xe] = ppp_sm2sr(A-B*k_x, B, C, D, T, k_w*W, x_0); # Compute Closed-loop control - ue = k_w*ones(size(T))*W - k_x*Xe'; - - - title("y and u, exact and intermittent"); - xlabel("t"); - grid; - plot(T,y,T,u,T,ye,T,ue); - -endfunction DELETED mttroot/mtt/lib/control/PPP/ppp_ex16.m Index: mttroot/mtt/lib/control/PPP/ppp_ex16.m ================================================================== --- mttroot/mtt/lib/control/PPP/ppp_ex16.m +++ /dev/null @@ -1,103 +0,0 @@ -function [name,T,y,u,ys,us,J] = ppp_ex16 (ReturnName) - - ## usage: [name,T,y,u,ys,us,T1,du,dus] = ppp_ex16 (ReturnName) - ## - ## PPP example - - ## $Id$ - - - ## Example name - name = "Input constraints +-1.5 on u* at tau=0,0.1,0.2..,2.0 - intermittent control"; - - if nargin>0 - return - endif - - ## System - A = [-3 -3 -1 - 1 0 0 - 0 1 0]; - B = [1 - 0 - 0]; - C = [0 -0.5 1]; - D = 0; - [n_x,n_u,n_y] = abcddim(A,B,C,D); - - ## Controller - t = [5:0.01:6]; # Time horizon - A_w = 0; # Setpoint - A_u = ppp_aug(laguerre_matrix(3,2.0), A_w); # Input functions - A_u = ppp_aug(laguerre_matrix(1,0.5), A_u); # Add some extra slow modes - Q = ones(n_y,1);; - - ## Constaints - Gamma = []; - gamma = []; - - ## Constaints - u - Tau_u = [0:0.1:2]; - one = ones(size(Tau_u)); - limit = 1.5; - Min_u = -limit*one; - Max_u = limit*one; - Order_u = 0*one; - - ## Constaints - y - Tau_y = []; - one = ones(size(Tau_y)); - limit = 1.5; - Min_y = -limit*one; - Max_y = limit*one; - Order_y = 0*one; - - ## Simulation - W=1; - x_0 = zeros(3,1); - - ## Constrained - open-loop - disp("Control design"); - [k_x,k_w,K_x,K_w,Us0,J_uu,J_ux,J_uw] = ppp_lin (A,B,C,D,A_u,A_w,t,Q); # Unconstrained design - [Gamma_u,gamma_u] = ppp_input_constraint (A_u,Tau_u,Min_u,Max_u); - - Gamma = Gamma_u; - gamma = gamma_u; - - disp("Open-loop simulations"); - ## Constrained OL simulation - [u,U] = ppp_qp (x_0,W,J_uu,J_ux,J_uw,Us0,Gamma,gamma); - T = [0:t(2)-t(1):t(length(t))]; - [ys,us] = ppp_ystar (A,B,C,D,x_0,A_u,U,T); - - ## Unconstrained OL simulation - [uu,Uu] = ppp_qp (x_0,W,J_uu,J_ux,J_uw,Us0,[],[]); - [ysu,usu] = ppp_ystar (A,B,C,D,x_0,A_u,Uu,T); - - title("Constrained and unconstrained y* and u*"); - xlabel("t"); - grid; - axis([0 6 -1 2]); - plot(T,ys,T,ysu,T,us,T,usu) - axis; - - ## Non-linear - closed-loop - disp("Closed-loop simulation"); - Delta_ol = 0.1; - [T,y,u,J] = ppp_qp_sim (A,B,C,D,A_u,A_w,t,Q, \ - Tau_u,Min_u,Max_u,Order_u, \ - Tau_y,Min_y,Max_y,Order_y,W,x_0,Delta_ol); - - title("y,y*,u and u*"); - xlabel("t"); - grid; - plot(T,y,T,u,T,ys,T,us); -endfunction - - - - - - - - DELETED mttroot/mtt/lib/control/PPP/ppp_ex17.m Index: mttroot/mtt/lib/control/PPP/ppp_ex17.m ================================================================== --- mttroot/mtt/lib/control/PPP/ppp_ex17.m +++ /dev/null @@ -1,93 +0,0 @@ -function [name,T,y,u,ys,us,ysu,usu,J] = ppp_ex17 (ReturnName) - - ## usage: [name,T,y,u,ys,us,ysu,usu,J] = ppp_ex17 (ReturnName) - ## - ## PPP example - shows output constraints on nonlinear system - ## $Id$ - - - ## Example name - name = "Output constraints -0.1 on y* at tau=0.1,0.5,1,2 - intermittent control"; - - if nargin>0 - if ReturnName - return - endif - endif - - ## System - A = [-3 -3 -1 - 1 0 0 - 0 1 0]; - B = [1 - 0 - 0]; - C = [0 -0.5 1]; - D = 0; - [n_x,n_u,n_y] = abcddim(A,B,C,D) - - ## Controller - t = [9:0.02:10]; # Time horizon - A_w = 0; # Setpoint - A_u = ppp_aug(laguerre_matrix(3,2.0), A_w); # Input functions - Q = ones(n_y,1);; - - ## Constraints - u - Tau_u = []; - one = ones(size(Tau_u)); - limit = 3; - Min_u = -limit*one; - Max_u = limit*one; - Order_u = 0*one; - - ## Constraints - y - Tau_y = [0.1 0.5 1 2] - one = ones(size(Tau_y)); - Min_y = -0.01*one; # Min_y(5) = 0.99; - Max_y = 1e5*one; # Max_y(5) = 1.01; - Order_y = 0*one; - - ## Simulation - W=1; - x_0 = zeros(3,1); - - ## Constrained - open-loop - [k_x,k_w,K_x,K_w,Us0,J_uu,J_ux,J_uw] = ppp_lin (A,B,C,D,A_u,A_w,t,Q); # Unconstrained design - [Gamma_u,gamma_u] = ppp_input_constraint (A_u,Tau_u,Min_u,Max_u); - [Gamma_y,gamma_y] = ppp_output_constraint (A,B,C,D,x_0,A_u,Tau_y,Min_y,Max_y,Order_y); - - Gamma = [Gamma_u; Gamma_y]; - gamma = [gamma_u; gamma_y]; - - ## Constrained OL simulation - [u,U] = ppp_qp (x_0,W,J_uu,J_ux,J_uw,Us0,Gamma,gamma); - T = [0:t(2)-t(1):t(length(t))]; - - ## OL solution - [ys,us] = ppp_ystar (A,B,C,D,x_0,A_u,U,T); - - ## Unconstrained OL simulation - [uu,Uu] = ppp_qp (x_0,W,J_uu,J_ux,J_uw,Us0,[],[]); - [ysu,usu] = ppp_ystar (A,B,C,D,x_0,A_u,Uu,T); - - title("Constained and unconstrained y*"); - xlabel("t"); - grid; - plot(T,ys,T,ysu) - - ## Non-linear - closed-loop - delta_ol = 0.1; - [T,y,u,J] = ppp_qp_sim (A,B,C,D,A_u,A_w,t,Q, \ - Tau_u,Min_u,Max_u,Order_u, \ - Tau_y,Min_y,Max_y,Order_y,W,x_0,delta_ol); - - title("y,y*,u and u*"); - xlabel("t"); - grid; - plot(T,y,T,u,T,ysu,T,usu); - -endfunction - - - - DELETED mttroot/mtt/lib/control/PPP/ppp_ex18.m Index: mttroot/mtt/lib/control/PPP/ppp_ex18.m ================================================================== --- mttroot/mtt/lib/control/PPP/ppp_ex18.m +++ /dev/null @@ -1,40 +0,0 @@ -function name = ppp_ex18 (ReturnName) - - ## usage: ppp_ex18 () - ## - ## PPP example - an unstable, nmp siso system - ## $Id$ - - - ## Example name - name = "First order with redundant inputs"; - - if nargin>0 - return - endif - - ## System - A = 1 - B = 1 - C = 1 - D = 0; - - ## Setpoint - A_w = ppp_aug(0,[]); - - ## Controller - ##Optimisation horizon - t =[2:0.1:3]; - - ## A_u - A_u = diag([0 -2 -4 -6]) - - [ol_poles,cl_poles] = ppp_lin_plot (A,B,C,D,A_u,A_w,t) - - -endfunction - - - - - DELETED mttroot/mtt/lib/control/PPP/ppp_ex19.m Index: mttroot/mtt/lib/control/PPP/ppp_ex19.m ================================================================== --- mttroot/mtt/lib/control/PPP/ppp_ex19.m +++ /dev/null @@ -1,104 +0,0 @@ -function [name,T,y,u,ys,us,J] = ppp_ex19 (ReturnName,n_extra,T_extra) - - ## usage: [name,T,y,u,ys,us,T1,du,dus] = ppp_ex19 (ReturnName) - ## - ## PPP example - - ## $Id$ - - - ## Example name - name = "Input constraints with redundant U*"; - - if (nargin>0)&&(ReturnName==1) - return - endif - - - if nargin<2 - n_extra = 3 - endif - - if nargin<3 - T_extra = 2.0 - endif - - - ## System - A = 1 - B = 1 - C = 1 - D = 0; - [n_x,n_u,n_y] = abcddim(A,B,C,D); - - ## Controller - t = [2:0.01:3]; # Time horizon - A_w = 0; - A_u = diag([0 -6]); - A_u = ppp_aug(A_u,laguerre_matrix(n_extra,1/T_extra)) - Q = 1; - ## Constraints - Gamma = []; - gamma = []; - - ## Constraints - u - Tau_u = [0 0.1 0.5 1 1.5 2]; - Tau_u = 0; - one = ones(size(Tau_u)); - limit = 1.5; - Min_u = -limit*one; - Max_u = limit*one; - Order_u = 0*one; - - ## Constraints - y - Tau_y = []; - one = ones(size(Tau_y)); - limit = 1.5; - Min_y = -limit*one; - Max_y = limit*one; - Order_y = 0*one; - - ## Simulation - W=1; - x_0 = zeros(n_x,1); - - ## Constrained - open-loop - disp("Control design"); - [k_x,k_w,K_x,K_w,Us0,J_uu,J_ux,J_uw] = ppp_lin (A,B,C,D,A_u,A_w,t); # Unconstrained design - [Gamma_u,gamma_u] = ppp_input_constraint (A_u,Tau_u,Min_u,Max_u); - - Gamma = Gamma_u; - gamma = gamma_u; - - disp("Open-loop simulations"); - ## Constrained OL simulation - [u,U] = ppp_qp (x_0,W,J_uu,J_ux,J_uw,Us0,Gamma,gamma); - T = [0:t(2)-t(1):t(length(t))]; - [ys,us] = ppp_ystar (A,B,C,D,x_0,A_u,U,T); - - ## Unconstrained OL simulation - [uu,Uu] = ppp_qp (x_0,W,J_uu,J_ux,J_uw,Us0,[],[]); - [ysu,usu] = ppp_ystar (A,B,C,D,x_0,A_u,Uu,T); - - title("Constrained and unconstrained y*"); - xlabel("t"); - grid; - plot(T,ys,T,ysu) - - ## Non-linear - closed-loop - disp("Closed-loop simulation"); - [T1,y,u,J] = ppp_qp_sim (A,B,C,D,A_u,A_w,t,Q, \ - Tau_u,Min_u,Max_u,Order_u, \ - Tau_y,Min_y,Max_y,Order_y,W,x_0); - - title("y,y*,u and u*"); - xlabel("t"); - grid; - plot(T1,y,T,ys,T1,u,T,us); -endfunction - - - - - - DELETED mttroot/mtt/lib/control/PPP/ppp_ex2.m Index: mttroot/mtt/lib/control/PPP/ppp_ex2.m ================================================================== --- mttroot/mtt/lib/control/PPP/ppp_ex2.m +++ /dev/null @@ -1,32 +0,0 @@ -function name = ppp_ex2 (Return_Name) - - ## usage: Name = ppp_ex2 (Return_Name) - ## - ## PPP example: Effect of slow desired closed-loop - ## $Id$ - - - ## Example name - name = "Effect of slow desired closed-loop: closed-loop is same as open loop"; - - if nargin>0 - return - endif - - ## System - A = -1; # Fast - time constant = 1 - B = 0.5; # Gain is 1/2 - C = 1; - D = 0; - - ## Controller - t =[9:0.1:10]; # Optimisation horizon - - A_u = [-0.1 0 # Slow - time constant = 10 - 1 0]; - - A_w = 0; # Constant set point - - [ol_poles,cl_poles,ol_zeros,cl_zeros,k_x,k_w] = ppp_lin_plot(A,B,C,D,A_u,A_w,t) -endfunction - DELETED mttroot/mtt/lib/control/PPP/ppp_ex20.m Index: mttroot/mtt/lib/control/PPP/ppp_ex20.m ================================================================== --- mttroot/mtt/lib/control/PPP/ppp_ex20.m +++ /dev/null @@ -1,73 +0,0 @@ -function [name,T,y,u,ys,us,ysu,usu] = ppp_ex20 (ReturnName) - - ## usage: ppp_ex20 () - ## - ## PPP example - 2nd-order 2i2o system - ## $Id$ - - - ## Example name - name = "2nd-order 2i2o system with 1st-order basis" - - if nargin>0 - return - endif - - ## System - A = [-2 -1 - 1 0]; - B = [[1;0], [1;2]]; - C = [ [0,1]; [2,1]]; - D = zeros(2,2); - -# sys = ss2sys(A,B,C,D); - [n_x,n_u,n_y] = abcddim(A,B,C,D); - -# ## Display it -# for j = 1:n_u -# for i = 1:n_y -# sysout(sysprune(sys,i,j),"tf") -# step(sysprune(sys,i,j),1,5); -# endfor -# endfor - - ## Setpoint - A_w = 0; - - ## Controller - - ##Optimisation horizon - t =[4:0.01:5]; - - ## A_u - pole = [3]; - poles = 1; - A_u = ppp_aug(butterworth_matrix(poles,pole),0); - Q = ones(n_y,1);; - - ## Setpoints - W = [1:n_y]'; - - ## Design and plot - [ol_poles,cl_poles,ol_zeros,cl_zeros,k_x,k_w,K_x,K_w,cond_uu] = ppp_lin_plot (A,B,C,D,A_u,A_w,t,Q,W); - - format bank - cl_poles - - A_c = A-B*k_x; # Closed-loop A - A_cw = [A_c B*k_w*W - zeros(1,n_x+1)] - - log_cond_uu = log10(cond_uu) - # K_xwe = ppp_open2closed(A_u,A_cwe,[k_xe -k_we*W]); # Exact Kx -# K_xwc = ppp_open2closed(A_u,A_cw,[k_x -k_w*W]); # Computed Kx - # Exact_K_xw = K_xwe - PPP_K_xw = [K_x -K_w*W] -# Comp_K_xw = K_xwc - -# Error = Approx_K_xw - Comp_K_xw - -endfunction - - - DELETED mttroot/mtt/lib/control/PPP/ppp_ex20.new.m Index: mttroot/mtt/lib/control/PPP/ppp_ex20.new.m ================================================================== --- mttroot/mtt/lib/control/PPP/ppp_ex20.new.m +++ /dev/null @@ -1,92 +0,0 @@ -# function name = ppp_ex20 (ReturnName) - -# ## usage: name = ppp_ex20 (ReturnName) -# ## -# ## PPP example -- a standard multivariable example -# ## $Id$ - - - -# ## Example name -# name = "Turbogenerator example: system TGEN from J.M Maciejowski: Multivariable Feedback Design"; - -# if nargin>0 -# return -# endif - - ## System - [A,B,C,D] = airc; - [n_x,n_u,n_y] = abcddim(A,B,C,D) - - ## Controller - t = [9:0.1:10]; # Time horizon - A_w = zeros(n_y,1); # Setpoint - TC = 2*[1 1]; # Time constants for each input - # A_u = []; -# for tc=TC # Input -# A_u = [A_u;ppp_aug(laguerre_matrix(3,1/tc), 0)]; -# endfor - A_u = ppp_aug(laguerre_matrix(5,1.0), 0); - Q = [1;1]; # Output weightings - - ## Constraints - Gamma = []; - gamma = []; - - ## Constraints - u - Tau_u = [0 0.1 0.5 1 1.5 2]; - Tau_u = 0; - one = ones(size(Tau_u)); - limit = 1.5; - Min_u = -limit*one; - Max_u = limit*one; - Order_u = 0*one; - - ## Constraints - y - Tau_y = []; - one = ones(size(Tau_y)); - limit = 1.5; - Min_y = -limit*one; - Max_y = limit*one; - Order_y = 0*one; - - ## Simulation - W=[1;2;3]; - x_0 = zeros(n_x,1); - - ## Constrained - open-loop - disp("Control design"); - [k_x,k_w,K_x,K_w,Us0,J_uu,J_ux,J_uw] = ppp_lin (A,B,C,D,A_u,A_w,t); # Unconstrained design - [Gamma_u,gamma_u] = ppp_input_constraint (A_u,Tau_u,Min_u,Max_u); - - Gamma = Gamma_u; - gamma = gamma_u; - - disp("Open-loop simulations"); - ## Constrained OL simulation - [u,U] = ppp_qp (x_0,W,J_uu,J_ux,J_uw,Us0,Gamma,gamma); - T = [0:t(2)-t(1):t(length(t))]; - [ys,us] = ppp_ystar (A,B,C,D,x_0,A_u,U,T); - - ## Unconstrained OL simulation - [uu,Uu] = ppp_qp (x_0,W,J_uu,J_ux,J_uw,Us0,[],[]); - [ysu,usu] = ppp_ystar (A,B,C,D,x_0,A_u,Uu,T); - - title("Constrained and unconstrained y*"); - xlabel("t"); - grid; - plot(T,ys,T,ysu) - - ## Non-linear - closed-loop - disp("Closed-loop simulation"); - [T1,y,u,J] = ppp_qp_sim (A,B,C,D,A_u,A_w,t,Q, \ - Tau_u,Min_u,Max_u,Order_u, \ - Tau_y,Min_y,Max_y,Order_y,W,x_0); - - title("y,y*,u and u*"); - xlabel("t"); - grid; - plot(T1,y,T,ys,T1,u,T,us); - - -#endfunction DELETED mttroot/mtt/lib/control/PPP/ppp_ex21.m Index: mttroot/mtt/lib/control/PPP/ppp_ex21.m ================================================================== --- mttroot/mtt/lib/control/PPP/ppp_ex21.m +++ /dev/null @@ -1,76 +0,0 @@ -function [name,T,y,u,ys,us,ysu,usu] = ppp_ex21 (ReturnName) - - ## usage: ppp_ex21 () - ## - ## PPP example - 2nd-order 2i2o system system with anomalous behaviour" - ## $Id$ - - - ## Example name - name = "2nd-order 2i2o system with anomalous behaviour" - - if nargin>0 - return - endif - - ## System - A = [-2 -1 - 1 0]; - B = [[1;0], [1;2]]; - C = [ [0,1]; [2,1]]; - D = zeros(2,2); - - sys = ss2sys(A,B,C,D); - [n_x,n_u,n_y] = abcddim(A,B,C,D); - - ## Display it - for j = 1:n_u - for i = 1:n_y - sysout(sysprune(sys,i,j),"tf") - step(sysprune(sys,i,j),1,5); - endfor - endfor - - ## Setpoint - A_w = 0; - - ## Controller - - ##Optimisation horizon - t =[4:0.1:5]; - - ## A_u - pole = [4]; - #A_u = ppp_aug(laguerre_matrix(2,pole),0); - #A_u = ppp_aug(diag([-3,-4]),0); - A_u = ppp_aug(butterworth_matrix(2,pole),0); - Q = ones(n_y,1);; - - ## Setpoints - W = [1:n_y]'; - - ## Initial condition - x_0 = [0;0.5]; - - ## Design and plot - [ol_poles,cl_poles,ol_zeros,cl_zeros,k_x,k_w,K_x,K_w,cond_uu] = ppp_lin_plot (A,B,C,D,A_u,A_w,t,Q,W,x_0); - - format short - cl_poles - - A_c = A-B*k_x; # Closed-loop A - A_cw = [A_c B*k_w*W - zeros(1,n_x+1)] - - log_cond_uu = log10(cond_uu) - # K_xwe = ppp_open2closed(A_u,A_cwe,[k_xe -k_we*W]); # Exact Kx - #AA_u = ppp_inflate([A_u;A_u]); - K_xwc = ppp_open2closed(A_u,A_cw,[k_x -k_w*W]) # Computed Kx - # Exact_K_xw = K_xwe - Approx_K_xw = [K_x -K_w*W] - format - -endfunction - - - DELETED mttroot/mtt/lib/control/PPP/ppp_ex3.m Index: mttroot/mtt/lib/control/PPP/ppp_ex3.m ================================================================== --- mttroot/mtt/lib/control/PPP/ppp_ex3.m +++ /dev/null @@ -1,62 +0,0 @@ -function name = ppp_ex3 (Return_Name) - - ## usage: Name = ppp_ex3 (Return_Name) - ## - ## PPP example: Uncoupled 5x5 system - ## $Id$ - - - - - ## Example name - name = "Uncoupled NxN system - n first order systems"; - - if nargin>0 - return - endif - - ## System - N uncoupled integrators - N = 3 - A = -0.0*eye(N); - B = eye(N); - C = eye(N); - D = zeros(N,N); - - t =[4:0.1:5]; # Optimisation horizon - ## Create composite matrices - A_u = []; # Initialise - A_w = []; # Initialise - - for i=1:N - ## Setpoint - constant - a_w = ppp_aug(0,[]); - A_w = [A_w;a_w]; - - ## Controller - a_u = ppp_aug(-i,a_w); - A_u = [A_u; a_u]; - endfor - - A_u = [-diag([1:N])] - - Q = ones(N,1); # Equal output weightings - W = ones(N,1); # Setpoints are all unity - - ## Design and simulate - [k_x,k_w,K_x,K_w,Us0,J_uu,J_ux,J_uw,J_xx,J_xw,J_ww,y_u] = ppp_lin(A,B,C,D,A_u,A_w,t); - # [ol_poles,cl_poles,ol_zeros,cl_zeros,k_x,k_w,K_x,K_w] = \ - # ppp_lin_plot(A,B,C,D,A_u,A_w,t,Q,W); - - Approximate_K_x = K_x#(1:2:2*N,:) - A_c = A-B*k_x; - Closed_Loop_Poles = eig(A-B*k_x) - ## Now try out the open/closed loop theory -# A_u = -diag(1:N); # Full A_u matrix -# A_c = -diag(1:N); # Ideal closed-loop -# k_x = diag(1:N); # Ideal feedback - KK = ppp_open2closed (ppp_inflate(A_u),A_c,k_x); - Exact_K_x_tilde = KK - - -endfunction - DELETED mttroot/mtt/lib/control/PPP/ppp_ex4.m Index: mttroot/mtt/lib/control/PPP/ppp_ex4.m ================================================================== --- mttroot/mtt/lib/control/PPP/ppp_ex4.m +++ /dev/null @@ -1,47 +0,0 @@ -function name = ppp_ex4 (ReturnName) - - ## usage: ppp_ex4 () - ## - ## PPP example -- a 1i2o system with performance limitations - ## $Id$ - - - - ## Example name - name = "Resonant system (1i2o): illustrates performance limitations with 2 different time-constants"; - - if nargin>0 - return - endif - - - ## Mass- sping damper from Middleton et al EE9908 - - ## Set parameters to unity - m_1 = 1; - m_2 = 1; - k = 1; - - ## System - [A,B,C,D] = TwoMassSpring (k,m_1,m_2); - - for TC = [0.4 1] - disp(sprintf("\nClosed-loop time constant = %1.1f\n",TC)); - ## Controller - A_w = zeros(2,1); # Setpoint: Unit W* for each output - t =[11:0.1:12]; # Optimisation horizon - [A_u] = ppp_aug(laguerre_matrix(4,1/TC), 0); # U* - - Q = [1;0]; - - ## Design and plot - [ol_poles,cl_poles,ol_zeros,cl_zeros,k_x,k_w] = ppp_lin_plot (A,B,C,D,A_u,A_w,t,Q) - hold on; - endfor - - hold off; -endfunction - - - - DELETED mttroot/mtt/lib/control/PPP/ppp_ex5.m Index: mttroot/mtt/lib/control/PPP/ppp_ex5.m ================================================================== --- mttroot/mtt/lib/control/PPP/ppp_ex5.m +++ /dev/null @@ -1,58 +0,0 @@ -function name = ppp_ex5 (ReturnName) - - ## usage: ppp_ex5 (ReturnName) - ## - ## PPP example -- a 28-state vibrating beam system - ## $Id$ - - - ## Example name - name = "Vibrating beam: 14 state regulation problem with 7 beam velocities as output"; - - if nargin>0 - return - endif - - - ## System - beam - Beam_numpar; - [A,B,C,D]=Beam_sm; - - ## Redo C and D to reveal ALL velocities - c = C(1); - C = zeros(7,14); - for i = 1:7 - C(i,2*i-1) = c; - endfor - D = zeros(7,1); - - e = eig(A); # Eigenvalues - N = length(e); - frequencies = sort(imag(e)); - frequencies = frequencies(N/2+1:N); # Modal frequencies - - ## Controller - ## Controller design parameters - t = [0.4:0.01:0.5]; # Optimisation horizon - - Q = ones(7,1); - - ## Specify input basis functions - ## - damped sinusoids with same frequencies as beam - damping_ratio = 0.2; # Damping ratio of inputs - A_u = damped_matrix(frequencies,0.2*ones(size(frequencies))); - u_0 = ones(14,1); # Initial conditions - - A_w = zeros(7,1); # Setpoint - W = zeros(7,1); # Zero setpoint - - ## Set up an "typical" initial condition - x_0 = zeros(14,1); - x_0(2:2:14) = ones(1,7); # Set initial twist to 1. - - ## Simulation - [ol_poles,cl_poles] = ppp_lin_plot (A,B,C,D,A_u,A_w,t,Q,W,x_0); - - - -endfunction DELETED mttroot/mtt/lib/control/PPP/ppp_ex6.m Index: mttroot/mtt/lib/control/PPP/ppp_ex6.m ================================================================== --- mttroot/mtt/lib/control/PPP/ppp_ex6.m +++ /dev/null @@ -1,55 +0,0 @@ -function [name,T,y,u,J] = ppp_ex6 (ReturnName) - - ## usage: [name,T,y,u,J] = ppp_ex6 (ReturnName) - ## - ## PPP example -- PPP for redundant actuation - ## $Id$ - - - ## Example name - name = "Two input-one output system with input constraints"; - - if nargin>0 - return - endif - - ## System - A = 0; - B = [0.5 1]; - C = 1; - D = [0 0]; - [n_x,n_u,n_y] = abcddim(A,B,C,D) - - ## Controller - t = [4:0.1:5]; # Time horizon - A_w = 0; # Setpoint - A_u = [-2;-0.5]; # Input - Q = 1; # Output weight - - ## Constrain input 1 at time tau=0 - Tau = 0; - Max = 1; - Min = -Max; - Order = 0; - i_u = 1; - - ## Simulation - W=1; - x_0 = 0; - - ## Linear - [ol_poles,cl_poles,ol_zeros,cl_zeros,k_x,k_w] = ppp_lin_plot (A,B,C,D,A_u,A_w,t); - - ## Non-linear - movie = 0; - [T,y,u,J] = ppp_qp_sim (A,B,C,D,A_u,A_w,t,Q, Tau,Min,Max,Order, \ - [],[],[],[], W,x_0); - title("y,u_1,u_2"); - xlabel("t"); - grid; - plot(T,y,T,u); - -endfunction - - - DELETED mttroot/mtt/lib/control/PPP/ppp_ex7.m Index: mttroot/mtt/lib/control/PPP/ppp_ex7.m ================================================================== --- mttroot/mtt/lib/control/PPP/ppp_ex7.m +++ /dev/null @@ -1,37 +0,0 @@ -function name = ppp_ex7 (ReturnName) - - ## usage: name = ppp_ex7 (ReturnName) - ## - ## PPP example -- standard multivariable system - ## $Id$ - - - ## Example name - name = "Aircraft example: system AIRC from J.M Maciejowski: Multivariable Feedback Design"; - - if nargin>0 - return - endif - - ## System - [A,B,C,D] = airc; - [n_x,n_u,n_y] = abcddim(A,B,C,D) - - ## Controller - t = [4:0.01:5]; # Time horizon - A_w = 0; # Setpoint (same for each input) - #A_u = ppp_aug(laguerre_matrix(5,1), 0) # Same for each input - A_u = laguerre_matrix(5,1); # Same for each input - Q = ones(3,1); # Output weightings - ## Design and plot - W = [1;2;3] - [ol_poles,cl_poles,ol_zeros,cl_zeros,k_x,k_w,K_x,K_w] = ppp_lin_plot (A,B,C,D,A_u,A_w,t,Q,W); - cl_poles - - ## Try open-closed theory but using computed values: - A_c = A - B*k_x; eig(A_c) - K_x - KK = ppp_open2closed (A_u,A_c,k_x) - - 100*((KK-K_x)./KK) -endfunction DELETED mttroot/mtt/lib/control/PPP/ppp_ex8.m Index: mttroot/mtt/lib/control/PPP/ppp_ex8.m ================================================================== --- mttroot/mtt/lib/control/PPP/ppp_ex8.m +++ /dev/null @@ -1,29 +0,0 @@ -function name = ppp_ex8 (ReturnName) - - ## usage: name = ppp_ex8 (ReturnName) - ## - ## PPP example - standard multivariable example - ## $Id$ - - ## Example name - name = "Automotive gas turbine example: system AUTM from J.M Maciejowski: Multivariable Feedback Design"; - - if nargin>0 - return - endif - - ## System - [A,B,C,D] = autm; - [n_x,n_u,n_y] = abcddim(A,B,C,D) - - ## Controller - t = [4:0.1:5]; # Time horizon - A_w = 0; # Setpoint - A_u = ppp_aug(laguerre_matrix(4,2.0), 0) # Input - Q = [1;1e3]; # Output weightings - - ## Design and plot - W = [1;2] - [ol_poles,cl_poles,ol_zeros,cl_zeros,k_x,k_w] = ppp_lin_plot (A,B,C,D,A_u,A_w,t,Q,W); - -endfunction DELETED mttroot/mtt/lib/control/PPP/ppp_ex9.m Index: mttroot/mtt/lib/control/PPP/ppp_ex9.m ================================================================== --- mttroot/mtt/lib/control/PPP/ppp_ex9.m +++ /dev/null @@ -1,42 +0,0 @@ -function name = ppp_ex9 (ReturnName) - - ## usage: name = ppp_ex9 (ReturnName) - ## - ## PPP example -- a standard multivariable example - ## $Id$ - - - - ## Example name - name = "Turbogenerator example: system TGEN from J.M Maciejowski: Multivariable Feedback Design"; - - if nargin>0 - return - endif - - ## System - [A,B,C,D] = tgen; - [n_x,n_u,n_y] = abcddim(A,B,C,D) - - ## Controller - t = [1.0:0.01:2.0]; # Time horizon -# A_w = zeros(n_y,1); # Setpoint -# TC = 2*[1 1]; # Time constants for each input -# A_u = []; -# for tc=TC # Input -# A_u = [A_u;ppp_aug(laguerre_matrix(3,1/tc), 0)]; -# endfor - A_w = 0; - A_u = ppp_aug(ppp_aug(laguerre_matrix(2,1.0),laguerre_matrix(2,2.0)), A_w) - Q = [1;1]; # Output weightings - - ## Design and plot - W = [1;2] - [ol_poles,cl_poles,ol_zeros,cl_zeros,k_x,k_w,K_x,K_w] = ppp_lin_plot (A,B,C,D,A_u,A_w,t,Q,W); - -# ol_poles, cl_poles -# k_x,k_w -# K_X = [K_x -K_w] -# A_c = A - B*k_x; -# K_X_comp = ppp_open2closed (A_u,[A_c B*k_w*W; zeros(1,n_x+1)],[k_x -k_w*W]) -endfunction DELETED mttroot/mtt/lib/control/PPP/ppp_examples.m Index: mttroot/mtt/lib/control/PPP/ppp_examples.m ================================================================== --- mttroot/mtt/lib/control/PPP/ppp_examples.m +++ /dev/null @@ -1,54 +0,0 @@ -function ppp_examples () - - ## usage: ppp_examples () - ## - ## Various menu-driven PPP examples - - - str="menu(""Predictive Pole-Placement (PPP) examples"",""Exit"",""All examples"; # Menu string - - used = 2; - option=used; - - while option>1 - - exists=1; - i_example=1; # Example counter - while exists - name=sprintf("ppp_ex%i",i_example); - exists=(exist(name)==2); - if exists - title = eval(sprintf("%s(1);", name)); - str = sprintf("%s"",""%s",str,title); - i_example++; - endif - endwhile - n_examples = i_example-1; - - str = sprintf("%s"" );\n",str); - - option=eval(str); # Menu - ask user - - if option>1 # Do something - else return - if option==2 # All examples - Examples=1:n_examples; - else # Just the chosen examples - Examples = option-used; - endif - for example=Examples # Do the chosen examples - eval(sprintf("Title = ppp_ex%i(1);",example)); - disp(sprintf("Evaluating example ppp_ex%i:\n\t %s\n", example, Title)); - eval(sprintf("ppp_ex%i;",example)); - endfor - endif - - - endwhile - -endfunction - - - - - - DELETED mttroot/mtt/lib/control/PPP/ppp_extract.m Index: mttroot/mtt/lib/control/PPP/ppp_extract.m ================================================================== --- mttroot/mtt/lib/control/PPP/ppp_extract.m +++ /dev/null @@ -1,31 +0,0 @@ -function A_i = ppp_extract (A_u,input) - - ## usage: A_i = ppp_extract (A_u) - ## - ## Extracts the ith A_u matrix. - - ## Copyright (C) 1999 by Peter J. Gawthrop - ## $Id$ - - [n,m] = size(A_u); # Size of composite A_u matrix - square = (n==m); # Its a square matrix so same U* on each input - if square - A_i = A_u; # All a_u the same - else - N = m; # Number of U* functions per input - n_u = n/m; - if floor(n_u) != n_u # Check that n_u is an integer - error("A_u must be square or be a column of square matrices"); - endif - - if input>n_u - error("Input index too large"); - endif - - ## Extract the ith matrix - start = (input-1)*N; - range=(start+1:start+N); - A_i = A_u(range,:); - endif - -endfunction DELETED mttroot/mtt/lib/control/PPP/ppp_identify.m Index: mttroot/mtt/lib/control/PPP/ppp_identify.m ================================================================== --- mttroot/mtt/lib/control/PPP/ppp_identify.m +++ /dev/null @@ -1,62 +0,0 @@ -function [par,Par,Error,Y] = ppp_identify (system_name,u,y_0,par_names,par_0,extras) - ## ppp_identify: System identification for PPP - ## usage: [par,Par,Error,Y] = ppp_identify(system_name,u,y_0,par_names,par_0,extras) - ## - ## system_name String containing system name - ## u System input (column vector, each row is u') - ## y_0 Desired model output - ## par_names Column vector of (padded) strings - the adjustable - ## parameter names - ## par_0 Initial parameter vector estimate - ## extras (opt) optimisation parameters - ## .criterion convergence criterion - ## .max_iterations limit to number of iterations - ## .v Initial Levenberg-Marquardt parameter - - - if nargin<6 - extras.criterion = 1e-5; - extras.max_iterations = 10; - extras.v = 1e-5; - extras.verbose = 0; - endif - - s_system_name = sprintf("s%s", system_name); # Name of sensitivity system - - ## Set up parameters - sim = eval([s_system_name, "_simpar;"]); # Simulation parameter - sym = eval([s_system_name, "_sympar;"]); # Parameter names - x0 = eval([s_system_name, "_state(par_0);"]); # Initial state - -# ## Set up the free parameter list -# free = []; -# [n,m] = size(par_names); -# for i = 1:n -# p_name = deblank(par_names(i,:)); -# s_name = sprintf("%ss", p_name); -# if struct_contains(sym, p_name) -# i_p = eval(sprintf("sym.%s;", p_name)); -# if struct_contains(sym, s_name) -# i_s = eval(sprintf("sym.%s;", s_name)); -# free_i = eval(sprintf("[%i,%i];", i_p, i_s)); -# free = [free; free_i]; -# else -# printf("Sensitivity parameter %s does not exist: ignoring \ -# parameter %s\n", s_name, p_name); -# endif -# else -# printf("Parameter %s does not exist: ignoring\n", p_name) -# endif -# endfor -# free - free = ppp_indices(par_names,sym); - [par,Par,Error,Y] = ppp_optimise(s_system_name,x0,par_0,sim,u,y_0,free,extras); - -endfunction - - - - - - - DELETED mttroot/mtt/lib/control/PPP/ppp_indices.m Index: mttroot/mtt/lib/control/PPP/ppp_indices.m ================================================================== --- mttroot/mtt/lib/control/PPP/ppp_indices.m +++ /dev/null @@ -1,31 +0,0 @@ -function indices = ppp_indices (names,sympar) - - ## usage: indices = ppp_indices (names,sympar) - ## - ## names: column vector of component names - ## sympar: mtt-generated data structure od symbolic parameters - - - ## Set up the - indices = []; - [n,m] = size(names); - for i = 1:n - p_name = deblank(names(i,:)); - s_name = sprintf("%ss", p_name); - if struct_contains(sympar, p_name) - i_p = eval(sprintf("sympar.%s;", p_name)); - if struct_contains(sympar, s_name) - i_s = eval(sprintf("sympar.%s;", s_name)); - indices_i = eval(sprintf("[%i,%i];", i_p, i_s)); - indices = [indices; indices_i]; - else - printf("Sensitivity parameter %s does not exist: ignoring \ - parameter %s\n", s_name, p_name); - endif - else - printf("Parameter %s does not exist: ignoring\n", p_name) - endif - endfor - - -endfunction DELETED mttroot/mtt/lib/control/PPP/ppp_inflate.m Index: mttroot/mtt/lib/control/PPP/ppp_inflate.m ================================================================== --- mttroot/mtt/lib/control/PPP/ppp_inflate.m +++ /dev/null @@ -1,27 +0,0 @@ -function A_m = ppp_inflate (A_v) - - ## usage: A_m = ppp_inflate (A_v) - ## - ## Creates the square matrix A_m with the matrix elements of the column - ## vector of square matrices A_v. - - ## Copyright (C) 2001 by Peter J. Gawthrop - - [N,M] = size(A_v); - - if Nn - error("A_v must be a column vector of square matrices"); - endif - - A_m = []; - for i = 1:n - A_m = ppp_aug(A_m,ppp_extract(A_v,i)); - endfor - -endfunction DELETED mttroot/mtt/lib/control/PPP/ppp_input_constraint.m Index: mttroot/mtt/lib/control/PPP/ppp_input_constraint.m ================================================================== --- mttroot/mtt/lib/control/PPP/ppp_input_constraint.m +++ /dev/null @@ -1,71 +0,0 @@ -function [Gamma,gamma] = ppp_input_constraint (A_u,Tau,Min,Max,Order,i_u,n_u) - - ## usage: [Gamma,gamma] = ppp_input_constraint (A_u,Tau,Min,Max,Order) - ## - ## Derives the input constraint matrices Gamma and gamma - ## For Constraints Min and max at times Tau - ## Order=0 - input constraints - ## Order=1 - input derivative constraints - ## etc - ## i_u: Integer index of the input to be constrained - ## n_u: Number of inputs - ## NOTE You can stack up Gamma and gamma matrices for create multi-input constraints. - - ## Copyright (C) 1999 by Peter J. Gawthrop - ## $Id$ - - - ## Sizes - [n_U,m_U] = size(A_u); # Number of basis functions - [n,N_t] = size(Tau); # Number of constraint times - - ## Defaults - if nargin<5 - Order = zeros(1,N_t); - endif - - if nargin<6 - i_u = 1; - n_u = 1; - endif - - if N_t==0 # Nothing to be done - Gamma = []; - gamma = []; - return - endif - - if n != 1 - error("Tau must be a row vector"); - endif - - n = length(Min); - m = length(Max); - o = length(Order); - - if (n != N_t)||(m != N_t)||(o != N_t) - error("Tau, Min and max must be the same length"); - endif - - ## Extract the A_i matrix for this input - A_i = ppp_extract(A_u,i_u); - - ## Create the constraints in the form: Gamma*U < gamma - Gamma = []; - gamma = []; - one = ones(m_U,1); - i=0; - - zero_l = zeros(1,(i_u-1)*m_U); # Pad left-hand - zero_r = zeros(1,(n_u-i_u)*m_U); # Pad right-hand - for tau = Tau # Stack constraints for each tau - i++; - Gamma_tau = ( A_i^Order(i) * expm(A_i*tau) * one )'; - Gamma_tau = [ zero_l Gamma_tau zero_r ]; # Only for i_uth input - Gamma = [Gamma;[-1;1]*Gamma_tau]; # One row for each of min and max - - gamma_tau = [-Min(i);Max(i)]; - gamma = [gamma;gamma_tau]; - endfor - -endfunction DELETED mttroot/mtt/lib/control/PPP/ppp_lin.m Index: mttroot/mtt/lib/control/PPP/ppp_lin.m ================================================================== --- mttroot/mtt/lib/control/PPP/ppp_lin.m +++ /dev/null @@ -1,182 +0,0 @@ -function [k_x,k_w,K_x,K_w,Us0,J_uu,J_ux,J_uw,J_xx,J_xw,J_ww,y_u,cond_uu] = ppp_lin(A,B,C,D,A_u,A_w,tau,Q,max_cond); - ## usage: [k_x,k_w,K_x,K_w,Us0,J_uu,J_ux,J_uw,J_xx,J_xw,J_ww,y_u,cond_uu] = ppp_lin(A,B,C,D,A_u,A_w,tau,Q,max_cond) - ## - ## Linear PPP (Predictive pole-placement) computation - ## INPUTS: - ## A,B,C,D: system matrices - ## A_u: composite system matrix for U* generation - ## one square matrix (A_ui) row for each system input - ## each A_ui generates U*' for ith system input. - ## OR - ## A_u: square system matrix for U* generation - ## same square matrix for each system input. - ## A_w: composite system matrix for W* generation - ## one square matrix (A_wi) row for each system output - ## each A_wi generates W*' for ith system output. - ## t: row vector of times for optimisation (equispaced in time) - ## Q column vector of output weights (defaults to unity) - ## OR - ## Q matrix, each row corresponds to time-varying weight compatible with t - ## max_cond: Maximum condition number of J_uu (def 1/eps) - ## OUTPUTS: - ## k_x: State feedback gain - ## k_w: setpoint gain - ## ie u(t) = k_w w(t) - k_x x(t) - ## K_x, K_w: open loop gains - ## Us0: Value of U* at tau=0 - ## J_uu, J_ux, J_uw, J_xx,J_xw,J_ww: cost derivatives - ## cond_uu : Condition number of J_uu - ## Copyright (C) 1999, 2000 by Peter J. Gawthrop - ## $Id$ - - ## Check some dimensions - [n_x,n_u,n_y] = abcddim(A,B,C,D); - if (n_x==-1) - return - endif - - ## Default Q - if nargin<8 - Q = ones(n_y,1); - endif - - ## Default order - if nargin<9 - max_cond = 1e20; - endif - - [n_U,m_U] = size(A_u); - if (n_U != n_u*m_U)&&(n_U != m_U) - error("A_u must be square or have N_u rows and N_u/n_u columns"); - endif - - if (n_U == m_U) # U matrix square - n_U = n_U*n_u; # So same U* on each input - endif - - - [n_W,m_W] = size(A_w); - if n_W>0 - if (n_W != n_y*m_W)&&(n_W != m_W) - error("A_w must either be square or have N_w rows and N_w/n_y columns"); - endif - square_W = (n_W== m_W); # Flag indicates W is square - if (n_W == m_W) # W matrix square - n_W = n_W*n_y; # So same W* on each output - endif - endif - - - [n_t,m_t] = size(tau); - if n_t != 1 - error("tau must be a row vector"); - endif - - [n_Q,m_Q] = size(Q); - if ((m_Q != 1)&&(m_Q != m_t)) || (n_Q != n_y) - error("Q must be a column vector with one row per system output"); - endif - - if (m_Q == 1) # Convert to vector Q(i) - Q = Q*ones(1,m_t); # Extend to cover full range of tau - endif - - ##Set up initial states - u_0 = ones(m_U,1); - w_0 = ones(m_W,1); - - ## Find y_U - derivative of y* wrt U. - i_U = 0; - x_0 = zeros(n_x,1); # This is for x=0 - y_u = []; # Initialise - Us = []; # Initialise - for i=1:n_U # Do for each input function U*_i - dU = zeros(n_U,1); - dU(++i_U) = 1; # Create dU/dU_i - [ys,us] = ppp_ystar (A,B,C,D,x_0,A_u,dU,tau); # Find ystar and ustar - y_u = [y_u ys']; # Save y_u (y for input u) with one row for each t. - Us = [Us us']; # Save u (input) with one row for each t. - endfor - - Ws = []; # Initialise - if n_W>0 - ## Find w* - i_W = 0; - x_0 = zeros(n_x,1); # This is for x=0 - for i=1:n_W # Do for each setpoint function W*i - dW = zeros(n_W,1); - dW(++i_W) = 1; # Create dW/dW_i - [ys,ws] = ppp_ystar ([],[],[],[],[],A_w,dW,tau); # Find ystar and ustar - Ws = [Ws ws']; # Save u (input) with one row for each t. - endfor - endif - - - - ## Find y_x - derivative of y* wrt x. - y_x=[]; - for t_i=tau - y = C*expm(A*t_i); - yy = reshape(y,1,n_y*n_x); # Reshape to a row vector - y_x = [y_x; yy]; - endfor - - ## Compute the integrals to give cost function derivatives - [n_yu m] = size(y_u'); - [n_yx m] = size(y_x'); - [n_yw m] = size(Ws'); - - J_uu = zeros(n_U,n_U); - J_ux = zeros(n_U,n_x); - J_uw = zeros(n_U,n_W); - J_xx = zeros(n_x,n_x); - J_xw = zeros(n_x,n_W); - J_ww = zeros(n_W,n_W); - - ## Add up cost derivatives for each output but weighted by Q. - ## Scaled by time interval - ## y_u,y_x and Ws should really be 3D matrices, but instead are stored - ## with one row for each time and one vector (size n_y) column for - ## each element of U - - ## Scale Q - Q = Q/m_t; # Scale by T/dt = number of points - ## Non-w bits - for i = 1:n_y # For each output - QQ = ones(n_U,1)*Q(i,:); # Resize Q - J_uu = J_uu + (QQ .* y_u(:,i:n_y:n_yu)') * y_u(:,i:n_y:n_yu); - J_ux = J_ux + (QQ .* y_u(:,i:n_y:n_yu)') * y_x(:,i:n_y:n_yx); - QQ = ones(n_x,1)*Q(i,:); # Resize Q - J_xx = J_xx + (QQ .* y_x(:,i:n_y:n_yx)') * y_x(:,i:n_y:n_yx); - endfor - - ## Exit if badly conditioned - cond_uu = cond(J_uu); - if cond_uu>max_cond - error(sprintf("J_uu is badly conditioned. Condition number = 10^%i",log10(cond_uu))); - endif - - ## w bits - if n_W>0 - for i = 1:n_y # For each output - QQ = ones(n_U,1)*Q(i,:); # Resize Q - J_uw = J_uw + (QQ .* y_u(:,i:n_y:n_yu)') * Ws (:,i:n_y:n_yw); - QQ = ones(n_x,1)*Q(i,:); # Resize Q - J_xw = J_xw + (QQ .* y_x(:,i:n_y:n_yx)') * Ws (:,i:n_y:n_yw); - QQ = ones(n_W,1)*Q(i,:); # Resize Q - J_ww = J_ww + (QQ .* Ws (:,i:n_y:n_yw)') * Ws (:,i:n_y:n_yw); - endfor - endif - - ## Compute the open-loop gains - K_w = J_uu\J_uw; - K_x = J_uu\J_ux; - - ## U*(tau) at tau=0 - Us0 = ppp_ustar(A_u,n_u,0); - - ## Compute the closed-loop gains - k_x = Us0*K_x; - k_w = Us0*K_w; - -endfunction DELETED mttroot/mtt/lib/control/PPP/ppp_lin_con_sol.m Index: mttroot/mtt/lib/control/PPP/ppp_lin_con_sol.m ================================================================== --- mttroot/mtt/lib/control/PPP/ppp_lin_con_sol.m +++ /dev/null @@ -1,10 +0,0 @@ -function U = ppp_lin_con_sol (x,w,J_uu,J_ux,J_uw) - - ## usage: U = ppp_lin_con_sol (x,w,J_uu,J_ux,J_uw) - ## - ## - - ## Pass info to the solnp algorithm - global ppp_J_uu, ppp_J_ux, ppp_J_uw - -endfunction DELETED mttroot/mtt/lib/control/PPP/ppp_lin_obs.m Index: mttroot/mtt/lib/control/PPP/ppp_lin_obs.m ================================================================== --- mttroot/mtt/lib/control/PPP/ppp_lin_obs.m +++ /dev/null @@ -1,54 +0,0 @@ -function [l_x,l_y,L_x,L_y,J_uu,J_ux,J_uw,Us0] = ppp_lin_obs (A,B,C,D,A_u,A_y,t,Q) - - ## usage: [l_x,l_y,L_x,L_y,J_uu,J_ux,J_uw,Us0] = ppp_lin_obs (A,B,C,D,A_u,A_y,t,Q) - ## - ## Linear PPP (Predictive pole-placement) computation - ## INPUTS: - ## A,B,C,D: system matrices - ## A_u: composite system matrix for U* generation - ## one square matrix (A_ui) row for each system input - ## each A_ui generates U*' for ith system input. - ## A_y: composite system matrix for W* generation - ## one square matrix (A_yi) row for each system output - ## each A_yi generates W*' for ith system output. - ## t: row vector of times for optimisation (equispaced in time) - ## Q column vector of output weights (defaults to unity) - - ## OUTPUTS: - ## l_x: State feedback gain - ## l_y: setpoint gain - ## ie u(t) = l_y w(t) - l_x x(t) - ## L_x, L_y: open loop gains - ## J_uu, J_ux, J_uw: cost derivatives - ## Us0: Value of U* at tau=0 - - ## Check some dimensions - [n_x,n_u,n_y] = abcddim(A,B,C,D); - if (n_x==-1) - return - endif - - ## Default Q - if nargin<8 - Q = ones(n_y,1); - endif - - -# B_x = eye(n_x); # Pseudo B -# D_x = zeros(n_y,n_x); # Pseudo D - [l_x,l_y,L_x,L_y,J_uu,J_ux,J_uw,Us0] = ppp_lin(A',C',B',D',A_u',A_y',t,Q); - - l_x = l_x'; - l_y = l_y'; - L_x = L_x'; - L_y = L_y'; -endfunction - - - - - - - - - DELETED mttroot/mtt/lib/control/PPP/ppp_lin_plot.m Index: mttroot/mtt/lib/control/PPP/ppp_lin_plot.m ================================================================== --- mttroot/mtt/lib/control/PPP/ppp_lin_plot.m +++ /dev/null @@ -1,90 +0,0 @@ -function [ol_poles,cl_poles,ol_zeros,cl_zeros,k_x,k_w,K_x,K_w,cond_uu] = ppp_lin_plot (A,B,C,D,A_u,A_w,t,Q,W,x_0) - - ## usage: [ol_poles,cl_poles,ol_zeros,cl_zeros,k_x,k_w,K_x,K_w] = ppp_lin_plot (A,B,C,D,A_u,A_w,t,Q,W,x_0) - ## - ## Linear PPP (Predictive pole-placement) computation with plotting - ## INPUTS: - ## A,B,C,D: system matrices - ## A_u: composite system matrix for U* generation - ## one square matrix (A_ui) row for each system input - ## each A_ui generates U*' for ith system input. - ## A_w: composite system matrix for W* generation - ## one square matrix (A_wi) row for each system output - ## each A_wi generates W*' for ith system output. - ## t: row vector of times for optimisation (equispaced in time) - ## Q: column vector of output weights (defaults to unity) - ## W: Constant setpoint vector (one element per output) - ## x_0: Initial state - ## OUTPUTS: - ## Various poles 'n zeros - ## k_x: State feedback gain - ## k_w: setpoint gain - ## ie u(t) = k_w w(t) - k_x x(t) - ## K_x, K_w: open loop gains - ## J_uu, J_ux, J_uw: cost derivatives - - ## Copyright (C) 1999 by Peter J. Gawthrop - ## $Id$ - - ## Some dimensions - [n_x,n_u,n_y] = abcddim(A,B,C,D); - [n_U,m_U]=size(A_u); - square = (n_U==m_U); # Its a square matrix so same U* on each input - [n_W,m_W]=size(A_w); - if n_W==m_W # A_w square - n_W = n_W*n_y; # Total W functions - endif - - - [n_t,m_t] = size(t); - - ## Default Q - if nargin<8 - Q = ones(n_y,1); - endif - - ## Default W - if nargin<9 - W = ones(n_W,1) - endif - - ## Default x_0 - if nargin<10 - x_0 = zeros(n_x,1); - endif - - ## Check some dimensions - [n_Q,m_Q] = size(Q); - if ((m_Q != 1)&&(m_Q != m_t)) || (n_Q != n_y) - error("Q must be a column vector with one row per system output"); - endif - - [n,m] = size(W); - if ((m != 1) || (n != n_W)) - error("W must be a column vector with one element per system output"); - endif - - [n,m] = size(x_0); - if ((m != 1) || (n != n_x)) - error("x_0 must be a column vector with one element per system state"); - endif - - ## Simulate - [y,ystar,t,k_x,k_w,K_x,K_w,Us0,J_uu,J_ux,J_uw,J_xx,J_xw,J_ww,y_u,cond_uu]\ - = ppp_lin_sim(A,B,C,D,A_u,A_w,t,Q,W,x_0); - - ## Plot - xlabel("Time"); title("y* and y"); grid; - plot(t,ystar,t,y); - - ## Compute some pole/zero info - cl_poles = eig(A-B*k_x)'; - ol_poles = eig(A)'; - - if nargout>3 - ol_zeros = tzero(A,B,C,D)'; - cl_zeros = tzero(A-B*k_x,B,C,D)'; - endif - -endfunction - DELETED mttroot/mtt/lib/control/PPP/ppp_lin_sim.m Index: mttroot/mtt/lib/control/PPP/ppp_lin_sim.m ================================================================== --- mttroot/mtt/lib/control/PPP/ppp_lin_sim.m +++ /dev/null @@ -1,88 +0,0 @@ -function [y,ystar,t,k_x,k_w,K_x,K_w,Us0,J_uu,J_ux,J_uw,J_xx,J_xw,J_ww,y_u,cond_uu] = ppp_lin_sim(A,B,C,D,A_u,A_w,tau,Q,W,x_0) - - ## usage: [ol_poles,cl_poles,ol_zeros,cl_zeros,k_x,k_w,K_x,K_w] = ppp_lin_plot (A,B,C,D,A_u,A_w,tau,Q,W,x_0) - ## - ## Linear PPP (Predictive pole-placement) computation with plotting - ## INPUTS: - ## A,B,C,D: system matrices - ## A_u: composite system matrix for U* generation - ## one square matrix (A_ui) row for each system input - ## each A_ui generates U*' for ith system input. - ## A_w: composite system matrix for W* generation - ## one square matrix (A_wi) row for each system output - ## each A_wi generates W*' for ith system output. - ## tau: row vector of times for optimisation (equispaced in time) - ## Q: column vector of output weights (defaults to unity) - ## W: Constant setpoint vector (one element per output) - ## x_0: Initial state - ## OUTPUTS: - ## y : closed-loop output - ## ystar : open-loop moving-horizon output - ## t : time axis - - ## Copyright (C) 2001 by Peter J. Gawthrop - ## $id: ppp_lin_plot.m,v 1.13 2001/01/26 16:03:13 peterg Exp $ - - ## Some dimensions - [n_x,n_u,n_y] = abcddim(A,B,C,D); - [n_U,m_U]=size(A_u); - square = (n_U==m_U); # Its a square matrix so same U* on each input - [n_W,m_W]=size(A_w); - if n_W==m_W # A_w square - n_W = n_W*n_y; # Total W functions - endif - - - [n_tau,m_tau] = size(tau); - - ## Default Q - if nargin<8 - Q = ones(n_y,1); - endif - - ## Default W - if nargin<9 - W = ones(n_W,1) - endif - - ## Default x_0 - if nargin<10 - x_0 = zeros(n_x,1); - endif - - ## Check some dimensions - [n_Q,m_Q] = size(Q); - if ((m_Q != 1)&&(m_Q != m_tau)) || (n_Q != n_y) - error("Q must be a column vector with one row per system output"); - endif - - [n,m] = size(W); - if ((m != 1) || (n != n_W)) - error("W must be a column vector with one element per system output"); - endif - - [n,m] = size(x_0); - if ((m != 1) || (n != n_x)) - error("x_0 must be a column vector with one element per system state"); - endif - - ## Control design - disp("Designing controller"); - [k_x,k_w,K_x,K_w,Us0,J_uu,J_ux,J_uw,J_xx,J_xw,J_ww,y_u,cond_uu] = ppp_lin (A,B,C,D,A_u,A_w,tau,Q); - - ## Set up simulation times - dtau = tau(2) -tau(1); # Time increment - t = 0:dtau:tau(length(tau)); # Time starting at zero - - ## Compute the OL step response - disp("Computing OL response"); - U = K_w*W - K_x*x_0; - ystar = ppp_ystar (A,B,C,D,x_0,A_u,U,t); - - ## Compute the CL step response - disp("Computing CL response"); - y = ppp_sm2sr(A-B*k_x, B, C, D, t, k_w*W, x_0); # Compute Closed-loop control - - -endfunction - DELETED mttroot/mtt/lib/control/PPP/ppp_nlin.m Index: mttroot/mtt/lib/control/PPP/ppp_nlin.m ================================================================== --- mttroot/mtt/lib/control/PPP/ppp_nlin.m +++ /dev/null @@ -1,32 +0,0 @@ -function [U, U_all, Error, Y] = ppp_nlin (system_name,x_0,par_0,sim,us,w,free,extras) - - ## usage: [U, U_all, Error, Y] = ppp_nlin (system_name,x_0,par_0,sim,us,w,free,extras) - ## - ## - - if nargin<8 - extras.criterion = 1e-8; - extras.max_iterations = 10; - extras.v = 0.1; - extras.verbose = 1; - endif - - s_system_name = sprintf("s%s", system_name); # Name of sensitivity system - - ## Details - [n_x,n_y,n_u] = eval(sprintf("%s_def;", system_name)); - [n_tau,n_us] = size(us); - - ## Checks - if (n_us<>n_u) - error(sprintf("Inputs (%i) not equal to system inputs (%i)", n_us, n_u)); - endif - - [par,Par,Error,Y] = ppp_optimise(s_system_name,x_0,par_0,sim,us,w,free,extras); - - U = par(free(:,1)); - U_all = Par(free(:,1),:); -endfunction - - - DELETED mttroot/mtt/lib/control/PPP/ppp_nlin_sim.m Index: mttroot/mtt/lib/control/PPP/ppp_nlin_sim.m ================================================================== --- mttroot/mtt/lib/control/PPP/ppp_nlin_sim.m +++ /dev/null @@ -1,198 +0,0 @@ -function [y,x,u,t,p,UU,UU_c,UU_l,t_ppp,t_est] = ppp_nlin_sim (system_name,i_ppp,i_par,A_u,w_s,N_ol,extras) - - ## usage: [y,x,u,t,p,UU,UU_c,UU_l,t_ppp,t_est] = ppp_nlin_sim (system_name,i_ppp,i_par,A_u,w_s,N_ol,extras) - ## - ## - - ## Simulate nonlinear PPP - ## Copyright (C) 2000 by Peter J. Gawthrop - - ## Defaults - if nargin<7 - extras.U_initial = "zero"; - extras.U_next = "continuation"; - extras.criterion = 1e-5; - extras.max_iterations = 10; - extras.v = 0.1; - extras.verbose = 0; - extras.estimate = 1; - endif - - - - ## Names - s_system_name = sprintf("s%s", system_name); - - ## System details -- defines simulation within ol interval - par = eval(sprintf("%s_numpar;", system_name)); - simpar = eval(sprintf("%s_simpar;", system_name)); - x_0 = eval(sprintf("%s_state(par);", system_name)); - [n_x,n_y,n_u] = eval(sprintf("%s_def;", system_name)); - - ## Sensitivity system details -- defines moving horizon simulation - simpars = eval(sprintf("%s_simpar;", s_system_name)); - pars = eval(sprintf("%s_numpar;", s_system_name)); - - ## Times - ## -- within opt horizon - n_Tau = round(simpars.last/simpars.dt); - dtau = simpars.dt; - Tau = [0:n_Tau-1]'*dtau; - [n_tau,n_w] = size(w_s); - tau = Tau(n_Tau-n_tau+1:n_Tau); - w = w_s(length(w_s)); # Final value of setpoint - - ## -- within ol interval - n_t = round(simpar.last/simpar.dt); - dt = simpar.dt; - t_ol = [0:n_t-1]'*dt; - T_ol = n_t*dt; - - ## Create input basis functions - [n_U,junk] = size(A_u); - - ## For moving horizon - eA = expm(A_u*dtau); - u_star_i = ones(n_U,1); - u_star_tau = []; - for i = 1:n_Tau - u_star_tau = [u_star_tau; u_star_i']; - u_star_i = eA*u_star_i; - endfor - - ## and for actual implementation - eA = expm(A_u*dt); - u_star_i = ones(n_U,1); - u_star_t = []; - for i = 1:n_t - u_star_t = [u_star_t; u_star_i']; - u_star_i = eA*u_star_i; - endfor - - if extras.verbose - title("U*(tau)") - xlabel("tau"); - plot(Tau,u_star_tau) - title("U*(t)") - xlabel("t_ol"); - plot(t_ol,u_star_t) - endif - - - ## Check number of inputs adjust if necessary - if n_u>n_U - disp(sprintf("Augmenting inputs with %i zeros", n_u-n_U)); - u_star_tau = [u_star_tau; zeros(n_u-n_U, n_Tau)]; - u_star_t = [u_star_t; zeros(n_u-n_U, n_t)]; - endif - - if n_u0 - [U, U_all, Error, Y] = ppp_nlin(system_name,x_0s,pars,simpars,u_star_tau,w_s,i_ppp,extras); - pars(i_ppp(:,1)) = U; # Put final value of U into the parameter vector - else - Error = []; - endif - ppp_time = time-tick; - t_ppp = [t_ppp;ppp_time]; - - ## Generate control - u_ol = u_star_t*U; # Not used - just for show - - ## Simulate system over one ol interval - par(i_ppp(:,3)) = pars(i_ppp(:,1)); # Update the simulation ppp weights - [y_ol,x_ol] = eval(sprintf("%s_sim(x_0, par, simpar, u_star_t);", system_name)); - - - ## Tune parameters/states - if (extras.estimate==1) - tick = time; - par_est = pars(i_par(:,1)); - p = [p; par_est']; - pars = ppp_optimise(s_system_name,x_0s,pars,simpar,u_star_t,y_ol,i_par,extras); - est_time = time-tick; - t_est = [t_est;est_time]; - endif - - x_0 = x_ol(n_t+1,:)'; # Extract state for next time - y_ol = y_ol(1:n_t,:); # Avoid extra points due to rounding error - x_ol = x_ol(1:n_t,:); # Avoid extra points due to rounding error - - - y = [y; y_ol]; - x = [x; x_ol]; - u = [u; u_ol]; - - UU = [UU; U']; - UU_l = [UU_l; U_l']; - UU_c = [UU_c; U_c']; - - t = [t; t_ol+t_last*ones(n_t,1) ]; - t_last = t_last + T_ol; - - - endfor - -endfunction DELETED mttroot/mtt/lib/control/PPP/ppp_open2closed.m Index: mttroot/mtt/lib/control/PPP/ppp_open2closed.m ================================================================== --- mttroot/mtt/lib/control/PPP/ppp_open2closed.m +++ /dev/null @@ -1,83 +0,0 @@ -function [K_x T] = ppp_open2closed (A_u,A_c,k_x,x_0); - - ## usage: [K_x T] = ppp_open2closed (A_u,A_c,k_x,x_0); - ## K_x is the open-loop matrix as in U = K_w W - K_x x - ## Note that K_x is a column vector of matrices - one matrix per input. - ## T is the transformation matrix: x = T*Ustar; A_c = T*A_u*T^-1; U = (k_x*T)' - ## A_u: The control basis-function matrix - ## Us0: The initial value of Ustar - ## A_c: closed-loop system matrix - ## k_x: closed-loop feedback gain - ## x_0: initial state - - ## Copyright (C) 1999 by Peter J. Gawthrop - ## $Id$ - - - ## Check sizes - n_o = is_square(A_u); - n_c = is_square(A_c); - - if (n_o==0)||(n_c==0)||(n_o<>n_c) - error("A_u and A_c must be square and of the same dimension"); - endif - - [n_u,n_x] = size(k_x); - - ## Defaults - if nargin<4 - x_0 = zeros(n_c,1); - endif - - ## Create U*(0) - ##Us0 = ppp_ustar(A_u,n_u); - Us0 = ones(1,n_o); - - ## Decompose A_u and Us0 into two bits: - if n_o==n_c - A_w = []; - u_0 = Us0(1:n_c)'; # Assume same Us0 on each input - else - A_w = A_u(n_c+1:n_o, n_c+1:n_o) - A_u = A_u(1:n_c, 1:n_c) - U_w = Us0(1,n_c+1:n_o)' - u_0 = Us0(1:n_c)' - endif - - if !is_controllable(A_u,u_0) - error("The pair [A_u, u_0] must be controllable"); - endif - - ## Controllability matrices - C_o = u_0; - C_c = x_0; - for i=1:n_c-1 - C_o = [C_o A_u^i*u_0]; - C_c = [C_c A_c^i*x_0]; - endfor - - ## Transformation matrix: x = T*Ustar; A_c = T*A_u*T^-1; U = (k_x*T)' - iC_o = C_o^-1; - T = C_c*iC_o; - - K_x = []; - for j = 1:n_u - ## K_j matrix - K_j = []; - for i=1:n_c; - ## Create T_i = dT/dx_i - T_i = zeros(n_c,1); - T_i(i) = 1; - for k=1:n_c-1; - A_k = A_c^k; - T_i = [T_i A_k(:,i)]; - endfor - T_i = T_i*iC_o; - kj = k_x(j,:); # jth row of k_x - K_ji = kj*T_i; # ith row of K_j - K_j = [K_j; K_ji]; - endfor - K_x = [K_x; K_j']; - endfor - -endfunction DELETED mttroot/mtt/lib/control/PPP/ppp_optimise.m Index: mttroot/mtt/lib/control/PPP/ppp_optimise.m ================================================================== --- mttroot/mtt/lib/control/PPP/ppp_optimise.m +++ /dev/null @@ -1,188 +0,0 @@ -function [par,Par,Error,Y,iterations,x] = \ - ppp_optimise(system_name,x_0,par_0,simpar,u,y_0,free,extras); - ## Levenberg-Marquardt optimisation for PPP/MTT - ## Usage: [par,Par,Error,Y,iterations,x] = ppp_optimise(system_name,x_0,par_0,simpar,u,y_0,free[,extras]); - ## system_name String containing system name - ## x_0 Initial state - ## par_0 Initial parameter vector estimate - ## simpar Simulation parameters: - ## .first first time - ## .dt time increment - ## .stepfactor Euler integration step factor - ## u System input (column vector, each row is u') - ## y_0 Desired model output - ## free one row for each adjustable parameter - ## first column parameter indices - ## second column corresponding sensitivity indices - ## extras (opt) optimisation parameters - ## .criterion convergence criterion - ## .max_iterations limit to number of iterations - ## .v Initial Levenberg-Marquardt parameter - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - - ############################################################### - ## Version control history - ############################################################### - ## $Id$ - ## $Log$ - ## Revision 1.6 2001/07/03 22:59:10 gawthrop - ## Fixed problems with argument passing for CRs - ## - ## Revision 1.5 2001/06/06 07:54:38 gawthrop - ## Further fixes to make nonlinear PPP work ... - ## - ## Revision 1.4 2001/05/26 15:46:38 gawthrop - ## Updated to account for new nonlinear ppp - ## - ## Revision 1.3 2001/04/05 11:50:12 gawthrop - ## Tidied up documentation + verbose mode - ## - ## Revision 1.2 2001/04/04 08:36:25 gawthrop - ## Restuctured to be more logical. - ## Data is now in columns to be compatible with MTT. - ## - ## Revision 1.1 2000/12/28 11:58:07 peterg - ## Put under CVS - ## - ############################################################### - - - ## Copyright (C) 1999,2000 by Peter J. Gawthrop - - sim_command = sprintf("%s_ssim(x_0,par,simpar,u,i_s)", system_name); - - ## Extract indices - i_t = free(:,1); # Parameters - i_s = free(:,2)'; # Sensitivities - - if nargin<8 - extras.criterion = 1e-5; - extras.max_iterations = 10; - extras.v = 1e-5; - extras.verbose = 0; - endif - - - [n_data,n_y] = size(y_0); - if n_dataextras.criterion)&&\ - (abs(error)>extras.criterion)&&\ - (iterations1 # Adjust the Levenberg-Marquardt parameter - reduction = error_old-error; - predicted_reduction = 2*J'*step + step'*JJ*step; - r = predicted_reduction/reduction; - if (r<0.25)||(reduction<0) - v = 4*v; - elseif r>0.75 - v = v/2; - endif - - if reduction<0 # Its getting worse - par(i_t) = par(i_t) + step; # rewind parameter - error = error_old; # rewind error - error_old = error_old_old; # rewind old error - if extras.verbose - printf(" Rewinding ....\n"); - endif - endif - endif - - ## Compute step using pseudo inverse - JJL = JJ + v*eye(n_th); # Levenberg-Marquardt term - step = pinv(JJL)*J; # Step size - par(i_t) = par(i_t) - step; # Increment parameters - error_old_old = error_old; # Save old error - error_old = error; # Save error - - ##Some diagnostics - Error = [Error error]; # Save error - Par = [Par par]; # Save parameters - Y = [Y y]; # Save output - - if extras.verbose # Diagnostics - printf("Iteration: %i\n", iterations); - printf(" error: %g\n", error); - printf(" reduction: %g\n", reduction); - printf(" prediction: %g\n", predicted_reduction); - printf(" ratio: %g\n", r); - printf(" L-M param: %g\n", v); - printf(" parameters: "); - for i_th=1:n_th - printf("%g ", par(i_t(i_th))); - endfor - printf("\n"); - endif - - - endwhile - -endfunction DELETED mttroot/mtt/lib/control/PPP/ppp_output_constraint.m Index: mttroot/mtt/lib/control/PPP/ppp_output_constraint.m ================================================================== --- mttroot/mtt/lib/control/PPP/ppp_output_constraint.m +++ /dev/null @@ -1,62 +0,0 @@ -function [Gamma,gamma] = ppp_output_constraint (A,B,C,D,x_0,A_u,Tau,Min,Max,Order,i_y) - - ## usage: [Gamma,gamma] = ppp_output_constraint (A,B,C,D,A_u,Tau,Min,Max,Order) - ## - ## Derives the output constraint matrices Gamma and gamma - ## For Constraints Min and max at times Tau - ## Order=0 - output constraints - ## Order=1 - output derivative constraints - ## etc - ## NOTE You can stack up Gamma and gamma matrices for create multi-output constraints. - - ## Copyright (C) 1999 by Peter J. Gawthrop - ## $Id$ - - ## Sizes - [n_x,n_u,n_y] = abcddim(A,B,C,D); # System dimensions - [n_U,m_U] = size(A_u); # Number of basis functions - [n,n_tau] = size(Tau); # Number of constraint times - - if n_tau==0 # Nothing to be done - Gamma = []; - gamma = []; - return - endif - - ## Defaults - if nargin<10 - Order = zeros(1,n_tau); - endif - - if nargin<11 - i_y = 1; # First output - endif - - if n != 1 - error("Tau must be a row vector"); - endif - - n = length(Min); - m = length(Max); - o = length(Order); - - if (n != n_tau)||(m != n_tau)||(o != n_tau) - error("Tau, Min, Max and Order must be the same length"); - endif - - - ## Compute Gamma - Gamma = []; - for i=1:n_U - U = zeros(n_U,1); U(i,1) = 1; # Set up U_i - y_i = ppp_ystar (A,B,C,D,x_0,A_u,U,Tau);# Compute y* for ith input for each tau - y_i = y_i(:,i_y:n_y:n_y*n_tau); # Pluck out output i_y - Gamma = [Gamma [-y_i';y_i']]; # Put in parts for Min and max - endfor - - ## Compute gamma - gamma = [-Min';Max']; - -endfunction - - DELETED mttroot/mtt/lib/control/PPP/ppp_qp.m Index: mttroot/mtt/lib/control/PPP/ppp_qp.m ================================================================== --- mttroot/mtt/lib/control/PPP/ppp_qp.m +++ /dev/null @@ -1,50 +0,0 @@ -function [u,U,J] = ppp_qp (x,W,J_uu,J_ux,J_uw,Us0,Gamma,gamma) - - ## usage: [u,U] = ppp_qp (x,W,J_uu,J_ux,J_uw,Gamma,gamma) - ## INPUTS: - ## x: system state - ## W: Setpoint vector - ## J_uu,J_ux,J_uw: Cost derivatives (see ppp_lin) - ## Us0: value of U* at tau=0 (see ppp_lin) - ## Gamma, gamma: U constrained by Gamma*U <= gamma - ## Outputs: - ## u: control signal - ## U: control weight vector - ## - ## Predictive pole-placement of linear systems using quadratic programming - ## Use ppp_input_constraint and ppp_output_constraint to generate Gamma and gamma - ## Use ppp_lin to generate J_uu,J_ux,J_uw - ## Use ppp_cost to evaluate resultant cost function - - ## Copyright (C) 1999 by Peter J. Gawthrop - ## $Id$ - - ## Check the sizes - n_x = length(x); - - [n_U,m_U] = size(J_uu); - if n_U != m_U - error("J_uu must be square"); - endif - - [n,m] = size(J_ux); - if (n != n_U)||(m != n_x) - error("J_ux should be %ix%i not %ix%i",n_U,n_x,n,m); - endif - - - if length(gamma)>0 # Constraints exist: do the QP algorithm - U = qp(J_uu,(J_ux*x - J_uw*W),Gamma,gamma); # QP solution for weights U - #U = pd_lcp04(J_uu,(J_ux*x - J_uw*W),Gamma,gamma); # QP solution for weights U - u = Us0*U; # Control signal - else # Do the unconstrained solution - ## Compute the open-loop gains - K_w = J_uu\J_uw; - K_x = J_uu\J_ux; - - ## Closed-loop control - U = K_w*W - K_x*x; # Basis functions weights - U(t) - u = Us0*U; # Control u(t) - endif - -endfunction DELETED mttroot/mtt/lib/control/PPP/ppp_qp_sim.m Index: mttroot/mtt/lib/control/PPP/ppp_qp_sim.m ================================================================== --- mttroot/mtt/lib/control/PPP/ppp_qp_sim.m +++ /dev/null @@ -1,137 +0,0 @@ -function [T,y,u,J] = ppp_qp_sim (A,B,C,D,A_u,A_w,t,Q, Tau_u,Min_u,Max_u,Order_u, Tau_y,Min_y,Max_y,Order_y, W,x_0,Delta_ol,movie) - - ## usage: [T,y,u,J] = ppp_qp_sim (A,B,C,D,A_u,A_w,t,Q, Tau_u,Min_u,Max_u,Order_u, Tau_y,Min_y,Max_y,Order_y, W,x_0,movie) - ## Needs documentation - see ppp_ex11 for example of use. - ## OUTPUTS - ## T: Time vector - ## y,u,J output, input and cost - - ## Copyright (C) 1999 by Peter J. Gawthrop - ## $Id$ - - if nargin<19 # No intermittent control - Delta_ol = 0; - endif - - if nargin<20 # No movie - movie = 0; - endif - - ## Check some sizes - [n_x,n_u,n_y] = abcddim(A,B,C,D); - - [n_x0,m_x0] = size(x_0); - if (n_x0 != n_x)||(m_x0 != 1) - error(sprintf("Initial state x_0 must be %ix1 not %ix%i",n_x,n_x0,m_x0)); - endif - - ## Input constraints (assume same on all inputs) - Gamma_u=[]; - gamma_u=[]; - for i=1:n_u - [Gamma_i,gamma_i] = ppp_input_constraint (A_u,Tau_u,Min_u,Max_u,Order_u,i,n_u); - Gamma_u = [Gamma_u; Gamma_i]; - gamma_u = [gamma_u; gamma_i]; - endfor - - ## Output constraints - [Gamma_y,gamma_y] = ppp_output_constraint (A,B,C,D,x_0,A_u,Tau_y,Min_y,Max_y,Order_y); - - ## Composite constraints - t=0 - Gamma = [Gamma_u; Gamma_y]; - gamma = [gamma_u; gamma_y]; - - ## Design the controller - disp("Designing controller"); - [k_x,k_w,K_x,K_w,Us0,J_uu,J_ux,J_uw,J_xx,J_xw,J_ww] = ppp_lin (A,B,C,D,A_u,A_w,t,Q); - - ## Set up various time vectors - dt = t(2)-t(1); # Time increment - - ## Make sure Delta_ol is multiple of dt - Delta_ol = floor(Delta_ol/dt)*dt - - if Delta_ol>0 # Intermittent control - T_ol = 0:dt:Delta_ol-dt; # Create the open-loop time vector - else - T_ol = 0; - Delta_ol = dt; - endif - - T_cl = 0:Delta_ol:t(length(t))-Delta_ol; # Closed-loop time vector - n_Tcl = length(T_cl); - - Ustar_ol = ppp_ustar(A_u,n_u,T_ol); # U* in the open-loop interval - [n,m] = size(Ustar_ol); - n_U = m/length(T_ol); # Determine size of each Ustar - - ## Discrete-time system - csys = ss2sys(A,B,C,D); - dsys = c2d(csys,dt); - [Ad, Bd] = sys2ss(dsys); - - x = x_0; # Initialise state - - ## Initialise the saved variable arrays - X = []; - u = []; - du = []; - J = []; - tick= time; - i = 0; - disp("Simulating ..."); - for t=T_cl # Outer loop at Delta_ol - ##disp(sprintf("Time %g", t)); - ## Output constraints - [Gamma_y,gamma_y] = ppp_output_constraint (A,B,C,D,x,A_u,Tau_y,Min_y,Max_y,Order_y); - - ## Composite constraints - Gamma = [Gamma_u; Gamma_y]; - gamma = [gamma_u; gamma_y]; - - ## Compute U(t) - [uu U] = ppp_qp (x,W,J_uu,J_ux,J_uw,Us0,Gamma,gamma); # Compute U - - ## Compute the cost (not necessary but maybe interesting) -# [J_t] = ppp_cost (U,x,W,J_uu,J_ux,J_uw,J_xx,J_xw,J_ww); # cost -# J = [J J_t]; - - ## Simulation loop - i_ol = 0; - for t_ol=T_ol # Inner loop at dt - - ## Compute ol control - i_ol = i_ol+1; - range = (i_ol-1)*n_U + 1:i_ol*n_U; # Extract current U* - ut = Ustar_ol(:,range)*U; # Compute OL control (U* U) - - ## Simulate the system - i = i+1; - X = [X x]; # Save state - u = [u ut]; # Save input - x = Ad*x + Bd*ut; # System - -# if movie # Plot the moving horizon -# tau = T(1:n_T-i); # Tau with moving horizon -# tauT = T(i+1:n_T); # Tau with moving horizon + real time -# [ys,us,xs,xu,AA] = ppp_ystar (A,B,C,D,x,A_u,U,tau); # OL response -# plot(tauT,ys, tauT(1), ys(1), "*") -# endif - endfor - endfor - - ## Save the last values - X = [X x]; # Save state - u = [u ut]; # Save input - - tock = time; - Iterations = length(T_cl) - Elapsed_Time = tock-tick - y = C*X + D*u; # System output - - T = 0:dt:t+Delta_ol; # Overall time vector - -endfunction - - - DELETED mttroot/mtt/lib/control/PPP/ppp_sim.m Index: mttroot/mtt/lib/control/PPP/ppp_sim.m ================================================================== --- mttroot/mtt/lib/control/PPP/ppp_sim.m +++ /dev/null @@ -1,54 +0,0 @@ -function [y,y_s] = ppp_sim (system_name,x_0,u,t,par,i_s,external) - - ## mtt_sim: Simulates system sensitivity functions. - ## usage: [y,y_s] = ppp_sim (system_name,x_0,u,t,par,i_s) - ## system_name string containing name of the sensitivity system - ## x_0 initial state - ## u system input (one input per row) - ## t row vector of time - ## par system parameter vector - ## i_s indices of sensitivity parameters - - - if nargin<7 - external = 0; - endif - - ## Some sizes - n_s = length(i_s); - n_t = length(t); - - - for i = 1:n_s - - ## Set sensitivity parameters - par(i_s(i)) = 1.0; - par(complement(i_s(i),i_s)) = 0; - - if external - par_string = ""; - for i_string=1:length(par) - par_string = sprintf("%s %s", par_string, num2str(par(i_string))); - endfor - data_string = system(sprintf("./%s_ode2odes.out %s | cut -f 2-%i", \ - system_name, par_string, 1+n_s)); - Y = str2num(data_string)'; - else - Y = eval(sprintf("%s_sim(x_0,u,t,par);", system_name)); - endif - - [n_Y,m_Y] = size(Y); - n_y = n_Y/2; - if i==1 - y = Y(1:2:n_Y,:); # Save up the output - y_s = zeros(n_s*n_y, n_t); # Initialise for speed - endif - - y_s((i-1)*n_y+1:i*n_y,:) = Y(2:2:n_Y,:); # Other sensitivities - - endfor - -title(""); -plot(t,y); - -endfunction DELETED mttroot/mtt/lib/control/PPP/ppp_sm2sr.m Index: mttroot/mtt/lib/control/PPP/ppp_sm2sr.m ================================================================== --- mttroot/mtt/lib/control/PPP/ppp_sm2sr.m +++ /dev/null @@ -1,69 +0,0 @@ -function [Y,X] = ppp_sm2sr(A,B,C,D,T,u0,x0); - ## Usage [Y,X] = ppp_sm2sr(A,B,C,D,T,u0,x0); - ## Computes a step response - ## A,B,C,D- state matrices - ## T vector of time points - ## u0 input gain vector: u = u0*unit step. - - ## Copyright (C) 1999 by Peter J. Gawthrop - ## $Id$ - - [Ny,Nu] = size(D); - [Ny,Nx] = size(C); - - if nargin<6 - u0 = zeros(Nu,1); - u0(1) = 1; - end; - - if nargin<7 - x0 = zeros(Nx,1); - end; - - [N,M] = size(T); - if M>N - T = T'; - N = M; - end; - - - - one = eye(Nx); - - Y = zeros(Ny,N); - X = zeros(Nx,N); - - dt = T(2)-T(1); # Assumes fixed interval - expAdt = expm(A*dt); # Compute matrix exponential - i = 0; - expAt = one; - - DoingStep = max(abs(u0))>0; # Is there a step component? - DoingInitial = max(abs(x0))>0; # Is there an initial component? - for t = T' - i=i+1; - if Nx>0 - x = zeros(Nx,1); - if DoingStep - x = x + ( A\(expAt-one) )*B*u0; - endif - if DoingInitial - x = x + expAt*x0; - endif - - expAt = expAt*expAdt; - - X(:,i) = x; - if Ny>0 - y = C*x + D*u0; - Y(:,i) = y; - endif - elseif Ny>0 - y = D*u0; - Y(:,i) = y; - endif - endfor - - -endfunction - DELETED mttroot/mtt/lib/control/PPP/ppp_ustar.m Index: mttroot/mtt/lib/control/PPP/ppp_ustar.m ================================================================== --- mttroot/mtt/lib/control/PPP/ppp_ustar.m +++ /dev/null @@ -1,64 +0,0 @@ -function Ustar = ppp_ustar (A_u,n_u,tau,order,packed) - - ## usage: Us = ppp_ustar(A_u,n_u,tau,order,packed) - ## - ## Computes the U* matrix at time tau in terms of A_u - ## n_u : Number of system inputs - ## If tau is a vector, computes U* at each tau and puts into a row vector: - ## If packed==1 - ## Ustar = [Ustar(tau_1) Ustar(tau_2) ...] - ## else Ustar = [Ustar(tau_1); Ustar(tau_2) ...] - ## Copyright (C) 1999 by Peter J. Gawthrop - ## $Id$ - - if nargin<2 - n_u = 1; - endif - - if nargin<3 - tau = 0; - endif - - if nargin<4 - order = 0; - endif - - if nargin<5 - packed=1; - endif - - - [n,m] = size(A_u); # Size of composite A_u matrix - N = m; # Number of U* functions per input - nm = n/m; - - if (nm != n_u)&&(n!=m) # Check consistency - error("A_u must be square or be a column of square matrices"); - endif - - u_0 = ones(N,1); - - Ustar = []; - for t = tau; - ustar = []; - for i = 1:n_u - A_i = ppp_extract(A_u,i); - Ak = A_i^order; - eA = expm(A_i*t); - if (packed==1) - ustar = [ustar; zeros(1,(i-1)*N), (Ak*eA*u_0)', \ - zeros(1,(n_u-i)*N)]; - else - ustar = [ustar, (Ak*eA*u_0)']; - endif - endfor - - if (packed==1) - Ustar = [Ustar ustar]; - else - Ustar = [Ustar; ustar]; - endif - endfor - - -endfunction DELETED mttroot/mtt/lib/control/PPP/ppp_y_u.m Index: mttroot/mtt/lib/control/PPP/ppp_y_u.m ================================================================== --- mttroot/mtt/lib/control/PPP/ppp_y_u.m +++ /dev/null @@ -1,83 +0,0 @@ -function [y_u, Us] = ppp_y_u (A,B,C,D,A_u,u_0,tau) - - ## usage: y_u = ppp_y_u (A,B,C,D,A_u,u_0,t) - ## - ## Computes y_u derivative of y* wrt U - ## Called by ppp_lin - ## OBSOLETE - - ############################################################### - ## Version control history - ############################################################### - ## $Id$ - ## $Log$ - ## Revision 1.6 2000/12/27 16:41:05 peterg - ## *** empty log message *** - ## - ## Revision 1.5 1999/05/31 01:58:01 peterg - ## Now uses ppp_extract - ## - ## Revision 1.4 1999/05/12 00:10:35 peterg - ## Modified for alternative (square) A_u - ## - ## Revision 1.3 1999/05/03 23:56:32 peterg - ## Multivariable version - tested for N uncoupled systems - ## - ## Revision 1.2 1999/05/03 00:38:32 peterg - ## Changed data storage: - ## y_u saved as row vector, one row for each time, one column for - ## each U - ## y_x saved as row vector, one row for each time, one column for - ## each x - ## W* saved as row vector, one row for each time, one column for - ## each element of W* - ## This is consistent with paper. - ## - ## Revision 1.1 1999/04/29 06:02:43 peterg - ## Initial revision - ## - ############################################################### - - - - ## Check argument dimensions - [n_x,n_u,n_y] = abcddim(A,B,C,D); - if (n_x==-1) - return - endif - - [n,m] = size(A_u); # Size of composite A_u matrix - N = m; # Number of U* functions per input - - y_u = []; # Initialise - Us = []; - -# for input=1:n_u # Do for each system input -# a_u = ppp_extract(A_u,input); # Extract the relecant A_u matrix -# for i=1:N # Do for each input function U*_i -# C_u = zeros(1,N); C_u(i) = 1; # Create C_u for this U*_i -# b = B(:,input); # B vector for this input -# d = D(:,input); # D vector for this input -# [y,u] = ppp_transient (t,a_u,C_u,u_0,A,b,C,d); # Compute response for this input -# y_u = [y_u y']; # Save y_u (y for input u) with one row for each t. -# Us = [Us u']; # Save u (input) with one row for each t. -# endfor -# endfor - i_U = 0; - x_0 = zeros(n_x,1); # This is for x=0 - for input=1:n_u # Do for each system input - a_u = ppp_extract(A_u,input); # Extract the relevant A_u matrix - for i=1:N # Do for each input function U*_i - dU = zeros(N*n_u,1); - dU(++i_U) = 1; # Create dU/dU_i - [ys,us] = ppp_ystar (A,B,C,D,x_0,a_u,dU,tau); # Find ystar and ustar - y_u = [y_u ys']; # Save y_u (y for input u) with one row for each t. - Us = [Us us']; # Save u (input) with one row for each t. - endfor - endfor - -endfunction - - - - DELETED mttroot/mtt/lib/control/PPP/ppp_ystar.m Index: mttroot/mtt/lib/control/PPP/ppp_ystar.m ================================================================== --- mttroot/mtt/lib/control/PPP/ppp_ystar.m +++ /dev/null @@ -1,124 +0,0 @@ -function [ys,us,xs,xu,AA] = ppp_ystar (A,B,C,D,x_0,A_u,U,tau) - - ## usage: [ys,us,xs,xu,AA] = ppp_ystar (A,B,C,D,x_0,A_u,U,tau) - ## - ## Computes open-loop moving horizon variables at time tau - ## Inputs: - ## A,B,C,D System matrices - ## x_0 Initial state - ## A_u composite system matrix for U* generation - ## one square matrix (A_ui) row for each system input - ## each A_ui generates U*' for ith system input. - ## OR - ## A_u square system matrix for U* generation - ## same square matrix for each system input - ## U Column vector of optimisation coefficients - ## tau Row vector of times at which outputs are computed - ## Outputs: - ## ys y*, one column for each time tau - ## us u*, one column for each time tau - ## xs x*, one column for each time tau - ## xu x_u, one column for each time tau - ## AA The composite system matrix - - ## Copyright (C) 1999 by Peter J. Gawthrop - ## $Id$ - - - [n_x,n_u,n_y] = abcddim(A,B,C,D); # System dimensions - no_system = n_x==0; - - [n,m] = size(A_u); # Size of composite A_u matrix - square = (n==m); # Is A_u square? - n_U = m; # functions per input - - - [n,m] = size(U); - if (m != 1) - error("U must be a column vector"); - endif - - if n_u>0 - if n_u!=length(U)/n_U - error("U must be a column vector with n_u*n_U components"); - endif - else - n_u = length(U)/n_U; # Deduce n_u from U if no system - endif - - - [n,m]=size(tau); - if (n != 1 ) - error("tau must be a row vector of times"); - endif - - if square # Then same A_u for each input - ## Reorganise vector U into matrix Utilde - Utilde = []; - for i=1:n_u - j = (i-1)*n_U; - range = j+1:j+n_U; - Utilde = [Utilde; U(range,1)']; - endfor - - ## Composite A matrix - if no_system - AA = A_u; - else - Z = zeros(n_U,n_x); - AA = [A B*Utilde - Z A_u]; - endif - - xx_0 = [x_0;ones(n_U,1)]; # Composite initial condition - else # Different A_u on each input - ## Reorganise vector U into matrix Utilde - Utilde = []; - for i=1:n_u - j = (i-1)*n_U; - k = (n_u-i)*n_U; - range = j+1:j+n_U; - Utilde = [Utilde; zeros(1,j), U(range,1)', zeros(1,k)]; - endfor - - ## Create the full A_u matrix (AA_u) with the A_i s on the diagonal -# AA_u = []; -# for i = 1:n_u -# AA_u = ppp_aug(AA_u,ppp_extract(A_u,i)); -# endfor - AA_u = ppp_inflate(A_u); - - ## Composite A matrix - if no_system - AA = AA_u; - else - Z = zeros(n_U*n_u,n_x); - AA = [A B*Utilde - Z AA_u]; - endif - xx_0 = [x_0;ones(n_U*n_u,1)]; # Composite initial condition - endif - - - ## Initialise - xs = []; # x star - xu = []; # x star - ys = []; # y star - us = []; # u star - n_xx = length(xx_0); # Length of composite state - - ## Compute the star variables - for t=tau - xxt = expm(AA*t)*xx_0; # Composite state - xst = xxt(1:n_x); # x star - xut = xxt(n_x+1:n_xx); # x star - yst = C*xst; # y star - ust = Utilde*xut; # u star - - xs = [xs xst]; # x star - xu = [xu xut]; # x star - ys = [ys yst]; # y star - us = [us ust]; # u star - endfor - -endfunction DELETED mttroot/mtt/lib/control/PPP/rpv.m Index: mttroot/mtt/lib/control/PPP/rpv.m ================================================================== --- mttroot/mtt/lib/control/PPP/rpv.m +++ /dev/null @@ -1,28 +0,0 @@ -function [A,B,C,D] = rpv -% System RPV -% This system is the remotely-piloted vehicle example from the book: -% J.M Maciejowski: Multivariable Feedback Design Addison-Wesley, 1989 -% It has 6 states, 2 inputs and 2 outputs. - -% P J Gawthrop Jan 1998 - -A = [-0.0257 -36.6170 -18.8970 -32.0900 3.2509 -0.7626 - 0.0001 -1.8997 0.9831 -0.0007 -0.1780 -0.0050 - 0.0123 11.7200 -2.6316 0.0009 -31.6040 22.3960 - 0 0 1.0000 0 0 0 - 0 0 0 0 -30.0000 0 - 0 0 0 0 0 -30.0000]; - -B = [0 0 - 0 0 - 0 0 - 0 0 - 30 0 - 0 30]; - -C = [0 1 0 0 0 0 - 0 0 0 1 0 0]; - -D = zeros(2,2); - - DELETED mttroot/mtt/lib/control/PPP/tgen.m Index: mttroot/mtt/lib/control/PPP/tgen.m ================================================================== --- mttroot/mtt/lib/control/PPP/tgen.m +++ /dev/null @@ -1,28 +0,0 @@ -function [A,B,C,D] = tgen -% System TGEN from -% This system is the turbogenerator example from the book: -% J.M Maciejowski: Multivariable Feedback Design Addison-Wesley, 1989 -% It has 6 states, 2 inputs and 2 outputs. - -% P J Gawthrop Jan 1998 - -A = [-18.4456 4.2263 -2.2830 0.2260 0.4220 -0.0951 - -4.0977 -6.0706 5.6825 -0.6966 -1.2246 0.2873 - 1.4449 1.4336 -2.6477 0.6092 0.8979 -0.2300 - -0.0093 0.2302 -0.5002 -0.1764 -6.3152 0.1350 - -0.0464 -0.3489 0.7238 6.3117 -0.6886 0.3645 - -0.0602 -0.2361 0.2300 0.0915 -0.3214 -0.2087]; - -B = [-0.2748 3.1463 - -0.0501 -9.3737 - -0.1550 7.4296 - 0.0716 -4.9176 - -0.0814 -10.2648 - 0.0244 13.7943]; - -C = [0.5971 -0.7697 4.8850 4.8608 -9.8177 -8.8610 - 3.1013 9.3422 -5.6000 -0.7490 2.9974 10.5719]; - -D = zeros(2,2); - - DELETED mttroot/mtt/lib/control/PPP/transient.m Index: mttroot/mtt/lib/control/PPP/transient.m ================================================================== --- mttroot/mtt/lib/control/PPP/transient.m +++ /dev/null @@ -1,27 +0,0 @@ -function X = transient (t,A,x_0) - - ## usage: L = transient (t,p,order) - ## - ## Computes transient response for time t with initial condition x_0 - - ############################################################### - ## Version control history - ############################################################### - ## $Id$ - ## $Log$ - ## Revision 1.1 1999/04/27 04:46:05 peterg - ## Initial revision - ## - ## Revision 1.1 1999/04/25 23:19:40 peterg - ## Initial revision - ## - ############################################################### - - -X=[]; - for tt=t # Create the Transient up to highest order - x = expm(A*tt)*x_0; - X = [X x]; - endfor - -endfunction DELETED mttroot/mtt/lib/cr/hh/ISW.hh Index: mttroot/mtt/lib/cr/hh/ISW.hh ================================================================== --- mttroot/mtt/lib/cr/hh/ISW.hh +++ /dev/null @@ -1,6 +0,0 @@ -#ifndef ISW_HH -#define ISW_HH - -// dummy file - -#endif // ISW_H DELETED mttroot/mtt/lib/cr/hh/SS.hh Index: mttroot/mtt/lib/cr/hh/SS.hh ================================================================== --- mttroot/mtt/lib/cr/hh/SS.hh +++ /dev/null @@ -1,6 +0,0 @@ -#ifndef SS_HH -#define SS_HH - -// dummy file - -#endif // SS_H DELETED mttroot/mtt/lib/cr/hh/constants.hh Index: mttroot/mtt/lib/cr/hh/constants.hh ================================================================== --- mttroot/mtt/lib/cr/hh/constants.hh +++ /dev/null @@ -1,12 +0,0 @@ -#ifndef CONSTANTS_HH -#define CONSTANTS_HH - -const double pi = 3.14159264; -const double pi2 = pi * pi; -const double pi4 = pi2 * pi2; - -// Reynolds number -const double ReL = 2300.0; // transition from laminar flow -const double ReT = 4000.0; // transition to turbulent flow - -#endif // CONSTANTS DELETED mttroot/mtt/lib/cr/hh/fade.hh Index: mttroot/mtt/lib/cr/hh/fade.hh ================================================================== --- mttroot/mtt/lib/cr/hh/fade.hh +++ /dev/null @@ -1,43 +0,0 @@ -#ifndef FADE_HH -#define FADE_HH - -#include // tanh - -#include "constants.hh" // pi - -inline double -fade(const double x, - const double x1, - const double x2, - const double y1, - const double y2) -{ - /* fades two functions together smoothly over the range x1 to x2 - * function does not check that x2 > x1 - */ - double theta; - theta = (x - x1) / (x2 - x1); // map (linear) {x1 , x2 } => {0 , +1 } - theta = (theta - 0.5) * 2.0 * pi; // map (linear) {0 , +1 } => {-Pi , +Pi} - theta = tanh(theta); // map (non-linear) {-Pi , +Pi} => {-1 , +1 } - theta = (theta + 1.0) / 2.0; // map (linear) {-1 , +1 } => {0 , +1 } - - return (theta * y1 + (1.0 - theta) * y2); -} - -inline double -chkfade(const double x, - const double x1, - const double x2, - const double y1, - const double y2) -{ - double X1 = x1, X2 = x2; - if (x1 > x2) { - cerr << "* Warning: chkfade; x2 > x1, swapping" << endl; - X1 = x2; - X2 = x1; - } - return ((x <= X1) ? y1 : (x > X2) ? y2 : fade(x, X1, X2, y1, y2)); -} - -#endif // FADE_HH DELETED mttroot/mtt/lib/cr/hh/frictionfactor.hh Index: mttroot/mtt/lib/cr/hh/frictionfactor.hh ================================================================== --- mttroot/mtt/lib/cr/hh/frictionfactor.hh +++ /dev/null @@ -1,34 +0,0 @@ -#ifndef FRICTIONFACTOR_HH -#define FRICTIONFACTOR_HH - -#include -#include -#include - -#include "constants.hh" // ReL, ReT -#include "fade.hh" - -inline double -frictionfactor(const double Re, const double r) { - if (0.0 == Re) { - return 0.0; - } - else if (ReL >= Re) { // laminar flow - return 16.0 / Re; // using k = 4.f.(l/d) - } else if (ReT <= Re) { // turbulent flow - /* S.E.Haaland - * Simple and explicit formulas for the friction factor in turbulent pipe flow - * Journal of Fluids Engineering, 105 (1983) - */ - double A = 6.91 / Re; - double B = pow((r / 3.71), 1.11); - double f = pow(-3.6 * log10(A + B), -2); - return f; - } else { // transition region - double ffL = frictionfactor(ReL, r); - double ffT = frictionfactor(ReT, r); - return fade(Re, ReL, ReT, ffL, ffT); - } -} - -#endif // FRICTIONFACTOR_HH DELETED mttroot/mtt/lib/cr/hh/kinematicviscosity.hh Index: mttroot/mtt/lib/cr/hh/kinematicviscosity.hh ================================================================== --- mttroot/mtt/lib/cr/hh/kinematicviscosity.hh +++ /dev/null @@ -1,61 +0,0 @@ -#ifndef KINEMATICVISCOSITY_HH -#define KINEMATICVISCOSITY_HH - -#include // pow -#include - -inline double -kerosenekinematicviscosity(const double T) - /* - * B.S.Massey - * Mechanics of fluids - * ISBN: 0 412 34280 4 - * log-log plot of kinematic viscosity versus temperature is linear for kerosene - * L(n) = log10(n) - * - * T = 0 deg C : nu = 4.0 mm2/s - * T = 100 deg C : nu = 0.9 mm2/s - * - * deg C => K, mm2/s => m2/s - * - * T1 = 273.15 : nu1 = 4.0e-6 m2/s - * T2 = 373.15 : nu2 = 0.9e-6 m2/s - * - * L(nu) = m L(T) + c - * - * m = (L(nu2) - L(nu1)) / (L(T2) - L(T1)) - * = L(nu2/nu1) / L(T2/T1) - * = L(0.9/4.0) / L(373.15/273.15) - * = -4.781567507 - * - * c = L(nu1) - m * L(T1) - * = L(4.0e-6) - m * L(273.15) - * = 6.251876827 - * - * nu {m2/s} = 10^(m * L(T {Kelvin}) + c) - * - * = 10^(m * L(T) + c) - * = 10^c * (10^L(T))^m - * = 10^c * T^m - * - * 10^c = 1.78598097e6 - * - * nu = 1.78598097e6 * T^(-4.781567507) - */ -{ - return 1.79e6 * pow(T, -4.78); -} - -inline double -kinematicviscosity(const string fluid, - const double T) -{ - if ("kerosene" == fluid) { - return kerosenekinematicviscosity(T); - } else { - cerr << __FILE__ << ": fluid \"" << fluid << "\" unknown" << endl; - exit(-1); - } -} - -#endif // KINEMATICVISCOSITY_HH DELETED mttroot/mtt/lib/cr/hh/lin.hh Index: mttroot/mtt/lib/cr/hh/lin.hh ================================================================== --- mttroot/mtt/lib/cr/hh/lin.hh +++ /dev/null @@ -1,124 +0,0 @@ -#ifndef LIN_HH -#define LIN_HH - -#include - -// translated from lin.cr - -// one 2-port, R/C/I; two 2-port, TF/GY -inline double -lin(// parameters - const causality_t gain_causality, - const double gain, - // output - const causality_t out_causality, - const int out_port, - // input - const double input, - const causality_t in_causality, - const int in_port) -{ - if (out_port == in_port) { // R/C/I - if (gain_causality == in_causality) { - return input * gain; - } else { - return input / gain; - } - } else { // GY/TF - if (out_causality == in_causality) { // gyrator - if ((out_port == 1 && out_causality != gain_causality) - ||(out_port == 2 && out_causality == gain_causality)) { - return input * gain; - } else { - return input / gain; - } - } else { // transformer - if (out_causality == gain_causality) { - return input * gain; - } else { - return input / gain; - } - } - } -} - -// two 2-port, AE/AF -inline double -lin(// parameters - const double gain, - // output - const causality_t out_causality, - const int out_port, - // input - const double input, - const causality_t in_causality, - const int in_port) -{ - return - (out_port == 1) ? input * gain : - input / gain; -} - - - - -// three 2-port, FMR -inline double -lin(// parameters - const causality_t gain_causality, - const double gain, - // output - const causality_t out_causality, - const int out_port, - // input - const double input, - const causality_t in_causality, - const int in_port, - const double modulation, - const causality_t mod_causality, - const int mod_port) -{ - if (mod_causality == flow) { // uni-causal - if (out_port == 2) { - return 0; - } else { - double k = 1.0; - if (gain_causality == in_causality) { - k *= gain; - } else { - k /= gain; - } - if (in_causality == effort) { - k *= modulation; - } else { - k /= modulation; - } - return input * k; - } - } else { // bi-causal - if ((in_causality == effort) - &&(mod_causality == flow) - &&(gain_causality == effort) - &&(in_port == 1) - &&(mod_port == 1)) { - return (input / modulation) / gain; - } else { - - // three 2-port, EMTF - - if ((out_causality == gain_causality && out_port == 2) - ||(out_causality != gain_causality && out_port == 1)) { - return input * gain * modulation; - } else if((out_causality != gain_causality && out_port == 2) - ||(out_causality == gain_causality && out_port == 1)) { - return input / (gain * modulation); - } else { - cerr << "* Error: __FILE__ does not cover this case" << endl; - exit(-1); - } - } // EMTF - } // bi-causal -} - - -#endif // LIN_HH DELETED mttroot/mtt/lib/cr/hh/pressuredrop.hh Index: mttroot/mtt/lib/cr/hh/pressuredrop.hh ================================================================== --- mttroot/mtt/lib/cr/hh/pressuredrop.hh +++ /dev/null @@ -1,47 +0,0 @@ -#ifndef PRESSUREDROP_HH -#define PRESSUREDROP_HH - -#include // fabs, pow - -#include "constants.hh" -#include "frictionfactor.hh" -#include "kinematicviscosity.hh" -#include "sign.hh" - -inline double -pressuredrop(const string fluid, - const double d, - const double l, - const double r, - const double rho, - const double T, - const double Q) -{ - double nu = kinematicviscosity(fluid, T); - double Re = 4.0 * fabs(Q) / (pi * d * nu); - double f = frictionfactor(Re, r); - double k = 4.0 * f * l / d; - double dP = k * 8.0 * rho * pow(Q, 2) / (pi2 * pow(d, 4)); - return (dP * sign(Q)); -} - -inline double -pressuredrop(const string fluid, - const double d, - const double l, - const double r, - const double rho, - const double T, - const causality_t effort_causality, const int port, - const double Q, const causality_t flow_causality, const int port_in) -{ - - /* assert(effort == causality); - * assert(flow == causality_in); - * assert(1 == port_in); - * assert(1 == port); - */ - return pressuredrop(fluid, d, l, r, rho, T, Q); -} - -#endif // PRESSUREDROP_HH DELETED mttroot/mtt/lib/cr/hh/sign.hh Index: mttroot/mtt/lib/cr/hh/sign.hh ================================================================== --- mttroot/mtt/lib/cr/hh/sign.hh +++ /dev/null @@ -1,13 +0,0 @@ -#ifndef SIGN_HH -#define SIGN_HH - -template -inline int -sign(T x) -{ - return ((x > 0) ? +1 : - (x < 0) ? -1 : - 0); -} - -#endif // SIGN_HH DELETED mttroot/mtt/lib/cr/hh/squarelaw.hh Index: mttroot/mtt/lib/cr/hh/squarelaw.hh ================================================================== --- mttroot/mtt/lib/cr/hh/squarelaw.hh +++ /dev/null @@ -1,22 +0,0 @@ -#ifndef SQUARELAW_HH -#define SQUARELAW_HH - -#include -#include "sign.hh" - -inline double squarelaw(const double gain, - const causality_t causality, const int port, - const double input, const causality_t in_causality, const int in_port) - /* - * implements P = R Q^2 - * direction of flow is retained - */ -{ - if (causality == effort) { - return pow(input, 2) * gain * sign(input * gain); - } else { - return sqrt(fabs(input / gain)) * sign(input / gain); - } -} - -#endif // SQUARELAE_HH DELETED mttroot/mtt/lib/cr/hh/staticpressure.hh Index: mttroot/mtt/lib/cr/hh/staticpressure.hh ================================================================== --- mttroot/mtt/lib/cr/hh/staticpressure.hh +++ /dev/null @@ -1,27 +0,0 @@ -#ifndef STATICPRESSURE_HH -#define STATICPRESSURE_HH - -#include // log, pow - -#include "constants.hh" - -inline double -staticpressure(const double beta, - const double C_d, - const double d, - const double P_ref, - const double rho, - const causality_t causality, const int port, - const double Q1, const causality_t causality1, const int port1, - const double Q2, const causality_t causality2, const int port2) -{ - static double P; - if (0.0 != Q1 && 0.0 != Q2) { - double num = pi2 * pow(d, 4) * log(Q1 / Q2); - double den = 8.0 * beta * rho * Q1 * (Q2 - Q1 + C_d * (Q1 + Q2) / 2.0); - P = P_ref + log(num / den)/beta; - } - return P; -} - -#endif // STATICPRESSUE_HH DELETED mttroot/mtt/lib/cr/r/CT2.cr Index: mttroot/mtt/lib/cr/r/CT2.cr ================================================================== --- mttroot/mtt/lib/cr/r/CT2.cr +++ /dev/null @@ -1,43 +0,0 @@ -%SUMMARY CT2 Constitutive Relationship for a two port thermo C -%DESCRIPTION Parameter 1: c_v (specific heat at constant volume) -%DESCRIPTION Parameter 2: gamma = c_p/c_v -%DESCRIPTION Parameter 3: mass of (ideal) gas within component. -%DESCRIPTION Parameter 4: t_0 -- the temperature at which internal -%DESCRIPTION energy is zero. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %%%%% Model Transformation Tools %%%%% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1997/12/07 20:45:21 peterg -% %% Initial revision -% %% -% %% Revision 1.1 1996/11/02 10:21:19 peterg -% %% Initial revision -% %% -% %% Revision 1.1 1996/09/12 11:18:26 peter -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -OPERATOR CT2; -Port 1 - Thermal -FOR ALL c_v,gamma,m,t_0,InternalEnergy,Volume -LET CT2(c_v,gamma,m,t_0,effort,1, - InternalEnergy, state, 1, - Volume, state, 2) - = InternalEnergy/(m*c_v); - -Port 2 - Mechanical -FOR ALL c_v,gamma,m,t_0,InternalEnergy,Volume -LET CT2(c_v,gamma,m,t_0,effort,2, - InternalEnergy, state, 1, - Volume, state, 2) - = (gamma-1)*(InternalEnergy+c_v*m*t_0)/Volume; - DELETED mttroot/mtt/lib/cr/r/SS.cr Index: mttroot/mtt/lib/cr/r/SS.cr ================================================================== --- mttroot/mtt/lib/cr/r/SS.cr +++ /dev/null @@ -1,3 +0,0 @@ -%% A dummy constitutive relationship file for SS - -END;; DELETED mttroot/mtt/lib/cr/r/StefanBoltzmann.cr Index: mttroot/mtt/lib/cr/r/StefanBoltzmann.cr ================================================================== --- mttroot/mtt/lib/cr/r/StefanBoltzmann.cr +++ /dev/null @@ -1,15 +0,0 @@ -%SUMMARY StefanBoltzmann: Stefan-Boltzmann radiation law. -%DESCRIPTION Parameter 1: Stefan-Boltzmann constant -%DESCRIPTION Parameter 2: Area of radiating surface - - - -OPERATOR StefanBoltzmann; - - -FOR ALL sigma,Area,input -LET StefanBoltzmann(sigma,Area,flow, 1, - input, effort, 1) - = sigma*area*input^4; - - DELETED mttroot/mtt/lib/cr/r/cm.cr Index: mttroot/mtt/lib/cr/r/cm.cr ================================================================== --- mttroot/mtt/lib/cr/r/cm.cr +++ /dev/null @@ -1,41 +0,0 @@ -%SUMMARY cm: relation for 2-port CM component -%DESCRIPTION Parameter 1 capacitance at separation x_0 -%DESCRIPTION Parameter 2 x_0 -%DESCRIPTION parameter 3 moving-plate mass - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %%%%% Model Transformation Tools %%%%% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1996/11/02 10:21:19 peterg -% %% Initial revision -% %% -% %% Revision 1.1 1996/09/12 11:18:26 peter -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -OPERATOR cm; -%Linear electrical bit -FOR ALL c_0,x_0,elec_state,mech_state LET -cm(c_0,x_0,effort,1, - elec_state,state,1, - mech_state,state,2 - ) - = elec_state/(c_0*x_0/mech_state); - -%Nonlinear mechanical bit -FOR ALL c_0,x_0,elec_state,mech_state LET -cm(c_0,x_0,effort,2, - elec_state,state,1, - mech_state,state,2 - ) - = -(c_0*x_0)*((elec_state/mech_state)^2)/2; - -END;; DELETED mttroot/mtt/lib/cr/r/cr.cr Index: mttroot/mtt/lib/cr/r/cr.cr ================================================================== --- mttroot/mtt/lib/cr/r/cr.cr +++ /dev/null @@ -1,109 +0,0 @@ -%SUMMARY cr generic CR -%DESCRIPTION Argument is an algebraic expression with no embeddedwhite space -%DESCRIPTION Only available for one ports just now -%DESCRIPTION effort (or integrated effort) variable must be called mtt_e -%DESCRIPTION flow (or integrated flow) variable must be called mtt_f -%DESCRIPTION For example: -%DESCRIPTION mtt_e=k*mtt_f -%DESCRIPTION mtt_f=mtt_e/r - -% $Log$ -% Revision 1.3 2000/10/05 10:13:00 peterg -% New eqn2ass function. -% Started extension to multiports -% -% Revision 1.2 2000/10/03 18:35:04 peterg -% Removed comment bug -% -% Revision 1.1 2000/10/03 18:34:00 peterg -% Initial revision -% - -%Copyright (C) 2000 by Peter J. Gawthrop - - -% Function to convert equation to assignment -OPERATOR eqn2ass; -FOR ALL eqn,outlist,inputs -LET eqn2ass(eqn,outlist,inputs) = -BEGIN - ass := {}; mtt_ports := 0; - solutions := solve(eqn,outlist); - FOR EACH solution IN solutions DO - BEGIN - mtt_ports := mtt_ports + 1; - rh := RHS(solution); - FOR EACH input IN inputs DO - rh := sub(input,rh); - ass := APPEND(ass,{rh}); - END; - IF mtt_ports EQ 1 THEN - RETURN FIRST(ass) - ELSE - RETURN ass; - - %return sub(input,rhs(first(solve(eqn,outlist)))); - % Needs multiplicity warning -END; - - -OPERATOR cr; - -% Version for one-port components - -% We need four versions so that state does not need to be explicitly -% mentioned. -% At the moment, assume only one solution (in fact the first is -% chosen) - -%%%% This is the Equation version -% Flow input -FOR ALL mtt_cr, input, out_cause -LET cr(mtt_cr,out_cause, 1, input, flow, 1) - = eqn2ass(mtt_cr,mtt_e,{mtt_f=input}); - -% Effort input -FOR ALL mtt_cr, input, out_cause -LET cr(mtt_cr,out_cause, 1, input, effort, 1) - = eqn2ass(mtt_cr,mtt_f,{mtt_e=input}); - -% Effort output -FOR ALL mtt_cr, input, in_cause -LET cr(mtt_cr,effort, 1, input, in_cause, 1) - = eqn2ass(mtt_cr,mtt_e,{mtt_f=input}); - -% Flow output -FOR ALL mtt_cr, input, in_cause -LET cr(mtt_cr,flow, 1, input, in_cause, 1) - = eqn2ass(mtt_cr,mtt_f,{mtt_e=input}); - -%%%% This is the assignment version -% Flow input -FOR ALL mtt_cr_e,mtt_cr_f, input, out_cause -LET cr(mtt_cr_e,mtt_cr_f,out_cause, 1, input, flow, 1) - = sub(mtt_f=input,mtt_cr_f); - -% Effort input -FOR ALL mtt_cr_e,mtt_cr_f, input, out_cause -LET cr(mtt_cr_e,mtt_cr_f,out_cause, 1, input, effort, 1) - = sub(mtt_e=input,mtt_cr_e); - -% Effort output -FOR ALL mtt_cr_e,mtt_cr_f, input, in_cause -LET cr(mtt_cr_e,mtt_cr_f,effort, 1, input, in_cause, 1) - = sub(mtt_f=input,mtt_cr_f); - -% Flow output -FOR ALL mtt_cr_e,mtt_cr_f, input, in_cause -LET cr(mtt_cr_e,mtt_cr_f,flow, 1, input, in_cause, 1) - = sub(mtt_e=input,mtt_cr_e); - - -%%% Q&D FMR 2 port. -FOR ALL mtt_cr_e,mtt_cr_f,input_1,input_2 -LET cr(mtt_cr_e,mtt_cr_f,flow,1, - input_1,effort,1, - input_2,flow,2 - ) = sub(mtt_mod=input_2,sub(mtt_e=input_1,mtt_cr_e)); - -END; DELETED mttroot/mtt/lib/cr/r/defaultcr.r Index: mttroot/mtt/lib/cr/r/defaultcr.r ================================================================== --- mttroot/mtt/lib/cr/r/defaultcr.r +++ /dev/null @@ -1,63 +0,0 @@ -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %%%%% Model Transformation Tools %%%%% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% Linear constitutive relationship. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -%Linear Constitutive Relationship for single port components: R,C,I. -% e = Gain*f (if gain_causality = flow) -% f = Gain*e (if gain_causality = effort) -OPERATOR lin; -FOR ALL gain_causality, gain, causality, input, other_causality -SUCH THAT causality = gain_causality -LET lin(gain_causality, gain, other_causality, 1, input, causality, 1) - = gain*input; - -%Linear CR: e = (1/Gain)*f (if gain_causality = flow) -% f = (1/Gain)*e (if gain_causality = effort) -FOR ALL gain_causality, gain, causality, input, other_causality -SUCH THAT causality NEQ gain_causality -LET lin(gain_causality, gain, other_causality, 1, input, causality, 1) - = input/gain; - - -% Linear Constitutive Relationship for AE and AF -% Output = gain * input - -% Unicausal form -FOR ALL gain, input, causality -LET lin(gain, causality, 2, input, causality, 1) = gain*input; - -%Bicausal form -FOR ALL gain, output, causality -LET lin(gain, causality, 1, output, causality, 2) = output/gain; - -% Linear Constitutive Relationship for TF -FOR ALL gain, input, causality, gain_causality, outport, inport -SUCH THAT ( - (causality = gain_causality) AND (outport = 2) - OR - (causality NEQ gain_causality) AND (outport = 1) - ) -LET lin(gain_causality, gain, causality, outport, input, causality, inport) - = gain*input; - -FOR ALL gain, input, causality, gain_causality, outport, inport -SUCH THAT ( - (causality NEQ gain_causality) AND (outport = 2) - OR - (causality = gain_causality) AND (outport = 1) - ) -LET lin(gain_causality, gain, causality, outport, input, causality, inport) - = input/gain; - -END; - DELETED mttroot/mtt/lib/cr/r/delta_h.cr Index: mttroot/mtt/lib/cr/r/delta_h.cr ================================================================== --- mttroot/mtt/lib/cr/r/delta_h.cr +++ /dev/null @@ -1,31 +0,0 @@ -%SUMMARY delta_h CR for gas turbine compressor - - -OPERATOR delta_h; - -% Port 1 - generates delta h -FOR ALL c_p,Temperature,Massflow,DeltaT -LET delta_h(c_p, flow, 1, - Temperature,effort,1, - Massflow,flow,2, - DeltaT,effort,3) - = Massflow*c_p*DeltaT; - -% Port 2 - generates zero effort -FOR ALL c_p,Temperature,Massflow,DeltaT -LET delta_h(c_p, effort, 2, - Temperature,effort,1, - Massflow,flow,2, - DeltaT,effort,3) - = 0; - -% Port 3 - generates zero effort -FOR ALL c_p,Temperature,Massflow,DeltaT -LET delta_h(c_p, flow,3, - Temperature,effort,1, - Massflow,flow,2, - DeltaT,effort,3) - = 0; - - - DELETED mttroot/mtt/lib/cr/r/lcos.cr Index: mttroot/mtt/lib/cr/r/lcos.cr ================================================================== --- mttroot/mtt/lib/cr/r/lcos.cr +++ /dev/null @@ -1,52 +0,0 @@ -%SUMMARY lcos linear constitutive relationship with cos modulation -%DESCRIPTION Parameter 1 defines input causality relating to parameter 2 -%DESCRIPTION value is effort, flow or state -%DESCRIPTION Parameter 2 is the gain corresponding to the causality of -%DESCRIPTION parameter 1. -%DESCRIPTION Supported components: - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %%%%% Model Transformation Tools %%%%% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% Linear constitutive relationship with cos modulation - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1996/11/02 10:18:07 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -OPERATOR lcos; - -%DESCRIPTION three port component: EMTF -FOR ALL gain, input, causality, gain_causality, outport, inport, - m_input, m_causality -SUCH THAT ( - (causality = gain_causality) AND (outport = 2) - OR - (causality NEQ gain_causality) AND (outport = 1) - ) -LET lcos(gain_causality, gain, causality, outport, - input, causality, inport, - m_input, m_causality, 3) - = cos(m_input)*gain*input; - -FOR ALL gain, input, causality, gain_causality, outport, inport, - m_input, m_causality -SUCH THAT ( - (causality NEQ gain_causality) AND (outport = 2) - OR - (causality = gain_causality) AND (outport = 1) - ) -LET lcos(gain_causality, gain, causality, outport, - input, causality, inport, - m_input, m_causality, 3) - = input/(cos(m_input)*gain); - -END;; DELETED mttroot/mtt/lib/cr/r/lin.cr Index: mttroot/mtt/lib/cr/r/lin.cr ================================================================== --- mttroot/mtt/lib/cr/r/lin.cr +++ /dev/null @@ -1,226 +0,0 @@ -%SUMMARY lin linear constitutive relationship -%DESCRIPTION Parameter 1 defines input causality relating to parameter 2 -%DESCRIPTION value is effort, flow or state -%DESCRIPTION Parameter 2 is the gain corresponding to the causality of -%DESCRIPTION parameter 1. -%DESCRIPTION Supported components: - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %%%%% Model Transformation Tools %%%%% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% Linear constitutive relationship. - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% % Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% % $Id$ -% % $Log$ -% % Revision 1.3 1998/07/04 10:47:04 peterg -% % back under RCS -% % -% % Revision 1.2 1998/03/04 15:38:54 peterg -% % Added END statement -% % -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - - -%DESCRIPTION single port components: R,C,I -%Linear Constitutive Relationship for single port components: R,C,I. -% e = Gain*f (if gain_causality = flow) -% f = Gain*e (if gain_causality = effort) -OPERATOR lin; -FOR ALL gain_causality, gain, causality, input, other_causality -SUCH THAT causality = gain_causality -LET lin(gain_causality, gain, other_causality, 1, input, causality, 1) - = gain*input; - -%Linear CR: e = (1/Gain)*f (if gain_causality = flow) -% f = (1/Gain)*e (if gain_causality = effort) -FOR ALL gain_causality, gain, causality, input, other_causality -SUCH THAT causality NEQ gain_causality -LET lin(gain_causality, gain, other_causality, 1, input, causality, 1) - = input/gain; - -%DESCRIPTION two port components: AE, AF -% Linear Constitutive Relationship for AE and AF -% Output = gain * input - -% Unicausal form -FOR ALL gain, input, causality -LET lin(gain, causality, 2, input, causality, 1) = gain*input; - -%Bicausal form -FOR ALL gain, output, causality -LET lin(gain, causality, 1, output, causality, 2) = output/gain; - -%DESCRIPTION two port component: TF -% Linear Constitutive Relationship for TF -FOR ALL gain_causality, gain, causality, outport, input, same_causality, inport - -SUCH THAT - ( causality = same_causality ) - AND - ( inport NEQ outport ) - AND - ( - ( (causality = gain_causality) AND (outport = 2) ) - OR - ( (causality NEQ gain_causality) AND (outport = 1) ) - ) -LET lin(gain_causality, gain, causality, outport, - input, same_causality, inport) - = gain*input; - -FOR ALL gain_causality, gain, causality, outport, - input, same_causality, inport -SUCH THAT - ( causality = same_causality ) - AND - ( inport NEQ outport ) - AND - ( - ( (causality NEQ gain_causality) AND (outport = 2) ) - OR - ( (causality = gain_causality) AND (outport = 1) ) - ) -LET lin(gain_causality, gain, causality, outport, - input, same_causality, inport) - = input/gain; - -%% This version in not reliable. I rellly need to pass component names -%% as cr arguments. - -%DESCRIPTION two port component: GY -% Linear Constitutive Relationship for GY - -FOR ALL gain, input, causality, gain_causality, other_causality, - outport, inport -SUCH THAT - (causality NEQ other_causality) - AND - ( inport NEQ outport ) - AND - ( - ( (causality NEQ gain_causality) AND (outport = 2) ) - OR - ( (causality NEQ gain_causality) AND (outport = 1) ) - ) -LET lin(gain_causality, gain, other_causality, outport, - input, causality, inport) - = input/gain; - -FOR ALL gain, input, causality, gain_causality, other_causality, - outport, inport -SUCH THAT - (causality NEQ other_causality) - AND - ( inport NEQ outport ) - AND - ( - ( (causality = gain_causality) AND (outport = 2) ) - OR - ( (causality = gain_causality) AND (outport = 1) ) - ) -LET lin(gain_causality, gain, other_causality, outport, - input, causality, inport) - = gain*input; - -%DESCRIPTION three port component: FMR - -% Linear Constitutive Relationship for FMR - unicausal case -% Flow modulation multiplies effort on port 1 (or divides flow) - -% The 4 possibilities follow... -FOR ALL gain_causality, gain, out_causality, input, in_causality, - mod_input -SUCH THAT (gain_causality=in_causality) AND (out_causality=flow) -LET lin(gain_causality, gain, out_causality, 1, - input, in_causality, 1, - mod_input, flow, 2) - = input*gain*mod_input; - -FOR ALL gain_causality, gain, out_causality, input, in_causality, - mod_input -SUCH THAT (gain_causality=in_causality) AND (out_causality=effort) -LET lin(gain_causality, gain, out_causality, 1, - input, in_causality, 1, - mod_input, flow, 2) - = input*gain/mod_input; - -FOR ALL gain_causality, gain, out_causality, input, in_causality, - mod_input -SUCH THAT (gain_causality NEQ in_causality) AND (out_causality=flow) -LET lin(gain_causality, gain, out_causality, 1, - input, in_causality, 1, - mod_input, flow, 2) - = input*mod_input/gain; - -FOR ALL gain_causality, gain, out_causality, input, in_causality, - mod_input -SUCH THAT (gain_causality NEQ in_causality) AND (out_causality=effort) -LET lin(gain_causality, gain, out_causality, 1, - input, in_causality, 1, - mod_input, flow, 2) - = input/(gain*mod_input); - -% Linear Constitutive Relationship for FMR - bicausal case -% Deduces the flow on port 2. - -% The 2 possibilities follow... -FOR ALL gain, e_input, f_input -LET lin(effort, gain, flow, 2, - e_input, effort, 1, - f_input, flow, 1) - = (f_input/e_input)/gain; - -%EMTF component - modulation only -% Linear Constitutive Relationship for EMTF -FOR ALL gain_causality, gain, causality, outport, input, same_causality, inport -SUCH THAT - ( (causality = gain_causality) AND (outport = 2) ) - OR - ( (causality NEQ gain_causality) AND (outport = 1) ) -LET lin(gain_causality, causality, outport, - input, same_causality, inport, - gain, effort, 3) - = gain*input; - -FOR ALL gain_causality, gain, causality, outport, - input, same_causality, inport -SUCH THAT - ( (causality NEQ gain_causality) AND (outport = 2) ) - OR - ( (causality = gain_causality) AND (outport = 1) ) -LET lin(gain_causality, causality, outport, - input, same_causality, inport, - gain, effort, 3) - = input/gain; - -%EMTF component - modulation and gain -% Linear Constitutive Relationship for EMTF -FOR ALL gain_causality, gain, causality, outport, input, -same_causality, inport, modulation -SUCH THAT - ( (causality = gain_causality) AND (outport = 2) ) - OR - ( (causality NEQ gain_causality) AND (outport = 1) ) -LET lin(gain_causality, gain, causality, outport, - input, same_causality, inport, - modulation, effort, 3) - = gain*modulation*input; - -FOR ALL gain_causality, gain, causality, outport, - input, same_causality, inport, modulation -SUCH THAT - ( (causality NEQ gain_causality) AND (outport = 2) ) - OR - ( (causality = gain_causality) AND (outport = 1) ) -LET lin(gain_causality, gain, causality, outport, - input, same_causality, inport, - modulation, effort, 3) - = input/(gain*modulation); - -END;; - DELETED mttroot/mtt/lib/cr/r/linx.cr Index: mttroot/mtt/lib/cr/r/linx.cr ================================================================== --- mttroot/mtt/lib/cr/r/linx.cr +++ /dev/null @@ -1,44 +0,0 @@ -%%% linx - cr for single port I and C with an initial state x_0 - - - -%DESCRIPTION linear cr for single port I and C with an initial state x0 -%DESCRIPTION only adds x0 if in integral causality - - -OPERATOR linx; - -%% Input causality as specified -%Linear Constitutive Relationship for single port components: C,I. -% e = Gain*f (if gain_causality = flow) -% f = Gain*e (if gain_causality = effort) - -FOR ALL gain_causality, gain, causality, input, other_causality -SUCH THAT (causality = gain_causality) AND (causality = state) -LET linx(gain_causality, gain, x0, other_causality, 1, input, causality, 1) - = gain*(input + x0); - - -FOR ALL gain_causality, gain, causality, input, other_causality -SUCH THAT (causality = gain_causality) AND (causality NEQ state) -LET linx(gain_causality, gain, x0, other_causality, 1, input, causality, 1) - = gain*(input); - -%% Input causality not as specified -%Linear CR: e = (1/Gain)*f (if gain_causality = flow) -% f = (1/Gain)*e (if gain_causality = effort) - -FOR ALL gain_causality, gain, x0, causality, input, other_causality -SUCH THAT (causality NEQ gain_causality) AND (causality = state) -LET linx(gain_causality, gain, x0, other_causality, 1, input, causality, 1) - = (input+x0)/gain; - -FOR ALL gain_causality, gain, x0, causality, input, other_causality -SUCH THAT (causality NEQ gain_causality) AND (causality NEQ state) -LET linx(gain_causality, gain, x0, other_causality, 1, input, causality, 1) - = (input)/gain; - - - - -END;; DELETED mttroot/mtt/lib/cr/r/lsin.cr Index: mttroot/mtt/lib/cr/r/lsin.cr ================================================================== --- mttroot/mtt/lib/cr/r/lsin.cr +++ /dev/null @@ -1,52 +0,0 @@ -%SUMMARY lsin linear constitutive relationship with sin modulation -%DESCRIPTION Parameter 1 defines input causality relating to parameter 2 -%DESCRIPTION value is effort, flow or state -%DESCRIPTION Parameter 2 is the gain corresponding to the causality of -%DESCRIPTION parameter 1. -%DESCRIPTION Supported components: - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %%%%% Model Transformation Tools %%%%% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% Linear constitutive relationship with sin modulation - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1996/11/02 10:18:25 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -OPERATOR lsin; - -%DESCRIPTION three port component: EMTF -FOR ALL gain, input, causality, gain_causality, outport, inport, - m_input, m_causality -SUCH THAT ( - (causality = gain_causality) AND (outport = 2) - OR - (causality NEQ gain_causality) AND (outport = 1) - ) -LET lsin(gain_causality, gain, causality, outport, - input, causality, inport, - m_input, m_causality, 3) - = sin(m_input)*gain*input; - -FOR ALL gain, input, causality, gain_causality, outport, inport, - m_input, m_causality -SUCH THAT ( - (causality NEQ gain_causality) AND (outport = 2) - OR - (causality = gain_causality) AND (outport = 1) - ) -LET lsin(gain_causality, gain, causality, outport, - input, causality, inport, - m_input, m_causality, 3) - = input/(sin(m_input)*gain); - -END;; DELETED mttroot/mtt/lib/cr/r/oneway.cr Index: mttroot/mtt/lib/cr/r/oneway.cr ================================================================== --- mttroot/mtt/lib/cr/r/oneway.cr +++ /dev/null @@ -1,26 +0,0 @@ -%SUMMARY oneway One way constitutive relationship eg Diode -%DESCRIPTION Parameter 1 is a large number being the forward gain -%DESCRIPTION -- the reciprocal is the backward gain -%DESCRIPTION The input must be an effort -%DESCRIPTION Typical use is an R component with effort input - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -OPERATOR oneway; - -%Input has flow causality -FOR ALL r, input -LET oneway(r, effort, 1, input, flow, 1) - = ((1 - sign(input))/2)*r*input; - -%Input has effort causality -FOR ALL r, input -LET oneway(r, flow, 1, input, effort, 1) - = ((1 - sign(input))/2)*(1/r)*input; - DELETED mttroot/mtt/lib/cr/r/polytrop.cr Index: mttroot/mtt/lib/cr/r/polytrop.cr ================================================================== --- mttroot/mtt/lib/cr/r/polytrop.cr +++ /dev/null @@ -1,41 +0,0 @@ -%SUMMARY polytrop CR for gas turbine compressor - - -OPERATOR polytrop; - -% Port 1 generates zero flow -FOR ALL Ipressure,temperature,Fpressure,gamma,enthflow -LET polytrop(gamma, flow, 1, - Fpressure,effort,1, - enthflow,flow,2, - temperature,effort,3, - Ipressure,effort,4) - = 0; - -% Port 2 generates deltaT -FOR ALL Ipressure,temperature,Fpressure,gamma,enthflow -LET polytrop(gamma, effort, 2, - Fpressure,effort,1, - enthflow,flow,2, - temperature,effort,3, - Ipressure,effort,4) - = temperature*((Ipressure/Fpressure)^(gamma)-1); - -% Port 3 generates zero flow -FOR ALL Ipressure,temperature,Fpressure,gamma,enthflow -LET polytrop(gamma, flow, 3, - Fpressure,effort,1, - enthflow,flow,2, - temperature,effort,3, - Ipressure,effort,4) - = 0; - -% Port 4 generates zero flow -FOR ALL Ipressure,temperature,Fpressure,gamma,enthflow -LET polytrop(gamma, flow, 4, - Fpressure,effort,1, - enthflow,flow,2, - temperature,effort,3, - Ipressure,effort,4) - = 0; - DELETED mttroot/mtt/lib/cr/r/powerlaw.cr Index: mttroot/mtt/lib/cr/r/powerlaw.cr ================================================================== --- mttroot/mtt/lib/cr/r/powerlaw.cr +++ /dev/null @@ -1,26 +0,0 @@ -%SUMMARY powerlaw powerlaw constitutive relationship -%DESCRIPTION Parameter 1 defines input causality relating to parameter 2 -%DESCRIPTION value is effort or flow -%DESCRIPTION Parameter 2 is the gain r corresponding to the causality of -%DESCRIPTION parameter 1. -%DESCRIPTION Supported components: - - -%DESCRIPTION single port components: R - -%Powerlaw Constitutive Relationship for single port components: R - - -OPERATOR powerlaw; -FOR ALL gain_causality, gain, power, causality, input, other_causality -SUCH THAT causality = gain_causality -LET powerlaw(gain_causality, gain, power, other_causality, 1, input, causality, 1) - = gain*(abs(input)^power)*sign(input); - - -FOR ALL gain_causality, gain, power, causality, input, other_causality -SUCH THAT causality NEQ gain_causality -LET powerlaw(gain_causality, gain, power, other_causality, 1, input, causality, 1) - = ( (abs(input)/gain)^(1/power) )*sign(input); - -END; DELETED mttroot/mtt/lib/cr/r/reed.cr Index: mttroot/mtt/lib/cr/r/reed.cr ================================================================== --- mttroot/mtt/lib/cr/r/reed.cr +++ /dev/null @@ -1,40 +0,0 @@ -%SUMMARY reed Nonlinear 2-port R for musical reed component - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %%%%% Model Transformation Tools %%%%% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% Linear constitutive relationship. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1996/11/02 10:21:19 peterg -% %% Initial revision -% %% -% %% Revision 1.1 1996/09/12 11:18:26 peter -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Linear Constitutive Relationship for reed - unicausal case with -% pressure output. -OPERATOR reed,abs,sign; - -% Port 1 - the modulated R -FOR ALL D,q,H,airflow,displacement -LET reed(D,q,H, effort, 1, - airflow,flow,1, - displacement, effort,2) - = (D*sign(airflow)*(airflow)^q)/((H-displacement)^2); - -% Port 2 - zero flow -FOR ALL D,q,H,airflow,displacement -LET reed(D,q, flow, 2, - airflow,flow,1, - displacement, effort,2) - =0; - DELETED mttroot/mtt/lib/cr/r/sat_tank.cr Index: mttroot/mtt/lib/cr/r/sat_tank.cr ================================================================== --- mttroot/mtt/lib/cr/r/sat_tank.cr +++ /dev/null @@ -1,26 +0,0 @@ -%SUMMARY sat_tank Saturation nonlinearity with variable slopes for tank -%DESCRIPTION Parameter 1 is the slope of the "normal" linear part of the CR -%DESCRIPTION Parameter 2 is the "large" slope -%DESCRIPTION Parameter 3 is the lower bound of the state -%DESCRIPTION Parameter 4 is the upper bound of the state - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -OPERATOR sign0; -FOR ALL x - LET sign0(x) = (sign(x)+1)/2; - -OPERATOR sat_tank; -%Output has effort causality, input is state -FOR ALL k_0, k_1, x_0, x_1, x -LET sat_tank(k_0, k_1, x_0, x_1, effort, 1, - x, state, 1) - = x*k_0 + (x-x_1)*(k_1-k_0)*sign0(x-x_1) + (x-x_0)*(k_1-k_0)*sign0(x_0-x); - - DELETED mttroot/mtt/lib/cr/r/slcos.cr Index: mttroot/mtt/lib/cr/r/slcos.cr ================================================================== --- mttroot/mtt/lib/cr/r/slcos.cr +++ /dev/null @@ -1,29 +0,0 @@ -%SUMMARY slcos linear constitutive relationship with sin modulation - sensitivity -%DESCRIPTION Parameter 1 defines input causality relating to parameter 2 -%DESCRIPTION value is effort, flow or state -%DESCRIPTION Parameter 2 is the gain corresponding to the causality of -%DESCRIPTION parameter 1. -%DESCRIPTION Supported components: - - -OPERATOR slcos; - -%DESCRIPTION four port component - effort i/o -FOR ALL gain, input, junk, m_input, dm_input -LET slcos(gain, effort, 2, - input, effort, 1, - junk, flow, 2, - m_input, effort, 3, - dm_input,effort, 4) - = -gain*sin(m_input)*dm_input*input; - -%DESCRIPTION four port component - flow i/o -FOR ALL gain, input, junk, m_input, dm_input -LET slcos(gain, flow, 2, - input, flow, 1, - junk, effort, 2, - m_input, effort, 3, - dm_input,effort, 4) - = -gain*sin(m_input)*dm_input*input; - -END;; DELETED mttroot/mtt/lib/cr/r/slin.cr Index: mttroot/mtt/lib/cr/r/slin.cr ================================================================== --- mttroot/mtt/lib/cr/r/slin.cr +++ /dev/null @@ -1,32 +0,0 @@ -%DESCRIPTION Sensitivity version of lin - -% One port version for historical reasons -OPERATOR slin; -FOR ALL gain_causality, gain, causality, input, other_causality -LET slin(gain_causality, gain, other_causality, 1, input, causality, 1) - = lin(gain_causality, gain, other_causality, 1, input, - causality, 1); - -% Two port version for sC,sI,sR - -% Port 1 - standard -FOR ALL gain_causality, gain, sgain, causality, input, sinput, other_causality -LET slin(gain_causality, gain, sgain, other_causality, 1, - input, causality, 1, - sinput, causality, 2) - = lin(gain_causality, gain, other_causality, 1, - input, causality, 1); - - -% Port 2 - sensitivity -FOR ALL gain_causality, gain, sgain, causality, input, sinput, other_causality -LET slin(gain_causality, gain, sgain, other_causality, 2, - input, causality, 1, - sinput, causality, 2) - = lin(gain_causality, gain, other_causality, 1, - sinput, causality, 1) - + sgain*df(lin(gain_causality, gain, other_causality, 1, - input, causality, 1), gain); - -END;; - DELETED mttroot/mtt/lib/cr/r/slsin.cr Index: mttroot/mtt/lib/cr/r/slsin.cr ================================================================== --- mttroot/mtt/lib/cr/r/slsin.cr +++ /dev/null @@ -1,29 +0,0 @@ -%SUMMARY slsin linear constitutive relationship with sin modulation - sensitivity -%DESCRIPTION Parameter 1 defines input causality relating to parameter 2 -%DESCRIPTION value is effort, flow or state -%DESCRIPTION Parameter 2 is the gain corresponding to the causality of -%DESCRIPTION parameter 1. -%DESCRIPTION Supported components: - - -OPERATOR slsin; - -%DESCRIPTION four port component - effort i/o -FOR ALL gain, input, junk, m_input, dm_input -LET slsin(gain, effort, 2, - input, effort, 1, - junk, flow, 2, - m_input, effort, 3, - dm_input,effort, 4) - = gain*cos(m_input)*dm_input*input; - -%DESCRIPTION four port component - flow i/o -FOR ALL gain, input, junk, m_input, dm_input -LET slsin(gain, flow, 2, - input, flow, 1, - junk, effort, 2, - m_input, effort, 3, - dm_input,effort, 4) - = gain*cos(m_input)*dm_input*input; - -END;; DELETED mttroot/mtt/lib/cr/r/square.cr Index: mttroot/mtt/lib/cr/r/square.cr ================================================================== --- mttroot/mtt/lib/cr/r/square.cr +++ /dev/null @@ -1,31 +0,0 @@ -%SUMMARY square square-law constitutive relationship -%DESCRIPTION Parameter 1 defines input causality relating to parameter 2 -%DESCRIPTION value is effort or flow -%DESCRIPTION Parameter 2 is the gain r corresponding to the causality of -%DESCRIPTION parameter 1. -%DESCRIPTION Supported components: - - -%DESCRIPTION single port components: R - -%Square-Law Constitutive Relationship for single port components: R -% output = Gain*input^2*sign(input) {if gain_causality = causality} -% output = (1/Gain^(1/2))*input^(1/2)*sign(input) -% {if gain_causality not= causality} - - - -OPERATOR square; -FOR ALL gain_causality, gain, causality, input, other_causality -SUCH THAT causality = gain_causality -LET square(gain_causality, gain, other_causality, 1, input, causality, 1) - = gain*input^2*sign(input); - - -FOR ALL gain_causality, gain, causality, input, other_causality -SUCH THAT causality NEQ gain_causality -LET square(gain_causality, gain, other_causality, 1, input, causality, 1) - = input^(1/2)*sign(input)/(gain^(1/2)); - - -END; DELETED mttroot/mtt/lib/examples/ABG/SimpleGasTurbineABG/Comb_abg.m Index: mttroot/mtt/lib/examples/ABG/SimpleGasTurbineABG/Comb_abg.m ================================================================== --- mttroot/mtt/lib/examples/ABG/SimpleGasTurbineABG/Comb_abg.m +++ /dev/null @@ -1,125 +0,0 @@ -function [Comb] = Comb_abg -# This function is the acausal bond graph representation of Comb -# Generated by MTT on Thu Mar 16 10:33:30 2000 -# The file is in Octave format - -# Subsystems and Ports - -# Port Hydraulic_in - Comb.ports.Hydraulic_in.type = "SS"; - Comb.ports.Hydraulic_in.cr = "SS"; - Comb.ports.Hydraulic_in.arg = "external,external"; - Comb.ports.Hydraulic_in.repetitions = 1; - Comb.ports.Hydraulic_in.status = -1; - Comb.ports.Hydraulic_in.connections = [-3 ]; - -# Port Hydraulic_out - Comb.ports.Hydraulic_out.type = "SS"; - Comb.ports.Hydraulic_out.cr = "SS"; - Comb.ports.Hydraulic_out.arg = "external,external"; - Comb.ports.Hydraulic_out.repetitions = 1; - Comb.ports.Hydraulic_out.status = -1; - Comb.ports.Hydraulic_out.connections = [7 ]; - -# Port Heat - Comb.ports.Heat.type = "SS"; - Comb.ports.Heat.cr = "SS"; - Comb.ports.Heat.arg = "external,external"; - Comb.ports.Heat.repetitions = 1; - Comb.ports.Heat.status = -1; - Comb.ports.Heat.connections = [-5 ]; - -# Port Thermal_in - Comb.ports.Thermal_in.type = "SS"; - Comb.ports.Thermal_in.cr = "SS"; - Comb.ports.Thermal_in.arg = "external,external"; - Comb.ports.Thermal_in.repetitions = 1; - Comb.ports.Thermal_in.status = -1; - Comb.ports.Thermal_in.connections = [-2 ]; - -# Port Thermal_out - Comb.ports.Thermal_out.type = "SS"; - Comb.ports.Thermal_out.cr = "SS"; - Comb.ports.Thermal_out.arg = "external,external"; - Comb.ports.Thermal_out.repetitions = 1; - Comb.ports.Thermal_out.status = -1; - Comb.ports.Thermal_out.connections = [6 ]; - -# Component P - Comb.subsystems.P.type = "SS"; - Comb.subsystems.P.cr = "SS"; - Comb.subsystems.P.arg = "external,0"; - Comb.subsystems.P.repetitions = 1; - Comb.subsystems.P.status = -1; - Comb.subsystems.P.connections = [9 ]; - -# Component T - Comb.subsystems.T.type = "SS"; - Comb.subsystems.T.cr = "SS"; - Comb.subsystems.T.arg = "external,0"; - Comb.subsystems.T.repetitions = 1; - Comb.subsystems.T.status = -1; - Comb.subsystems.T.connections = [8 ]; - -# Component pipe - Comb.subsystems.pipe.type = "hPipe"; - Comb.subsystems.pipe.cr = "none"; - Comb.subsystems.pipe.arg = "m_c;v_c;r"; - Comb.subsystems.pipe.repetitions = 1; - Comb.subsystems.pipe.status = -1; - Comb.subsystems.pipe.connections = [5 3 -4 2 -1 ]; - -# Component mtt1 - Comb.subsystems.mtt1.type = "0"; - Comb.subsystems.mtt1.cr = ""; - Comb.subsystems.mtt1.arg = ""; - Comb.subsystems.mtt1.repetitions = 1; - Comb.subsystems.mtt1.status = -1; - Comb.subsystems.mtt1.connections = [1 -6 -8 ]; - -# Component mtt2 - Comb.subsystems.mtt2.type = "0"; - Comb.subsystems.mtt2.cr = ""; - Comb.subsystems.mtt2.arg = ""; - Comb.subsystems.mtt2.repetitions = 1; - Comb.subsystems.mtt2.status = -1; - Comb.subsystems.mtt2.connections = [4 -7 -9 ]; - -# Ordered list of Port names - Comb.portlist(1,:) = "Hydraulic_in "; - Comb.portlist(2,:) = "Hydraulic_out"; - Comb.portlist(3,:) = "Heat "; - Comb.portlist(4,:) = "Thermal_in "; - Comb.portlist(5,:) = "Thermal_out "; - -# Ordered list of subsystem names - Comb.subsystemlist(1,:) = "P "; - Comb.subsystemlist(2,:) = "T "; - Comb.subsystemlist(3,:) = "pipe"; - Comb.subsystemlist(4,:) = "mtt1"; - Comb.subsystemlist(5,:) = "mtt2"; - -# Bonds - Comb.bonds = [ - 0 0 - 0 0 - 0 0 - 0 0 - 0 0 - 0 0 - 0 0 - 1 1 - 1 1 - ]; - -# Aliases -# A double underscore __ represents a comma -Comb.alias.out = "Thermal_out,Hydraulic_out"; -Comb.alias.Hy_out = "Hydraulic_out"; -Comb.alias.v_c = "$2"; -Comb.alias.Th_in = "Thermal_in"; -Comb.alias.r = "$3"; -Comb.alias.Th_out = "Thermal_out"; -Comb.alias.in = "Thermal_in,Hydraulic_in"; -Comb.alias.Hy_in = "Hydraulic_in"; -Comb.alias.m_c = "$1"; DELETED mttroot/mtt/lib/examples/ABG/SimpleGasTurbineABG/Density_abg.m Index: mttroot/mtt/lib/examples/ABG/SimpleGasTurbineABG/Density_abg.m ================================================================== --- mttroot/mtt/lib/examples/ABG/SimpleGasTurbineABG/Density_abg.m +++ /dev/null @@ -1,81 +0,0 @@ -function [Density] = Density_abg -# This function is the acausal bond graph representation of Density -# Generated by MTT on Thu Mar 16 10:36:39 2000 -# The file is in Octave format - -# Subsystems and Ports - -# Port Pressure - Density.ports.Pressure.type = "SS"; - Density.ports.Pressure.cr = "SS"; - Density.ports.Pressure.arg = "external,external"; - Density.ports.Pressure.repetitions = 1; - Density.ports.Pressure.status = -1; - Density.ports.Pressure.connections = [-4 ]; - -# Port Temperature - Density.ports.Temperature.type = "SS"; - Density.ports.Temperature.cr = "SS"; - Density.ports.Temperature.arg = "external,external"; - Density.ports.Temperature.repetitions = 1; - Density.ports.Temperature.status = -1; - Density.ports.Temperature.connections = [-5 ]; - -# Port Density - Density.ports.Density.type = "SS"; - Density.ports.Density.cr = "SS"; - Density.ports.Density.arg = "external,external"; - Density.ports.Density.repetitions = 1; - Density.ports.Density.status = -1; - Density.ports.Density.connections = [3 ]; - -# Component r - Density.subsystems.r.type = "R"; - Density.subsystems.r.cr = "Density"; - Density.subsystems.r.arg = "density,ideal_gas,r"; - Density.subsystems.r.repetitions = 1; - Density.subsystems.r.status = -1; - Density.subsystems.r.connections = [1 2 -3 ]; - -# Component mtt1 - Density.subsystems.mtt1.type = "AE"; - Density.subsystems.mtt1.cr = ""; - Density.subsystems.mtt1.arg = ""; - Density.subsystems.mtt1.repetitions = 1; - Density.subsystems.mtt1.status = -1; - Density.subsystems.mtt1.connections = [4 -1 ]; - -# Component mtt2 - Density.subsystems.mtt2.type = "AE"; - Density.subsystems.mtt2.cr = ""; - Density.subsystems.mtt2.arg = ""; - Density.subsystems.mtt2.repetitions = 1; - Density.subsystems.mtt2.status = -1; - Density.subsystems.mtt2.connections = [5 -2 ]; - -# Ordered list of Port names - Density.portlist(1,:) = "Pressure "; - Density.portlist(2,:) = "Temperature"; - Density.portlist(3,:) = "Density "; - -# Ordered list of subsystem names - Density.subsystemlist(1,:) = "r "; - Density.subsystemlist(2,:) = "mtt1"; - Density.subsystemlist(3,:) = "mtt2"; - -# Bonds - Density.bonds = [ - 1 1 - 1 1 - 1 1 - 0 0 - 0 0 - ]; - -# Aliases -# A double underscore __ represents a comma -Density.alias.P = "Pressure"; -Density.alias.out = "Density"; -Density.alias.rho = "Density"; -Density.alias.T = "Temperature"; -Density.alias.density__ideal_gas__r = "$1"; DELETED mttroot/mtt/lib/examples/ABG/SimpleGasTurbineABG/Density_cr.r Index: mttroot/mtt/lib/examples/ABG/SimpleGasTurbineABG/Density_cr.r ================================================================== --- mttroot/mtt/lib/examples/ABG/SimpleGasTurbineABG/Density_cr.r +++ /dev/null @@ -1,36 +0,0 @@ -% Constitutive relation file for Density (Density_cr.r) -% Generated by MTT at Wed Mar 11 11:01:28 GMT 1998 - -OPERATOR Density; - -% Ideal gas -FOR ALL R,Temperature,Pressure,Nothing -LET Density(density,ideal_gas,R,effort,3, - Pressure,effort,1, - Temperature,effort,2, - Nothing,flow,3 - ) = Pressure/(R*Temperature); - -FOR ALL R,Temperature,Pressure,Nothing -LET Density(specific_volume,ideal_gas,R,effort,3, - Pressure,effort,1, - Temperature,effort,2, - Nothing,flow,3 - ) = (R*Temperature)/Pressure; - -% Incompressible -FOR ALL rho,Temperature,Pressure,Nothing -LET Density(density,incompressible,rho,effort,3, - Pressure,effort,1, - Temperature,effort,2, - Nothing,flow,3 - ) = rho; - -FOR ALL rho,Temperature,Pressure,Nothing -LET Density(specific_volume,incompressible,rho,effort,3, - Pressure,effort,1, - Temperature,effort,2, - Nothing,flow,3 - ) = 1/rho; - -END; DELETED mttroot/mtt/lib/examples/ABG/SimpleGasTurbineABG/In_abg.m Index: mttroot/mtt/lib/examples/ABG/SimpleGasTurbineABG/In_abg.m ================================================================== --- mttroot/mtt/lib/examples/ABG/SimpleGasTurbineABG/In_abg.m +++ /dev/null @@ -1,57 +0,0 @@ -function [In] = In_abg -# This function is the acausal bond graph representation of In -# Generated by MTT on Thu Mar 16 10:33:58 2000 -# The file is in Octave format - -# Subsystems and Ports - -# Port Hy_out - In.ports.Hy_out.type = "SS"; - In.ports.Hy_out.cr = "SS"; - In.ports.Hy_out.arg = "external,external"; - In.ports.Hy_out.repetitions = 1; - In.ports.Hy_out.status = -1; - In.ports.Hy_out.connections = [2 ]; - -# Port Th_out - In.ports.Th_out.type = "SS"; - In.ports.Th_out.cr = "SS"; - In.ports.Th_out.arg = "external,external"; - In.ports.Th_out.repetitions = 1; - In.ports.Th_out.status = -1; - In.ports.Th_out.connections = [1 ]; - -# Component Hy_in - In.subsystems.Hy_in.type = "SS"; - In.subsystems.Hy_in.cr = "SS"; - In.subsystems.Hy_in.arg = "p_1,internal"; - In.subsystems.Hy_in.repetitions = 1; - In.subsystems.Hy_in.status = -1; - In.subsystems.Hy_in.connections = [-2 ]; - -# Component Th_in - In.subsystems.Th_in.type = "SS"; - In.subsystems.Th_in.cr = "SS"; - In.subsystems.Th_in.arg = "t_1,internal"; - In.subsystems.Th_in.repetitions = 1; - In.subsystems.Th_in.status = -1; - In.subsystems.Th_in.connections = [-1 ]; - -# Ordered list of Port names - In.portlist(1,:) = "Hy_out"; - In.portlist(2,:) = "Th_out"; - -# Ordered list of subsystem names - In.subsystemlist(1,:) = "Hy_in"; - In.subsystemlist(2,:) = "Th_in"; - -# Bonds - In.bonds = [ - 1 1 - 1 1 - ]; - -# Aliases -# A double underscore __ represents a comma -In.alias.out = "Th_out,Hy_out"; -In.alias.in = "Th_out,Hy_out"; DELETED mttroot/mtt/lib/examples/ABG/SimpleGasTurbineABG/In_desc.tex Index: mttroot/mtt/lib/examples/ABG/SimpleGasTurbineABG/In_desc.tex ================================================================== --- mttroot/mtt/lib/examples/ABG/SimpleGasTurbineABG/In_desc.tex +++ /dev/null @@ -1,14 +0,0 @@ -% Verbal description for system In (In_desc.tex) -% Generated by MTT on Tue Jan 13 18:02:36 GMT 1998. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{In} is - displayed in Figure \Ref{In_abg} and its label - file is listed in Section \Ref{sec:In_lbl}. - The subsystems are listed in Section \Ref{sec:In_sub}. DELETED mttroot/mtt/lib/examples/ABG/SimpleGasTurbineABG/Load_abg.m Index: mttroot/mtt/lib/examples/ABG/SimpleGasTurbineABG/Load_abg.m ================================================================== --- mttroot/mtt/lib/examples/ABG/SimpleGasTurbineABG/Load_abg.m +++ /dev/null @@ -1,60 +0,0 @@ -function [Load] = Load_abg -# This function is the acausal bond graph representation of Load -# Generated by MTT on Thu Mar 16 10:34:27 2000 -# The file is in Octave format - -# Subsystems and Ports - -# Port in - Load.ports.in.type = "SS"; - Load.ports.in.cr = "SS"; - Load.ports.in.arg = "external,external"; - Load.ports.in.repetitions = 1; - Load.ports.in.status = -1; - Load.ports.in.connections = [-1 ]; - -# Port out - Load.ports.out.type = "SS"; - Load.ports.out.cr = "SS"; - Load.ports.out.arg = "external,external"; - Load.ports.out.repetitions = 1; - Load.ports.out.status = -1; - Load.ports.out.connections = [3 ]; - -# Component PowerSensor - Load.subsystems.PowerSensor.type = "PS"; - Load.subsystems.PowerSensor.cr = ""; - Load.subsystems.PowerSensor.arg = ""; - Load.subsystems.PowerSensor.repetitions = 1; - Load.subsystems.PowerSensor.status = -1; - Load.subsystems.PowerSensor.connections = [1 -2 -3 ]; - -# Component r_l - Load.subsystems.r_l.type = "R"; - Load.subsystems.r_l.cr = "lin"; - Load.subsystems.r_l.arg = "flow,r_l"; - Load.subsystems.r_l.repetitions = 1; - Load.subsystems.r_l.status = -1; - Load.subsystems.r_l.connections = [2 ]; - -# Ordered list of Port names - Load.portlist(1,:) = "in "; - Load.portlist(2,:) = "out"; - -# Ordered list of subsystem names - Load.subsystemlist(1,:) = "PowerSensor"; - Load.subsystemlist(2,:) = "r_l "; - -# Bonds - Load.bonds = [ - 0 0 - 0 0 - 0 0 - ]; - -# Aliases -# A double underscore __ represents a comma -Load.alias.out = "out"; -Load.alias.r_l = "$2"; -Load.alias.in = "in"; -Load.alias.PowerSensor = "$1"; DELETED mttroot/mtt/lib/examples/ABG/SimpleGasTurbineABG/Out_abg.m Index: mttroot/mtt/lib/examples/ABG/SimpleGasTurbineABG/Out_abg.m ================================================================== --- mttroot/mtt/lib/examples/ABG/SimpleGasTurbineABG/Out_abg.m +++ /dev/null @@ -1,56 +0,0 @@ -function [Out] = Out_abg -# This function is the acausal bond graph representation of Out -# Generated by MTT on Thu Mar 16 10:34:51 2000 -# The file is in Octave format - -# Subsystems and Ports - -# Port Hy_in - Out.ports.Hy_in.type = "SS"; - Out.ports.Hy_in.cr = "SS"; - Out.ports.Hy_in.arg = "external,external"; - Out.ports.Hy_in.repetitions = 1; - Out.ports.Hy_in.status = -1; - Out.ports.Hy_in.connections = [-1 ]; - -# Port Th_in - Out.ports.Th_in.type = "SS"; - Out.ports.Th_in.cr = "SS"; - Out.ports.Th_in.arg = "external,external"; - Out.ports.Th_in.repetitions = 1; - Out.ports.Th_in.status = -1; - Out.ports.Th_in.connections = [-2 ]; - -# Component Hy_out - Out.subsystems.Hy_out.type = "SS"; - Out.subsystems.Hy_out.cr = "SS"; - Out.subsystems.Hy_out.arg = "p_1,internal"; - Out.subsystems.Hy_out.repetitions = 1; - Out.subsystems.Hy_out.status = -1; - Out.subsystems.Hy_out.connections = [1 ]; - -# Component Th_out - Out.subsystems.Th_out.type = "SS"; - Out.subsystems.Th_out.cr = "SS"; - Out.subsystems.Th_out.arg = "t_1,internal"; - Out.subsystems.Th_out.repetitions = 1; - Out.subsystems.Th_out.status = -1; - Out.subsystems.Th_out.connections = [2 ]; - -# Ordered list of Port names - Out.portlist(1,:) = "Hy_in"; - Out.portlist(2,:) = "Th_in"; - -# Ordered list of subsystem names - Out.subsystemlist(1,:) = "Hy_out"; - Out.subsystemlist(2,:) = "Th_out"; - -# Bonds - Out.bonds = [ - -1 -1 - -1 -1 - ]; - -# Aliases -# A double underscore __ represents a comma -Out.alias.in = "Th_in,Hy_in"; DELETED mttroot/mtt/lib/examples/ABG/SimpleGasTurbineABG/Out_desc.tex Index: mttroot/mtt/lib/examples/ABG/SimpleGasTurbineABG/Out_desc.tex ================================================================== --- mttroot/mtt/lib/examples/ABG/SimpleGasTurbineABG/Out_desc.tex +++ /dev/null @@ -1,14 +0,0 @@ -% Verbal description for system Out (Out_desc.tex) -% Generated by MTT on Tue Jan 13 18:02:44 GMT 1998. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{Out} is - displayed in Figure \Ref{Out_abg} and its label - file is listed in Section \Ref{sec:Out_lbl}. - The subsystems are listed in Section \Ref{sec:Out_sub}. DELETED mttroot/mtt/lib/examples/ABG/SimpleGasTurbineABG/Poly_abg.m Index: mttroot/mtt/lib/examples/ABG/SimpleGasTurbineABG/Poly_abg.m ================================================================== --- mttroot/mtt/lib/examples/ABG/SimpleGasTurbineABG/Poly_abg.m +++ /dev/null @@ -1,122 +0,0 @@ -function [Poly] = Poly_abg -# This function is the acausal bond graph representation of Poly -# Generated by MTT on Thu Mar 16 10:35:48 2000 -# The file is in Octave format - -# Subsystems and Ports - -# Port Pressure_1 - Poly.ports.Pressure_1.type = "SS"; - Poly.ports.Pressure_1.cr = "SS"; - Poly.ports.Pressure_1.arg = "external,external"; - Poly.ports.Pressure_1.repetitions = 1; - Poly.ports.Pressure_1.status = -1; - Poly.ports.Pressure_1.connections = [-2 ]; - -# Port Temperature_1 - Poly.ports.Temperature_1.type = "SS"; - Poly.ports.Temperature_1.cr = "SS"; - Poly.ports.Temperature_1.arg = "external,external"; - Poly.ports.Temperature_1.repetitions = 1; - Poly.ports.Temperature_1.status = -1; - Poly.ports.Temperature_1.connections = [-6 ]; - -# Port Pressure_2 - Poly.ports.Pressure_2.type = "SS"; - Poly.ports.Pressure_2.cr = "SS"; - Poly.ports.Pressure_2.arg = "external,external"; - Poly.ports.Pressure_2.repetitions = 1; - Poly.ports.Pressure_2.status = -1; - Poly.ports.Pressure_2.connections = [-4 ]; - -# Port Temperature_2 - Poly.ports.Temperature_2.type = "SS"; - Poly.ports.Temperature_2.cr = "SS"; - Poly.ports.Temperature_2.arg = "external,external"; - Poly.ports.Temperature_2.repetitions = 1; - Poly.ports.Temperature_2.status = -1; - Poly.ports.Temperature_2.connections = [8 ]; - -# Component r - Poly.subsystems.r.type = "R"; - Poly.subsystems.r.cr = "Poly"; - Poly.subsystems.r.arg = "alpha"; - Poly.subsystems.r.repetitions = 1; - Poly.subsystems.r.status = -1; - Poly.subsystems.r.connections = [1 3 5 -7 ]; - -# Component zero - Poly.subsystems.zero.type = "SS"; - Poly.subsystems.zero.cr = "SS"; - Poly.subsystems.zero.arg = "0,0"; - Poly.subsystems.zero.repetitions = 1; - Poly.subsystems.zero.status = -1; - Poly.subsystems.zero.connections = [-9 ]; - -# Component mtt1 - Poly.subsystems.mtt1.type = "AE"; - Poly.subsystems.mtt1.cr = ""; - Poly.subsystems.mtt1.arg = ""; - Poly.subsystems.mtt1.repetitions = 1; - Poly.subsystems.mtt1.status = -1; - Poly.subsystems.mtt1.connections = [2 -1 ]; - -# Component mtt2 - Poly.subsystems.mtt2.type = "AE"; - Poly.subsystems.mtt2.cr = ""; - Poly.subsystems.mtt2.arg = ""; - Poly.subsystems.mtt2.repetitions = 1; - Poly.subsystems.mtt2.status = -1; - Poly.subsystems.mtt2.connections = [4 -3 ]; - -# Component mtt3 - Poly.subsystems.mtt3.type = "AE"; - Poly.subsystems.mtt3.cr = ""; - Poly.subsystems.mtt3.arg = ""; - Poly.subsystems.mtt3.repetitions = 1; - Poly.subsystems.mtt3.status = -1; - Poly.subsystems.mtt3.connections = [6 -5 ]; - -# Component mtt4 - Poly.subsystems.mtt4.type = "1"; - Poly.subsystems.mtt4.cr = ""; - Poly.subsystems.mtt4.arg = ""; - Poly.subsystems.mtt4.repetitions = 1; - Poly.subsystems.mtt4.status = -1; - Poly.subsystems.mtt4.connections = [7 -8 9 ]; - -# Ordered list of Port names - Poly.portlist(1,:) = "Pressure_1 "; - Poly.portlist(2,:) = "Temperature_1"; - Poly.portlist(3,:) = "Pressure_2 "; - Poly.portlist(4,:) = "Temperature_2"; - -# Ordered list of subsystem names - Poly.subsystemlist(1,:) = "r "; - Poly.subsystemlist(2,:) = "zero"; - Poly.subsystemlist(3,:) = "mtt1"; - Poly.subsystemlist(4,:) = "mtt2"; - Poly.subsystemlist(5,:) = "mtt3"; - Poly.subsystemlist(6,:) = "mtt4"; - -# Bonds - Poly.bonds = [ - 1 1 - 0 0 - 1 1 - 0 0 - 1 1 - 0 0 - 0 0 - 0 0 - 1 -1 - ]; - -# Aliases -# A double underscore __ represents a comma -Poly.alias.out = "Temperature_2"; -Poly.alias.P1 = "Pressure_1"; -Poly.alias.P2 = "Pressure_2"; -Poly.alias.T1 = "Temperature_1"; -Poly.alias.T2 = "Temperature_2"; -Poly.alias.alpha = "$1"; DELETED mttroot/mtt/lib/examples/ABG/SimpleGasTurbineABG/Poly_cr.r Index: mttroot/mtt/lib/examples/ABG/SimpleGasTurbineABG/Poly_cr.r ================================================================== --- mttroot/mtt/lib/examples/ABG/SimpleGasTurbineABG/Poly_cr.r +++ /dev/null @@ -1,19 +0,0 @@ -% Constitutive relation file for Poly (Poly_cr.r) -% Generated by MTT at Wed Mar 11 11:01:28 GMT 1998 - -OPERATOR Poly; - -% Ideal gas - -% Temperature output on port [T2] -FOR ALL alpha,P1,P2,T1,Nothing -LET Poly(alpha,effort,4, - P1,effort,1, - P2,effort,2, - T1,effort,3, - Nothing,flow,4 - ) = T1*(P2/P1)^alpha; - - - -END; DELETED mttroot/mtt/lib/examples/ABG/SimpleGasTurbineABG/Pump_abg.m Index: mttroot/mtt/lib/examples/ABG/SimpleGasTurbineABG/Pump_abg.m ================================================================== --- mttroot/mtt/lib/examples/ABG/SimpleGasTurbineABG/Pump_abg.m +++ /dev/null @@ -1,180 +0,0 @@ -function [Pump] = Pump_abg -# This function is the acausal bond graph representation of Pump -# Generated by MTT on Thu Mar 16 10:38:10 2000 -# The file is in Octave format - -# Subsystems and Ports - -# Port Hydraulic_in - Pump.ports.Hydraulic_in.type = "SS"; - Pump.ports.Hydraulic_in.cr = "SS"; - Pump.ports.Hydraulic_in.arg = "external,external"; - Pump.ports.Hydraulic_in.repetitions = 1; - Pump.ports.Hydraulic_in.status = -1; - Pump.ports.Hydraulic_in.connections = [-5 ]; - -# Port Hydraulic_out - Pump.ports.Hydraulic_out.type = "SS"; - Pump.ports.Hydraulic_out.cr = "SS"; - Pump.ports.Hydraulic_out.arg = "external,external"; - Pump.ports.Hydraulic_out.repetitions = 1; - Pump.ports.Hydraulic_out.status = -1; - Pump.ports.Hydraulic_out.connections = [6 ]; - -# Port Shaft - Pump.ports.Shaft.type = "SS"; - Pump.ports.Shaft.cr = "SS"; - Pump.ports.Shaft.arg = "external,external"; - Pump.ports.Shaft.repetitions = 1; - Pump.ports.Shaft.status = -1; - Pump.ports.Shaft.connections = [-12 ]; - -# Port Thermal_in - Pump.ports.Thermal_in.type = "SS"; - Pump.ports.Thermal_in.cr = "SS"; - Pump.ports.Thermal_in.arg = "external,external"; - Pump.ports.Thermal_in.repetitions = 1; - Pump.ports.Thermal_in.status = -1; - Pump.ports.Thermal_in.connections = [-4 ]; - -# Port Thermal_out - Pump.ports.Thermal_out.type = "SS"; - Pump.ports.Thermal_out.cr = "SS"; - Pump.ports.Thermal_out.arg = "external,external"; - Pump.ports.Thermal_out.repetitions = 1; - Pump.ports.Thermal_out.status = -1; - Pump.ports.Thermal_out.connections = [16 ]; - -# Component pipe - Pump.subsystems.pipe.type = "wPipe"; - Pump.subsystems.pipe.cr = "none"; - Pump.subsystems.pipe.arg = "c_v;density,ideal_gas,r"; - Pump.subsystems.pipe.repetitions = 1; - Pump.subsystems.pipe.status = -1; - Pump.subsystems.pipe.connections = [3 -7 14 2 -1 ]; - -# Component poly - Pump.subsystems.poly.type = "Poly"; - Pump.subsystems.poly.cr = "Poly"; - Pump.subsystems.poly.arg = "alpha"; - Pump.subsystems.poly.repetitions = 1; - Pump.subsystems.poly.status = -1; - Pump.subsystems.poly.connections = [9 8 11 -10 ]; - -# Component T - Pump.subsystems.T.type = "SS"; - Pump.subsystems.T.cr = "SS"; - Pump.subsystems.T.arg = "external,0"; - Pump.subsystems.T.repetitions = 1; - Pump.subsystems.T.status = -1; - Pump.subsystems.T.connections = [17 ]; - -# Component k_p - Pump.subsystems.k_p.type = "TF"; - Pump.subsystems.k_p.cr = "lin"; - Pump.subsystems.k_p.arg = "flow,k_p"; - Pump.subsystems.k_p.repetitions = 1; - Pump.subsystems.k_p.status = -1; - Pump.subsystems.k_p.connections = [13 -14 ]; - -# Component mtt1 - Pump.subsystems.mtt1.type = "0"; - Pump.subsystems.mtt1.cr = ""; - Pump.subsystems.mtt1.arg = ""; - Pump.subsystems.mtt1.repetitions = 1; - Pump.subsystems.mtt1.status = -1; - Pump.subsystems.mtt1.connections = [1 10 -15 -17 ]; - -# Component mtt2 - Pump.subsystems.mtt2.type = "0"; - Pump.subsystems.mtt2.cr = ""; - Pump.subsystems.mtt2.arg = ""; - Pump.subsystems.mtt2.repetitions = 1; - Pump.subsystems.mtt2.status = -1; - Pump.subsystems.mtt2.connections = [-6 7 -11 ]; - -# Component mtt3 - Pump.subsystems.mtt3.type = "0"; - Pump.subsystems.mtt3.cr = ""; - Pump.subsystems.mtt3.arg = ""; - Pump.subsystems.mtt3.repetitions = 1; - Pump.subsystems.mtt3.status = -1; - Pump.subsystems.mtt3.connections = [-3 5 -9 ]; - -# Component mtt4 - Pump.subsystems.mtt4.type = "0"; - Pump.subsystems.mtt4.cr = ""; - Pump.subsystems.mtt4.arg = ""; - Pump.subsystems.mtt4.repetitions = 1; - Pump.subsystems.mtt4.status = -1; - Pump.subsystems.mtt4.connections = [-2 4 -8 ]; - -# Component mtt5 - Pump.subsystems.mtt5.type = "EBTF"; - Pump.subsystems.mtt5.cr = ""; - Pump.subsystems.mtt5.arg = ""; - Pump.subsystems.mtt5.repetitions = 1; - Pump.subsystems.mtt5.status = -1; - Pump.subsystems.mtt5.connections = [15 -16 ]; - -# Component mtt6 - Pump.subsystems.mtt6.type = "1"; - Pump.subsystems.mtt6.cr = ""; - Pump.subsystems.mtt6.arg = ""; - Pump.subsystems.mtt6.repetitions = 1; - Pump.subsystems.mtt6.status = -1; - Pump.subsystems.mtt6.connections = [12 -13 ]; - -# Ordered list of Port names - Pump.portlist(1,:) = "Hydraulic_in "; - Pump.portlist(2,:) = "Hydraulic_out"; - Pump.portlist(3,:) = "Shaft "; - Pump.portlist(4,:) = "Thermal_in "; - Pump.portlist(5,:) = "Thermal_out "; - -# Ordered list of subsystem names - Pump.subsystemlist(1,:) = "pipe"; - Pump.subsystemlist(2,:) = "poly"; - Pump.subsystemlist(3,:) = "T "; - Pump.subsystemlist(4,:) = "k_p "; - Pump.subsystemlist(5,:) = "mtt1"; - Pump.subsystemlist(6,:) = "mtt2"; - Pump.subsystemlist(7,:) = "mtt3"; - Pump.subsystemlist(8,:) = "mtt4"; - Pump.subsystemlist(9,:) = "mtt5"; - Pump.subsystemlist(10,:) = "mtt6"; - -# Bonds - Pump.bonds = [ - 0 0 - 0 0 - 0 0 - 0 0 - 0 0 - 0 0 - 0 0 - 0 0 - 0 0 - 0 0 - 0 0 - -1 -1 - 0 0 - 0 0 - 0 0 - 0 0 - 1 1 - ]; - -# Aliases -# A double underscore __ represents a comma -Pump.alias.out = "Thermal_out,Hydraulic_out"; -Pump.alias.Hy_out = "Hydraulic_out"; -Pump.alias.c_v = "$1"; -Pump.alias.flow__k_p = "$4"; -Pump.alias.Th_in = "Thermal_in"; -Pump.alias.Th_out = "Thermal_out"; -Pump.alias.Work = "Shaft"; -Pump.alias.alpha = "$3"; -Pump.alias.in = "Thermal_in,Hydraulic_in"; -Pump.alias.Hy_in = "Hydraulic_in"; -Pump.alias.density__ideal_gas__r = "$2"; DELETED mttroot/mtt/lib/examples/ABG/SimpleGasTurbineABG/SimpleGasTurbineABG_abg.m Index: mttroot/mtt/lib/examples/ABG/SimpleGasTurbineABG/SimpleGasTurbineABG_abg.m ================================================================== --- mttroot/mtt/lib/examples/ABG/SimpleGasTurbineABG/SimpleGasTurbineABG_abg.m +++ /dev/null @@ -1,165 +0,0 @@ -function [SimpleGasTurbineABG] = SimpleGasTurbineABG_abg -# This function is the acausal bond graph representation of SimpleGasTurbineABG -# Generated by MTT on Thu Mar 16 12:59:12 2000 -# The file is in Octave format - -# Subsystems and Ports - -# Component c1 - SimpleGasTurbineABG.subsystems.c1.type = "Comb"; - SimpleGasTurbineABG.subsystems.c1.cr = "none"; - SimpleGasTurbineABG.subsystems.c1.arg = "m_c;v_c;r"; - SimpleGasTurbineABG.subsystems.c1.repetitions = 1; - SimpleGasTurbineABG.subsystems.c1.status = -1; - SimpleGasTurbineABG.subsystems.c1.connections = [14 -15 7 10 -11 ]; - -# Component j_s - SimpleGasTurbineABG.subsystems.j_s.type = "I"; - SimpleGasTurbineABG.subsystems.j_s.cr = "lin"; - SimpleGasTurbineABG.subsystems.j_s.arg = "flow,j_s"; - SimpleGasTurbineABG.subsystems.j_s.repetitions = 1; - SimpleGasTurbineABG.subsystems.j_s.status = -1; - SimpleGasTurbineABG.subsystems.j_s.connections = [2 ]; - -# Component comp - SimpleGasTurbineABG.subsystems.comp.type = "Pump"; - SimpleGasTurbineABG.subsystems.comp.cr = "none"; - SimpleGasTurbineABG.subsystems.comp.arg = "c_v;density,ideal_gas,r;alpha;effort,k"; - SimpleGasTurbineABG.subsystems.comp.repetitions = 1; - SimpleGasTurbineABG.subsystems.comp.status = -1; - SimpleGasTurbineABG.subsystems.comp.connections = [16 -14 1 12 -10 ]; - -# Component turb - SimpleGasTurbineABG.subsystems.turb.type = "Pump"; - SimpleGasTurbineABG.subsystems.turb.cr = "none"; - SimpleGasTurbineABG.subsystems.turb.arg = "c_v;density,ideal_gas,r;alpha;effort,k"; - SimpleGasTurbineABG.subsystems.turb.repetitions = 1; - SimpleGasTurbineABG.subsystems.turb.status = -1; - SimpleGasTurbineABG.subsystems.turb.connections = [15 -17 -6 11 -13 ]; - -# Component Work - SimpleGasTurbineABG.subsystems.Work.type = "SS"; - SimpleGasTurbineABG.subsystems.Work.cr = "SS"; - SimpleGasTurbineABG.subsystems.Work.arg = "0,external"; - SimpleGasTurbineABG.subsystems.Work.repetitions = 1; - SimpleGasTurbineABG.subsystems.Work.status = -1; - SimpleGasTurbineABG.subsystems.Work.connections = [4 ]; - -# Component Heat - SimpleGasTurbineABG.subsystems.Heat.type = "SS"; - SimpleGasTurbineABG.subsystems.Heat.cr = "SS"; - SimpleGasTurbineABG.subsystems.Heat.arg = "0,external"; - SimpleGasTurbineABG.subsystems.Heat.repetitions = 1; - SimpleGasTurbineABG.subsystems.Heat.status = -1; - SimpleGasTurbineABG.subsystems.Heat.connections = [9 ]; - -# Component Speed - SimpleGasTurbineABG.subsystems.Speed.type = "SS"; - SimpleGasTurbineABG.subsystems.Speed.cr = "SS"; - SimpleGasTurbineABG.subsystems.Speed.arg = "0,external"; - SimpleGasTurbineABG.subsystems.Speed.repetitions = 1; - SimpleGasTurbineABG.subsystems.Speed.status = -1; - SimpleGasTurbineABG.subsystems.Speed.connections = [5 ]; - -# Component T3 - SimpleGasTurbineABG.subsystems.T3.type = "SS"; - SimpleGasTurbineABG.subsystems.T3.cr = "SS"; - SimpleGasTurbineABG.subsystems.T3.arg = "external,external"; - SimpleGasTurbineABG.subsystems.T3.repetitions = 1; - SimpleGasTurbineABG.subsystems.T3.status = -1; - SimpleGasTurbineABG.subsystems.T3.connections = [-8 ]; - -# Component in - SimpleGasTurbineABG.subsystems.in.type = "In"; - SimpleGasTurbineABG.subsystems.in.cr = ""; - SimpleGasTurbineABG.subsystems.in.arg = ""; - SimpleGasTurbineABG.subsystems.in.repetitions = 1; - SimpleGasTurbineABG.subsystems.in.status = -1; - SimpleGasTurbineABG.subsystems.in.connections = [-16 -12 ]; - -# Component out - SimpleGasTurbineABG.subsystems.out.type = "Out"; - SimpleGasTurbineABG.subsystems.out.cr = ""; - SimpleGasTurbineABG.subsystems.out.arg = ""; - SimpleGasTurbineABG.subsystems.out.repetitions = 1; - SimpleGasTurbineABG.subsystems.out.status = -1; - SimpleGasTurbineABG.subsystems.out.connections = [17 13 ]; - -# Component mtt1 - SimpleGasTurbineABG.subsystems.mtt1.type = "1"; - SimpleGasTurbineABG.subsystems.mtt1.cr = ""; - SimpleGasTurbineABG.subsystems.mtt1.arg = ""; - SimpleGasTurbineABG.subsystems.mtt1.repetitions = 1; - SimpleGasTurbineABG.subsystems.mtt1.status = -1; - SimpleGasTurbineABG.subsystems.mtt1.connections = [-1 -2 -3 -5 6 ]; - -# Component mtt2 - SimpleGasTurbineABG.subsystems.mtt2.type = "Load"; - SimpleGasTurbineABG.subsystems.mtt2.cr = ""; - SimpleGasTurbineABG.subsystems.mtt2.arg = ""; - SimpleGasTurbineABG.subsystems.mtt2.repetitions = 1; - SimpleGasTurbineABG.subsystems.mtt2.status = -1; - SimpleGasTurbineABG.subsystems.mtt2.connections = [3 -4 ]; - -# Component mtt3 - SimpleGasTurbineABG.subsystems.mtt3.type = "PS"; - SimpleGasTurbineABG.subsystems.mtt3.cr = ""; - SimpleGasTurbineABG.subsystems.mtt3.arg = ""; - SimpleGasTurbineABG.subsystems.mtt3.repetitions = 1; - SimpleGasTurbineABG.subsystems.mtt3.status = -1; - SimpleGasTurbineABG.subsystems.mtt3.connections = [8 -7 -9 ]; - -# Ordered list of subsystem names - SimpleGasTurbineABG.subsystemlist(1,:) = "c1 "; - SimpleGasTurbineABG.subsystemlist(2,:) = "j_s "; - SimpleGasTurbineABG.subsystemlist(3,:) = "comp "; - SimpleGasTurbineABG.subsystemlist(4,:) = "turb "; - SimpleGasTurbineABG.subsystemlist(5,:) = "Work "; - SimpleGasTurbineABG.subsystemlist(6,:) = "Heat "; - SimpleGasTurbineABG.subsystemlist(7,:) = "Speed"; - SimpleGasTurbineABG.subsystemlist(8,:) = "T3 "; - SimpleGasTurbineABG.subsystemlist(9,:) = "in "; - SimpleGasTurbineABG.subsystemlist(10,:) = "out "; - SimpleGasTurbineABG.subsystemlist(11,:) = "mtt1 "; - SimpleGasTurbineABG.subsystemlist(12,:) = "mtt2 "; - SimpleGasTurbineABG.subsystemlist(13,:) = "mtt3 "; - -# Bonds - SimpleGasTurbineABG.bonds = [ - 0 0 - 1 1 - 0 0 - -1 -1 - -1 -1 - 0 0 - 0 0 - 1 1 - -1 -1 - 0 0 - 0 0 - 0 0 - 0 0 - 0 0 - 0 0 - 0 0 - 0 0 - ]; - -# Aliases -# A double underscore __ represents a comma -# Explicit variable declarations -#VAR t_2 -#VAR t_3 -#VAR t_4 -#VAR p_2 -#VAR p_3 -#VAR p_4 -#VAR mdot -#VAR gamma_0 -#VAR q_0 -#VAR w_0 -#VAR omega_0 -#VAR r_p -#VAR c_p -#VAR mom_0 -endfunction DELETED mttroot/mtt/lib/examples/ABG/SimpleGasTurbineABG/SimpleGasTurbineABG_desc.tex Index: mttroot/mtt/lib/examples/ABG/SimpleGasTurbineABG/SimpleGasTurbineABG_desc.tex ================================================================== --- mttroot/mtt/lib/examples/ABG/SimpleGasTurbineABG/SimpleGasTurbineABG_desc.tex +++ /dev/null @@ -1,123 +0,0 @@ -% -*-latex-*- used to set EMACS into LaTeX-mode -% Verbal description for system SimpleGasTurbineABG (SimpleGasTurbineABG_desc.tex) -% Generated by MTT on Tue Jan 13 18:01:55 GMT 1998. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1998/05/18 15:45:50 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{SimpleGasTurbineABG} is - displayed in Figure \Ref{SimpleGasTurbineABG_abg} and its label - file is listed in Section \Ref{sec:SimpleGasTurbineABG_lbl}. - The subsystems are listed in Section \Ref{sec:SimpleGasTurbineABG_sub}. - - \textbf{SimpleGasTurbineABG} can be regarded as an single-spool gas - turbine (producing shaft power) with an ideal-gas working fluid. It - corresponds to the simple Joule Cycle as described in Chapter 12 of - Rogers and Mayhew and in Chapter 2 of Cohen, Rogers and - Saravanamutto. However, unlike those examples, the system is - written with dynamics in mind. - - The system is described using an energy Bond Graph- this ensures - that the first law is observed. In particular transformers are used - to explicitly convert between energy covariables. Although this is - a simple model, I believe that it provides the basis for building - complex thermodynamic systems involving gas power cycles. - - -There are five main components: -\begin{enumerate} -\item p1 -- a \textbf{Pump} component representing the compressor - stage. This converts shaft work to energy flow in the working fluid. -\item c1 -- a \textbf{Comb} component representing the combustion - chamber. This converts the heat obtained by burning fuel to energy - flow in the working fluid. -\item t1 -- a \textbf{Turb} component representing the turbine - component. This converts the energy flow in the working fluid to - shaft work -\item j\_s -- an \textbf{I} component representing the combined inertia - of the shaft and compressor and turbine rotors. -\item a \textbf{Load} component to absorb the shaft power. -\end{enumerate} -The components \textbf{In} and \textbf{Out} provide the inlet and -outlet conditions. - -Both \textbf{Pump} and \textbf{Turb} are implemented with the -\emph{polytropic} constitutive relationship with index $n$. When -$n=\gamma=\frac{c_p}{c_v}$ this corresponds to isentropic compression -and expansion and thus the \textbf{SimpleGasTurbineABG} achieves its -cycle efficiency. However, other values of $n$ can be used to account -for isentropic efficiency of less than unity. - -To obtain a very simple dynamic model (and to avoid the need for an -accurate combustion chamber model) there are no dynamics associated -with the combustion chamber, but rahter it is assumed that the -corresponding temperature is imposed on the component (that is $T_3$ -is the system input) the corresponding heat flow is then an output. - -Both heat input and work output are measured using the \textbf{PS} -(power sensor) component, that for work output is embedded in the -\textbf{Load} component. These can be monitored to give the efficiency -of the \textbf{SimpleGasTurbineABG}. - -A symbolic steady-state for the model was computed -- see Section -\ref{sec:SimpleGasTurbineABG_ss.tex}. In particular, the load -resistance was chosen to absorb all the generated work at the steady -state and the shaft inertia was chosen to give a unit time constant -for the linearised system. The mass flow and shaft speeds were taken -as unity. - -For the purposed of simulation, the numerical values given in Examples -12.1 of Chapter 12 of Rogers and Mayhew, except that the isentropic -efficiencies are 100\% ($n=\gamma$) -- see Section -\ref{sec:SimpleGasTurbineABG_numpar.tex}. - -Simulations were performed starting at the steady state and increasing -the combustion chamber temperature by 10\% at $t=1$ and reducing by -10\% at $t=5$. Graphs of the various outputs are plotted: -\begin{itemize} -\item Figure - \Ref{fig:SimpleGasTurbineABG_odeso.ps-SimpleGasTurbineABG-p1-T,SimpleGasTurbineABG-c1-T,SimpleGasTurbineABG-t1-T} - -- the temperatures at the output of the - \begin{itemize} - \item compressor, - \item combustion chamber and - \item turbine - \end{itemize} -\item Figure - \Ref{fig:SimpleGasTurbineABG_odeso.ps-SimpleGasTurbineABG-Heat,SimpleGasTurbineABG-Work} - -- the heat input and work output -\item Figure - \Ref{fig:SimpleGasTurbineABG_odeso.ps-SimpleGasTurbineABG-Speed} -- the shaft speed and -\item Figure - \Ref{fig:SimpleGasTurbineABG_odeso.ps-SimpleGasTurbineABG-p1-P,SimpleGasTurbineABG-c1-P,SimpleGasTurbineABG-t1-P} - -- the pressure at the output of the - \begin{itemize} - \item compressor, - \item combustion chamber and - \item turbine - \end{itemize} -\end{itemize} - -This model can be modified extended in various ways to yield related -dynamic systems. For example: -\begin{itemize} -\item an air cooler is obtained by changing the direction of heat and - work flows -\item additional \textbf{Turb} and \textbf{Comb} components add reheat - to the cycle -\item an isentropic nozzle can be added and the work output removed - to give a jet engine. -\end{itemize} - - -%%% Local Variables: -%%% mode: latex -%%% TeX-master: t -%%% End: DELETED mttroot/mtt/lib/examples/ABG/SimpleGasTurbineABG/SimpleGasTurbineABG_input.txt Index: mttroot/mtt/lib/examples/ABG/SimpleGasTurbineABG/SimpleGasTurbineABG_input.txt ================================================================== --- mttroot/mtt/lib/examples/ABG/SimpleGasTurbineABG/SimpleGasTurbineABG_input.txt +++ /dev/null @@ -1,14 +0,0 @@ -# Numerical parameter file (SimpleGasTurbineABG_input.txt) -# Generated by MTT at Tue Mar 31 12:38:39 BST 1998 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -t_3 = 1000; - -# Set the inputs -u(1) = t_3 + 0.1*t_3*(t>1) - 0.2*t_3*(t>5); # SimpleGasTurbineABG (T3) DELETED mttroot/mtt/lib/examples/ABG/SimpleGasTurbineABG/SimpleGasTurbineABG_numpar.txt Index: mttroot/mtt/lib/examples/ABG/SimpleGasTurbineABG/SimpleGasTurbineABG_numpar.txt ================================================================== --- mttroot/mtt/lib/examples/ABG/SimpleGasTurbineABG/SimpleGasTurbineABG_numpar.txt +++ /dev/null @@ -1,74 +0,0 @@ -# Numerical parameter file (SimpleGasTurbine_numpar.txt) -# Generated by MTT at Tue Mar 31 12:15:00 BST 1998 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -#Dummies - alpha = 1; - c_v = 1; - density = 1; - ideal_gas = 1; - j_s = 1; - k = 1; - k_p = 1; - m = 1; - m_c = 1; - p_1 = 1; - r = 1; - r_l = 1; - t_1 = 1; - v = 1; - v_c = 1; - - -# Parameters -c_p = 1005.0; -c_v = 718.0; -gamma_0 = c_p/c_v; -alpha = (gamma_0-1)/gamma_0; -k = 1.0; -p_1 = 1e5; # 1 bar -p_4 = p_1; -r = c_p-c_v; -t_1 = 288.0; # In -v_c = 1.0; - -%Set the CC pressure and temperature -t_3 = 1000.0; -r_p = 6.0; -p_3 = r_p*p_1; - -%Find stored mass to give combustion chamber pressure p_3 (at -% temperature t_3 -m_c = (p_3*v_c)/(t_3*r); - -%Equate pressures -p_4 = p_1; -p_2 = p_3; - -%Compute ss temperatures (isentropic) -t_2 = t_1*(p_2/p_1)^alpha; -t_4 = t_3*(p_4/p_3)^alpha; - -%Find the steady-state work output -w_0 = c_p*(t_3-t_4) - c_p*(t_2-t_1); - -%Unit mass flow -mdot = 1; - -%Corresponding shaft speed -omega_0 = mdot/k; - -%Compute the corresponding load resistance (to absorb that work) -r_l = w_0/(omega_0)^2; - -%Compute shaft inertia to give unit time constant (j_s*r_l) -j_s = r_l; - -%Find angular momentum to give shaft speed omega_0 -mom_0 = omega_0*j_s; DELETED mttroot/mtt/lib/examples/ABG/SimpleGasTurbineABG/SimpleGasTurbineABG_rep.txt Index: mttroot/mtt/lib/examples/ABG/SimpleGasTurbineABG/SimpleGasTurbineABG_rep.txt ================================================================== --- mttroot/mtt/lib/examples/ABG/SimpleGasTurbineABG/SimpleGasTurbineABG_rep.txt +++ /dev/null @@ -1,32 +0,0 @@ -# Outline report file for system SimpleGasTurbineABG (SimpleGasTurbineABG_rep.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%mtt -abg -o -ss SimpleGasTurbineABG abg tex -mtt -abg -o -ss SimpleGasTurbineABG struc tex -mtt -abg -o -ss SimpleGasTurbineABG sympar tex -mtt -abg -o -ss SimpleGasTurbineABG ode tex - -mtt -abg -o -ss SimpleGasTurbineABG sspar r -mtt -abg -o -ss SimpleGasTurbineABG ss tex -mtt -abg -o -ss SimpleGasTurbineABG sm tex - - -mtt -abg -o -ss SimpleGasTurbineABG numpar tex -mtt -abg -o -ss SimpleGasTurbineABG input tex -mtt -abg -o -ss SimpleGasTurbineABG state tex -mtt -abg -o -ss SimpleGasTurbineABG simpar tex -mtt -abg -o -ss -c SimpleGasTurbineABG odeso ps 'SimpleGasTurbineABG_p1_T,SimpleGasTurbineABG_c1_T,SimpleGasTurbineABG_t1_T' -mtt -abg -o -ss -c SimpleGasTurbineABG odeso ps 'SimpleGasTurbineABG_Heat,SimpleGasTurbineABG_Work' -mtt -abg -o -ss -c SimpleGasTurbineABG odeso ps 'SimpleGasTurbineABG_Speed' -mtt -abg -o -ss -c SimpleGasTurbineABG odeso ps 'SimpleGasTurbineABG_p1_P,SimpleGasTurbineABG_c1_P,SimpleGasTurbineABG_t1_P' - - - - - DELETED mttroot/mtt/lib/examples/ABG/SimpleGasTurbineABG/SimpleGasTurbineABG_simp.r Index: mttroot/mtt/lib/examples/ABG/SimpleGasTurbineABG/SimpleGasTurbineABG_simp.r ================================================================== --- mttroot/mtt/lib/examples/ABG/SimpleGasTurbineABG/SimpleGasTurbineABG_simp.r +++ /dev/null @@ -1,11 +0,0 @@ -%% Reduce commands to simplify output for system SimpleGasTurbineABG (SimpleGasTurbineABG_simp.r) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -LET c_v = c_p - r; -END; DELETED mttroot/mtt/lib/examples/ABG/SimpleGasTurbineABG/SimpleGasTurbineABG_sspar.r Index: mttroot/mtt/lib/examples/ABG/SimpleGasTurbineABG/SimpleGasTurbineABG_sspar.r ================================================================== --- mttroot/mtt/lib/examples/ABG/SimpleGasTurbineABG/SimpleGasTurbineABG_sspar.r +++ /dev/null @@ -1,49 +0,0 @@ -% Steady-state parameter file (SimpleGasTurbineABG_sspar.r) -% Generated by MTT at Thu Mar 26 16:28:59 GMT 1998 - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% % Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% % $Id$ -% % $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%Find stored mass to give combustion chamber pressure p_3 (at -% temperature t_3 -m_c := (p_3*v_c)/(t_3*r); - -%Equate pressures -p_4 := p_1; -p_2 := p_3; - -%Compute ss temperatures (isentropic) -t_2 := t_1*(p_2/p_1)^alpha; -t_4 := t_3*(p_4/p_3)^alpha; - -%Find the steady-state work output -w_0 := c_p*(t_3-t_4) - c_p*(t_2-t_1); - -%Compute the corresponding load resistance (to absorb that work) -r_l := w_0/(omega_0)^2; - -%Unit mass flow -mdot := 1; - -%Corresponding shaft speed -omega_0 := mdot/k; - -%Compute shaft inertia to give unit time constant (j_s*r_l) -j_s := r_l; - -%Find angular momentum to give shaft speed omega_0 -mom_0 := omega_0*j_s; - - -% Steady-state states -MTTX1 := mom_0; - -% Steady-state inputs - combustion temperature -MTTU1 := t_3; % SimpleGasTurbineABG (T3) - -;;END; - DELETED mttroot/mtt/lib/examples/ABG/SimpleGasTurbineABG/SimpleGasTurbineABG_state.txt Index: mttroot/mtt/lib/examples/ABG/SimpleGasTurbineABG/SimpleGasTurbineABG_state.txt ================================================================== --- mttroot/mtt/lib/examples/ABG/SimpleGasTurbineABG/SimpleGasTurbineABG_state.txt +++ /dev/null @@ -1,14 +0,0 @@ -# Numerical parameter file (SimpleGasTurbineABG_state.txt) -# Generated by MTT at Tue Mar 31 12:37:17 BST 1998 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -SimpleGasTurbineABG_numpar; - -# Set the states -x(1) = j_s/k ; # SimpleGasTurbineABG (j_s) DELETED mttroot/mtt/lib/examples/ABG/SimpleGasTurbineABG/hPipe_abg.m Index: mttroot/mtt/lib/examples/ABG/SimpleGasTurbineABG/hPipe_abg.m ================================================================== --- mttroot/mtt/lib/examples/ABG/SimpleGasTurbineABG/hPipe_abg.m +++ /dev/null @@ -1,105 +0,0 @@ -function [hPipe] = hPipe_abg -# This function is the acausal bond graph representation of hPipe -# Generated by MTT on Thu Mar 16 10:33:07 2000 -# The file is in Octave format - -# Subsystems and Ports - -# Port Heat - hPipe.ports.Heat.type = "SS"; - hPipe.ports.Heat.cr = "SS"; - hPipe.ports.Heat.arg = "external,external"; - hPipe.ports.Heat.repetitions = 1; - hPipe.ports.Heat.status = -1; - hPipe.ports.Heat.connections = [-3 ]; - -# Port Hydraulic_in - hPipe.ports.Hydraulic_in.type = "SS"; - hPipe.ports.Hydraulic_in.cr = "SS"; - hPipe.ports.Hydraulic_in.arg = "external,external"; - hPipe.ports.Hydraulic_in.repetitions = 1; - hPipe.ports.Hydraulic_in.status = -1; - hPipe.ports.Hydraulic_in.connections = [-5 ]; - -# Port Hydraulic_out - hPipe.ports.Hydraulic_out.type = "SS"; - hPipe.ports.Hydraulic_out.cr = "SS"; - hPipe.ports.Hydraulic_out.arg = "external,external"; - hPipe.ports.Hydraulic_out.repetitions = 1; - hPipe.ports.Hydraulic_out.status = -1; - hPipe.ports.Hydraulic_out.connections = [6 ]; - -# Port Thermal_in - hPipe.ports.Thermal_in.type = "SS"; - hPipe.ports.Thermal_in.cr = "SS"; - hPipe.ports.Thermal_in.arg = "external,external"; - hPipe.ports.Thermal_in.repetitions = 1; - hPipe.ports.Thermal_in.status = -1; - hPipe.ports.Thermal_in.connections = [-2 ]; - -# Port Thermal_out - hPipe.ports.Thermal_out.type = "SS"; - hPipe.ports.Thermal_out.cr = "SS"; - hPipe.ports.Thermal_out.arg = "external,external"; - hPipe.ports.Thermal_out.repetitions = 1; - hPipe.ports.Thermal_out.status = -1; - hPipe.ports.Thermal_out.connections = [7 ]; - -# Component P2T - hPipe.subsystems.P2T.type = "TF"; - hPipe.subsystems.P2T.cr = "lin"; - hPipe.subsystems.P2T.arg = "flow,r*m/v"; - hPipe.subsystems.P2T.repetitions = 1; - hPipe.subsystems.P2T.status = -1; - hPipe.subsystems.P2T.connections = [5 -1 ]; - -# Component T2P - hPipe.subsystems.T2P.type = "TF"; - hPipe.subsystems.T2P.cr = "lin"; - hPipe.subsystems.T2P.arg = "effort,r*m/v"; - hPipe.subsystems.T2P.repetitions = 1; - hPipe.subsystems.T2P.status = -1; - hPipe.subsystems.T2P.connections = [4 -6 ]; - -# Component mtt1 - hPipe.subsystems.mtt1.type = "0"; - hPipe.subsystems.mtt1.cr = ""; - hPipe.subsystems.mtt1.arg = ""; - hPipe.subsystems.mtt1.repetitions = 1; - hPipe.subsystems.mtt1.status = -1; - hPipe.subsystems.mtt1.connections = [1 2 3 -4 -7 ]; - -# Ordered list of Port names - hPipe.portlist(1,:) = "Heat "; - hPipe.portlist(2,:) = "Hydraulic_in "; - hPipe.portlist(3,:) = "Hydraulic_out"; - hPipe.portlist(4,:) = "Thermal_in "; - hPipe.portlist(5,:) = "Thermal_out "; - -# Ordered list of subsystem names - hPipe.subsystemlist(1,:) = "P2T "; - hPipe.subsystemlist(2,:) = "T2P "; - hPipe.subsystemlist(3,:) = "mtt1"; - -# Bonds - hPipe.bonds = [ - 0 0 - 0 0 - 1 1 - 0 0 - 0 0 - 0 0 - 0 0 - ]; - -# Aliases -# A double underscore __ represents a comma -hPipe.alias.out = "Thermal_out,Hydraulic_out"; -hPipe.alias.Hy_out = "Hydraulic_out"; -hPipe.alias.Th_in = "Thermal_in"; -hPipe.alias.r = "$3"; -hPipe.alias.Th_out = "Thermal_out"; -hPipe.alias.m = "$1"; -hPipe.alias.v = "$2"; -hPipe.alias.in = "Thermal_in,Hydraulic_in"; -hPipe.alias.Hy_in = "Hydraulic_in"; DELETED mttroot/mtt/lib/examples/ABG/SimpleGasTurbineABG/wPipe_abg.m Index: mttroot/mtt/lib/examples/ABG/SimpleGasTurbineABG/wPipe_abg.m ================================================================== --- mttroot/mtt/lib/examples/ABG/SimpleGasTurbineABG/wPipe_abg.m +++ /dev/null @@ -1,199 +0,0 @@ -function [wPipe] = wPipe_abg -# This function is the acausal bond graph representation of wPipe -# Generated by MTT on Thu Mar 16 10:37:39 2000 -# The file is in Octave format - -# Subsystems and Ports - -# Port Hydraulic_in - wPipe.ports.Hydraulic_in.type = "SS"; - wPipe.ports.Hydraulic_in.cr = "SS"; - wPipe.ports.Hydraulic_in.arg = "external,external"; - wPipe.ports.Hydraulic_in.repetitions = 1; - wPipe.ports.Hydraulic_in.status = -1; - wPipe.ports.Hydraulic_in.connections = [-1 ]; - -# Port Hydraulic_out - wPipe.ports.Hydraulic_out.type = "SS"; - wPipe.ports.Hydraulic_out.cr = "SS"; - wPipe.ports.Hydraulic_out.arg = "external,external"; - wPipe.ports.Hydraulic_out.repetitions = 1; - wPipe.ports.Hydraulic_out.status = -1; - wPipe.ports.Hydraulic_out.connections = [17 ]; - -# Port Shaft - wPipe.ports.Shaft.type = "SS"; - wPipe.ports.Shaft.cr = "SS"; - wPipe.ports.Shaft.arg = "external,external"; - wPipe.ports.Shaft.repetitions = 1; - wPipe.ports.Shaft.status = -1; - wPipe.ports.Shaft.connections = [-20 ]; - -# Port Thermal_in - wPipe.ports.Thermal_in.type = "SS"; - wPipe.ports.Thermal_in.cr = "SS"; - wPipe.ports.Thermal_in.arg = "external,external"; - wPipe.ports.Thermal_in.repetitions = 1; - wPipe.ports.Thermal_in.status = -1; - wPipe.ports.Thermal_in.connections = [-14 ]; - -# Port Thermal_out - wPipe.ports.Thermal_out.type = "SS"; - wPipe.ports.Thermal_out.cr = "SS"; - wPipe.ports.Thermal_out.arg = "external,external"; - wPipe.ports.Thermal_out.repetitions = 1; - wPipe.ports.Thermal_out.status = -1; - wPipe.ports.Thermal_out.connections = [16 ]; - -# Component rho1 - wPipe.subsystems.rho1.type = "Density"; - wPipe.subsystems.rho1.cr = "none"; - wPipe.subsystems.rho1.arg = "density,ideal_gas,r"; - wPipe.subsystems.rho1.repetitions = 1; - wPipe.subsystems.rho1.status = -1; - wPipe.subsystems.rho1.connections = [4 3 -5 ]; - -# Component rho2 - wPipe.subsystems.rho2.type = "Density"; - wPipe.subsystems.rho2.cr = "none"; - wPipe.subsystems.rho2.arg = "density,ideal_gas,r"; - wPipe.subsystems.rho2.repetitions = 1; - wPipe.subsystems.rho2.status = -1; - wPipe.subsystems.rho2.connections = [12 11 -10 ]; - -# Component p2pv - wPipe.subsystems.p2pv.type = "EMTF"; - wPipe.subsystems.p2pv.cr = "lin"; - wPipe.subsystems.p2pv.arg = "flow"; - wPipe.subsystems.p2pv.repetitions = 1; - wPipe.subsystems.p2pv.status = -1; - wPipe.subsystems.p2pv.connections = [2 -9 5 ]; - -# Component pv2p - wPipe.subsystems.pv2p.type = "EMTF"; - wPipe.subsystems.pv2p.cr = "lin"; - wPipe.subsystems.pv2p.arg = "effort"; - wPipe.subsystems.pv2p.repetitions = 1; - wPipe.subsystems.pv2p.status = -1; - wPipe.subsystems.pv2p.connections = [7 -18 10 ]; - -# Component t2u - wPipe.subsystems.t2u.type = "TF"; - wPipe.subsystems.t2u.cr = "lin"; - wPipe.subsystems.t2u.arg = "effort,c_v"; - wPipe.subsystems.t2u.repetitions = 1; - wPipe.subsystems.t2u.status = -1; - wPipe.subsystems.t2u.connections = [15 -6 ]; - -# Component u2t - wPipe.subsystems.u2t.type = "TF"; - wPipe.subsystems.u2t.cr = "lin"; - wPipe.subsystems.u2t.arg = "flow,c_v"; - wPipe.subsystems.u2t.repetitions = 1; - wPipe.subsystems.u2t.status = -1; - wPipe.subsystems.u2t.connections = [8 -13 ]; - -# Component mtt1 - wPipe.subsystems.mtt1.type = "0"; - wPipe.subsystems.mtt1.cr = ""; - wPipe.subsystems.mtt1.arg = ""; - wPipe.subsystems.mtt1.repetitions = 1; - wPipe.subsystems.mtt1.status = -1; - wPipe.subsystems.mtt1.connections = [-3 14 -15 ]; - -# Component mtt2 - wPipe.subsystems.mtt2.type = "0"; - wPipe.subsystems.mtt2.cr = ""; - wPipe.subsystems.mtt2.arg = ""; - wPipe.subsystems.mtt2.repetitions = 1; - wPipe.subsystems.mtt2.status = -1; - wPipe.subsystems.mtt2.connections = [1 -2 -4 ]; - -# Component mtt3 - wPipe.subsystems.mtt3.type = "1"; - wPipe.subsystems.mtt3.cr = ""; - wPipe.subsystems.mtt3.arg = ""; - wPipe.subsystems.mtt3.repetitions = 1; - wPipe.subsystems.mtt3.status = -1; - wPipe.subsystems.mtt3.connections = [6 -7 -8 9 19 ]; - -# Component mtt4 - wPipe.subsystems.mtt4.type = "0"; - wPipe.subsystems.mtt4.cr = ""; - wPipe.subsystems.mtt4.arg = ""; - wPipe.subsystems.mtt4.repetitions = 1; - wPipe.subsystems.mtt4.status = -1; - wPipe.subsystems.mtt4.connections = [-11 13 -16 ]; - -# Component mtt5 - wPipe.subsystems.mtt5.type = "0"; - wPipe.subsystems.mtt5.cr = ""; - wPipe.subsystems.mtt5.arg = ""; - wPipe.subsystems.mtt5.repetitions = 1; - wPipe.subsystems.mtt5.status = -1; - wPipe.subsystems.mtt5.connections = [-12 -17 18 ]; - -# Component mtt6 - wPipe.subsystems.mtt6.type = "1"; - wPipe.subsystems.mtt6.cr = ""; - wPipe.subsystems.mtt6.arg = ""; - wPipe.subsystems.mtt6.repetitions = 1; - wPipe.subsystems.mtt6.status = -1; - wPipe.subsystems.mtt6.connections = [-19 20 ]; - -# Ordered list of Port names - wPipe.portlist(1,:) = "Hydraulic_in "; - wPipe.portlist(2,:) = "Hydraulic_out"; - wPipe.portlist(3,:) = "Shaft "; - wPipe.portlist(4,:) = "Thermal_in "; - wPipe.portlist(5,:) = "Thermal_out "; - -# Ordered list of subsystem names - wPipe.subsystemlist(1,:) = "rho1"; - wPipe.subsystemlist(2,:) = "rho2"; - wPipe.subsystemlist(3,:) = "p2pv"; - wPipe.subsystemlist(4,:) = "pv2p"; - wPipe.subsystemlist(5,:) = "t2u "; - wPipe.subsystemlist(6,:) = "u2t "; - wPipe.subsystemlist(7,:) = "mtt1"; - wPipe.subsystemlist(8,:) = "mtt2"; - wPipe.subsystemlist(9,:) = "mtt3"; - wPipe.subsystemlist(10,:) = "mtt4"; - wPipe.subsystemlist(11,:) = "mtt5"; - wPipe.subsystemlist(12,:) = "mtt6"; - -# Bonds - wPipe.bonds = [ - 0 0 - 0 0 - 0 0 - 0 0 - 0 0 - 0 0 - 0 0 - 0 0 - 0 0 - 0 0 - 0 0 - 0 0 - 0 0 - 0 0 - 0 0 - 0 0 - 0 0 - 0 0 - 0 0 - -1 -1 - ]; - -# Aliases -# A double underscore __ represents a comma -wPipe.alias.out = "Thermal_out,Hydraulic_out"; -wPipe.alias.Hy_out = "Hydraulic_out"; -wPipe.alias.c_v = "$1"; -wPipe.alias.Th_in = "Thermal_in"; -wPipe.alias.Th_out = "Thermal_out"; -wPipe.alias.Work = "Shaft"; -wPipe.alias.in = "Thermal_in,Hydraulic_in"; -wPipe.alias.Hy_in = "Hydraulic_in"; -wPipe.alias.density__ideal_gas__r = "$2"; DELETED mttroot/mtt/lib/examples/ABG/rcABG/rcABG_abg.m Index: mttroot/mtt/lib/examples/ABG/rcABG/rcABG_abg.m ================================================================== --- mttroot/mtt/lib/examples/ABG/rcABG/rcABG_abg.m +++ /dev/null @@ -1,76 +0,0 @@ -function [rc] = rc_abg -# This function is the acausal bond graph representation of rc -# Generated by MTT on Thu Mar 16 08:45:29 2000 -# The file is in Octave format - -# Subsystems and Ports - -# Component c - rc.subsystems.c.type = "C"; - rc.subsystems.c.cr = "lin"; - rc.subsystems.c.arg = "effort,c"; - rc.subsystems.c.repetitions = 1; - rc.subsystems.c.status = -1; - rc.subsystems.c.connections = [5 ]; - -# Component r - rc.subsystems.r.type = "R"; - rc.subsystems.r.cr = "lin"; - rc.subsystems.r.arg = "flow,r"; - rc.subsystems.r.repetitions = 1; - rc.subsystems.r.status = -1; - rc.subsystems.r.connections = [4 ]; - -# Component e1 - rc.subsystems.e1.type = "SS"; - rc.subsystems.e1.cr = "SS"; - rc.subsystems.e1.arg = "external,internal"; - rc.subsystems.e1.repetitions = 1; - rc.subsystems.e1.status = -1; - rc.subsystems.e1.connections = [-1 ]; - -# Component e2 - rc.subsystems.e2.type = "SS"; - rc.subsystems.e2.cr = "SS"; - rc.subsystems.e2.arg = "external,0"; - rc.subsystems.e2.repetitions = 1; - rc.subsystems.e2.status = -1; - rc.subsystems.e2.connections = [3 ]; - -# Component mtt1 - rc.subsystems.mtt1.type = "1"; - rc.subsystems.mtt1.cr = ""; - rc.subsystems.mtt1.arg = ""; - rc.subsystems.mtt1.repetitions = 1; - rc.subsystems.mtt1.status = -1; - rc.subsystems.mtt1.connections = [1 -2 -4 ]; - -# Component mtt2 - rc.subsystems.mtt2.type = "0"; - rc.subsystems.mtt2.cr = ""; - rc.subsystems.mtt2.arg = ""; - rc.subsystems.mtt2.repetitions = 1; - rc.subsystems.mtt2.status = -1; - rc.subsystems.mtt2.connections = [2 -3 -5 ]; - -# Ordered list of subsystem names - rc.subsystemlist(1,:) = "c "; - rc.subsystemlist(2,:) = "r "; - rc.subsystemlist(3,:) = "e1 "; - rc.subsystemlist(4,:) = "e2 "; - rc.subsystemlist(5,:) = "mtt1"; - rc.subsystemlist(6,:) = "mtt2"; - -# Bonds - rc.bonds = [ - 1 1 - 0 0 - 1 1 - 0 0 - 0 0 - ]; - -# Aliases -# A double underscore __ represents a comma -rc.alias.r = "$2"; -rc.alias.c = "$1"; DELETED mttroot/mtt/lib/examples/ABG/rcABG/rcABG_rep.txt Index: mttroot/mtt/lib/examples/ABG/rcABG/rcABG_rep.txt ================================================================== --- mttroot/mtt/lib/examples/ABG/rcABG/rcABG_rep.txt +++ /dev/null @@ -1,15 +0,0 @@ -% %% Outline report file for system rcABG (rcABG_rep.txt) -mtt rcABG struc tex -mtt rcABG ode tex -mtt rcABG sm tex -mtt rcABG tf tex -mtt rcABG sro ps -mtt rcABG lmfr ps -mtt rcABG nyfr ps - -mtt rcABG numpar txt -mtt rcABG input txt -mtt -c rcABG odeso ps -mtt rcABG rep txt - - DELETED mttroot/mtt/lib/examples/AlgebraicLoops/aRC/aRC_abg.fig Index: mttroot/mtt/lib/examples/AlgebraicLoops/aRC/aRC_abg.fig ================================================================== --- mttroot/mtt/lib/examples/AlgebraicLoops/aRC/aRC_abg.fig +++ /dev/null @@ -1,82 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -6 4680 630 6570 1620 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 4725 1215 5175 1215 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 4725 1080 5175 1080 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 4950 675 4950 1080 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 4950 1215 4950 1575 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 1 0 2 - 1 1 2.00 120.00 240.00 - 6075 1530 6075 765 -4 0 1 1 0 0 20 0.0000 4 180 165 5355 1215 c\001 -4 0 1 1 0 0 20 0.0000 4 180 165 6300 1170 e\001 -4 0 1 1 0 0 20 0.0000 4 255 180 6390 1305 2\001 --6 -1 3 0 2 1 7 1 0 -1 0.000 1 0.0000 1800 1125 162 162 1800 1125 1890 1260 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1802 4277 2702 4277 2477 4502 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3152 4277 4052 4277 3827 4502 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4502 4277 5402 4277 5177 4502 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2926 4051 2926 3151 3151 3376 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4276 4051 4276 3151 4501 3376 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 2701 4276 2701 4501 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5401 4051 5401 4276 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5401 4276 5401 4501 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 2701 4051 2701 4276 -2 2 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 5 - 2475 585 3375 585 3375 765 2475 765 2475 585 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 1800 675 2475 675 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 1800 945 1800 675 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 1800 1575 1800 1260 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2925 4500 2925 5400 3150 5175 -2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 6750 6075 6750 225 675 225 675 6075 6750 6075 -2 2 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 5 - 3600 585 4500 585 4500 765 3600 765 3600 585 -2 1 0 2 1 7 101 0 -1 0.000 0 0 -1 0 0 2 - 3375 675 3600 675 -2 1 0 2 1 7 101 0 -1 0.000 0 0 -1 0 0 2 - 4500 675 5850 675 -2 1 0 2 1 7 101 0 -1 0.000 0 0 -1 0 0 2 - 1755 1575 5850 1575 -2 1 0 2 4 7 100 0 -1 0.000 0 0 -1 0 0 2 - 1935 5040 2160 5265 -2 1 0 2 4 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2070 5130 2706 4494 2706 4812 -4 1 -1 0 0 0 20 0.0000 4 255 180 2927 4367 1\001 -4 1 -1 0 0 0 20 0.0000 4 255 180 4277 4367 0\001 -4 1 -1 0 0 0 20 0.0000 4 255 825 5987 4367 SS:e2\001 -4 1 -1 0 0 0 20 0.0000 4 330 825 2926 2926 R:r_1\001 -4 1 -1 0 0 0 20 0.0000 4 255 495 4276 2926 C:c\001 -4 1 -1 0 0 0 20 0.0000 4 255 825 1395 4365 SS:e1\001 -4 0 1 1 0 0 20 0.0000 4 330 495 2880 450 r_1\001 -4 0 1 1 0 0 20 0.0000 4 180 165 1260 1170 e\001 -4 0 1 1 0 0 20 0.0000 4 255 180 1350 1305 1\001 -4 1 1 1 0 0 20 0.0000 4 255 1545 3600 2025 Schematic\001 -4 1 1 1 0 0 20 0.0000 4 330 1725 4860 4860 Bond graph\001 -4 1 -1 0 0 0 20 0.0000 4 330 825 3015 5715 R:r_2\001 -4 0 1 1 0 0 20 0.0000 4 330 495 3870 450 r_2\001 -4 1 -1 0 0 0 20 0.0000 4 330 1110 1755 5535 SS:loop\001 DELETED mttroot/mtt/lib/examples/AlgebraicLoops/aRC/aRC_desc.tex Index: mttroot/mtt/lib/examples/AlgebraicLoops/aRC/aRC_desc.tex ================================================================== --- mttroot/mtt/lib/examples/AlgebraicLoops/aRC/aRC_desc.tex +++ /dev/null @@ -1,32 +0,0 @@ -% Verbal description for system aRC (aRC_desc.tex) -% Generated by MTT on Sun Aug 24 11:03:55 BST 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1997/08/24 10:27:18 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{aRC} is - displayed in Figure \Ref{aRC_abg} and its label - file is listed in Section \Ref{sec:aRC_lbl}. - The subsystems are listed in Section \Ref{sec:aRC_sub}. - -The system \textbf{aRC} is the simple electrical aRC ciaRCuit shown in -Figure \Ref{aRC_abg}. It can be regarded as a single-input -single-output system with input $e_1$ and output $e_2$. - -The two resistors ($r_1$ and $r_2$) are in series; this give an -undercausal system with a corresponding algebraic loop. The loop is -broken by adding the {\bf SS} component ``loop'' to localise the -algabraic equation to choosinf the corresponding flow such that the -corresponding effort is zero. This algebraic equation appears in -Section \Ref{sec:aRC_dae.tex}. - -This loop is algbraicly solved to give the ordinary differential -equation of Section \Ref{sec:aRC_ode.tex} and the transfer function of -Section \Ref{sec:aRC_tf.tex}. DELETED mttroot/mtt/lib/examples/AlgebraicLoops/aRC/aRC_lbl.txt Index: mttroot/mtt/lib/examples/AlgebraicLoops/aRC/aRC_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/AlgebraicLoops/aRC/aRC_lbl.txt +++ /dev/null @@ -1,48 +0,0 @@ -%SUMMARY aRC: Simple RC circuit example with algebraic loop - -%% Label file for system aRC (aRC_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 2000/05/20 16:03:15 peterg -% %% Initial revision -% %% -% %% Revision 1.1 1997/05/12 15:11:47 peterg -% %% Initial revision -% %% -% %% Revision 1.1 1997/04/18 13:27:54 peterg -% %% Initial revision -% %% -% %% Revision 1.1 1997/04/18 13:20:13 peterg -% %% Initial revision -% %% Revision 1.1 1996/09/10 11:37:14 peter -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - -% Source - effort source (e1) flow ignored -e1 SS external,internal - -% Sensor - effort sensor (e2) zero flow -e2 SS external,0 - -% R component - linear with resistance r (effort = r*flow) -r_1 lin flow,r_1 -r_2 lin flow,r_2 - -% C component - linear with capacitance c (state = c*effort) -c lin effort,c - -% Algebraic loop SS -loop SS zero,unknown - - - DELETED mttroot/mtt/lib/examples/AlgebraicLoops/aRC/aRC_rep.txt Index: mttroot/mtt/lib/examples/AlgebraicLoops/aRC/aRC_rep.txt ================================================================== --- mttroot/mtt/lib/examples/AlgebraicLoops/aRC/aRC_rep.txt +++ /dev/null @@ -1,27 +0,0 @@ -## -*-octave-*- Put Emacs into octave-mode -## Outline report file for system aRC (aRC_rep.txt) -## Generated by MTT on" Fri Oct 15 14:56:13 EST 1999. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - -mtt aRC abg tex # The system description -mtt aRC cbg ps # The causal bond graph -## Uncomment the following lines or add others -mtt aRC struc tex # The system structure -mtt aRC dae tex # The system dae -mtt -A aRC ode tex # The system ode -## mtt aRC sspar tex # Steady-state parameters -## mtt aRC ss tex # Steady state -## mtt aRC dm tex # Descriptor matrices (of linearised system) -## mtt aRC sm tex # State matrices (of linearised system) -## mtt -A aRC tf tex # Transfer function (of linearised system) -## mtt aRC lmfr ps # log modulus of frequency response (of linearised system) -## mtt aRC simpar tex # Simulation parameters -## mtt aRC numpar tex # Numerical simulation parameters -## mtt aRC input tex # Simulation input -## mtt aRC odeso ps # Simulation output DELETED mttroot/mtt/lib/examples/AlgebraicLoops/aRC/aRC_sspar.r Index: mttroot/mtt/lib/examples/AlgebraicLoops/aRC/aRC_sspar.r ================================================================== --- mttroot/mtt/lib/examples/AlgebraicLoops/aRC/aRC_sspar.r +++ /dev/null @@ -1,2 +0,0 @@ -%% Reduce steady-state parameter file for aRC (aRC_sspar.r) cat /home/peter/mtt_new/mtt/trans/m/aRCs_header.txt -END; DELETED mttroot/mtt/lib/examples/Anaesthesia/MaplesonModelP/MaplesonModelP_abg.fig Index: mttroot/mtt/lib/examples/Anaesthesia/MaplesonModelP/MaplesonModelP_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Anaesthesia/MaplesonModelP/MaplesonModelP_abg.fig +++ /dev/null @@ -1,291 +0,0 @@ -#FIG 3.1 -Portrait -Center -Inches -1200 2 -2 1 0 1 0 0 0 0 -1 0.000 0 0 0 0 0 3 - 4201 7186 4201 6451 4336 6631 -2 1 0 1 0 0 0 0 -1 0.000 0 0 0 0 0 3 - 4201 4801 4201 4066 4336 4246 -2 1 0 1 0 0 0 0 -1 0.000 0 0 0 0 0 3 - 4276 7201 4801 6901 4651 6901 -2 1 0 1 0 0 0 0 -1 0.000 0 0 0 0 0 3 - 9901 6151 10576 6151 10426 6001 -2 1 0 1 0 0 0 0 -1 0.000 0 0 0 0 0 3 - 9901 5026 10576 5026 10426 4876 -2 1 0 1 0 0 0 0 -1 0.000 0 0 0 0 0 3 - 4501 6226 5176 6226 5026 6076 -2 1 0 1 0 0 0 0 -1 0.000 0 0 0 0 0 3 - 4501 5026 5176 5026 5026 4876 -2 1 0 1 0 0 0 0 -1 0.000 0 0 0 0 0 3 - 9601 5266 9601 6001 9466 5821 -2 1 0 1 0 0 0 0 -1 0.000 0 0 0 0 0 3 - 9901 3901 10576 3901 10426 3751 -2 1 0 1 0 0 0 0 -1 0.000 0 0 0 0 0 3 - 4501 3901 5176 3901 5026 3751 -2 1 0 1 0 0 0 0 -1 0.000 0 0 0 0 0 2 - 5401 1876 5701 1876 -2 1 0 1 0 0 0 0 -1 0.000 0 0 0 0 0 3 - 5551 1201 5551 1876 5401 1726 -2 1 0 1 0 0 0 0 -1 0.000 0 0 0 0 0 2 - 5926 1951 5926 2251 -2 1 0 1 0 0 0 0 -1 0.000 0 0 0 0 0 2 - 4051 3601 4351 3601 -2 1 0 1 0 0 0 0 -1 0.000 0 0 0 0 0 2 - 4501 1951 4501 2251 -2 1 0 1 0 0 0 0 -1 0.000 0 0 0 0 0 2 - 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-% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{MaplesonModelP} is - displayed in Figure \Ref{MaplesonModelP_abg} and its label - file is listed in Section \Ref{sec:MaplesonModelP_lbl}. - The subsystems are listed in Section \Ref{sec:MaplesonModelP_sub}. - -This is a Bond Graph interpretation of Mapleson's model P of the -pharmokokinetics of anaesthetic drug delivery. It is discussed in -detail in Chapter 9 of ``Metamodelling''. - -It badly needs conversion to hierarchical form. - - -%%% Local Variables: -%%% mode: plain-tex -%%% TeX-master: t -%%% End: DELETED mttroot/mtt/lib/examples/Anaesthesia/MaplesonModelP/MaplesonModelP_input.txt Index: mttroot/mtt/lib/examples/Anaesthesia/MaplesonModelP/MaplesonModelP_input.txt ================================================================== --- mttroot/mtt/lib/examples/Anaesthesia/MaplesonModelP/MaplesonModelP_input.txt +++ /dev/null @@ -1,9 +0,0 @@ -## -*-octave-*- Put Emacs into octave-mode ## - -## -## System MaplesonModelP, representation input, language txt; -## File MaplesonModelP_input.txt; -## Generated by MTT on Fri Nov 10 10:45:52 GMT 2000; - - -MaplesonModelP_t0 = 0.75*760*(t<2); #75% atmospheric pressure for 2 sec. DELETED mttroot/mtt/lib/examples/Anaesthesia/MaplesonModelP/MaplesonModelP_lbl.txt Index: mttroot/mtt/lib/examples/Anaesthesia/MaplesonModelP/MaplesonModelP_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Anaesthesia/MaplesonModelP/MaplesonModelP_lbl.txt +++ /dev/null @@ -1,167 +0,0 @@ -#SUMMARY MaplesonModelP: Pharmokinetic model from section 9.6 of"Metamodelling" -#DESCRIPTION Detailed model with pools -#DESCRIPTION -#DESCRIPTION Note that the bond graph has been redrawn to replace active bonds with -#DESCRIPTION AF components. -#DESCRIPTION This would be much neater using a heirachical model. -#DESCRIPTION -#DESCRIPTION The following commands make the figures. -#DESCRIPTION -#DESCRIPTION Fig 9.17 mtt MaplesonModelP abg view -#DESCRIPTION Figs 9.18-19 mtt MaplesonModelP odeso view 'T=[0:0.1:6]' -#DESCRIPTION Fig 9.20 mtt MaplesonModelP lmfr view 'W=logspace(-2,2,100)' -#DESCRIPTION Fig 9.21 mtt MaplesonModelP lpfr view 'W=logspace(-2,2,100)' - - -# ############################################################### -# ## Version control history -# ############################################################### -# ## $Id$ -# ## $Log$ -# ## Revision 1.1 1996/08/30 18:37:56 peter -# ## Initial revision -# ## -# ############################################################### - -#VAR apools -#VAR breathing_interval -#VAR heart_interval -#VAR k_ap -#VAR k_b -#VAR k_f -#VAR k_i -#VAR k_l -#VAR k_s -#VAR k_v -#VAR k_vp -#VAR kb -#VAR kf -#VAR kl -#VAR ks -#VAR kv -#VAR lambdab -#VAR lambdablood -#VAR lambdaf -#VAR lambdal -#VAR lambdalung -#VAR lambdav -#VAR stroke_volume -#VAR t_1 -#VAR t_2 -#VAR t_b -#VAR t_f -#VAR t_i -#VAR t_l -#VAR t_s -#VAR t_v -#VAR v_i -#VAR vap -#VAR varterial -#VAR vb -#VAR vbp -#VAR vf -#VAR vfp -#VAR vgas -#VAR vl -#VAR vlp -#VAR vlung -#VAR vplung -#VAR vpools -#VAR vsp -#VAR vv -#VAR vvenous -#VAR vvp - -### Common tension junctions ### -ti -tb -tv -tl -tf -ts -tap -tvp - -##Common flow junctions - inspiration ### -fi - -##Common flow junctions - arteries ### -fba -fva -fla -ffa -fsa - -##Common flow junctions - veins ### -fbv -fvv -flv -ffv -fsv - -## More junctions -ap3 -vp3 -ap2 -vp2 -ap1 -vp1 - -### Resistances ### -rb1 lin flow,r_b -rv1 lin flow,r_v -rl1 lin flow,r_l -rf1 lin flow,r_f -rs1 lin flow,r_s - -rb2 lin flow,r_b -rv2 lin flow,r_v -rl2 lin flow,r_l -rf2 lin flow,r_f -rs2 lin flow,r_s - -ri lin flow,r_i - -## Capacities ### -cb lin effort,c_b -cv lin effort,c_v -cl lin effort,c_l -cf lin effort,c_f -cs lin effort,c_s -ci lin effort,c_i - - -### Input ### -t0 SS external,internal - -### Outputs ### -yb SS external,0 -yv SS external,0 -yl SS external,0 -yf SS external,0 -ys SS external,0 -ye SS external,0 - -### Arterial pool -# ap1 apool1 -# ap2 apool2 -# ap3 apool3 - -apc1 lin effort,c_ap -apc2 lin effort,c_ap - -apr1 lin flow,r_ap -apr2 lin flow,r_ap - - -### Venous pool -# vp1 vpool1 -# vp2 vpool2 -# vp3 vpool3 - -vpc1 lin effort,c_vp -vpc2 lin effort,c_vp -vpr1 lin flow,r_vp -vpr2 lin flow,r_vp - - DELETED mttroot/mtt/lib/examples/Anaesthesia/MaplesonModelP/MaplesonModelP_numpar.txt Index: mttroot/mtt/lib/examples/Anaesthesia/MaplesonModelP/MaplesonModelP_numpar.txt ================================================================== --- mttroot/mtt/lib/examples/Anaesthesia/MaplesonModelP/MaplesonModelP_numpar.txt +++ /dev/null @@ -1,125 +0,0 @@ -# Numerical parameter file (MaplesonModelP_numpar.txt) -# Generated by MTT at Mon Aug 11 14:45:13 BST 1997 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Parameters - -# Modified 17/11/93 to correspond to Mapleson's 1973 paper. -# Like model O except that blood has its own pools distinct form the tissues. - - -Heart_interval = 1.0/60.0; -Breathing_interval = 4*Heart_interval; -Stroke_volume = 0.108; -lambdaBlood = 0.46; -vArterial = 1.4; -vVenous = 4.0; - -# %%%%%%%%%%%%%%%%%% Inspiration %%%%%%%%%%%%%%%%%%%%%%%%%%% -v_i = 0.4; -r_i = Breathing_interval/v_i; - -# %%%%%%%%%%%%%%%%%% Lung %%%%%%%%%%%%%%%%%%%%%%%%%%% -vLung = 0.6; -vPLung = 0; -vGas = 2.5; -lambdaLung = 0.46; - -c_i = lambdaLung*(vLung + vPLung) + vGas; -t_i = r_i*c_i; -# %%%%%%%%%%%%%%%%%% Brain %%%%%%%%%%%%%%%%%%%%%%%%%%% -kB = 0.000086; - -vB = 0.0007; -vBP = 0.0; - -lambdaB = 0.46; - -c_b = lambdaB*vB + lambdaBlood*vBP; -r_b = Heart_interval/(kB*lambdaBlood*Stroke_volume); -t_b = r_b*c_b; - -# %%%%%%%%%%%%%%%%%% Viscera %%%%%%%%%%%%%%%%%%%%%%%%%%% -kV = 0.63; - -vV = 6.2; -lambdaV = 0.46; -vVP = 0; - -c_v = lambdaV*vV + lambdaBlood*vVP; -r_v = Heart_interval/(kV*lambdaBlood*Stroke_volume); -t_v = r_v*c_v; - -# %%%%%%%%%%%%%%%%%% Lean %%%%%%%%%%%%%%%%%%%%%%%%%%% -kL = 0.131; - -vL = 39.2; -lambdaL = 0.46; -vLP = 0; - -c_l = lambdaL*vL + lambdaBlood*vLP; -r_l = Heart_interval/(kL*lambdaBlood*Stroke_volume); -t_l = r_l*c_l; - -# %%%%%%%%%%%%%%%%%% Fat %%%%%%%%%%%%%%%%%%%%%%%%%%% -kF = 0.04; - -vF = 12.2; -lambdaF = 1.40; -vFP = 0; - -c_f = lambdaF*vF + lambdaBlood*(vFP); -r_f = Heart_interval/(kF*lambdaBlood*Stroke_volume); -t_f = r_f*c_f; - -# %%%%%%%%%%%%%%%%%% Shunt %%%%%%%%%%%%%%%%%%%%%%%%%%% -kS = 0.199; - -vSP = 0.126*vVenous; - -c_s = lambdaBlood*(vSP); -r_s = Heart_interval/(kS*lambdaBlood*Stroke_volume); -t_s = r_s*c_s; - -# %%%%%%%%%%%%%%%%%% Time constants %%%%%%%%%%%%%%%%%%%%%%%%%%% -t_1 = t_b*t_v*t_l*t_f*t_s; -t_2 = t_1*t_i; - - -# %%%%%%%%%%%%%%%%%% Convert from rs to ks %%%%%%%%%%%%%%%%%%%% - -k_b = 1/r_b; -k_v = 1/r_v; -k_l = 1/r_l; -k_f = 1/r_f; -k_s = 1/r_s; -k_i = 1/r_i; - -# %%%%%%%%%%%%%%%%%% Arterial pools %%%%%%%%%%%%%%%%%%%%%%%%%%% -# Two pool version -aPools = 2; - -vAP = vArterial; - -c_ap = lambdaBlood*(vAP)/aPools; -r_ap = Heart_interval/(lambdaBlood*Stroke_volume); - -# %%%%%%%%%%%%%%%%%% Venous pools %%%%%%%%%%%%%%%%%%%%%%%%%%% -# Two pool version -vPools = 2; - -vVP = vVenous - vSP; - -c_vp = lambdaBlood*(vVP)/vPools; -r_vp = Heart_interval/(lambdaBlood*Stroke_volume); - -k_ap = 1/r_ap; -k_vp = 1/r_vp; - - DELETED mttroot/mtt/lib/examples/Anaesthesia/MaplesonModelP/MaplesonModelP_rep.txt Index: mttroot/mtt/lib/examples/Anaesthesia/MaplesonModelP/MaplesonModelP_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Anaesthesia/MaplesonModelP/MaplesonModelP_rep.txt +++ /dev/null @@ -1,25 +0,0 @@ -# Outline report file for system MaplesonModelP (MaplesonModelP_rep.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.2 1999/02/17 01:46:48 peterg -% %% Included simpar rep. -% %% -% %% Revision 1.1 1999/02/17 00:08:06 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -mtt MaplesonModelP abg tex -mtt MaplesonModelP struc tex -mtt MaplesonModelP ode tex -mtt MaplesonModelP sm tex -mtt MaplesonModelP lmfr ps - -mtt MaplesonModelP simpar txt -mtt MaplesonModelP numpar txt -mtt MaplesonModelP input txt -mtt MaplesonModelP odeso ps DELETED mttroot/mtt/lib/examples/Anaesthesia/MaplesonModelP/MaplesonModelP_simpar.txt Index: mttroot/mtt/lib/examples/Anaesthesia/MaplesonModelP/MaplesonModelP_simpar.txt ================================================================== --- mttroot/mtt/lib/examples/Anaesthesia/MaplesonModelP/MaplesonModelP_simpar.txt +++ /dev/null @@ -1,19 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# Simulation parameters for system MaplesonModelP (MaplesonModelP_simpar.txt) -# Generated by MTT on Fri Nov 10 11:37:00 GMT 2000. -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - - -FIRST = 0.0; # First time in simulation output -DT = 0.1; # Print interval -LAST = 10.0; # Last time in simulation -STEPFACTOR = 10; # Integration steps per print interval -WMIN = -1; # Minimum frequency = 10^WMIN -WMAX = 2; # Maximum frequency = 10^WMAX -WSTEPS = 100; # Number of frequency steps -INPUT = 1; # Index of the input DELETED mttroot/mtt/lib/examples/Chemical/Reactor/MakeFigure.m Index: mttroot/mtt/lib/examples/Chemical/Reactor/MakeFigure.m ================================================================== --- mttroot/mtt/lib/examples/Chemical/Reactor/MakeFigure.m +++ /dev/null @@ -1,42 +0,0 @@ - - -par = Reactor_numpar; # Parameters -sym = Reactor_sympar; # Parameter indices - -F_s= [90:10:500]; # Range of flows - -Z_a = []; Z_b = []; P = []; -for f_s=F_s - par(sym.f_s) = f_s; - [A,B,C,D] = Reactor_sm(par); # Linearised system - - p = sort(eig(A)); - P = [P p]; - - C_a = C([1 3],:); # C vector for c_a and t - D_a = D([1 3],:); # D vector for c_a and t - z_a = tzero(A,B,C_a,D_a); # Transmission zeros for c_a and t - Z_a = [Z_a z_a]; - - C_b = C(2:3,:); # C vector for c_b and t - D_b = D(2:3,:); # D vector for c_b and t - z_b = tzero(A,B,C_b,D_b); # Transmission zeros for c_b and t - Z_b = [Z_b z_b]; -endfor - -grid; xlabel("f_s"); ylabel("p1,p2"); -plot(F_s,P(1:2,:)); -psfig("Reactor_pole_1_2"); - -grid; xlabel("f_s"); ylabel("p3"); -plot(F_s,P(3,:)); -psfig("Reactor_pole_3"); - -grid; xlabel("f_s"); ylabel("z_a"); -plot(F_s,Z_a); -psfig("Reactor_zero_a"); - -grid; xlabel("f_s"); ylabel("z_b"); -plot(F_s,Z_b); -psfig("Reactor_zero_b"); - DELETED mttroot/mtt/lib/examples/Chemical/Reactor/Makefile Index: mttroot/mtt/lib/examples/Chemical/Reactor/Makefile ================================================================== --- mttroot/mtt/lib/examples/Chemical/Reactor/Makefile +++ /dev/null @@ -1,13 +0,0 @@ -## Makes the schematic diagram and the (trasmission) zero figure -all: Reactor_pic.ps Reactor_zero_b.ps - -Reactor_pic.ps: Reactor_pic.fig - fig2dev -Lps Reactor_pic.fig> Reactor_pic.ps - -Reactor_zero_b.ps: Reactor_abg.fig - mtt -q Reactor sm m - mtt -q Reactor numpar m; - mtt -q Reactor sympar m; - octave MakeFigure.m - - DELETED mttroot/mtt/lib/examples/Chemical/Reactor/Reactor_abg.fig Index: mttroot/mtt/lib/examples/Chemical/Reactor/Reactor_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Chemical/Reactor/Reactor_abg.fig +++ /dev/null @@ -1,137 +0,0 @@ -#FIG 3.2 -Portrait -Center -Inches -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3 - 3001 8701 3001 7801 3151 7951 -2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3 - 1801 9001 2701 9001 2551 9151 -2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 0 0 2 - 2701 8776 2701 9226 -2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3 - 3301 9001 4201 9001 4051 9151 -2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 0 0 3 - 4201 9301 3601 9901 3826 9901 -2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3 - 5701 9001 4801 9001 4951 9151 -2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3 - 1800 6000 2700 6000 2550 6150 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 1 - 10350 5025 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 1800 6000 1800 5775 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 1800 6225 1800 6000 -2 4 1 2 1 7 0 0 -1 4.000 0 0 7 0 0 5 - 11100 10200 600 10200 600 7500 11100 7500 11100 10200 -2 4 1 2 1 7 0 0 -1 4.000 0 0 7 0 0 5 - 11100 6600 600 6600 600 5400 11100 5400 11100 6600 -2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 2 - 5700 8775 5700 9225 -2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 0 0 2 - 4425 9300 3975 9300 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4500 4800 4500 8700 4650 8550 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 6000 4800 4800 8700 5025 8625 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 9000 4800 5100 8700 5400 8700 -2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 0 0 2 - 4725 4800 4275 4800 -2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 0 0 2 - 4725 4200 4275 4200 -2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 0 0 2 - 6225 4800 5775 4800 -2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 0 0 2 - 6225 4200 5775 4200 -2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 0 0 2 - 9225 4800 8775 4800 -2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 0 0 2 - 9225 4200 8775 4200 -2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3 - 3000 7200 3000 6300 3150 6450 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 10500 4800 3300 6000 3525 6075 -2 4 1 2 1 7 0 0 -1 4.000 0 0 7 0 0 5 - 11100 5100 600 5100 600 3300 11100 3300 11100 5100 -2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3 - 4485 2395 4485 4130 4633 3841 -2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3 - 2999 2395 2999 4130 3148 3841 -2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3 - 5970 2395 5970 4130 6119 3841 -2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3 - 10428 2397 10428 4132 10577 3843 -2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3 - 8943 2397 8943 4132 9091 3843 -2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3 - 1800 2100 2700 2100 2550 2250 -2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3 - 3300 2100 4200 2100 4050 2250 -2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3 - 4800 2100 5700 2100 5550 2250 -2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 0 0 3 - 4200 1800 3600 1200 3600 1425 -2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 0 0 2 - 2700 1875 2700 2325 -2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 0 0 3 - 8701 1801 8101 1201 8101 1426 -2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3 - 9301 2101 10201 2101 10051 2251 -2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3 - 6300 2100 7200 2100 7050 2250 -2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3 - 7800 2100 8700 2100 8550 2250 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4050 1950 4350 1650 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 8550 1950 8850 1650 -2 4 1 2 1 7 0 0 -1 4.000 0 0 7 0 0 5 - 11100 300 600 300 600 2700 11100 2700 11100 300 -2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3 - 3000 4800 3000 5700 3150 5550 -2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 0 0 3 - 9301 1801 9901 1201 9901 1426 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 10050 1350 9900 1200 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 9900 1200 9750 1050 -2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 0 0 3 - 4801 1801 5401 1201 5401 1426 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5550 1350 5400 1200 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5400 1200 5250 1050 -4 1 0 0 0 0 20 0.0000 4 210 1035 3075 4575 FMR:rfa\001 -4 1 0 0 0 0 20 0.0000 4 210 1065 4575 4575 Rate:AD\001 -4 1 0 0 0 0 20 0.0000 4 210 1050 6000 4575 Rate:AB\001 -4 2 0 0 0 0 20 0.0000 4 285 780 1651 9076 SS:t_0\001 -4 2 0 0 0 0 20 0.0000 4 285 690 3451 9976 C:h_r\001 -4 1 0 0 0 0 20 0.0000 4 210 150 3000 6075 1\001 -4 2 0 0 0 0 20 0.0000 4 210 480 1725 6075 SS:f\001 -4 1 0 0 0 0 20 0.0000 4 210 150 3001 9076 1\001 -4 1 0 0 0 0 20 0.0000 4 210 150 4501 9076 0\001 -4 1 0 0 0 0 20 0.0000 4 210 1005 9001 4576 Rate:BC\001 -4 1 0 0 0 0 20 0.0000 4 210 1050 10576 4576 FMR:rfb\001 -4 1 1 1 0 3 20 0.0000 4 210 2625 9600 7800 THERMAL MODEL\001 -4 1 1 1 0 3 20 0.0000 4 210 2940 9450 5700 HYDRAULIC MODEL\001 -4 1 0 0 0 0 20 0.0000 4 210 900 3000 7575 FMR:rt\001 -4 1 1 1 0 3 20 0.0000 4 210 2700 9675 3750 REACTION MODEL\001 -4 2 0 0 0 0 20 0.0000 4 285 825 1650 2175 SS:c_0\001 -4 1 0 0 0 0 20 0.0000 4 210 150 3000 2175 1\001 -4 1 0 0 0 0 20 0.0000 4 210 150 4500 2175 0\001 -4 1 0 0 0 0 20 0.0000 4 210 150 6000 2175 1\001 -4 1 0 0 0 0 20 0.0000 4 210 150 9001 2176 0\001 -4 1 0 0 0 0 20 0.0000 4 210 150 10501 2176 1\001 -4 1 0 0 0 0 20 0.0000 4 210 420 7500 2175 AF\001 -4 1 0 0 0 0 20 0.0000 4 285 795 8100 1050 C:m_b\001 -4 1 0 0 0 0 20 0.0000 4 285 780 3600 1050 C:m_a\001 -4 1 1 0 0 3 20 0.0000 4 210 3735 9075 600 CONCENTRATION MODEL\001 -4 1 0 0 0 0 20 0.0000 4 210 480 6151 9076 SS:t\001 -4 1 0 0 0 0 20 0.0000 4 285 825 9975 1050 SS:c_b\001 -4 1 0 0 0 0 20 0.0000 4 285 810 5475 1050 SS:c_a\001 DELETED mttroot/mtt/lib/examples/Chemical/Reactor/Reactor_desc.tex Index: mttroot/mtt/lib/examples/Chemical/Reactor/Reactor_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Chemical/Reactor/Reactor_desc.tex +++ /dev/null @@ -1,62 +0,0 @@ -% -*-latex-*- Put EMACS into LaTeX-mode -% Verbal description for system Reactor (Reactor_desc.tex) -% Generated by MTT on Fri Mar 3 12:43:33 GMT 2000. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -\fig{Reactor_pic} -{Reactor_pic} {0.9} {System \textbf{Reactor}, Schematic} - -Figure \Ref{fig:Reactor_pic} is the schematic diagram od a chemical reactor. -The acausal bond graph of system \textbf{Reactor} is displayed in -Figure \Ref{fig:Reactor_abg.ps} and its label file is listed in -Section \Ref{sec:Reactor_lbl}. The subsystems are listed in Section -\Ref{sec:Reactor_sub}. - -This example of a (nonlinear) chemical reactor is due to Trickett and -Bogle\footnote{ K. J. Tricket, \emph{Quantification of Inverse - Responses for Controllability Assessment of Nonlinear Processes}, - PhD Thesis, University College London, 1994} is used in this -section. The reactor has two reaction mechanisms: $\text{A} -\rightarrow \text{B} \rightarrow \text{C}$ and $\text{2A} \rightarrow -\text{D}$. The reactor mass inflow and outflow $f_r$ are identical. -$q$ represents the heat inflow to the reactor. - -This is a two input, two-output unstable nonlinear system with unstable zero -dynamics. -The following figures illustrate the properties of the -\emph{linearised} system. - -\fig{Reactor_pole_1_2} -{Reactor_pole_1_2} {0.9} {System \textbf{Reactor}: poles 1 and 2 - v. steady-state flow $f_s$} - -\fig{Reactor_pole_3} -{Reactor_pole_3} {0.9} {System \textbf{Reactor}: pole 3 - v. steady-state flow $f_s$} - -\fig{Reactor_zero_a} -{Reactor_zero_a} {0.9} {System \textbf{Reactor}: zero of system with - $t$ and $c_a$ as output - v. steady-state flow $f_s$} - -\fig{Reactor_zero_b} -{Reactor_zero_b} {0.9} {System \textbf{Reactor}: pole 3 - v. steady-state flow $f_s$} - -\begin{itemize} -\item Figures \Ref{fig:Reactor_pole_1_2} and - \Ref{fig:Reactor_pole_3} show the three poles of the - \emph{linearised} system as the steady-state flow varies. -\item Figure \Ref{fig:Reactor_zero_a} shows the system zero (when $t$ and - $c_a$ are the two system outputs) as the - \emph{linearised} system as the steady-state flow varies. -\item Figure \Ref{fig:Reactor_zero_b} shows the system zero (when $t$ and - $c_b$ are the two system outputs) as the - \emph{linearised} system as the steady-state flow varies. -\end{itemize} DELETED mttroot/mtt/lib/examples/Chemical/Reactor/Reactor_input.txt Index: mttroot/mtt/lib/examples/Chemical/Reactor/Reactor_input.txt ================================================================== --- mttroot/mtt/lib/examples/Chemical/Reactor/Reactor_input.txt +++ /dev/null @@ -1,62 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# Input specification (Reactor_input.txt) -# Generated by MTT at Fri Mar 3 11:52:23 GMT 2000 -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.1 2000/12/28 17:09:55 peterg -## To RCS -## -############################################################### - -## Reduce steady-state parameter file (Reactor_sspar.r) -## as siso_sspar ecxept that inputs/states have different meaning -## Steady state for constant c_a, c_b and t=t_s and f=f_s - -## Unit volume Reactor: -v_r = 1; - - -## The exponentials. -e_1 = exp(-q_1/t_s); -e_2 = exp(-q_2/t_s); -e_3 = exp(-q_3/t_s); - -## Solve for the steady-state concentrations -## Solve for ca - a quadratic. -a = k_3*e_3; #ca^2 -b = k_1*e_1 + f_s; #ca^1 -c = -c_0*f_s; - -c_a = (-b + sqrt(b^2 - 4*a*c))/(2*a); - -## solve for c_b -c_b = c_a*k_1*e_1/(f_s+k_2*e_2); - - -#States (masses) -x1 = c_a*v_r; -x2 = c_b*v_r; - -#Thermal state -x3 = c_p*t_s*v_r; - - -#Steady-state input q needed to achieve steady-state t_s -q_s = -( (t_0-t_s)*c_p*f_s + e_1*h_1*k_1*x1 + e_2*h_2*k_2*x2 + e_3*h_3*k_3*x1^2); - -## The two inputs at steady-state -u1 = f_s; -u2 = q_s; - - -# Set the inputs -## Removed by MTT on Thu Dec 28 18:44:39 GMT 2000: mttu(1) = u1 + 0.1*u1*(t>0.01); # f (Reactor) -## Removed by MTT on Thu Dec 28 18:44:39 GMT 2000: mttu(2) = u2 + 0.1*u2*(t>0.05) ; # t (Reactor) - - - -reactor_f = u1 + 0.1*u1*(t>0.01); # Added by MTT on Thu Dec 28 18:44:47 GMT 2000 -reactor_t = u2 + 0.1*u2*(t>0.05); # Added by MTT on Thu Dec 28 18:44:47 GMT 2000 DELETED mttroot/mtt/lib/examples/Chemical/Reactor/Reactor_lbl.txt Index: mttroot/mtt/lib/examples/Chemical/Reactor/Reactor_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Chemical/Reactor/Reactor_lbl.txt +++ /dev/null @@ -1,69 +0,0 @@ -%% Label file for system Reactor (Reactor_lbl.txt) -%SUMMARY Reactor: Simple reactor model -%DESCRIPTION Pseudo bond graph reactor model (based on ancient version) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -%ALIAS Rate Chemical/Rate - -% Extra variables -%VAR t_s -%VAR f_s -%VAR t_0 -%VAR c_0 -%VAR rho -%VAR v_r -%VAR e_1 -%VAR e_2 -%VAR e_3 -%VAR a -%VAR b -%VAR c -%VAR c_A -%VAR c_B -%VAR x1 -%VAR x2 -%VAR x3 -%VAR q_S - -%VAR u1 -%VAR u2 - -% Port aliases - -% Argument aliases - -%% each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- -% Component type C - m_a lin effort,1 - m_b lin effort,1 - h_r lin effort,c_p - -% Component type FMR - rfa lin effort,1 - rfb lin effort,1 - rt lin effort,c_p - -% Component type Rate - AB Rate k_1,q_1,h_1,1 - BC Rate k_2,q_2,h_2,1 - AD Rate k_3,q_3,h_3,2 - -% Component type SS - c_0 SS c_0,internal - c_a SS external,0 - c_b SS external,0 - f SS internal,external - t SS external,external - t_0 SS t_0,internal DELETED mttroot/mtt/lib/examples/Chemical/Reactor/Reactor_numpar.txt Index: mttroot/mtt/lib/examples/Chemical/Reactor/Reactor_numpar.txt ================================================================== --- mttroot/mtt/lib/examples/Chemical/Reactor/Reactor_numpar.txt +++ /dev/null @@ -1,79 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# Numerical parameter file (Reactor_numpar.txt) -# Generated by MTT at Fri Mar 3 09:22:56 GMT 2000 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -## Dummies -a = 0; # Dummy -b = 0; # Dummy -c = 0; # Dummy -c_0 = 0; # Dummy -c_a = 0; # Dummy -c_b = 0; # Dummy -c_p = 0; # Dummy -e_1 = 0; # Dummy -e_2 = 0; # Dummy -e_3 = 0; # Dummy -f_s = 0; # Dummy -h = 0; # Dummy -h_1 = 0; # Dummy -h_2 = 0; # Dummy -h_3 = 0; # Dummy -k = 0; # Dummy -k_1 = 0; # Dummy -k_2 = 0; # Dummy -k_3 = 0; # Dummy -n = 0; # Dummy -q = 0; # Dummy -q_1 = 0; # Dummy -q_2 = 0; # Dummy -q_3 = 0; # Dummy -q_s = 0; # Dummy -rho = 0; # Dummy -t_0 = 0; # Dummy -t_s = 0; # Dummy -v_r = 0; # Dummy -x1 = 0; # Dummy -x2 = 0; # Dummy -x3 = 0; # Dummy - -## The bulk liquid -rho = 900; # Density -c_p = 5.0; # Specific heat - -## Substance A -k_1 = 2.5e10; # Reaction rate constant -q_1 = 1e4; # Exotherm constant -h_1 = 1e4; # Heat of reaction - -## Substance B -k_2 = 2.65e12; # Reaction rate constant -q_2 = 1.2e4; # Exotherm constant -h_2 = 1.2e4; # Heat of reaction - -## Substance C -k_3 = 6e7; # Reaction rate constant -q_3 = 8e3; # Exotherm constant -h_3 = 3e4; # Heat of reaction - -## Inflow parameters -c_0 = 10; # Inflow conc -t_0 = 530; # Inflow temp - -## Steady-state values -t_s = 530; # Steady-state temp -f_s = 100; # Steady-state flow - - - - - - - - DELETED mttroot/mtt/lib/examples/Chemical/Reactor/Reactor_pic.fig Index: mttroot/mtt/lib/examples/Chemical/Reactor/Reactor_pic.fig ================================================================== --- mttroot/mtt/lib/examples/Chemical/Reactor/Reactor_pic.fig +++ /dev/null @@ -1,52 +0,0 @@ -#FIG 3.2 -Landscape -Center -Inches -Letter -100.00 -Single --2 -1200 2 -6 2400 3150 3225 3375 -2 1 0 1 -1 -1 0 0 -1 0.000 0 0 -1 1 0 2 - 0 0 1.00 60.00 120.00 - 2625 3300 2925 3300 -4 0 -1 0 0 2 20 0.0000 4 210 210 2400 3375 A\001 -4 0 -1 0 0 2 20 0.0000 4 210 225 3000 3375 D\001 --6 -2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 0 0 3 - 2100 2100 2100 3900 1500 3900 -2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 0 0 2 - 1500 4050 3900 4050 -2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 1 0 2 - 0 0 2.00 120.00 240.00 - 1500 4350 2100 4350 -2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 0 0 3 - 3600 2100 3600 3900 4200 3900 -2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 1 0 2 - 0 0 2.00 120.00 240.00 - 3600 4350 4200 4350 -2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 0 0 2 - 3900 4050 4200 4050 -2 1 1 2 -1 -1 0 0 -1 6.000 0 0 -1 0 0 2 - 2100 2400 3600 2400 -2 1 0 1 -1 -1 0 0 -1 0.000 0 0 -1 1 0 2 - 0 0 1.00 60.00 120.00 - 2400 2925 2700 2925 -2 1 0 1 -1 -1 0 0 -1 0.000 0 0 -1 1 0 2 - 0 0 1.00 60.00 120.00 - 3000 2925 3300 2925 -2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 1 0 2 - 0 0 2.00 120.00 240.00 - 2850 4800 2850 3750 -4 0 -1 0 0 2 20 0.0000 4 210 210 2175 3000 A\001 -4 0 -1 0 0 2 20 0.0000 4 210 195 2775 3000 B\001 -4 0 -1 0 0 2 20 0.0000 4 210 210 3375 3000 C\001 -4 0 -1 0 0 2 20 0.0000 4 210 150 2250 3375 2\001 -4 0 -1 0 0 3 12 0.0000 4 135 90 1875 4950 0\001 -4 0 -1 0 0 3 12 0.0000 4 135 90 2250 4950 0\001 -4 0 -1 0 0 3 20 0.0000 4 210 150 2775 5025 q\001 -4 0 -1 0 0 3 20 0.0000 4 285 765 1500 4800 f , c , t\001 -4 0 -1 0 0 3 20 0.0000 4 285 765 3600 4800 f , c , t\001 -4 0 -1 0 0 3 12 0.0000 4 135 90 3975 4950 b\001 -4 0 -1 0 0 3 12 0.0000 4 90 75 4350 4950 r\001 DELETED mttroot/mtt/lib/examples/Chemical/Reactor/Reactor_rep.txt Index: mttroot/mtt/lib/examples/Chemical/Reactor/Reactor_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Chemical/Reactor/Reactor_rep.txt +++ /dev/null @@ -1,33 +0,0 @@ -## -*-octave-*- Put Emacs into octave-mode -## Outline report file for system Reactor (Reactor_rep.txt) -## Generated by MTT on" Fri Mar 3 12:13:34 GMT 2000. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - -mtt Reactor abg tex # The system description -mtt Reactor cbg ps # The causal bond graph -## Uncomment the following lines or add others -mtt Reactor struc tex # The system structure -## mtt Reactor dae tex # The system dae -mtt Reactor ode tex # The system ode -mtt Reactor sspar tex # Steady-state parameters -mtt Reactor ss tex # Steady state -## mtt Reactor dm tex # Descriptor matrices (of linearised system) -mtt Reactor sm tex # State matrices (of linearised system) -## mtt Reactor tf tex # Transfer function (of linearised system) -## mtt Reactor lmfr ps # log modulus of frequency response (of linearised system) -mtt Reactor simpar tex # Simulation parameters -mtt Reactor numpar tex # Numerical simulation parameters -mtt Reactor input tex # Simulation input -mtt Reactor state tex # Simulation initial state - -## The system outputs -mtt -c Reactor odeso ps 'Reactor_c_a' -mtt -c Reactor odeso ps 'Reactor_c_b' -mtt -c Reactor odeso ps 'Reactor_t' - DELETED mttroot/mtt/lib/examples/Chemical/Reactor/Reactor_simp.r Index: mttroot/mtt/lib/examples/Chemical/Reactor/Reactor_simp.r ================================================================== --- mttroot/mtt/lib/examples/Chemical/Reactor/Reactor_simp.r +++ /dev/null @@ -1,21 +0,0 @@ -%% Reduce comands to simplify output (mimo_sim.r) -m_r := rho*v_r; -%mttx1 := c_a*v_r; -%mttx2 := c_b*v_r; - -% THIS MUST BE CHANGED - probs with cp and FMRs -%c_p := 1; - -%let mttx3/c_p = t; - -let e^(q_1/(mttx3/c_p)) = 1/epsilon_1; -let e^(q_2/(mttx3/c_p)) = 1/epsilon_2; -let e^(q_3/(mttx3/c_p)) = 1/epsilon_3; - -let e^(q_1/t_s) = 1/epsilon_1; -let e^(q_2/t_s) = 1/epsilon_2; -let e^(q_3/t_s) = 1/epsilon_3; - -FACTOR mttx1,mttx2; - -END; DELETED mttroot/mtt/lib/examples/Chemical/Reactor/Reactor_simpar.txt Index: mttroot/mtt/lib/examples/Chemical/Reactor/Reactor_simpar.txt ================================================================== --- mttroot/mtt/lib/examples/Chemical/Reactor/Reactor_simpar.txt +++ /dev/null @@ -1,21 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# Simulation parameters for system Reactor (Reactor_simpar.txt) -# Generated by MTT on Fri Mar 3 12:11:48 GMT 2000. -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.1 2000/08/24 12:32:25 peterg -## Initial revision -## -############################################################### - - -LAST = 0.1; # Last time in simulation -DT = 0.0002; # Print interval -STEPFACTOR = 1; # Integration steps per print interval -WMIN = -1; # Minimum frequency = 10^WMIN -WMAX = 2; # Maximum frequency = 10^WMAX -WSTEPS = 100; # Number of frequency steps -INPUT = 1; # Index of the input DELETED mttroot/mtt/lib/examples/Chemical/Reactor/Reactor_sspar.r Index: mttroot/mtt/lib/examples/Chemical/Reactor/Reactor_sspar.r ================================================================== --- mttroot/mtt/lib/examples/Chemical/Reactor/Reactor_sspar.r +++ /dev/null @@ -1,57 +0,0 @@ -%% Reduce steady-state parameter file (Reactor_sspar.r) -%% as siso_sspar ecxept that inputs/states have different meaning -%% Steady state for constant c_a, c_b and t=t_s and f=f_s - -%% Unit volume Reactor: -v_r := 1; - -%% Do the inputs first -- this avoids problems with reduce not -%% recognising that complicated expressions are zero - -%% The exponentials. -e_1 := e^(-q_1/t_s); -e_2 := e^(-q_2/t_s); -e_3 := e^(-q_3/t_s); - -%Steady-state input q needed to achieve steady-state t_s -q_s := -( - + (t_0-t_s)*c_p*f_s - + e_1*h_1*k_1*x1 - + e_2*h_2*k_2*x2 - + e_3*h_3*k_3*x1^2 - ); - -%% The two inputs at steady-state -MTTu1 := f_s; -MTTu2 := q_s; - -%States (masses) -x1 := c_a*v_r; -x2 := c_b*v_r; - -%Thermal state -x3 := c_p*t_s*v_r; - -%Load up the vectors -MTTx1 := x1; -MTTx2 := x2; -MTTx3 := x3; - -MTTy1 := c_b; -MTTy2 := t_s; - -%% Finally, solve for the steady-state concentrations -%% Solve for ca - a quadratic. -a := k_3*e_3; %ca^2 -b := k_1*e_1 + f_s; %ca^1 -c := -c_0*f_s; - -c_a := (-b + sqrt(b^2 - 4*a*c))/(2*a); - -%% solve for c_b -c_b := c_a*k_1*e_1/(f_s+k_2*e_2); - - -END; - - DELETED mttroot/mtt/lib/examples/Chemical/Reactor/Reactor_state.txt Index: mttroot/mtt/lib/examples/Chemical/Reactor/Reactor_state.txt ================================================================== --- mttroot/mtt/lib/examples/Chemical/Reactor/Reactor_state.txt +++ /dev/null @@ -1,64 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# State specification (Reactor_state.txt) -# Generated by MTT at Fri Mar 3 11:52:23 GMT 2000 -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.1 2000/12/28 17:09:55 peterg -## To RCS -## -############################################################### - -## Reduce steady-state parameter file (Reactor_sspar.r) -## as siso_sspar ecxept that states/states have different meaning -## Steady state for constant c_a, c_b and t=t_s and f=f_s - -## Unit volume Reactor: -v_r = 1; - - -## The exponentials. -e_1 = exp(-q_1/t_s); -e_2 = exp(-q_2/t_s); -e_3 = exp(-q_3/t_s); - -## Solve for the steady-state concentrations -## Solve for ca - a quadratic. -a = k_3*e_3; #ca^2 -b = k_1*e_1 + f_s; #ca^1 -c = -c_0*f_s; - -c_a = (-b + sqrt(b^2 - 4*a*c))/(2*a); - -## solve for c_b -c_b = c_a*k_1*e_1/(f_s+k_2*e_2); - - -#States (masses) -x1 = c_a*v_r; -x2 = c_b*v_r; - -#Thermal state -x3 = c_p*t_s*v_r; - - -#Steady-state state q needed to achieve steady-state t_s -q_s = -((t_0-t_s)*c_p*f_s + e_1*h_1*k_1*x1 + e_2*h_2*k_2*x2 + e_3*h_3*k_3*x1^2); - -## The two inputs at steady-state -u1 = f_s; -u2 = q_s; - -## Load up the states -## Removed by MTT on Thu Dec 28 18:46:20 GMT 2000: mttx(1) = x1; -## Removed by MTT on Thu Dec 28 18:46:20 GMT 2000: mttx(2) = x2; -## Removed by MTT on Thu Dec 28 18:46:20 GMT 2000: mttx(3) = x3; - - - - -reactor_h_r = x3; # Added by MTT on Thu Dec 28 18:46:25 GMT 2000 -reactor_m_a = x1; # Added by MTT on Thu Dec 28 18:46:25 GMT 2000 -reactor_m_b = x2; # Added by MTT on Thu Dec 28 18:46:25 GMT 2000 DELETED mttroot/mtt/lib/examples/Chemical/ReactorTF/MakeFigure.m Index: mttroot/mtt/lib/examples/Chemical/ReactorTF/MakeFigure.m ================================================================== --- mttroot/mtt/lib/examples/Chemical/ReactorTF/MakeFigure.m +++ /dev/null @@ -1,22 +0,0 @@ -## Makes the figures - -par = ReactorTF_numpar; # Parameters -sym = ReactorTF_sympar; # Parameter indices - -F_s= [90:10:500]; # Range of flows - -Z = []; -for f_s=F_s - par(sym.f_s) = f_s; - z = sort(eig(ReactorTF_sm(par))); - Z = [Z z]; -endfor - - -grid; xlabel("f_s"); ylabel("z_1"); -plot(F_s,Z(1,:)); -psfig("ReactorTF_zero_1"); - -grid; xlabel("f_s"); ylabel("z_2"); -plot(F_s,Z(2,:)); -psfig("ReactorTF_zero_2"); DELETED mttroot/mtt/lib/examples/Chemical/ReactorTF/Makefile Index: mttroot/mtt/lib/examples/Chemical/ReactorTF/Makefile ================================================================== --- mttroot/mtt/lib/examples/Chemical/ReactorTF/Makefile +++ /dev/null @@ -1,14 +0,0 @@ -## Makes the schematic diagram and the zero figure -all: ReactorTF_pic.ps ReactorTF_zero_1.ps ReactorTF_zero_2.ps - -ReactorTF_pic.ps: ReactorTF_pic.fig - fig2dev -Lps ReactorTF_pic.fig> ReactorTF_pic.ps - -ReactorTF_zero_1.ps: ReactorTF_abg.fig - mtt -q ReactorTF sm m; mtt -q ReactorTF numpar m; - mtt -q ReactorTF sympar m; - octave MakeFigure.m - -ReactorTF_zero_2.ps: ReactorTF_zero_1.ps - touch ReactorTF_zero_2.ps - DELETED mttroot/mtt/lib/examples/Chemical/ReactorTF/ReactorTF_abg.fig Index: mttroot/mtt/lib/examples/Chemical/ReactorTF/ReactorTF_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Chemical/ReactorTF/ReactorTF_abg.fig +++ /dev/null @@ -1,130 +0,0 @@ -#FIG 3.2 -Portrait -Center -Inches -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3 - 3001 8701 3001 7801 3151 7951 -2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3 - 1801 9001 2701 9001 2551 9151 -2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 0 0 2 - 2701 8776 2701 9226 -2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3 - 3301 9001 4201 9001 4051 9151 -2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 0 0 3 - 4201 9301 3601 9901 3826 9901 -2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3 - 5701 9001 4801 9001 4951 9151 -2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3 - 1800 6000 2700 6000 2550 6150 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 1 - 10350 5025 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 1800 6000 1800 5775 -2 4 1 2 1 7 0 0 -1 4.000 0 0 7 0 0 5 - 11100 10200 600 10200 600 7500 11100 7500 11100 10200 -2 4 1 2 1 7 0 0 -1 4.000 0 0 7 0 0 5 - 11100 6600 600 6600 600 5400 11100 5400 11100 6600 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4500 4800 4500 8700 4650 8550 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 6000 4800 4800 8700 5025 8625 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 9000 4800 5100 8700 5400 8700 -2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 0 0 2 - 4725 4800 4275 4800 -2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 0 0 2 - 4725 4200 4275 4200 -2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 0 0 2 - 6225 4800 5775 4800 -2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 0 0 2 - 6225 4200 5775 4200 -2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 0 0 2 - 9225 4800 8775 4800 -2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 0 0 2 - 9225 4200 8775 4200 -2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3 - 3000 7200 3000 6300 3150 6450 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 10500 4800 3300 6000 3525 6075 -2 4 1 2 1 7 0 0 -1 4.000 0 0 7 0 0 5 - 11100 5100 600 5100 600 3300 11100 3300 11100 5100 -2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3 - 4485 2395 4485 4130 4633 3841 -2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3 - 2999 2395 2999 4130 3148 3841 -2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3 - 5970 2395 5970 4130 6119 3841 -2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3 - 10428 2397 10428 4132 10577 3843 -2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3 - 8943 2397 8943 4132 9091 3843 -2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3 - 1800 2100 2700 2100 2550 2250 -2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3 - 3300 2100 4200 2100 4050 2250 -2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3 - 4800 2100 5700 2100 5550 2250 -2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 0 0 3 - 4200 1800 3600 1200 3600 1425 -2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 0 0 2 - 2700 1875 2700 2325 -2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 0 0 3 - 8701 1801 8101 1201 8101 1426 -2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3 - 9301 2101 10201 2101 10051 2251 -2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 0 0 3 - 9301 1801 9901 1201 9901 1426 -2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3 - 6300 2100 7200 2100 7050 2250 -2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3 - 7800 2100 8700 2100 8550 2250 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4050 1950 4350 1650 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 10050 1350 9900 1200 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 9900 1200 9750 1050 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 8550 1950 8850 1650 -2 4 1 2 1 7 0 0 -1 4.000 0 0 7 0 0 5 - 11100 300 600 300 600 2700 11100 2700 11100 300 -2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3 - 3000 4800 3000 5700 3150 5550 -2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 2 - 4800 8775 4800 9000 -2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 2 - 5700 9000 5700 9225 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 2700 6225 2700 6000 -4 1 0 0 0 0 20 0.0000 4 210 1035 3075 4575 FMR:rfa\001 -4 1 0 0 0 0 20 0.0000 4 210 1065 4575 4575 Rate:AD\001 -4 1 0 0 0 0 20 0.0000 4 210 1050 6000 4575 Rate:AB\001 -4 2 0 0 0 0 20 0.0000 4 285 780 1651 9076 SS:t_0\001 -4 2 0 0 0 0 20 0.0000 4 285 690 3451 9976 C:h_r\001 -4 1 0 0 0 0 20 0.0000 4 210 150 3000 6075 1\001 -4 2 0 0 0 0 20 0.0000 4 210 480 1725 6075 SS:f\001 -4 1 0 0 0 0 20 0.0000 4 210 150 3001 9076 1\001 -4 1 0 0 0 0 20 0.0000 4 210 150 4501 9076 0\001 -4 1 0 0 0 0 20 0.0000 4 210 1005 9001 4576 Rate:BC\001 -4 1 0 0 0 0 20 0.0000 4 210 1050 10576 4576 FMR:rfb\001 -4 1 1 1 0 3 20 0.0000 4 210 2625 9600 7800 THERMAL MODEL\001 -4 1 0 0 0 0 20 0.0000 4 210 900 3000 7575 FMR:rt\001 -4 1 1 1 0 3 20 0.0000 4 210 2700 9675 3750 REACTION MODEL\001 -4 2 0 0 0 0 20 0.0000 4 285 825 1650 2175 SS:c_0\001 -4 1 0 0 0 0 20 0.0000 4 210 150 3000 2175 1\001 -4 1 0 0 0 0 20 0.0000 4 210 150 4500 2175 0\001 -4 1 0 0 0 0 20 0.0000 4 210 150 6000 2175 1\001 -4 1 0 0 0 0 20 0.0000 4 210 150 9001 2176 0\001 -4 1 0 0 0 0 20 0.0000 4 210 150 10501 2176 1\001 -4 1 0 0 0 0 20 0.0000 4 210 420 7500 2175 AF\001 -4 1 0 0 0 0 20 0.0000 4 285 795 8100 1050 C:m_b\001 -4 1 0 0 0 0 20 0.0000 4 285 825 9975 1050 SS:c_b\001 -4 1 0 0 0 0 20 0.0000 4 285 780 3600 1050 C:m_a\001 -4 1 1 0 0 3 20 0.0000 4 210 3735 9075 600 CONCENTRATION MODEL\001 -4 1 0 0 0 0 20 0.0000 4 210 480 6151 9076 SS:t\001 -4 1 1 1 0 3 20 0.0000 4 210 2940 9450 5700 HYDRAULIC MODEL\001 DELETED mttroot/mtt/lib/examples/Chemical/ReactorTF/ReactorTF_args.new Index: mttroot/mtt/lib/examples/Chemical/ReactorTF/ReactorTF_args.new ================================================================== --- mttroot/mtt/lib/examples/Chemical/ReactorTF/ReactorTF_args.new +++ /dev/null @@ -1,1 +0,0 @@ - DELETED mttroot/mtt/lib/examples/Chemical/ReactorTF/ReactorTF_desc.tex Index: mttroot/mtt/lib/examples/Chemical/ReactorTF/ReactorTF_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Chemical/ReactorTF/ReactorTF_desc.tex +++ /dev/null @@ -1,50 +0,0 @@ -% -*-latex-*- Put EMACS into LaTeX-mode -% Verbal description for system ReactorTF (ReactorTF_desc.tex) -% Generated by MTT on Fri Mar 3 12:43:33 GMT 2000. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -\fig{ReactorTF_pic} -{ReactorTF_pic} {0.9} {System \textbf{ReactorTF}, Schematic} - -Figure \Ref{fig:ReactorTF_pic} is the schematic diagram of a chemical -reactor. - -The acausal bond graph of system \textbf{ReactorTF} is displayed in -Figure \Ref{fig:ReactorTF_abg.ps} and its label file is listed in -Section \Ref{sec:ReactorTF_lbl}. The subsystems are listed in Section -\Ref{sec:ReactorTF_sub}. - -This example of a (nonlinear) chemical reactor is due to Trickett and -Bogle\footnote{ K. J. Tricket, \emph{Quantification of Inverse - Responses for Controllability Assessment of Nonlinear Processes}, - PhD Thesis, University College London, 1994} is used in this -section. The reactor has two reaction mechanisms: $\text{A} -\rightarrow \text{B} \rightarrow \text{C}$ and $\text{2A} \rightarrow -\text{D}$. The reactor mass inflow and outflow $f_r$ are identical. -$q$ represents the heat inflow to the reactor. - -The control loop $t$/$f$ has been inverted. The resulting SISO -system has two interpretations: -\begin{enumerate} -\item the \emph{dynamics} of the $c_b$/$q$ loop when the $t$/$f$ loop - is under perfect control and -\item the \emph{inverse} dynamics of the $t$/$f$ loop. -\end{enumerate} - -\fig{ReactorTF_zero_1} {ReactorTF_zero_1} {0.9} -{System\textbf{ReactorTF}: zero 1 v flow} -\fig{ReactorTF_zero_2} {ReactorTF_zero_2} {0.9} -{System\textbf{ReactorTF}: zero 2 v flow} - -Figures \Ref{fig:ReactorTF_zero_1} and \Ref{fig:ReactorTF_zero_2} -shows the poles of the linearised system as the steady-state flow -varies: these are the \emph{zeros} of the $t$/$f$ control-loop when -the $c_b$/$q$ loop is \emph{open}. - - DELETED mttroot/mtt/lib/examples/Chemical/ReactorTF/ReactorTF_input.txt Index: mttroot/mtt/lib/examples/Chemical/ReactorTF/ReactorTF_input.txt ================================================================== --- mttroot/mtt/lib/examples/Chemical/ReactorTF/ReactorTF_input.txt +++ /dev/null @@ -1,52 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# Input specification (ReactorTF_input.txt) -# Generated by MTT at Fri Mar 3 11:52:23 GMT 2000 -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - -## Reduce steady-state parameter file (ReactorTF_sspar.r) -## as siso_sspar ecxept that inputs/states have different meaning -## Steady state for constant c_a, c_b and t=t_s and f=f_s - -## Unit volume ReactorTF: -v_r = 1; - - -## The exponentials. -e_1 = exp(-q_1/t_s); -e_2 = exp(-q_2/t_s); -e_3 = exp(-q_3/t_s); - -## Solve for the steady-state concentrations -## Solve for ca - a quadratic. -a = k_3*e_3; #ca^2 -b = k_1*e_1 + f_s; #ca^1 -c = -c_0*f_s; - -c_a = (-b + sqrt(b^2 - 4*a*c))/(2*a); - -## solve for c_b -c_b = c_a*k_1*e_1/(f_s+k_2*e_2); - - -#States (masses) -x1 = c_a*v_r; -x2 = c_b*v_r; - -#Thermal state -#x3 = c_p*t_s*v_r; - - -#Steady-state input q needed to achieve steady-state t_s -q_s = -( (t_0-t_s)*c_p*f_s + e_1*h_1*k_1*x1 + e_2*h_2*k_2*x2 + e_3*h_3*k_3*x1^2); - -# Set the inputs -mttu(1) = q_s + 0.1*q_s*(t>0.01); # q (ReactorTF) - - - - DELETED mttroot/mtt/lib/examples/Chemical/ReactorTF/ReactorTF_lbl.txt Index: mttroot/mtt/lib/examples/Chemical/ReactorTF/ReactorTF_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Chemical/ReactorTF/ReactorTF_lbl.txt +++ /dev/null @@ -1,69 +0,0 @@ -%% Label file for system ReactorTF (ReactorTF_lbl.txt) -%SUMMARY ReactorTF: Simple reactor model -- TF loop inverted -%DESCRIPTION Pseudo bond graph reactor model (based on ancient version) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -%ALIAS Rate Chemical/Rate - -% Extra variables -%VAR t_s -%VAR f_s -%VAR t_0 -%VAR c_0 -%VAR rho -%VAR v_r -%VAR e_1 -%VAR e_2 -%VAR e_3 -%VAR a -%VAR b -%VAR c -%VAR c_A -%VAR c_B -%VAR x1 -%VAR x2 -%VAR x3 -%VAR q_S - - -% Port aliases - -% Argument aliases - -%% each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- -% Component type C - m_a lin effort,1 - m_b lin effort,1 - h_r lin effort,c_p - -% Component type FMR - rfa lin effort,1 - rfb lin effort,1 - rt lin effort,c_p - -% Component type Rate - AB Rate k_1,q_1,h_1,1 - BC Rate k_2,q_2,h_2,1 - AD Rate k_3,q_3,h_3,2 - -% Component type SS - c_0 SS c_0,internal - c_b SS external,0 - f SS internal,internal - t SS t_s,external - t_0 SS t_0,internal - - - DELETED mttroot/mtt/lib/examples/Chemical/ReactorTF/ReactorTF_numpar.m Index: mttroot/mtt/lib/examples/Chemical/ReactorTF/ReactorTF_numpar.m ================================================================== --- mttroot/mtt/lib/examples/Chemical/ReactorTF/ReactorTF_numpar.m +++ /dev/null @@ -1,186 +0,0 @@ -function mttpar = ReactorTF_numpar(); -% mttpar = ReactorTF_numpar(); -%System ReactorTF, representation numpar, language m; -%File ReactorTF_numpar.m; -%Generated by MTT on Thu Aug 24 14:28:46 BST 2000; -% - -#====== Set up the global variables ======# -global ... - a ... - b ... - c ... - c_0 ... - c_a ... - c_b ... - c_p ... - e_1 ... - e_2 ... - e_3 ... - f_s ... - h ... - h_1 ... - h_2 ... - h_3 ... - k ... - k_1 ... - k_2 ... - k_3 ... - n ... - q ... - q_1 ... - q_2 ... - q_3 ... - q_s ... - rho ... - t_0 ... - t_s ... - v_r ... - x1 ... - x2 ... - x3 ; -## Set parameters to zero - a = 0.0; - b = 0.0; - c = 0.0; - c_0 = 0.0; - c_a = 0.0; - c_b = 0.0; - c_p = 0.0; - e_1 = 0.0; - e_2 = 0.0; - e_3 = 0.0; - f_s = 0.0; - h = 0.0; - h_1 = 0.0; - h_2 = 0.0; - h_3 = 0.0; - k = 0.0; - k_1 = 0.0; - k_2 = 0.0; - k_3 = 0.0; - n = 0.0; - q = 0.0; - q_1 = 0.0; - q_2 = 0.0; - q_3 = 0.0; - q_s = 0.0; - rho = 0.0; - t_0 = 0.0; - t_s = 0.0; - v_r = 0.0; - x1 = 0.0; - x2 = 0.0; - x3 = 0.0; - % -*-octave-*- Put Emacs into octave-mode - % Numerical parameter file (ReactorTF_numpar.txt) - % Generated by MTT at Fri Mar 3 09:22:56 GMT 2000 - - % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - % %% Version control history - % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - % %% $Id$ - % %% $Log$ - % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - % -a = 0; % Dummy -b = 0; % Dummy -c = 0; % Dummy -c_0 = 0; % Dummy -c_a = 0; % Dummy -c_b = 0; % Dummy -c_p = 0; % Dummy -e_1 = 0; % Dummy -e_2 = 0; % Dummy -e_3 = 0; % Dummy -f_s = 0; % Dummy -h = 0; % Dummy -h_1 = 0; % Dummy -h_2 = 0; % Dummy -h_3 = 0; % Dummy -k = 0; % Dummy -k_1 = 0; % Dummy -k_2 = 0; % Dummy -k_3 = 0; % Dummy -n = 0; % Dummy -q = 0; % Dummy -q_1 = 0; % Dummy -q_2 = 0; % Dummy -q_3 = 0; % Dummy -q_s = 0; % Dummy -rho = 0; % Dummy -t_0 = 0; % Dummy -t_s = 0; % Dummy -v_r = 0; % Dummy -x1 = 0; % Dummy -x2 = 0; % Dummy -x3 = 0; % Dummy - - % -rho = 900; % Density -c_p = 5.0; % Specific heat - - % -k_1 = 2.5e10; % Reaction rate constant -q_1 = 1e4; % Exotherm constant -h_1 = 1e4; % Heat of reaction - - % -k_2 = 2.65e12; % Reaction rate constant -q_2 = 1.2e4; % Exotherm constant -h_2 = 1.2e4; % Heat of reaction - - % -k_3 = 6e7; % Reaction rate constant -q_3 = 8e3; % Exotherm constant -h_3 = 3e4; % Heat of reaction - - % -c_0 = 10; % Inflow conc -t_0 = 500; % Inflow temp - - % -t_s = 530; % Steady-state temp -f_s = 100; % Steady-state flow - - - - - - - - -## Set up the parameter vector - mttpar(1) = a; - mttpar(2) = b; - mttpar(3) = c; - mttpar(4) = c_0; - mttpar(5) = c_a; - mttpar(6) = c_b; - mttpar(7) = c_p; - mttpar(8) = e_1; - mttpar(9) = e_2; - mttpar(10) = e_3; - mttpar(11) = f_s; - mttpar(12) = h; - mttpar(13) = h_1; - mttpar(14) = h_2; - mttpar(15) = h_3; - mttpar(16) = k; - mttpar(17) = k_1; - mttpar(18) = k_2; - mttpar(19) = k_3; - mttpar(20) = n; - mttpar(21) = q; - mttpar(22) = q_1; - mttpar(23) = q_2; - mttpar(24) = q_3; - mttpar(25) = q_s; - mttpar(26) = rho; - mttpar(27) = t_0; - mttpar(28) = t_s; - mttpar(29) = v_r; - mttpar(30) = x1; - mttpar(31) = x2; - mttpar(32) = x3; DELETED mttroot/mtt/lib/examples/Chemical/ReactorTF/ReactorTF_numpar.txt Index: mttroot/mtt/lib/examples/Chemical/ReactorTF/ReactorTF_numpar.txt ================================================================== --- mttroot/mtt/lib/examples/Chemical/ReactorTF/ReactorTF_numpar.txt +++ /dev/null @@ -1,79 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# Numerical parameter file (ReactorTF_numpar.txt) -# Generated by MTT at Fri Mar 3 09:22:56 GMT 2000 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -## Dummies -a = 0; # Dummy -b = 0; # Dummy -c = 0; # Dummy -c_0 = 0; # Dummy -c_a = 0; # Dummy -c_b = 0; # Dummy -c_p = 0; # Dummy -e_1 = 0; # Dummy -e_2 = 0; # Dummy -e_3 = 0; # Dummy -f_s = 0; # Dummy -h = 0; # Dummy -h_1 = 0; # Dummy -h_2 = 0; # Dummy -h_3 = 0; # Dummy -k = 0; # Dummy -k_1 = 0; # Dummy -k_2 = 0; # Dummy -k_3 = 0; # Dummy -n = 0; # Dummy -q = 0; # Dummy -q_1 = 0; # Dummy -q_2 = 0; # Dummy -q_3 = 0; # Dummy -q_s = 0; # Dummy -rho = 0; # Dummy -t_0 = 0; # Dummy -t_s = 0; # Dummy -v_r = 0; # Dummy -x1 = 0; # Dummy -x2 = 0; # Dummy -x3 = 0; # Dummy - -## The bulk liquid -rho = 900; # Density -c_p = 5.0; # Specific heat - -## Substance A -k_1 = 2.5e10; # Reaction rate constant -q_1 = 1e4; # Exotherm constant -h_1 = 1e4; # Heat of reaction - -## Substance B -k_2 = 2.65e12; # Reaction rate constant -q_2 = 1.2e4; # Exotherm constant -h_2 = 1.2e4; # Heat of reaction - -## Substance C -k_3 = 6e7; # Reaction rate constant -q_3 = 8e3; # Exotherm constant -h_3 = 3e4; # Heat of reaction - -## Inflow parameters -c_0 = 10; # Inflow conc -t_0 = 500; # Inflow temp - -## Steady-state values -t_s = 530; # Steady-state temp -f_s = 100; # Steady-state flow - - - - - - - - DELETED mttroot/mtt/lib/examples/Chemical/ReactorTF/ReactorTF_pic.fig Index: mttroot/mtt/lib/examples/Chemical/ReactorTF/ReactorTF_pic.fig ================================================================== --- mttroot/mtt/lib/examples/Chemical/ReactorTF/ReactorTF_pic.fig +++ /dev/null @@ -1,52 +0,0 @@ -#FIG 3.2 -Landscape -Center -Inches -Letter -100.00 -Single --2 -1200 2 -6 2400 3150 3225 3375 -2 1 0 1 -1 -1 0 0 -1 0.000 0 0 -1 1 0 2 - 0 0 1.00 60.00 120.00 - 2625 3300 2925 3300 -4 0 -1 0 0 2 20 0.0000 4 210 210 2400 3375 A\001 -4 0 -1 0 0 2 20 0.0000 4 210 225 3000 3375 D\001 --6 -2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 0 0 3 - 2100 2100 2100 3900 1500 3900 -2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 0 0 2 - 1500 4050 3900 4050 -2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 1 0 2 - 0 0 2.00 120.00 240.00 - 1500 4350 2100 4350 -2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 0 0 3 - 3600 2100 3600 3900 4200 3900 -2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 1 0 2 - 0 0 2.00 120.00 240.00 - 3600 4350 4200 4350 -2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 0 0 2 - 3900 4050 4200 4050 -2 1 1 2 -1 -1 0 0 -1 6.000 0 0 -1 0 0 2 - 2100 2400 3600 2400 -2 1 0 1 -1 -1 0 0 -1 0.000 0 0 -1 1 0 2 - 0 0 1.00 60.00 120.00 - 2400 2925 2700 2925 -2 1 0 1 -1 -1 0 0 -1 0.000 0 0 -1 1 0 2 - 0 0 1.00 60.00 120.00 - 3000 2925 3300 2925 -2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 1 0 2 - 0 0 2.00 120.00 240.00 - 2850 4800 2850 3750 -4 0 -1 0 0 2 20 0.0000 4 210 210 2175 3000 A\001 -4 0 -1 0 0 2 20 0.0000 4 210 195 2775 3000 B\001 -4 0 -1 0 0 2 20 0.0000 4 210 210 3375 3000 C\001 -4 0 -1 0 0 2 20 0.0000 4 210 150 2250 3375 2\001 -4 0 -1 0 0 3 12 0.0000 4 135 90 1875 4950 0\001 -4 0 -1 0 0 3 12 0.0000 4 135 90 2250 4950 0\001 -4 0 -1 0 0 3 20 0.0000 4 210 150 2775 5025 q\001 -4 0 -1 0 0 3 20 0.0000 4 285 765 1500 4800 f , c , t\001 -4 0 -1 0 0 3 20 0.0000 4 285 765 3600 4800 f , c , t\001 -4 0 -1 0 0 3 12 0.0000 4 135 90 3975 4950 b\001 -4 0 -1 0 0 3 12 0.0000 4 90 75 4350 4950 r\001 DELETED mttroot/mtt/lib/examples/Chemical/ReactorTF/ReactorTF_rep.tex Index: mttroot/mtt/lib/examples/Chemical/ReactorTF/ReactorTF_rep.tex ================================================================== --- mttroot/mtt/lib/examples/Chemical/ReactorTF/ReactorTF_rep.tex +++ /dev/null @@ -1,152 +0,0 @@ - - -\section{\textbf{ReactorTF}: representation \textbf{abg}, language \textbf{tex}} -\label{sec:ReactorTF_abg.tex} -\index{\textbf{ReactorTF} -- abg} - - -MTT command: -\begin{verbatim} -mtt ReactorTF abg tex -\end{verbatim} - \input{/home/peterg/JUNK/Reactor/ReactorTF/MTT_work/ReactorTF_abg.tex} - - -\section{\textbf{ReactorTF}: representation \textbf{cbg}, language \textbf{ps}} -\label{sec:ReactorTF_cbg.ps} -\index{\textbf{ReactorTF} -- cbg} - - -MTT command: -\begin{verbatim} -mtt ReactorTF cbg ps -\end{verbatim} -This representation is given as Figure \Ref{fig:ReactorTF_cbg.ps}. -\fig{/home/peterg/JUNK/Reactor/ReactorTF/MTT_work/ReactorTF_cbg} - {ReactorTF_cbg.ps} - {0.9} - {System \textbf{ReactorTF}, representation cbg} - - -\section{\textbf{ReactorTF}: representation \textbf{struc}, language \textbf{tex}} -\label{sec:ReactorTF_struc.tex} -\index{\textbf{ReactorTF} -- struc} - - -MTT command: -\begin{verbatim} -mtt ReactorTF struc tex -\end{verbatim} - \input{/home/peterg/JUNK/Reactor/ReactorTF/MTT_work/ReactorTF_struc.tex} - - -\section{\textbf{ReactorTF}: representation \textbf{ode}, language \textbf{tex}} -\label{sec:ReactorTF_ode.tex} -\index{\textbf{ReactorTF} -- ode} - - -MTT command: -\begin{verbatim} -mtt ReactorTF ode tex -\end{verbatim} - \input{/home/peterg/JUNK/Reactor/ReactorTF/MTT_work/ReactorTF_ode.tex} - - -\section{\textbf{ReactorTF}: representation \textbf{sspar}, language \textbf{tex}} -\label{sec:ReactorTF_sspar.tex} -\index{\textbf{ReactorTF} -- sspar} - - -MTT command: -\begin{verbatim} -mtt ReactorTF sspar tex -\end{verbatim} - \input{/home/peterg/JUNK/Reactor/ReactorTF/MTT_work/ReactorTF_sspar.tex} - - -\section{\textbf{ReactorTF}: representation \textbf{ss}, language \textbf{tex}} -\label{sec:ReactorTF_ss.tex} -\index{\textbf{ReactorTF} -- ss} - - -MTT command: -\begin{verbatim} -mtt ReactorTF ss tex -\end{verbatim} - \input{/home/peterg/JUNK/Reactor/ReactorTF/MTT_work/ReactorTF_ss.tex} - - -\section{\textbf{ReactorTF}: representation \textbf{sm}, language \textbf{tex}} -\label{sec:ReactorTF_sm.tex} -\index{\textbf{ReactorTF} -- sm} - - -MTT command: -\begin{verbatim} -mtt ReactorTF sm tex -\end{verbatim} - \input{/home/peterg/JUNK/Reactor/ReactorTF/MTT_work/ReactorTF_sm.tex} - - -\section{\textbf{ReactorTF}: representation \textbf{simpar}, language \textbf{tex}} -\label{sec:ReactorTF_simpar.tex} -\index{\textbf{ReactorTF} -- simpar} - - -MTT command: -\begin{verbatim} -mtt ReactorTF simpar tex -\end{verbatim} - \input{/home/peterg/JUNK/Reactor/ReactorTF/MTT_work/ReactorTF_simpar.tex} - - -\section{\textbf{ReactorTF}: representation \textbf{numpar}, language \textbf{tex}} -\label{sec:ReactorTF_numpar.tex} -\index{\textbf{ReactorTF} -- numpar} - - -MTT command: -\begin{verbatim} -mtt ReactorTF numpar tex -\end{verbatim} - \input{/home/peterg/JUNK/Reactor/ReactorTF/MTT_work/ReactorTF_numpar.tex} - - -\section{\textbf{ReactorTF}: representation \textbf{input}, language \textbf{tex}} -\label{sec:ReactorTF_input.tex} -\index{\textbf{ReactorTF} -- input} - - -MTT command: -\begin{verbatim} -mtt ReactorTF input tex -\end{verbatim} - \input{/home/peterg/JUNK/Reactor/ReactorTF/MTT_work/ReactorTF_input.tex} - - -\section{\textbf{ReactorTF}: representation \textbf{state}, language \textbf{tex}} -\label{sec:ReactorTF_state.tex} -\index{\textbf{ReactorTF} -- state} - - -MTT command: -\begin{verbatim} -mtt ReactorTF state tex -\end{verbatim} - \input{/home/peterg/JUNK/Reactor/ReactorTF/MTT_work/ReactorTF_state.tex} - - -\section{\textbf{ReactorTF}: representation \textbf{odeso}, language \textbf{ps}} -\label{sec:ReactorTF_odeso.ps} -\index{\textbf{ReactorTF} -- odeso} - - -MTT command: -\begin{verbatim} -mtt ReactorTF odeso ps -\end{verbatim} -This representation is given as Figure \Ref{fig:ReactorTF_odeso.ps}. -\fig{/home/peterg/JUNK/Reactor/ReactorTF/MTT_work/ReactorTF_odeso} - {ReactorTF_odeso.ps} - {0.9} - {System \textbf{ReactorTF}, representation odeso} DELETED mttroot/mtt/lib/examples/Chemical/ReactorTF/ReactorTF_rep.txt Index: mttroot/mtt/lib/examples/Chemical/ReactorTF/ReactorTF_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Chemical/ReactorTF/ReactorTF_rep.txt +++ /dev/null @@ -1,29 +0,0 @@ -## -*-octave-*- Put Emacs into octave-mode -## Outline report file for system ReactorTF (ReactorTF_rep.txt) -## Generated by MTT on" Fri Mar 3 12:13:34 GMT 2000. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - -mtt ReactorTF abg tex # The system description -mtt ReactorTF cbg ps # The causal bond graph -## Uncomment the following lines or add others -mtt ReactorTF struc tex # The system structure -## mtt ReactorTF dae tex # The system dae -mtt ReactorTF ode tex # The system ode -mtt ReactorTF sspar tex # Steady-state parameters -mtt ReactorTF ss tex # Steady state -## mtt ReactorTF dm tex # Descriptor matrices (of linearised system) -mtt ReactorTF sm tex # State matrices (of linearised system) -## mtt ReactorTF tf tex # Transfer function (of linearised system) -## mtt ReactorTF lmfr ps # log modulus of frequency response (of linearised system) -mtt ReactorTF simpar tex # Simulation parameters -mtt ReactorTF numpar tex # Numerical simulation parameters -mtt ReactorTF input tex # Simulation input -mtt ReactorTF state tex # Simulation initial state -mtt -c ReactorTF odeso ps - DELETED mttroot/mtt/lib/examples/Chemical/ReactorTF/ReactorTF_simp.r Index: mttroot/mtt/lib/examples/Chemical/ReactorTF/ReactorTF_simp.r ================================================================== --- mttroot/mtt/lib/examples/Chemical/ReactorTF/ReactorTF_simp.r +++ /dev/null @@ -1,21 +0,0 @@ -%% Reduce comands to simplify output (mimo_sim.r) -m_r := rho*v_r; -%mttx1 := c_a*v_r; -%mttx2 := c_b*v_r; - -% THIS MUST BE CHANGED - probs with cp and FMRs -%c_p := 1; - -%let mttx3/c_p = t; - -let e^(q_1/(mttx3/c_p)) = 1/epsilon_1; -let e^(q_2/(mttx3/c_p)) = 1/epsilon_2; -let e^(q_3/(mttx3/c_p)) = 1/epsilon_3; - -let e^(q_1/t_s) = 1/epsilon_1; -let e^(q_2/t_s) = 1/epsilon_2; -let e^(q_3/t_s) = 1/epsilon_3; - -FACTOR mttx1,mttx2; - -END; DELETED mttroot/mtt/lib/examples/Chemical/ReactorTF/ReactorTF_simpar.txt Index: mttroot/mtt/lib/examples/Chemical/ReactorTF/ReactorTF_simpar.txt ================================================================== --- mttroot/mtt/lib/examples/Chemical/ReactorTF/ReactorTF_simpar.txt +++ /dev/null @@ -1,18 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# Simulation parameters for system ReactorTF (ReactorTF_simpar.txt) -# Generated by MTT on Fri Mar 3 12:11:48 GMT 2000. -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - - -LAST = 0.05; # Last time in simulation -DT = 0.0002; # Print interval -STEPFACTOR = 1; # Integration steps per print interval -WMIN = -1; # Minimum frequency = 10^WMIN -WMAX = 2; # Maximum frequency = 10^WMAX -WSTEPS = 100; # Number of frequency steps -INPUT = 1; # Index of the input DELETED mttroot/mtt/lib/examples/Chemical/ReactorTF/ReactorTF_sm.m Index: mttroot/mtt/lib/examples/Chemical/ReactorTF/ReactorTF_sm.m ================================================================== --- mttroot/mtt/lib/examples/Chemical/ReactorTF/ReactorTF_sm.m +++ /dev/null @@ -1,185 +0,0 @@ -function [mtta,mttb,mttc,mttd] = ReactorTF_sm(mttpar); -% [mtta,mttb,mttc,mttd] = ReactorTF_sm(mttpar); -%System ReactorTF, representation sm, language m; -%File ReactorTF_sm.m; -%Generated by MTT on Thu Aug 24 14:45:50 BST 2000; -% -%====== Set up the global variables ======% -global ... -a ... -b ... -c ... -c_0 ... -c_a ... -c_b ... -c_p ... -e_1 ... -e_2 ... -e_3 ... -f_s ... -h ... -h_1 ... -h_2 ... -h_3 ... -k ... -k_1 ... -k_2 ... -k_3 ... -n ... -q ... -q_1 ... -q_2 ... -q_3 ... -q_s ... -rho ... -t_0 ... -t_s ... -v_r ... -x1 ... -x2 ... -x3 ; -a = mttpar(1); -b = mttpar(2); -c = mttpar(3); -c_0 = mttpar(4); -c_a = mttpar(5); -c_b = mttpar(6); -c_p = mttpar(7); -e_1 = mttpar(8); -e_2 = mttpar(9); -e_3 = mttpar(10); -f_s = mttpar(11); -h = mttpar(12); -h_1 = mttpar(13); -h_2 = mttpar(14); -h_3 = mttpar(15); -k = mttpar(16); -k_1 = mttpar(17); -k_2 = mttpar(18); -k_3 = mttpar(19); -n = mttpar(20); -q = mttpar(21); -q_1 = mttpar(22); -q_2 = mttpar(23); -q_3 = mttpar(24); -q_s = mttpar(25); -rho = mttpar(26); -t_0 = mttpar(27); -t_s = mttpar(28); -v_r = mttpar(29); -x1 = mttpar(30); -x2 = mttpar(31); -x3 = mttpar(32); -%a matrix% -mtta = zeros(2,2); -mtt_t1 = exp((2.0*q_1+q_3)/t_s)*abs(exp(q_1/t_s))^2*f_s^2*h_3; -mtt_t1 = mtt_t1+2.0*exp((2.0*q_1)/t_s)*abs(exp(q_1/t_s))^2*c_0*f_s*h_3*k_3; -mtt_t1 = mtt_t1-(exp((q_1+q_3)/t_s)*abs(exp(q_1/t_s))^2*f_s*h_1*k_1); -mtt_t1 = mtt_t1+2.0*exp((q_1+q_3)/t_s)*abs(exp(q_1/t_s))^2*f_s*h_3*k_1; -mtt_t1 = mtt_t1-(2.0*exp(q_1/t_s)*abs(exp(q_1/t_s))^2*c_0*h_1*k_1*k_3); -mtt_t1 = mtt_t1+2.0*exp(q_1/t_s)*abs(exp(q_1/t_s))^2*c_0*h_3*k_1*k_3; -mtt_t1 = mtt_t1-(exp(q_3/t_s)*abs(exp(q_1/t_s))^2*h_1*k_1^2); -mtt_t1 = mtt_t1+exp(q_3/t_s)*abs(exp(q_1/t_s))^2*h_3*k_1^2; -mtt_t3 = 2.0*exp((2.0*q_1+q_3)/t_s); -mtt_t2 = exp((2.0*q_1+q_3)/t_s)*f_s^2+4.0*exp((2.0*q_1)/t_s)*c_0*f_s*k_3; -mtt_t3 = mtt_t3*sqrt((mtt_t2+2.0*exp((q_1+q_3)/t_s)*f_s*k_1+exp(q_3/t_s)*k_1^2)/exp(q_3/t_s)); -mtt_t4 = 2.0*exp((2.0*q_1)/t_s); -mtt_t2 = exp((2.0*q_1+q_3)/t_s)*f_s^2+4.0*exp((2.0*q_1)/t_s)*c_0*f_s*k_3; -mtt_t4 = mtt_t4*sqrt((mtt_t2+2.0*exp((q_1+q_3)/t_s)*f_s*k_1+exp(q_3/t_s)*k_1^2)/exp(q_3/t_s)); -mtt_t1 = mtt_t1-(mtt_t3*abs(exp(q_1/t_s))*f_s*h_3)-(mtt_t4*abs(exp(q_1/t_s))*c_0*h_3*k_3); -mtt_t5 = 2.0*exp((2.0*q_1)/t_s); -mtt_t2 = exp((2.0*q_1+q_3)/t_s)*f_s^2+4.0*exp((2.0*q_1)/t_s)*c_0*f_s*k_3; -mtt_t5 = mtt_t5*sqrt((mtt_t2+2.0*exp((q_1+q_3)/t_s)*f_s*k_1+exp(q_3/t_s)*k_1^2)/exp(q_3/t_s)); -mtt_t3 = 2.0*exp((2.0*q_1)/t_s); -mtt_t2 = exp((2.0*q_1+q_3)/t_s)*f_s^2+4.0*exp((2.0*q_1)/t_s)*c_0*f_s*k_3; -mtt_t3 = mtt_t3*sqrt((mtt_t2+2.0*exp((q_1+q_3)/t_s)*f_s*k_1+exp(q_3/t_s)*k_1^2)/exp(q_3/t_s)); -mtt_t1 = mtt_t1-(mtt_t5*abs(exp(q_1/t_s))*c_p*k_3*t_0)+mtt_t3*abs(exp(q_1/t_s))*c_p*k_3*t_s; -mtt_t4 = exp((q_1+q_3)/t_s); -mtt_t2 = exp((2.0*q_1+q_3)/t_s)*f_s^2+4.0*exp((2.0*q_1)/t_s)*c_0*f_s*k_3; -mtt_t4 = mtt_t4*sqrt((mtt_t2+2.0*exp((q_1+q_3)/t_s)*f_s*k_1+exp(q_3/t_s)*k_1^2)/exp(q_3/t_s)); -mtt_t3 = 2.0*exp((q_1+q_3)/t_s); -mtt_t2 = exp((2.0*q_1+q_3)/t_s)*f_s^2+4.0*exp((2.0*q_1)/t_s)*c_0*f_s*k_3; -mtt_t3 = mtt_t3*sqrt((mtt_t2+2.0*exp((q_1+q_3)/t_s)*f_s*k_1+exp(q_3/t_s)*k_1^2)/exp(q_3/t_s)); -mtt_t1 = mtt_t1+mtt_t4*abs(exp(q_1/t_s))*h_1*k_1-(mtt_t3*abs(exp(q_1/t_s))*h_3*k_1); -mtt_t1 = mtt_t1+exp((4.0*q_1+q_3)/t_s)*f_s^2*h_3; -mtt_t1 = mtt_t1+4.0*exp((4.0*q_1)/t_s)*c_0*f_s*h_3*k_3; -mtt_t1 = mtt_t1+2.0*exp((3.0*q_1+q_3)/t_s)*f_s*h_3*k_1; -mtt_t1 = mtt_t1+exp((2.0*q_1+q_3)/t_s)*h_3*k_1^2; -mtt_t2 = 2.0*exp((2.0*q_1)/t_s)*abs(exp(q_1/t_s))^2*c_p*k_3*t_0; -mtta(1,1) = mtt_t1/(mtt_t2-(2.0*exp((2.0*q_1)/t_s)*abs(exp(q_1/t_s))^2*c_p*k_3*t_s)); -mtt_t1 = -(exp((q_1+q_3)/t_s)*abs(exp(q_1/t_s))*f_s*h_2*k_2); -mtt_t1 = mtt_t1-(2.0*exp(q_1/t_s)*abs(exp(q_1/t_s))*c_0*h_2*k_2*k_3); -mtt_t3 = exp((q_1+q_3)/t_s); -mtt_t2 = exp((2.0*q_1+q_3)/t_s)*f_s^2+4.0*exp((2.0*q_1)/t_s)*c_0*f_s*k_3; -mtt_t3 = mtt_t3*sqrt((mtt_t2+2.0*exp((q_1+q_3)/t_s)*f_s*k_1+exp(q_3/t_s)*k_1^2)/exp(q_3/t_s)); -mtt_t1 = mtt_t1-(exp(q_3/t_s)*abs(exp(q_1/t_s))*h_2*k_1*k_2)+mtt_t3*h_2*k_2; -mtt_t2 = 2.0*exp((q_1+q_2)/t_s)*abs(exp(q_1/t_s))*c_p*k_3*t_0; -mtta(1,2) = mtt_t1/(mtt_t2-(2.0*exp((q_1+q_2)/t_s)*abs(exp(q_1/t_s))*c_p*k_3*t_s)); -mtt_t1 = exp((2.0*q_1+q_2+q_3)/t_s)*abs(exp(q_1/t_s))^2*f_s^2*h_3*k_1; -mtt_t1 = mtt_t1+2.0*exp((2.0*q_1+q_2)/t_s)*abs(exp(q_1/t_s))^2*c_p*f_s*k_1*k_3*t_0; -mtt_t1 = mtt_t1-(2.0*exp((2.0*q_1+q_2)/t_s)*abs(exp(q_1/t_s))^2*c_p*f_s*k_1*k_3*t_s); -mtt_t1 = mtt_t1+2.0*exp((2.0*q_1)/t_s)*abs(exp(q_1/t_s))^2*c_p*k_1*k_2*k_3*t_0; -mtt_t1 = mtt_t1-(2.0*exp((2.0*q_1)/t_s)*abs(exp(q_1/t_s))^2*c_p*k_1*k_2*k_3*t_s); -mtt_t1 = mtt_t1-(exp((q_1+q_2+q_3)/t_s)*abs(exp(q_1/t_s))^2*f_s*h_1*k_1^2); -mtt_t1 = mtt_t1+2.0*exp((q_1+q_2+q_3)/t_s)*abs(exp(q_1/t_s))^2*f_s*h_3*k_1^2; -mtt_t1 = mtt_t1-(exp((q_2+q_3)/t_s)*abs(exp(q_1/t_s))^2*h_1*k_1^3); -mtt_t1 = mtt_t1+exp((q_2+q_3)/t_s)*abs(exp(q_1/t_s))^2*h_3*k_1^3; -mtt_t3 = 2.0*exp((2.0*q_1+q_2+q_3)/t_s); -mtt_t2 = exp((2.0*q_1+q_3)/t_s)*f_s^2+4.0*exp((2.0*q_1)/t_s)*c_0*f_s*k_3; -mtt_t3 = mtt_t3*sqrt((mtt_t2+2.0*exp((q_1+q_3)/t_s)*f_s*k_1+exp(q_3/t_s)*k_1^2)/exp(q_3/t_s)); -mtt_t4 = exp((q_1+q_2+q_3)/t_s); -mtt_t2 = exp((2.0*q_1+q_3)/t_s)*f_s^2+4.0*exp((2.0*q_1)/t_s)*c_0*f_s*k_3; -mtt_t4 = mtt_t4*sqrt((mtt_t2+2.0*exp((q_1+q_3)/t_s)*f_s*k_1+exp(q_3/t_s)*k_1^2)/exp(q_3/t_s)); -mtt_t1 = mtt_t1-(mtt_t3*abs(exp(q_1/t_s))*f_s*h_3*k_1)+mtt_t4*abs(exp(q_1/t_s))*h_1*k_1^2; -mtt_t5 = 2.0*exp((q_1+q_2+q_3)/t_s); -mtt_t2 = exp((2.0*q_1+q_3)/t_s)*f_s^2+4.0*exp((2.0*q_1)/t_s)*c_0*f_s*k_3; -mtt_t5 = mtt_t5*sqrt((mtt_t2+2.0*exp((q_1+q_3)/t_s)*f_s*k_1+exp(q_3/t_s)*k_1^2)/exp(q_3/t_s)); -mtt_t1 = mtt_t1-(mtt_t5*abs(exp(q_1/t_s))*h_3*k_1^2); -mtt_t1 = mtt_t1+exp((4.0*q_1+q_2+q_3)/t_s)*f_s^2*h_3*k_1; -mtt_t1 = mtt_t1+4.0*exp((4.0*q_1+q_2)/t_s)*c_0*f_s*h_3*k_1*k_3; -mtt_t1 = mtt_t1+2.0*exp((3.0*q_1+q_2+q_3)/t_s)*f_s*h_3*k_1^2; -mtt_t1 = mtt_t1+exp((2.0*q_1+q_2+q_3)/t_s)*h_3*k_1^3; -mtt_t2 = 2.0*exp((3.0*q_1+q_2)/t_s)*abs(exp(q_1/t_s))^2*c_p*f_s*k_3*t_0; -mtt_t2 = mtt_t2-(2.0*exp((3.0*q_1+q_2)/t_s)*abs(exp(q_1/t_s))^2*c_p*f_s*k_3*t_s); -mtt_t2 = mtt_t2+2.0*exp((3.0*q_1)/t_s)*abs(exp(q_1/t_s))^2*c_p*k_2*k_3*t_0; -mtta(2,1) = mtt_t1/(mtt_t2-(2.0*exp((3.0*q_1)/t_s)*abs(exp(q_1/t_s))^2*c_p*k_2*k_3*t_s)); -mtt_t1 = -(2.0*exp((2.0*q_1+2.0*q_2)/t_s)*abs(exp(q_1/t_s))*c_p*f_s^2*k_3*t_0); -mtt_t1 = mtt_t1+2.0*exp((2.0*q_1+2.0*q_2)/t_s)*abs(exp(q_1/t_s))*c_p*f_s^2*k_3*t_s; -mtt_t1 = mtt_t1-(4.0*exp((2.0*q_1+q_2)/t_s)*abs(exp(q_1/t_s))*c_p*f_s*k_2*k_3*t_0); -mtt_t1 = mtt_t1+4.0*exp((2.0*q_1+q_2)/t_s)*abs(exp(q_1/t_s))*c_p*f_s*k_2*k_3*t_s; -mtt_t1 = mtt_t1-(2.0*exp((2.0*q_1)/t_s)*abs(exp(q_1/t_s))*c_p*k_2^2*k_3*t_0); -mtt_t1 = mtt_t1+2.0*exp((2.0*q_1)/t_s)*abs(exp(q_1/t_s))*c_p*k_2^2*k_3*t_s; -mtt_t1 = mtt_t1-(exp((q_1+q_2+q_3)/t_s)*abs(exp(q_1/t_s))*f_s*h_2*k_1*k_2); -mtt_t1 = mtt_t1-(exp((q_2+q_3)/t_s)*abs(exp(q_1/t_s))*h_2*k_1^2*k_2); -mtt_t3 = exp((q_1+q_2+q_3)/t_s); -mtt_t2 = exp((2.0*q_1+q_3)/t_s)*f_s^2+4.0*exp((2.0*q_1)/t_s)*c_0*f_s*k_3; -mtt_t3 = mtt_t3*sqrt((mtt_t2+2.0*exp((q_1+q_3)/t_s)*f_s*k_1+exp(q_3/t_s)*k_1^2)/exp(q_3/t_s)); -mtt_t1 = mtt_t1+mtt_t3*h_2*k_1*k_2; -mtt_t2 = 2.0*exp((2.0*q_1+2.0*q_2)/t_s)*abs(exp(q_1/t_s))*c_p*f_s*k_3*t_0; -mtt_t2 = mtt_t2-(2.0*exp((2.0*q_1+2.0*q_2)/t_s)*abs(exp(q_1/t_s))*c_p*f_s*k_3*t_s); -mtt_t2 = mtt_t2+2.0*exp((2.0*q_1+q_2)/t_s)*abs(exp(q_1/t_s))*c_p*k_2*k_3*t_0; -mtta(2,2) = mtt_t1/(mtt_t2-(2.0*exp((2.0*q_1+q_2)/t_s)*abs(exp(q_1/t_s))*c_p*k_2*k_3*t_s)); -%b matrix% -mttb = zeros(2,1); -mtt_t1 = -(exp((q_1+q_3)/t_s)*abs(exp(q_1/t_s))*f_s); -mtt_t1 = mtt_t1-(2.0*exp(q_1/t_s)*abs(exp(q_1/t_s))*c_0*k_3); -mtt_t1 = mtt_t1-(exp(q_3/t_s)*abs(exp(q_1/t_s))*k_1); -mtt_t3 = exp((q_1+q_3)/t_s); -mtt_t2 = exp((2.0*q_1+q_3)/t_s)*f_s^2+4.0*exp((2.0*q_1)/t_s)*c_0*f_s*k_3; -mtt_t1 = mtt_t1+mtt_t3*sqrt((mtt_t2+2.0*exp((q_1+q_3)/t_s)*f_s*k_1+exp(q_3/t_s)*k_1^2)/exp(q_3/t_s)); -mtt_t4 = 2.0*exp(q_1/t_s)*abs(exp(q_1/t_s))*c_p*k_3*t_0; -mttb(1) = mtt_t1/(mtt_t4-(2.0*exp(q_1/t_s)*abs(exp(q_1/t_s))*c_p*k_3*t_s)); -mtt_t1 = -(exp((q_1+q_2+q_3)/t_s)*abs(exp(q_1/t_s))*f_s*k_1); -mtt_t3 = exp((q_1+q_2+q_3)/t_s); -mtt_t2 = exp((2.0*q_1+q_3)/t_s)*f_s^2+4.0*exp((2.0*q_1)/t_s)*c_0*f_s*k_3; -mtt_t3 = mtt_t3*sqrt((mtt_t2+2.0*exp((q_1+q_3)/t_s)*f_s*k_1+exp(q_3/t_s)*k_1^2)/exp(q_3/t_s)); -mtt_t1 = mtt_t1-(exp((q_2+q_3)/t_s)*abs(exp(q_1/t_s))*k_1^2)+mtt_t3*k_1; -mtt_t2 = 2.0*exp((2.0*q_1+q_2)/t_s)*abs(exp(q_1/t_s))*c_p*f_s*k_3*t_0; -mtt_t2 = mtt_t2-(2.0*exp((2.0*q_1+q_2)/t_s)*abs(exp(q_1/t_s))*c_p*f_s*k_3*t_s); -mtt_t2 = mtt_t2+2.0*exp((2.0*q_1)/t_s)*abs(exp(q_1/t_s))*c_p*k_2*k_3*t_0; -mttb(2) = mtt_t1/(mtt_t2-(2.0*exp((2.0*q_1)/t_s)*abs(exp(q_1/t_s))*c_p*k_2*k_3*t_s)); -%c matrix% -mttc = zeros(1,2); -mttc(1,2) = 1.0; -%d matrix% -mttd = zeros(1,1); DELETED mttroot/mtt/lib/examples/Chemical/ReactorTF/ReactorTF_sspar.r Index: mttroot/mtt/lib/examples/Chemical/ReactorTF/ReactorTF_sspar.r ================================================================== --- mttroot/mtt/lib/examples/Chemical/ReactorTF/ReactorTF_sspar.r +++ /dev/null @@ -1,55 +0,0 @@ -%% Reduce steady-state parameter file (ReactorTF_sspar.r) -%% as siso_sspar ecxept that inputs/states have different meaning -%% Steady state for constant c_a, c_b and t=t_s and f=f_s - -%% Unit volume ReactorTF: -v_r := 1; - -%% Do the inputs first -- this avoids problems with reduce not -%% recognising that complicated expressions are zero - -%% The exponentials. -e_1 := e^(-q_1/t_s); -e_2 := e^(-q_2/t_s); -e_3 := e^(-q_3/t_s); - -%Steady-state input q needed to achieve steady-state t_s -q_s := -( - + (t_0-t_s)*c_p*f_s - + e_1*h_1*k_1*x1 - + e_2*h_2*k_2*x2 - + e_3*h_3*k_3*x1^2 - ); - -%% The input at steady-state -MTTu1 := q_s; - -%States (masses) -x1 := c_a*v_r; -x2 := c_b*v_r; - -%Thermal state -x3 := c_p*t_s*v_r; - -%Load up the vectors -MTTx1 := x1; -MTTx2 := x2; - -MTTy1 := c_b; -%MTTy2 := t_s; - -%% Finally, solve for the steady-state concentrations -%% Solve for ca - a quadratic. -a := k_3*e_3; %ca^2 -b := k_1*e_1 + f_s; %ca^1 -c := -c_0*f_s; - -c_a := (-b + sqrt(b^2 - 4*a*c))/(2*a); - -%% solve for c_b -c_b := c_a*k_1*e_1/(f_s+k_2*e_2); - - -END; - - DELETED mttroot/mtt/lib/examples/Chemical/ReactorTF/ReactorTF_state.txt Index: mttroot/mtt/lib/examples/Chemical/ReactorTF/ReactorTF_state.txt ================================================================== --- mttroot/mtt/lib/examples/Chemical/ReactorTF/ReactorTF_state.txt +++ /dev/null @@ -1,50 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# State specification (ReactorTF_state.txt) -# Generated by MTT at Fri Mar 3 11:52:23 GMT 2000 -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - -## Reduce steady-state parameter file (ReactorTF_sspar.r) -## as siso_sspar ecxept that states/states have different meaning -## Steady state for constant c_a, c_b and t=t_s and f=f_s - -## Unit volume ReactorTF: -v_r = 1; - - -## The exponentials. -e_1 = exp(-q_1/t_s); -e_2 = exp(-q_2/t_s); -e_3 = exp(-q_3/t_s); - -## Solve for the steady-state concentrations -## Solve for ca - a quadratic. -a = k_3*e_3; #ca^2 -b = k_1*e_1 + f_s; #ca^1 -c = -c_0*f_s; - -c_a = (-b + sqrt(b^2 - 4*a*c))/(2*a); - -## solve for c_b -c_b = c_a*k_1*e_1/(f_s+k_2*e_2); - - -#States (masses) -x1 = c_a*v_r; -x2 = c_b*v_r; - -#Thermal state -#x3 = c_p*t_s*v_r; - -## Load up the states -mttx(1) = x1; -mttx(2) = x2; -mttx(3) = x3; - - - - DELETED mttroot/mtt/lib/examples/Chemical/ReactorTF/ReactorTF_sympar.m Index: mttroot/mtt/lib/examples/Chemical/ReactorTF/ReactorTF_sympar.m ================================================================== --- mttroot/mtt/lib/examples/Chemical/ReactorTF/ReactorTF_sympar.m +++ /dev/null @@ -1,40 +0,0 @@ -function sympar = ReactorTF_sympar(); -% sympar = ReactorTF_sympar(); -%System ReactorTF, representation sympar, language m; -%File ReactorTF_sympar.m; -%Generated by MTT on Thu Aug 24 14:45:51 BST 2000; -% -global ... -mtt_no_globals ; - sympar.a = 1; # ReactorTF - sympar.b = 2; # ReactorTF - sympar.c = 3; # ReactorTF - sympar.c_0 = 4; # ReactorTF - sympar.c_A = 5; # ReactorTF - sympar.c_B = 6; # ReactorTF - sympar.c_p = 7; # ReactorTF - sympar.e_1 = 8; # ReactorTF - sympar.e_2 = 9; # ReactorTF - sympar.e_3 = 10; # ReactorTF - sympar.f_s = 11; # ReactorTF - sympar.h = 12; # Rate - sympar.h_1 = 13; # ReactorTF - sympar.h_2 = 14; # ReactorTF - sympar.h_3 = 15; # ReactorTF - sympar.k = 16; # Rate - sympar.k_1 = 17; # ReactorTF - sympar.k_2 = 18; # ReactorTF - sympar.k_3 = 19; # ReactorTF - sympar.n = 20; # Rate - sympar.q = 21; # Rate - sympar.q_1 = 22; # ReactorTF - sympar.q_2 = 23; # ReactorTF - sympar.q_3 = 24; # ReactorTF - sympar.q_S = 25; # ReactorTF - sympar.rho = 26; # ReactorTF - sympar.t_0 = 27; # ReactorTF - sympar.t_s = 28; # ReactorTF - sympar.v_r = 29; # ReactorTF - sympar.x1 = 30; # ReactorTF - sympar.x2 = 31; # ReactorTF - sympar.x3 = 32; # ReactorTF DELETED mttroot/mtt/lib/examples/Chemical/ReactorTQ/MakeFigure.m Index: mttroot/mtt/lib/examples/Chemical/ReactorTQ/MakeFigure.m ================================================================== --- mttroot/mtt/lib/examples/Chemical/ReactorTQ/MakeFigure.m +++ /dev/null @@ -1,19 +0,0 @@ -## Makes the figures - -par = ReactorTQ_numpar; # Parameters -sym = ReactorTQ_sympar; # Parameter indices - -F_s= [90:10:500]; # Range of flows - -Z = []; -for f_s=F_s - par(sym.f_s) = f_s; - z = sort(eig(ReactorTQ_sm(par))); - Z = [Z z]; -endfor - - -grid; xlabel("f_s"); ylabel("z"); -plot(F_s,Z); -psfig("ReactorTQ_zero"); - DELETED mttroot/mtt/lib/examples/Chemical/ReactorTQ/Makefile Index: mttroot/mtt/lib/examples/Chemical/ReactorTQ/Makefile ================================================================== --- mttroot/mtt/lib/examples/Chemical/ReactorTQ/Makefile +++ /dev/null @@ -1,11 +0,0 @@ -## Makes the schematic diagram and the zero figure -all: ReactorTQ_pic.ps ReactorTQ_zero.ps - -ReactorTQ_pic.ps: ReactorTQ_pic.fig - fig2dev -Lps ReactorTQ_pic.fig> ReactorTQ_pic.ps - -ReactorTQ_zero.ps: ReactorTQ_abg.fig - mtt -q ReactorTQ sm m; mtt -q ReactorTQ numpar m; - mtt -q ReactorTQ sympar m; - octave MakeFigure.m - DELETED mttroot/mtt/lib/examples/Chemical/ReactorTQ/ReactorTQ_abg.fig Index: mttroot/mtt/lib/examples/Chemical/ReactorTQ/ReactorTQ_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Chemical/ReactorTQ/ReactorTQ_abg.fig +++ /dev/null @@ -1,128 +0,0 @@ -#FIG 3.2 -Portrait -Center -Inches -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3 - 3001 8701 3001 7801 3151 7951 -2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3 - 1801 9001 2701 9001 2551 9151 -2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 0 0 2 - 2701 8776 2701 9226 -2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3 - 3301 9001 4201 9001 4051 9151 -2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 0 0 3 - 4201 9301 3601 9901 3826 9901 -2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3 - 5701 9001 4801 9001 4951 9151 -2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3 - 1800 6000 2700 6000 2550 6150 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 1 - 10350 5025 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 1800 6000 1800 5775 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 1800 6225 1800 6000 -2 4 1 2 1 7 0 0 -1 4.000 0 0 7 0 0 5 - 11100 10200 600 10200 600 7500 11100 7500 11100 10200 -2 4 1 2 1 7 0 0 -1 4.000 0 0 7 0 0 5 - 11100 6600 600 6600 600 5400 11100 5400 11100 6600 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4500 4800 4500 8700 4650 8550 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 6000 4800 4800 8700 5025 8625 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 9000 4800 5100 8700 5400 8700 -2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 0 0 2 - 4725 4800 4275 4800 -2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 0 0 2 - 4725 4200 4275 4200 -2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 0 0 2 - 6225 4800 5775 4800 -2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 0 0 2 - 6225 4200 5775 4200 -2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 0 0 2 - 9225 4800 8775 4800 -2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 0 0 2 - 9225 4200 8775 4200 -2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3 - 3000 7200 3000 6300 3150 6450 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 10500 4800 3300 6000 3525 6075 -2 4 1 2 1 7 0 0 -1 4.000 0 0 7 0 0 5 - 11100 5100 600 5100 600 3300 11100 3300 11100 5100 -2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3 - 4485 2395 4485 4130 4633 3841 -2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3 - 2999 2395 2999 4130 3148 3841 -2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3 - 5970 2395 5970 4130 6119 3841 -2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3 - 10428 2397 10428 4132 10577 3843 -2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3 - 8943 2397 8943 4132 9091 3843 -2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3 - 1800 2100 2700 2100 2550 2250 -2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3 - 3300 2100 4200 2100 4050 2250 -2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3 - 4800 2100 5700 2100 5550 2250 -2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 0 0 3 - 4200 1800 3600 1200 3600 1425 -2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 0 0 2 - 2700 1875 2700 2325 -2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 0 0 3 - 8701 1801 8101 1201 8101 1426 -2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3 - 9301 2101 10201 2101 10051 2251 -2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 0 0 3 - 9301 1801 9901 1201 9901 1426 -2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3 - 6300 2100 7200 2100 7050 2250 -2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3 - 7800 2100 8700 2100 8550 2250 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4050 1950 4350 1650 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 10050 1350 9900 1200 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 9900 1200 9750 1050 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 8550 1950 8850 1650 -2 4 1 2 1 7 0 0 -1 4.000 0 0 7 0 0 5 - 11100 300 600 300 600 2700 11100 2700 11100 300 -2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3 - 3000 4800 3000 5700 3150 5550 -2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 2 - 4800 8775 4800 9225 -4 1 0 0 0 0 20 0.0000 4 210 1035 3075 4575 FMR:rfa\001 -4 1 0 0 0 0 20 0.0000 4 210 1065 4575 4575 Rate:AD\001 -4 1 0 0 0 0 20 0.0000 4 210 1050 6000 4575 Rate:AB\001 -4 2 0 0 0 0 20 0.0000 4 285 780 1651 9076 SS:t_0\001 -4 2 0 0 0 0 20 0.0000 4 285 690 3451 9976 C:h_r\001 -4 1 0 0 0 0 20 0.0000 4 210 150 3000 6075 1\001 -4 2 0 0 0 0 20 0.0000 4 210 480 1725 6075 SS:f\001 -4 1 0 0 0 0 20 0.0000 4 210 150 3001 9076 1\001 -4 1 0 0 0 0 20 0.0000 4 210 150 4501 9076 0\001 -4 1 0 0 0 0 20 0.0000 4 210 1005 9001 4576 Rate:BC\001 -4 1 0 0 0 0 20 0.0000 4 210 1050 10576 4576 FMR:rfb\001 -4 1 1 1 0 3 20 0.0000 4 210 2625 9600 7800 THERMAL MODEL\001 -4 1 1 1 0 3 20 0.0000 4 210 2940 9450 5700 HYDRAULIC MODEL\001 -4 1 0 0 0 0 20 0.0000 4 210 900 3000 7575 FMR:rt\001 -4 1 1 1 0 3 20 0.0000 4 210 2700 9675 3750 REACTION MODEL\001 -4 2 0 0 0 0 20 0.0000 4 285 825 1650 2175 SS:c_0\001 -4 1 0 0 0 0 20 0.0000 4 210 150 3000 2175 1\001 -4 1 0 0 0 0 20 0.0000 4 210 150 4500 2175 0\001 -4 1 0 0 0 0 20 0.0000 4 210 150 6000 2175 1\001 -4 1 0 0 0 0 20 0.0000 4 210 150 9001 2176 0\001 -4 1 0 0 0 0 20 0.0000 4 210 150 10501 2176 1\001 -4 1 0 0 0 0 20 0.0000 4 210 420 7500 2175 AF\001 -4 1 0 0 0 0 20 0.0000 4 285 795 8100 1050 C:m_b\001 -4 1 0 0 0 0 20 0.0000 4 285 825 9975 1050 SS:c_b\001 -4 1 0 0 0 0 20 0.0000 4 285 780 3600 1050 C:m_a\001 -4 1 1 0 0 3 20 0.0000 4 210 3735 9075 600 CONCENTRATION MODEL\001 -4 1 0 0 0 0 20 0.0000 4 210 480 6151 9076 SS:t\001 DELETED mttroot/mtt/lib/examples/Chemical/ReactorTQ/ReactorTQ_args.new Index: mttroot/mtt/lib/examples/Chemical/ReactorTQ/ReactorTQ_args.new ================================================================== --- mttroot/mtt/lib/examples/Chemical/ReactorTQ/ReactorTQ_args.new +++ /dev/null @@ -1,1 +0,0 @@ - DELETED mttroot/mtt/lib/examples/Chemical/ReactorTQ/ReactorTQ_desc.tex Index: mttroot/mtt/lib/examples/Chemical/ReactorTQ/ReactorTQ_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Chemical/ReactorTQ/ReactorTQ_desc.tex +++ /dev/null @@ -1,48 +0,0 @@ -% -*-latex-*- Put EMACS into LaTeX-mode -% Verbal description for system ReactorTQ (ReactorTQ_desc.tex) -% Generated by MTT on Fri Mar 3 12:43:33 GMT 2000. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -\fig{ReactorTQ_pic} -{ReactorTQ_pic} {0.9} {System \textbf{ReactorTQ}, Schematic} - -Figure \Ref{fig:ReactorTQ_pic} is the schematic diagram of a chemical -reactor. - -The acausal bond graph of system \textbf{ReactorTQ} is displayed in -Figure \Ref{fig:ReactorTQ_abg.ps} and its label file is listed in -Section \Ref{sec:ReactorTQ_lbl}. The subsystems are listed in Section -\Ref{sec:ReactorTQ_sub}. - -This example of a (nonlinear) chemical reactor is due to Trickett and -Bogle\footnote{ K. J. Tricket, \emph{Quantification of Inverse - Responses for Controllability Assessment of Nonlinear Processes}, - PhD Thesis, University College London, 1994} is used in this -section. The reactor has two reaction mechanisms: $\text{A} -\rightarrow \text{B} \rightarrow \text{C}$ and $\text{2A} \rightarrow -\text{D}$. The reactor mass inflow and outflow $f_r$ are identical. -$q$ represents the heat inflow to the reactor. - -The control loop $t$/$q$ has been inverted. The resulting SISO -system has two interpretations: -\begin{enumerate} -\item the \emph{dynamics} of the $c_b$/$f$ loop when the $t$/$q$ loop - is under perfect control and -\item the \emph{inverse} dynamics of the $t$/$q$ loop. -\end{enumerate} - -\fig{ReactorTQ_zero} {ReactorTQ_zero} {0.9} -{System\textbf{ReactorTQ}: zeros v flow} - -Figure \Ref{fig:ReactorTQ_zero} -shows the poles of the linearised system as the steady-state flow -varies: these are the \emph{zeros} of the $c_b$/$f$ control-loop when -the $t$/$q$ loop is \emph{open}. - - DELETED mttroot/mtt/lib/examples/Chemical/ReactorTQ/ReactorTQ_input.txt Index: mttroot/mtt/lib/examples/Chemical/ReactorTQ/ReactorTQ_input.txt ================================================================== --- mttroot/mtt/lib/examples/Chemical/ReactorTQ/ReactorTQ_input.txt +++ /dev/null @@ -1,47 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# Input specification (ReactorTQ_input.txt) -# Generated by MTT at Fri Mar 3 11:52:23 GMT 2000 -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - -## Reduce steady-state parameter file (ReactorTQ_sspar.r) -## as siso_sspar ecxept that inputs/states have different meaning -## Steady state for constant c_a, c_b and t=t_s and f=f_s - -## Unit volume ReactorTQ: -v_r = 1; - - -## The exponentials. -e_1 = exp(-q_1/t_s); -e_2 = exp(-q_2/t_s); -e_3 = exp(-q_3/t_s); - -## Solve for the steady-state concentrations -## Solve for ca - a quadratic. -a = k_3*e_3; #ca^2 -b = k_1*e_1 + f_s; #ca^1 -c = -c_0*f_s; - -c_a = (-b + sqrt(b^2 - 4*a*c))/(2*a); - -## solve for c_b -c_b = c_a*k_1*e_1/(f_s+k_2*e_2); - - -#States (masses) -x1 = c_a*v_r; -x2 = c_b*v_r; - -#Thermal state -x3 = c_p*t_s*v_r; - -# Set the inputs -mttu(1) = f_s + 0.1*f_s*(t>0.01); # f (ReactorTQ) - - - DELETED mttroot/mtt/lib/examples/Chemical/ReactorTQ/ReactorTQ_lbl.txt Index: mttroot/mtt/lib/examples/Chemical/ReactorTQ/ReactorTQ_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Chemical/ReactorTQ/ReactorTQ_lbl.txt +++ /dev/null @@ -1,69 +0,0 @@ -%% Label file for system ReactorTQ (ReactorTQ_lbl.txt) -%SUMMARY ReactorTQ: Simple reactor model - with TQ loop inverted -%DESCRIPTION Pseudo bond graph reactor model (based on ancient version) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -%ALIAS Rate Chemical/Rate - -% Extra variables -%VAR t_s -%VAR f_s -%VAR t_0 -%VAR c_0 -%VAR rho -%VAR v_r -%VAR e_1 -%VAR e_2 -%VAR e_3 -%VAR a -%VAR b -%VAR c -%VAR c_A -%VAR c_B -%VAR x1 -%VAR x2 -%VAR x3 -%VAR q_S - - -% Port aliases - -% Argument aliases - -%% each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- -% Component type C - m_a lin effort,1 - m_b lin effort,1 - h_r lin effort,c_p - -% Component type FMR - rfa lin effort,1 - rfb lin effort,1 - rt lin effort,c_p - -% Component type Rate - AB Rate k_1,q_1,h_1,1 - BC Rate k_2,q_2,h_2,1 - AD Rate k_3,q_3,h_3,2 - -% Component type SS - c_0 SS c_0,internal - c_b SS external,0 - f SS internal,external - t SS t_s,internal - t_0 SS t_0,internal - - - DELETED mttroot/mtt/lib/examples/Chemical/ReactorTQ/ReactorTQ_numpar.m Index: mttroot/mtt/lib/examples/Chemical/ReactorTQ/ReactorTQ_numpar.m ================================================================== --- mttroot/mtt/lib/examples/Chemical/ReactorTQ/ReactorTQ_numpar.m +++ /dev/null @@ -1,186 +0,0 @@ -function mttpar = ReactorTQ_numpar(); -% mttpar = ReactorTQ_numpar(); -%System ReactorTQ, representation numpar, language m; -%File ReactorTQ_numpar.m; -%Generated by MTT on Thu Aug 24 14:29:20 BST 2000; -% - -#====== Set up the global variables ======# -global ... - a ... - b ... - c ... - c_0 ... - c_a ... - c_b ... - c_p ... - e_1 ... - e_2 ... - e_3 ... - f_s ... - h ... - h_1 ... - h_2 ... - h_3 ... - k ... - k_1 ... - k_2 ... - k_3 ... - n ... - q ... - q_1 ... - q_2 ... - q_3 ... - q_s ... - rho ... - t_0 ... - t_s ... - v_r ... - x1 ... - x2 ... - x3 ; -## Set parameters to zero - a = 0.0; - b = 0.0; - c = 0.0; - c_0 = 0.0; - c_a = 0.0; - c_b = 0.0; - c_p = 0.0; - e_1 = 0.0; - e_2 = 0.0; - e_3 = 0.0; - f_s = 0.0; - h = 0.0; - h_1 = 0.0; - h_2 = 0.0; - h_3 = 0.0; - k = 0.0; - k_1 = 0.0; - k_2 = 0.0; - k_3 = 0.0; - n = 0.0; - q = 0.0; - q_1 = 0.0; - q_2 = 0.0; - q_3 = 0.0; - q_s = 0.0; - rho = 0.0; - t_0 = 0.0; - t_s = 0.0; - v_r = 0.0; - x1 = 0.0; - x2 = 0.0; - x3 = 0.0; - % -*-octave-*- Put Emacs into octave-mode - % Numerical parameter file (ReactorTQ_numpar.txt) - % Generated by MTT at Fri Mar 3 09:22:56 GMT 2000 - - % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - % %% Version control history - % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - % %% $Id$ - % %% $Log$ - % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - % -a = 0; % Dummy -b = 0; % Dummy -c = 0; % Dummy -c_0 = 0; % Dummy -c_a = 0; % Dummy -c_b = 0; % Dummy -c_p = 0; % Dummy -e_1 = 0; % Dummy -e_2 = 0; % Dummy -e_3 = 0; % Dummy -f_s = 0; % Dummy -h = 0; % Dummy -h_1 = 0; % Dummy -h_2 = 0; % Dummy -h_3 = 0; % Dummy -k = 0; % Dummy -k_1 = 0; % Dummy -k_2 = 0; % Dummy -k_3 = 0; % Dummy -n = 0; % Dummy -q = 0; % Dummy -q_1 = 0; % Dummy -q_2 = 0; % Dummy -q_3 = 0; % Dummy -q_s = 0; % Dummy -rho = 0; % Dummy -t_0 = 0; % Dummy -t_s = 0; % Dummy -v_r = 0; % Dummy -x1 = 0; % Dummy -x2 = 0; % Dummy -x3 = 0; % Dummy - - % -rho = 900; % Density -c_p = 5.0; % Specific heat - - % -k_1 = 2.5e10; % Reaction rate constant -q_1 = 1e4; % Exotherm constant -h_1 = 1e4; % Heat of reaction - - % -k_2 = 2.65e12; % Reaction rate constant -q_2 = 1.2e4; % Exotherm constant -h_2 = 1.2e4; % Heat of reaction - - % -k_3 = 6e7; % Reaction rate constant -q_3 = 8e3; % Exotherm constant -h_3 = 3e4; % Heat of reaction - - % -c_0 = 10; % Inflow conc -t_0 = 530; % Inflow temp - - % -t_s = 530; % Steady-state temp -f_s = 100; % Steady-state flow - - - - - - - - -## Set up the parameter vector - mttpar(1) = a; - mttpar(2) = b; - mttpar(3) = c; - mttpar(4) = c_0; - mttpar(5) = c_a; - mttpar(6) = c_b; - mttpar(7) = c_p; - mttpar(8) = e_1; - mttpar(9) = e_2; - mttpar(10) = e_3; - mttpar(11) = f_s; - mttpar(12) = h; - mttpar(13) = h_1; - mttpar(14) = h_2; - mttpar(15) = h_3; - mttpar(16) = k; - mttpar(17) = k_1; - mttpar(18) = k_2; - mttpar(19) = k_3; - mttpar(20) = n; - mttpar(21) = q; - mttpar(22) = q_1; - mttpar(23) = q_2; - mttpar(24) = q_3; - mttpar(25) = q_s; - mttpar(26) = rho; - mttpar(27) = t_0; - mttpar(28) = t_s; - mttpar(29) = v_r; - mttpar(30) = x1; - mttpar(31) = x2; - mttpar(32) = x3; DELETED mttroot/mtt/lib/examples/Chemical/ReactorTQ/ReactorTQ_numpar.txt Index: mttroot/mtt/lib/examples/Chemical/ReactorTQ/ReactorTQ_numpar.txt ================================================================== --- mttroot/mtt/lib/examples/Chemical/ReactorTQ/ReactorTQ_numpar.txt +++ /dev/null @@ -1,79 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# Numerical parameter file (ReactorTQ_numpar.txt) -# Generated by MTT at Fri Mar 3 09:22:56 GMT 2000 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -## Dummies -a = 0; # Dummy -b = 0; # Dummy -c = 0; # Dummy -c_0 = 0; # Dummy -c_a = 0; # Dummy -c_b = 0; # Dummy -c_p = 0; # Dummy -e_1 = 0; # Dummy -e_2 = 0; # Dummy -e_3 = 0; # Dummy -f_s = 0; # Dummy -h = 0; # Dummy -h_1 = 0; # Dummy -h_2 = 0; # Dummy -h_3 = 0; # Dummy -k = 0; # Dummy -k_1 = 0; # Dummy -k_2 = 0; # Dummy -k_3 = 0; # Dummy -n = 0; # Dummy -q = 0; # Dummy -q_1 = 0; # Dummy -q_2 = 0; # Dummy -q_3 = 0; # Dummy -q_s = 0; # Dummy -rho = 0; # Dummy -t_0 = 0; # Dummy -t_s = 0; # Dummy -v_r = 0; # Dummy -x1 = 0; # Dummy -x2 = 0; # Dummy -x3 = 0; # Dummy - -## The bulk liquid -rho = 900; # Density -c_p = 5.0; # Specific heat - -## Substance A -k_1 = 2.5e10; # Reaction rate constant -q_1 = 1e4; # Exotherm constant -h_1 = 1e4; # Heat of reaction - -## Substance B -k_2 = 2.65e12; # Reaction rate constant -q_2 = 1.2e4; # Exotherm constant -h_2 = 1.2e4; # Heat of reaction - -## Substance C -k_3 = 6e7; # Reaction rate constant -q_3 = 8e3; # Exotherm constant -h_3 = 3e4; # Heat of reaction - -## Inflow parameters -c_0 = 10; # Inflow conc -t_0 = 530; # Inflow temp - -## Steady-state values -t_s = 530; # Steady-state temp -f_s = 100; # Steady-state flow - - - - - - - - DELETED mttroot/mtt/lib/examples/Chemical/ReactorTQ/ReactorTQ_pic.fig Index: mttroot/mtt/lib/examples/Chemical/ReactorTQ/ReactorTQ_pic.fig ================================================================== --- mttroot/mtt/lib/examples/Chemical/ReactorTQ/ReactorTQ_pic.fig +++ /dev/null @@ -1,52 +0,0 @@ -#FIG 3.2 -Landscape -Center -Inches -Letter -100.00 -Single --2 -1200 2 -6 2400 3150 3225 3375 -2 1 0 1 -1 -1 0 0 -1 0.000 0 0 -1 1 0 2 - 0 0 1.00 60.00 120.00 - 2625 3300 2925 3300 -4 0 -1 0 0 2 20 0.0000 4 210 210 2400 3375 A\001 -4 0 -1 0 0 2 20 0.0000 4 210 225 3000 3375 D\001 --6 -2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 0 0 3 - 2100 2100 2100 3900 1500 3900 -2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 0 0 2 - 1500 4050 3900 4050 -2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 1 0 2 - 0 0 2.00 120.00 240.00 - 1500 4350 2100 4350 -2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 0 0 3 - 3600 2100 3600 3900 4200 3900 -2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 1 0 2 - 0 0 2.00 120.00 240.00 - 3600 4350 4200 4350 -2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 0 0 2 - 3900 4050 4200 4050 -2 1 1 2 -1 -1 0 0 -1 6.000 0 0 -1 0 0 2 - 2100 2400 3600 2400 -2 1 0 1 -1 -1 0 0 -1 0.000 0 0 -1 1 0 2 - 0 0 1.00 60.00 120.00 - 2400 2925 2700 2925 -2 1 0 1 -1 -1 0 0 -1 0.000 0 0 -1 1 0 2 - 0 0 1.00 60.00 120.00 - 3000 2925 3300 2925 -2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 1 0 2 - 0 0 2.00 120.00 240.00 - 2850 4800 2850 3750 -4 0 -1 0 0 2 20 0.0000 4 210 210 2175 3000 A\001 -4 0 -1 0 0 2 20 0.0000 4 210 195 2775 3000 B\001 -4 0 -1 0 0 2 20 0.0000 4 210 210 3375 3000 C\001 -4 0 -1 0 0 2 20 0.0000 4 210 150 2250 3375 2\001 -4 0 -1 0 0 3 12 0.0000 4 135 90 1875 4950 0\001 -4 0 -1 0 0 3 12 0.0000 4 135 90 2250 4950 0\001 -4 0 -1 0 0 3 20 0.0000 4 210 150 2775 5025 q\001 -4 0 -1 0 0 3 20 0.0000 4 285 765 1500 4800 f , c , t\001 -4 0 -1 0 0 3 20 0.0000 4 285 765 3600 4800 f , c , t\001 -4 0 -1 0 0 3 12 0.0000 4 135 90 3975 4950 b\001 -4 0 -1 0 0 3 12 0.0000 4 90 75 4350 4950 r\001 DELETED mttroot/mtt/lib/examples/Chemical/ReactorTQ/ReactorTQ_rep.txt Index: mttroot/mtt/lib/examples/Chemical/ReactorTQ/ReactorTQ_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Chemical/ReactorTQ/ReactorTQ_rep.txt +++ /dev/null @@ -1,29 +0,0 @@ -## -*-octave-*- Put Emacs into octave-mode -## Outline report file for system ReactorTQ (ReactorTQ_rep.txt) -## Generated by MTT on" Fri Mar 3 12:13:34 GMT 2000. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - -mtt ReactorTQ abg tex # The system description -mtt ReactorTQ cbg ps # The causal bond graph -## Uncomment the following lines or add others -mtt ReactorTQ struc tex # The system structure -## mtt ReactorTQ dae tex # The system dae -mtt ReactorTQ ode tex # The system ode -## mtt ReactorTQ sspar tex # Steady-state parameters -## mtt ReactorTQ ss tex # Steady state -## mtt ReactorTQ dm tex # Descriptor matrices (of linearised system) -mtt ReactorTQ sm tex # State matrices (of linearised system) -## mtt ReactorTQ tf tex # Transfer function (of linearised system) -## mtt ReactorTQ lmfr ps # log modulus of frequency response (of linearised system) -mtt ReactorTQ simpar tex # Simulation parameters -mtt ReactorTQ numpar tex # Numerical simulation parameters -mtt ReactorTQ input tex # Simulation input -mtt ReactorTQ state tex # Simulation initial state - -mtt -c ReactorTQ odeso ps DELETED mttroot/mtt/lib/examples/Chemical/ReactorTQ/ReactorTQ_simp.r Index: mttroot/mtt/lib/examples/Chemical/ReactorTQ/ReactorTQ_simp.r ================================================================== --- mttroot/mtt/lib/examples/Chemical/ReactorTQ/ReactorTQ_simp.r +++ /dev/null @@ -1,21 +0,0 @@ -%% Reduce comands to simplify output (mimo_sim.r) -m_r := rho*v_r; -%mttx1 := c_a*v_r; -%mttx2 := c_b*v_r; - -% THIS MUST BE CHANGED - probs with cp and FMRs -%c_p := 1; - -%let mttx3/c_p = t; - -let e^(q_1/(mttx3/c_p)) = 1/epsilon_1; -let e^(q_2/(mttx3/c_p)) = 1/epsilon_2; -let e^(q_3/(mttx3/c_p)) = 1/epsilon_3; - -let e^(q_1/t_s) = 1/epsilon_1; -let e^(q_2/t_s) = 1/epsilon_2; -let e^(q_3/t_s) = 1/epsilon_3; - -FACTOR mttx1,mttx2; - -END; DELETED mttroot/mtt/lib/examples/Chemical/ReactorTQ/ReactorTQ_simpar.txt Index: mttroot/mtt/lib/examples/Chemical/ReactorTQ/ReactorTQ_simpar.txt ================================================================== --- mttroot/mtt/lib/examples/Chemical/ReactorTQ/ReactorTQ_simpar.txt +++ /dev/null @@ -1,18 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# Simulation parameters for system ReactorTQ (ReactorTQ_simpar.txt) -# Generated by MTT on Fri Mar 3 12:11:48 GMT 2000. -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - - -LAST = 0.05; # Last time in simulation -DT = 0.0002; # Print interval -STEPFACTOR = 1; # Integration steps per print interval -WMIN = -1; # Minimum frequency = 10^WMIN -WMAX = 2; # Maximum frequency = 10^WMAX -WSTEPS = 100; # Number of frequency steps -INPUT = 1; # Index of the input DELETED mttroot/mtt/lib/examples/Chemical/ReactorTQ/ReactorTQ_sm.m Index: mttroot/mtt/lib/examples/Chemical/ReactorTQ/ReactorTQ_sm.m ================================================================== --- mttroot/mtt/lib/examples/Chemical/ReactorTQ/ReactorTQ_sm.m +++ /dev/null @@ -1,99 +0,0 @@ -function [mtta,mttb,mttc,mttd] = ReactorTQ_sm(mttpar); -% [mtta,mttb,mttc,mttd] = ReactorTQ_sm(mttpar); -%System ReactorTQ, representation sm, language m; -%File ReactorTQ_sm.m; -%Generated by MTT on Thu Aug 24 14:47:46 BST 2000; -% -%====== Set up the global variables ======% -global ... -a ... -b ... -c ... -c_0 ... -c_a ... -c_b ... -c_p ... -e_1 ... -e_2 ... -e_3 ... -f_s ... -h ... -h_1 ... -h_2 ... -h_3 ... -k ... -k_1 ... -k_2 ... -k_3 ... -n ... -q ... -q_1 ... -q_2 ... -q_3 ... -q_s ... -rho ... -t_0 ... -t_s ... -v_r ... -x1 ... -x2 ... -x3 ; -a = mttpar(1); -b = mttpar(2); -c = mttpar(3); -c_0 = mttpar(4); -c_a = mttpar(5); -c_b = mttpar(6); -c_p = mttpar(7); -e_1 = mttpar(8); -e_2 = mttpar(9); -e_3 = mttpar(10); -f_s = mttpar(11); -h = mttpar(12); -h_1 = mttpar(13); -h_2 = mttpar(14); -h_3 = mttpar(15); -k = mttpar(16); -k_1 = mttpar(17); -k_2 = mttpar(18); -k_3 = mttpar(19); -n = mttpar(20); -q = mttpar(21); -q_1 = mttpar(22); -q_2 = mttpar(23); -q_3 = mttpar(24); -q_s = mttpar(25); -rho = mttpar(26); -t_0 = mttpar(27); -t_s = mttpar(28); -v_r = mttpar(29); -x1 = mttpar(30); -x2 = mttpar(31); -x3 = mttpar(32); -%a matrix% -mtta = zeros(2,2); -mtt_t1 = exp((2.0*q_1+q_3)/t_s)*f_s^2+4.0*exp((2.0*q_1)/t_s)*c_0*f_s*k_3; -mtt_t1 = -sqrt((mtt_t1+2.0*exp((q_1+q_3)/t_s)*f_s*k_1+exp(q_3/t_s)*k_1^2)/exp(q_3/t_s)); -mtta(1,1) = mtt_t1/abs(exp(q_1/t_s)); -mtta(2,1) = k_1/exp(q_1/t_s); -mtta(2,2) = (-(exp(q_2/t_s)*f_s)-k_2)/exp(q_2/t_s); -%b matrix% -mttb = zeros(2,1); -mtt_t1 = exp((q_1+q_3)/t_s)*abs(exp(q_1/t_s))*f_s+2.0*exp(q_1/t_s)*abs(exp(q_1/t_s))*c_0*k_3; -mtt_t1 = mtt_t1+exp(q_3/t_s)*abs(exp(q_1/t_s))*k_1; -mtt_t3 = exp((q_1+q_3)/t_s); -mtt_t2 = exp((2.0*q_1+q_3)/t_s)*f_s^2+4.0*exp((2.0*q_1)/t_s)*c_0*f_s*k_3; -mtt_t1 = mtt_t1-(mtt_t3*sqrt((mtt_t2+2.0*exp((q_1+q_3)/t_s)*f_s*k_1+exp(q_3/t_s)*k_1^2)/exp(q_3/t_s))); -mttb(1) = mtt_t1/(2.0*exp(q_1/t_s)*abs(exp(q_1/t_s))*k_3); -mtt_t1 = exp((q_1+q_2+q_3)/t_s)*abs(exp(q_1/t_s))*f_s*k_1; -mtt_t3 = exp((q_1+q_2+q_3)/t_s); -mtt_t2 = exp((2.0*q_1+q_3)/t_s)*f_s^2+4.0*exp((2.0*q_1)/t_s)*c_0*f_s*k_3; -mtt_t3 = mtt_t3*sqrt((mtt_t2+2.0*exp((q_1+q_3)/t_s)*f_s*k_1+exp(q_3/t_s)*k_1^2)/exp(q_3/t_s)); -mtt_t1 = mtt_t1+exp((q_2+q_3)/t_s)*abs(exp(q_1/t_s))*k_1^2-(mtt_t3*k_1); -mtt_t2 = 2.0*exp((2.0*q_1+q_2)/t_s)*abs(exp(q_1/t_s))*f_s*k_3; -mttb(2) = mtt_t1/(mtt_t2+2.0*exp((2.0*q_1)/t_s)*abs(exp(q_1/t_s))*k_2*k_3); -%c matrix% -mttc = zeros(1,2); -mttc(1,2) = 1.0; -%d matrix% -mttd = zeros(1,1); DELETED mttroot/mtt/lib/examples/Chemical/ReactorTQ/ReactorTQ_sspar.r Index: mttroot/mtt/lib/examples/Chemical/ReactorTQ/ReactorTQ_sspar.r ================================================================== --- mttroot/mtt/lib/examples/Chemical/ReactorTQ/ReactorTQ_sspar.r +++ /dev/null @@ -1,51 +0,0 @@ -%% Reduce steady-state parameter file (ReactorTQ_sspar.r) -%% as siso_sspar ecxept that inputs/states have different meaning -%% Steady state for constant c_a, c_b and t=t_s and f=f_s - -%% Unit volume ReactorTQ: -v_r := 1; - -%% Do the inputs first -- this avoids problems with reduce not -%% recognising that complicated expressions are zero - -%% The exponentials. -e_1 := e^(-q_1/t_s); -e_2 := e^(-q_2/t_s); -e_3 := e^(-q_3/t_s); - -%Steady-state input q needed to achieve steady-state t_s -q_s := -( - + (t_0-t_s)*f_s - + e_1*h_1*k_1*x1 - + e_2*h_2*k_2*x2 - + e_3*h_3*k_3*x1^2 - ); - -%% The input at steady-state -MTTu1 := f_s; - -%States (masses) -x1 := c_a*v_r; -x2 := c_b*v_r; - -%Load up the vectors -MTTx1 := x1; -MTTx2 := x2; - -MTTy1 := c_b; - -%% Finally, solve for the steady-state concentrations -%% Solve for ca - a quadratic. -a := k_3*e_3; %ca^2 -b := k_1*e_1 + f_s; %ca^1 -c := -c_0*f_s; - -c_a := (-b + sqrt(b^2 - 4*a*c))/(2*a); - -%% solve for c_b -c_b := c_a*k_1*e_1/(f_s+k_2*e_2); - - -END; - - DELETED mttroot/mtt/lib/examples/Chemical/ReactorTQ/ReactorTQ_state.txt Index: mttroot/mtt/lib/examples/Chemical/ReactorTQ/ReactorTQ_state.txt ================================================================== --- mttroot/mtt/lib/examples/Chemical/ReactorTQ/ReactorTQ_state.txt +++ /dev/null @@ -1,50 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# State specification (ReactorTQ_state.txt) -# Generated by MTT at Fri Mar 3 11:52:23 GMT 2000 -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - -## Reduce steady-state parameter file (ReactorTQ_sspar.r) -## as siso_sspar ecxept that states/states have different meaning -## Steady state for constant c_a, c_b and t=t_s and f=f_s - -## Unit volume ReactorTQ: -v_r = 1; - - -## The exponentials. -e_1 = exp(-q_1/t_s); -e_2 = exp(-q_2/t_s); -e_3 = exp(-q_3/t_s); - -## Solve for the steady-state concentrations -## Solve for ca - a quadratic. -a = k_3*e_3; #ca^2 -b = k_1*e_1 + f_s; #ca^1 -c = -c_0*f_s; - -c_a = (-b + sqrt(b^2 - 4*a*c))/(2*a); - -## solve for c_b -c_b = c_a*k_1*e_1/(f_s+k_2*e_2); - - -#States (masses) -x1 = c_a*v_r; -x2 = c_b*v_r; - - -## The two inputs at steady-state -##mttu(1) = f_s; - -## Load up the states -mttx(1) = x1; -mttx(2) = x2; - - - - DELETED mttroot/mtt/lib/examples/Chemical/ReactorTQ/ReactorTQ_sympar.m Index: mttroot/mtt/lib/examples/Chemical/ReactorTQ/ReactorTQ_sympar.m ================================================================== --- mttroot/mtt/lib/examples/Chemical/ReactorTQ/ReactorTQ_sympar.m +++ /dev/null @@ -1,40 +0,0 @@ -function sympar = ReactorTQ_sympar(); -% sympar = ReactorTQ_sympar(); -%System ReactorTQ, representation sympar, language m; -%File ReactorTQ_sympar.m; -%Generated by MTT on Thu Aug 24 14:47:48 BST 2000; -% -global ... -mtt_no_globals ; - sympar.a = 1; # ReactorTQ - sympar.b = 2; # ReactorTQ - sympar.c = 3; # ReactorTQ - sympar.c_0 = 4; # ReactorTQ - sympar.c_A = 5; # ReactorTQ - sympar.c_B = 6; # ReactorTQ - sympar.c_p = 7; # ReactorTQ - sympar.e_1 = 8; # ReactorTQ - sympar.e_2 = 9; # ReactorTQ - sympar.e_3 = 10; # ReactorTQ - sympar.f_s = 11; # ReactorTQ - sympar.h = 12; # Rate - sympar.h_1 = 13; # ReactorTQ - sympar.h_2 = 14; # ReactorTQ - sympar.h_3 = 15; # ReactorTQ - sympar.k = 16; # Rate - sympar.k_1 = 17; # ReactorTQ - sympar.k_2 = 18; # ReactorTQ - sympar.k_3 = 19; # ReactorTQ - sympar.n = 20; # Rate - sympar.q = 21; # Rate - sympar.q_1 = 22; # ReactorTQ - sympar.q_2 = 23; # ReactorTQ - sympar.q_3 = 24; # ReactorTQ - sympar.q_S = 25; # ReactorTQ - sympar.rho = 26; # ReactorTQ - sympar.t_0 = 27; # ReactorTQ - sympar.t_s = 28; # ReactorTQ - sympar.v_r = 29; # ReactorTQ - sympar.x1 = 30; # ReactorTQ - sympar.x2 = 31; # ReactorTQ - sympar.x3 = 32; # ReactorTQ DELETED mttroot/mtt/lib/examples/Components/OnePorts/OnePorts_abg.fig Index: mttroot/mtt/lib/examples/Components/OnePorts/OnePorts_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Components/OnePorts/OnePorts_abg.fig +++ /dev/null @@ -1,43 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 3375 2925 4725 2925 4500 3150 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 4725 2700 4725 3150 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 3375 3600 4725 3600 4500 3825 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 3375 3375 3375 3825 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 3375 4275 4725 4275 4500 4500 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 3375 4950 4725 4950 4500 5175 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 4725 4725 4725 5175 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 3375 5625 4725 5625 4500 5850 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 3375 6300 4725 6300 4500 6525 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 3375 6075 3375 6525 -2 4 0 2 31 7 101 0 -1 0.000 0 0 7 0 0 5 - 5850 6750 2025 6750 2025 2475 5850 2475 5850 6750 -4 1 0 100 0 18 18 0.0000 4 270 690 5265 3015 R:r_1\001 -4 1 0 100 0 18 18 0.0000 4 270 1050 2790 3015 SS:ss_1\001 -4 1 0 100 0 18 18 0.0000 4 270 690 5265 3690 R:r_2\001 -4 1 0 100 0 18 18 0.0000 4 270 1050 2790 3690 SS:ss_2\001 -4 1 0 100 0 18 18 0.0000 4 270 750 5265 4365 C:c_3\001 -4 1 0 100 0 18 18 0.0000 4 270 1050 2790 4365 SS:ss_3\001 -4 1 0 100 0 18 18 0.0000 4 270 750 5265 5040 C:c_4\001 -4 1 0 100 0 18 18 0.0000 4 270 1050 2790 5040 SS:ss_4\001 -4 1 0 100 0 18 18 0.0000 4 270 540 5265 5715 I:i_5\001 -4 1 0 100 0 18 18 0.0000 4 270 1050 2790 5715 SS:ss_5\001 -4 1 0 100 0 18 18 0.0000 4 270 540 5265 6390 I:i_6\001 -4 1 0 100 0 18 18 0.0000 4 270 1050 2790 6390 SS:ss_6\001 DELETED mttroot/mtt/lib/examples/Components/OnePorts/OnePorts_desc.tex Index: mttroot/mtt/lib/examples/Components/OnePorts/OnePorts_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Components/OnePorts/OnePorts_desc.tex +++ /dev/null @@ -1,36 +0,0 @@ -% -*-latex-*- Put EMACS into LaTeX-mode -% Verbal description for system OnePorts (OnePorts_desc.tex) -% Generated by MTT on Fri Apr 19 08:12:54 BST 2002. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 2000/12/28 09:13:38 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{OnePorts} is - displayed in Figure \Ref{fig:OnePorts_abg.ps}; it contains the one - port components: \textbf{R}, \textbf{C} and \textbf{I} in each of - the two possible causalities. - - Note that the \textbf{R} has no prefered causality and, in this - case, a causal stroke must be provided by the user. On the other - hand, the \textbf{C} and \textbf{I} components are assigned - prefered causality by MTT in the 3rd and 5th cases where no stroke - is assigned by ther user. In the 4th and 6th cases, the user - provides a causal stroke to put the components into derivative - causality. \Ref{fig:OnePorts_cbg.ps} shows the causality - automatically completed for the 3rd and 5th cases. - - Section \Ref{sec:OnePorts_ode.tex} gives the system equations, $y_1$ to - $y_6$ are the outputs (with the given causality) of the 6 - components and $u_1$ to $u_6$ are the coresponding inputs. $x_1$ - and $x_2$ are the states of the 3rd and 5th cases (ie integrated - flow and effort respectively), $z_1$ and $z_2$ are the - corresponding quantities for the the 4th and 6th cases, the two - components in derivative causality. - DELETED mttroot/mtt/lib/examples/Components/OnePorts/OnePorts_rep.txt Index: mttroot/mtt/lib/examples/Components/OnePorts/OnePorts_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Components/OnePorts/OnePorts_rep.txt +++ /dev/null @@ -1,35 +0,0 @@ -## -*-octave-*- Put Emacs into octave-mode -## Outline report file for system OnePorts (OnePorts_rep.txt) -## Generated by MTT on" Thu Apr 18 08:49:49 BST 2002. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.1 2000/12/28 11:58:07 peterg -## Put under RCS -## -############################################################### - -mtt OnePorts abg tex # The system description -mtt OnePorts cbg ps # The causal bond graph -mtt OnePorts struc tex # The system structure -mtt OnePorts sympar tex # The system parameters -## Uncomment the following lines or add others -## mtt OnePorts dae tex # The system dae -mtt OnePorts ode tex # The system ode -## mtt OnePorts sspar tex # Steady-state parameters -## mtt OnePorts ss tex # Steady state -## mtt OnePorts dm tex # Descriptor matrices (of linearised system) -## mtt OnePorts sm tex # State matrices (of linearised system) -## mtt OnePorts tf tex # Transfer function (of linearised system) -## mtt OnePorts lmfr ps # log modulus of frequency response (of linearised system) -## mtt OnePorts simpar tex # Simulation parameters -## mtt OnePorts numpar tex # Numerical simulation parameters -## mtt OnePorts state tex # Simulation initial state -## mtt OnePorts input tex # Simulation input -## mtt OnePorts logic tex # Logic control -## mtt OnePorts odeso ps # Simulation output - -## mtt OnePorts rep txt # This file DELETED mttroot/mtt/lib/examples/Components/TwoPorts/TwoPorts_abg.fig Index: mttroot/mtt/lib/examples/Components/TwoPorts/TwoPorts_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Components/TwoPorts/TwoPorts_abg.fig +++ /dev/null @@ -1,47 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2700 2925 4050 2925 3825 3150 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 5175 2925 6525 2925 6300 3150 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 5175 2700 5175 3150 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2700 3825 4050 3825 3825 4050 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 5175 3825 6525 3825 6300 4050 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 4050 3600 4050 4050 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2700 4725 4050 4725 3825 4950 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 5175 4725 6525 4725 6300 4950 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 5175 4500 5175 4950 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2700 5625 4050 5625 3825 5850 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 5175 5625 6525 5625 6300 5850 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 4050 5400 4050 5850 -2 4 0 2 31 7 101 0 -1 0.000 0 0 7 0 0 5 - 8100 6300 1125 6300 1125 2250 8100 2250 8100 6300 -4 1 0 100 0 18 18 0.0000 4 270 900 4635 3015 TF:n_1\001 -4 2 0 100 0 18 18 0.0000 4 270 1200 2520 3015 SS:ss_11\001 -4 0 0 100 0 18 18 0.0000 4 270 1200 6705 3015 SS:ss_12\001 -4 1 0 100 0 18 18 0.0000 4 270 900 4635 3915 TF:n_2\001 -4 2 0 100 0 18 18 0.0000 4 270 1200 2520 3915 SS:ss_21\001 -4 0 0 100 0 18 18 0.0000 4 270 1200 6705 3915 SS:ss_22\001 -4 1 0 100 0 18 18 0.0000 4 270 960 4635 4815 GY:n_3\001 -4 2 0 100 0 18 18 0.0000 4 270 1200 2520 4815 SS:ss_31\001 -4 0 0 100 0 18 18 0.0000 4 270 1200 6705 4815 SS:ss_32\001 -4 1 0 100 0 18 18 0.0000 4 270 960 4635 5715 GY:n_4\001 -4 2 0 100 0 18 18 0.0000 4 270 1200 2520 5715 SS:ss_41\001 -4 0 0 100 0 18 18 0.0000 4 270 1200 6705 5715 SS:ss_42\001 DELETED mttroot/mtt/lib/examples/Components/TwoPorts/TwoPorts_desc.tex Index: mttroot/mtt/lib/examples/Components/TwoPorts/TwoPorts_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Components/TwoPorts/TwoPorts_desc.tex +++ /dev/null @@ -1,23 +0,0 @@ -% -*-latex-*- Put EMACS into LaTeX-mode -% Verbal description for system TwoPorts (TwoPorts_desc.tex) -% Generated by MTT on Fri Apr 19 08:12:54 BST 2002. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 2000/12/28 09:13:38 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{TwoPorts} is - displayed in Figure \Ref{fig:TwoPorts_abg.ps}; it contains the two - port components: \textbf{TF} and \textbf{GY} in each of - the two possible causalities. - - Note that the neither component has prefered causality and, in both - cases, a causal stroke must be provided by the user. - - Section \Ref{sec:TwoPorts_ode.tex} gives the system equations. DELETED mttroot/mtt/lib/examples/Components/TwoPorts/TwoPorts_rep.txt Index: mttroot/mtt/lib/examples/Components/TwoPorts/TwoPorts_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Components/TwoPorts/TwoPorts_rep.txt +++ /dev/null @@ -1,35 +0,0 @@ -## -*-octave-*- Put Emacs into octave-mode -## Outline report file for system TwoPorts (TwoPorts_rep.txt) -## Generated by MTT on" Thu Apr 18 08:45:30 BST 2002. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.1 2000/12/28 11:58:07 peterg -## Put under RCS -## -############################################################### - -mtt TwoPorts abg tex # The system description -mtt TwoPorts cbg ps # The causal bond graph -mtt TwoPorts struc tex # The system structure -mtt TwoPorts sympar tex # The system parameters -## Uncomment the following lines or add others -## mtt TwoPorts dae tex # The system dae - mtt TwoPorts ode tex # The system ode -## mtt TwoPorts sspar tex # Steady-state parameters -## mtt TwoPorts ss tex # Steady state -## mtt TwoPorts dm tex # Descriptor matrices (of linearised system) -## mtt TwoPorts sm tex # State matrices (of linearised system) -## mtt TwoPorts tf tex # Transfer function (of linearised system) -## mtt TwoPorts lmfr ps # log modulus of frequency response (of linearised system) -## mtt TwoPorts simpar tex # Simulation parameters -## mtt TwoPorts numpar tex # Numerical simulation parameters -## mtt TwoPorts state tex # Simulation initial state -## mtt TwoPorts input tex # Simulation input -## mtt TwoPorts logic tex # Logic control -## mtt TwoPorts odeso ps # Simulation output - -## mtt TwoPorts rep txt # This file DELETED mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/INTFX_abg.fig Index: mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/INTFX_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/INTFX_abg.fig +++ /dev/null @@ -1,20 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1801 3151 2701 3151 2476 3376 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3601 3151 4501 3151 4276 3376 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4726 2926 4726 2026 4951 2251 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4951 3151 5851 3151 5626 3376 -2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 6975 4050 6975 1350 450 1350 450 4050 6975 4050 -4 1 -1 0 0 0 20 0.0000 4 195 375 3151 3241 AF\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 4726 3241 0\001 -4 1 -1 0 0 0 20 0.0000 4 195 600 4726 1891 CX:c\001 -4 1 -1 0 0 0 20 0.0000 4 240 810 1306 3241 SS:[in]\001 -4 1 -1 0 0 0 20 0.0000 4 240 960 6346 3241 SS:[out]\001 DELETED mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/INTFX_desc.tex Index: mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/INTFX_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/INTFX_desc.tex +++ /dev/null @@ -1,20 +0,0 @@ -% Verbal description for system INTFX (INTFX_desc.tex) -% Generated by MTT on Fri Aug 15 09:53:16 BST 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1997/08/24 11:20:18 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{INTFX} is - displayed in Figure \Ref{INTFX_abg} and its label - file is listed in Section \Ref{sec:INTFX_lbl}. - The subsystems are listed in Section \Ref{sec:INTFX_sub}. - -\textbf{INTFX} is a two-port component where the effort on port [out] - is the integral of the flow on port [in]. DELETED mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/INTFX_lbl.txt Index: mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/INTFX_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/INTFX_lbl.txt +++ /dev/null @@ -1,24 +0,0 @@ -%SUMMARY INTFX -%DESCRIPTION -%% Label file for system INTFX (INTFX_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type CX - c lin effort,1 - -% Component type SS - [in] SS external,external - [out] SS external,external DELETED mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/Makefile Index: mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/Makefile ================================================================== --- mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/Makefile +++ /dev/null @@ -1,25 +0,0 @@ -# Makefile for the Two link GMV example - -all: msdp_tf.m twolinkp_obs.m twolinkp_sm.m TwoLinkGMV_numpar.m - -msdP_tf.m: msdP_abg.fig - mtt -q msdP tf m - -msdp_tf.m: msdP_tf.m - tr [A-Z] [a-z] msdp_tf.m - -TwoLinkP_obs.m: TwoLinkP_abg.fig TwoLinkP_lbl.txt - mtt -q TwoLinkP obs m - -twolinkp_obs.m: TwoLinkP_obs.m - tr [A-Z] [a-z] twolinkp_obs.m - -TwoLinkP_sm.m: TwoLinkP_abg.fig TwoLinkP_lbl.txt - mtt -q TwoLinkP sm m - -twolinkp_sm.m: TwoLinkP_sm.m - tr [A-Z] [a-z] twolinkp_sm.m - -TwoLinkGMV_numpar.m: TwoLinkGMV_numpar.txt - mtt -q TwoLinkGMV numpar m - DELETED mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/RODaX_abg.fig Index: mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/RODaX_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/RODaX_abg.fig +++ /dev/null @@ -1,124 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4728 4278 5403 4953 5178 4953 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5854 5404 6529 6079 6304 6079 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4728 6078 5403 5403 5403 5628 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5853 4953 6528 4278 6528 4503 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 1 - 4277 3827 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3152 2702 4277 3827 4052 3827 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6977 6527 8102 7652 7877 7652 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3152 7652 4277 6527 4277 6752 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6977 3827 8102 2702 8102 2927 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5852 5177 6527 5177 6392 5312 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2927 2927 2927 4952 3152 4727 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2927 5402 2927 7427 3152 7202 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2701 5176 2026 5176 2161 5311 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2926 1351 2926 2476 3196 2206 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2926 7876 2926 9001 3196 8731 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8328 2928 8328 4953 8553 4728 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8328 5403 8328 7428 8553 7203 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8327 1352 8327 2477 8597 2207 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8327 7877 8327 9002 8597 8732 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5626 1351 5626 4951 5851 4726 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5626 5401 5626 9001 5851 8776 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 1 - 6526 5401 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 6526 4951 6526 5401 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8551 5176 9226 5176 9091 5311 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3826 4951 6526 4051 6436 4231 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3826 4996 3826 5356 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4276 5176 3826 5176 3961 5311 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3826 5401 6301 6301 6121 6301 -2 1 0 1 5 -1 0 0 -1 0.000 0 0 -1 0 0 3 - 3601 5401 4051 6301 3826 6301 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3601 4951 4051 4051 4051 4276 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5536 5176 5086 5176 5221 5311 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 6300 9675 6300 675 4950 675 4950 9675 6300 9675 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 9000 9675 9000 675 7650 675 7650 9675 9000 9675 -2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 11025 10305 11025 225 225 225 225 10305 11025 10305 -2 4 0 1 1 7 0 0 -1 0.000 0 0 7 0 0 5 - 3600 9675 2250 9675 2250 675 3600 675 3600 9675 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 10125 2250 990 2250 990 900 10125 900 10125 2250 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 10125 5850 990 5850 990 4500 10125 4500 10125 5850 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 10125 9450 990 9450 990 8100 10125 8100 10125 9450 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3375 4950 1800 3375 1800 3600 -4 1 -1 0 0 0 20 0.0000 4 195 135 5628 5268 1\001 -4 1 -1 0 0 0 20 0.0000 4 195 270 6933 5268 IX:J\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 2927 5312 1\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 2972 2792 0\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 2927 7742 0\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 8328 5313 1\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 8373 2793 0\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 8328 7743 0\001 -4 1 -1 0 0 0 20 0.0000 4 255 660 9676 5266 I:m_y\001 -4 1 -1 0 0 0 20 0.0000 4 255 660 1531 5221 I:m_x\001 -4 1 -1 0 0 0 20 0.0000 4 195 1110 4636 4141 EMTF:c1\001 -4 1 -1 0 0 0 20 0.0000 4 195 1110 4681 6391 EMTF:c2\001 -4 1 -1 0 0 0 20 0.0000 4 195 1095 7156 4141 EMTF:s1\001 -4 1 -1 0 0 0 20 0.0000 4 195 1095 7156 6391 EMTF:s2\001 -4 1 5 0 0 0 20 0.0000 4 195 135 3603 5313 0\001 -4 1 26 0 0 0 16 0.0000 4 210 345 6751 4456 [in]\001 -4 1 26 0 0 0 16 0.0000 4 210 465 6751 3781 [out]\001 -4 1 26 0 0 0 16 0.0000 4 210 345 6751 6076 [in]\001 -4 1 26 0 0 0 16 0.0000 4 210 465 6751 6706 [out]\001 -4 1 26 0 0 0 16 0.0000 4 210 585 6211 6526 [mod]\001 -4 1 5 0 0 0 20 0.0000 4 195 960 4681 5266 INTFX:th\001 -4 1 1 1 0 0 20 0.0000 4 195 210 2925 10035 X\001 -4 1 1 1 0 32 20 0.0000 4 135 180 5580 9990 a\001 -4 1 1 1 0 0 20 0.0000 4 195 210 8280 9990 Y\001 -4 2 26 0 0 0 16 0.0000 4 210 585 3960 4140 [mod]\001 -4 2 26 0 0 0 16 0.0000 4 210 585 6345 4095 [mod]\001 -4 2 26 0 0 0 16 0.0000 4 210 585 3960 6210 [mod]\001 -4 1 26 0 0 0 16 0.0000 4 210 345 4590 4455 [in]\001 -4 1 26 0 0 0 16 0.0000 4 210 465 4545 3780 [out]\001 -4 1 26 0 0 0 16 0.0000 4 210 465 4590 6660 [out]\001 -4 0 26 0 0 0 16 0.0000 4 210 345 4365 6030 [in]\001 -4 1 4 0 0 0 20 0.0000 4 255 990 2971 1216 SS:[x_a]\001 -4 1 4 0 0 0 20 0.0000 4 255 990 2971 9361 SS:[x_b]\001 -4 1 4 0 0 0 20 0.0000 4 255 990 8372 1217 SS:[y_a]\001 -4 1 4 0 0 0 20 0.0000 4 255 990 8417 9362 SS:[y_b]\001 -4 1 4 0 0 0 20 0.0000 4 255 1485 5671 1216 SS:[alpha_a]\001 -4 1 4 0 0 0 20 0.0000 4 255 1485 5671 9361 SS:[alpha_b]\001 -4 1 1 1 0 0 20 0.0000 4 255 600 1350 2700 Tip a\001 -4 1 1 1 0 0 20 0.0000 4 195 1380 1260 6300 Mass centre\001 -4 1 1 1 0 0 20 0.0000 4 255 600 1350 9855 Tip b\001 -4 1 4 0 0 0 20 0.0000 4 255 1215 1756 3286 SS:[alpha]\001 DELETED mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/RODaX_desc.tex Index: mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/RODaX_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/RODaX_desc.tex +++ /dev/null @@ -1,25 +0,0 @@ -% Verbal description for system RODaX (RODaX_desc.tex) -% Generated by MTT on Fri Aug 15 09:53:23 BST 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1998/04/12 15:25:35 peterg -% %% Initial revision -% %% -% Revision 1.1 1997/08/15 09:41:19 peterg -% Initial revision -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{RODaX} is - displayed in Figure \Ref{RODaX_abg} and its label - file is listed in Section \Ref{sec:RODaX_lbl}. - The subsystems are listed in Section \Ref{sec:RODaX_sub}. - -{\bf RODaX} is essentially as described in Figure 10.2 of -``Metamodelling''. It has an additional port ``[angle]'' to provide -access to the rod angle. - DELETED mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/RODaX_lbl.txt Index: mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/RODaX_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/RODaX_lbl.txt +++ /dev/null @@ -1,55 +0,0 @@ -%SUMMARY RODaX: rigid rod in two dimensions - angle port. -%DESCRIPTION Port [alpha_a]: Angular torque/velocity - end a -%DESCRIPTION Port [alpha_b]: Angular torque/velocity - end b -%DESCRIPTION Port [x_a]: x force/velocity - end a -%DESCRIPTION Port [x_b]: x force/velocity - end b -%DESCRIPTION Port [y_a]: y force/velocity - end a -%DESCRIPTION Port [y_b]: y force/velocity - end b -%DESCRIPTION Port [alpha]: rod angle -%DESCRIPTION -%DESCRIPTION Parameter 1: length from end 1 to mass centre -%DESCRIPTION Parameter 2: length from end 2 to mass centre -%DESCRIPTION Parameter 3: inertia about mass centre -%DESCRIPTION Parameter 4: mass -%DESCRIPTION See Section 10.2 of "Metamodelling" - - -%% Label file for system RODaX (RODaX_lbl.txt) - - - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% % Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% % $Id$ -% % $Log$ -% % Revision 1.1 1998/04/12 15:24:06 peterg -% % Initial revision -% % -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - -%Inertias -J lin flow,$3 -m_x lin flow,$4 -m_y lin flow,$4 - -%Integrate angular velocity to get angle -th - -%Modulated transformers -s1 lsin flow,$1 -s2 lsin flow,$2 -c1 lcos flow,$1 -c2 lcos flow,$2 - - - - DELETED mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkGMV_abg.fig Index: mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkGMV_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkGMV_abg.fig +++ /dev/null @@ -1,94 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7875 8550 9225 8550 9000 8775 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 9225 8325 9225 8775 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7875 9450 9225 9450 9000 9675 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 9225 9225 9225 9675 -2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 11025 10215 2475 10215 2475 7650 11025 7650 11025 10215 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5625 8325 5625 8775 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5625 9225 5625 9675 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 4 - 3825 5625 3825 8550 5625 8550 5400 8775 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 4 - 3375 6525 3375 9450 5625 9450 5400 9675 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7875 5400 9225 5400 9000 5625 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 9225 5175 9225 5625 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7875 6300 9225 6300 9000 6525 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 9225 6075 9225 6525 -2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 11025 7065 2475 7065 2475 4500 11025 4500 11025 7065 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4050 5400 5625 5400 5400 5625 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5625 5175 5625 5625 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3600 6300 5625 6300 5400 6525 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5625 6075 5625 6525 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2025 5400 3600 5400 3375 5625 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3600 5175 3600 5625 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2025 6300 3150 6300 2925 6525 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3150 6075 3150 6525 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7875 2250 9225 2250 9000 2475 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 9225 2025 9225 2475 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7875 3150 9225 3150 9000 3375 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 9225 2925 9225 3375 -2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 11025 3915 2475 3915 2475 1350 11025 1350 11025 3915 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4050 2250 5625 2250 5400 2475 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5625 2025 5625 2475 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4050 3150 5625 3150 5400 3375 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5625 2925 5625 3375 -4 0 -1 0 0 22 20 0.0000 4 270 1935 9315 8640 SS:Theta_1_m\001 -4 0 -1 0 0 22 20 0.0000 4 270 1935 9315 9540 SS:Theta_2_m\001 -4 1 -1 0 0 22 20 0.0000 4 210 2445 6750 9090 TwoLinkPX:model\001 -4 0 4 0 0 22 20 0.0000 4 270 1230 7920 8415 [Theta_1]\001 -4 0 4 0 0 22 20 0.0000 4 270 1230 7920 9315 [Theta_2]\001 -4 2 4 0 0 22 20 0.0000 4 270 1140 5535 8415 [Joint_1]\001 -4 2 4 0 0 22 20 0.0000 4 270 1140 5535 9315 [Joint_2]\001 -4 1 1 1 0 3 26 0.0000 4 270 1005 6750 10080 Model\001 -4 1 -1 0 0 22 20 0.0000 4 270 2415 6750 5940 TwoLinkP:system\001 -4 0 4 0 0 22 20 0.0000 4 270 1230 7920 5265 [Theta_1]\001 -4 0 4 0 0 22 20 0.0000 4 270 1230 7920 6165 [Theta_2]\001 -4 0 -1 0 0 22 20 0.0000 4 270 1530 9315 5490 SS:Theta_1\001 -4 0 -1 0 0 22 20 0.0000 4 270 1530 9315 6390 SS:Theta_2\001 -4 2 4 0 0 22 20 0.0000 4 270 1140 5535 5265 [Joint_1]\001 -4 2 4 0 0 22 20 0.0000 4 270 1140 5535 6165 [Joint_2]\001 -4 1 -1 0 0 22 20 0.0000 4 195 150 3825 5490 0\001 -4 2 -1 0 0 22 20 0.0000 4 270 1275 1935 6390 SS:Tau_2\001 -4 2 -1 0 0 22 20 0.0000 4 270 1275 1980 5490 SS:Tau_1\001 -4 1 -1 0 0 22 20 0.0000 4 195 150 3375 6390 0\001 -4 1 1 1 0 3 26 0.0000 4 360 1110 6705 6885 System\001 -4 0 -1 0 0 22 20 0.0000 4 270 1785 9315 2340 SS:Theta_1_r\001 -4 0 -1 0 0 22 20 0.0000 4 270 1785 9315 3240 SS:Theta_2_r\001 -4 1 1 1 0 3 26 0.0000 4 360 2055 6705 3735 Specification\001 -4 1 -1 0 0 22 20 0.0000 4 270 1860 6795 2340 msdP:spec_1\001 -4 1 -1 0 0 22 20 0.0000 4 270 1860 6795 3195 msdP:spec_2\001 -4 2 -1 0 0 22 20 0.0000 4 270 1260 4005 2340 SS:Ref_1\001 -4 2 -1 0 0 22 20 0.0000 4 270 1260 3960 3240 SS:Ref_2\001 DELETED mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkGMV_args.new Index: mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkGMV_args.new ================================================================== --- mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkGMV_args.new +++ /dev/null @@ -1,1 +0,0 @@ - DELETED mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkGMV_desc.tex Index: mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkGMV_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkGMV_desc.tex +++ /dev/null @@ -1,97 +0,0 @@ -% -*-latex-*- Put EMACS into LaTeX-mode -% Verbal description for system TwoLinkGMV (TwoLinkGMV_desc.tex) -% Generated by MTT on Wed Apr 15 18:15:23 BST 1998. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1998/04/15 18:41:58 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{TwoLinkGMV} is - displayed in Figure \Ref{TwoLinkGMV_abg} and its label - file is listed in Section \Ref{sec:TwoLinkGMV_lbl}. - The subsystems are listed in Section \Ref{sec:TwoLinkGMV_sub}. - -This composite system provides an illustration of nonlinear -generalised minimum variance (GMV) control (continuous-time) operating on a -twolink manipulator. GMV can also be interpreted as: -\begin{itemize} -\item the exact linearisation (by feedback) followed by a - pole-placement design on the resulting linear system and -\item a special case of generalised predictive control (GPC) were the - prediction horizon is zero and the $P(s)$ polynomial is the same as - the system relative degree and -\item One possible instance of physical-model-based control. -\end{itemize} - -The composite system of Figure \Ref{TwoLinkGMV_abg} has three -(visible) parts: -\begin{enumerate} -\item a linear decoupled \emph{specification} system that describes the desired - closed-loop system in terms of a physical system (two decoupled - mass-spring-damper systems), -\item the system itself (a two-link manipulator) representing the - system to be controlled, more details are given in Sections - \Ref{sec:TwoLinkP_ode.tex} and \Ref{sec:TwoLinkP_rfe.tex}. -\item a model of the system with additional state inputs to be used as - a state observer. -\end{enumerate} -The invisible parts are implemented in the text file -``TwoLinkGMV\_input.txt'' (see Section \Ref{sec:TwoLinkGMV_input.txt}). -These parts are: -\begin{itemize} -\item the reference signal (joint angles) - \begin{equation} - w(t) = - \begin{cases} - \begin{pmatrix} - \pi \\ - 0 - \end{pmatrix} & 0 \ge t > 10 \\ - \begin{pmatrix} - 2\pi \\ - 0 - \end{pmatrix} & 10 \ge t > 15 \\ - \begin{pmatrix} - 2\pi \\ - \pi - \end{pmatrix} & 15 \ge t > 30 \\ - \end{cases} - \end{equation} -\item The control signal (joint torques) being the solution of - \begin{equation} - \phi^*(t) = O_o(\hat x(t)) + O_h(\hat x(t)) u(t) = w(t) - \end{equation} -where $\hat x$ is the observed state. -\item The observer feedback signal - \begin{equation} - u_x = K ( y - \hat y) - \end{equation} -where $K$ is the observer gain matrix and $y$ and $\hat y$ are the -system and model outputs respectively. -\end{itemize} -The observer gain is set up on the basis of the \emph{linearised} -system using LQ theory. This is implemented in the text file -``TwoLinkGMV\_state.txt'' (see Section \Ref{sec:TwoLinkGMV_state.txt}) -using the Octave function ``lqe'' together with the MTT-generated -linearised system ``TwoLink\_sm''. - - -The system was simulated using Octave under MTT with the results given -in Figures -\Ref{fig:TwoLinkGMV_odeso.ps-TwoLinkGMV-Theta-1,TwoLinkGMV-Theta-1-r} -and -\Ref{fig:TwoLinkGMV_odeso.ps-TwoLinkGMV-Theta-2,TwoLinkGMV-Theta-2-r} -giving the actual and specification angles for joints 1 and 2 -respectively. - -The initial \emph{system} state was zero except that the angle of the -first rod was $\frac{\pi}{4}$. The initial \emph{observer} state was -(erroneously but deliberately) set at zero. This explains the -(decaying) discrepancy between the actual and specification angles. -Simulations with zero initial state gave precise matching. DELETED mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkGMV_input.txt Index: mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkGMV_input.txt ================================================================== --- mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkGMV_input.txt +++ /dev/null @@ -1,35 +0,0 @@ -# Numerical parameter file (TwoLinkGMV_input.txt) -# Generated by MTT at Mon Apr 13 11:02:37 BST 1998 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -global ObserverGain; - -# Reference signals -u(1) = pi + pi*(t>10) ; # TwoLinkGMV (Ref_1) -u(2) = pi*(t>15) ; # TwoLinkGMV (Ref_2) - -# Control signals -w = u(1:2); # Reference signal -x_model = x(9:12); # Observed states -[O_o, O_h] = TwoLinkP_obs(x_model) #GPC O function (affine case) -[spec_n,spec_d] = msdP_tf; # Spec transfer function -P = spec_d(3:-1:1); # P poly with ascending coeffs -PP = [eye(2)*P(1) eye(2)*P(2) eye(2)*P(3)]; -PO_o = PP*O_o; # Compute Py with u zero -PO_h = PP*O_h; # Coefficient of u -u_control = PO_h\(w - PO_o); # GMV control signal - -u(3:4) = u_control; # TwoLinkGMV (Tau_1) - -# Observer -x_system = x(5:8); # System states -error = x_system-x_model; # Error in states -ObserverInput = ObserverGain*error; -u(5:8) = ObserverInput; # Set the state-input to the observer - DELETED mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkGMV_lbl.txt Index: mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkGMV_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkGMV_lbl.txt +++ /dev/null @@ -1,47 +0,0 @@ -%SUMMARY TwoLinkGMV - GMV control of two-link manipulator -%DESCRIPTION This composite system provides an illustration -%DESCRIPTION of nonlinear generalised minimum variance (GMV) control -%DESCRIPTION (continuous-time) operating on a twolink manipulator. - -%% Label file for system TwoLinkGMV (TwoLinkGMV_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type SS - Ref_1 SS external,internal - Ref_2 SS external,internal - Tau_1 SS external,internal - Tau_2 SS external,internal - - Theta_1 SS external,0 - Theta_2 SS external,0 - - Theta_1_m SS external,0 - Theta_2_m SS external,0 - - Theta_1_r SS external,0 - Theta_2_r SS external,0 - -% Component type msdP - spec_1 - spec_2 - -% Component type TwoLinkP - system - -% Component type TwoLinkPX - model - - DELETED mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkGMV_numpar.txt Index: mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkGMV_numpar.txt ================================================================== --- mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkGMV_numpar.txt +++ /dev/null @@ -1,18 +0,0 @@ -# Numerical parameter file (TwoLinkGMV_numpar.txt) -# Generated by MTT at Mon Apr 13 10:57:02 BST 1998 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Parameters -c_s = 1.0; # msdP -j_s = 1.0; # msdP -r_s = 1.414; # msdP - -j_r = 1.0; # TwoLinkP,TwoLinkPX -l_r = 1.0; # TwoLinkP,TwoLinkPX -m_r = 1.0; # TwoLinkP,TwoLinkPX DELETED mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkGMV_obspar.r Index: mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkGMV_obspar.r ================================================================== --- mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkGMV_obspar.r +++ /dev/null @@ -1,29 +0,0 @@ -%% Reduce GPC observability function parameters for system TwoLinkGMV (TwoLinkGMV_obspar.r) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -MTTGPCNy := 2; -MTTGPCNu := 0; -Matrix MTTdU(5,1); -MTTdU(1,1) := MTTdU1; -MTTdU(2,1) := MTTdU2; -MTTdU(3,1) := MTTdU3; -MTTdU(4,1) := MTTdU4; -MTTdU(5,1) := MTTdU5; -Matrix MTTUU(2,5); -MTTUU(1,1) := MTTu1; -MTTUU(1,2) := MTTu11; -MTTUU(1,3) := MTTu12; -MTTUU(1,4) := MTTu13; -MTTUU(1,5) := MTTu14; -MTTUU(2,1) := MTTu2; -MTTUU(2,2) := MTTu21; -MTTUU(2,3) := MTTu22; -MTTUU(2,4) := MTTu23; -MTTUU(2,5) := MTTu24; -END; DELETED mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkGMV_rep.txt Index: mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkGMV_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkGMV_rep.txt +++ /dev/null @@ -1,28 +0,0 @@ -# Outline report file for system TwoLinkGMV (TwoLinkGMV_rep.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -mtt TwoLinkGMV abg tex -mtt TwoLinkGMV struc tex -mtt TwoLinkGMV sympar tex - -mtt TwoLinkP struc tex -mtt TwoLinkP rfe tex -mtt TwoLinkP ode tex -mtt TwoLinkP obs tex - -mtt TwoLinkP ss tex -mtt TwoLinkP sm tex - -mtt msdP tf tex - -mtt TwoLinkGMV numpar txt -mtt TwoLinkGMV state txt -mtt TwoLinkGMV input txt -mtt TwoLinkGMV odeso ps 'TwoLinkGMV_Theta_1,TwoLinkGMV_Theta_1_r' -mtt TwoLinkGMV odeso ps 'TwoLinkGMV_Theta_2,TwoLinkGMV_Theta_2_r' DELETED mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkGMV_simpar.txt Index: mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkGMV_simpar.txt ================================================================== --- mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkGMV_simpar.txt +++ /dev/null @@ -1,12 +0,0 @@ -%% Simulation parameters for system TwoLinkGMV (TwoLinkGMV_simpar.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -LAST=30.0 -DT=0.2 -STEPFACTOR=1 DELETED mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkGMV_simpar.txt_old Index: mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkGMV_simpar.txt_old ================================================================== --- mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkGMV_simpar.txt_old +++ /dev/null @@ -1,12 +0,0 @@ -%% Simulation parameters for system TwoLinkGMV (TwoLinkGMV_simpar.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -LAST=30.0 -DT=0.2 -STEPFACTOR=1 DELETED mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkGMV_sspar.r Index: mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkGMV_sspar.r ================================================================== --- mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkGMV_sspar.r +++ /dev/null @@ -1,35 +0,0 @@ -% Steady-state parameter file (TwoLinkGMV_sspar.r) -% Generated by MTT at Tue Apr 14 08:47:47 BST 1998 - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% % Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% % $Id$ -% % $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - - -% Steady-state states -MTTX1 := 0; % TwoLinkGMV_spec_1 (c_s) -MTTX2 := 0; % TwoLinkGMV_spec_1 (j_s) -MTTX3 := 0; % TwoLinkGMV_spec_2 (c_s) -MTTX4 := 0; % TwoLinkGMV_spec_2 (j_s) -MTTX5 := 0; % TwoLinkGMV_system_rod1 (J) -MTTX6 := 0; % TwoLinkGMV_system_rod1_th (3) -MTTX7 := 0; % TwoLinkGMV_system_rod2 (J) -MTTX8 := 0; % TwoLinkGMV_system_rod2_th (3) -MTTX9 := 0; % TwoLinkGMV_model_rod1_J (i) -MTTX10 := 0; % TwoLinkGMV_model_rod1_th_c (c) -MTTX11 := 0; % TwoLinkGMV_model_rod2_J (i) -MTTX12 := 0; % TwoLinkGMV_model_rod2_th_c (c) -% Steady-state inputs -MTTU1 := 1; % TwoLinkGMV (Ref_1) -MTTU2 := 1; % TwoLinkGMV (Ref_2) -MTTU3 := 0; % TwoLinkGMV (Tau_1) -MTTU4 := 0; % TwoLinkGMV (Tau_2) -MTTU5 := 0; % TwoLinkGMV_model_rod1_J (X) -MTTU6 := 0; % TwoLinkGMV_model_rod1_th_c (X) -MTTU7 := 0; % TwoLinkGMV_model_rod2_J (X) -MTTU8 := 0; % TwoLinkGMV_model_rod2_th_c (X) -;;END; DELETED mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkGMV_state.txt Index: mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkGMV_state.txt ================================================================== --- mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkGMV_state.txt +++ /dev/null @@ -1,31 +0,0 @@ -# Numerical parameter file (TwoLinkGMV_state.txt) -# Generated by MTT at Tue Apr 14 08:54:28 BST 1998 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -global ObserverGain; - -# Set the states -x(1) = 0 ; # TwoLinkGMV_spec_1 (c_s) -x(2) = 0 ; # TwoLinkGMV_spec_1 (j_s) -x(3) = 0 ; # TwoLinkGMV_spec_2 (c_s) -x(4) = 0 ; # TwoLinkGMV_spec_2 (j_s) -x(5) = 0 ; # TwoLinkGMV_system_rod1 (J) -x(6) = pi/4 ; # TwoLinkGMV_system_rod1_th (3) -x(7) = 0 ; # TwoLinkGMV_system_rod2 (J) -x(8) = 0 ; # TwoLinkGMV_system_rod2_th (3) -x(9) = 0 ; # TwoLinkGMV_model_rod1_J (i) -x(10) = 0 ; # TwoLinkGMV_model_rod1_th_c (c) -x(11) = 0 ; # TwoLinkGMV_model_rod2_J (i) -x(12) = 0 ; # TwoLinkGMV_model_rod2_th_c (c) - -# Observer design -[A,B,C] = TwoLinkP_sm; # Get the linearised system -sigma = 0.1; # Measurement noise variance (pretend) -k = lqe(A,eye(4),C,eye(4),sigma*eye(2)) -ObserverGain = k*C; # This system happens to have a linear output DELETED mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkPX_abg.fig Index: mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkPX_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkPX_abg.fig +++ /dev/null @@ -1,104 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -1 3 0 2 1 7 1 0 -1 0.000 1 0.0000 8550 1125 485 485 8550 1125 8730 1575 -1 3 0 2 1 7 1 0 -1 0.000 1 0.0000 8550 5625 485 485 8550 5625 9035 6110 -2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3468 1128 3738 1128 -2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5720 1130 5990 1130 -2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4593 2703 4863 2703 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4728 1128 4728 2703 4953 2478 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4502 5492 4502 5762 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2927 5627 4502 5627 4277 5852 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4726 5851 4726 7426 4951 7201 -2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3472 8647 3742 8647 -2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4597 8647 4867 8647 -2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5724 8649 5994 8649 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4730 8645 4730 10220 4955 9995 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5855 8645 5855 10220 6080 9995 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3601 3826 3601 7426 3826 7201 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5851 3826 5851 7426 6076 7201 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 6525 8775 6525 7200 2925 7200 2925 8775 6525 8775 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 6525 2025 6525 450 2925 450 2925 2025 6525 2025 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 6525 6435 6525 4860 2925 4860 2925 6435 6525 6435 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 6525 11250 6525 9675 2925 9675 2925 11250 6525 11250 -2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 9450 11475 9450 225 180 225 180 11475 9450 11475 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3603 1128 3603 2703 3828 2478 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5853 1128 5853 2703 6078 2478 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4726 3826 4726 5401 4951 5176 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 6525 4050 2925 4050 2925 2475 6525 2475 6525 4050 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3600 8622 3600 10197 3825 9972 -2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 8775 5175 8775 1575 8325 1575 8325 5175 8775 5175 -2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 8775 9675 8775 6075 8325 6075 8325 9675 8775 9675 -2 2 0 2 1 7 1 0 -1 0.000 0 0 0 0 0 5 - 7650 450 9405 450 9405 675 7650 675 7650 450 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3150 3285 1575 3285 1800 3510 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3195 8055 1620 8055 1845 8280 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1350 3150 1350 2025 1575 2250 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1350 8325 1350 9450 1575 9225 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1350 7875 1350 3600 1575 3825 -4 1 -1 0 0 0 20 0.0000 4 255 810 3603 948 SS:v_x\001 -4 0 -1 0 0 0 20 0.0000 4 195 135 4683 5718 0\001 -4 1 -1 0 0 0 20 0.0000 4 255 840 3608 10673 SS:F_x\001 -4 1 -1 0 0 0 20 0.0000 4 255 840 4733 10673 SS:F_a\001 -4 1 -1 0 0 0 20 0.0000 4 255 840 5903 10673 SS:F_y\001 -4 1 -1 0 0 0 20 0.0000 4 195 1335 4729 3379 RODaX:rod1\001 -4 1 -1 0 0 0 20 0.0000 4 195 1335 4731 8196 RODaX:rod2\001 -4 1 4 0 0 0 20 0.0000 4 255 1410 4771 946 SS:[Joint_1]\001 -4 0 1 1 0 3 20 0.0000 4 210 720 6795 3375 Link 1\001 -4 0 1 1 0 3 20 0.0000 4 225 795 6750 5760 Joint 2\001 -4 0 1 1 0 3 20 0.0000 4 210 720 6750 8190 Link 2\001 -4 0 1 1 0 3 20 0.0000 4 270 375 6750 10485 Tip\001 -4 0 1 1 0 3 20 0.0000 4 225 795 6750 1260 Joint 1\001 -4 1 4 0 0 0 16 0.0000 4 225 900 4725 2970 [alpha_a]\001 -4 1 4 0 0 0 16 0.0000 4 210 510 3600 3780 [x_b]\001 -4 1 4 0 0 0 16 0.0000 4 225 915 4725 3780 [alpha_b]\001 -4 1 4 0 0 0 16 0.0000 4 225 510 5850 3780 [y_b]\001 -4 1 4 0 0 0 16 0.0000 4 225 495 5850 2970 [y_a]\001 -4 1 4 0 0 0 16 0.0000 4 210 495 3605 7835 [x_a]\001 -4 1 4 0 0 0 16 0.0000 4 225 900 4730 7835 [alpha_a]\001 -4 1 4 0 0 0 16 0.0000 4 225 495 5855 7835 [y_a]\001 -4 1 4 0 0 0 16 0.0000 4 210 510 3607 8512 [x_b]\001 -4 1 4 0 0 0 16 0.0000 4 225 915 4733 8513 [alpha_b]\001 -4 1 4 0 0 0 16 0.0000 4 225 510 5859 8514 [y_b]\001 -4 1 -1 0 0 0 20 0.0000 4 255 810 5850 945 SS:v_y\001 -4 2 4 0 0 0 20 0.0000 4 255 1410 2882 5717 SS:[Joint_2]\001 -4 1 4 0 0 0 16 0.0000 4 210 495 3600 2970 [x_a]\001 -4 1 4 0 0 0 16 0.0000 4 225 675 3510 3375 [alpha]\001 -4 1 4 0 0 0 16 0.0000 4 225 675 3555 8145 [alpha]\001 -4 0 -1 0 0 0 20 0.0000 4 195 135 1308 8193 1\001 -4 1 4 0 0 0 20 0.0000 4 255 1530 1397 1892 SS:[Theta_1]\001 -4 1 4 0 0 0 20 0.0000 4 255 1530 1352 9767 SS:[Theta_2]\001 -4 0 -1 0 0 0 20 0.0000 4 195 135 1263 3468 0\001 DELETED mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkPX_desc.tex Index: mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkPX_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkPX_desc.tex +++ /dev/null @@ -1,42 +0,0 @@ -% Verbal description for system TwoLinkPX (TwoLinkPX_desc.tex) -% Generated by MTT on Fri Jun 13 16:30:23 BST 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1998/01/19 14:20:07 peterg -% %% Initial revision -% %% -% Revision 1.1 1997/08/15 13:31:00 peterg -% Initial revision -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{TwoLinkPX} is - displayed in Figure \Ref{TwoLinkPX_abg} and its label - file is listed in Section \Ref{sec:TwoLinkPX_lbl}. - The subsystems are listed in Section \Ref{sec:TwoLinkPX_sub}. - -This is a heirachical version of the example from Section 10.5 of -"Metamodelling". It uses the compound components: {\bf ROD}. {\bf -ROD} is essentially as described in Figure 10.2. -There is no gravity included in this model. - -This system has a number of dynamic elements (those corresponding to translation -motion) in derivative causality, thus the system is represnted as a -Differential-Algebraic Equation (Section -\Ref{sec:TwoLinkPX_dae.tex}). Hovever, this is of contrained-state form and -therfore can be written as a set of constrained-state equations (Section -\Ref{sec:TwoLinkPX_cse.tex}). The corresponding ordinary differential -equation is complicated due to the trig functions involved in -inverting the E matrix. - -As well as the standard representation the ``robot-form'' equations -appear in Section \Ref{sec:TwoLinkPX_rfe}. - -%%% Local Variables: -%%% mode: plain-tex -%%% TeX-master: t -%%% End: DELETED mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkPX_lbl.txt Index: mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkPX_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkPX_lbl.txt +++ /dev/null @@ -1,57 +0,0 @@ -%SUMMARY TwoLinkPX: two-link manipulator from Section 10.5 of "Metamodelling" -%DESCRIPTION This is a heirachical version of the -%DESCRIPTION example from Section 10.5 of "Metamodelling". -%DESCRIPTION It uses two compound components: ROD and GRA -%DESCRIPTION ROD is essentially as described in Figure 10.2 -%DESCRIPTION GRAV represents gravity by a vertical accelleration -%DESCRIPTION as in Section 10.9 of "Metamodelling" - - -%% Label (TwoLinkPX_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.2 1996/12/05 12:39:49 peterg -% %% Documentation -% %% -% %% Revision 1.1 1996/12/05 12:17:15 peterg -% %% Initial revision -% %% -% %% Revision 1.1 1996/11/14 10:48:42 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - -%Rod parameters - uniform rods -rod1 none l_r;l_r;j_r;m_r -rod2 none l_r;l_r;j_r;m_r - -%Zero velocity sources -v_x SS internal,0 -v_y SS internal,0 - - -%Zero force/torque sources -F_x SS 0,internal -F_a SS 0,internal -F_y SS 0,internal - -%Named ports -[Joint_1] SS external,internal -[Joint_2] SS external,internal -[Theta_1] SS external,0 -[Theta_2] SS external,0 - -%Torque/velocity at joints -%f_a1 SS external,external -%f_a2 SS external,external - - DELETED mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkP_abg.fig Index: mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkP_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkP_abg.fig +++ /dev/null @@ -1,104 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -1 3 0 2 1 7 1 0 -1 0.000 1 0.0000 8550 1125 485 485 8550 1125 8730 1575 -1 3 0 2 1 7 1 0 -1 0.000 1 0.0000 8550 5625 485 485 8550 5625 9035 6110 -2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3468 1128 3738 1128 -2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5720 1130 5990 1130 -2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4593 2703 4863 2703 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4728 1128 4728 2703 4953 2478 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4502 5492 4502 5762 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2927 5627 4502 5627 4277 5852 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4726 5851 4726 7426 4951 7201 -2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3472 8647 3742 8647 -2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4597 8647 4867 8647 -2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5724 8649 5994 8649 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4730 8645 4730 10220 4955 9995 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5855 8645 5855 10220 6080 9995 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3601 3826 3601 7426 3826 7201 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5851 3826 5851 7426 6076 7201 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 6525 8775 6525 7200 2925 7200 2925 8775 6525 8775 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 6525 2025 6525 450 2925 450 2925 2025 6525 2025 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 6525 6435 6525 4860 2925 4860 2925 6435 6525 6435 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 6525 11250 6525 9675 2925 9675 2925 11250 6525 11250 -2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 9450 11475 9450 225 180 225 180 11475 9450 11475 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3603 1128 3603 2703 3828 2478 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5853 1128 5853 2703 6078 2478 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4726 3826 4726 5401 4951 5176 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 6525 4050 2925 4050 2925 2475 6525 2475 6525 4050 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3600 8622 3600 10197 3825 9972 -2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 8775 5175 8775 1575 8325 1575 8325 5175 8775 5175 -2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 8775 9675 8775 6075 8325 6075 8325 9675 8775 9675 -2 2 0 2 1 7 1 0 -1 0.000 0 0 0 0 0 5 - 7650 450 9405 450 9405 675 7650 675 7650 450 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3150 3285 1575 3285 1800 3510 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3195 8055 1620 8055 1845 8280 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1350 3150 1350 2025 1575 2250 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1350 8325 1350 9450 1575 9225 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1350 7875 1350 3600 1575 3825 -4 1 -1 0 0 0 20 0.0000 4 255 810 3603 948 SS:v_x\001 -4 0 -1 0 0 0 20 0.0000 4 195 135 4683 5718 0\001 -4 1 -1 0 0 0 20 0.0000 4 255 840 3608 10673 SS:F_x\001 -4 1 -1 0 0 0 20 0.0000 4 255 840 4733 10673 SS:F_a\001 -4 1 -1 0 0 0 20 0.0000 4 255 840 5903 10673 SS:F_y\001 -4 1 -1 0 0 0 20 0.0000 4 195 1335 4729 3379 RODa:rod1\001 -4 1 -1 0 0 0 20 0.0000 4 195 1335 4731 8196 RODa:rod2\001 -4 1 4 0 0 0 20 0.0000 4 255 1410 4771 946 SS:[Joint_1]\001 -4 0 1 1 0 3 20 0.0000 4 210 720 6795 3375 Link 1\001 -4 0 1 1 0 3 20 0.0000 4 225 795 6750 5760 Joint 2\001 -4 0 1 1 0 3 20 0.0000 4 210 720 6750 8190 Link 2\001 -4 0 1 1 0 3 20 0.0000 4 270 375 6750 10485 Tip\001 -4 0 1 1 0 3 20 0.0000 4 225 795 6750 1260 Joint 1\001 -4 1 4 0 0 0 16 0.0000 4 225 900 4725 2970 [alpha_a]\001 -4 1 4 0 0 0 16 0.0000 4 210 510 3600 3780 [x_b]\001 -4 1 4 0 0 0 16 0.0000 4 225 915 4725 3780 [alpha_b]\001 -4 1 4 0 0 0 16 0.0000 4 225 510 5850 3780 [y_b]\001 -4 1 4 0 0 0 16 0.0000 4 225 495 5850 2970 [y_a]\001 -4 1 4 0 0 0 16 0.0000 4 210 495 3605 7835 [x_a]\001 -4 1 4 0 0 0 16 0.0000 4 225 900 4730 7835 [alpha_a]\001 -4 1 4 0 0 0 16 0.0000 4 225 495 5855 7835 [y_a]\001 -4 1 4 0 0 0 16 0.0000 4 210 510 3607 8512 [x_b]\001 -4 1 4 0 0 0 16 0.0000 4 225 915 4733 8513 [alpha_b]\001 -4 1 4 0 0 0 16 0.0000 4 225 510 5859 8514 [y_b]\001 -4 1 -1 0 0 0 20 0.0000 4 255 810 5850 945 SS:v_y\001 -4 2 4 0 0 0 20 0.0000 4 255 1410 2882 5717 SS:[Joint_2]\001 -4 1 4 0 0 0 16 0.0000 4 210 495 3600 2970 [x_a]\001 -4 1 4 0 0 0 16 0.0000 4 225 675 3510 3375 [alpha]\001 -4 1 4 0 0 0 16 0.0000 4 225 675 3555 8145 [alpha]\001 -4 0 -1 0 0 0 20 0.0000 4 195 135 1308 8193 1\001 -4 1 4 0 0 0 20 0.0000 4 255 1530 1397 1892 SS:[Theta_1]\001 -4 1 4 0 0 0 20 0.0000 4 255 1530 1352 9767 SS:[Theta_2]\001 -4 0 -1 0 0 0 20 0.0000 4 195 135 1263 3468 0\001 DELETED mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkP_cr.txt Index: mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkP_cr.txt ================================================================== --- mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkP_cr.txt +++ /dev/null @@ -1,3 +0,0 @@ -lcos -lin -lsin DELETED mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkP_desc.tex Index: mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkP_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkP_desc.tex +++ /dev/null @@ -1,42 +0,0 @@ -% Verbal description for system TwoLinkP (TwoLinkP_desc.tex) -% Generated by MTT on Fri Jun 13 16:30:23 BST 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1998/01/19 14:20:07 peterg -% %% Initial revision -% %% -% Revision 1.1 1997/08/15 13:31:00 peterg -% Initial revision -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{TwoLinkP} is - displayed in Figure \Ref{TwoLinkP_abg} and its label - file is listed in Section \Ref{sec:TwoLinkP_lbl}. - The subsystems are listed in Section \Ref{sec:TwoLinkP_sub}. - -This is a heirachical version of the example from Section 10.5 of -"Metamodelling". It uses the compound components: {\bf ROD}. {\bf -ROD} is essentially as described in Figure 10.2. -There is no gravity included in this model. - -This system has a number of dynamic elements (those corresponding to translation -motion) in derivative causality, thus the system is represnted as a -Differential-Algebraic Equation (Section -\Ref{sec:TwoLinkP_dae.tex}). Hovever, this is of contrained-state form and -therfore can be written as a set of constrained-state equations (Section -\Ref{sec:TwoLinkP_cse.tex}). The corresponding ordinary differential -equation is complicated due to the trig functions involved in -inverting the E matrix. - -As well as the standard representation the ``robot-form'' equations -appear in Section \Ref{sec:TwoLinkP_rfe}. - -%%% Local Variables: -%%% mode: plain-tex -%%% TeX-master: t -%%% End: DELETED mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkP_lbl.txt Index: mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkP_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkP_lbl.txt +++ /dev/null @@ -1,57 +0,0 @@ -%SUMMARY TwoLinkP: two-link manipulator from Section 10.5 of "Metamodelling" -%DESCRIPTION This is a heirachical version of the -%DESCRIPTION example from Section 10.5 of "Metamodelling". -%DESCRIPTION It uses two compound components: ROD and GRA -%DESCRIPTION ROD is essentially as described in Figure 10.2 -%DESCRIPTION GRAV represents gravity by a vertical accelleration -%DESCRIPTION as in Section 10.9 of "Metamodelling" - - -%% Label (TwoLinkP_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.2 1996/12/05 12:39:49 peterg -% %% Documentation -% %% -% %% Revision 1.1 1996/12/05 12:17:15 peterg -% %% Initial revision -% %% -% %% Revision 1.1 1996/11/14 10:48:42 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - -%Rod parameters - uniform rods -rod1 none l_r;l_r;j_r;m_r -rod2 none l_r;l_r;j_r;m_r - -%Zero velocity sources -v_x SS internal,0 -v_y SS internal,0 - - -%Zero force/torque sources -F_x SS 0,internal -F_a SS 0,internal -F_y SS 0,internal - -%Named ports -[Joint_1] SS external,internal -[Joint_2] SS external,internal -[Theta_1] SS external,0 -[Theta_2] SS external,0 - -%Torque/velocity at joints -%f_a1 SS external,external -%f_a2 SS external,external - - DELETED mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkP_obspar.r Index: mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkP_obspar.r ================================================================== --- mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkP_obspar.r +++ /dev/null @@ -1,29 +0,0 @@ -%% Reduce GPC observability function parameters for system TwoLinkP (TwoLinkP_obspar.r) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -MTTGPCNy := 2; -MTTGPCNu := 0; -Matrix MTTdU(5,1); -MTTdU(1,1) := MTTdU1; -MTTdU(2,1) := MTTdU2; -MTTdU(3,1) := MTTdU3; -MTTdU(4,1) := MTTdU4; -MTTdU(5,1) := MTTdU5; -Matrix MTTUU(2,5); -MTTUU(1,1) := MTTu1; -MTTUU(1,2) := MTTu11; -MTTUU(1,3) := MTTu12; -MTTUU(1,4) := MTTu13; -MTTUU(1,5) := MTTu14; -MTTUU(2,1) := MTTu2; -MTTUU(2,2) := MTTu21; -MTTUU(2,3) := MTTu22; -MTTUU(2,4) := MTTu23; -MTTUU(2,5) := MTTu24; -END; DELETED mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkP_subs.r Index: mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkP_subs.r ================================================================== --- mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkP_subs.r +++ /dev/null @@ -1,24 +0,0 @@ -%% Reduce substitution statements for system TwoLinkPX (TwoLinkPX_subs.r) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.2 1998/03/22 20:13:25 peterg -% %% Trig simplification added -% %% -% %% Revision 1.1 1998/03/22 20:12:51 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - trig1 := {cos(~x)*cos(~y) => (cos(x+y)+cos(x-y))/2, - cos(~x)*sin(~y) => (sin(x+y)-sin(x-y))/2, - sin(~x)*sin(~y) => (cos(x-y)-cos(x+y))/2, - cos(~x)^2 => (1+cos(2*x))/2, - sin(~x)^2 => (1-cos(2*x))/2}; - LET trig1; - -END; - DELETED mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/msdP_abg.fig Index: mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/msdP_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/msdP_abg.fig +++ /dev/null @@ -1,27 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3825 4050 4950 4050 4725 4275 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3600 4275 3600 5400 3825 5175 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2250 4050 3375 4050 3150 4275 -2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 8325 6975 8325 1125 1125 1125 1125 6975 8325 6975 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5400 4050 6525 4050 6300 4275 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5175 3825 5175 2700 5400 2925 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3600 3825 3600 2700 3825 2925 -4 1 -1 0 0 0 20 0.0000 4 195 135 3600 4185 1\001 -4 2 4 0 0 0 20 0.0000 4 240 810 2160 4140 SS:[in]\001 -4 1 -1 0 0 0 20 0.0000 4 255 480 3600 5715 I:j_s\001 -4 1 1 1 0 0 20 0.0000 4 255 5355 4815 6345 Mass-spring-damper system (position output)\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 5175 4140 0\001 -4 0 4 0 0 0 20 0.0000 4 240 960 6660 4140 SS:[out]\001 -4 1 -1 0 0 0 20 0.0000 4 255 615 3600 2565 R:r_s\001 -4 1 -1 0 0 0 20 0.0000 4 255 630 5175 2565 C:c_s\001 DELETED mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/msdP_desc.tex Index: mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/msdP_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/msdP_desc.tex +++ /dev/null @@ -1,31 +0,0 @@ -% Verbal description for system msdP (msdP_desc.tex) -% Generated by MTT on Thu Nov 13 09:38:17 GMT 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{msdP} is - displayed in Figure \Ref{msdP_abg} and its label - file is listed in Section \Ref{sec:msdP_lbl}. - The subsystems are listed in Section \Ref{sec:msdP_sub}. - - - \textbf{msdP} is a simple Mass-Spring-Damper system with - force input and position output. It is set up to provide a specification system - for each link of the two-link maipulator. This is appropriate because - \begin{itemize} - \item it has compatible physical behaviour with the system itself, - \item it specifies two decoupled systems, - \item it has linear behaviour and - \item it has a simple performance interpretation in terms of system - rise-time and overshoot. - \end{itemize} - -%%% Local Variables: -%%% mode: latex -%%% TeX-master: t -%%% End: DELETED mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/msdP_lbl.txt Index: mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/msdP_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/msdP_lbl.txt +++ /dev/null @@ -1,30 +0,0 @@ -%SUMMARY msdP -%DESCRIPTION -%% Label file for system msdP (msdP_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type C - c_s lin effort,c_s - -% Component type I - j_s lin flow,j_s - -% Component type R - r_s lin flow,r_s - -% Component type SS - [in] SS external,internal - [out] SS external,0 DELETED mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/INTFX_abg.fig Index: mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/INTFX_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/INTFX_abg.fig +++ /dev/null @@ -1,20 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1801 3151 2701 3151 2476 3376 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3601 3151 4501 3151 4276 3376 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4726 2926 4726 2026 4951 2251 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4951 3151 5851 3151 5626 3376 -2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 6975 4050 6975 1350 450 1350 450 4050 6975 4050 -4 1 -1 0 0 0 20 0.0000 4 195 375 3151 3241 AF\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 4726 3241 0\001 -4 1 -1 0 0 0 20 0.0000 4 195 600 4726 1891 CX:c\001 -4 1 -1 0 0 0 20 0.0000 4 240 810 1306 3241 SS:[in]\001 -4 1 -1 0 0 0 20 0.0000 4 240 960 6346 3241 SS:[out]\001 DELETED mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/INTFX_desc.tex Index: mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/INTFX_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/INTFX_desc.tex +++ /dev/null @@ -1,20 +0,0 @@ -% Verbal description for system INTFX (INTFX_desc.tex) -% Generated by MTT on Fri Aug 15 09:53:16 BST 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1997/08/24 11:20:18 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{INTFX} is - displayed in Figure \Ref{INTFX_abg} and its label - file is listed in Section \Ref{sec:INTFX_lbl}. - The subsystems are listed in Section \Ref{sec:INTFX_sub}. - -\textbf{INTFX} is a two-port component where the effort on port [out] - is the integral of the flow on port [in]. DELETED mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/INTFX_lbl.txt Index: mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/INTFX_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/INTFX_lbl.txt +++ /dev/null @@ -1,24 +0,0 @@ -%SUMMARY INTFX -%DESCRIPTION -%% Label file for system INTFX (INTFX_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type CX - c lin effort,1 - -% Component type SS - [in] SS external,external - [out] SS external,external DELETED mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/RODaX_abg.fig Index: mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/RODaX_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/RODaX_abg.fig +++ /dev/null @@ -1,124 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4728 4278 5403 4953 5178 4953 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5854 5404 6529 6079 6304 6079 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4728 6078 5403 5403 5403 5628 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5853 4953 6528 4278 6528 4503 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 1 - 4277 3827 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3152 2702 4277 3827 4052 3827 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6977 6527 8102 7652 7877 7652 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3152 7652 4277 6527 4277 6752 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6977 3827 8102 2702 8102 2927 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5852 5177 6527 5177 6392 5312 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2927 2927 2927 4952 3152 4727 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2927 5402 2927 7427 3152 7202 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2701 5176 2026 5176 2161 5311 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2926 1351 2926 2476 3196 2206 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2926 7876 2926 9001 3196 8731 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8328 2928 8328 4953 8553 4728 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8328 5403 8328 7428 8553 7203 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8327 1352 8327 2477 8597 2207 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8327 7877 8327 9002 8597 8732 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5626 1351 5626 4951 5851 4726 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5626 5401 5626 9001 5851 8776 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 1 - 6526 5401 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 6526 4951 6526 5401 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8551 5176 9226 5176 9091 5311 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3826 4951 6526 4051 6436 4231 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3826 4996 3826 5356 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4276 5176 3826 5176 3961 5311 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3826 5401 6301 6301 6121 6301 -2 1 0 1 5 -1 0 0 -1 0.000 0 0 -1 0 0 3 - 3601 5401 4051 6301 3826 6301 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3601 4951 4051 4051 4051 4276 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5536 5176 5086 5176 5221 5311 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 6300 9675 6300 675 4950 675 4950 9675 6300 9675 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 9000 9675 9000 675 7650 675 7650 9675 9000 9675 -2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 11025 10305 11025 225 225 225 225 10305 11025 10305 -2 4 0 1 1 7 0 0 -1 0.000 0 0 7 0 0 5 - 3600 9675 2250 9675 2250 675 3600 675 3600 9675 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 10125 2250 990 2250 990 900 10125 900 10125 2250 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 10125 5850 990 5850 990 4500 10125 4500 10125 5850 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 10125 9450 990 9450 990 8100 10125 8100 10125 9450 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3375 4950 1800 3375 1800 3600 -4 1 -1 0 0 0 20 0.0000 4 195 135 5628 5268 1\001 -4 1 -1 0 0 0 20 0.0000 4 195 270 6933 5268 IX:J\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 2927 5312 1\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 2972 2792 0\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 2927 7742 0\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 8328 5313 1\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 8373 2793 0\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 8328 7743 0\001 -4 1 -1 0 0 0 20 0.0000 4 255 660 9676 5266 I:m_y\001 -4 1 -1 0 0 0 20 0.0000 4 255 660 1531 5221 I:m_x\001 -4 1 -1 0 0 0 20 0.0000 4 195 1110 4636 4141 EMTF:c1\001 -4 1 -1 0 0 0 20 0.0000 4 195 1110 4681 6391 EMTF:c2\001 -4 1 -1 0 0 0 20 0.0000 4 195 1095 7156 4141 EMTF:s1\001 -4 1 -1 0 0 0 20 0.0000 4 195 1095 7156 6391 EMTF:s2\001 -4 1 5 0 0 0 20 0.0000 4 195 135 3603 5313 0\001 -4 1 26 0 0 0 16 0.0000 4 210 345 6751 4456 [in]\001 -4 1 26 0 0 0 16 0.0000 4 210 465 6751 3781 [out]\001 -4 1 26 0 0 0 16 0.0000 4 210 345 6751 6076 [in]\001 -4 1 26 0 0 0 16 0.0000 4 210 465 6751 6706 [out]\001 -4 1 26 0 0 0 16 0.0000 4 210 585 6211 6526 [mod]\001 -4 1 5 0 0 0 20 0.0000 4 195 960 4681 5266 INTFX:th\001 -4 1 1 1 0 0 20 0.0000 4 195 210 2925 10035 X\001 -4 1 1 1 0 32 20 0.0000 4 135 180 5580 9990 a\001 -4 1 1 1 0 0 20 0.0000 4 195 210 8280 9990 Y\001 -4 2 26 0 0 0 16 0.0000 4 210 585 3960 4140 [mod]\001 -4 2 26 0 0 0 16 0.0000 4 210 585 6345 4095 [mod]\001 -4 2 26 0 0 0 16 0.0000 4 210 585 3960 6210 [mod]\001 -4 1 26 0 0 0 16 0.0000 4 210 345 4590 4455 [in]\001 -4 1 26 0 0 0 16 0.0000 4 210 465 4545 3780 [out]\001 -4 1 26 0 0 0 16 0.0000 4 210 465 4590 6660 [out]\001 -4 0 26 0 0 0 16 0.0000 4 210 345 4365 6030 [in]\001 -4 1 4 0 0 0 20 0.0000 4 255 990 2971 1216 SS:[x_a]\001 -4 1 4 0 0 0 20 0.0000 4 255 990 2971 9361 SS:[x_b]\001 -4 1 4 0 0 0 20 0.0000 4 255 990 8372 1217 SS:[y_a]\001 -4 1 4 0 0 0 20 0.0000 4 255 990 8417 9362 SS:[y_b]\001 -4 1 4 0 0 0 20 0.0000 4 255 1485 5671 1216 SS:[alpha_a]\001 -4 1 4 0 0 0 20 0.0000 4 255 1485 5671 9361 SS:[alpha_b]\001 -4 1 1 1 0 0 20 0.0000 4 255 600 1350 2700 Tip a\001 -4 1 1 1 0 0 20 0.0000 4 195 1380 1260 6300 Mass centre\001 -4 1 1 1 0 0 20 0.0000 4 255 600 1350 9855 Tip b\001 -4 1 4 0 0 0 20 0.0000 4 255 1215 1756 3286 SS:[alpha]\001 DELETED mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/RODaX_desc.tex Index: mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/RODaX_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/RODaX_desc.tex +++ /dev/null @@ -1,25 +0,0 @@ -% Verbal description for system RODaX (RODaX_desc.tex) -% Generated by MTT on Fri Aug 15 09:53:23 BST 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1998/04/12 15:25:35 peterg -% %% Initial revision -% %% -% Revision 1.1 1997/08/15 09:41:19 peterg -% Initial revision -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{RODaX} is - displayed in Figure \Ref{RODaX_abg} and its label - file is listed in Section \Ref{sec:RODaX_lbl}. - The subsystems are listed in Section \Ref{sec:RODaX_sub}. - -{\bf RODaX} is essentially as described in Figure 10.2 of -``Metamodelling''. It has an additional port ``[angle]'' to provide -access to the rod angle. - DELETED mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/RODaX_lbl.txt Index: mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/RODaX_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/RODaX_lbl.txt +++ /dev/null @@ -1,51 +0,0 @@ -%SUMMARY RODaX: rigid rod in two dimensions - angle port. -%DESCRIPTION Port [alpha_a]: Angular torque/velocity - end a -%DESCRIPTION Port [alpha_b]: Angular torque/velocity - end b -%DESCRIPTION Port [x_a]: x force/velocity - end a -%DESCRIPTION Port [x_b]: x force/velocity - end b -%DESCRIPTION Port [y_a]: y force/velocity - end a -%DESCRIPTION Port [y_b]: y force/velocity - end b -%DESCRIPTION Port [alpha]: rod angle -%DESCRIPTION -%DESCRIPTION Parameter 1: length from end 1 to mass centre -%DESCRIPTION Parameter 2: length from end 2 to mass centre -%DESCRIPTION Parameter 3: inertia about mass centre -%DESCRIPTION Parameter 4: mass -%DESCRIPTION See Section 10.2 of "Metamodelling" - - -%% Label file for system RODaX (RODaX_lbl.txt) - - - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% % Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% % $Id$ -% % $Log$ -% % Revision 1.1 1998/04/12 15:24:06 peterg -% % Initial revision -% % -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - -%Inertias -J lin flow,$3 -m_x lin flow,$4 -m_y lin flow,$4 - -%Integrate angular velocity to get angle -th - -%Modulated transformers -s1 lsin flow,$1 -s2 lsin flow,$2 -c1 lcos flow,$1 -c2 lcos flow,$2 DELETED mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/Sensor_abg.fig Index: mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/Sensor_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/Sensor_abg.fig +++ /dev/null @@ -1,32 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2475 2025 3825 2025 3600 2250 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4500 2025 5850 2025 5625 2250 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6525 3600 7875 3600 7650 3825 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 2475 1800 2475 2295 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 6075 3375 6075 3825 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5850 1800 5850 2295 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2475 3600 3825 3600 3600 3825 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4500 3600 6075 3600 5850 3825 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6300 3330 6300 2205 6525 2430 -4 2 4 0 0 0 20 0.0000 4 240 720 2385 2115 SS:[v]\001 -4 1 -1 0 0 0 20 0.0000 4 195 420 4140 2115 GY\001 -4 1 -1 0 0 0 20 0.0000 4 195 840 6345 2070 AE:tau\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 6300 3690 1\001 -4 2 4 0 0 0 20 0.0000 4 255 720 2475 3690 SS:[p]\001 -4 0 4 0 0 0 20 0.0000 4 240 690 8055 3645 SS:[s]\001 -4 1 -1 0 0 0 20 0.0000 4 195 390 4050 3690 AE\001 -4 2 4 0 0 0 20 0.0000 4 240 405 5760 1755 [in]\001 -4 2 4 0 0 0 20 0.0000 4 240 555 6255 2565 [out]\001 DELETED mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/Sensor_lbl.txt Index: mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/Sensor_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/Sensor_lbl.txt +++ /dev/null @@ -1,25 +0,0 @@ -%SUMMARY Sensor -%DESCRIPTION -%% Label file for system Sensor (Sensor_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type AE - tau lin tau - -% Component type SS - [p] SS external,external - [s] SS external,external - [v] SS external,external DELETED mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkGPC_abg.fig Index: mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkGPC_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkGPC_abg.fig +++ /dev/null @@ -1,94 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7875 8550 9225 8550 9000 8775 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 9225 8325 9225 8775 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7875 9450 9225 9450 9000 9675 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 9225 9225 9225 9675 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5625 8325 5625 8775 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5625 9225 5625 9675 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 4 - 3825 5625 3825 8550 5625 8550 5400 8775 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 4 - 3375 6525 3375 9450 5625 9450 5400 9675 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7875 5400 9225 5400 9000 5625 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 9225 5175 9225 5625 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7875 6300 9225 6300 9000 6525 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 9225 6075 9225 6525 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4050 5400 5625 5400 5400 5625 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5625 5175 5625 5625 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3600 6300 5625 6300 5400 6525 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5625 6075 5625 6525 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2025 5400 3600 5400 3375 5625 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3600 5175 3600 5625 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2025 6300 3150 6300 2925 6525 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3150 6075 3150 6525 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7875 2250 9225 2250 9000 2475 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 9225 2025 9225 2475 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7875 3150 9225 3150 9000 3375 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 9225 2925 9225 3375 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4050 2250 5625 2250 5400 2475 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5625 2025 5625 2475 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4050 3150 5625 3150 5400 3375 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5625 2925 5625 3375 -2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 11475 3915 2475 3915 2475 1350 11475 1350 11475 3915 -2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 11475 7020 2475 7020 2475 4500 11475 4500 11475 7020 -2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 11475 10215 2475 10215 2475 7650 11475 7650 11475 10215 -4 0 -1 0 0 22 20 0.0000 4 270 1935 9315 8640 SS:Theta_1_m\001 -4 0 -1 0 0 22 20 0.0000 4 270 1935 9315 9540 SS:Theta_2_m\001 -4 1 -1 0 0 22 20 0.0000 4 210 2640 6750 9090 TwoLinkPSX:model\001 -4 0 4 0 0 22 20 0.0000 4 270 1230 7920 8415 [Theta_1]\001 -4 0 4 0 0 22 20 0.0000 4 270 1230 7920 9315 [Theta_2]\001 -4 2 4 0 0 22 20 0.0000 4 270 1140 5535 8415 [Joint_1]\001 -4 2 4 0 0 22 20 0.0000 4 270 1140 5535 9315 [Joint_2]\001 -4 1 1 1 0 3 26 0.0000 4 270 1005 6750 10080 Model\001 -4 1 -1 0 0 22 20 0.0000 4 270 2610 6750 5940 TwoLinkPS:system\001 -4 0 4 0 0 22 20 0.0000 4 270 1230 7920 5265 [Theta_1]\001 -4 0 4 0 0 22 20 0.0000 4 270 1230 7920 6165 [Theta_2]\001 -4 0 -1 0 0 22 20 0.0000 4 270 1530 9315 5490 SS:Theta_1\001 -4 0 -1 0 0 22 20 0.0000 4 270 1530 9315 6390 SS:Theta_2\001 -4 2 4 0 0 22 20 0.0000 4 270 1140 5535 5265 [Joint_1]\001 -4 2 4 0 0 22 20 0.0000 4 270 1140 5535 6165 [Joint_2]\001 -4 1 -1 0 0 22 20 0.0000 4 195 150 3825 5490 0\001 -4 2 -1 0 0 22 20 0.0000 4 270 1275 1935 6390 SS:Tau_2\001 -4 2 -1 0 0 22 20 0.0000 4 270 1275 1980 5490 SS:Tau_1\001 -4 1 -1 0 0 22 20 0.0000 4 195 150 3375 6390 0\001 -4 1 1 1 0 3 26 0.0000 4 360 1110 6705 6885 System\001 -4 0 -1 0 0 22 20 0.0000 4 270 1785 9315 2340 SS:Theta_1_r\001 -4 0 -1 0 0 22 20 0.0000 4 270 1785 9315 3240 SS:Theta_2_r\001 -4 1 1 1 0 3 26 0.0000 4 360 2055 6705 3735 Specification\001 -4 1 -1 0 0 22 20 0.0000 4 270 1860 6795 2340 msdP:spec_1\001 -4 1 -1 0 0 22 20 0.0000 4 270 1860 6795 3195 msdP:spec_2\001 -4 2 -1 0 0 22 20 0.0000 4 270 1260 4005 2340 SS:Ref_1\001 -4 2 -1 0 0 22 20 0.0000 4 270 1260 3960 3240 SS:Ref_2\001 DELETED mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkGPC_desc.tex Index: mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkGPC_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkGPC_desc.tex +++ /dev/null @@ -1,111 +0,0 @@ -% -*-latex-*- Put EMACS into LaTeX-mode -% Verbal description for system TwoLinkGPC (TwoLinkGPC_desc.tex) -% Generated by MTT on Wed Apr 15 18:15:23 BST 1998. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1998/04/15 18:41:58 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{TwoLinkGPC} is - displayed in Figure \Ref{TwoLinkGPC_abg} and its label - file is listed in Section \Ref{sec:TwoLinkGPC_lbl}. - The subsystems are listed in Section \Ref{sec:TwoLinkGPC_sub}. - - This example provides an illustration of nonlinear generalised - predictive control (GPC) (continuous-time) operating on a twolink - manipulator with a modified sensor. The sensor is modified in a - rather contrived way to give a nonlinear system with an - \emph{unstable} inverse. The idea is that the sensor approximates a - pure delay of $\tau$ as: - \begin{equation} - e^{-s\tau} \approx 1 - s \tau - \end{equation} - - The example contrasts GPC with GMV, which can also be interpreted - as: -\begin{itemize} -\item the exact linearisation (by feedback) followed by a - pole-placement design on the resulting linear system and -\item a special case of generalised predictive control (GPC) were the - prediction horizon is zero and the $P(s)$ polynomial is the same as - the system relative degree and -\end{itemize} - - -The composite system of Figure \Ref{TwoLinkGPC_abg} has three -(visible) parts: -\begin{enumerate} -\item a linear decoupled \emph{specification} system that describes the desired - closed-loop system in terms of a physical system (two decoupled - mass-spring-damper systems), -\item the system itself (a two-link manipulator) representing the - system to be controlled, more details are given in Sections - \Ref{sec:TwoLinkP_ode.tex} and \Ref{sec:TwoLinkP_rfe.tex}. -\item a model of the system with additional state inputs to be used as - a state observer. -\end{enumerate} -The invisible parts are implemented in the text file -``TwoLinkGPC\_input.txt'' (see Section \Ref{sec:TwoLinkGPC_input.txt}). -These parts are: -\begin{itemize} -\item the reference signal (joint angles) - \begin{equation} - w(t) = - \begin{cases} - \begin{pmatrix} - \pi \\ - 0 - \end{pmatrix} & 0 \ge t > 10 \\ - \begin{pmatrix} - 2\pi \\ - 0 - \end{pmatrix} & 10 \ge t > 15 \\ - \begin{pmatrix} - 2\pi \\ - \pi - \end{pmatrix} & 15 \ge t > 30 \\ - \end{cases} - \end{equation} -\item The control signal (joint torques) being the solution of - \begin{equation} - \phi^*(t) = O_o(\hat x(t)) + O_h(\hat x(t)) u(t) = w(t) - \end{equation} -where $\hat x$ is the observed state. -\item The observer feedback signal - \begin{equation} - u_x = K ( y - \hat y) - \end{equation} -where $K$ is the observer gain matrix and $y$ and $\hat y$ are the -system and model outputs respectively. -\end{itemize} -The observer gain is set up on the basis of the \emph{linearised} -system using LQ theory. This is implemented in the text file -``TwoLinkGPC\_state.txt'' (see Section \Ref{sec:TwoLinkGPC_state.txt}) -using the Octave function ``lqe'' together with the MTT-generated -linearised system ``TwoLink\_sm''. - - -The system was simulated using Octave under MTT with the results given -in Figures -\Ref{fig:TwoLinkGPC_odeso.ps-TwoLinkGPC-Theta-1,TwoLinkGPC-Theta-1-r} -and -\Ref{fig:TwoLinkGPC_odeso.ps-TwoLinkGPC-Theta-2,TwoLinkGPC-Theta-2-r} -giving the actual and specification angles for joints 1 and 2 -respectively. - -The initial \emph{system} state was zero except that the angle of the -first rod was $\frac{\pi}{4}$. The initial \emph{observer} state was -(erroneously but deliberately) set at zero. This explains the -(decaying) discrepancy between the actual and specification angles. -Simulations with zero initial state gave precise matching. - -%%% Local Variables: -%%% mode: latex -%%% TeX-master: t -%%% End: DELETED mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkGPC_input.tex Index: mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkGPC_input.tex ================================================================== --- mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkGPC_input.tex +++ /dev/null @@ -1,48 +0,0 @@ -%% Tex file (TwoLinkGPC_input.txt) -%% Generated by MTT at Wed Apr 29 11:21:32 BST 1998 -\begin{verbatim} -# Numerical parameter file (TwoLinkGPC_input.txt) -# Generated by MTT at Mon Apr 13 11:02:37 BST 1998 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -global ObserverGain; - -if t<10 - tau = 0; -elseif t<20 - tau = 0.1; -else - tau = 0.2; -end - -# Reference signals -Period = 20; -u(1) = -pi*sign(cos(2*pi*t/Period))*(t>5); # TwoLinkGPC (Ref_1) -u(2) = pi*sign(sin(2*pi*t/Period)); # TwoLinkGPC (Ref_2) -w = u(1:2); # Reference signal - -# Control signals -x_model = x(9:12); # Observed states -[O_o, O_h] = TwoLinkPS_obs(x_model) #GPC O function (affine case) -[spec_n,spec_d] = msdP_tf; # Spec transfer function -P = spec_d(3:-1:1); # P poly with ascending coeffs -PP = [eye(2)*P(1) eye(2)*P(2) eye(2)*P(3)]; # Matrix version -PO_o = PP*O_o; # Compute Py with u zero -PO_h = PP*O_h; # Coefficient of u -u_control = PO_h\(w - PO_o); # GMV control signal - -u(3:4) = u_control; # TwoLinkGPC (Tau_1) - -# Observer -x_system = x(5:8); # System states -error = x_system-x_model; # Error in states -ObserverInput = ObserverGain*error; -u(5:8) = ObserverInput; # Set the state-input to the observer - -\end{verbatim} DELETED mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkGPC_input.txt Index: mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkGPC_input.txt ================================================================== --- mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkGPC_input.txt +++ /dev/null @@ -1,42 +0,0 @@ -# Numerical parameter file (TwoLinkGPC_input.txt) -# Generated by MTT at Mon Apr 13 11:02:37 BST 1998 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -global ObserverGain; - -if t<10 - tau = 0; -else - tau = 0.1; -end - -# Reference signals -Period = 20; -u(1) = -pi*sign(cos(2*pi*t/Period))*(t>5); # TwoLinkGPC (Ref_1) -u(2) = pi*sign(sin(2*pi*t/Period)); # TwoLinkGPC (Ref_2) -w = u(1:2); # Reference signal - -# Control signals -x_model = x(9:12); # Observed states -[O_o, O_h] = TwoLinkPS_obs(x_model) #GPC O function (affine case) -[spec_n,spec_d] = msdP_tf; # Spec transfer function -P = spec_d(3:-1:1); # P poly with ascending coeffs -PP = [eye(2)*P(1) eye(2)*P(2) eye(2)*P(3)]; # Matrix version -PO_o = PP*O_o; # Compute Py with u zero -PO_h = PP*O_h; # Coefficient of u -u_control = PO_h\(w - PO_o); # GMV control signal - -u(3:4) = u_control; # TwoLinkGPC (Tau_1) - -# Observer -x_system = x(5:8); # System states -error = x_system-x_model; # Error in states -ObserverInput = ObserverGain*error; -u(5:8) = ObserverInput; # Set the state-input to the observer - DELETED mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkGPC_lbl.txt Index: mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkGPC_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkGPC_lbl.txt +++ /dev/null @@ -1,46 +0,0 @@ -%SUMMARY TwoLinkGPC - GPC control of two-link manipulator with delay -%DESCRIPTION This composite system provides an illustration -%DESCRIPTION of nonlinear GPC (Generalised Predictive Control) control -%DESCRIPTION (continuous-time) operating on a twolink manipulator. - -%% Label file for system TwoLinkGPC (TwoLinkGPC_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1998/04/29 09:01:43 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type SS - Ref_1 SS external,internal - Ref_2 SS external,internal - Tau_1 SS external,internal - Tau_2 SS external,internal - Theta_1 SS external,0 - Theta_2 SS external,0 - Theta_1_m SS external,0 - Theta_2_m SS external,0 - Theta_1_r SS external,0 - Theta_2_r SS external,0 - -% Component type msdP - spec_1 - spec_2 - -% Component type TwoLinkP - system - -% Component type TwoLinkPX - model - DELETED mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkGPC_numpar.txt Index: mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkGPC_numpar.txt ================================================================== --- mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkGPC_numpar.txt +++ /dev/null @@ -1,18 +0,0 @@ -# Numerical parameter file (TwoLinkGPC_numpar.txt) -# Generated by MTT at Mon Apr 13 10:57:02 BST 1998 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Parameters -c_s = 1.0; # msdP -j_s = 1.0; # msdP -r_s = 2.0; # msdP -tau = 0.1; # msdP -l_r = 0.5; # TwoLinkP,TwoLinkPX -m_r = 1.0; # TwoLinkP,TwoLinkPX -j_r = m_r*l_r*l_r/3; # TwoLinkP,TwoLinkPX DELETED mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkGPC_obspar.r Index: mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkGPC_obspar.r ================================================================== --- mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkGPC_obspar.r +++ /dev/null @@ -1,29 +0,0 @@ -%% Reduce GPC observability function parameters for system TwoLinkGPC (TwoLinkGPC_obspar.r) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -MTTGPCNy := 2; -MTTGPCNu := 0; -Matrix MTTdU(5,1); -MTTdU(1,1) := MTTdU1; -MTTdU(2,1) := MTTdU2; -MTTdU(3,1) := MTTdU3; -MTTdU(4,1) := MTTdU4; -MTTdU(5,1) := MTTdU5; -Matrix MTTUU(2,5); -MTTUU(1,1) := MTTu1; -MTTUU(1,2) := MTTu11; -MTTUU(1,3) := MTTu12; -MTTUU(1,4) := MTTu13; -MTTUU(1,5) := MTTu14; -MTTUU(2,1) := MTTu2; -MTTUU(2,2) := MTTu21; -MTTUU(2,3) := MTTu22; -MTTUU(2,4) := MTTu23; -MTTUU(2,5) := MTTu24; -END; DELETED mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkGPC_rep.txt Index: mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkGPC_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkGPC_rep.txt +++ /dev/null @@ -1,32 +0,0 @@ -# Outline report file for system TwoLinkGPC (TwoLinkGPC_rep.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -mtt TwoLinkGPC abg tex -mtt TwoLinkGPC struc tex -mtt TwoLinkGPC sympar tex - -mtt TwoLinkPS struc tex -mtt TwoLinkPS rfe tex -mtt TwoLinkPS ode tex -mtt TwoLinkPS obs tex - -mtt TwoLinkPS ss tex -mtt TwoLinkPS sm tex - -mtt msdP tf tex - -mtt TwoLinkGPC numpar txt -mtt TwoLinkGPC state txt -mtt TwoLinkGPC input txt - -mtt TwoLinkGPC odeso ps 'TwoLinkGPC_Theta_1,TwoLinkGPC_Theta_1_r' -mtt TwoLinkGPC odeso ps 'TwoLinkGPC_Theta_2,TwoLinkGPC_Theta_2_r' - - - DELETED mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkGPC_simpar.txt Index: mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkGPC_simpar.txt ================================================================== --- mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkGPC_simpar.txt +++ /dev/null @@ -1,13 +0,0 @@ -%% Simulation parameters for system TwoLinkGPC (TwoLinkGPC_simpar.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -LAST=30 -DT=0.1 -STEPFACTOR=2 - DELETED mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkGPC_simpar.txt_old Index: mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkGPC_simpar.txt_old ================================================================== --- mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkGPC_simpar.txt_old +++ /dev/null @@ -1,13 +0,0 @@ -%% Simulation parameters for system TwoLinkGPC (TwoLinkGPC_simpar.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -LAST=30 -DT=0.1 -STEPFACTOR=2 - DELETED mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkGPC_state.txt Index: mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkGPC_state.txt ================================================================== --- mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkGPC_state.txt +++ /dev/null @@ -1,31 +0,0 @@ -# Numerical parameter file (TwoLinkGPC_state.txt) -# Generated by MTT at Thu Apr 23 09:10:43 BST 1998 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -global ObserverGain; - -# Set the states -x(1) = 0 ; # TwoLinkGPC_spec_1 (c_s) -x(2) = 0 ; # TwoLinkGPC_spec_1 (j_s) -x(3) = 0 ; # TwoLinkGPC_spec_2 (c_s) -x(4) = 0 ; # TwoLinkGPC_spec_2 (j_s) -x(5) = 0 ; # TwoLinkGPC_system_rod1 (J) -x(6) = 0 ; # TwoLinkGPC_system_rod1_th (3) -x(7) = 0 ; # TwoLinkGPC_system_rod2 (J) -x(8) = 0 ; # TwoLinkGPC_system_rod2_th (3) -x(9) = 0 ; # TwoLinkGPC_model_rod1_J (i) -x(10) = 0 ; # TwoLinkGPC_model_rod1_th_c (c) -x(11) = 0 ; # TwoLinkGPC_model_rod2_J (i) -x(12) = 0 ; # TwoLinkGPC_model_rod2_th_c (c) - -# Observer design -[A,B,C] = TwoLinkPS_sm; # Get the linearised system -sigma = 0.1; # Measurement noise variance (pretend) -k = lqe(A,eye(4),C,eye(4),sigma*eye(2)) -ObserverGain = k*C; # This system happens to have a linear output DELETED mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkPSX_abg.fig Index: mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkPSX_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkPSX_abg.fig +++ /dev/null @@ -1,104 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -1 3 0 2 1 7 1 0 -1 0.000 1 0.0000 8550 1125 485 485 8550 1125 8730 1575 -1 3 0 2 1 7 1 0 -1 0.000 1 0.0000 8550 5625 485 485 8550 5625 9035 6110 -2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3468 1128 3738 1128 -2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5720 1130 5990 1130 -2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4593 2703 4863 2703 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4728 1128 4728 2703 4953 2478 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4502 5492 4502 5762 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2927 5627 4502 5627 4277 5852 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4726 5851 4726 7426 4951 7201 -2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3472 8647 3742 8647 -2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4597 8647 4867 8647 -2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5724 8649 5994 8649 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4730 8645 4730 10220 4955 9995 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5855 8645 5855 10220 6080 9995 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3601 3826 3601 7426 3826 7201 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5851 3826 5851 7426 6076 7201 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 6525 8775 6525 7200 2925 7200 2925 8775 6525 8775 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 6525 2025 6525 450 2925 450 2925 2025 6525 2025 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 6525 6435 6525 4860 2925 4860 2925 6435 6525 6435 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 6525 11250 6525 9675 2925 9675 2925 11250 6525 11250 -2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 9450 11475 9450 225 180 225 180 11475 9450 11475 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3603 1128 3603 2703 3828 2478 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5853 1128 5853 2703 6078 2478 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4726 3826 4726 5401 4951 5176 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 6525 4050 2925 4050 2925 2475 6525 2475 6525 4050 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3600 8622 3600 10197 3825 9972 -2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 8775 5175 8775 1575 8325 1575 8325 5175 8775 5175 -2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 8775 9675 8775 6075 8325 6075 8325 9675 8775 9675 -2 2 0 2 1 7 1 0 -1 0.000 0 0 0 0 0 5 - 7650 450 9405 450 9405 675 7650 675 7650 450 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3150 3285 1575 3285 1800 3510 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3195 8055 1620 8055 1845 8280 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1350 3150 1350 2025 1575 2250 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1350 8325 1350 9450 1575 9225 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1350 7875 1350 3600 1575 3825 -4 1 -1 0 0 0 20 0.0000 4 255 810 3603 948 SS:v_x\001 -4 0 -1 0 0 0 20 0.0000 4 195 135 4683 5718 0\001 -4 1 -1 0 0 0 20 0.0000 4 255 840 3608 10673 SS:F_x\001 -4 1 -1 0 0 0 20 0.0000 4 255 840 4733 10673 SS:F_a\001 -4 1 -1 0 0 0 20 0.0000 4 255 840 5903 10673 SS:F_y\001 -4 1 -1 0 0 0 20 0.0000 4 195 1335 4729 3379 RODaX:rod1\001 -4 1 -1 0 0 0 20 0.0000 4 195 1335 4731 8196 RODaX:rod2\001 -4 1 4 0 0 0 20 0.0000 4 255 1410 4771 946 SS:[Joint_1]\001 -4 0 1 1 0 3 20 0.0000 4 210 720 6795 3375 Link 1\001 -4 0 1 1 0 3 20 0.0000 4 225 795 6750 5760 Joint 2\001 -4 0 1 1 0 3 20 0.0000 4 210 720 6750 8190 Link 2\001 -4 0 1 1 0 3 20 0.0000 4 270 375 6750 10485 Tip\001 -4 0 1 1 0 3 20 0.0000 4 225 795 6750 1260 Joint 1\001 -4 1 4 0 0 0 16 0.0000 4 225 900 4725 2970 [alpha_a]\001 -4 1 4 0 0 0 16 0.0000 4 210 510 3600 3780 [x_b]\001 -4 1 4 0 0 0 16 0.0000 4 225 915 4725 3780 [alpha_b]\001 -4 1 4 0 0 0 16 0.0000 4 225 510 5850 3780 [y_b]\001 -4 1 4 0 0 0 16 0.0000 4 225 495 5850 2970 [y_a]\001 -4 1 4 0 0 0 16 0.0000 4 210 495 3605 7835 [x_a]\001 -4 1 4 0 0 0 16 0.0000 4 225 900 4730 7835 [alpha_a]\001 -4 1 4 0 0 0 16 0.0000 4 225 495 5855 7835 [y_a]\001 -4 1 4 0 0 0 16 0.0000 4 210 510 3607 8512 [x_b]\001 -4 1 4 0 0 0 16 0.0000 4 225 915 4733 8513 [alpha_b]\001 -4 1 4 0 0 0 16 0.0000 4 225 510 5859 8514 [y_b]\001 -4 1 -1 0 0 0 20 0.0000 4 255 810 5850 945 SS:v_y\001 -4 2 4 0 0 0 20 0.0000 4 255 1410 2882 5717 SS:[Joint_2]\001 -4 1 4 0 0 0 16 0.0000 4 210 495 3600 2970 [x_a]\001 -4 1 4 0 0 0 16 0.0000 4 225 675 3510 3375 [alpha]\001 -4 1 4 0 0 0 16 0.0000 4 225 675 3555 8145 [alpha]\001 -4 0 -1 0 0 0 20 0.0000 4 195 135 1308 8193 1\001 -4 1 4 0 0 0 20 0.0000 4 255 1530 1397 1892 SS:[Theta_1]\001 -4 1 4 0 0 0 20 0.0000 4 255 1530 1352 9767 SS:[Theta_2]\001 -4 0 -1 0 0 0 20 0.0000 4 195 135 1263 3468 0\001 DELETED mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkPSX_desc.tex Index: mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkPSX_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkPSX_desc.tex +++ /dev/null @@ -1,42 +0,0 @@ -% Verbal description for system TwoLinkPSX (TwoLinkPSX_desc.tex) -% Generated by MTT on Fri Jun 13 16:30:23 BST 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1998/01/19 14:20:07 peterg -% %% Initial revision -% %% -% Revision 1.1 1997/08/15 13:31:00 peterg -% Initial revision -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{TwoLinkPSX} is - displayed in Figure \Ref{TwoLinkPSX_abg} and its label - file is listed in Section \Ref{sec:TwoLinkPSX_lbl}. - The subsystems are listed in Section \Ref{sec:TwoLinkPSX_sub}. - -This is a heirachical version of the example from Section 10.5 of -"Metamodelling". It uses the compound components: {\bf ROD}. {\bf -ROD} is essentially as described in Figure 10.2. -There is no gravity included in this model. - -This system has a number of dynamic elements (those corresponding to translation -motion) in derivative causality, thus the system is represnted as a -Differential-Algebraic Equation (Section -\Ref{sec:TwoLinkPSX_dae.tex}). Hovever, this is of contrained-state form and -therfore can be written as a set of constrained-state equations (Section -\Ref{sec:TwoLinkPSX_cse.tex}). The corresponding ordinary differential -equation is complicated due to the trig functions involved in -inverting the E matrix. - -As well as the standard representation the ``robot-form'' equations -appear in Section \Ref{sec:TwoLinkPSX_rfe}. - -%%% Local Variables: -%%% mode: plain-tex -%%% TeX-master: t -%%% End: DELETED mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkPSX_lbl.txt Index: mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkPSX_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkPSX_lbl.txt +++ /dev/null @@ -1,57 +0,0 @@ -%SUMMARY TwoLinkPSX: two-link manipulator from Section 10.5 of "Metamodelling" -%DESCRIPTION This is a heirachical version of the -%DESCRIPTION example from Section 10.5 of "Metamodelling". -%DESCRIPTION It uses two compound components: ROD and GRA -%DESCRIPTION ROD is essentially as described in Figure 10.2 -%DESCRIPTION GRAV represents gravity by a vertical accelleration -%DESCRIPTION as in Section 10.9 of "Metamodelling" - - -%% Label (TwoLinkPSX_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.2 1996/12/05 12:39:49 peterg -% %% Documentation -% %% -% %% Revision 1.1 1996/12/05 12:17:15 peterg -% %% Initial revision -% %% -% %% Revision 1.1 1996/11/14 10:48:42 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - -%Rod parameters - uniform rods -rod1 none l_r;l_r;j_r;m_r -rod2 none l_r;l_r;j_r;m_r - -%Zero velocity sources -v_x SS internal,0 -v_y SS internal,0 - - -%Zero force/torque sources -F_x SS 0,internal -F_a SS 0,internal -F_y SS 0,internal - -%Named ports -[Joint_1] SS external,internal -[Joint_2] SS external,internal -[Theta_1] SS external,0 -[Theta_2] SS external,0 - -%Torque/velocity at joints -%f_a1 SS external,external -%f_a2 SS external,external - - DELETED mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkPS_abg.fig Index: mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkPS_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkPS_abg.fig +++ /dev/null @@ -1,126 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -1 3 0 2 1 7 1 0 -1 0.000 1 0.0000 11700 1800 485 485 11700 1800 11880 2250 -1 3 0 2 1 7 1 0 -1 0.000 1 0.0000 11700 6300 485 485 11700 6300 12185 6785 -2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 11745 11925 11745 450 45 450 45 11925 11745 11925 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 5 - 7650 900 4725 900 4725 3375 3375 3375 3600 3600 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4950 8505 4950 4230 5175 4455 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2925 6300 4052 6302 3827 6527 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 4 - 4275 6525 4275 8325 3150 8325 3375 8550 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4500 6300 7652 6300 7427 6525 -2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2 - 6618 1803 6888 1803 -2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2 - 8870 1805 9140 1805 -2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2 - 7743 3378 8013 3378 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7878 1125 7878 3378 8103 3153 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 7652 6167 7652 6437 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7876 6526 7876 8101 8101 7876 -2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2 - 6622 9322 6892 9322 -2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2 - 7747 9322 8017 9322 -2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2 - 8874 9324 9144 9324 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7880 9320 7880 10895 8105 10670 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 9005 9320 9005 10895 9230 10670 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6751 4501 6751 8101 6976 7876 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 9001 4501 9001 8101 9226 7876 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 9675 9450 9675 7875 6075 7875 6075 9450 9675 9450 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 9675 7110 9675 5535 6075 5535 6075 7110 9675 7110 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 9675 11925 9675 10350 6075 10350 6075 11925 9675 11925 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6753 1803 6753 3378 6978 3153 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 9003 1803 9003 3378 9228 3153 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7876 4501 7876 6076 8101 5851 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 9675 4725 6075 4725 6075 3150 9675 3150 9675 4725 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6750 9297 6750 10872 6975 10647 -2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 11925 5850 11925 2250 11475 2250 11475 5850 11925 5850 -2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 11925 10350 11925 6750 11475 6750 11475 10350 11925 10350 -2 2 0 2 1 7 1 0 -1 0.000 0 0 0 0 0 5 - 10800 1125 12555 1125 12555 1350 10800 1350 10800 1125 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 9630 2745 9630 1170 6030 1170 6030 2745 9630 2745 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8910 900 8145 900 8370 1125 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2790 3735 2115 3735 2340 3960 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4725 3960 3330 3960 3555 4185 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6525 3960 5040 3960 5265 4185 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2700 8550 2025 8550 2250 8775 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4500 8775 3150 8775 3375 9000 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7200 8775 4905 8775 5130 9000 -4 0 -1 0 0 0 20 0.0000 4 195 135 4863 4053 0\001 -4 2 4 0 0 0 20 0.0000 4 255 1410 2702 6392 SS:[Joint_2]\001 -4 0 -1 0 0 0 20 0.0000 4 195 135 4188 6393 1\001 -4 1 -1 0 0 0 20 0.0000 4 255 810 6753 1623 SS:v_x\001 -4 0 -1 0 0 0 20 0.0000 4 195 135 7833 6393 0\001 -4 1 -1 0 0 0 20 0.0000 4 255 840 6758 11348 SS:F_x\001 -4 1 -1 0 0 0 20 0.0000 4 255 840 7883 11348 SS:F_a\001 -4 1 -1 0 0 0 20 0.0000 4 255 840 9053 11348 SS:F_y\001 -4 0 1 1 0 3 20 0.0000 4 210 720 9945 4050 Link 1\001 -4 0 1 1 0 3 20 0.0000 4 225 795 9900 6435 Joint 2\001 -4 0 1 1 0 3 20 0.0000 4 210 720 9900 8865 Link 2\001 -4 0 1 1 0 3 20 0.0000 4 270 375 9900 11160 Tip\001 -4 0 1 1 0 3 20 0.0000 4 225 795 9900 1935 Joint 1\001 -4 1 4 0 0 0 16 0.0000 4 225 900 7875 3645 [alpha_a]\001 -4 1 4 0 0 0 16 0.0000 4 210 510 6750 4455 [x_b]\001 -4 1 4 0 0 0 16 0.0000 4 225 915 7875 4455 [alpha_b]\001 -4 1 4 0 0 0 16 0.0000 4 225 510 9000 4455 [y_b]\001 -4 1 4 0 0 0 16 0.0000 4 225 495 9000 3645 [y_a]\001 -4 1 4 0 0 0 16 0.0000 4 210 495 6755 8510 [x_a]\001 -4 1 4 0 0 0 16 0.0000 4 225 900 7880 8510 [alpha_a]\001 -4 1 4 0 0 0 16 0.0000 4 210 510 6757 9187 [x_b]\001 -4 1 4 0 0 0 16 0.0000 4 225 915 7883 9188 [alpha_b]\001 -4 1 -1 0 0 0 20 0.0000 4 255 810 9000 1620 SS:v_y\001 -4 1 4 0 0 0 16 0.0000 4 210 495 6750 3645 [x_a]\001 -4 0 -1 0 0 0 20 0.0000 4 195 135 7788 993 1\001 -4 0 4 0 0 0 20 0.0000 4 255 1410 9046 991 SS:[Joint_1]\001 -4 2 4 0 0 0 20 0.0000 4 255 1530 1892 3827 SS:[Theta_1]\001 -4 1 4 0 0 0 16 0.0000 4 210 240 2700 3555 [s]\001 -4 1 -1 0 0 0 20 1.5708 4 195 780 3154 3731 Sensor\001 -4 1 4 0 0 0 16 0.0000 4 225 270 3420 3825 [p]\001 -4 1 4 0 0 0 16 0.0000 4 210 270 3330 3195 [v]\001 -4 1 -1 0 0 0 20 0.0000 4 195 1335 7879 4009 RODa:rod1\001 -4 1 4 0 0 0 16 0.0000 4 225 675 6885 4005 [alpha]\001 -4 1 4 0 0 0 16 0.0000 4 210 270 3375 8235 [v]\001 -4 1 4 0 0 0 16 0.0000 4 210 240 2655 8460 [s]\001 -4 1 -1 0 0 0 20 1.5708 4 195 780 3064 8546 Sensor\001 -4 2 4 0 0 0 20 0.0000 4 255 1530 1937 8642 SS:[Theta_2]\001 -4 1 4 0 0 0 16 0.0000 4 225 270 3375 8730 [p]\001 -4 1 4 0 0 0 16 0.0000 4 225 495 8780 8510 [y_a]\001 -4 1 4 0 0 0 16 0.0000 4 225 510 8739 9189 [y_b]\001 -4 1 4 0 0 0 16 0.0000 4 225 675 7065 8820 [alpha]\001 -4 1 -1 0 0 0 20 0.0000 4 195 1335 8061 8826 RODa:rod2\001 -4 0 -1 0 0 0 20 0.0000 4 195 135 4593 8823 1\001 DELETED mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkPS_desc.tex Index: mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkPS_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkPS_desc.tex +++ /dev/null @@ -1,42 +0,0 @@ -% Verbal description for system TwoLinkPS (TwoLinkPS_desc.tex) -% Generated by MTT on Fri Jun 13 16:30:23 BST 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1998/01/19 14:20:07 peterg -% %% Initial revision -% %% -% Revision 1.1 1997/08/15 13:31:00 peterg -% Initial revision -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{TwoLinkPS} is - displayed in Figure \Ref{TwoLinkPS_abg} and its label - file is listed in Section \Ref{sec:TwoLinkPS_lbl}. - The subsystems are listed in Section \Ref{sec:TwoLinkPS_sub}. - -This is a heirachical version of the example from Section 10.5 of -"Metamodelling". It uses the compound components: {\bf ROD}. {\bf -ROD} is essentially as described in Figure 10.2. -There is no gravity included in this model. - -This system has a number of dynamic elements (those corresponding to translation -motion) in derivative causality, thus the system is represnted as a -Differential-Algebraic Equation (Section -\Ref{sec:TwoLinkPS_dae.tex}). Hovever, this is of contrained-state form and -therfore can be written as a set of constrained-state equations (Section -\Ref{sec:TwoLinkPS_cse.tex}). The corresponding ordinary differential -equation is complicated due to the trig functions involved in -inverting the E matrix. - -As well as the standard representation the ``robot-form'' equations -appear in Section \Ref{sec:TwoLinkPS_rfe}. - -%%% Local Variables: -%%% mode: plain-tex -%%% TeX-master: t -%%% End: DELETED mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkPS_lbl.txt Index: mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkPS_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkPS_lbl.txt +++ /dev/null @@ -1,57 +0,0 @@ -%SUMMARY TwoLinkPS: two-link manipulator from Section 10.5 of "Metamodelling" -%DESCRIPTION This is a heirachical version of the -%DESCRIPTION example from Section 10.5 of "Metamodelling". -%DESCRIPTION It uses two compound components: ROD and GRA -%DESCRIPTION ROD is essentially as described in Figure 10.2 -%DESCRIPTION GRAV represents gravity by a vertical accelleration -%DESCRIPTION as in Section 10.9 of "Metamodelling" - - -%% Label (TwoLinkPS_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.2 1996/12/05 12:39:49 peterg -% %% Documentation -% %% -% %% Revision 1.1 1996/12/05 12:17:15 peterg -% %% Initial revision -% %% -% %% Revision 1.1 1996/11/14 10:48:42 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - -%Rod parameters - uniform rods -rod1 none l_r;l_r;j_r;m_r -rod2 none l_r;l_r;j_r;m_r - -%Zero velocity sources -v_x SS internal,0 -v_y SS internal,0 - - -%Zero force/torque sources -F_x SS 0,internal -F_a SS 0,internal -F_y SS 0,internal - -%Named ports -[Joint_1] SS external,internal -[Joint_2] SS external,internal -[Theta_1] SS external,0 -[Theta_2] SS external,0 - -%Torque/velocity at joints -%f_a1 SS external,external -%f_a2 SS external,external - - DELETED mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkPS_obspar.r Index: mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkPS_obspar.r ================================================================== --- mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkPS_obspar.r +++ /dev/null @@ -1,29 +0,0 @@ -%% Reduce GPC observability function parameters for system TwoLinkPS (TwoLinkPS_obspar.r) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -MTTGPCNy := 2; -MTTGPCNu := 0; -Matrix MTTdU(5,1); -MTTdU(1,1) := MTTdU1; -MTTdU(2,1) := MTTdU2; -MTTdU(3,1) := MTTdU3; -MTTdU(4,1) := MTTdU4; -MTTdU(5,1) := MTTdU5; -Matrix MTTUU(2,5); -MTTUU(1,1) := MTTu1; -MTTUU(1,2) := MTTu11; -MTTUU(1,3) := MTTu12; -MTTUU(1,4) := MTTu13; -MTTUU(1,5) := MTTu14; -MTTUU(2,1) := MTTu2; -MTTUU(2,2) := MTTu21; -MTTUU(2,3) := MTTu22; -MTTUU(2,4) := MTTu23; -MTTUU(2,5) := MTTu24; -END; DELETED mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkPS_simp.r Index: mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkPS_simp.r ================================================================== --- mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkPS_simp.r +++ /dev/null @@ -1,19 +0,0 @@ -%% Reduce commands to simplify output for system TwoLinkP (TwoLinkP_simp.r) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -LET cos(mttx2) = c_2; -LET sin(mttx2) = s_2; - -LET cos(mttx4) = c_4; -LET sin(mttx4) = s_4; - -LET cos(mttx2-mttx4) = c; -LET sin(mttx2-mttx4) = s; - -END; DELETED mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkPS_subs.r Index: mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkPS_subs.r ================================================================== --- mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkPS_subs.r +++ /dev/null @@ -1,24 +0,0 @@ -%% Reduce substitution statements for system TwoLinkPSX (TwoLinkPSX_subs.r) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.2 1998/03/22 20:13:25 peterg -% %% Trig simplification added -% %% -% %% Revision 1.1 1998/03/22 20:12:51 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - trig1 := {cos(~x)*cos(~y) => (cos(x+y)+cos(x-y))/2, - cos(~x)*sin(~y) => (sin(x+y)-sin(x-y))/2, - sin(~x)*sin(~y) => (cos(x-y)-cos(x+y))/2, - cos(~x)^2 => (1+cos(2*x))/2, - sin(~x)^2 => (1-cos(2*x))/2}; - LET trig1; - -END; - DELETED mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/msdPS_abg.fig Index: mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/msdPS_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/msdPS_abg.fig +++ /dev/null @@ -1,33 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3825 4050 4950 4050 4725 4275 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3600 4275 3600 5400 3825 5175 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2250 4050 3375 4050 3150 4275 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5400 4050 6525 4050 6300 4275 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5175 3825 5175 2700 5400 2925 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3600 3825 3600 2700 3825 2925 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6975 4050 8100 4050 7875 4275 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 9000 4050 10125 4050 9900 4275 -2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 11475 6975 11475 1125 1125 1125 1125 6975 11475 6975 -4 1 -1 0 0 0 20 0.0000 4 195 135 3600 4185 1\001 -4 2 4 0 0 0 20 0.0000 4 240 810 2160 4140 SS:[in]\001 -4 1 -1 0 0 0 20 0.0000 4 255 480 3600 5715 I:j_s\001 -4 1 1 1 0 0 20 0.0000 4 255 7035 4815 6345 Mass-spring-damper system (position output with extra lag)\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 5175 4140 0\001 -4 1 -1 0 0 0 20 0.0000 4 255 615 3600 2565 R:r_s\001 -4 1 -1 0 0 0 20 0.0000 4 255 630 5175 2565 C:c_s\001 -4 1 -1 0 0 0 20 0.0000 4 195 390 6750 4140 AE\001 -4 1 -1 0 0 0 20 0.0000 4 195 690 8550 4140 RC:rc\001 -4 0 4 0 0 0 20 0.0000 4 240 960 10260 4140 SS:[out]\001 DELETED mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/msdPS_abg.fig.bak Index: mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/msdPS_abg.fig.bak ================================================================== --- mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/msdPS_abg.fig.bak +++ /dev/null @@ -1,27 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3825 4050 4950 4050 4725 4275 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3600 4275 3600 5400 3825 5175 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2250 4050 3375 4050 3150 4275 -2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 8325 6975 8325 1125 1125 1125 1125 6975 8325 6975 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5400 4050 6525 4050 6300 4275 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5175 3825 5175 2700 5400 2925 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3600 3825 3600 2700 3825 2925 -4 1 -1 0 0 0 20 0.0000 4 195 135 3600 4185 1\001 -4 2 4 0 0 0 20 0.0000 4 240 810 2160 4140 SS:[in]\001 -4 1 -1 0 0 0 20 0.0000 4 255 480 3600 5715 I:j_s\001 -4 1 1 1 0 0 20 0.0000 4 255 5355 4815 6345 Mass-spring-damper system (position output)\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 5175 4140 0\001 -4 0 4 0 0 0 20 0.0000 4 240 960 6660 4140 SS:[out]\001 -4 1 -1 0 0 0 20 0.0000 4 255 615 3600 2565 R:r_s\001 -4 1 -1 0 0 0 20 0.0000 4 255 630 5175 2565 C:c_s\001 DELETED mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/msdPS_desc.tex Index: mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/msdPS_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/msdPS_desc.tex +++ /dev/null @@ -1,31 +0,0 @@ -% Verbal description for system msdPS (msdPS_desc.tex) -% Generated by MTT on Thu Nov 13 09:38:17 GMT 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{msdPS} is - displayed in Figure \Ref{msdPS_abg} and its label - file is listed in Section \Ref{sec:msdPS_lbl}. - The subsystems are listed in Section \Ref{sec:msdPS_sub}. - - - \textbf{msdPS} is a simple Mass-Spring-Damper system with - force input and position output. It is set up to provide a specification system - for each link of the two-link maipulator. This is appropriate because - \begin{itemize} - \item it has compatible physical behaviour with the system itself, - \item it specifies two decoupled systems, - \item it has linear behaviour and - \item it has a simple performance interpretation in terms of system - rise-time and overshoot. - \end{itemize} - -%%% Local Variables: -%%% mode: latex -%%% TeX-master: t -%%% End: DELETED mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/msdPS_lbl.txt Index: mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/msdPS_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/msdPS_lbl.txt +++ /dev/null @@ -1,33 +0,0 @@ -%SUMMARY msdPS -%DESCRIPTION -%% Label file for system msdPS (msdPS_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type C - c_s lin effort,c_s - -% Component type I - j_s lin flow,j_s - -% Component type R - r_s lin flow,r_s - -% Component type RC - rc none tau;1 - -% Component type SS - [in] SS external,internal - [out] SS external,0 DELETED mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/msdP_abg.fig Index: mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/msdP_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/msdP_abg.fig +++ /dev/null @@ -1,27 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3825 4050 4950 4050 4725 4275 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3600 4275 3600 5400 3825 5175 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2250 4050 3375 4050 3150 4275 -2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 8325 6975 8325 1125 1125 1125 1125 6975 8325 6975 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5400 4050 6525 4050 6300 4275 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5175 3825 5175 2700 5400 2925 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3600 3825 3600 2700 3825 2925 -4 1 -1 0 0 0 20 0.0000 4 195 135 3600 4185 1\001 -4 2 4 0 0 0 20 0.0000 4 240 810 2160 4140 SS:[in]\001 -4 1 -1 0 0 0 20 0.0000 4 255 480 3600 5715 I:j_s\001 -4 1 1 1 0 0 20 0.0000 4 255 5355 4815 6345 Mass-spring-damper system (position output)\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 5175 4140 0\001 -4 0 4 0 0 0 20 0.0000 4 240 960 6660 4140 SS:[out]\001 -4 1 -1 0 0 0 20 0.0000 4 255 615 3600 2565 R:r_s\001 -4 1 -1 0 0 0 20 0.0000 4 255 630 5175 2565 C:c_s\001 DELETED mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/msdP_desc.tex Index: mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/msdP_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/msdP_desc.tex +++ /dev/null @@ -1,31 +0,0 @@ -% Verbal description for system msdP (msdP_desc.tex) -% Generated by MTT on Thu Nov 13 09:38:17 GMT 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{msdP} is - displayed in Figure \Ref{msdP_abg} and its label - file is listed in Section \Ref{sec:msdP_lbl}. - The subsystems are listed in Section \Ref{sec:msdP_sub}. - - - \textbf{msdP} is a simple Mass-Spring-Damper system with - force input and position output. It is set up to provide a specification system - for each link of the two-link maipulator. This is appropriate because - \begin{itemize} - \item it has compatible physical behaviour with the system itself, - \item it specifies two decoupled systems, - \item it has linear behaviour and - \item it has a simple performance interpretation in terms of system - rise-time and overshoot. - \end{itemize} - -%%% Local Variables: -%%% mode: latex -%%% TeX-master: t -%%% End: DELETED mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/msdP_lbl.txt Index: mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/msdP_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/msdP_lbl.txt +++ /dev/null @@ -1,30 +0,0 @@ -%SUMMARY msdP -%DESCRIPTION -%% Label file for system msdP (msdP_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type C - c_s lin effort,c_s - -% Component type I - j_s lin flow,j_s - -% Component type R - r_s lin flow,r_s - -% Component type SS - [in] SS external,internal - [out] SS external,0 DELETED mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/Fixed_abg.fig Index: mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/Fixed_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/Fixed_abg.fig +++ /dev/null @@ -1,21 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4275 1800 5400 1800 5175 2025 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4230 2700 5355 2700 5130 2925 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 5400 1575 5400 2025 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 5400 2475 5400 2925 -4 0 0 100 0 18 20 0.0000 4 225 810 5625 1890 SS:z1\001 -4 0 0 100 0 18 20 0.0000 4 240 810 5625 2790 SS:z2\001 -4 2 4 100 0 18 20 0.0000 4 285 1305 4140 1890 SS:[y_in]\001 -4 2 4 100 0 18 20 0.0000 4 285 1860 4140 2790 SS:[theta_in]\001 DELETED mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/Fixed_lbl.txt Index: mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/Fixed_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/Fixed_lbl.txt +++ /dev/null @@ -1,30 +0,0 @@ -%% Label file for system Fixed (Fixed_lbl.txt) -%SUMMARY Fixed -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS in y_in,theta_in - -% Argument aliases - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type SS - [theta_in] SS external,external - [y_in] SS external,external - z1 SS internal,0 - z2 SS internal,0 - DELETED mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/Free_abg.fig Index: mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/Free_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/Free_abg.fig +++ /dev/null @@ -1,21 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4275 1800 5400 1800 5175 2025 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4230 2700 5355 2700 5130 2925 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 5400 1575 5400 2025 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 5400 2475 5400 2925 -4 2 0 100 0 18 20 0.0000 4 225 810 4140 1890 SS:z1\001 -4 2 0 100 0 18 20 0.0000 4 240 810 4140 2790 SS:z2\001 -4 0 4 100 0 18 20 0.0000 4 285 1500 5490 1890 SS:[y_out]\001 -4 0 4 100 0 18 20 0.0000 4 285 2055 5445 2790 SS:[theta_out]\001 DELETED mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/Free_lbl.txt Index: mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/Free_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/Free_lbl.txt +++ /dev/null @@ -1,32 +0,0 @@ -%% Label file for system Free (Free_lbl.txt) -%SUMMARY Free -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS out y_out,theta_out - -% Argument aliases - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type SS - [theta_out] SS external,external - [y_out] SS external,external - z1 SS 0,internal - z2 SS 0,internal - - - DELETED mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/Make_figures.m Index: mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/Make_figures.m ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/Make_figures.m +++ /dev/null @@ -1,4 +0,0 @@ -#!/bin/sh -## Script file Make_figures. - -ppp_1("PPPCantileverBeam",1:2,[1 2;1 3]); # 2 inputs; modes 1 2 and 1 and 3 DELETED mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/PPPCantileverBeam_abg.fig Index: mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/PPPCantileverBeam_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/PPPCantileverBeam_abg.fig +++ /dev/null @@ -1,40 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 1125 2700 2250 2700 2025 2925 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 8775 2700 9900 2700 9675 2925 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2700 2700 3825 2700 3600 2925 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4230 2700 5355 2700 5130 2925 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4095 6300 4095 4500 4320 4725 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 3870 4500 4320 4500 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 5850 2700 6975 2700 6750 2925 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 7380 2700 8505 2700 8280 2925 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 7245 6300 7245 4500 7470 4725 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 7020 4500 7470 4500 -4 1 0 100 0 18 20 1.5708 4 225 630 1035 2700 Free\001 -4 1 0 100 0 18 20 1.5708 4 225 780 10260 2700 Fixed\001 -4 1 0 100 0 18 20 1.5708 4 285 3690 8775 2700 BernoulliEuler:Chunk_3*3\001 -4 1 0 100 0 18 20 1.5708 4 285 3690 2610 2700 BernoulliEuler:Chunk_1*3\001 -4 1 0 100 0 18 20 1.5708 4 300 3480 4140 2700 pBernoulliEuler:Patch_1\001 -4 1 4 100 0 18 16 0.0000 4 240 900 4095 4455 [torque]\001 -4 1 0 100 0 18 20 0.0000 4 285 1275 4050 6660 SS:tau_1\001 -4 1 0 100 0 18 20 1.5708 4 285 3690 5760 2700 BernoulliEuler:Chunk_2*8\001 -4 1 0 100 0 18 20 1.5708 4 300 3480 7290 2700 pBernoulliEuler:Patch_2\001 -4 1 4 100 0 18 16 0.0000 4 240 900 7245 4455 [torque]\001 -4 1 0 100 0 18 20 0.0000 4 285 1275 7200 6660 SS:tau_2\001 DELETED mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/PPPCantileverBeam_desc.tex Index: mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/PPPCantileverBeam_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/PPPCantileverBeam_desc.tex +++ /dev/null @@ -1,64 +0,0 @@ -% -*-latex-*- Put EMACS into LaTeX-mode -% Verbal description for system PPPCantileverBeam (PPPCantileverBeam_desc.tex) -% Generated by MTT on Mon Apr 19 07:04:54 BST 1999. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1999/05/18 04:01:50 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -The acausal bond graph of system \textbf{PPPCantileverBeam} is displayed in -Figure \Ref{fig:PPPCantileverBeam_abg.ps} and its label file is listed in -Section \Ref{sec:PPPCantileverBeam_lbl}. The subsystems are listed in Section -\Ref{sec:PPPCantileverBeam_sub}. - -This example represents the dynamics of a uniform beam with one fixed -and one free end. The beam is approximated by 16 equal lumps using -the Bernoulli-Euler approximation with damping. The ouputs are taken -to be the 16 lump velocities, the two inputs are taken to be torques -applied to lumps 3 away from each end; this approximates the effect of -two piezoelectric patches. - -The system parameters are given in Section -\Ref{sec:PPPCantileverBeam_numpar.tex}. -The system has 32 states (16 modes of vibration), 2 inputs and 12 -outputs. -The first 8 modal frequencies are given in Table \ref{tab:modes}. -\begin{table}[htbp] - \begin{center} - \begin{tabular}{||c|c||c|c||} - \hline - Mode & $\omega_i$ & Mode & $\omega_i$\\ - \hline - \hline - 1 & 0.0079504 & 5 & 0.4352376\\ - 2 & 0.0498140 & 6 & 0.6338899\\ - 3 & 0.1386209 & 7 & 0.8573604\\ - 4 & 0.2682835 & 8 & 1.0976942\\ - \hline - \end{tabular} - \caption{Modal frequencies} - \label{tab:modes} - \end{center} -\end{table} - -Figure \Ref{fig:PPPCantileverBeam_lmfr.ps} shows the log modulus of the frequency -response and Figure \Ref{fig:PPPCantileverBeam_pppy0.ps} shows the system transient -reponse with no control and an initial unit twist. - -Figure \Ref{fig:PPPCantileverBeam_pppy.ps} shows closed loop reponse when -controlled by a PPP controller attempting to damp modes 1 and 2 from -input 1 and modes 1 and three from input 2. Figure -\Ref{fig:PPPCantileverBeam_pppy.ps} shows the corresponding control signals. - - - - - - - DELETED mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/PPPCantileverBeam_input.txt Index: mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/PPPCantileverBeam_input.txt ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/PPPCantileverBeam_input.txt +++ /dev/null @@ -1,14 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# Input specification (PPPCantileverBeam_input.txt) -# Generated by MTT at Thu Apr 22 00:12:54 BST 1999 -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - -# Set the inputs -mttu(1) = exp(-t/0.1); # tau (PPPCantileverBeam) - -# Set the switches DELETED mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/PPPCantileverBeam_lbl.txt Index: mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/PPPCantileverBeam_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/PPPCantileverBeam_lbl.txt +++ /dev/null @@ -1,45 +0,0 @@ -%% Label file for system PPPCantileverBeam (PPPCantileverBeam_lbl.txt) -%SUMMARY PPPCantileverBeam -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -% Declare some variables -%VAR Area -%VAR AreaMoment -%VAR BeamLength -%VAR BeamThickness -%VAR BeamWidth -%VAR Density -%VAR N -%VAR Youngs -%VAR EI -%VAR rhoA - -% Port aliases - -% Argument aliases - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type BenoulliEuler - Chunk_1 - Patch_1 - Chunk_2 - Patch_2 - Chunk_3 - - -% Component type SS - tau_1 SS external,external - tau_2 SS external,external DELETED mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/PPPCantileverBeam_numpar.txt Index: mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/PPPCantileverBeam_numpar.txt ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/PPPCantileverBeam_numpar.txt +++ /dev/null @@ -1,29 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# Numerical parameter file (PPPCantileverBeam_numpar.txt) -# Generated by MTT at Mon Apr 19 06:24:08 BST 1999 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Parameters -N = 16; -BeamLength = 0.58; -BeamWidth = 0.05; -BeamThickness = 0.005; -Youngs = 1e6; -Density = 1e5; -Area = BeamWidth*BeamThickness; -AreaMoment = (BeamThickness*BeamWidth^2)/12; - - -EI= 58.6957 # from Reza -rhoA= 0.7989 # from Reza - -dz = BeamLength/N; # Incremental length -dm = rhoA*dz; # Incremental mass -dk = EI/dz; # Incremental stiffness -dr = 1e-2; # Damping DELETED mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/PPPCantileverBeam_rep.txt Index: mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/PPPCantileverBeam_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/PPPCantileverBeam_rep.txt +++ /dev/null @@ -1,31 +0,0 @@ -## -*-octave-*- Put Emacs into octave-mode -## Outline report file for system PPPCantileverBeam (PPPCantileverBeam_rep.txt) -## Generated by MTT on" Mon Apr 19 06:43:08 BST 1999. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - -mtt PPPCantileverBeam abg tex # The system description -## mtt PPPCantileverBeam cbg ps # The causal bond graph -## Uncomment the following lines or add others -mtt PPPCantileverBeam struc tex # The system structure -## mtt PPPCantileverBeam dae tex # The system dae -## mtt PPPCantileverBeam ode tex # The system ode -## mtt PPPCantileverBeam sspar tex # Steady-state parameters -## mtt PPPCantileverBeam ss tex # Steady state -## mtt PPPCantileverBeam dm tex # Descriptor matrices (of linearised system) -## mtt PPPCantileverBeam sm tex # State matrices (of linearised system) -## mtt PPPCantileverBeam tf tex # Transfer function (of linearised system) -mtt PPPCantileverBeam simpar tex # Simulation parameters -mtt PPPCantileverBeam numpar tex # Numerical simulation parameters -## mtt PPPCantileverBeam input tex # Simulation input -## mtt PPPCantileverBeam odeso ps # Simulation output -mtt PPPCantileverBeam lmfr ps # log modulus of frequency response (of linearised system) - -mtt PPPCantileverBeam pppy ps # PPP output -mtt PPPCantileverBeam pppu ps # PPP input -mtt PPPCantileverBeam pppy0 ps # PPP open-loop op DELETED mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/PPPCantileverBeam_simpar.txt Index: mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/PPPCantileverBeam_simpar.txt ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/PPPCantileverBeam_simpar.txt +++ /dev/null @@ -1,18 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# Simulation parameters for system PPPCantileverBeam (PPPCantileverBeam_simpar.txt) -# Generated by MTT on Mon Apr 19 06:32:42 BST 1999. -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - - -LAST = 1.0; # Last time in simulation -DT = 0.01; # Print interval -STEPFACTOR = 10; # Integration steps per print interval -WMIN = 1; # Minimum frequency = 10^WMIN -WMAX = 4; # Maximum frequency = 10^WMAX -WSTEPS = 500; # Number of frequency steps -INPUT = 1; # Index of the input DELETED mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/PPPCantileverBeam_simpar.txt_old Index: mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/PPPCantileverBeam_simpar.txt_old ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/PPPCantileverBeam_simpar.txt_old +++ /dev/null @@ -1,19 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# Simulation parameters for system PPPCantileverBeam (PPPCantileverBeam_simpar.txt) -# Generated by MTT on Mon Apr 19 06:32:42 BST 1999. -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - - -LAST = 1.0; # Last time in simulation -DT = 0.01; # Print interval -STEPFACTOR = 10; # Integration steps per print interval -METHOD = Implicit; # Integration method -WMIN = 1; # Minimum frequency = 10^WMIN -WMAX = 4; # Maximum frequency = 10^WMAX -WSTEPS = 500; # Number of frequency steps -INPUT = 1; # Index of the input DELETED mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/ppp_1.m Index: mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/ppp_1.m ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/ppp_1.m +++ /dev/null @@ -1,176 +0,0 @@ -function ppp_1(Name,Inputs,Modes); - -# Name = "CantileverBeam" -# Inputs = 1:2 -# Modes = [1 2;1 3] - - path(path,"~/Research/CGPC/PPP"); - - Name,Inputs,Modes - - ## System - system(sprintf("mtt -q %s numpar m", Name)); - system(sprintf("mtt -q %s sm m", Name)); - par = eval(sprintf("%s_numpar;",Name)); - eval(sprintf("[A,B,C,D]=%s_sm(par);",Name)); - [n_x,n_u,n_y] = abcddim(A,B,C,D) - - - ## Change B - B = B(:,Inputs); - [junk,n_u]=size(B); - n_u - - ## Redo C and D to reveal ALL velocities - n_y = n_x/2 - C = zeros(n_y,n_x); - for i = 1:n_y - C(i,2*i-1) = 1; - endfor - - ## Sort out D - D = zeros(n_y,n_u); - - e = eig(A); # Eigenvalues - N = length(e); - frequencies = sort(imag(e)); - frequencies = frequencies(N/2+1:N); # Modal frequencies - - ## Controller - ## Controller design parameters - t = [0.9:0.01:1.0]; # Optimisation horizon - - ## Specify input basis functions - ## - damped sinusoids with same frequencies as beam - damping_ratio = [0.1 0.1]; # Damping ratio of inputs - A_u=[]; -# Modes = [1 3 -# 1 2]; # Choose modes to be controlled by each input - if n_u == 1 # Put all modes on each input - Modes = [Modes; Modes]; - endif - - Modes - - for i=Inputs - A_ui = damped_matrix(frequencies(Modes(i,:)),damping_ratio(i)*ones(size(Modes(i,:)))); - A_u = [A_u;A_ui]; - u_0 = ones(n_x,1); # Initial conditions - endfor - - - A_w = 0; # Setpoint - Q = ones(n_y,1); # Output weighting - - ## Design - disp("Control design - unconstrained"); - [k_x,k_w,K_x,K_w,Us0,J_uu,J_ux,J_uw] = ppp_lin (A,B,C,D,A_u,A_w,t); # Unconstrained design - - ## Organise some plots - dt = 0.002; # Time increment -# T = 0:dt:t(length(t)); # Time starting at zero but past horizon - T = 0:dt:1.0; # Time - - ## Set up an "typical" initial condition - x_0 = zeros(n_x,1); - x_0(2:2:n_x) = ones(1,n_x/2); # Set initial twist to 1. -# disp("Computing OL response"); -# [Ys,Us] = ppp_transient (T,A_u,-(K_x*x_0)',u_0,A,B,C,D,x_0); # Compute open-loop control - - - disp("Computing OL response (no control)"); - [Y_0] = ppp_sm2sr(A, B, C, D, T, zeros(n_u,1), x_0); # Compute Closed-loop control - title("Y (no control)"); - xlabel("Time") - grid; - plot(T,Y_0); - psfig(sprintf("%s_pppy0",Name)); - - disp("Computing Unconstrained CL response"); - [y_u,X_u] = ppp_sm2sr(A-B*k_x, B, C, D, T, zeros(n_u,1), x_0); - u_u = -k_x*X_u'; - - - title("Unconstrained closed-loop control - y"); - xlabel("Time") - grid; - plot(T,y_u); - psfig(sprintf("%s_pppy",Name)); - - title("Unconstrained closed-loop control - u"); - xlabel("Time") - grid; - plot(T,u_u); - psfig(sprintf("%s_pppu",Name)); - -# ## Constrained version - -# ## Constraints - u -# Tau_u = [0:0.01:1]; -# one = ones(size(Tau_u)); -# limit = 1e10; -# Min_u = -limit*one; -# Max_u = limit*one; -# Order_u = 0*one; - -# ## Constraints - y -# Tau_y = []; -# one = ones(size(Tau_y)); -# limit = 1e5; -# Min_y = -limit*one; -# Max_y = limit*one; -# Order_y = 0*one; - -# ## Simulation - -# ## Constrained - open-loop -# Gamma = []; -# gamma = []; -# for i=1:n_u # Put same constraints on each input -# [Gamma_i,gamma_i] = ppp_input_constraint (A_u,Tau_u,Min_u,Max_u,Order_u,i,n_u); -# Gamma = [Gamma; Gamma_i]; -# gamma = [gamma; gamma_i]; -# endfor - - -# disp("Open-loop simulations..."); -# ## Constrained OL simulation -# W = zeros(n_y,1); -# [u,U] = ppp_qp (x_0,W,J_uu,J_ux,J_uw,Us0,Gamma,gamma); -# T = [0:t(2)-t(1):t(length(t))]; -# [ys,us] = ppp_ystar (A,B,C,D,x_0,A_u,U,T); - -# title("Constrained y*"); -# xlabel("t"); -# grid; -# plot(T,ys) - -# ## Unconstrained OL simulation -# [uu,Uu] = ppp_qp (x_0,W,J_uu,J_ux,J_uw,Us0,[],[]); -# [ysu,usu] = ppp_ystar (A,B,C,D,x_0,A_u,Uu,T); - -# title("Unconstrained y*"); -# xlabel("t"); -# grid; -# plot(T,ysu) - -# ## Non-linear - closed-loop -# disp("Closed-loop simulation"); -# Tc = [0:4e-4:1.0]; -# Delta_ol = 1.0; -# [yc,uc,J] = ppp_qp_sim (A,B,C,D,A_u,A_w,t,Q, T, Tau_u,Min_u,Max_u,Order_u, Tau_y,Min_y,Max_y,Order_y,W,x_0,Delta_ol); - -# title("y,y*,u and u*"); -# xlabel("t"); -# grid; -# plot(T1,y,T,ys,T1,u,T,us); - -endfunction - - - - - - - - DELETED mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/pppu_rep.make Index: mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/pppu_rep.make ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/pppu_rep.make +++ /dev/null @@ -1,20 +0,0 @@ -## Make file for the ppp output rep -## Symlinked to: -## pppy -## pppy0 -## pppu - -all: $(SYS)_pppy.ps $(SYS)_pppy0.ps $(SYS)_pppu.ps - -$(SYS)_pppy.ps: Make_figures.m ppp_1.m $(SYS)_sm.m $(SYS)_numpar.m - octave Make_figures.m -$(SYS)_pppy0.ps: $(SYS)_pppy.ps - touch $(SYS)_pppy0.ps -$(SYS)_pppu.ps: $(SYS)_pppy.ps - touch $(SYS)_pppu.ps - -$(SYS)_sm.m: - mtt $(SYS) sm m - -$(SYS)_numpar.m: - mtt $(SYS) numpar m DELETED mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/pppy0_rep.make Index: mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/pppy0_rep.make ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/pppy0_rep.make +++ /dev/null @@ -1,20 +0,0 @@ -## Make file for the ppp output rep -## Symlinked to: -## pppy -## pppy0 -## pppu - -all: $(SYS)_pppy.ps $(SYS)_pppy0.ps $(SYS)_pppu.ps - -$(SYS)_pppy.ps: Make_figures.m ppp_1.m $(SYS)_sm.m $(SYS)_numpar.m - octave Make_figures.m -$(SYS)_pppy0.ps: $(SYS)_pppy.ps - touch $(SYS)_pppy0.ps -$(SYS)_pppu.ps: $(SYS)_pppy.ps - touch $(SYS)_pppu.ps - -$(SYS)_sm.m: - mtt $(SYS) sm m - -$(SYS)_numpar.m: - mtt $(SYS) numpar m DELETED mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/pppy_rep.make Index: mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/pppy_rep.make ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/pppy_rep.make +++ /dev/null @@ -1,20 +0,0 @@ -## Make file for the ppp output rep -## Symlinked to: -## pppy -## pppy0 -## pppu - -all: $(SYS)_pppy.ps $(SYS)_pppy0.ps $(SYS)_pppu.ps - -$(SYS)_pppy.ps: Make_figures.m ppp_1.m $(SYS)_sm.m $(SYS)_numpar.m - octave Make_figures.m -$(SYS)_pppy0.ps: $(SYS)_pppy.ps - touch $(SYS)_pppy0.ps -$(SYS)_pppu.ps: $(SYS)_pppy.ps - touch $(SYS)_pppu.ps - -$(SYS)_sm.m: - mtt $(SYS) sm m - -$(SYS)_numpar.m: - mtt $(SYS) numpar m DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/AE3_abg.fig Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/AE3_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/AE3_abg.fig +++ /dev/null @@ -1,38 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4747 5175 6097 5175 5872 5400 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 7447 5175 8797 5175 8572 5400 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2677 5175 4027 5175 3802 5400 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 6772 3375 6772 4725 6997 4500 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 6750 6750 6750 5400 6975 5625 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 6750 8550 6750 7200 6975 7425 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 6750 1575 6750 2925 6975 2700 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 9472 5175 10822 5175 10597 5400 -4 1 0 100 0 18 20 0.0000 4 225 405 6750 3240 AE\001 -4 1 0 100 0 18 20 0.0000 4 225 405 6750 7110 AE\001 -4 1 0 100 0 18 20 0.0000 4 225 405 4365 5265 AE\001 -4 1 4 100 0 18 20 0.0000 4 285 975 2115 5265 SS:[in]\001 -4 1 4 100 0 18 20 0.0000 4 285 1335 6795 1485 SS:[mod]\001 -4 1 4 100 0 18 20 0.0000 4 285 1500 6705 8820 SS:[smod]\001 -4 1 0 100 0 18 30 0.0000 4 330 660 6750 5265 R:r\001 -4 1 4 100 0 18 14 0.0000 4 210 270 5985 4995 [1]\001 -4 1 4 100 0 18 14 0.0000 4 210 270 7560 4995 [2]\001 -4 1 4 100 0 18 14 0.0000 4 210 270 6570 4590 [3]\001 -4 1 4 100 0 18 14 0.0000 4 210 270 6570 5625 [4]\001 -4 1 0 100 0 18 20 0.0000 4 225 405 9135 5265 AE\001 -4 1 4 100 0 18 20 0.0000 4 285 1170 11475 5265 SS:[out]\001 DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/AE3_lbl.txt Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/AE3_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/AE3_lbl.txt +++ /dev/null @@ -1,44 +0,0 @@ -%% Label file for system AE3 (AE3_lbl.txt) -%SUMMARY AE3 -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS in in -%ALIAS mod mod -%ALIAS out out -%ALIAS smod smod - -% Argument aliases -%ALIAS $1 l - -% CR aliases -%ALIAS $1 slsin - - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type R - r slsin -1*l - -% Component type SS - [in] SS external,external - [mod] SS external,external - [out] SS external,external - [smod] SS external,external - - - - DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/AF3_abg.fig Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/AF3_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/AF3_abg.fig +++ /dev/null @@ -1,38 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4747 5175 6097 5175 5872 5400 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 7447 5175 8797 5175 8572 5400 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2677 5175 4027 5175 3802 5400 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 6772 3375 6772 4725 6997 4500 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 6750 6750 6750 5400 6975 5625 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 6750 8550 6750 7200 6975 7425 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 6750 1575 6750 2925 6975 2700 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 9472 5175 10822 5175 10597 5400 -4 1 0 100 0 18 20 0.0000 4 225 405 6750 3240 AE\001 -4 1 0 100 0 18 20 0.0000 4 225 405 6750 7110 AE\001 -4 1 4 100 0 18 20 0.0000 4 285 975 2115 5265 SS:[in]\001 -4 1 4 100 0 18 20 0.0000 4 285 1335 6795 1485 SS:[mod]\001 -4 1 4 100 0 18 20 0.0000 4 285 1500 6705 8820 SS:[smod]\001 -4 1 0 100 0 18 30 0.0000 4 330 660 6750 5265 R:r\001 -4 1 4 100 0 18 14 0.0000 4 210 270 5985 4995 [1]\001 -4 1 4 100 0 18 14 0.0000 4 210 270 7560 4995 [2]\001 -4 1 4 100 0 18 14 0.0000 4 210 270 6570 4590 [3]\001 -4 1 4 100 0 18 14 0.0000 4 210 270 6570 5625 [4]\001 -4 1 0 100 0 18 20 0.0000 4 225 390 4365 5310 AF\001 -4 1 0 100 0 18 20 0.0000 4 225 390 9135 5265 AF\001 -4 1 4 100 0 18 20 0.0000 4 285 1170 11610 5265 SS:[out]\001 DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/AF3_lbl.txt Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/AF3_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/AF3_lbl.txt +++ /dev/null @@ -1,40 +0,0 @@ -%% Label file for system AE3 (AE3_lbl.txt) -%SUMMARY AE3 -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS in in -%ALIAS mod mod -%ALIAS out out -%ALIAS smod smod - -% Argument aliases -%ALIAS $1 l - -% CR aliases -%ALIAS $1 slsin - - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type R - r slsin l - -% Component type SS - [in] SS external,external - [mod] SS external,external - [out] SS external,external - [smod] SS external,external DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/Cart_abg.fig Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/Cart_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/Cart_abg.fig +++ /dev/null @@ -1,53 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 3600 4275 4950 4275 4725 4500 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4950 5400 3600 5400 3825 5625 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 4950 5175 4950 5625 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 3015 3150 4365 3150 4140 3375 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4815 3150 6165 3150 5940 3375 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4590 2925 4590 1575 4815 1800 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 4815 1575 4365 1575 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4793 2934 6153 1574 6153 1893 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4387 2947 3027 1587 3346 1587 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 7650 3150 9000 3150 8775 3375 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 3600 4050 3600 4500 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 5400 5400 6750 5400 6525 5625 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 6750 5175 6750 5625 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 5400 4275 6750 4275 6525 4500 -4 2 0 100 0 18 18 0.0000 4 270 2130 3510 4365 Sf:zero_velocity\001 -4 1 1 101 0 3 18 0.0000 4 255 1125 5310 4725 y-velocity\001 -4 1 1 101 0 3 18 0.0000 4 255 1155 5265 3735 x-velocity\001 -4 1 1 101 0 3 18 0.0000 4 255 1905 5175 5940 angular-velocity\001 -4 2 0 100 0 18 18 0.0000 4 270 720 3555 5490 R:r_p\001 -4 1 0 100 0 18 18 0.0000 4 195 150 4590 3240 1\001 -4 1 4 100 0 18 18 0.0000 4 270 765 6390 1440 SS:[x]\001 -4 1 0 100 0 18 18 0.0000 4 270 870 4635 1440 IS:m_c\001 -4 1 0 100 0 18 18 0.0000 4 270 690 2880 1440 R:r_c\001 -4 1 4 100 0 18 18 0.0000 4 270 1290 2250 3240 SS:[drive]\001 -4 0 0 100 0 18 18 0.0000 4 210 1560 9090 3240 De:Position\001 -4 1 0 100 0 18 18 0.0000 4 210 1035 6975 3240 INTFS:x\001 -4 1 0 100 0 18 18 0.0000 4 195 150 5175 5490 1\001 -4 1 4 100 0 18 18 0.0000 4 270 780 7245 5490 SS:[a]\001 -4 1 0 100 0 18 18 0.0000 4 195 150 5175 4365 1\001 -4 1 4 100 0 18 18 0.0000 4 270 765 7245 4365 SS:[y]\001 DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/Cart_lbl.txt Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/Cart_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/Cart_lbl.txt +++ /dev/null @@ -1,53 +0,0 @@ -%% Label file for system Cart (Cart_lbl.txt) -%SUMMARY Cart -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS in drive -%ALIAS pendulum|out x,y,a - -% Argument aliases -%ALIAS $1 m_c -%ALIAS $2 r_c -%ALIAS $3 r_p - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type IS - m_c lin flow,m_c;v_0 - -% Component type R - r_c lin flow,r_c - r_p lin flow,r_p - -% Component type INTFS - x none x_0 - -% Component type SS - [a] SS internal,0 - [drive] SS external,internal - [x] SS 0,internal - [y] SS 0,internal - -% Component type De - Position SS external - -% Component type Sf - zero_velocity SS 0 - - - - DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/DCS_abg.fig Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/DCS_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/DCS_abg.fig +++ /dev/null @@ -1,68 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -6 3330 1305 3870 1395 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 3375 1350 3825 1350 --6 -6 7965 2475 8505 2565 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 8010 2520 8460 2520 --6 -6 3330 2475 3420 3015 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 3375 2520 3375 2970 --6 -6 9810 2475 9900 3015 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 9855 2520 9855 2970 --6 -6 7965 2430 8055 2970 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 8010 2475 8010 2925 --6 -6 3735 2430 3825 2970 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 3780 2475 3780 2925 --6 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 4860 4730 4860 494 2293 494 2293 4730 4860 4730 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2036 2724 3371 2724 3063 2947 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3576 2501 3576 1342 3833 1609 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3782 2724 5116 2724 4808 2947 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3576 2947 3576 4106 3833 3839 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6656 2724 7991 2724 7683 2947 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8196 2947 8196 4106 8453 3839 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8453 2724 9788 2724 9480 2947 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 9480 4730 9480 494 6913 494 6913 4730 9480 4730 -2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 12150 5175 45 5175 45 316 12150 316 12150 5175 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8190 2501 8190 1341 8447 1609 -4 2 4 0 0 0 18 0.0000 4 240 1605 1980 2790 SS:[Electrical]\001 -4 1 -1 0 0 0 18 0.0000 4 195 135 3525 2858 1\001 -4 1 -1 0 0 0 18 0.0000 4 255 945 5938 2813 GY:k_m\001 -4 1 -1 0 0 0 18 0.0000 4 195 135 8196 2813 1\001 -4 1 -1 0 0 0 18 0.0000 4 255 630 3525 1252 IS:l_a\001 -4 1 -1 0 0 0 18 0.0000 4 255 600 3628 4463 R:r_a\001 -4 1 -1 0 0 0 18 0.0000 4 255 735 8248 4463 R:b_m\001 -4 1 1 1 0 0 18 0.0000 4 195 1065 3576 5043 Electrical\001 -4 1 1 1 0 0 18 0.0000 4 195 1290 8196 5043 Mechanical\001 -4 1 1 1 0 0 18 0.0000 4 195 600 10404 3170 Shaft\001 -4 1 1 1 0 0 18 0.0000 4 195 1155 1472 3170 Terminals\001 -4 0 4 0 0 0 18 0.0000 4 240 1830 9945 2835 SS:[Mechanical]\001 -4 1 -1 0 0 0 18 0.0000 4 255 585 8235 1215 I:j_m\001 DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/DCS_lbl.txt Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/DCS_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/DCS_lbl.txt +++ /dev/null @@ -1,39 +0,0 @@ -%SUMMARY DCS: DCS motor -%DESCRIPTION A special for the inverted pendulum system -%DESCRIPTION Derivative causality on the shaft -%DESCRIPTION No aliased parameters -%DESCRIPTION Built in causality - speeds things up -%DESCRIPTION Only the armature state and shaft resistance are variable - -%ALIAS in Electrical -%ALIAS out Mechanical - - -%% Label file for system DCS (DCS_lbl.txt) - - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - -%Motor gain -k_m lin flow,k_m - -% Electrical components -%Inductance -l_a lin flow,l_a;i_0 - -%Resistance -r_a lin flow,r_a - -% Mechanical components -%Inertia -j_m lin flow,j_m - -%Friction -b_m lin flow,b_m - -% Ports - [Electrical] SS external,external - [Mechanical] SS external,external DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/DriveCart_abg.fig Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/DriveCart_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/DriveCart_abg.fig +++ /dev/null @@ -1,35 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -6 3555 4005 3645 4545 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 3600 4050 3600 4500 --6 -6 6255 4005 6345 4545 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 6300 4050 6300 4500 --6 -2 4 0 2 1 7 101 0 -1 0.000 0 0 7 0 0 5 - 7650 4725 5850 4725 5850 3825 7650 3825 7650 4725 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2250 4275 3600 4275 3375 4500 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4950 4275 6300 4275 6075 4500 -2 4 0 2 1 7 101 0 -1 0.000 0 0 7 0 0 5 - 5175 4725 3375 4725 3375 3825 5175 3825 5175 4725 -2 4 0 2 1 7 101 0 -1 0.000 0 0 7 0 0 5 - 2610 4725 585 4725 585 3825 2610 3825 2610 4725 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 7425 4275 8775 4275 8550 4500 -2 4 0 2 31 7 101 0 -1 0.000 0 0 7 0 0 5 - 10125 4950 10125 2025 225 2025 225 4950 10125 4950 -4 1 0 100 0 18 20 0.0000 4 360 1815 1620 4410 OpenLoop\001 -4 1 0 100 0 18 20 0.0000 4 285 960 4320 4410 Drive\001 -4 1 0 100 0 18 20 0.0000 4 285 765 6795 4410 Cart\001 -4 1 0 100 0 18 20 0.0000 4 285 810 9225 4410 Zero\001 DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/DriveCart_input.txt Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/DriveCart_input.txt ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/DriveCart_input.txt +++ /dev/null @@ -1,18 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# Input specification (DriveCart_input.txt) -# Generated by MTT at Thu Aug 5 09:17:30 BST 1999 -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - -# Set the inputs -#mttu(1) = 1.0*(t<1) -1.0*((t>=1)&&(t<2)); # u (DriveCart_F) -mttu(1) = 1; -mttu(2) = 0; -mttu(3) = 0; -mttu(4) = 0; - -# Set the switches DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/DriveCart_lbl.txt Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/DriveCart_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/DriveCart_lbl.txt +++ /dev/null @@ -1,30 +0,0 @@ -%% Label file for system DriveCart (DriveCart_lbl.txt) -%SUMMARY DriveCart -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -%VAR l_p #Pendulum length - -% Port aliases - -% Argument aliases - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - - - - - - DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/DriveCart_numpar.txt Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/DriveCart_numpar.txt ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/DriveCart_numpar.txt +++ /dev/null @@ -1,91 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# Numerical parameter file (DriveCart_numpar.txt) -# Generated by MTT at Wed Aug 25 22:57:05 BST 1999 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Parameters -j_m = 3.87e-7; # Motor inertia -k_m = 0.00767; # Motor constant -r_a = 2.6; # Armature resistance -l_a = 0.18e-3; # Armature inductance - -k_g = 1/3.7; # Internal gear ratio -r = 0.635e-2; # Motor gear radius - -m_c = 0.455; # Cart mass - -b_m = 0.0; # Motor friction -r_c = 1.5; # Cart friction - -# l_p = 0.61; # Pendulum length -# m_p = 0.210; # Pendulum mass -# r_p = 0.0; # Pendulum friction - -# j_p = m_p*(l_p*l_p)/12; # Pendulum inertia about cm. - -# g = 9.81; # Gravity - - -## Sensitivity parameters -# m_cs = 0; # Cart mass -# b_ms = 0; # Motor friction -# r_cs = 0; # Cart friction -# r_ps = 0; # Pendulum friction - - -## Control parameters -k_1 = 1; -k_2 = 0; -k_3 = 0; - -## States -i_0 = 0; # Initial armature current -v_0 = 0; # Initial cart velocity -x_0 = 0; # Initial cart position - -# omega_0 = 0; # Initial pendulum velocity -# theta_0 = 0; # Initial pendulum angle - -## Control sensitivity parameters -# k_1s = 0; -# k_2s = 0; -# k_3s = 0; - -# ## Argument list -# if (mtt_n_parameters>1) -# r_cs= mtt_parameters(1); -# r_c = mtt_parameters(2); -# endif; - -# if (mtt_n_parameters>3) -# m_cs= mtt_parameters(3); -# m_c = mtt_parameters(4); -# endif; - -# if (mtt_n_parameters>5) -# k_1s= mtt_parameters(5); -# k_1 = mtt_parameters(6); -# endif; - -# if (mtt_n_parameters>7) -# k_2s= mtt_parameters(7); -# k_2 = mtt_parameters(8); -# endif; - -# if (mtt_n_parameters>9) -# k_3s= mtt_parameters(9); -# k_3 = mtt_parameters(10); -# endif; - - - - - - - DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/DriveCart_rep.txt Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/DriveCart_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/DriveCart_rep.txt +++ /dev/null @@ -1,27 +0,0 @@ -## -*-octave-*- Put Emacs into octave-mode -## Outline report file for system DriveCart (DriveCart_rep.txt) -## Generated by MTT on" Fri Oct 22 09:03:14 EST 1999. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - -mtt DriveCart abg tex # The system description -mtt DriveCart cbg ps # The causal bond graph -## Uncomment the following lines or add others -mtt DriveCart struc tex # The system structure -mtt DriveCart dae tex # The system dae -## mtt DriveCart ode tex # The system ode -## mtt DriveCart sspar tex # Steady-state parameters -## mtt DriveCart ss tex # Steady state -## mtt DriveCart dm tex # Descriptor matrices (of linearised system) -mtt DriveCart sm tex # State matrices (of linearised system) -## mtt DriveCart tf tex # Transfer function (of linearised system) -## mtt DriveCart lmfr ps # log modulus of frequency response (of linearised system) -mtt DriveCart simpar tex # Simulation parameters -mtt DriveCart numpar tex # Numerical simulation parameters -mtt DriveCart input tex # Simulation input -mtt -c DriveCart odeso ps # Simulation output DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/DriveCart_simpar.txt Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/DriveCart_simpar.txt ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/DriveCart_simpar.txt +++ /dev/null @@ -1,18 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# Simulation parameters for system DriveCart (DriveCart_simpar.txt) -# Generated by MTT on Thu Aug 5 09:17:05 BST 1999. -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - - -LAST = 10.0; # Last time in simulation -DT = 0.1; # Print interval -STEPFACTOR = 1000; # Integration steps per print interval -WMIN = -1; # Minimum frequency = 10^WMIN -WMAX = 2; # Maximum frequency = 10^WMAX -WSTEPS = 100; # Number of frequency steps -INPUT = 1; # Index of the input DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/Drive_abg.fig Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/Drive_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/Drive_abg.fig +++ /dev/null @@ -1,36 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 3825 2475 3825 2925 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2475 2700 3825 2700 3600 2925 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 5625 2700 6975 2700 6750 2925 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 8325 2700 9675 2700 9450 2925 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 10575 2700 11925 2700 11700 2925 -2 4 0 2 31 7 101 0 -1 0.000 0 0 7 0 0 5 - 14400 4725 14400 675 225 675 225 4725 14400 4725 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 6975 2475 6975 2925 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 11925 2475 11925 2925 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 9675 2475 9675 2925 -4 1 1 101 0 3 20 0.0000 4 255 1530 4590 3330 DC motor\001 -4 1 1 101 0 3 20 0.0000 4 330 2745 2205 3330 Power supply unit\001 -4 2 4 100 0 18 18 0.0000 4 270 1845 2430 2790 SS:[Electrical]\001 -4 1 0 100 0 18 18 0.0000 4 210 1470 4725 2790 DCS:motor\001 -4 1 0 100 0 18 18 0.0000 4 270 915 7695 2790 TF:k_g\001 -4 1 0 100 0 18 18 0.0000 4 210 540 10125 2790 TF:r\001 -4 0 4 100 0 18 18 0.0000 4 270 2115 12015 2790 SS:[Mechanical]\001 -4 1 1 101 0 3 20 0.0000 4 330 2010 7515 3330 Internal gear\001 -4 1 1 101 0 3 20 0.0000 4 330 1710 10080 3330 Motor gear\001 DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/Drive_lbl.txt Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/Drive_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/Drive_lbl.txt +++ /dev/null @@ -1,34 +0,0 @@ -%% Label file for system Drive (Drive_lbl.txt) -%SUMMARY Drive -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS in Electrical -%ALIAS out Mechanical - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type DC - motor - -% Component type SS - [Electrical] SS external,external - [Mechanical] SS external,external - -% Component type TF - k_g lin flow,k_g - r lin flow,r - DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/INTFS_abg.fig Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/INTFS_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/INTFS_abg.fig +++ /dev/null @@ -1,27 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3376 3151 4276 3151 4051 3376 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4501 2926 4501 2026 4726 2251 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4726 3151 5626 3151 5401 3376 -2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 10575 4950 45 4950 45 1350 10575 1350 10575 4950 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1575 3150 2475 3150 2250 3375 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6526 3150 7426 3150 7201 3375 -4 1 -1 0 0 0 20 0.0000 4 255 180 4501 3241 0\001 -4 1 -1 0 0 0 20 0.0000 4 255 1110 4501 1891 CS:unit\001 -4 2 4 0 0 0 20 0.0000 4 315 1455 1530 3240 SS:[Flow]\001 -4 1 -1 0 0 0 20 0.0000 4 255 825 2925 3240 AF:af\001 -4 1 -1 0 0 0 20 0.0000 4 255 900 6075 3240 AE:ae\001 -4 0 4 0 0 0 20 0.0000 4 330 3045 7470 3240 SS:[Integrated_flow]\001 DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/INTFS_lbl.txt Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/INTFS_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/INTFS_lbl.txt +++ /dev/null @@ -1,44 +0,0 @@ -%% Label file for system INTFS (INTFS_lbl.txt) -%SUMMARY INTFS: flow integrator -%DESCRIPTION Port [in]: Flow to be integrated -%DESCRIPTION Port [out]: Effort = integral of flow on port [in] - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.3 1998/07/16 07:35:10 peterg -% %% Aliased version -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS in Flow -%ALIAS out Integrated_flow - -% Argument aliases -%ALIAS $1 x_0 - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - - -% Component type CS - unit lin effort,1;x_0 - -% Component type AE - ae lin 1 - -% Component type AF - af lin 1 - -% Component type SS - [Flow] SS external,external - [Integrated_flow] SS external,external DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/IS_abg.fig Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/IS_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/IS_abg.fig +++ /dev/null @@ -1,23 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -6 2340 3915 2610 4185 -4 1 0 100 0 18 20 0.0000 4 270 195 2475 4185 0\001 --6 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2475 3825 2475 2475 2700 2700 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2475 5625 2475 4275 2700 4500 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2700 4050 4050 4050 3825 4275 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 4050 3825 4050 4275 -4 1 0 100 0 18 20 0.0000 4 285 315 2475 2295 I:i\001 -4 0 0 100 0 18 20 0.0000 4 360 1035 4185 4185 Sf:f_0\001 -4 1 4 100 0 18 20 0.0000 4 360 1185 2475 6030 SS:[in]\001 DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/IS_lbl.txt Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/IS_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/IS_lbl.txt +++ /dev/null @@ -1,36 +0,0 @@ -%% Label file for system IS (IS_lbl.txt) -%SUMMARY IS I component with initial state - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS in in - -% Argument aliases -%ALIAS $1 flow,i -%ALIAS $2 f_0 - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type I - i lin flow,i - -% Component type SS - [in] SS external,external - -% Component type Sf - f_0 SS f_0 - - DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/InvertedPendulumOnCartPPP_abg.fig Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/InvertedPendulumOnCartPPP_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/InvertedPendulumOnCartPPP_abg.fig +++ /dev/null @@ -1,37 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -6 3555 4005 3645 4545 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 3600 4050 3600 4500 --6 -6 6255 4005 6345 4545 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 6300 4050 6300 4500 --6 -2 4 0 2 1 7 101 0 -1 0.000 0 0 7 0 0 5 - 7650 4725 5850 4725 5850 3825 7650 3825 7650 4725 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2250 4275 3600 4275 3375 4500 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4950 4275 6300 4275 6075 4500 -2 4 0 2 1 7 101 0 -1 0.000 0 0 7 0 0 5 - 5175 4725 3375 4725 3375 3825 5175 3825 5175 4725 -2 4 0 2 1 7 101 0 -1 0.000 0 0 7 0 0 5 - 2610 4725 585 4725 585 3825 2610 3825 2610 4725 -2 4 0 2 31 7 101 0 -1 0.000 0 0 7 0 0 5 - 9675 4950 9675 2025 225 2025 225 4950 9675 4950 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 6750 3825 7705 2870 7705 3189 -2 1 0 2 1 7 101 0 -1 0.000 0 0 -1 0 0 5 - 6952 3487 8347 2092 8527 2272 7177 3622 6997 3442 -4 1 0 100 0 18 20 0.0000 4 360 1815 1620 4410 OpenLoop\001 -4 1 0 100 0 18 20 0.0000 4 285 960 4320 4410 Drive\001 -4 1 0 100 0 18 20 0.0000 4 285 3255 7830 2835 InvertedPendulum\001 -4 1 0 100 0 18 20 0.0000 4 285 765 6795 4410 Cart\001 DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/InvertedPendulumOnCartPPP_desc.tex Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/InvertedPendulumOnCartPPP_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/InvertedPendulumOnCartPPP_desc.tex +++ /dev/null @@ -1,37 +0,0 @@ -% -*-latex-*- Put EMACS into LaTeX-mode -% Verbal description for system InvertedPendulumOnCart (InvertedPendulumOnCart_desc.tex) -% Generated by MTT on Thu Aug 5 10:38:16 BST 1999. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{InvertedPendulumOnCart} is - displayed in Figure \Ref{fig:InvertedPendulumOnCart_abg.ps} and its label - file is listed in Section \Ref{sec:InvertedPendulumOnCart_lbl}. - The subsystems are listed in Section \Ref{sec:InvertedPendulumOnCart_sub}. - -This is a one input, two output nonlinear system comprising an -inverted pendulum attached by a hinge to a cart constrained to move in -the horizontal direction. The input is the horizontal force acting on -the cart, and the two outputs are the horizontal position and the -pendulum angle respectively. - -The bond graph in Figure \Ref{InvertedPendulumOnCartPPP_abg} is augmented with the {\em -open-loop\/} controller comprising -\begin{itemize} -\item two effort source \textbf{Se} components ``u1'' and ``u2'' -\item two effort amplifier \textbf{AE} components ``ppp\_1'' and `ppp\_2'' -\end{itemize} - -This is a \emph{nonlinear} system and it is used to illustate -\emph{nonlinear} PPP control. Section -\Ref{sec:InvertedPendulumOnCartPPP_nppp.ps} shows the cart position -$x$ and the pendulum angle $\theta$ when the pendulum starts from the -initial condition of $\theta = \frac{\pi}{2}$ (ie the pendulum is -horizontal). - - DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/InvertedPendulumOnCartPPP_input.txt Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/InvertedPendulumOnCartPPP_input.txt ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/InvertedPendulumOnCartPPP_input.txt +++ /dev/null @@ -1,18 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# Input specification (InvertedPendulumOnCartPPP_input.txt) -# Generated by MTT at Thu Aug 5 09:17:30 BST 1999 -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - -# Set the inputs -#mttu(1) = 1.0*(t<1) -1.0*((t>=1)&&(t<2)); # u (InvertedPendulumOnCartPPP_F) -mttu(1) = 1; -mttu(2) = 0; -mttu(3) = 0; -mttu(4) = 0; - -# Set the switches DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/InvertedPendulumOnCartPPP_lbl.txt Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/InvertedPendulumOnCartPPP_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/InvertedPendulumOnCartPPP_lbl.txt +++ /dev/null @@ -1,30 +0,0 @@ -%% Label file for system InvertedPendulumOnCartPPP (InvertedPendulumOnCartPPP_lbl.txt) -%SUMMARY InvertedPendulumOnCartPPP -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -%VAR l_p #Pendulum length - -% Port aliases - -% Argument aliases - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - - - - - - DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/InvertedPendulumOnCartPPP_nppp.m Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/InvertedPendulumOnCartPPP_nppp.m ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/InvertedPendulumOnCartPPP_nppp.m +++ /dev/null @@ -1,141 +0,0 @@ -## Figures.m -## Makes figures for the InvertedPendulumOnCart_PPP exasmple. -## $Log$ -## Revision 1.4 2000/08/17 12:34:58 peterg -## *** empty log message *** -## -## Revision 1.3 2000/08/11 16:01:27 peterg -## Fixed documentation error -## -## Revision 1.2 2000/05/21 06:39:40 peterg -## Parameterised _sm -## -## Revision 1.1 2000/05/20 11:30:41 peterg -## Initial revision -## -## Revision 1.2 2000/05/17 16:59:57 peterg -## Revised for Inverted pendulum - it works !!!! -## -## Revision 1.1 2000/05/17 14:07:53 peterg -## Initial revision -## -## Revision 1.1 2000/05/17 09:14:37 peterg -## Initial revision -## -system_name = "InvertedPendulumOnCartPPP"; - -## Uncomment the following the first time -## (Or do ./Make InvertedPendulumOnCartPPP in this directory) - -## MTT stuff for the system simulation -##system("Make InvertedPendulumOnCartPPP"); - -t_s=1.0*[0:0.1:10]; -u = [ones(4,length(t_s))]; -x_0 = InvertedPendulumOnCartPPP_state; -par = InvertedPendulumOnCartPPP_numpar; - -## Simulate the system -tick=time; -[y,x] = InvertedPendulumOnCartPPP_sim(x_0,u,t_s,par); -Elapsed = time-tick -plot(t_s,y, t_s,x); - -## Simulate the system to give just the final few points -t_s1 = 10*[9:0.1:10]; -tick=time; -[y,x] = InvertedPendulumOnCartPPP_sim(x_0,u,t_s1,par); -Elapsed = time-tick -plot(t_s1,y,t_s1,x); - -## Sensitivity system simulation parameters -x_0s = sInvertedPendulumOnCartPPP_state; -pars = sInvertedPendulumOnCartPPP_numpar; -sympars = sInvertedPendulumOnCartPPP_sympar; - -## Simulate the sensitivity system -sensitivities = [sympars.ppp_1s,sympars.ppp_2s,sympars.r_cs] -tick=time; -[y,ys] = sInvertedPendulumOnCartPPP_sim(x_0s,u,t_s,pars,sensitivities); -Elapsed = time-tick -plot(t_s,y,t_s,ys); - -### PPP parameters -A_w = [0;0]; -A_u = laguerre_matrix(4,20); # Specify basis functions: constant & - # exp(-5t) -tau = 0.5*[0.9:0.01:1]; # Optimisation interval -t_ol =0.5*[0:0.01:0.2]; # Open-loop interval -N = 20; # Number of open-loop intervals in simulation -w = [0;0]; # Setpoint - -## Linear system -## Linear system -[A,B,C,D] = InvertedPendulumOnCartPPP_sm(par); -Q = [1;1]; -ppp_lin_plot (A,B(:,1),C,D(:,1),A_u,A_w,tau,Q,w,x_0); -psfig("InvertedPendulumOnCartPPP_lin"); - -## Simulate non-linear PPP (on this nonlinear system) -extras.U_initial = "zero"; -extras.U_next = "continuation"; -extras.criterion = 1e-5; -extras.max_iterations = 10; -extras.v = 0; -extras.verbose = 0; - -# ## -- with no optimisation using linear PPP with continuation -# extras.U_initial = "linear"; -# extras.U_next = "continuation"; -# extras.criterion = 1e-5; -# extras.max_iterations = 0; -# [y_c,x,u_c,t,U,U_c,U_l] = ppp_nlin_sim (system_name,A_u,tau,t_ol,N,w,extras); - -# ## -- with no optimisation using linear PPP at each step -# extras.U_initial = "linear"; -# extras.U_next = "linear"; -# extras.criterion = 1e-5; -# extras.max_iterations = 0; -# [y_l,x,u_l,t,U,U_c,U_l] = ppp_nlin_sim (system_name,A_u,tau,t_ol,N,w,extras); - -## -- with optimisation using nonlinear PPP with continuation -extras.U_initial = "zero"; -extras.U_next = "continuation"; -extras.criterion = 1e-4; -extras.max_iterations = 100; -extras.v = 1e-3; -extras.verbose = 0; -[y,x,u,t,U,U_c,U_l] = ppp_nlin_sim (system_name,A_u,tau,t_ol,N,w,extras); - - -## Plots -title(""); - -## U, U_c and U_l -I = 1:N; -IU1 = [I' U(1,:)']; -IU1_c = [I' U_c(1,:)']; -IU1_l = [I' U_l(1,:)']; -gset grid; xlabel "Interval" -gplot IU1 title "U_1", IU1_c title "U_c1", IU1_l title "U_l1" -psfig("InvertedPendulumOnCartPPP_U1"); - -IU2 = [I' U(2,:)']; -IU2_c = [I' U_c(2,:)']; -IU2_l = [I' U_l(2,:)']; -gset grid; xlabel "Interval " -gplot IU2 title "U_2", IU2_c title "U_c2", IU2_l title "U_l2" -psfig("InvertedPendulumOnCartPPP_U2"); - -## y & u -gset grid; xlabel "Time (sec)" -tu = [t' u']; -gplot tu title "Output" -psfig("InvertedPendulumOnCartPPP_u"); - -gset grid; xlabel "Time (sec)" -ty_th = [t' y(1,:)'] ; -ty_x = [t' y(2,:)'] ; -gplot ty_th title "Theta",ty_x title "x" -psfig("InvertedPendulumOnCartPPP_nppp"); - DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/InvertedPendulumOnCartPPP_numpar.txt Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/InvertedPendulumOnCartPPP_numpar.txt ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/InvertedPendulumOnCartPPP_numpar.txt +++ /dev/null @@ -1,68 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# Numerical parameter file (sInvertedPendulumOnCart_numpar.txt) -# Generated by MTT at Tue Apr 18 18:07:52 BST 2000 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -## Default parameters -b_m = 0.0; # sDCS -c = 0.0; # sC,sC,sCS,sCS -e_0 = 0.0; # sCS,sCS -e_s = 0.0; # Se,Se,Se,sSe,sSe,sSe -f_0 = 0.0; # sIS,sIS,sIS -f_s = 0.0; # Sf,Sf,Sf,sSf,sSf,sSf -g = 0.0; # AFe,AFe,sInvertedPendulum,sROD -i = 0.0; # sI,sI,sI,sI,sI,sI,sIS,sIS,sIS -i_0 = 0.0; # sDCS -j_m = 0.0; # sDCS,sROD -j_p = 0.0; # sInvertedPendulum -ppp_1 = 1.0; # sOpenLoop -ppp_2 = 0.0; # sOpenLoop -ppp_3 = 0.0; # sOpenLoop -ppp_4 = 0.0; # sOpenLoop -k_g = 0.0; # sDrive -k_m = 0.0; # sDCS -l_a = 0.0; # sDCS,sROD -l_b = 0.0; # sROD -l_p = 0.0; # sInvertedPendulum,sInvertedPendulumOnCart -m = 0.0; # sROD -m_c = 0.0; # sCart -m_p = 0.0; # sInvertedPendulum -m_t = 0.0; # sInvertedPendulum -omega_0 = 0.0; # sInvertedPendulum,sROD -r = 0.0; # sDrive,sR,sR -r_a = 0.0; # sDCS -r_c = 0.0; # sCart -r_p = 0.0; # sCart -theta_0 = 0.0; # sInvertedPendulum,sROD -v_0 = 0.0; # sCart -x_0 = 0.0; # sCart,sINTFS,sINTFS - - -## Pysical Parameters -j_m = 3.87e-7; # Motor inertia -k_m = 0.00767; # Motor constant -r_a = 2.6; # Armature resistance -l_a = 0.18e-3; # Armature inductance - -k_g = 1/3.7; # Internal gear ratio -r = 0.635e-2; # Motor gear radius - -m_c = 0.455; # Cart mass - -b_m = 0.0; # Motor friction -r_c = 1.5; # Cart friction - -l_p = 0.61; # Pendulum length -m_p = 0.210; # Pendulum mass -r_p = 0.0; # Pendulum friction - -j_p = m_p*(l_p*l_p)/12; # Pendulum inertia about cm. - -g = 9.81; # Gravity - DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/InvertedPendulumOnCartPPP_rep.txt Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/InvertedPendulumOnCartPPP_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/InvertedPendulumOnCartPPP_rep.txt +++ /dev/null @@ -1,38 +0,0 @@ -## -*-octave-*- Put Emacs into octave-mode -## Outline report file for system InvertedPendulumOnCartPPP (InvertedPendulumOnCartPPP_rep.txt) -## Generated by MTT on" Fri Oct 22 09:03:14 EST 1999. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.3 2000/08/29 13:57:23 peterg -## Zapped some steps which prevent ppp from working ???? -## -## Revision 1.2 2000/05/20 17:45:38 peterg -## Tidied -## -## Revision 1.1 2000/05/20 17:43:40 peterg -## Initial revision -## -############################################################### - -mtt InvertedPendulumOnCartPPP abg tex # The system description -mtt InvertedPendulumOnCartPPP cbg ps # The causal bond graph -mtt InvertedPendulumOnCartPPP struc tex # The system structure -mtt InvertedPendulumOnCartPPP dae tex # The system dae -# mtt InvertedPendulumOnCartPPP sm tex # State matrices (of linearised system) - -# mtt InvertedPendulumOnCartPPP simpar tex # Simulation parameters -# mtt InvertedPendulumOnCartPPP numpar tex # Numerical simulation parameters -# mtt InvertedPendulumOnCartPPP input tex # Simulation input -# mtt -c InvertedPendulumOnCartPPP odeso ps # Simulation output - -mtt InvertedPendulumOnCartPPP nppp m # How its done -mtt InvertedPendulumOnCartPPP nppp ps # The PPP output - -mtt InvertedPendulumOnCartPPP rep txt # The report outline - - - DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/InvertedPendulumOnCartPPP_simpar.txt Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/InvertedPendulumOnCartPPP_simpar.txt ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/InvertedPendulumOnCartPPP_simpar.txt +++ /dev/null @@ -1,18 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# Simulation parameters for system InvertedPendulumOnCartPPP (InvertedPendulumOnCartPPP_simpar.txt) -# Generated by MTT on Thu Aug 5 09:17:05 BST 1999. -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - - -LAST = 10.0; # Last time in simulation -DT = 0.1; # Print interval -STEPFACTOR = 1; # Integration steps per print interval -WMIN = -1; # Minimum frequency = 10^WMIN -WMAX = 2; # Maximum frequency = 10^WMAX -WSTEPS = 100; # Number of frequency steps -INPUT = 1; # Index of the input DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/InvertedPendulumOnCartPPP_state.txt Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/InvertedPendulumOnCartPPP_state.txt ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/InvertedPendulumOnCartPPP_state.txt +++ /dev/null @@ -1,16 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# Initial state file (InvertedPendulumOnCartPPP_state.txt) -# Generated by MTT at Thu May 4 16:13:13 BST 2000 -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - -# Set the states -mttx(1) = 0.0; # i (InvertedPendulumOnCartPPP_mtt2_motor_l_a) -mttx(2) = 0.0; # i (InvertedPendulumOnCartPPP_mtt3_rod_J) -mttx(3) = -pi/2; # c (InvertedPendulumOnCartPPP_mtt3_rod_th_unit) -mttx(4) = 0.0; # i (InvertedPendulumOnCartPPP_mtt4_m_c) -mttx(5) = 0.0; # c (InvertedPendulumOnCartPPP_mtt4_x_unit) DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/InvertedPendulum_abg.fig Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/InvertedPendulum_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/InvertedPendulum_abg.fig +++ /dev/null @@ -1,91 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -6 3555 5085 6345 5310 -4 1 4 100 0 18 14 0.0000 4 210 510 3825 5265 [x_b]\001 -4 1 4 100 0 18 14 0.0000 4 210 525 4950 5265 [y_b]\001 -4 1 4 100 0 18 14 0.0000 4 210 525 6075 5265 [a_b]\001 --6 -6 3555 4545 6345 4770 -4 1 4 100 0 18 14 0.0000 4 210 495 3825 4725 [x_a]\001 -4 1 4 100 0 18 14 0.0000 4 210 510 4950 4725 [y_a]\001 -4 1 4 100 0 18 14 0.0000 4 210 510 6075 4725 [a_a]\001 --6 -6 5805 5355 6345 5445 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 5850 5400 6300 5400 --6 -6 3600 4455 4140 4545 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 3645 4500 4095 4500 --6 -6 4635 4455 5175 4545 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 4680 4500 5130 4500 --6 -6 5805 4455 6345 4545 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 5850 4500 6300 4500 --6 -6 8505 4680 8595 5220 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 8550 4725 8550 5175 --6 -6 4770 2790 5040 3060 -4 1 0 100 0 18 20 0.0000 4 270 195 4905 3060 1\001 --6 -6 3690 2790 3960 3060 -4 1 0 100 0 18 20 0.0000 4 270 195 3825 3060 1\001 --6 -6 3555 2655 4095 2745 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 3600 2700 4050 2700 --6 -6 4680 2655 5220 2745 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 4725 2700 5175 2700 --6 -6 4950 2520 5355 2925 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 5008 2552 5327 2870 --6 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 6525 4950 8550 4950 8325 5175 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4950 2700 4950 1350 5175 1575 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 3825 2700 3825 1350 4050 1575 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 5143 2687 6098 1732 6098 2050 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 3600 6750 4050 6750 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 4725 6750 5175 6750 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 3825 6750 3825 5400 4050 5625 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4950 6750 4950 5400 5175 5625 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 6075 6750 6075 5400 6300 5625 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 6075 4500 6075 3150 6300 3375 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4950 4500 4950 3150 5175 3375 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 3825 4500 3825 3150 4050 3375 -4 1 0 100 0 18 20 0.0000 4 285 1515 4964 5040 ROD:rod\001 -4 1 0 100 0 18 18 0.0000 4 270 885 6030 3015 Se:a_0\001 -4 1 4 100 0 18 20 0.0000 4 360 1050 3780 7155 SS:[x]\001 -4 1 4 100 0 18 20 0.0000 4 360 1080 4950 7155 SS:[y]\001 -4 1 4 100 0 18 20 0.0000 4 360 1065 6075 7155 SS:[a]\001 -4 1 4 100 0 18 14 0.0000 4 210 270 6300 4995 [a]\001 -4 0 0 100 0 18 20 0.0000 4 285 1515 8685 5085 De:theta\001 -4 1 0 100 0 18 18 0.0000 4 270 675 4995 1170 I:m_y\001 -4 1 0 100 0 18 18 0.0000 4 270 675 3870 1170 I:m_x\001 -4 0 0 100 0 18 20 0.0000 4 360 1110 6120 1800 Se:mg\001 DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/InvertedPendulum_lbl.txt Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/InvertedPendulum_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/InvertedPendulum_lbl.txt +++ /dev/null @@ -1,47 +0,0 @@ -%% Label file for system InvertedPendulum (InvertedPendulum_lbl.txt) -%SUMMARY InvertedPendulum -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS in x,y,a - - -% Argument aliases - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - - -% Component type I - m_x lin flow,m_t - m_y lin flow,m_t - -% Component type Se - mg SS m_t*g - -% Component type De - theta SS external - -% Component type SS - [a] SS external,external - [x] SS external,external - [y] SS external,external - -% Component type Se - a_0 SS 0 - -% Component type gRod - rod none l_p;l_p;j_p;m_p;g;omega_0;theta_0 - DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/Make Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/Make ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/Make +++ /dev/null @@ -1,30 +0,0 @@ -#!/bin/sh - -## Makes the files needed for Figures.m -## Copyright (C) 2000 by Peter J. Gawthrop - -if [ -z "$1" ]; then - echo Usage ./Make system_name - exit -else - echo "Making simulation for system $1 (for use in Figures.m)" -fi - -## System -mtt -q -c -stdin $1 ode2odes out -mtt -q -c -stdin $1 sim m -mtt -q $1 state m -mtt -q $1 sympar m -mtt -q $1 numpar m - -## Sensitivity system -mtt -q -c -stdin -s s$1 ode2odes out -mtt -q -c -stdin -s s$1 sim m -mtt -q -s s$1 state m -mtt -q -s s$1 sympar m -mtt -q -s s$1 numpar m - -## Additional system reps for PPP -mtt -q $1 sm m -mtt -q $1 def m -mtt -q -s s$1 def m DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/OpenLoop_abg.fig Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/OpenLoop_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/OpenLoop_abg.fig +++ /dev/null @@ -1,72 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -6 6570 1530 7200 1935 -4 1 1 101 0 3 20 0.0000 4 270 495 6885 1845 u ( )\001 -4 1 1 101 0 0 20 0.0000 4 135 150 6840 1800 *\001 -4 1 1 101 0 32 20 0.0000 4 150 135 7065 1845 t\001 --6 -6 1800 1530 2520 2025 -4 1 1 101 0 3 20 0.0000 4 270 555 2160 1845 U ( )\001 -4 1 1 101 0 3 16 0.0000 4 165 120 2070 2025 1\001 -4 1 1 101 0 0 20 0.0000 4 135 150 2115 1800 *\001 -4 1 1 101 0 32 20 0.0000 4 150 135 2340 1845 t\001 --6 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 6345 2250 7695 2250 7470 2475 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4500 2250 5850 2250 5625 2475 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 1575 5400 2925 5400 2700 5625 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4545 5400 5895 5400 5670 5625 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 6075 5175 6075 4050 6300 4275 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 1575 3825 2925 3825 2700 4050 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4545 3825 5895 3825 5670 4050 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 6075 3600 6075 2475 6300 2700 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 1575 6975 2925 6975 2700 7200 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4545 6975 5895 6975 5670 7200 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 6075 6750 6075 5625 6300 5850 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 1575 2250 2925 2250 2700 2475 -2 4 0 2 31 7 101 0 -1 0.000 0 0 7 0 0 5 - 9000 7875 9000 1125 225 1125 225 7875 9000 7875 -4 2 0 100 0 18 20 0.0000 4 300 1170 1485 2340 Se:Us_1\001 -4 1 0 100 0 18 20 0.0000 4 300 1035 3735 2340 AE:U_1\001 -4 1 0 100 0 18 20 0.0000 4 210 165 6075 2340 1\001 -4 1 0 100 0 18 20 0.0000 4 300 1035 3735 5490 AE:U_3\001 -4 2 0 100 0 18 20 0.0000 4 300 1170 1530 5535 Se:Us_3\001 -4 1 0 100 0 18 20 0.0000 4 210 165 6075 5535 1\001 -4 1 0 100 0 18 20 0.0000 4 300 1035 3735 3915 AE:U_2\001 -4 2 0 100 0 18 20 0.0000 4 300 1170 1530 3960 Se:Us_2\001 -4 1 0 100 0 18 20 0.0000 4 210 165 6075 3960 1\001 -4 1 0 100 0 18 20 0.0000 4 300 1035 3735 7065 AE:U_4\001 -4 2 0 100 0 18 20 0.0000 4 300 1170 1530 7110 Se:Us_4\001 -4 1 0 100 0 18 20 0.0000 4 210 165 6075 7110 1\001 -4 1 1 101 0 3 20 0.0000 4 270 555 2160 3420 U ( )\001 -4 1 1 101 0 3 16 0.0000 4 165 120 2070 3600 2\001 -4 1 1 101 0 0 20 0.0000 4 135 150 2115 3375 *\001 -4 1 1 101 0 32 20 0.0000 4 150 135 2340 3420 t\001 -4 1 1 101 0 3 20 0.0000 4 270 555 2160 4995 U ( )\001 -4 1 1 101 0 3 16 0.0000 4 165 120 2070 5175 3\001 -4 1 1 101 0 0 20 0.0000 4 135 150 2115 4950 *\001 -4 1 1 101 0 32 20 0.0000 4 150 135 2340 4995 t\001 -4 1 1 101 0 3 20 0.0000 4 270 555 2160 6570 U ( )\001 -4 1 1 101 0 3 16 0.0000 4 165 120 2070 6750 4\001 -4 1 1 101 0 0 20 0.0000 4 135 150 2115 6525 *\001 -4 1 1 101 0 32 20 0.0000 4 150 135 2340 6570 t\001 -4 0 4 100 0 18 20 0.0000 4 300 1005 7830 2340 SS:[us]\001 -4 1 1 101 0 3 20 0.0000 4 285 2370 3825 7695 Open-loop control\001 DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/OpenLoop_lbl.txt Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/OpenLoop_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/OpenLoop_lbl.txt +++ /dev/null @@ -1,40 +0,0 @@ -%% Label file for system OpenLoop (OpenLoop_lbl.txt) -%SUMMARY OpenLoop -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS out us - -% Argument aliases - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type AE - U_1 lin ppp_1 - U_2 lin ppp_2 - U_3 lin ppp_3 - U_4 lin ppp_4 - -% Component type SS - [us] SS external,external - -% Component type Se - Us_1 SS external - Us_2 SS external - Us_3 SS external - Us_4 SS external - - DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/ROD_abg.fig Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/ROD_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/ROD_abg.fig +++ /dev/null @@ -1,127 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5854 5404 6529 6079 6304 6079 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5853 4953 6528 4278 6528 4503 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 1 - 4277 3827 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6977 6527 8102 7652 7877 7652 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6977 3827 8102 2702 8102 2927 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5852 5177 6527 5177 6392 5312 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2927 2927 2927 4952 3152 4727 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2927 5402 2927 7427 3152 7202 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2701 5176 2026 5176 2161 5311 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2926 1351 2926 2476 3196 2206 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2926 7876 2926 9001 3196 8731 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8328 2928 8328 4953 8553 4728 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8328 5403 8328 7428 8553 7203 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8327 1352 8327 2477 8597 2207 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8327 7877 8327 9002 8597 8732 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5626 1351 5626 4951 5851 4726 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5626 5401 5626 9001 5851 8776 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 1 - 6526 5401 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 6526 4951 6526 5401 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8551 5176 9226 5176 9091 5311 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3826 4951 6526 4051 6436 4231 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3826 4996 3826 5356 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4276 5176 3826 5176 3961 5311 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3826 5401 6301 6301 6121 6301 -2 1 0 1 5 -1 0 0 -1 0.000 0 0 -1 0 0 3 - 3601 5401 4051 6301 3826 6301 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3601 4951 4051 4051 4051 4276 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5536 5176 5086 5176 5221 5311 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 6300 9675 6300 675 4950 675 4950 9675 6300 9675 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 9000 9675 9000 675 7650 675 7650 9675 9000 9675 -2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 11025 10305 11025 225 225 225 225 10305 11025 10305 -2 4 0 1 1 7 0 0 -1 0.000 0 0 7 0 0 5 - 3600 9675 2250 9675 2250 675 3600 675 3600 9675 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 10125 2250 990 2250 990 900 10125 900 10125 2250 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 10125 9450 990 9450 990 8100 10125 8100 10125 9450 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8550 5400 9225 6075 8955 6075 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 8685 5265 8415 5535 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3375 5175 2025 3825 2250 3825 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 8550 4950 8550 5400 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 2700 4950 2700 5400 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4275 6525 3150 7650 3150 7425 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5425 5419 4750 6094 4750 5869 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4273 3823 3148 2698 3373 2698 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5400 4950 4725 4275 4950 4275 -4 1 -1 0 0 0 20 0.0000 4 255 180 5628 5268 1\001 -4 1 -1 0 0 0 20 0.0000 4 255 570 6933 5268 IS:J\001 -4 1 -1 0 0 0 20 0.0000 4 255 180 2927 5312 1\001 -4 1 -1 0 0 0 20 0.0000 4 255 180 2972 2792 0\001 -4 1 -1 0 0 0 20 0.0000 4 255 180 2927 7742 0\001 -4 1 -1 0 0 0 20 0.0000 4 255 180 8328 5313 1\001 -4 1 -1 0 0 0 20 0.0000 4 255 180 8373 2793 0\001 -4 1 -1 0 0 0 20 0.0000 4 255 180 8328 7743 0\001 -4 1 -1 0 0 0 20 0.0000 4 330 870 9676 5266 I:m_y\001 -4 1 -1 0 0 0 20 0.0000 4 330 900 1531 5221 I:m_x\001 -4 1 -1 0 0 0 20 0.0000 4 255 1440 4636 4141 EMTF:c1\001 -4 1 -1 0 0 0 20 0.0000 4 255 1440 4681 6391 EMTF:c2\001 -4 1 -1 0 0 0 20 0.0000 4 255 1425 7156 4141 EMTF:s1\001 -4 1 -1 0 0 0 20 0.0000 4 255 1425 7156 6391 EMTF:s2\001 -4 1 5 0 0 0 20 0.0000 4 255 180 3603 5313 0\001 -4 1 26 0 0 0 16 0.0000 4 240 675 6211 6526 [mod]\001 -4 1 5 0 0 0 20 0.0000 4 255 1425 4681 5266 INTFS:th\001 -4 1 1 1 0 0 20 0.0000 4 255 270 2925 10035 X\001 -4 1 1 1 0 32 20 0.0000 4 195 240 5580 9990 a\001 -4 1 1 1 0 0 20 0.0000 4 255 240 8280 9990 Y\001 -4 2 26 0 0 0 16 0.0000 4 240 675 3960 4140 [mod]\001 -4 2 26 0 0 0 16 0.0000 4 240 675 6345 4095 [mod]\001 -4 2 26 0 0 0 16 0.0000 4 240 675 3960 6210 [mod]\001 -4 1 4 0 0 0 20 0.0000 4 330 1785 2971 1216 SS:[xTip_a]\001 -4 1 4 0 0 0 20 0.0000 4 330 1800 2971 9361 SS:[xTip_b]\001 -4 1 4 0 0 0 20 0.0000 4 330 1755 8372 1217 SS:[yTip_a]\001 -4 1 4 0 0 0 20 0.0000 4 330 1770 8417 9362 SS:[yTip_b]\001 -4 1 4 0 0 0 20 0.0000 4 330 2700 5671 1216 SS:[angularTip_a]\001 -4 1 4 0 0 0 20 0.0000 4 330 2715 5671 9361 SS:[angularTip_b]\001 -4 1 1 1 0 0 20 0.0000 4 330 765 1350 2700 Tip a\001 -4 1 1 1 0 0 20 0.0000 4 255 1800 1260 6300 Mass centre\001 -4 1 1 1 0 0 20 0.0000 4 330 780 1350 9855 Tip b\001 -4 1 -1 0 0 0 20 0.0000 4 330 930 9360 6345 Se:mg\001 -4 2 4 0 0 0 20 0.0000 4 330 1515 1935 3735 SS:[angle]\001 DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/ROD_lbl.txt Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/ROD_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/ROD_lbl.txt +++ /dev/null @@ -1,101 +0,0 @@ -%SUMMARY ROD: rigid rod in two dimensions - with gravity and angle port -%DESCRIPTION See Section 10.2 of "Metamodelling" -%DESCRIPTION Gravity term added at centre - -%ALIAS $1 l_a # length from end a to mass centre -%ALIAS $2 l_b # length from end b to mass centre -%ALIAS $3 j_m # inertia about mass centre -%ALIAS $4 m # mass -%ALIAS $5 g # gravity - -%ALIAS in|Tip_a xTip_a,angularTip_a,yTip_a -%ALIAS out|Tip_b xTip_b,angularTip_b,yTip_b - -%ALIAS in|Tip_a xTip_a,angularTip_a,yTip_a -%ALIAS out|Tip_b xTip_b,angularTip_b,yTip_b - -%ALIAS x_a xTip_a # Force/velocity at tip a in x direction -%ALIAS y_a yTip_a # Force/velocity at tip a in y direction -%ALIAS alpha_a|a_a angularTip_a # Torque/angular velocity at tip a - -%ALIAS x_b xTip_b # Force/velocity at tip b in x direction -%ALIAS y_b yTip_b # Force/velocity at tip b in y direction -%ALIAS alpha_b|a_b angularTip_b # Torque/angular velocity at tip b - -%ALIAS angle|a angle # Angle port - -%ALIAS INTF General/INTF # The flow integration component. - -%% Label file for system ROD (ROD_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1999/10/22 02:01:45 peterg -% %% Initial revision -% %% -% %% Revision 1.1 1999/08/05 08:04:40 peterg -% %% Initial revision -% %% -% %% Revision 1.3 1998/11/30 10:47:53 peterg -% %% Added extra a_a and a_b aliases -% %% -% %% Revision 1.2 1998/11/25 13:55:42 peterg -% %% Added missig attribute field m*g,internal -% %% -% %% Revision 1.1 1998/11/25 10:48:34 peterg -% %% Initial revision -% %% -% %% Revision 1.5 1998/07/27 12:27:27 peterg -% %% Added vector port aliases -% %% -% %% Revision 1.4 1998/07/27 10:51:20 peterg -% %% Aliased INTF as well. -% %% -% %% Revision 1.3 1998/07/27 10:49:10 peterg -% %% Major revision to include aliases etc -% %% -% %% Revision 1.2 1997/08/15 09:43:06 peterg -% %% Now has lablelled (as opposed to numbered) ports. -% %% -% Revision 1.1 1996/11/07 10:57:17 peterg -% Initial revision -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - -%Inertias -J lin flow,j_m;omega_0 -m_x lin flow,m -m_y lin flow,m - -%Integrate angular velocity to get angle -th none theta_0 - -%Modulated transformers -s1 lsin flow,l_a -s2 lsin flow,l_b -c1 lcos flow,l_a -c2 lcos flow,l_b - - -% Component type Se - mg SS m*g - -% Component type SS - [angularTip_a] SS external,external - [angularTip_b] SS external,external - [xTip_a] SS external,external - [xTip_b] SS external,external - [yTip_a] SS external,external - [yTip_b] SS external,external - [angle] SS external,external - - - DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/Zero_abg.fig Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/Zero_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/Zero_abg.fig +++ /dev/null @@ -1,21 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2700 2700 4050 2700 3825 2925 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2700 3375 4050 3375 3825 3600 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2700 4050 4050 4050 3825 4275 -4 1 4 100 0 18 18 0.0000 4 270 765 2160 2790 SS:[x]\001 -4 1 0 100 0 18 18 0.0000 4 210 570 4545 2790 Se:x\001 -4 1 4 100 0 18 18 0.0000 4 270 765 2160 3465 SS:[y]\001 -4 1 0 100 0 18 18 0.0000 4 270 570 4545 3465 Se:y\001 -4 1 4 100 0 18 18 0.0000 4 270 780 2160 4140 SS:[a]\001 -4 1 0 100 0 18 18 0.0000 4 210 525 4545 4140 Sf:a\001 DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/Zero_lbl.txt Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/Zero_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/Zero_lbl.txt +++ /dev/null @@ -1,33 +0,0 @@ -%% Label file for system Zero (Zero_lbl.txt) -%SUMMARY Zero -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS in x,y,a - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - [a] SS external,external - [x] SS external,external - [y] SS external,external - -% Component type Se - x SS 0 - y SS 0 - -% Component type Sf - a SS external - - DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sCart_lbl.txt Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sCart_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sCart_lbl.txt +++ /dev/null @@ -1,59 +0,0 @@ -%% Label file for system sCart (sCart_lbl.txt) -%SUMMARY sCart -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS in drive_1,drive_2 -%ALIAS pendulum|out x_1,x_2,y_1,y_2,a_1,a_2 - -% Argument aliases -%ALIAS $1 m_c -%ALIAS $2 r_c -%ALIAS $3 r_p - -%ALIAS $4 m_cs -%ALIAS $5 r_cs -%ALIAS $6 r_ps - -%ALIAS $7 v_0 -%ALIAS $8 v_0s - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type I - m_c lin flow,m_c;v_0;m_cs;v_0s - -% Component type R - r_c lin flow,r_c;r_cs - r_p lin flow,r_p;r_ps - -% Component type sINTFS - x none x_0;x_0s - -% Component type SS - [a] SS external,external - [drive] SS external,external - [x] SS external,external - [y] SS external,external - -% Component type De - Position SS external;external - -% Component type Sf - zero_velocity SS 0;0 - - - DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sDCS_lbl.txt Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sDCS_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sDCS_lbl.txt +++ /dev/null @@ -1,39 +0,0 @@ -%SUMMARY sDCS: DC motor - sensitivity -%DESCRIPTION A special for the inverted pendulum system -%DESCRIPTION Derivative causality on the shaft -%DESCRIPTION No aliased parameters -%DESCRIPTION Built in causality - speeds things up -%DESCRIPTION Only the armature state and shaft resistance are variable - -%ALIAS in Electrical_1,Electrical_2 -%ALIAS out Mechanical_1,Mechanical_2 - - -%% Label file for system sDCS (sDCS_lbl.txt) - - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - -%Motor gain -k_m lin flow,k_m;0 - -% Electrical components -%Inductance -l_a lin flow,l_a;i_0;0;i_0s - -%Resistance -r_a lin flow,r_a;0 - -% Mechanical components -%Inertia -j_m lin flow,j_m;0 - -%Friction -b_m lin flow,b_m;b_ms - -% Ports - [Electrical] SS external,external - [Mechanical] SS external,external DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sDriveCart_identify.m Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sDriveCart_identify.m ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sDriveCart_identify.m +++ /dev/null @@ -1,109 +0,0 @@ -function sDriveCart_identify () - - ## usage: sDriveCart_identify () - ## - ## - - ## Identify the Drive/cart friction - ## $Id$ - - system_name = "sDriveCart"; # Name of this system - input_name = sprintf("%s_input.dat", system_name); - ## disp("Create programs"); - ## system(sprintf("mtt -q -c -s -stdin %s ode2odes out", system_name)); # Create sim. code - ## system(sprintf("mtt -q -c -s -stdin %s numpar m", system_name)); # Create sim. code - ## system(sprintf("mtt -q -c -s -stdin %s def m", system_name)); # Create sim. code - - ## Optimisation parameters - crite = 1e-5; # Convergence criterion - alpha = 0.5; # Step reduction factor - max = 30; # Maximum iterations - View = 1 # View the optimisation process - - ## Parameters - global mtt_n_parameters - mtt_n_parameters = 0; - - eval(sprintf("%s_numpar;", system_name)); - - alpha = 0.75; - criterion = 1e-9; - max_iterations = 20; - - ## Real data - disp("Loading data"); - load -force data_020999.dat; - [N_data,M_data] = size(data_020999); - M = 10; - t = data_020999(1:M:N_data,1); - u = data_020999(1:M:N_data,2); - y = data_020999(1:M:N_data,3)/100; # convert from cm to m - - gset grid - gset title "" - gset xlabel "Time (sec)" - tu = [t u]; - ty = [t y]; - gplot tu title "input (V)", ty title "output (m)" - psfig("sDriveCart_yu"); - - - y_s = [u y]; # u is first o/p of system. - ## Start time at zero - t = t-t(1)*ones(size(t)); - - T_last = 40; - DT = t(2)-t(1); - - tu = [t u u u u]; # Put same signal on all inputs (only - # first used - save -ascii junk.dat tu - ## zap the octave comments - system(sprintf("grep -v \'#\' junk.dat > %s; rm -f junk.dat", input_name)); - - ## Set up theta - control = [1 0 0 0]; # Initial control parameters - unused = 0; # Unused parameter slot - r_c = 0; - parameters = [r_c m_c unused unused unused]; - i_r = 4+1; - i_m = 4+2; - state = [0 unused unused 0 0]; - i_v = 4+5+4; - i_x = 4+5+5; - i_i = 4+5+1; - theta_0 = [control parameters state]'; - - ## Weighting function - select output, not input - weight = ones(size(t))*[0 1]; - - ## Estimate r only - free = [i_r i_i i_v i_x]; - disp("Estimate cart friction ..."); - [theta,Theta,Error,Y] = mtt_optimise(system_name,y_s,theta_0,"time",\ - free,weight,crite,max,alpha,View); - - ## Plot results -# ix = [its Theta(i_x,:)']; -# iv = [its Theta(i_v,:)']; -# ii = [its Theta(i_i,:)']; - -# gplot \ -# ix with linespoints title "x_0",\ -# iv with linespoints title "p_0",\ -# ii with linespoints title "i_0" - -# psfig("sDriveCart_ident_x"); - - [N_th,M_th] = size(Theta); - its = [0:M_th-1]'; - gset grid - gset title "" - gset xlabel "Iterations" - ir = [its Theta(i_r,:)']; - gplot ir with linespoints title "r" - psfig("sDriveCart_ident_r"); - - r_c = theta(i_r) - -endfunction DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sDriveCart_numpar.txt Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sDriveCart_numpar.txt ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sDriveCart_numpar.txt +++ /dev/null @@ -1,200 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# Numerical parameter file (sInvertedPendulumOnCart_numpar.txt) -# Generated by MTT at Wed Aug 25 22:57:05 BST 1999 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %% Revision 1.1 1999/12/03 00:50:28 peterg -# %% Initial revision -# %% -# %% Revision 1.1 1999/11/12 06:47:50 peterg -# %% Initial revision -# %% -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -## Same as sInvertedpendulumOnCart with pendulum stuff removed. - -# Parameters -j_m = 3.87e-7; # Motor inertia -k_m = 0.00767; # Motor constant -r_a = 2.6; # Armature resistance -l_a = 0.18e-3; # Armature inductance - -k_g = 1/3.7; # Internal gear ratio -r = 0.635e-2; # Motor gear radius - -m_c = 0.455; # Cart mass - -b_m = 0.0; # Motor friction -r_c = 5.0; # Cart friction - -# l_p = 0.61; # Pendulum length -# m_p = 0.210; # Pendulum mass -# r_p = 0.0; # Pendulum friction -# j_p = m_p*(l_p*l_p)/12; # Pendulum inertia about cm. - -# g = +9.81; # Gravity - -# m_t = 0.0; # Tip mass - -## Sensitivity parameters -m_cs = 0; # Cart mass -b_ms = 0; # Motor friction -r_cs = 0; # Cart friction - -# j_ps = 0; # Pendulum inertia -# m_ps = 0; # Pendulum mass -# r_ps = 0; # Pendulum friction - -# m_ts = 0; # Tip mass - -## Initial states -i_0 = 0; # Initial armature current -# omega_0 = 0; # Initial pendulum velocity -# theta_0 = 0; # Initial pendulum angle -v_0 = 0; # Initial cart velocity -x_0 = 0; # Initial cart position - -## Sensitivity parameters -i_0s = 0; # Initial armature current -# omega_0s = 0; # Initial pendulum velocity -# theta_0s = 0; # Initial pendulum angle -v_0s = 0; # Initial cart velocity -x_0s = 0; # Initial cart position - -## Control parameters -k_1 = 1; -k_2 = 0; -k_3 = 0; -k_4 = 0; - -## Control sensitivity parameters -k_1s = 0; -k_2s = 0; -k_3s = 0; -k_4s = 0; - - -## Which sensitivity function? NB all other sens. coeffs MUST be zero - -## see above -if (mtt_n_parameters>=1) - mtti = mtt_parameters(1); - - if mtti==1 - k_1s = 1; - endif - - if mtti==2 - k_2s = 1; - endif - - if mtti==3 - k_3s = 1; - endif - - if mtti==4 - k_4s = 1; - endif - - if mtti==5 - r_cs = 1; - endif - - if mtti==6 - m_cs = 1; - endif - -# if mtti==7 -# r_ps = 1; -# endif - -# if mtti==8 -# m_ts = 1; -# endif - -# if mtti==9 -# j_ps = 1; -# endif - - if mtti==10 - i_0s = 1; # Initial armature current - endif - -# if mtti==11 -# omega_0s = 1; # Initial pendulum velocity -# endif - -# if mtti==12 -# theta_0s = 1; # Initial pendulum position -# endif - - if mtti==13 - v_0s = 1; # Initial cart velocity - endif - - if mtti==14 - x_0s = 1; # Initial cart angle - endif - -endif; - -## Control parameters - -if (mtt_n_parameters>=2) - k_1 = mtt_parameters(2); -endif; - -if (mtt_n_parameters>=3) - k_2 = mtt_parameters(3); -endif; - -if (mtt_n_parameters>=4) - k_3 = mtt_parameters(4); -endif; - -if (mtt_n_parameters>=5) - k_4 = mtt_parameters(5); -endif; - -## Physical parameters -if (mtt_n_parameters>=6) - r_c = mtt_parameters(6); -endif; - -if (mtt_n_parameters>=7) - m_c = mtt_parameters(7); -endif; - -# if (mtt_n_parameters>=8) -# r_p = mtt_parameters(8); -# endif; - -# if (mtt_n_parameters>=9) -# m_t = mtt_parameters(9); -# endif; - -# if (mtt_n_parameters>=10) -# j_p = mtt_parameters(10); -# endif; - -## Initial condition parameters - states are read in -if (mtt_n_parameters>=15) # - i_0 = mtt_parameters(11); # Initial armature current -# omega_0 = mtt_parameters(12); # Initial cart velocity -# theta_0 = mtt_parameters(13); # Initial cart position - v_0 = mtt_parameters(14); # Initial pendulum velocity - x_0 = mtt_parameters(15); # Initial pendulum angle -endif; - -## Simulation stuff - -if (mtt_n_parameters>=16) - LAST = mtt_parameters(16); -endif; -if (mtt_n_parameters>=17) - DT = mtt_parameters(17); -endif; - DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sDriveCart_simpar.txt Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sDriveCart_simpar.txt ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sDriveCart_simpar.txt +++ /dev/null @@ -1,19 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# Simulation parameters for system sDriveCart (sDriveCart_simpar.txt) -# Generated by MTT on Fri Dec 3 10:30:48 EST 1999. -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - - -LAST = 40.0; # Last time in simulation -DT = 0.1; # Print interval -STEPFACTOR = 1; # Integration steps per print interval -WMIN = -1; # Minimum frequency = 10^WMIN -WMAX = 2; # Maximum frequency = 10^WMAX -WSTEPS = 100; # Number of frequency steps -INPUT = 1; # Index of the input - DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sDrive_lbl.txt Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sDrive_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sDrive_lbl.txt +++ /dev/null @@ -1,36 +0,0 @@ -%% Label file for system sDrive (sDrive_lbl.txt) -%SUMMARY sDrive -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS in Electrical_1,Electrical_2 -%ALIAS out Mechanical_1,Mechanical_2 - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type sDCS - motor - -% Component type SS - [Electrical] SS external,external - [Mechanical] SS external,external - -% Component type sTF - k_g lin flow,k_g;0 - r lin flow,r;0 - - - DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sEMTF_abg.fig Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sEMTF_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sEMTF_abg.fig +++ /dev/null @@ -1,103 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -6 2205 3555 2295 4095 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 2250 3600 2250 4050 --6 -6 2205 3555 2295 4095 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 2250 3600 2250 4050 --6 -6 2205 7155 2295 7695 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 2250 7200 2250 7650 --6 -6 3510 4005 4050 4095 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 4005 4050 3555 4050 --6 -6 3645 5850 4185 5940 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 4140 5895 3690 5895 --6 -6 8730 5355 9270 5445 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 9225 5400 8775 5400 --6 -6 3600 7155 4140 7245 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 4095 7200 3645 7200 --6 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2250 7425 3600 7425 3375 7650 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4050 7425 5400 7425 5175 7650 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 7425 7425 8775 7425 8550 7650 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 9225 7425 10575 7425 10350 7650 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2250 3825 3600 3825 3375 4050 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4050 3825 5400 3825 5175 4050 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 7425 3825 8775 3825 8550 4050 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 9225 3825 10575 3825 10350 4050 -2 1 0 2 -1 7 100 0 -1 0.000 0 0 -1 0 0 3 - 3825 5895 9000 7200 9000 6975 -2 1 0 2 -1 7 100 0 -1 0.000 0 0 -1 0 0 3 - 9006 5873 3831 7178 3831 6953 -2 1 0 2 5 7 100 0 -1 0.000 0 0 -1 0 0 3 - 6300 450 6300 1800 6525 1575 -2 1 0 2 5 7 100 0 -1 0.000 0 0 -1 0 0 3 - 6300 2250 6300 3600 6525 3375 -2 1 0 2 5 7 100 0 -1 0.000 0 0 -1 0 0 2 - 6075 1800 6525 1800 -2 1 0 2 5 7 100 0 -1 0.000 0 0 -1 0 0 4 - 6075 2025 4275 2025 4275 5400 4500 5175 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 3825 4050 3825 5400 4050 5175 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 9000 4050 9000 5400 9225 5175 -2 1 0 2 5 7 100 0 -1 0.000 0 0 -1 0 0 3 - 6525 2250 6525 7200 6750 6975 -2 1 0 2 5 7 100 0 -1 0.000 0 0 -1 0 0 4 - 6525 2025 8550 2025 8550 5400 8775 5175 -2 1 0 2 5 7 100 0 -1 0.000 0 0 -1 0 0 4 - 6525 8550 9225 8550 9225 5850 9450 6075 -2 1 0 2 5 7 100 0 -1 0.000 0 0 -1 0 0 4 - 6075 8550 3600 8550 3600 5850 3375 6075 -2 1 0 2 5 7 100 0 -1 0.000 0 0 -1 0 0 3 - 6300 10125 6300 8775 6525 9000 -2 1 0 2 5 7 100 0 -1 0.000 0 0 -1 0 0 2 - 6075 8775 6525 8775 -4 1 4 100 0 18 20 0.0000 4 285 2415 6210 360 SS:[Actual_mod]\001 -4 1 5 100 0 18 20 0.0000 4 210 165 6300 2115 0\001 -4 1 4 100 0 18 20 0.0000 4 285 1845 1215 7515 SS:[Sens_in]\001 -4 1 0 100 0 18 20 0.0000 4 210 165 3825 7515 1\001 -4 1 0 100 0 18 20 0.0000 4 225 1590 6435 7515 EMTF:sens\001 -4 1 0 100 0 18 20 0.0000 4 210 165 9000 7515 0\001 -4 1 4 100 0 18 20 0.0000 4 285 2040 11790 7515 SS:[Sens_out]\001 -4 1 4 100 0 18 20 0.0000 4 285 2055 1215 3915 SS:[Actual_in]\001 -4 1 0 100 0 18 20 0.0000 4 210 165 3825 3915 1\001 -4 1 0 100 0 18 20 0.0000 4 225 1785 6435 3915 EMTF:actual\001 -4 1 0 100 0 18 20 0.0000 4 210 165 9000 3915 0\001 -4 1 4 100 0 18 20 0.0000 4 285 2250 11790 3915 SS:[Actual_out]\001 -4 1 0 100 0 18 20 0.0000 4 225 1170 8955 5715 AE3:ae3\001 -4 1 0 100 0 18 20 0.0000 4 225 1095 3825 5715 AF3:af3\001 -4 2 4 100 0 18 14 0.0000 4 210 600 6255 3600 [mod]\001 -4 2 4 100 0 18 14 0.0000 4 210 600 6435 7155 [mod]\001 -4 1 4 100 0 18 20 0.0000 4 285 2205 6300 10395 SS:[Sens_mod]\001 -4 1 5 100 0 18 20 0.0000 4 210 165 6345 8640 0\001 -4 2 4 100 0 18 14 0.0000 4 210 720 3420 5985 [smod]\001 -4 0 4 100 0 18 14 0.0000 4 210 720 9540 5940 [smod]\001 -4 2 4 100 0 18 14 0.0000 4 210 600 8505 5355 [mod]\001 -4 0 4 100 0 18 14 0.0000 4 210 600 4455 5400 [mod]\001 DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sEMTF_lbl.txt Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sEMTF_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sEMTF_lbl.txt +++ /dev/null @@ -1,52 +0,0 @@ -%% Label file for system sEMTF (sEMTF_lbl.txt) -%SUMMARY sEMTF Effort modulated TF - sensitivity version -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS in Actual_in,Sens_in -%ALIAS out Actual_out,Sens_out -%ALIAS mod Actual_mod,Sens_mod - - -% Argument aliases -%ALIAS $1 l - -% CR aliases -%ALIAS $1 lsin -%ALIAS $2 slsin - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type EMTF - actual lsin flow,l - sens lsin flow,l - -% Component type AE3 (????NB NEGATIVE GAIN HERE!!!!) - ae3 slsin l - -% Component type AF3 - af3 slsin l - -% Component type SS - [Actual_in] SS external,external - [Actual_out] SS external,external - [Actual_mod] SS external,internal - [Sens_in] SS external,external - [Sens_out] SS external,external - [Sens_mod] SS external,internal - - - DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sINTFS_abg.fig Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sINTFS_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sINTFS_abg.fig +++ /dev/null @@ -1,30 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3376 3151 4276 3151 4051 3376 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4501 2926 4501 2026 4726 2251 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4726 3151 5626 3151 5401 3376 -2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 10575 4950 45 4950 45 1350 10575 1350 10575 4950 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1575 3150 2475 3150 2250 3375 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6526 3150 7426 3150 7201 3375 -4 1 6 0 0 0 20 0.0000 4 256 181 4502 3242 [1,2]\001 -4 1 -1 0 0 0 20 0.0000 4 255 180 4502 3241 0\001 -4 1 -1 0 0 0 20 0.0000 4 255 1110 4501 1891 sCS:unit\001 -4 2 6 0 0 0 20 0.0000 4 316 1456 1531 3241 [1,2]\001 -4 2 4 0 0 0 20 0.0000 4 315 1455 1531 3240 SS:[Flow]\001 -4 1 -1 0 0 0 20 0.0000 4 255 825 2925 3240 sAF:af\001 -4 1 -1 0 0 0 20 0.0000 4 255 900 6075 3240 sAE:ae\001 -4 0 6 0 0 0 20 0.0000 4 331 3046 7471 3241 [1,2]\001 -4 0 4 0 0 0 20 0.0000 4 330 3045 7471 3240 SS:[Integrated_flow]\001 DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sINTFS_lbl.txt Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sINTFS_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sINTFS_lbl.txt +++ /dev/null @@ -1,45 +0,0 @@ -%% Label file for system sINTFS (sINTFS_lbl.txt) -%SUMMARY sINTFS: flow integrator -%DESCRIPTION Port [in]: Flow to be integrated -%DESCRIPTION Port [out]: Effort = integral of flow on port [in] - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.3 1998/07/16 07:35:10 peterg -% %% Aliased version -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS in Flow_1,Flow_2 -%ALIAS out Integrated_flow_1,Integrated_flow_2 - -% Argument aliases -%ALIAS $1 x_0 -%ALIAS $2 x_0s - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% CS - unit SS effort,1;x_0;0;x_0s - -% Component type AE - ae lin 1;0 - -% Component type AF - af lin 1;0 - - -% Component type SS - [Flow] SS external,external - [Integrated_flow] SS external,external DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sIS_abg.fig Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sIS_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sIS_abg.fig +++ /dev/null @@ -1,25 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -6 2340 3915 2610 4185 -4 1 6 100 0 18 20 0.0000 4 271 196 2476 4186 [1,2]\001 -4 1 0 100 0 18 20 0.0000 4 270 195 2476 4185 0\001 --6 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2475 3825 2475 2475 2700 2700 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2475 5625 2475 4275 2700 4500 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2700 4050 4050 4050 3825 4275 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 4050 3825 4050 4275 -4 1 0 100 0 18 20 0.0000 4 285 315 2475 2295 sI:i\001 -4 0 0 100 0 18 20 0.0000 4 360 1035 4185 4185 sSf:f_0\001 -4 1 6 100 0 18 20 0.0000 4 361 1186 2476 6031 [1,2]\001 -4 1 4 100 0 18 20 0.0000 4 360 1185 2476 6030 SS:[in]\001 DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sIS_lbl.txt Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sIS_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sIS_lbl.txt +++ /dev/null @@ -1,37 +0,0 @@ -%% Label file for system sIS (sIS_lbl.txt) -%SUMMARY sIS -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -% Port aliases -%ALIAS in in_1,in_2 - -% Argument aliases -%ALIAS $1 flow,i -%ALIAS $2 f_0 -%ALIAS $3 i_s -%ALIAS $4 f_0s - -% Argument aliases - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type SS - [in] SS external,external - -% Component type sI - i lin flow,i;i_s - -% Component type sSf - f_0 SS f_0;f_0s DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sInvertedPendulumOnCartPPP_numpar.txt Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sInvertedPendulumOnCartPPP_numpar.txt ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sInvertedPendulumOnCartPPP_numpar.txt +++ /dev/null @@ -1,92 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# Numerical parameter file (sInvertedPendulumOnCart_numpar.txt) -# Generated by MTT at Tue Apr 18 18:07:52 BST 2000 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -## Default parameters -b_m = 0.0; # sDCS -b_ms = 0.0; # sDCS -c = 0.0; # sC,sC,sCS,sCS -c_s = 0.0; # sCS,sCS -e_0 = 0.0; # sCS,sCS -e_0s = 0.0; # sCS,sCS -e_s = 0.0; # Se,Se,Se,sSe,sSe,sSe -f_0 = 0.0; # sIS,sIS,sIS -f_0s = 0.0; # sIS,sIS,sIS -f_s = 0.0; # Sf,Sf,Sf,sSf,sSf,sSf -g = 0.0; # AFe,AFe,sInvertedPendulum,sROD -i = 0.0; # sI,sI,sI,sI,sI,sI,sIS,sIS,sIS -i_0 = 0.0; # sDCS -i_0s = 0.0; # sDCS -i_s = 0.0; # sIS,sIS,sIS -j_m = 0.0; # sDCS,sROD -j_p = 0.0; # sInvertedPendulum -j_ps = 0.0; # sInvertedPendulum -j_s = 0.0; # sROD -k = 0.0; # sAE,sAE,sAE,sAF,sAF,sGY,sTF -ppp_1 = 1.0; # sOpenLoop -ppp_1s = 0.0; # sOpenLoop -ppp_2 = 0.0; # sOpenLoop -ppp_2s = 0.0; # sOpenLoop -ppp_3 = 0.0; # sOpenLoop -ppp_3s = 0.0; # sOpenLoop -ppp_4 = 0.0; # sOpenLoop -ppp_4s = 0.0; # sOpenLoop -k_g = 0.0; # sDrive -k_m = 0.0; # sDCS -k_s = 0.0; # sAE,sAE,sAE,sAF,sAF,sC,sC,sGY,sI,sI,sI,sI,sI,sI,sR,sR,sSe,sSe,sSe,sSf,sSf,sSf,sTF -l = 0.0; # AE3,AF3,sEMTF -l_a = 0.0; # sDCS,sROD -l_b = 0.0; # sROD -l_p = 0.0; # sInvertedPendulum,sInvertedPendulumOnCart -m = 0.0; # sROD -m_c = 0.0; # sCart -m_cs = 0.0; # sCart -m_p = 0.0; # sInvertedPendulum -m_ps = 0.0; # sInvertedPendulum -m_s = 0.0; # sROD -m_t = 0.0; # sInvertedPendulum -m_ts = 0.0; # sInvertedPendulum -omega_0 = 0.0; # sInvertedPendulum,sROD -omega_0s = 0.0; # sInvertedPendulum,sROD -r = 0.0; # sDrive,sR,sR -r_a = 0.0; # sDCS -r_c = 0.0; # sCart -r_cs = 0.0; # sCart -r_p = 0.0; # sCart -r_ps = 0.0; # sCart -theta_0 = 0.0; # sInvertedPendulum,sROD -theta_0s = 0.0; # sInvertedPendulum,sROD -v_0 = 0.0; # sCart -v_0s = 0.0; # sCart -x_0 = 0.0; # sCart,sINTFS,sINTFS -x_0s = 0.0; # sCart,sINTFS,sINTFS - - -## Pysical Parameters -j_m = 3.87e-7; # Motor inertia -k_m = 0.00767; # Motor constant -r_a = 2.6; # Armature resistance -l_a = 0.18e-3; # Armature inductance - -k_g = 1/3.7; # Internal gear ratio -r = 0.635e-2; # Motor gear radius - -m_c = 0.455; # Cart mass - -b_m = 0.0; # Motor friction -r_c = 1.5; # Cart friction - -l_p = 0.61; # Pendulum length -m_p = 0.210; # Pendulum mass -r_p = 0.0; # Pendulum friction - -j_p = m_p*(l_p*l_p)/12; # Pendulum inertia about cm. - -g = 9.81; # Gravity DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sInvertedPendulumOnCartPPP_state.txt Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sInvertedPendulumOnCartPPP_state.txt ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sInvertedPendulumOnCartPPP_state.txt +++ /dev/null @@ -1,21 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# Initial state file (sInvertedPendulumOnCartPPP_state.txt) -# Generated by MTT at Thu May 4 14:57:10 BST 2000 -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - -# Set the states -mttx(1) = 0.0; # i_1 (sInvertedPendulumOnCartPPP_mtt2_motor_l_a_i) -mttx(2) = 0.0; # i_2 (sInvertedPendulumOnCartPPP_mtt2_motor_l_a_i) -mttx(3) = 0.0; # i_1 (sInvertedPendulumOnCartPPP_mtt3_rod_J_i) -mttx(4) = 0.0; # i_2 (sInvertedPendulumOnCartPPP_mtt3_rod_J_i) -mttx(5) = pi/2; # c_1 (sInvertedPendulumOnCartPPP_mtt3_rod_th_unit_c) -mttx(6) = 0.0; # c_2 (sInvertedPendulumOnCartPPP_mtt3_rod_th_unit_c) -mttx(7) = 0.0; # i_1 (sInvertedPendulumOnCartPPP_mtt4_m_c_i) -mttx(8) = 0.0; # i_2 (sInvertedPendulumOnCartPPP_mtt4_m_c_i) -mttx(9) = 0.0; # c_1 (sInvertedPendulumOnCartPPP_mtt4_x_unit_c) -mttx(10) = 0.0; # c_2 (sInvertedPendulumOnCartPPP_mtt4_x_unit_c) DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sInvertedPendulumOnCart_input.txt Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sInvertedPendulumOnCart_input.txt ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sInvertedPendulumOnCart_input.txt +++ /dev/null @@ -1,37 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# Input specification (sInvertedPendulumOnCart_input.txt) -# Generated by MTT at Thu Aug 5 09:17:30 BST 1999 -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - -# Set the inputs -# mttu(1) = 1.0*(t<1) -1.0*((t>=1)&&(t<2)); # u (sInvertedPendulumOnCart_F) - - ## Doing control -# if (mtt_n_parameters>=1) -# if (mtt_parameters(1)<5) - mttu(1) = exp(-0.0*t); - mttu(2) = exp(-2.0*t); - mttu(3) = exp(-5.0*t); - mttu(4) = exp(-10.0*t); - -# mttu(1) = 1; -# mttu(2) = exp(-0.5*t);; -# mttu(3) = exp(-t); -# mttu(4) = exp(-2*t); - -# mttu(1) = (t<0.1); -# mttu(2) = ((t>=0.1)&&(t<0.2)); -# mttu(3) = ((t>=0.2)&&(t<0.3)); -# mttu(4) = ((t>=0.3)&&(t<0.4)); -# else -# ## Identification -# mttu(1) = (-1*((t>=3.37966)&&(t<= 5.36946)) + ((t>=10.36896)&&(t<=12.36876))); -# endif -# endif - - DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sInvertedPendulumOnCart_lbl.txt Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sInvertedPendulumOnCart_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sInvertedPendulumOnCart_lbl.txt +++ /dev/null @@ -1,26 +0,0 @@ -%% Label file for system sInvertedPendulumOnCart (sInvertedPendulumOnCart_lbl.txt) -%SUMMARY sInvertedPendulumOnCart -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -%VAR l_p #Pendulum length - -% Port aliases - -% Argument aliases - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - - DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sInvertedPendulumOnCart_rep.txt Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sInvertedPendulumOnCart_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sInvertedPendulumOnCart_rep.txt +++ /dev/null @@ -1,29 +0,0 @@ -## -*-octave-*- Put Emacs into octave-mode -## Outline report file for system sInvertedPendulumOnCart (sInvertedPendulumOnCart_rep.txt) -## Generated by MTT on" Fri Oct 22 09:03:14 EST 1999. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - -mtt sInvertedPendulumOnCart abg tex # The system description -mtt sInvertedPendulumOnCart cbg ps # The causal bond graph -## Uncomment the following lines or add others -mtt sInvertedPendulumOnCart struc tex # The system structure -mtt sInvertedPendulumOnCart dae tex # The system dae -## mtt sInvertedPendulumOnCart ode tex # The system ode -## mtt sInvertedPendulumOnCart sspar tex # Steady-state parameters -## mtt sInvertedPendulumOnCart ss tex # Steady state -## mtt sInvertedPendulumOnCart dm tex # Descriptor matrices (of linearised system) -mtt sInvertedPendulumOnCart sm tex # State matrices (of linearised system) -## mtt sInvertedPendulumOnCart tf tex # Transfer function (of linearised system) -## mtt sInvertedPendulumOnCart lmfr ps # log modulus of frequency response (of linearised system) -mtt sInvertedPendulumOnCart simpar tex # Simulation parameters -mtt sInvertedPendulumOnCart numpar tex # Numerical simulation parameters -mtt sInvertedPendulumOnCart input tex # Simulation input -mtt -c -cse sInvertedPendulumOnCart odeso ps # Simulation output - -mtt sInvertedPendulumOnCart ppp ps # PPP control DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sInvertedPendulumOnCart_simpar.txt Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sInvertedPendulumOnCart_simpar.txt ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sInvertedPendulumOnCart_simpar.txt +++ /dev/null @@ -1,20 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# Simulation parameters for system sInvertedPendulumOnCart (sInvertedPendulumOnCart_simpar.txt) -# Generated by MTT on Thu Aug 5 09:17:05 BST 1999. -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - - -LAST = 1.0; # Last time in simulation -DT = 0.05; # Print interval -STEPFACTOR = 1; # Integration steps per print interval -WMIN = -1; # Minimum frequency = 10^WMIN -WMAX = 2; # Maximum frequency = 10^WMAX -WSTEPS = 100; # Number of frequency steps -INPUT = 1; # Index of the input - - DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sInvertedPendulum_lbl.txt Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sInvertedPendulum_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sInvertedPendulum_lbl.txt +++ /dev/null @@ -1,48 +0,0 @@ -%% Label file for system sInvertedPendulum (sInvertedPendulum_lbl.txt) -%SUMMARY sInvertedPendulum -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS in x_1,x_2,y_1,y_2,a_1,a_2 - - -% Argument aliases - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type I - m_x lin flow,m_t;m_ts - m_y lin flow,m_t;m_ts - -% Component type Se - mg SS m_t*g;0 - -% Component type De - theta SS external;external - - - -% Component type SS - [a] SS external,external - [x] SS external,external - [y] SS external,external - -% Component type Se - a_0 SS 0;0 - -% Component type ROD - rod none l_p;l_p;j_p;m_p;g;omega_0;theta_0;j_ps;m_ps;omega_0s;theta_0s - DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sOpenLoop_lbl.txt Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sOpenLoop_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sOpenLoop_lbl.txt +++ /dev/null @@ -1,54 +0,0 @@ -%% Label file for system sOpenLoop (sOpenLoop_lbl.txt) -%SUMMARY sOpenLoop -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS out us_1,us_2 - -% Argument aliases -%ALIAS $1 U_1 -%ALIAS $2 U_1s -%ALIAS $3 U_2 -%ALIAS $4 U_2s -%ALIAS $5 U_3 -%ALIAS $6 U_3s -%ALIAS $7 U_4 -%ALIAS $8 U_4s -%ALIAS $9 us -%ALIAS $10 uss -%ALIAS $11 Us_1 -%ALIAS $12 Us_1s -%ALIAS $13 Us_2 -%ALIAS $14 Us_2s -%ALIAS $15 Us_3 -%ALIAS $16 Us_3s -%ALIAS $17 Us_4 -%ALIAS $18 Us_4s - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - [us] SS external,external - -% Component type AE - U_1 lin ppp_1;ppp_1s - U_2 lin ppp_2;ppp_2s - U_3 lin ppp_3;ppp_3s - U_4 lin ppp_4;ppp_4s - -% Component type Se - Us_1 SS external;0 - Us_2 SS external;0 - Us_3 SS external;0 - Us_4 SS external;0 DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sROD_lbl.txt Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sROD_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sROD_lbl.txt +++ /dev/null @@ -1,106 +0,0 @@ -%SUMMARY sROD: rigid rod in two dimensions - with gravity and angle port -%DESCRIPTION See Section 10.2 of "Metamodelling" -%DESCRIPTION Gravity term added at centre - -%ALIAS $1 l_a # length from end a to mass centre -%ALIAS $2 l_b # length from end b to mass centre -%ALIAS $3 j_m # inertia about mass centre -%ALIAS $4 m # mass -%ALIAS $5 g # gravity - -%ALIAS $6 omega_0 # Initial angular velocity -%ALIAS $7 theta_0 # Initial angular velocity - -## Sensitivities -%ALIAS $8 j_s -%ALIAS $9 m_s - -%ALIAS $10 omega_0s # Initial angular velocity -%ALIAS $11 theta_0s # Initial angular velocity - - -%ALIAS in|Tip_a xTip_a_1,xTip_a_2,angularTip_a_1,angularTip_a_2,yTip_a_1,yTip_a_2 -%ALIAS out|Tip_b xTip_b_1,xTip_b_2,angularTip_b_1,angularTip_b_2,yTip_b_1,yTip_b_2 - -%ALIAS x_a xTip_a_1,xTip_a_2 # Force/velocity at tip a in x direction -%ALIAS y_a yTip_a_1,yTip_a_2 # Force/velocity at tip a in y direction -%ALIAS alpha_a|a_a angularTip_a_1,angularTip_a_2 # Torque/angular velocity at tip a - -%ALIAS x_b xTip_b_1,xTip_b_2 # Force/velocity at tip b in x direction -%ALIAS y_b yTip_b_1,yTip_b_2 # Force/velocity at tip b in y direction -%ALIAS alpha_b|a_b angularTip_b_1,angularTip_b_2 # Torque/angular velocity at tip b - -%ALIAS angle|a angle_1,angle_2 # Angle port - -%ALIAS INTF General/INTF # The flow integration component. - -%% Label file for system sROD (sROD_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1999/10/22 02:01:45 peterg -% %% Initial revision -% %% -% %% Revision 1.1 1999/08/05 08:04:40 peterg -% %% Initial revision -% %% -% %% Revision 1.3 1998/11/30 10:47:53 peterg -% %% Added extra a_a and a_b aliases -% %% -% %% Revision 1.2 1998/11/25 13:55:42 peterg -% %% Added missig attribute field m*g,internal -% %% -% %% Revision 1.1 1998/11/25 10:48:34 peterg -% %% Initial revision -% %% -% %% Revision 1.5 1998/07/27 12:27:27 peterg -% %% Added vector port aliases -% %% -% %% Revision 1.4 1998/07/27 10:51:20 peterg -% %% Aliased INTF as well. -% %% -% %% Revision 1.3 1998/07/27 10:49:10 peterg -% %% Major revision to include aliases etc -% %% -% %% Revision 1.2 1997/08/15 09:43:06 peterg -% %% Now has lablelled (as opposed to numbered) ports. -% %% -% Revision 1.1 1996/11/07 10:57:17 peterg -% Initial revision -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - -%Inertias -J lin flow,j_m;omega_0;j_s;omega_0s -m_x lin flow,m;m_s -m_y lin flow,m;m_s - -%Integrate angular velocity to get angle -th none theta_0;theta_0s - -%Modulated transformers -s1 lsin;slsin l_a -s2 lsin;slsin l_b -c1 lcos;slcos l_a -c2 lcos;slcos l_b - - -% Component type Se - mg SS m*g;0 - -% Component type SS - [angularTip_a] SS external,external - [angularTip_b] SS external,external - [xTip_a] SS external,external - [xTip_b] SS external,external - [yTip_a] SS external,external - [yTip_b] SS external,external - [angle] SS external,external DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sZero_lbl.txt Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sZero_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sZero_lbl.txt +++ /dev/null @@ -1,32 +0,0 @@ -%% Label file for system sZero (sZero_lbl.txt) -%SUMMARY sZero -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS in x_1,x_2,y_1,y_2,a_1,a_2 - - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - [a] SS external,external - [x] SS external,external - [y] SS external,external - -% Component type Se - x SS 0;0 - y SS 0;0 - -% Component type Sf - a SS 0;0 DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/MacroMicroPPP/MacroMicroPPP_abg.fig Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/MacroMicroPPP/MacroMicroPPP_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/MacroMicroPPP/MacroMicroPPP_abg.fig +++ /dev/null @@ -1,183 +0,0 @@ -#FIG 3.2 -Portrait -Center -Inches -A4 -100.00 -Single --2 -1200 2 -6 8550 825 13500 3375 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 12595 1725 11695 1725 11845 1875 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 12595 1350 11695 1350 11845 1500 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 12595 975 11695 975 11845 1125 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 12595 2100 11695 2100 11845 2250 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 12595 2475 11695 2475 11845 2625 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 12595 2850 11695 2850 11845 3000 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 12595 3225 11695 3225 11845 3375 -2 1 0 1 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 10200 2100 9300 2100 9450 2250 -2 1 0 1 0 7 100 0 -1 0.000 0 0 -1 0 0 4 - 10200 975 8700 975 8700 1875 8550 1725 -2 1 0 1 0 7 100 0 -1 0.000 0 0 -1 0 0 4 - 10200 1275 9000 1275 9000 1875 8850 1725 -2 1 0 1 0 7 100 0 -1 0.000 0 0 -1 0 0 4 - 10200 1725 9300 1725 9300 1875 9150 1725 -2 1 0 1 0 7 100 0 -1 0.000 0 0 -1 0 0 4 - 10200 3225 8700 3225 8700 2325 8550 2475 -2 1 0 1 0 7 100 0 -1 0.000 0 0 -1 0 0 4 - 10200 2925 9000 2925 9000 2325 8850 2475 -2 1 0 1 0 7 100 0 -1 0.000 0 0 -1 0 0 4 - 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12000 9000 10800 9000 10800 4200 12000 4200 12000 9000 -2 4 1 2 1 7 1 0 -1 6.000 0 0 7 0 0 5 - 13501 7801 12301 7801 12301 5401 13501 5401 13501 7801 -2 1 0 1 0 7 100 0 -1 0.000 0 0 -1 0 0 4 - 8700 2100 8400 2100 8400 5700 8550 5550 -2 2 1 2 1 7 101 0 -1 6.000 0 0 -1 0 0 5 - 8100 600 13800 600 13800 3600 8100 3600 8100 600 -4 1 -1 0 0 0 20 0.0000 4 210 150 2406 7281 0\001 -4 1 -1 0 0 0 20 0.0000 4 285 690 3906 8781 I:m_1\001 -4 1 -1 0 0 0 20 0.0000 4 285 705 2405 8780 R:b_1\001 -4 1 -1 0 0 0 20 0.0000 4 210 150 2405 6080 0\001 -4 1 -1 0 0 0 20 0.0000 4 210 150 3906 7281 1\001 -4 1 -1 0 0 0 20 0.0000 4 210 150 8408 7283 0\001 -4 1 -1 0 0 0 20 0.0000 4 210 150 8408 6083 0\001 -4 1 -1 0 0 0 20 0.0000 4 285 705 8483 8783 R:b_3\001 -4 1 -1 0 0 0 20 0.0000 4 285 690 9906 8781 I:m_3\001 -4 1 -1 0 0 0 20 0.0000 4 285 690 6905 8780 I:m_2\001 -4 1 -1 0 0 0 20 0.0000 4 210 150 11407 7282 0\001 -4 1 -1 0 0 0 20 0.0000 4 210 150 11407 6082 0\001 -4 1 -1 0 0 0 20 0.0000 4 285 645 11406 4581 C:k_t\001 -4 1 -1 0 0 0 20 0.0000 4 285 645 11482 8782 R:b_t\001 -4 1 -1 0 0 0 20 0.0000 4 210 150 5406 7281 0\001 -4 1 -1 0 0 0 20 0.0000 4 210 150 5406 6081 0\001 -4 1 -1 0 0 0 20 0.0000 4 285 705 5481 8781 R:b_2\001 -4 1 -1 0 0 0 20 0.0000 4 210 150 12909 7284 1\001 -4 1 -1 0 0 0 20 0.0000 4 210 150 6908 7283 1\001 -4 1 -1 0 0 0 20 0.0000 4 210 150 2404 4579 1\001 -4 1 -1 0 0 0 20 0.0000 4 285 705 2779 3154 C:p_1\001 -4 1 -1 0 0 0 20 0.0000 4 285 705 2104 3154 R:d_1\001 -4 1 -1 0 0 0 20 0.0000 4 210 150 910 7285 1\001 -4 1 -1 0 0 0 20 0.0000 4 285 765 902 5777 Sf:v_b\001 -4 1 -1 0 0 0 20 0.0000 4 285 735 12905 5780 De:f_t\001 -4 1 -1 0 0 0 20 0.0000 4 210 150 9909 7284 1\001 -4 1 -1 0 0 0 20 0.0000 4 285 705 5405 4580 C:k_2\001 -4 1 1 1 0 3 20 0.0000 4 210 1515 3901 9301 Macro mass\001 -4 1 1 1 0 3 20 0.0000 4 210 1770 2401 2776 Macro control\001 -4 1 1 1 0 3 20 0.0000 4 210 1470 900 8100 Macro base\001 -4 1 1 1 0 3 20 0.0000 4 285 1845 5400 4050 Compliant link\001 -4 1 1 1 0 3 20 0.0000 4 210 1425 6901 9301 Micro mass\001 -4 1 1 1 0 3 20 0.0000 4 210 1860 8475 4050 Micro actuator\001 -4 1 1 1 0 3 20 0.0000 4 285 1095 9901 9301 Tip mass\001 -4 1 1 1 0 3 20 0.0000 4 285 2940 11400 4050 Compliant environment\001 -4 1 1 1 0 3 20 0.0000 4 285 1275 12901 8101 Tip sensor\001 -4 1 1 1 0 3 20 0.0000 4 285 2370 6750 1275 Open-loop control\001 DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/MacroMicroPPP/MacroMicroPPP_desc.tex Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/MacroMicroPPP/MacroMicroPPP_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/MacroMicroPPP/MacroMicroPPP_desc.tex +++ /dev/null @@ -1,40 +0,0 @@ -% Verbal description for system MacroMicroPPP (MacroMicroPPP_desc.tex) -% Generated by MTT on Tue Dec 9 17:55:41 GMT 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 2000/05/21 16:10:07 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{MacroMicroPPP} is - displayed in Figure \Ref{MacroMicroPPP_abg} and its label - file is listed in Section \Ref{sec:MacroMicroPPP_lbl}. - The subsystems are listed in Section \Ref{sec:MacroMicroPPP_sub}. - -This is a Bond Graph model of the macro-micro manipulation system -discussed by Sharon in his thesis and BY Sharon, Hogan and Hardt in -various papers. - -It can be regarded as a single-input single-output system with input -$e_1$ and output $e_2$. The bond graph in Figure \Ref{rcPPP_abg} is -augmented with the {\em open-loop\/} controller comprising -\begin{itemize} -\item seven effort source \textbf{Se} components ``u1'' to``u7'' -\item seven effort amplifier \textbf{AE} components ``ppp\_1'' to `ppp\_7'' -\end{itemize} -This allows up to 7 input basis functions. - -This is a \emph{linear} system; but it is used to illustate -\emph{nonlinear} PPP control. -Section \Ref{sec:rcPPP_nppp.ps} compares -\begin{itemize} -\item linear open-loop PPP control -\item linear closed-loop PPP control -\item nonlinear PPP control -\end{itemize} -as linear open and closed-loop control. DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/MacroMicroPPP/MacroMicroPPP_lbl.txt Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/MacroMicroPPP/MacroMicroPPP_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/MacroMicroPPP/MacroMicroPPP_lbl.txt +++ /dev/null @@ -1,85 +0,0 @@ -%% Label file for system MacroMicroPPP (MacroMicroPPP_lbl.txt) -%SUMMARY MacroMicroPPP -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 2000/05/21 16:05:48 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases - -% Argument aliases -%ALIAS $1 ppp_1 -%ALIAS $2 ppp_2 -%ALIAS $3 ppp_3 -%ALIAS $4 ppp_4 -%ALIAS $5 k_2 -%ALIAS $6 k_t -%ALIAS $7 p_1 -%ALIAS $8 f_t -%ALIAS $9 m_1 -%ALIAS $10 m_2 -%ALIAS $11 m_3 -%ALIAS $12 b_1 -%ALIAS $13 b_2 -%ALIAS $14 b_3 -%ALIAS $15 b_t -%ALIAS $16 d_1 -%ALIAS $17 u_1 -%ALIAS $18 u_2 -%ALIAS $19 u_3 -%ALIAS $20 u_4 -%ALIAS $21 v_b - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - ppp_1 lin ppp_1 - ppp_2 lin ppp_2 - ppp_3 lin ppp_3 - ppp_4 lin ppp_4 - ppp_5 lin ppp_5 - ppp_6 lin ppp_6 - ppp_7 lin ppp_7 - -% Component type C - k_2 lin state,k_2 - k_t lin state,k_t - p_1 lin state,p_1 - -% Component type De - f_t SS external - -% Component type I - m_1 lin flow,m_1 - m_2 lin flow,m_2 - m_3 lin flow,m_3 - -% Component type R - b_1 lin flow,b_1 - b_2 lin flow,b_2 - b_3 lin flow,b_3 - b_t lin flow,b_t - d_1 lin flow,d_1 - -% Component type Se - u_1 SS external - u_2 SS external - u_3 SS external - u_4 SS external - u_5 SS external - u_6 SS external - u_7 SS external - -% Component type Sf - v_b SS 0 DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/MacroMicroPPP/MacroMicroPPP_nppp.m Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/MacroMicroPPP/MacroMicroPPP_nppp.m ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/MacroMicroPPP/MacroMicroPPP_nppp.m +++ /dev/null @@ -1,154 +0,0 @@ -## MacroMicroPPP_nppp.m -## Makes figures for the MacroMicro_PPP exasmple. -## $Log$ -## Revision 1.4 2000/05/21 16:11:53 peterg -## 7 basis funs. -## -## Revision 1.3 2000/05/21 15:59:34 peterg -## Made into _nppp.m file -## Parameterised _sm -## -## Revision 1.2 2000/05/17 17:01:39 peterg -## Modified for Macro Micro example -- works!! -## -## Revision 1.1 2000/05/17 10:03:04 peterg -## Initial revision -## -## Revision 1.1 2000/05/17 09:14:37 peterg -## Initial revision -## -system_name = "MacroMicroPPP"; - -## Uncomment the following the first time -## (Or do ./Make MacroMicroPPP in this directory) - -## MTT stuff for the system simulation -##system("Make MacroMicroPPP"); - - - -t_s=0.1*[0:0.01:1]; -u = [ones(7,length(t_s))]; -x_0 = MacroMicroPPP_state; -par = MacroMicroPPP_numpar; - -## Simulate the system -tick=time; -[y] = MacroMicroPPP_sim(x_0,u,t_s,par); -Elapsed = time-tick -plot(t_s,y) - -## Simulate the system to give just the final few point -t_s1 = 0.1*[0.91:0.01:1]; -tick=time; -[y,x] = MacroMicroPPP_sim(x_0,u,t_s1,par); -Elapsed = time-tick -plot(t_s1,y,t_s1,x); - -## Sensitivity system simulation parameters -x_0s = sMacroMicroPPP_state; -pars = sMacroMicroPPP_numpar; -sympars = sMacroMicroPPP_sympar; - -## Simulate the sensitivity system -sensitivities = \ - [sympars.ppp_1s,\ - sympars.ppp_2s,\ - sympars.ppp_3s,\ - sympars.ppp_4s,\ - sympars.ppp_5s,\ - sympars.ppp_6s,\ - sympars.ppp_7s] -tick=time; -[y,ys] = sMacroMicroPPP_sim(x_0s,u,t_s,pars,sensitivities); -Elapsed = time-tick -plot(t_s,y,t_s,ys); - - -### PPP parameters -A_w = 0; -A_u = ppp_aug(A_w,laguerre_matrix(6,25)); # Specify basis functions - -tau = 0.5*[0.9:0.01:1]; # Optimisation interval -t_ol = 0.5*[0:0.01:0.1]; # Open-loop interval -N = 10; # Number of open-loop intervals in simulation -w = 1; # Setpoint - -## Linear system -[A,B,C,D] = MacroMicroPPP_sm(par); -Q = 1; -w = 1; -ppp_lin_plot (A,B(:,1),C(1,:),D(1,1),A_u,A_w,tau,Q,w,x_0); -psfig("MacroMicroPPP_lin"); - -## Simulate non-linear PPP (on this linear system) -extras.U_initial = "zero"; -extras.U_next = "continuation"; -extras.criterion = 1e-8; -extras.max_iterations = 10; -extras.v = 0.1; -extras.verbose = 0; - -## -- with no optimisation using linear PPP with continuation -extras.U_initial = "linear"; -extras.U_next = "continuation"; -extras.criterion = 1e-5; -extras.max_iterations = 0; - -[y_c,x,u_c,t,U,U_c,U_l] = ppp_nlin_sim (system_name,A_u,tau,t_ol,N,w,extras); - -## -- with no optimisation using linear PPP at each step -extras.U_initial = "linear"; -extras.U_next = "linear"; -extras.criterion = 1e-5; -extras.max_iterations = 0; -[y_l,x,u_l,t,U,U_c,U_l] = ppp_nlin_sim (system_name,A_u,tau,t_ol,N,w,extras); - -## -- with optimisation using nonlinear PPP with continuation -extras.U_initial = "zero"; -extras.U_next = "continuation"; -extras.criterion = 1e-5; -extras.max_iterations=100; -extras.verbose = 0; -extras.v = 1e-5; -disp("Non-linear optimisation ...."); -[y,x,u,t,U,U_c,U_l] = ppp_nlin_sim (system_name,A_u,tau,t_ol,N,w,extras); - - -## Plots -title(""); - -## U, U_c and U_l -I = 1:N; -IU1 = [I' U(1,:)']; -IU1_c = [I' U_c(1,:)']; -IU1_l = [I' U_l(1,:)']; -gset grid; xlabel "Interval" -gplot IU1 title "U_1", IU1_c title "U_c1", IU1_l title "U_l1" -psfig("MacroMicroPPP_U1"); - -IU2 = [I' U(2,:)']; -IU2_c = [I' U_c(2,:)']; -IU2_l = [I' U_l(2,:)']; -gset grid; xlabel "Interval " -gplot IU2 title "U_2", IU2_c title "U_c2", IU2_l title "U_l2" -psfig("MacroMicroPPP_U2"); - -## y & u -gset grid; xlabel "Time (sec)" -ty = [t' y'] ; tu = [t' u']; -gplot ty title "Output", tu title "Input" - -psfig("MacroMicroPPP_yu"); - -title(""); -gset grid; xlabel "Time (sec)" -ty_c = [t' y_c'] ; -ty_l = [t' y_l'] ; -ty = [t' y'] ; -tu = [t' u']; -gplot ty_c title "Continuation", ty_l title "Linear", ty title "Optimisation" -psfig("MacroMicroPPP_nppp"); - - - DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/MacroMicroPPP/MacroMicroPPP_numpar.txt Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/MacroMicroPPP/MacroMicroPPP_numpar.txt ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/MacroMicroPPP/MacroMicroPPP_numpar.txt +++ /dev/null @@ -1,36 +0,0 @@ -## Dummies -b_1 = 0.0; -b_2 = 0.0; -b_3 = 0.0; -b_t = 0.0; -d_1 = 0.0; -e_s = 0.0; -f_s = 0.0; -k_2 = 0.0; -k_t = 0.0; -m_1 = 0.0; -m_2 = 0.0; -m_3 = 0.0; -p_1 = 0.0; -ppp_1 = 0.0; -ppp_2 = 0.0; -ppp_3 = 0.0; -ppp_4 = 0.0; -ppp_5 = 0.0; -ppp_6 = 0.0; -ppp_7 = 0.0; - -m_1 = 0.0169; # m_1; -m_2 = 0.0169; # m_2; -b_1 = 0.13; # b_1; -b_2 = 0.013; # b_2; -k_2 = 24; # k_2; -k_t = 150; # k_t; -b_t = 0.16; # b_t; -b_3 = 0.13; # b_3; -m_3 = 0.005; # m_3; -p_1 = 10; # p_1; -d_1 = 0.9; # d_1; - - -ppp_1 = 1.0; DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/MacroMicroPPP/MacroMicroPPP_rep.txt Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/MacroMicroPPP/MacroMicroPPP_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/MacroMicroPPP/MacroMicroPPP_rep.txt +++ /dev/null @@ -1,25 +0,0 @@ -## -*-octave-*- Put Emacs into octave-mode -## Outline report file for system MacroMicroPPP (MacroMicroPPP_rep.txt) -## Generated by MTT on" Wed May 10 09:22:52 BST 2000. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.1 2000/05/20 17:44:47 peterg -## Initial revision -## -############################################################### - -mtt MacroMicroPPP abg tex # The system description -#mtt -s sMacroMicroPPP abg tex # The system description - -mtt MacroMicroPPP struc tex # The system structure -mtt -s sMacroMicroPPP struc tex # The system structure - -mtt MacroMicroPPP nppp m # How its done -mtt MacroMicroPPP nppp ps # PPP output - -mtt MacroMicroPPP rep txt # The report. - DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/MacroMicroPPP/Make Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/MacroMicroPPP/Make ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/MacroMicroPPP/Make +++ /dev/null @@ -1,30 +0,0 @@ -#!/bin/sh - -## Makes the files needed for Figures.m -## Copyright (C) 2000 by Peter J. Gawthrop - -if [ -z "$1" ]; then - echo Usage ./Make system_name - exit -else - echo "Making simulation for system $1 (for use in Figures.m)" -fi - -## System -mtt -q -c -stdin $1 ode2odes out -mtt -q -c -stdin $1 sim m -mtt -q $1 state m -mtt -q $1 sympar m -mtt -q $1 numpar m - -## Sensitivity system -mtt -q -c -stdin -s s$1 ode2odes out -mtt -q -c -stdin -s s$1 sim m -mtt -q -s s$1 state m -mtt -q -s s$1 sympar m -mtt -q -s s$1 numpar m - -## Additional system reps for PPP -mtt -q $1 sm m -mtt -q $1 def m -mtt -q -s s$1 def m DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/MacroMicroPPP/sMacroMicroPPP_lbl.txt Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/MacroMicroPPP/sMacroMicroPPP_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/MacroMicroPPP/sMacroMicroPPP_lbl.txt +++ /dev/null @@ -1,103 +0,0 @@ -%% Label file for system sMacroMicroPPP (sMacroMicroPPP_lbl.txt) -%SUMMARY sMacroMicroPPP -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases - -% Argument aliases -%ALIAS $1 ppp_1 -%ALIAS $2 ppp_1s -%ALIAS $3 ppp_2 -%ALIAS $4 ppp_2s -%ALIAS $5 ppp_3 -%ALIAS $6 ppp_3s -%ALIAS $7 ppp_4 -%ALIAS $8 ppp_4s -%ALIAS $9 k_2 -%ALIAS $10 k_2s -%ALIAS $11 k_t -%ALIAS $12 k_ts -%ALIAS $13 p_1 -%ALIAS $14 p_1s -%ALIAS $15 f_t -%ALIAS $16 f_ts -%ALIAS $17 m_1 -%ALIAS $18 m_1s -%ALIAS $19 m_2 -%ALIAS $20 m_2s -%ALIAS $21 m_3 -%ALIAS $22 m_3s -%ALIAS $23 b_1 -%ALIAS $24 b_1s -%ALIAS $25 b_2 -%ALIAS $26 b_2s -%ALIAS $27 b_3 -%ALIAS $28 b_3s -%ALIAS $29 b_t -%ALIAS $30 b_ts -%ALIAS $31 d_1 -%ALIAS $32 d_1s -%ALIAS $33 u_1 -%ALIAS $34 u_1s -%ALIAS $35 u_2 -%ALIAS $36 u_2s -%ALIAS $37 u_3 -%ALIAS $38 u_3s -%ALIAS $39 u_4 -%ALIAS $40 u_4s -%ALIAS $41 v_b -%ALIAS $42 v_bs - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - ppp_1 lin ppp_1;ppp_1s - ppp_2 lin ppp_2;ppp_2s - ppp_3 lin ppp_3;ppp_3s - ppp_4 lin ppp_4;ppp_4s - ppp_5 lin ppp_5;ppp_5s - ppp_6 lin ppp_6;ppp_6s - ppp_7 lin ppp_7;ppp_7s - -% Component type C - k_2 lin state,k_2;k_2s - k_t lin state,k_t;k_ts - p_1 lin state,p_1;p_1s - -% Component type De - f_t SS external - -% Component type I - m_1 lin flow,m_1;m_1s - m_2 lin flow,m_2;m_2s - m_3 lin flow,m_3;m_3s - -% Component type R - b_1 lin flow,b_1;b_1s - b_2 lin flow,b_2;b_2s - b_3 lin flow,b_3;b_3s - b_t lin flow,b_t;b_ts - d_1 lin flow,d_1;d_1s - -% Component type Se - u_1 SS external;u_1s - u_2 SS external;u_2s - u_3 SS external;u_3s - u_4 SS external;u_4s - u_5 SS external;u_5s - u_6 SS external;u_6s - u_7 SS external;u_7s - -% Component type Sf - v_b SS 0;0 DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/MacroMicroPPP/sMacroMicroPPP_numpar.txt Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/MacroMicroPPP/sMacroMicroPPP_numpar.txt ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/MacroMicroPPP/sMacroMicroPPP_numpar.txt +++ /dev/null @@ -1,70 +0,0 @@ -## Dummies -b_1 = 0.0; -b_1s = 0.0; -b_2 = 0.0; -b_2s = 0.0; -b_3 = 0.0; -b_3s = 0.0; -b_t = 0.0; -b_ts = 0.0; -c = 0.0; -d_1 = 0.0; -d_1s = 0.0; -e_s = 0.0; -f_s = 0.0; -g = 0.0; -i = 0.0; -k = 0.0; -k_2 = 0.0; -k_2s = 0.0; -k_s = 0.0; -k_t = 0.0; -k_ts = 0.0; -m_1 = 0.0; -m_1s = 0.0; -m_2 = 0.0; -m_2s = 0.0; -m_3 = 0.0; -m_3s = 0.0; -p_1 = 0.0; -p_1s = 0.0; -ppp_1 = 0.0; -ppp_1s = 0.0; -ppp_2 = 0.0; -ppp_2s = 0.0; -ppp_3 = 0.0; -ppp_3s = 0.0; -ppp_4 = 0.0; -ppp_4s = 0.0; -ppp_5 = 0.0; -ppp_5s = 0.0; -ppp_6 = 0.0; -ppp_6s = 0.0; -ppp_7 = 0.0; -ppp_7s = 0.0; -r = 0.0; -u_1s = 0.0; -u_2s = 0.0; -u_3s = 0.0; -u_4s = 0.0; -u_5s = 0.0; -u_6s = 0.0; -u_7s = 0.0; - -## Physical parameters -m_1 = 0.0169; # m_1; -m_2 = 0.0169; # m_2; -b_1 = 0.13; # b_1; -b_2 = 0.013; # b_2; -k_2 = 24; # k_2; -k_t = 150; # k_t; -b_t = 0.16; # b_t; -b_3 = 0.13; # b_3; -m_3 = 0.005; # m_3; -p_1 = 10; # p_1; -d_1 = 0.9; # d_1; - -## First gain -ppp_1 = 1.0; - - DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/rcPPP/Figures.m Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/rcPPP/Figures.m ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/rcPPP/Figures.m +++ /dev/null @@ -1,144 +0,0 @@ -## Figures.m -## Makes figures for the rc_PPP exasmple. -## $Log$ -## Revision 1.2 2000/05/17 17:02:58 peterg -## Fixed documentation -## -## Revision 1.1 2000/05/17 09:14:37 peterg -## Initial revision -## -system_name = "rcPPP"; - -## Uncomment the following the first time -## (Or do ./Make rcPPP in this directory) - -## MTT stuff for the system simulation -##system("Make rcPPP"); - -# ## System info -par = rcPPP_numpar; -simpar = rcPPP_simpar; -x_0 = rcPPP_state(par); - -# ## Set up the input -# t = [0:simpar.dt:simpar.last]; -# A_w = 0; -# A_u = ppp_aug(A_w,laguerre_matrix(1,2.0)) # Specify basis functions: constant & exp(-t/T) -# u = ppp_ustar(A_u,1,t,0,0); - -# ## Simulate the system -# tick=time; -# [y,x] = rcPPP_sim(x_0,par,simpar,u); -# Elapsed = time-tick -# plot(t,y) - -## Sensitivity system simulation parameters -simpars = srcPPP_simpar; -sympars = srcPPP_sympar; -pars = srcPPP_numpar; -x_0s = srcPPP_state(pars); - -t = [0:simpars.dt:simpars.last]; -A_w = 0; -A_u = ppp_aug(A_w,laguerre_matrix(1,2.0)) # Specify basis functions: constant & exp(-t/T) -u = ppp_ustar(A_u,1,t,0,0); - - -## Setup the indices of the adjustable stuff -i_ppp = [sympars.ppp_1, sympars.ppp_1s - sympars.ppp_2, sympars.ppp_2s]; # PPP params -i_par = [sympars.x_0, sympars.x_0s - sympars.r, sympars.rs]; # State and r component - -## Simulate the sensitivity system -sensitivities = [i_ppp(:,2); i_par(:,2)] -u = ppp_ustar(A_u,1,t,0,0); -tick=time; -[y,ys,x] = srcPPP_ssim(x_0s,pars,simpars,u,sensitivities); -Elapsed = time-tick -plot(t,y,t,ys); - -### PPP parameters -tau = [0.9:0.01:1]; # Optimisation interval -t_ol = [0:0.01:0.2]; # Open-loop interval -N = 10; # Number of open-loop intervals in simulation -w = 1; # Setpoint -w_s = w*ones(10,1); # The setpoint witnin the horizon - -## Linear system -n_Tau = round(simpars.last/simpars.dt); -dtau = simpars.dt; -Tau = [0:n_Tau-1]'*dtau; -[n_tau,n_w] = size(w_s); -tau = Tau(n_Tau-n_tau+1:n_Tau) -[A,B,C,D] = rcPPP_sm(par); -Q = 1; -w = 1; -ppp_lin_plot (A,B(:,1),C(1,:),D(1,1),A_u,A_w,tau',Q,w); -psfig("rcPPP_lin"); - -## Simulate non-linear PPP (on this linear system) -extras.U_initial = "zero"; -extras.U_next = "continuation"; -extras.criterion = 1e-5; -extras.max_iterations = 10; -extras.alpha = 0.1; -extras.verbose = 0; -extras.v = 1e-5; - -## -- with no optimisation using linear PPP with continuation -extras.U_initial = "linear"; -extras.U_next = "continuation"; -extras.criterion = 1e-5; -extras.max_iterations = 0; -[y_c,x,u_c,t,U,U_c,U_l] = ppp_nlin_sim (system_name,i_ppp,i_par,A_u,w_s,N,extras); - -## -- with no optimisation using linear PPP at each step -extras.U_initial = "linear"; -extras.U_next = "linear"; -extras.criterion = 1e-5; -extras.max_iterations = 0; -[y_l,x,u_l,t,U,U_c,U_l] = ppp_nlin_sim (system_name,i_ppp,i_par,A_u,w_s,N,extras); - -## -- with optimisation using nonlinear PPP with continuation -extras.U_initial = "zero"; -extras.U_next = "continuation"; -extras.criterion = 1e-5; -extras.max_iterations = 100; -[y,x,u,t,U,U_c,U_l] = ppp_nlin_sim (system_name,i_ppp,i_par,A_u,w_s,N,extras); - - -## Plots -title(""); - -## U, U_c and U_l -I = [1:N]'; -IU1 = [I U(:,1)]; -IU1_c = [I U_c(:,1)]; -IU1_l = [I U_l(:,1)]; -gset grid; xlabel "Interval" -gplot IU1 title "U_1", IU1_c title "U_c1", IU1_l title "U_l1" -psfig("rcPPP_U1"); - -IU2 = [I U(:,2)]; -IU2_c = [I U_c(:,2)]; -IU2_l = [I U_l(:,2)]; -gset grid; xlabel "Interval " -gplot IU2 title "U_2", IU2_c title "U_c2", IU2_l title "U_l2" -psfig("rcPPP_U2"); - -## y & u -gset grid; xlabel "Time (sec)" -ty = [t y] ; tu = [t u]; -gplot ty title "Output", tu title "Input" - -psfig("rcPPP_yu"); - -gset grid; xlabel "Time (sec)" -ty_c = [t y_c] ; -ty_l = [t y_l] ; -ty = [t y] ; -tu = [t u]; -gplot ty_c title "Continuation", ty_l title "Linear", ty title "Optimisation" -psfig("rcPPP_ylco"); - DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/rcPPP/Make Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/rcPPP/Make ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/rcPPP/Make +++ /dev/null @@ -1,46 +0,0 @@ -#!/bin/sh - -## Makes the files needed for Figures.m -## Copyright (C) 2000 by Peter J. Gawthrop - -sys=$1 - -if [ -z "$2" ]; then - code=oct -else - code=$2 -fi - -if [ -z "$1" ]; then - echo 'Usage ./Make system_name [m|oct]' - exit -else - echo "Making sensitivity simulation for system ${sys} (code ${code})" -fi - -if [ "${code}" == "oct" ]; then - oct='-oct' -fi - -echo Switches ${oct} - -## System -mtt -q ${sys} sympar m -mtt -q ${sys} simpar m -mtt -q ${sys} numpar m -mtt -q ${sys} state m - - -## Sensitivity system -mtt -q -stdin -s s${sys} ssim m -mtt -q -stdin -s s${sys} sympar m -mtt -q -stdin -s s${sys} simpar m -mtt -q -stdin ${oct} -s s${sys} input ${code} -mtt -q -stdin ${oct} -s s${sys} ode2odes ${code} -mtt -q -stdin ${oct} -s s${sys} state ${code} -mtt -q -stdin ${oct} -s s${sys} numpar ${code} - -## Additional system reps for PPP -mtt -q -stdin ${sys} sm m -mtt -q -stdin ${sys} def m -mtt -q -stdin -s s${sys} def m DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/rcPPP/rcPPP_abg.fig Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/rcPPP/rcPPP_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/rcPPP/rcPPP_abg.fig +++ /dev/null @@ -1,68 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -1 3 0 2 1 7 1 0 -1 0.000 1 0.0000 3600 1125 162 162 3600 1125 3690 1260 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4952 4277 5852 4277 5627 4502 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6302 4277 7202 4277 6977 4502 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4726 4051 4726 3151 4951 3376 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6076 4051 6076 3151 6301 3376 -2 2 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 5 - 4275 585 5175 585 5175 765 4275 765 4275 585 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 5850 1215 6300 1215 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 5850 1080 6300 1080 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 3600 675 4275 675 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 5175 675 7200 675 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 6075 675 6075 1080 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 6075 1215 6075 1575 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 3600 1575 7200 1575 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 3600 945 3600 675 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 3600 1575 3600 1260 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 1 0 2 - 1 1 2.00 120.00 240.00 - 7200 1530 7200 765 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3866 3414 4502 4050 4184 4050 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3870 5130 4505 4494 4505 4812 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1802 3375 2702 3375 2477 3600 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1802 5175 2702 5175 2477 5400 -2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 8550 5625 8550 225 900 225 900 5625 8550 5625 -4 1 -1 0 0 0 20 0.0000 4 210 150 4727 4367 1\001 -4 1 -1 0 0 0 20 0.0000 4 210 150 6077 4367 0\001 -4 1 -1 0 0 0 20 0.0000 4 285 540 7787 4367 De:y\001 -4 1 -1 0 0 0 20 0.0000 4 210 375 4726 2926 R:r\001 -4 1 -1 0 0 0 20 0.0000 4 210 555 6076 2926 CS:c\001 -4 0 1 1 0 0 20 0.0000 4 150 120 4680 450 r\001 -4 0 1 1 0 0 20 0.0000 4 150 135 6480 1215 c\001 -4 0 1 1 0 0 20 0.0000 4 150 135 7425 1170 e\001 -4 0 1 1 0 0 20 0.0000 4 210 150 7515 1305 2\001 -4 0 1 1 0 0 20 0.0000 4 150 135 3060 1170 e\001 -4 0 1 1 0 0 20 0.0000 4 210 150 3150 1305 1\001 -4 1 1 1 0 0 20 0.0000 4 285 1425 5400 4995 Bond graph\001 -4 1 1 1 0 0 20 0.0000 4 210 1275 5400 2025 Schematic\001 -4 1 -1 0 0 0 20 0.0000 4 285 930 3285 5265 AE:ppp_2\001 -4 1 -1 0 0 0 20 0.0000 4 285 930 3285 3465 AE:ppp_1\001 -4 1 -1 0 0 0 20 0.0000 4 210 660 1440 3465 Se:u1\001 -4 1 -1 0 0 0 20 0.0000 4 210 660 1440 5265 Se:u2\001 DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/rcPPP/rcPPP_desc.tex Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/rcPPP/rcPPP_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/rcPPP/rcPPP_desc.tex +++ /dev/null @@ -1,38 +0,0 @@ -% Verbal description for system rcPPP (rcPPP_desc.tex) -% Generated by MTT on Sun Aug 24 11:03:55 BST 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1997/08/24 10:27:18 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -The acausal bond graph of system \textbf{rcPPP} is -displayed in Figure \Ref{rcPPP_abg} and its label -file is listed in Section \Ref{sec:rcPPP_lbl}. -The subsystems are listed in Section \Ref{sec:rcPPP_sub}. -The system \textbf{rcPPP} is based on the simple electrical rc circuit shown in -Figure \Ref{rcPPP_abg}. - -It can be regarded as a single-input -single-output system with input $e_1$ and output $e_2$. -The bond graph in Figure \Ref{rcPPP_abg} is augmented with the {\em -open-loop\/} controller comprising -\begin{itemize} -\item two effort source \textbf{Se} components ``u1'' and ``u2'' -\item two effort amplifier \textbf{AE} components ``ppp\_1'' and `ppp\_2'' -\end{itemize} - -This is a \emph{linear} system; but it is used to illustate -\emph{nonlinear} PPP control. Not surprisingly, the \emph{nonlinear} -PPP control gives nearly the same result (Section \Ref{sec:rcPPP_nppp.ps}) -as linear open and closed-loop control. - - - - - DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/rcPPP/rcPPP_lbl.txt Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/rcPPP/rcPPP_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/rcPPP/rcPPP_lbl.txt +++ /dev/null @@ -1,44 +0,0 @@ -%% Label file for system rcPPP (rcPPP_lbl.txt) -%SUMMARY rcPPP -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases - -% Argument aliases -%ALIAS $1 ppp_1 -%ALIAS $2 ppp_2 -%ALIAS $3 c -%ALIAS $4 y -%ALIAS $5 r -%ALIAS $6 u1 -%ALIAS $7 u2 - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - ppp_1 lin ppp_1 - ppp_2 lin ppp_2 - -% Component type CS - c lin effort,c;q_0 - -% Component type De - y SS external - -% Component type R - r lin flow,r - -% Component type Se - u1 SS external - u2 SS external DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/rcPPP/rcPPP_nppp.m Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/rcPPP/rcPPP_nppp.m ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/rcPPP/rcPPP_nppp.m +++ /dev/null @@ -1,146 +0,0 @@ -## Figures.m -## Makes figures for the rc_PPP exasmple. -## $Log$ -## Revision 1.3 2000/08/12 10:39:33 peterg -## Levenberg-Marquardt version -## -## Revision 1.2 2000/05/21 06:39:23 peterg -## Parameterised _sm -## -## Revision 1.1 2000/05/19 13:15:38 peterg -## Initial revision -## -## Revision 1.2 2000/05/17 17:02:58 peterg -## Fixed documentation -## -## Revision 1.1 2000/05/17 09:14:37 peterg -## Initial revision -## -system_name = "rcPPP"; - -## Uncomment the following the first time -## (Or do ./Make rcPPP in this directory) - -## MTT stuff for the system simulation -##system("Make rcPPP"); - - - -t_s=[0:0.1:10]; -u = [ones(1,length(t_s));ones(1,length(t_s))]; -x_0 = rcPPP_state; -par = rcPPP_numpar; - -## Simulate the system -tick=time; -[y,x] = rcPPP_sim(x_0,u,t_s,par); -Elapsed = time-tick -plot(t_s,y,t_s,x); - -## Simulate the system to give just the final few point -t_s1 = [9:0.1:10]; -tick=time; -[y,x] = rcPPP_sim(x_0,u,t_s1,par); -Elapsed = time-tick -plot(t_s1,y,t_s1,x); - -## Sensitivity system simulation parameters -x_0s = srcPPP_state; -pars = srcPPP_numpar -sympars = srcPPP_sympar; - -## Simulate the sensitivity system -sensitivities = [sympars.ppp_1s,sympars.ppp_2s,sympars.rs] -tick=time; -[y,ys] = srcPPP_sim(x_0s,u,t_s,[sympars.r,2.0],sensitivities); -Elapsed = time-tick -plot(t_s,y,t_s,ys); - -### PPP parameters -A_w = 0; -A_u = ppp_aug(A_w,laguerre_matrix(1,10)); # Specify basis functions: constant & exp(-5t) -tau = [0.9:0.01:1]; # Optimisation interval -t_ol = [0:0.01:0.2]; # Open-loop interval -N = 5; # Number of open-loop intervals in simulation -w = 1; # Setpoint - -## Linear system -[A,B,C,D] = rcPPP_sm(par); -Q = 1; -w = 1; -ppp_lin_plot (A,B(:,1),C(1,:),D(1,1),A_u,A_w,tau,Q,w,x_0); -psfig("rcPPP_lin"); - -## Simulate non-linear PPP (on this linear system) -extras.U_initial = "zero"; -extras.U_next = "continuation"; -extras.criterion = 1e-5; -extras.max_iterations = 10; -extras.v = 0; -extras.verbose = 0; - -## -- with no optimisation using linear PPP with continuation -disp("Linear PPP at time zero with continuation trajectories") -extras.U_initial = "linear"; -extras.U_next = "continuation"; -extras.criterion = 1e-5; -extras.v = 0; -extras.max_iterations = 0; -[y_c,x,u_c,t,U,U_c,U_l] = ppp_nlin_sim (system_name,A_u,tau,t_ol,N,w,extras); - -## -- with no optimisation using linear PPP at each step -disp("Linear PPP at each step") -extras.U_initial = "linear"; -extras.U_next = "linear"; -extras.criterion = 1e-5; -extras.max_iterations = 0; -extras.v = 0; -[y_l,x,u_l,t,U,U_c,U_l] = ppp_nlin_sim (system_name,A_u,tau,t_ol,N,w,extras); - -## -- with optimisation using nonlinear PPP with continuation -disp("Nonlinear PPP"); -extras.U_initial = "zero"; -extras.U_next = "continuation"; -extras.v = 1e-5; -extras.criterion = 1e-5; -extras.max_iterations = 100; -extras.verbose = 0; -[y,x,u,t,U,U_c,U_l] = ppp_nlin_sim (system_name,A_u,tau,t_ol,N,w,extras); - - -## Plots -title(""); - -## U, U_c and U_l -I = 1:N; -IU1 = [I' U(1,:)']; -IU1_c = [I' U_c(1,:)']; -IU1_l = [I' U_l(1,:)']; -gset grid; xlabel "Interval" -gplot IU1 title "U_1", IU1_c title "U_c1", IU1_l title "U_l1" -psfig("rcPPP_U1"); - -IU2 = [I' U(2,:)']; -IU2_c = [I' U_c(2,:)']; -IU2_l = [I' U_l(2,:)']; -gset grid; xlabel "Interval " -gplot IU2 title "U_2", IU2_c title "U_c2", IU2_l title "U_l2" -psfig("rcPPP_U2"); - -## y & u -gset grid; xlabel "Time (sec)" -ty = [t' y'] ; tu = [t' u']; -gplot ty title "Output", tu title "Input" - -psfig("rcPPP_yu"); - -title(""); -gset grid; xlabel "Time (sec)" -ty_c = [t' y_c'] ; -ty_l = [t' y_l'] ; -ty = [t' y'] ; -tu = [t' u']; -gplot ty_c title "Continuation", ty_l title "Linear", ty title "Optimisation" -psfig("rcPPP_nppp"); - - DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/rcPPP/rcPPP_numpar.txt Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/rcPPP/rcPPP_numpar.txt ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/rcPPP/rcPPP_numpar.txt +++ /dev/null @@ -1,27 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# Numerical parameter file (rcPPP_numpar.txt) -# Generated by MTT at Tue Apr 18 18:53:40 BST 2000 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %% Revision 1.1 2000/12/28 17:31:27 peterg -# %% To RCS -# %% -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Parameters -c = 1.0; # CS,rcPPP -## Removed by MTT on Sat May 26 07:46:29 BST 2001: e_0 = 1.0; # CS -## Removed by MTT on Sat May 26 07:46:29 BST 2001: e_s = 1.0; # Se - -ppp_1 = 1.0; # rcPPP -ppp_2 = 0.0; # rcPPP - -## Physical parameters -c = 1.0; -q_0 = 0.0; -r = 1.0; - DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/rcPPP/rcPPP_rep.txt Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/rcPPP/rcPPP_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/rcPPP/rcPPP_rep.txt +++ /dev/null @@ -1,25 +0,0 @@ -## -*-octave-*- Put Emacs into octave-mode -## Outline report file for system rcPPP (rcPPP_rep.txt) -## Generated by MTT on" Wed May 10 09:22:52 BST 2000. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.1 2000/05/20 17:44:47 peterg -## Initial revision -## -############################################################### - -mtt rcPPP abg tex # The system description -#mtt -s srcPPP abg tex # The system description - -mtt rcPPP struc tex # The system structure -mtt -s srcPPP struc tex # The system structure - -mtt rcPPP nppp m # How its done -mtt rcPPP nppp ps # PPP output - -mtt rcPPP rep txt # PPP output - DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/rcPPP/srcPPP_input.txt Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/rcPPP/srcPPP_input.txt ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/rcPPP/srcPPP_input.txt +++ /dev/null @@ -1,15 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# Input specification (srcPPP_input.txt) -# Generated by MTT at Fri Apr 14 17:44:36 BST 2000 -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - -# Set the inputs -mttu(1) = 1.0; # u (srcPPP_u1_se_1) -mttu(2) = 0.0;#exp(-mttt); # u (srcPPP_u2_se_1) - -# Set the switches DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/rcPPP/srcPPP_lbl.txt Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/rcPPP/srcPPP_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/rcPPP/srcPPP_lbl.txt +++ /dev/null @@ -1,57 +0,0 @@ -%% Label file for system srcPPP (srcPPP_lbl.txt) -%SUMMARY srcPPP -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 2000/12/28 17:31:27 peterg -% %% To RCS -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases - -% Argument aliases -%ALIAS $1 ppp_1 -%ALIAS $2 ppp_1s -%ALIAS $3 ppp_2 -%ALIAS $4 ppp_2s -%ALIAS $5 c -%ALIAS $6 cs -%ALIAS $7 y -%ALIAS $8 ys -%ALIAS $9 r -%ALIAS $10 rs -%ALIAS $11 u1 -%ALIAS $12 u1s -%ALIAS $13 u2 -%ALIAS $14 u2s - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- -% Component type Ae - ppp_1 slin ppp_1;ppp_1s - ppp_2 slin ppp_2;ppp_2s - -% Component type CS - c slin effort,c;x_0;cs;x_0s - -% Component type De - y SS external - -% Component type R - r slin flow,r;rs - -% Component type Se - u1 SS external;0 - u2 SS external;0 - - DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/rcPPP/srcPPP_numpar.txt Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/rcPPP/srcPPP_numpar.txt ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/rcPPP/srcPPP_numpar.txt +++ /dev/null @@ -1,25 +0,0 @@ -## -*-octave-*- Put Emacs into octave-mode ## - -## -## System srcPPP, representation numpar, language txt; -## File srcPPP_numpar.txt; -## Generated by MTT on Sat May 26 08:47:19 BST 2001; - - -## Parameters -c = 1.0; -r = 1.0; - -## PPP coefficients -ppp_1 = 0.0; # Default -ppp_2 = 1.0; # Default - -## State -x_0 = 0.0; # Default - -## Sensitivities -cs = 0.0; # Default -ppp_1s = 0.0; # Default -ppp_2s = 0.0; # Default -rs = 0.0; # Default -x_0s = 0.0; # Default DELETED mttroot/mtt/lib/examples/Control/PPP/Nonlinear/rcPPP/srcPPP_simpar.txt Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/rcPPP/srcPPP_simpar.txt ================================================================== --- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/rcPPP/srcPPP_simpar.txt +++ /dev/null @@ -1,22 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# Simulation parameters for system srcPPP (srcPPP_simpar.txt) -# Generated by MTT on Fri Apr 14 17:43:36 BST 2000. -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.1 2000/12/28 17:31:27 peterg -## To RCS -## -############################################################### - - -FIRST = 0.0; # Last time in simulation -LAST = 2.0; # Last time in simulation -DT = 0.01; # Print interval -STEPFACTOR = 1; # Integration steps per print interval -WMIN = -1; # Minimum frequency = 10^WMIN -WMAX = 2; # Maximum frequency = 10^WMAX -WSTEPS = 100; # Number of frequency steps -INPUT = 1; # Index of the input DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/Cruise/Cruise_abg.fig Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/Cruise/Cruise_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/Cruise/Cruise_abg.fig +++ /dev/null @@ -1,19 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1125 2475 2475 2475 2250 2700 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2835 2250 2835 900 3060 1125 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2835 2700 2835 4050 3060 3825 -2 1 0 3 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 2475 2250 2475 2700 -2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 4725 4500 4725 450 225 450 225 4500 4725 4500 -4 2 -1 0 0 0 20 0.0000000 4 210 570 1035 2565 SS:u\001 -4 1 -1 0 0 0 20 0.0000000 4 210 150 2835 2565 1\001 -4 1 -1 0 0 0 20 0.0000000 4 210 435 2880 4365 R:b\001 -4 1 -1 0 0 0 20 0.0000000 4 210 435 2880 765 I:m\001 DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/Cruise/Cruise_desc.tex Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/Cruise/Cruise_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/Cruise/Cruise_desc.tex +++ /dev/null @@ -1,23 +0,0 @@ -% Verbal description for system Cruise (Cruise_desc.tex) -% Generated by MTT on Mon Jan 12 16:00:15 GMT 1998. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{Cruise} is - displayed in Figure \Ref{Cruise_abg} and its label - file is listed in Section \Ref{sec:Cruise_lbl}. - The subsystems are listed in Section \Ref{sec:Cruise_sub}. - - -This is a simple teaching example to illustrare compensator design via -observer/state-feedback methods. - -%%% Local Variables: -%%% mode: latex -%%% TeX-master: t -%%% End: DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/Cruise/Cruise_lbl.txt Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/Cruise/Cruise_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/Cruise/Cruise_lbl.txt +++ /dev/null @@ -1,29 +0,0 @@ -%SUMMARY Cruise: -%DESCRIPTION -%% Label file for system Cruise (Cruise_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 2000/05/20 16:26:30 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type I - m lin flow,m - -% Component type R - b lin flow,b - -% Component type SS - u SS external,external DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/Cruise/Cruise_numpar.txt Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/Cruise/Cruise_numpar.txt ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/Cruise/Cruise_numpar.txt +++ /dev/null @@ -1,27 +0,0 @@ -# Numerical parameter file (Cruise_numpar.txt) -# Generated by MTT at Mon Jan 12 15:43:19 GMT 1998 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Parameters -b = 1.0; # Parameter b for Cruise -b_m = 1.0; # Parameter b_m for Cruise -j = 1.0; # Parameter j for Cruise -j_m = 1.0; # Parameter j_m for Cruise -k = 1.0; # Parameter k for Cruise -k_m = 1.0; # Parameter k_m for Cruise -l = 1.0; # Parameter l for Cruise -l_a = 1.0; # Parameter l_a for Cruise -l_m = 1.0; # Parameter l_m for Cruise -r = 1.0; # Parameter r for Cruise -r_a = 1.0; # Parameter r_a for Cruise -r_m = 1.0; # Parameter r_m for Cruise - -# Initial states -x(1) = 0.0; # Initial state for Cruise_motor (l_a) -x(2) = 0.0; # Initial state for Cruise_motor (j_m) DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/Cruise/Cruise_params.r Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/Cruise/Cruise_params.r ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/Cruise/Cruise_params.r +++ /dev/null @@ -1,11 +0,0 @@ -%% Parameter file for system Cruise (Cruise_params.r) -%% This file provides symbolic parameters for simplification - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -END; DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/Cruise/Cruise_rep.txt Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/Cruise/Cruise_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/Cruise/Cruise_rep.txt +++ /dev/null @@ -1,24 +0,0 @@ -# Outline report file for system Cruise (Cruise_rep.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -mtt Cruise abg tex - -mtt -o Cruise sm tex -mtt -o Cruise tf tex - -mtt -o Cruise smc tex -mtt -o Cruise ssk tex - -mtt -o Cruise smo tex -mtt -o Cruise ssl tex - -mtt -o Cruise ctf tex - - - DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/Cruise/Cruise_simp.r Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/Cruise/Cruise_simp.r ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/Cruise/Cruise_simp.r +++ /dev/null @@ -1,19 +0,0 @@ -%% Reduce comands to simplify output for system Cruise (Cruise_simp.r) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -% System -%J_m := 1; L_m := 0.1; k_m := 1; b_m := 0.1; r_m := 1; - -% Controller - poles at -2 and -10 -%alpha_c1 := 12; alpha_c2 := 20; - -% Observer - poles at -10 -50 -%alpha_o1 := 60; alpha_o2 := 500; - -END; DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/Cruise/Cruise_sspar.r Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/Cruise/Cruise_sspar.r ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/Cruise/Cruise_sspar.r +++ /dev/null @@ -1,10 +0,0 @@ -%% Reduce steady-state parameter file for Cruise (Cruise_sspar.r) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -END; DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruiseP/CruiseP_abg.fig Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruiseP/CruiseP_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruiseP/CruiseP_abg.fig +++ /dev/null @@ -1,25 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1125 2475 2475 2475 2250 2700 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2835 2250 2835 900 3060 1125 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2835 2700 2835 4050 3060 3825 -2 1 0 3 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 2475 2250 2475 2700 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3150 2475 4500 2475 4275 2700 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5400 2475 6750 2475 6525 2700 -2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 7650 4455 7650 450 225 450 225 4455 7650 4455 -4 1 -1 0 0 0 20 0.0000000 4 210 150 2835 2565 1\001 -4 1 -1 0 0 0 20 0.0000000 4 210 435 2880 4365 R:b\001 -4 1 -1 0 0 0 20 0.0000000 4 210 435 2880 765 I:m\001 -4 0 -1 0 0 0 20 0.0000000 4 270 570 6930 2565 SS:y\001 -4 2 -1 0 0 0 20 0.0000000 4 210 570 1035 2565 SS:u\001 -4 1 -1 0 0 0 20 0.0000000 4 210 1080 4950 2565 INTF:int\001 DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruiseP/CruiseP_desc.tex Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruiseP/CruiseP_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruiseP/CruiseP_desc.tex +++ /dev/null @@ -1,33 +0,0 @@ -% Verbal description for system CruiseP (CruiseP_desc.tex) -% Generated by MTT on Mon Jan 12 16:00:15 GMT 1998. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -This is a simple teaching example to illustrate compensator design via -observer/state-feedback methods. - -The system represents a simple model of a vehicle moving along a road. -The vehicle -\begin{itemize} -\item has mass $m$ -\item is driven by a force $u=F$ -\item has velocity $v$ -\item has momentum $p=mv$ -\item has a distance along the road $y=d$ -\item The system states are taken to be: - \begin{equation} - x = - \begin{pmatrix} - p \\ d - \end{pmatrix} - \end{equation}\end{itemize} - -%%% Local Variables: -%%% mode: latex -%%% TeX-master: t -%%% End: DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruiseP/CruiseP_lbl.txt Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruiseP/CruiseP_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruiseP/CruiseP_lbl.txt +++ /dev/null @@ -1,30 +0,0 @@ -%SUMMARY CruiseP: -%DESCRIPTION -%% Label file for system CruiseP (CruiseP_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type I - m lin flow,m - -% Component type INTF - int lin flow,int - -% Component type R - b lin flow,b - -% Component type SS - u SS external,internal - y SS external,0 DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruiseP/CruiseP_numpar.txt Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruiseP/CruiseP_numpar.txt ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruiseP/CruiseP_numpar.txt +++ /dev/null @@ -1,18 +0,0 @@ -# Numerical parameter file (CruiseP_numpar.txt) -# Generated by MTT at Fri Feb 13 17:15:12 GMT 1998 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Parameters -b = 1.0; # CruiseP -int = 1.0; # CruiseP -m = 1.0; # CruiseP - -# Initial states -x(1) = 0.0; # CruiseP (m) -x(2) = 0.0; # CruiseP_int (3) DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruiseP/CruiseP_pic.fig Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruiseP/CruiseP_pic.fig ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruiseP/CruiseP_pic.fig +++ /dev/null @@ -1,25 +0,0 @@ -#FIG 3.1 -Portrait -Center -Inches -1200 2 -1 3 0 2 -1 7 0 0 -1 0.0000000 1 0.000 3900 3900 309 309 3900 3900 4209 4209 -1 3 0 2 -1 7 0 0 -1 0.0000000 1 0.000 2700 3900 309 309 2700 3900 3009 4209 -2 2 0 2 -1 7 0 0 -1 0.000 0 0 0 0 0 5 - 2400 2400 4200 2400 4200 3600 2400 3600 2400 2400 -2 1 1 2 -1 7 0 0 -1 6.000 0 0 -1 1 0 2 - 1 1 2.00 120.00 240.00 - 4500 2700 5700 2700 -2 1 1 2 -1 7 0 0 -1 6.000 0 0 -1 1 0 2 - 1 1 2.00 120.00 240.00 - 1200 3000 2400 3000 -2 1 1 2 -1 7 0 0 -1 6.000 0 0 -1 1 0 2 - 1 1 2.00 120.00 240.00 - 3900 1800 2700 1800 -4 0 -1 0 0 3 20 0.0000000 4 270 1380 5700 2400 v (velocity)\001 -4 0 -1 0 0 3 20 0.0000000 4 270 1095 525 2700 u (force)\001 -4 0 -1 0 0 3 20 0.0000000 4 270 1425 5700 3150 y (position)\001 -4 0 -1 0 0 3 20 0.0000000 4 255 1155 2700 3075 m (mass)\001 -4 0 -1 0 0 3 20 0.0000000 4 270 2235 3150 1575 bv (friction force)\001 -4 0 -1 0 0 3 16 0.0000000 4 195 2490 2325 5100 states: p=momentum=mv\001 -4 0 -1 0 0 3 16 0.0000000 4 210 1725 2325 5442 y=position\001 DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruiseP/CruiseP_pic.tex Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruiseP/CruiseP_pic.tex ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruiseP/CruiseP_pic.tex +++ /dev/null @@ -1,7 +0,0 @@ -\makebox[5.541in][l]{ - \vbox to 3.458in{ - \vfill - \special{psfile=CruiseP_pic.ps} - } - \vspace{-\baselineskip} -} DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruiseP/CruiseP_rep.tex Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruiseP/CruiseP_rep.tex ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruiseP/CruiseP_rep.tex +++ /dev/null @@ -1,108 +0,0 @@ - - -\section{\textbf{CruiseP}: representation \textbf{abg}, language \textbf{tex}} -\label{sec:CruiseP_abg.tex} -\index{\textbf{CruiseP} -- abg} - - -MTT command: -\begin{verbatim} -mtt CruiseP abg tex -\end{verbatim} - \input{/home/peterg/Research/Modelling/Control/StateSpace/CruiseP/MTT_work/CruiseP_abg.tex} - - -\section{\textbf{CruiseP}: representation \textbf{ode}, language \textbf{tex}} -\label{sec:CruiseP_ode.tex} -\index{\textbf{CruiseP} -- ode} - - -MTT command: -\begin{verbatim} -mtt -o CruiseP ode tex -\end{verbatim} - \input{/home/peterg/Research/Modelling/Control/StateSpace/CruiseP/MTT_work/CruiseP_ode.tex} - - -\section{\textbf{CruiseP}: representation \textbf{sm}, language \textbf{tex}} -\label{sec:CruiseP_sm.tex} -\index{\textbf{CruiseP} -- sm} - - -MTT command: -\begin{verbatim} -mtt -o CruiseP sm tex -\end{verbatim} - \input{/home/peterg/Research/Modelling/Control/StateSpace/CruiseP/MTT_work/CruiseP_sm.tex} - - -\section{\textbf{CruiseP}: representation \textbf{tf}, language \textbf{tex}} -\label{sec:CruiseP_tf.tex} -\index{\textbf{CruiseP} -- tf} - - -MTT command: -\begin{verbatim} -mtt -o CruiseP tf tex -\end{verbatim} - \input{/home/peterg/Research/Modelling/Control/StateSpace/CruiseP/MTT_work/CruiseP_tf.tex} - - -\section{\textbf{CruiseP}: representation \textbf{smc}, language \textbf{tex}} -\label{sec:CruiseP_smc.tex} -\index{\textbf{CruiseP} -- smc} - - -MTT command: -\begin{verbatim} -mtt -o CruiseP smc tex -\end{verbatim} - \input{/home/peterg/Research/Modelling/Control/StateSpace/CruiseP/MTT_work/CruiseP_smc.tex} - - -\section{\textbf{CruiseP}: representation \textbf{ssk}, language \textbf{tex}} -\label{sec:CruiseP_ssk.tex} -\index{\textbf{CruiseP} -- ssk} - - -MTT command: -\begin{verbatim} -mtt -o CruiseP ssk tex -\end{verbatim} - \input{/home/peterg/Research/Modelling/Control/StateSpace/CruiseP/MTT_work/CruiseP_ssk.tex} - - -\section{\textbf{CruiseP}: representation \textbf{smo}, language \textbf{tex}} -\label{sec:CruiseP_smo.tex} -\index{\textbf{CruiseP} -- smo} - - -MTT command: -\begin{verbatim} -mtt -o CruiseP smo tex -\end{verbatim} - \input{/home/peterg/Research/Modelling/Control/StateSpace/CruiseP/MTT_work/CruiseP_smo.tex} - - -\section{\textbf{CruiseP}: representation \textbf{ssl}, language \textbf{tex}} -\label{sec:CruiseP_ssl.tex} -\index{\textbf{CruiseP} -- ssl} - - -MTT command: -\begin{verbatim} -mtt -o CruiseP ssl tex -\end{verbatim} - \input{/home/peterg/Research/Modelling/Control/StateSpace/CruiseP/MTT_work/CruiseP_ssl.tex} - - -\section{\textbf{CruiseP}: representation \textbf{ctf}, language \textbf{tex}} -\label{sec:CruiseP_ctf.tex} -\index{\textbf{CruiseP} -- ctf} - - -MTT command: -\begin{verbatim} -mtt -o CruiseP ctf tex -\end{verbatim} - \input{/home/peterg/Research/Modelling/Control/StateSpace/CruiseP/MTT_work/CruiseP_ctf.tex} DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruiseP/CruiseP_rep.txt Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruiseP/CruiseP_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruiseP/CruiseP_rep.txt +++ /dev/null @@ -1,24 +0,0 @@ -# Outline report file for system CruiseP (CruiseP_rep.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -mtt CruiseP abg tex - -mtt -o CruiseP ode tex -mtt -o CruiseP sm tex -mtt -o CruiseP tf tex - -mtt -o CruiseP smc tex -mtt -o CruiseP ssk tex - -mtt -o CruiseP smo tex -mtt -o CruiseP ssl tex - -mtt -o CruiseP ctf tex - - DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruiseP/Makefile Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruiseP/Makefile ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruiseP/Makefile +++ /dev/null @@ -1,18 +0,0 @@ -# -# TransFig makefile -# - -all: CruiseP_pic.tex - -# translation into ps - -CruiseP_pic.tex: CruiseP_pic.ps Makefile - fig2ps2tex CruiseP_pic.ps >CruiseP_pic.tex -clean:: - rm -f CruiseP_pic.tex - -CruiseP_pic.ps: CruiseP_pic.fig Makefile - fig2dev -L ps CruiseP_pic.fig > CruiseP_pic.ps -clean:: - rm -f CruiseP_pic.ps - DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruisePN/CruisePN_abg.fig Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruisePN/CruisePN_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruisePN/CruisePN_abg.fig +++ /dev/null @@ -1,25 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1125 2475 2475 2475 2250 2700 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2835 2250 2835 900 3060 1125 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2835 2700 2835 4050 3060 3825 -2 1 0 3 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 2475 2250 2475 2700 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3150 2475 4500 2475 4275 2700 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5400 2475 6750 2475 6525 2700 -2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 7650 4455 7650 450 225 450 225 4455 7650 4455 -4 1 -1 0 0 0 20 0.0000000 4 210 150 2835 2565 1\001 -4 1 -1 0 0 0 20 0.0000000 4 210 435 2880 4365 R:b\001 -4 1 -1 0 0 0 20 0.0000000 4 210 435 2880 765 I:m\001 -4 0 -1 0 0 0 20 0.0000000 4 270 570 6930 2565 SS:y\001 -4 2 -1 0 0 0 20 0.0000000 4 210 570 1035 2565 SS:u\001 -4 1 -1 0 0 0 20 0.0000000 4 210 1080 4950 2565 INTF:int\001 DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruisePN/CruisePN_desc.tex Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruisePN/CruisePN_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruisePN/CruisePN_desc.tex +++ /dev/null @@ -1,34 +0,0 @@ -% Verbal description for system CruisePN (CruisePN_desc.tex) -% Generated by MTT on Mon Jan 12 16:00:15 GMT 1998. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -This is a simple teaching example to illustrate compensator design via -observer/state-feedback methods. The equations are presented in -numerical (as opposed to symbolic) form. - -The system represents a simple model of a vehicle moving along a road. -The vehicle -\begin{itemize} -\item has mass $m$ -\item is driven by a force $u=F$ -\item has velocity $v$ -\item has momentum $p=mv$ -\item has a distance along the road $y=d$ -\item The system states are taken to be: - \begin{equation} - x = - \begin{pmatrix} - p \\ d - \end{pmatrix} - \end{equation}\end{itemize} - -%%% Local Variables: -%%% mode: latex -%%% TeX-master: t -%%% End: DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruisePN/CruisePN_lbl.txt Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruisePN/CruisePN_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruisePN/CruisePN_lbl.txt +++ /dev/null @@ -1,30 +0,0 @@ -%SUMMARY CruisePN: -%DESCRIPTION -%% Label file for system CruisePN (CruisePN_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type I - m lin flow,m - -% Component type INTF - int lin flow,int - -% Component type R - b lin flow,b - -% Component type SS - u SS external,internal - y SS external,0 DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruisePN/CruisePN_numpar.txt Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruisePN/CruisePN_numpar.txt ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruisePN/CruisePN_numpar.txt +++ /dev/null @@ -1,18 +0,0 @@ -# Numerical parameter file (CruisePN_numpar.txt) -# Generated by MTT at Fri Feb 13 17:15:12 GMT 1998 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Parameters -b = 1.0; # CruisePN -int = 1.0; # CruisePN -m = 1.0; # CruisePN - -# Initial states -x(1) = 0.0; # CruisePN (m) -x(2) = 0.0; # CruisePN_int (3) DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruisePN/CruisePN_pic.fig Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruisePN/CruisePN_pic.fig ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruisePN/CruisePN_pic.fig +++ /dev/null @@ -1,25 +0,0 @@ -#FIG 3.1 -Portrait -Center -Inches -1200 2 -1 3 0 2 -1 7 0 0 -1 0.0000000 1 0.000 3900 3900 309 309 3900 3900 4209 4209 -1 3 0 2 -1 7 0 0 -1 0.0000000 1 0.000 2700 3900 309 309 2700 3900 3009 4209 -2 2 0 2 -1 7 0 0 -1 0.000 0 0 0 0 0 5 - 2400 2400 4200 2400 4200 3600 2400 3600 2400 2400 -2 1 1 2 -1 7 0 0 -1 6.000 0 0 -1 1 0 2 - 1 1 2.00 120.00 240.00 - 4500 2700 5700 2700 -2 1 1 2 -1 7 0 0 -1 6.000 0 0 -1 1 0 2 - 1 1 2.00 120.00 240.00 - 1200 3000 2400 3000 -2 1 1 2 -1 7 0 0 -1 6.000 0 0 -1 1 0 2 - 1 1 2.00 120.00 240.00 - 3900 1800 2700 1800 -4 0 -1 0 0 3 20 0.0000000 4 270 1380 5700 2400 v (velocity)\001 -4 0 -1 0 0 3 20 0.0000000 4 270 1095 525 2700 u (force)\001 -4 0 -1 0 0 3 20 0.0000000 4 270 1425 5700 3150 y (position)\001 -4 0 -1 0 0 3 20 0.0000000 4 255 1155 2700 3075 m (mass)\001 -4 0 -1 0 0 3 20 0.0000000 4 270 2235 3150 1575 bv (friction force)\001 -4 0 -1 0 0 3 16 0.0000000 4 195 2490 2325 5100 states: p=momentum=mv\001 -4 0 -1 0 0 3 16 0.0000000 4 210 1725 2325 5442 y=position\001 DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruisePN/CruisePN_pic.tex Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruisePN/CruisePN_pic.tex ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruisePN/CruisePN_pic.tex +++ /dev/null @@ -1,7 +0,0 @@ -\makebox[5.541in][l]{ - \vbox to 3.458in{ - \vfill - \special{psfile=CruisePN_pic.ps} - } - \vspace{-\baselineskip} -} DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruisePN/CruisePN_rep.tex Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruisePN/CruisePN_rep.tex ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruisePN/CruisePN_rep.tex +++ /dev/null @@ -1,108 +0,0 @@ - - -\section{\textbf{CruisePN}: representation \textbf{abg}, language \textbf{tex}} -\label{sec:CruisePN_abg.tex} -\index{\textbf{CruisePN} -- abg} - - -MTT command: -\begin{verbatim} -mtt CruisePN abg tex -\end{verbatim} - \input{/home/peterg/Research/Modelling/Control/StateSpace/CruisePN/MTT_work/CruisePN_abg.tex} - - -\section{\textbf{CruisePN}: representation \textbf{ode}, language \textbf{tex}} -\label{sec:CruisePN_ode.tex} -\index{\textbf{CruisePN} -- ode} - - -MTT command: -\begin{verbatim} -mtt -o CruisePN ode tex -\end{verbatim} - \input{/home/peterg/Research/Modelling/Control/StateSpace/CruisePN/MTT_work/CruisePN_ode.tex} - - -\section{\textbf{CruisePN}: representation \textbf{sm}, language \textbf{tex}} -\label{sec:CruisePN_sm.tex} -\index{\textbf{CruisePN} -- sm} - - -MTT command: -\begin{verbatim} -mtt -o CruisePN sm tex -\end{verbatim} - \input{/home/peterg/Research/Modelling/Control/StateSpace/CruisePN/MTT_work/CruisePN_sm.tex} - - -\section{\textbf{CruisePN}: representation \textbf{tf}, language \textbf{tex}} -\label{sec:CruisePN_tf.tex} -\index{\textbf{CruisePN} -- tf} - - -MTT command: -\begin{verbatim} -mtt -o CruisePN tf tex -\end{verbatim} - \input{/home/peterg/Research/Modelling/Control/StateSpace/CruisePN/MTT_work/CruisePN_tf.tex} - - -\section{\textbf{CruisePN}: representation \textbf{smc}, language \textbf{tex}} -\label{sec:CruisePN_smc.tex} -\index{\textbf{CruisePN} -- smc} - - -MTT command: -\begin{verbatim} -mtt -o CruisePN smc tex -\end{verbatim} - \input{/home/peterg/Research/Modelling/Control/StateSpace/CruisePN/MTT_work/CruisePN_smc.tex} - - -\section{\textbf{CruisePN}: representation \textbf{ssk}, language \textbf{tex}} -\label{sec:CruisePN_ssk.tex} -\index{\textbf{CruisePN} -- ssk} - - -MTT command: -\begin{verbatim} -mtt -o CruisePN ssk tex -\end{verbatim} - \input{/home/peterg/Research/Modelling/Control/StateSpace/CruisePN/MTT_work/CruisePN_ssk.tex} - - -\section{\textbf{CruisePN}: representation \textbf{smo}, language \textbf{tex}} -\label{sec:CruisePN_smo.tex} -\index{\textbf{CruisePN} -- smo} - - -MTT command: -\begin{verbatim} -mtt -o CruisePN smo tex -\end{verbatim} - \input{/home/peterg/Research/Modelling/Control/StateSpace/CruisePN/MTT_work/CruisePN_smo.tex} - - -\section{\textbf{CruisePN}: representation \textbf{ssl}, language \textbf{tex}} -\label{sec:CruisePN_ssl.tex} -\index{\textbf{CruisePN} -- ssl} - - -MTT command: -\begin{verbatim} -mtt -o CruisePN ssl tex -\end{verbatim} - \input{/home/peterg/Research/Modelling/Control/StateSpace/CruisePN/MTT_work/CruisePN_ssl.tex} - - -\section{\textbf{CruisePN}: representation \textbf{ctf}, language \textbf{tex}} -\label{sec:CruisePN_ctf.tex} -\index{\textbf{CruisePN} -- ctf} - - -MTT command: -\begin{verbatim} -mtt -o CruisePN ctf tex -\end{verbatim} - \input{/home/peterg/Research/Modelling/Control/StateSpace/CruisePN/MTT_work/CruisePN_ctf.tex} DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruisePN/CruisePN_rep.txt Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruisePN/CruisePN_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruisePN/CruisePN_rep.txt +++ /dev/null @@ -1,24 +0,0 @@ -# Outline report file for system CruisePN (CruisePN_rep.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -mtt CruisePN abg tex - -mtt -o CruisePN ode tex -mtt -o CruisePN sm tex -mtt -o CruisePN tf tex - -mtt -o CruisePN smc tex -mtt -o CruisePN ssk tex - -mtt -o CruisePN smo tex -mtt -o CruisePN ssl tex - -mtt -o CruisePN ctf tex - - DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruisePN/CruisePN_simp.r Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruisePN/CruisePN_simp.r ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruisePN/CruisePN_simp.r +++ /dev/null @@ -1,21 +0,0 @@ -%% Reduce comands to simplify output for system CruisePN (CruisePN_simp.r) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -m := 1; -b := 0; - -alpha_o1 := 4; -alpha_o2 := 4; - -alpha_c1 := 2; -alpha_c2 := 1; - -END; - DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruisePN/CruisePN_sspar.r Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruisePN/CruisePN_sspar.r ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruisePN/CruisePN_sspar.r +++ /dev/null @@ -1,10 +0,0 @@ -%% Reduce steady-state parameter file for CruisePN (CruisePN_sspar.r) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -END; DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruisePN/CruiseP_pic.tex Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruisePN/CruiseP_pic.tex ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruisePN/CruiseP_pic.tex +++ /dev/null @@ -1,7 +0,0 @@ -\makebox[5.541in][l]{ - \vbox to 3.458in{ - \vfill - \special{psfile=CruiseP_pic.ps} - } - \vspace{-\baselineskip} -} DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruisePN/Makefile Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruisePN/Makefile ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruisePN/Makefile +++ /dev/null @@ -1,18 +0,0 @@ -# -# TransFig makefile -# - -all: CruisePN_pic.tex - -# translation into ps - -CruisePN_pic.tex: CruisePN_pic.ps Makefile - fig2ps2tex CruisePN_pic.ps >CruisePN_pic.tex -clean:: - rm -f CruisePN_pic.tex - -CruisePN_pic.ps: CruisePN_pic.fig Makefile - fig2dev -L ps CruisePN_pic.fig > CruisePN_pic.ps -clean:: - rm -f CruisePN_pic.ps - DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/DCexample/DC_abg.fig Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/DCexample/DC_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/DCexample/DC_abg.fig +++ /dev/null @@ -1,40 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 4050 4500 4050 225 1800 225 1800 4500 4050 4500 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1575 2475 2745 2475 2475 2700 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2925 2250 2925 1080 3150 1350 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3105 2475 4275 2475 4005 2700 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2925 2700 2925 3870 3150 3600 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5625 2475 6795 2475 6525 2700 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6975 2295 6975 1125 7200 1395 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6975 2700 6975 3870 7200 3600 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7200 2475 8370 2475 8100 2700 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 8100 4500 8100 225 5850 225 5850 4500 8100 4500 -2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 9450 4950 225 4950 225 45 9450 45 9450 4950 -4 1 -1 0 0 0 20 0.0000 4 195 135 2880 2610 1\001 -4 1 -1 0 0 0 20 0.0000 4 255 990 4995 2565 GY:k_m\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 6975 2565 1\001 -4 1 4 0 0 0 20 0.0000 4 240 810 1080 2565 SS:[in]\001 -4 1 -1 0 0 0 20 0.0000 4 255 510 2880 990 I:l_a\001 -4 1 -1 0 0 0 20 0.0000 4 255 600 7065 990 I:j_m\001 -4 1 -1 0 0 0 20 0.0000 4 255 645 2970 4230 R:r_a\001 -4 1 -1 0 0 0 20 0.0000 4 255 765 7020 4230 R:b_m\001 -4 1 1 1 0 0 20 0.0000 4 195 1095 2925 4815 Electrical\001 -4 1 1 1 0 0 20 0.0000 4 195 1335 6975 4815 Mechanical\001 -4 1 1 1 0 0 20 0.0000 4 195 630 8910 2925 Shaft\001 -4 1 1 1 0 0 20 0.0000 4 195 1170 1080 2925 Terminals\001 -4 1 4 0 0 0 20 0.0000 4 240 960 8910 2565 SS:[out]\001 DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/DCexample/DC_desc.tex Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/DCexample/DC_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/DCexample/DC_desc.tex +++ /dev/null @@ -1,37 +0,0 @@ -% Verbal description for system DC (DC_desc.tex) -% Generated by MTT on Thu Sep 11 10:09:58 BST 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{DC} is - displayed in Figure \Ref{DC_abg} and its label - file is listed in Section \Ref{sec:DC_lbl}. - The subsystems are listed in Section \Ref{sec:DC_sub}. - - \begin{table}[htbp] - \begin{center} - \leavevmode - \begin{tabular}{|l|l|} - \hline - Index & Parameter\\ - \hline - 1 & Motor gain ($k_m$) \\ - 2 & Armature inductance ($l_a$) \\ - 3 & Armature resistance ($r_a$) \\ - 4 & Inertia ($j_m$) \\ - 5 & Friction coefficient ($b_m$) \\ - \hline - \end{tabular} - \caption{DC motor parameters} - \label{tab:DC_components} - \end{center} - \end{table} -{\bf DC} is a two-port component representing a DC motor. It has the 5 -parameters listed in Table \Ref{tab:DC_components}. - - DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/DCexample/DC_lbl.txt Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/DCexample/DC_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/DCexample/DC_lbl.txt +++ /dev/null @@ -1,44 +0,0 @@ -%SUMMARY DC: DC motor (or generator) -%DESCRIPTION Port [in]: Electrical (in) -%DESCRIPTION Port [out]: Mechanical (out) -%DESCRIPTION Parameter 1: Motor gain (k_m) -%DESCRIPTION Parameter 2: Armature inductance (l_a) -%DESCRIPTION Parameter 3: Armature resistance (r_a) -%DESCRIPTION Parameter 4: Inertia (j_m) -%DESCRIPTION Parameter 5: Friction coefficient (b_m) - - -%% Label file for system DC (DC_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.2 1996/12/04 16:01:42 peterg -% %% Documantation added. -% %% -% %% Revision 1.1 1996/12/04 16:00:56 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - -%Motor gain -k_m lin flow,$1 - -% Electrical components -%Inductance -l_a lin effort,$2 -%Resistance -r_a lin flow,$3 - -% Mechanical components -%Inertia -j_m lin flow,$4 -%Friction -b_m lin flow,$5 DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/DCexample/DCexample_abg.fig Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/DCexample/DCexample_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/DCexample/DCexample_abg.fig +++ /dev/null @@ -1,14 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1125 2475 2475 2475 2250 2700 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3825 2475 5175 2475 4950 2700 -2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 6075 3150 6075 1800 225 1800 225 3150 6075 3150 -4 1 -1 0 0 0 20 0.0000000 4 210 1230 3195 2565 DC:motor\001 -4 0 -1 0 0 0 20 0.0000000 4 210 570 5310 2565 SS:v\001 -4 2 -1 0 0 0 20 0.0000000 4 210 555 1035 2565 SS:e\001 DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/DCexample/DCexample_args.new Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/DCexample/DCexample_args.new ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/DCexample/DCexample_args.new +++ /dev/null @@ -1,1 +0,0 @@ - DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/DCexample/DCexample_desc.tex Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/DCexample/DCexample_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/DCexample/DCexample_desc.tex +++ /dev/null @@ -1,36 +0,0 @@ -% Verbal description for system DCexample (DCexample_desc.tex) -% Generated by MTT on Mon Jan 12 16:00:15 GMT 1998. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -This is a simple teaching example to illustrate compensator design via -observer/state-feedback methods. - -The system represents a simple model of a DC motor including armature -resistance $r_m$, armature inductance $l_m$, motor constant $k_m$, -inertia $j_m$ and friction $b_m$. - -The DC motor has -\begin{itemize} -\item output angular velocity $y = \omega$ -\item input voltage $u = v$ -\item $\lambda = Li$ where $i$ is the armature current -\item angular momentum $p=j_m \omega$. -\item system states given by - \begin{equation} - x = - \begin{pmatrix} - \lambda \\ \omega - \end{pmatrix} - \end{equation} -\end{itemize} - -%%% Local Variables: -%%% mode: latex -%%% TeX-master: t -%%% End: DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/DCexample/DCexample_lbl.txt Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/DCexample/DCexample_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/DCexample/DCexample_lbl.txt +++ /dev/null @@ -1,24 +0,0 @@ -%SUMMARY DCexample: -%DESCRIPTION -%% Label file for system DCexample (DCexample_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type DC - motor lin k_m;l_m;r_m;j_m;b_m - -% Component type SS - e SS external,internal - v SS 0,external DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/DCexample/DCexample_numpar.txt Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/DCexample/DCexample_numpar.txt ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/DCexample/DCexample_numpar.txt +++ /dev/null @@ -1,27 +0,0 @@ -# Numerical parameter file (DCexample_numpar.txt) -# Generated by MTT at Mon Jan 12 15:43:19 GMT 1998 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Parameters -b = 1.0; # Parameter b for DCexample -b_m = 1.0; # Parameter b_m for DCexample -j = 1.0; # Parameter j for DCexample -j_m = 1.0; # Parameter j_m for DCexample -k = 1.0; # Parameter k for DCexample -k_m = 1.0; # Parameter k_m for DCexample -l = 1.0; # Parameter l for DCexample -l_a = 1.0; # Parameter l_a for DCexample -l_m = 1.0; # Parameter l_m for DCexample -r = 1.0; # Parameter r for DCexample -r_a = 1.0; # Parameter r_a for DCexample -r_m = 1.0; # Parameter r_m for DCexample - -# Initial states -x(1) = 0.0; # Initial state for DCexample_motor (l_a) -x(2) = 0.0; # Initial state for DCexample_motor (j_m) DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/DCexample/DCexample_params.r Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/DCexample/DCexample_params.r ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/DCexample/DCexample_params.r +++ /dev/null @@ -1,11 +0,0 @@ -%% Parameter file for system DCexample (DCexample_params.r) -%% This file provides symbolic parameters for simplification - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -END; DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/DCexample/DCexample_pic.fig Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/DCexample/DCexample_pic.fig ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/DCexample/DCexample_pic.fig +++ /dev/null @@ -1,32 +0,0 @@ -#FIG 3.1 -Portrait -Center -Inches -1200 2 -6 3900 1725 7575 2475 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 1 0 2 - 1 1 2.00 120.00 240.00 - 4801 1801 5701 1801 -2 2 0 2 -1 7 0 0 -1 0.000 0 0 0 0 0 5 - 5701 1726 6601 1726 6601 1876 5701 1876 5701 1726 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 1 0 3 - 1 1 2.00 120.00 240.00 - 6601 1801 7501 1801 7501 2401 -2 2 0 2 -1 7 0 0 -1 0.000 0 0 0 0 0 5 - 3901 1726 4801 1726 4801 1876 3901 1876 3901 1726 --6 -1 3 0 2 -1 7 0 0 -1 0.0000000 1 0.000 7500 2700 270 270 7500 2700 7650 2925 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 1 0 2 - 1 1 2.00 120.00 240.00 - 3000 1800 3900 1800 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 1 0 3 - 1 1 2.00 120.00 240.00 - 7500 3000 7500 3600 3000 3600 -2 2 0 2 -1 7 0 0 -1 0.000 0 0 0 0 0 5 - 7950 2625 10800 2625 10800 2775 7950 2775 7950 2625 -2 2 0 2 -1 7 0 0 -1 0.000 0 0 0 0 0 5 - 10800 1200 11400 1200 11400 4200 10800 4200 10800 1200 -4 0 -1 0 0 3 20 0.0000000 4 150 135 3000 2775 v\001 -4 0 -1 0 0 3 20 0.0000000 4 210 90 3300 1650 i\001 -4 2 -1 0 0 3 20 0.0000000 4 255 540 6675 2775 k_m\001 -4 2 -1 0 0 32 20 0.0000000 4 135 210 6975 2775 w\001 DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/DCexample/DCexample_pic.tex Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/DCexample/DCexample_pic.tex ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/DCexample/DCexample_pic.tex +++ /dev/null @@ -1,7 +0,0 @@ -\makebox[7.055in][l]{ - \vbox to 2.555in{ - \vfill - \special{psfile=DCexample_pic.ps} - } - \vspace{-\baselineskip} -} DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/DCexample/DCexample_rep.tex Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/DCexample/DCexample_rep.tex ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/DCexample/DCexample_rep.tex +++ /dev/null @@ -1,84 +0,0 @@ - - -\section{\textbf{DCexample}: representation \textbf{abg}, language \textbf{tex}} -\label{sec:DCexample_abg.tex} -\index{\textbf{DCexample} -- abg} - - -MTT command: -\begin{verbatim} -mtt DCexample abg tex -\end{verbatim} - \input{/home/peterg/Research/Modelling/Control/StateSpace/DCexample/MTT_work/DCexample_abg.tex} - - -\section{\textbf{DCexample}: representation \textbf{sm}, language \textbf{tex}} -\label{sec:DCexample_sm.tex} -\index{\textbf{DCexample} -- sm} - - -MTT command: -\begin{verbatim} -mtt -o DCexample sm tex -\end{verbatim} - \input{/home/peterg/Research/Modelling/Control/StateSpace/DCexample/MTT_work/DCexample_sm.tex} - - -\section{\textbf{DCexample}: representation \textbf{tf}, language \textbf{tex}} -\label{sec:DCexample_tf.tex} -\index{\textbf{DCexample} -- tf} - - -MTT command: -\begin{verbatim} -mtt -o DCexample tf tex -\end{verbatim} - \input{/home/peterg/Research/Modelling/Control/StateSpace/DCexample/MTT_work/DCexample_tf.tex} - - -\section{\textbf{DCexample}: representation \textbf{smc}, language \textbf{tex}} -\label{sec:DCexample_smc.tex} -\index{\textbf{DCexample} -- smc} - - -MTT command: -\begin{verbatim} -mtt -o DCexample smc tex -\end{verbatim} - \input{/home/peterg/Research/Modelling/Control/StateSpace/DCexample/MTT_work/DCexample_smc.tex} - - -\section{\textbf{DCexample}: representation \textbf{ssk}, language \textbf{tex}} -\label{sec:DCexample_ssk.tex} -\index{\textbf{DCexample} -- ssk} - - -MTT command: -\begin{verbatim} -mtt -o DCexample ssk tex -\end{verbatim} - \input{/home/peterg/Research/Modelling/Control/StateSpace/DCexample/MTT_work/DCexample_ssk.tex} - - -\section{\textbf{DCexample}: representation \textbf{smo}, language \textbf{tex}} -\label{sec:DCexample_smo.tex} -\index{\textbf{DCexample} -- smo} - - -MTT command: -\begin{verbatim} -mtt -o DCexample smo tex -\end{verbatim} - \input{/home/peterg/Research/Modelling/Control/StateSpace/DCexample/MTT_work/DCexample_smo.tex} - - -\section{\textbf{DCexample}: representation \textbf{ssl}, language \textbf{tex}} -\label{sec:DCexample_ssl.tex} -\index{\textbf{DCexample} -- ssl} - - -MTT command: -\begin{verbatim} -mtt -o DCexample ssl tex -\end{verbatim} - \input{/home/peterg/Research/Modelling/Control/StateSpace/DCexample/MTT_work/DCexample_ssl.tex} DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/DCexample/DCexample_rep.txt Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/DCexample/DCexample_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/DCexample/DCexample_rep.txt +++ /dev/null @@ -1,21 +0,0 @@ -# Outline report file for system DCexample (DCexample_rep.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -mtt DCexample abg tex - -mtt -o DCexample sm tex -mtt -o DCexample tf tex - -mtt -o DCexample smc tex -mtt -o DCexample ssk tex - -mtt -o DCexample smo tex -mtt -o DCexample ssl tex - - DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/DCexample/DCexample_simp.r Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/DCexample/DCexample_simp.r ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/DCexample/DCexample_simp.r +++ /dev/null @@ -1,19 +0,0 @@ -%% Reduce comands to simplify output for system DCexample (DCexample_simp.r) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -% System -%J_m := 1; L_m := 0.1; k_m := 1; b_m := 0.1; r_m := 1; - -% Controller - poles at -2 and -10 -%alpha_c1 := 12; alpha_c2 := 20; - -% Observer - poles at -10 -50 -%alpha_o1 := 60; alpha_o2 := 500; - -END; DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/DCexample/DCexample_sspar.r Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/DCexample/DCexample_sspar.r ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/DCexample/DCexample_sspar.r +++ /dev/null @@ -1,10 +0,0 @@ -%% Reduce steady-state parameter file for DCexample (DCexample_sspar.r) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -END; DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/DCexample/Makefile Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/DCexample/Makefile ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/DCexample/Makefile +++ /dev/null @@ -1,18 +0,0 @@ -# -# TransFig makefile -# - -all: DCexample_pic.tex - -# translation into ps - -DCexample_pic.tex: DCexample_pic.ps Makefile - fig2ps2tex DCexample_pic.ps >DCexample_pic.tex -clean:: - rm -f DCexample_pic.tex - -DCexample_pic.ps: DCexample_pic.fig Makefile - fig2dev -L ps DCexample_pic.fig > DCexample_pic.ps -clean:: - rm -f DCexample_pic.ps - DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/Differential/Differential_abg.fig Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/Differential/Differential_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/Differential/Differential_abg.fig +++ /dev/null @@ -1,23 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -6 2880 2655 2970 3195 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 2925 2700 2925 3150 --6 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 3150 2700 3150 1350 3375 1575 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 3172 3172 3172 4522 3397 4297 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 1575 2925 2925 2925 2700 3150 -4 1 0 100 0 18 18 0.0000 4 195 150 3150 3015 0\001 -4 1 0 100 0 18 18 0.0000 4 270 540 3195 1215 I:j_1\001 -4 1 0 100 0 18 18 0.0000 4 270 540 3150 4860 I:j_2\001 -4 1 0 100 0 18 18 0.0000 4 270 750 990 3015 SS:yu\001 DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/Differential/Differential_rep.txt Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/Differential/Differential_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/Differential/Differential_rep.txt +++ /dev/null @@ -1,28 +0,0 @@ -## -*-octave-*- Put Emacs into octave-mode -## Outline report file for system Differential (Differential_rep.txt) -## Generated by MTT on" Wed Jan 26 10:13:44 GMT 2000. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - -mtt Differential abg tex # The system description -mtt Differential cbg ps # The causal bond graph -## Uncomment the following lines or add others -mtt Differential struc tex # The system structure -## mtt Differential dae tex # The system dae -mtt Differential ode tex # The system ode -## mtt Differential sspar tex # Steady-state parameters -## mtt Differential ss tex # Steady state -## mtt Differential dm tex # Descriptor matrices (of linearised system) -mtt Differential sm tex # State matrices (of linearised system) -mtt Differential tf tex # Transfer function (of linearised - -## mtt Differential lmfr ps # log modulus of frequency response (of linearised system) -## mtt Differential simpar tex # Simulation parameters -## mtt Differential numpar tex # Numerical simulation parameters -## mtt Differential input tex # Simulation input -mtt Differential odeso ps # Simulation output DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/InvertedPendulumT/InvertedPendulumT_abg.fig Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/InvertedPendulumT/InvertedPendulumT_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/InvertedPendulumT/InvertedPendulumT_abg.fig +++ /dev/null @@ -1,55 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -1 3 0 2 1 7 1 0 -1 0.0000000 1 0.000 8550 1125 485 485 8550 1125 8730 1575 -2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5720 1130 5990 1130 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4728 1128 4728 2703 4953 2478 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 6525 2025 6525 450 2925 450 2925 2025 6525 2025 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3603 1128 3603 2703 3828 2478 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5853 1128 5853 2703 6078 2478 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4726 3826 4726 5401 4951 5176 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 6525 4050 2925 4050 2925 2475 6525 2475 6525 4050 -2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 8775 5175 8775 1575 8325 1575 8325 5175 8775 5175 -2 2 0 2 1 7 1 0 -1 0.000 0 0 0 0 0 5 - 7650 450 9405 450 9405 675 7650 675 7650 450 -2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 9450 8100 9450 225 855 225 855 8100 9450 8100 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3600 3871 3600 5446 3825 5221 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5850 3871 5850 5446 6075 5221 -2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3465 3870 3735 3870 -2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4590 3825 4860 3825 -2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5715 3870 5985 3870 -2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3465 1125 3735 1125 -2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4635 2700 4905 2700 -4 1 -1 0 0 0 20 0.0000000 4 240 870 3603 948 SS:v_x\001 -4 1 4 0 0 0 16 0.0000000 4 195 495 3600 2970 [x_a]\001 -4 1 4 0 0 0 16 0.0000000 4 210 885 4725 2970 [alpha_a]\001 -4 1 4 0 0 0 16 0.0000000 4 195 510 3600 3780 [x_b]\001 -4 1 4 0 0 0 16 0.0000000 4 210 900 4725 3780 [alpha_b]\001 -4 1 4 0 0 0 16 0.0000000 4 210 510 5850 3780 [y_b]\001 -4 1 4 0 0 0 16 0.0000000 4 210 495 5850 2970 [y_a]\001 -4 1 -1 0 0 0 20 0.0000000 4 270 870 5850 945 SS:v_y\001 -4 1 -1 0 0 0 20 0.0000000 4 210 1110 4729 3379 ROD:rod\001 -4 1 -1 0 0 0 20 0.0000000 4 240 825 3510 5760 SS:f_x\001 -4 1 -1 0 0 0 20 0.0000000 4 270 825 5760 5760 SS:f_y\001 -4 1 -1 0 0 0 20 0.0000000 4 240 810 4635 5760 SS:f_a\001 -4 0 1 1 0 3 20 0.0000000 4 240 720 6750 1260 Joint \001 -4 0 1 1 0 3 20 0.0000000 4 210 495 6795 3375 Rod\001 -4 1 -1 0 0 0 20 0.0000000 4 210 570 4771 946 SS:u\001 DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/InvertedPendulumT/InvertedPendulumT_desc.tex Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/InvertedPendulumT/InvertedPendulumT_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/InvertedPendulumT/InvertedPendulumT_desc.tex +++ /dev/null @@ -1,42 +0,0 @@ -% Verbal description for system InvertedPendulumT (InvertedPendulumT_desc.tex) -% Generated by MTT on Fri Jun 13 16:30:23 BST 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1998/01/19 14:20:07 peterg -% %% Initial revision -% %% -% Revision 1.1 1997/08/15 13:31:00 peterg -% Initial revision -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{InvertedPendulumT} is - displayed in Figure \Ref{InvertedPendulumT_abg} and its label - file is listed in Section \Ref{sec:InvertedPendulumT_lbl}. - The subsystems are listed in Section \Ref{sec:InvertedPendulumT_sub}. - -This is a heirachical version of the example from Section 10.5 of -"Metamodelling". It uses the compound components: {\bf ROD}. {\bf -ROD} is essentially as described in Figure 10.2. -There is no gravity included in this model. - -This system has a number of dynamic elements (those corresponding to translation -motion) in derivative causality, thus the system is represnted as a -Differential-Algebraic Equation (Section -\Ref{sec:InvertedPendulumT_dae.tex}). Hovever, this is of contrained-state form and -therfore can be written as a set of constrained-state equations (Section -\Ref{sec:InvertedPendulumT_cse.tex}). The corresponding ordinary differential -equation is complicated due to the trig functions involved in -inverting the E matrix. - -As well as the standard representation the ``robot-form'' equations -appear in Section \Ref{sec:InvertedPendulumT_rfe}. - -%%% Local Variables: -%%% mode: plain-tex -%%% TeX-master: t -%%% End: DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/InvertedPendulumT/InvertedPendulumT_input.txt Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/InvertedPendulumT/InvertedPendulumT_input.txt ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/InvertedPendulumT/InvertedPendulumT_input.txt +++ /dev/null @@ -1,14 +0,0 @@ -# Numerical parameter file (InvertedPendulumT_input.txt) -# Generated by MTT at Fri Jun 13 16:56:09 BST 1997 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Set the inputs -u(1) = (t<1.0); -u(2) = 0.0; # -u(3) = 0.0; # gravity DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/InvertedPendulumT/InvertedPendulumT_lbl.txt Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/InvertedPendulumT/InvertedPendulumT_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/InvertedPendulumT/InvertedPendulumT_lbl.txt +++ /dev/null @@ -1,43 +0,0 @@ -%SUMMARY InvertedPendulumT: Pendulum with torque input at lower end - -%% Label (InvertedPendulumT_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.2 1996/12/05 12:39:49 peterg -% %% Documentation -% %% -% %% Revision 1.1 1996/12/05 12:17:15 peterg -% %% Initial revision -% %% -% %% Revision 1.1 1996/11/14 10:48:42 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - -%Rod parameters - uniform rods -rod none l_1;l_1;j_1;m_1 - -%Zero velocity sources -v_x SS internal,0 -v_y SS internal,0 - - -%Zero force/torque sources -f_x SS 0,internal -f_a SS 0,internal -f_y SS 0,internal - - -%Torque/velocity at joint -u SS external,internal - - DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/InvertedPendulumT/InvertedPendulumT_numpar.txt Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/InvertedPendulumT/InvertedPendulumT_numpar.txt ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/InvertedPendulumT/InvertedPendulumT_numpar.txt +++ /dev/null @@ -1,23 +0,0 @@ -# Numerical parameter file (InvertedPendulumT_numpar.txt) -# Generated by MTT at Mon Jan 19 13:53:15 GMT 1998 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Parameters -j_1 = 1.0; # Parameter j_1 for InvertedPendulumT -j_2 = 1.0; # Parameter j_2 for InvertedPendulumT -l_1 = 1.0; # Parameter l_1 for InvertedPendulumT -l_2 = 1.0; # Parameter l_2 for InvertedPendulumT -m_1 = 1.0; # Parameter m_1 for InvertedPendulumT -m_2 = 1.0; # Parameter m_2 for InvertedPendulumT - -# Initial states -x(1) = 0.0; # Initial state for InvertedPendulumT_rod1 (J) -x(2) = 0.0; # Initial state for InvertedPendulumT_rod1_th (3) -x(3) = 0.0; # Initial state for InvertedPendulumT_rod2 (J) -x(4) = 0.0; # Initial state for InvertedPendulumT_rod2_th (3) DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/InvertedPendulumT/InvertedPendulumT_rep.txt Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/InvertedPendulumT/InvertedPendulumT_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/InvertedPendulumT/InvertedPendulumT_rep.txt +++ /dev/null @@ -1,22 +0,0 @@ -# Outline report file for system InvertedPendulumT (InvertedPendulumT_rep.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -mtt InvertedPendulumT abg tex - -mtt -o InvertedPendulumT ode tex -mtt -o InvertedPendulumT sm tex -mtt -o InvertedPendulumT tf tex - -mtt -o InvertedPendulumT smc tex -mtt -o InvertedPendulumT ssk tex - -mtt -o InvertedPendulumT smo tex -mtt -o InvertedPendulumT ssl tex - - DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/InvertedPendulumT/InvertedPendulumT_simp.r Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/InvertedPendulumT/InvertedPendulumT_simp.r ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/InvertedPendulumT/InvertedPendulumT_simp.r +++ /dev/null @@ -1,36 +0,0 @@ -%% Reduce comands to simplify output for system InvertedPendulumT (InvertedPendulumT_simp.r) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - trig1 := {cos(~x)*cos(~y) => (cos(x+y)+cos(x-y))/2, - cos(~x)*sin(~y) => (sin(x+y)-sin(x-y))/2, - sin(~x)*sin(~y) => (cos(x-y)-cos(x+y))/2, - cos(~x)^2 => (1+cos(2*x))/2, - sin(~x)^2 => (1-cos(2*x))/2}; - LET trig1; - - -m_1 := m; -l_1 := l; -j_1 := j; -mg := m*g; -j := m*l*l/12; - -%l:=1; - -alpha_c1 := 2; -alpha_c2 := 1; - -alpha_o1 := 20; -alpha_o2 := 100; - - -ORDER s,m,g; - - -END; DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/InvertedPendulumT/InvertedPendulumT_sspar.r Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/InvertedPendulumT/InvertedPendulumT_sspar.r ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/InvertedPendulumT/InvertedPendulumT_sspar.r +++ /dev/null @@ -1,13 +0,0 @@ -%% Reduce steady-state parameter file for InvertedPendulumT (InvertedPendulumT_sspar.r) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -MTTx1 := 0; -MTTx2 := 0; - -END; DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/InvertedPendulumT/ROD_abg.fig Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/InvertedPendulumT/ROD_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/InvertedPendulumT/ROD_abg.fig +++ /dev/null @@ -1,133 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4728 4278 5403 4953 5178 4953 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5854 5404 6529 6079 6304 6079 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4728 6078 5403 5403 5403 5628 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5853 4953 6528 4278 6528 4503 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 1 - 4277 3827 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3152 2702 4277 3827 4052 3827 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6977 6527 8102 7652 7877 7652 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3152 7652 4277 6527 4277 6752 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6977 3827 8102 2702 8102 2927 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5852 5177 6527 5177 6392 5312 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2927 2927 2927 4952 3152 4727 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2927 5402 2927 7427 3152 7202 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2701 5176 2026 5176 2161 5311 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2926 1351 2926 2476 3196 2206 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2926 7876 2926 9001 3196 8731 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8328 2928 8328 4953 8553 4728 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8328 5403 8328 7428 8553 7203 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8327 1352 8327 2477 8597 2207 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8327 7877 8327 9002 8597 8732 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5626 1351 5626 4951 5851 4726 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5626 5401 5626 9001 5851 8776 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 1 - 6526 5401 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 6526 4951 6526 5401 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8551 5176 9226 5176 9091 5311 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3826 4951 6526 4051 6436 4231 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3826 4996 3826 5356 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4276 5176 3826 5176 3961 5311 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3826 5401 6301 6301 6121 6301 -2 1 0 1 5 -1 0 0 -1 0.000 0 0 -1 0 0 3 - 3601 5401 4051 6301 3826 6301 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3601 4951 4051 4051 4051 4276 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5536 5176 5086 5176 5221 5311 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 6300 9675 6300 675 4950 675 4950 9675 6300 9675 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 9000 9675 9000 675 7650 675 7650 9675 9000 9675 -2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 11025 10305 11025 225 225 225 225 10305 11025 10305 -2 4 0 1 1 7 0 0 -1 0.000 0 0 7 0 0 5 - 3600 9675 2250 9675 2250 675 3600 675 3600 9675 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 10125 2250 990 2250 990 900 10125 900 10125 2250 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 10125 5850 990 5850 990 4500 10125 4500 10125 5850 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 10125 9450 990 9450 990 8100 10125 8100 10125 9450 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 1 - 8550 7650 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 8685 5265 8415 5535 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1372 3490 1372 3172 3375 5175 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 1507 3037 1237 3307 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 9180 5724 9180 6042 8544 5406 -4 1 -1 0 0 0 20 0.0000000 4 210 150 5628 5268 1\001 -4 1 -1 0 0 0 20 0.0000000 4 210 315 6933 5268 I:J\001 -4 1 -1 0 0 0 20 0.0000000 4 210 150 2927 5312 1\001 -4 1 -1 0 0 0 20 0.0000000 4 210 150 2972 2792 0\001 -4 1 -1 0 0 0 20 0.0000000 4 210 150 2927 7742 0\001 -4 1 -1 0 0 0 20 0.0000000 4 210 150 8328 5313 1\001 -4 1 -1 0 0 0 20 0.0000000 4 210 150 8373 2793 0\001 -4 1 -1 0 0 0 20 0.0000000 4 210 150 8328 7743 0\001 -4 1 -1 0 0 0 20 0.0000000 4 270 735 9676 5266 I:m_y\001 -4 1 -1 0 0 0 20 0.0000000 4 240 735 1531 5221 I:m_x\001 -4 1 -1 0 0 0 20 0.0000000 4 210 1170 4636 4141 EMTF:c1\001 -4 1 -1 0 0 0 20 0.0000000 4 210 1170 4681 6391 EMTF:c2\001 -4 1 -1 0 0 0 20 0.0000000 4 210 1155 7156 4141 EMTF:s1\001 -4 1 -1 0 0 0 20 0.0000000 4 210 1155 7156 6391 EMTF:s2\001 -4 1 5 0 0 0 20 0.0000000 4 210 150 3603 5313 0\001 -4 1 26 0 0 0 16 0.0000000 4 195 330 6751 4456 [in]\001 -4 1 26 0 0 0 16 0.0000000 4 195 450 6751 3781 [out]\001 -4 1 26 0 0 0 16 0.0000000 4 195 330 6751 6076 [in]\001 -4 1 26 0 0 0 16 0.0000000 4 195 450 6751 6706 [out]\001 -4 1 26 0 0 0 16 0.0000000 4 195 570 6211 6526 [mod]\001 -4 1 5 0 0 0 20 0.0000000 4 210 990 4681 5266 INTF:th\001 -4 1 1 1 0 0 20 0.0000000 4 210 210 2925 10035 X\001 -4 1 1 1 0 32 20 0.0000000 4 135 195 5580 9990 a\001 -4 1 1 1 0 0 20 0.0000000 4 210 210 8280 9990 Y\001 -4 2 26 0 0 0 16 0.0000000 4 195 570 3960 4140 [mod]\001 -4 2 26 0 0 0 16 0.0000000 4 195 570 6345 4095 [mod]\001 -4 2 26 0 0 0 16 0.0000000 4 195 570 3960 6210 [mod]\001 -4 1 26 0 0 0 16 0.0000000 4 195 330 4590 4455 [in]\001 -4 1 26 0 0 0 16 0.0000000 4 195 450 4545 3780 [out]\001 -4 1 26 0 0 0 16 0.0000000 4 195 450 4590 6660 [out]\001 -4 0 26 0 0 0 16 0.0000000 4 195 330 4365 6030 [in]\001 -4 1 4 0 0 0 20 0.0000000 4 240 1065 2971 1216 SS:[x_a]\001 -4 1 4 0 0 0 20 0.0000000 4 240 1080 2971 9361 SS:[x_b]\001 -4 1 4 0 0 0 20 0.0000000 4 270 1065 8372 1217 SS:[y_a]\001 -4 1 4 0 0 0 20 0.0000000 4 270 1080 8417 9362 SS:[y_b]\001 -4 1 4 0 0 0 20 0.0000000 4 270 1575 5671 1216 SS:[alpha_a]\001 -4 1 4 0 0 0 20 0.0000000 4 270 1590 5671 9361 SS:[alpha_b]\001 -4 1 1 1 0 0 20 0.0000000 4 270 630 1350 2700 Tip a\001 -4 1 1 1 0 0 20 0.0000000 4 240 1470 1260 6300 Mass centre\001 -4 1 1 1 0 0 20 0.0000000 4 270 645 1350 9855 Tip b\001 -4 1 -1 0 0 0 20 0.0000000 4 270 810 9225 6300 SS:mg\001 -4 2 -1 0 0 0 20 0.0000000 4 210 1020 1395 3060 SS:theta\001 DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/InvertedPendulumT/ROD_desc.tex Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/InvertedPendulumT/ROD_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/InvertedPendulumT/ROD_desc.tex +++ /dev/null @@ -1,20 +0,0 @@ -% Verbal description for system ROD (ROD_desc.tex) -% Generated by MTT on Fri Aug 15 09:53:23 BST 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% Revision 1.1 1997/08/15 09:41:19 peterg -% Initial revision -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{ROD} is - displayed in Figure \Ref{ROD_abg} and its label - file is listed in Section \Ref{sec:ROD_lbl}. - The subsystems are listed in Section \Ref{sec:ROD_sub}. - -{\bf ROD} is essentially as described in Figure 10.2 of -``Metamodelling''. DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/InvertedPendulumT/ROD_lbl.txt Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/InvertedPendulumT/ROD_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/InvertedPendulumT/ROD_lbl.txt +++ /dev/null @@ -1,58 +0,0 @@ -%SUMMARY ROD: rigid rod in two dimensions -%DESCRIPTION Port [alpha_a]: Angular torque/velocity - end a -%DESCRIPTION Port [alpha_b]: Angular torque/velocity - end b -%DESCRIPTION Port [x_a]: x force/velocity - end a -%DESCRIPTION Port [x_b]: x force/velocity - end b -%DESCRIPTION Port [y_a]: y force/velocity - end a -%DESCRIPTION Port [y_b]: y force/velocity - end b -%DESCRIPTION -%DESCRIPTION Parameter 1: length from end 1 to mass centre -%DESCRIPTION Parameter 2: length from end 2 to mass centre -%DESCRIPTION Parameter 3: inertia about mass centre -%DESCRIPTION Parameter 4: mass -%DESCRIPTION See Section 10.2 of "Metamodelling" - - -%% Label file for system ROD (ROD_lbl.txt) - - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.2 1997/08/15 09:43:06 peterg -% %% Now has lablelled (as opposed to numbered) ports. -% %% -% Revision 1.1 1996/11/07 10:57:17 peterg -% Initial revision -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - -%Inertias -J lin flow,$3 -m_x lin flow,$4 -m_y lin flow,$4 - -%Integrate angular velocity to get angle -th - -%Modulated transformers -s1 lsin flow,$1 -s2 lsin flow,$2 -c1 lcos flow,$1 -c2 lcos flow,$2 - -%Gravity -mg mg internal - -% Angle -theta external 0 - - DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/Satellite/Satellite_abg.fig Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/Satellite/Satellite_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/Satellite/Satellite_abg.fig +++ /dev/null @@ -1,20 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1125 2475 2475 2475 2250 2700 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3150 2475 4500 2475 4275 2700 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5872 2497 7222 2497 6997 2722 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2835 2250 2835 900 3060 1125 -2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 8145 3150 8145 450 270 450 270 3150 8145 3150 -4 1 -1 0 0 0 20 0.0000000 4 210 1080 5265 2565 INTF:int\001 -4 2 -1 0 0 0 20 0.0000000 4 210 570 1035 2565 SS:u\001 -4 0 -1 0 0 0 20 0.0000000 4 270 570 7380 2565 SS:y\001 -4 1 -1 0 0 0 20 0.0000000 4 210 150 2835 2565 1\001 -4 1 -1 0 0 0 20 0.0000000 4 270 285 2880 765 I:j\001 DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/Satellite/Satellite_desc.tex Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/Satellite/Satellite_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/Satellite/Satellite_desc.tex +++ /dev/null @@ -1,23 +0,0 @@ -% Verbal description for system Satellite (Satellite_desc.tex) -% Generated by MTT on Mon Jan 12 16:00:15 GMT 1998. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{Satellite} is - displayed in Figure \Ref{Satellite_abg} and its label - file is listed in Section \Ref{sec:Satellite_lbl}. - The subsystems are listed in Section \Ref{sec:Satellite_sub}. - - -This is a simple teaching example to illustrare compensator design via -observer/state-feedback methods. - -%%% Local Variables: -%%% mode: latex -%%% TeX-master: t -%%% End: DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/Satellite/Satellite_lbl.txt Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/Satellite/Satellite_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/Satellite/Satellite_lbl.txt +++ /dev/null @@ -1,27 +0,0 @@ -%SUMMARY Satellite: -%DESCRIPTION -%% Label file for system Satellite (Satellite_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type I - j lin flow,1 - -% Component type INTF - int - -% Component type SS - u SS external,internal - y SS external,0 DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/Satellite/Satellite_numpar.txt Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/Satellite/Satellite_numpar.txt ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/Satellite/Satellite_numpar.txt +++ /dev/null @@ -1,27 +0,0 @@ -# Numerical parameter file (Satellite_numpar.txt) -# Generated by MTT at Mon Jan 12 15:43:19 GMT 1998 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Parameters -b = 1.0; # Parameter b for Satellite -b_m = 1.0; # Parameter b_m for Satellite -j = 1.0; # Parameter j for Satellite -j_m = 1.0; # Parameter j_m for Satellite -k = 1.0; # Parameter k for Satellite -k_m = 1.0; # Parameter k_m for Satellite -l = 1.0; # Parameter l for Satellite -l_a = 1.0; # Parameter l_a for Satellite -l_m = 1.0; # Parameter l_m for Satellite -r = 1.0; # Parameter r for Satellite -r_a = 1.0; # Parameter r_a for Satellite -r_m = 1.0; # Parameter r_m for Satellite - -# Initial states -x(1) = 0.0; # Initial state for Satellite_motor (l_a) -x(2) = 0.0; # Initial state for Satellite_motor (j_m) DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/Satellite/Satellite_rep.txt Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/Satellite/Satellite_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/Satellite/Satellite_rep.txt +++ /dev/null @@ -1,23 +0,0 @@ -# Outline report file for system Satellite (Satellite_rep.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -mtt Satellite abg tex - -mtt -o Satellite ode tex -mtt -o Satellite sm tex -mtt -o Satellite tf tex - -mtt -o Satellite smc tex -mtt -o Satellite ssk tex - -mtt -o Satellite smo tex -mtt -o Satellite ssl tex -mtt -o Satellite ctf tex - - DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/Satellite/Satellite_simp.r Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/Satellite/Satellite_simp.r ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/Satellite/Satellite_simp.r +++ /dev/null @@ -1,20 +0,0 @@ -%% Reduce comands to simplify output for system Satellite (Satellite_simp.r) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -% System - -% Controller - poles -1 -alpha_c1 := 2; alpha_c2 := 1; - -% Observer - poles at -1 -alpha_o1 := 2; alpha_o2 := 1; - -ON FACTOR; - -END; DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/Satellite/Satellite_sspar.r Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/Satellite/Satellite_sspar.r ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/Satellite/Satellite_sspar.r +++ /dev/null @@ -1,10 +0,0 @@ -%% Reduce steady-state parameter file for Satellite (Satellite_sspar.r) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -END; DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/TwoTanks/Makefile Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/TwoTanks/Makefile ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/TwoTanks/Makefile +++ /dev/null @@ -1,18 +0,0 @@ -# -# TransFig makefile -# - -all: TwoTanks_pic.tex - -# translation into ps - -TwoTanks_pic.tex: TwoTanks_pic.ps Makefile - fig2ps2tex TwoTanks_pic.ps >TwoTanks_pic.tex -clean:: - rm -f TwoTanks_pic.tex - -TwoTanks_pic.ps: TwoTanks_pic.fig Makefile - fig2dev -L ps TwoTanks_pic.fig > TwoTanks_pic.ps -clean:: - rm -f TwoTanks_pic.ps - DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/TwoTanks/TwoTanks_abg.fig Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/TwoTanks/TwoTanks_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/TwoTanks/TwoTanks_abg.fig +++ /dev/null @@ -1,51 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1351 4276 2701 4276 2476 4501 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2926 4501 3826 5401 3601 5401 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2971 4051 3871 3151 3871 3376 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4275 3150 5625 3150 5400 3375 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4275 5400 5625 5400 5400 5625 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4051 2925 4051 1575 4276 1800 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4050 5670 4050 7020 4275 6795 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5850 2880 5850 1530 6075 1755 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5850 5670 5850 7020 6075 6795 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6075 3150 7425 3150 7200 3375 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6075 5400 7425 5400 7200 5625 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7875 3150 8775 4050 8505 4050 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7875 5400 8775 4500 8775 4725 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 9001 4275 10351 4275 10126 4500 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 1350 4050 1350 4500 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 9000 4050 9000 4500 -4 1 -1 0 0 0 20 0.0000000 4 210 150 2926 4366 1\001 -4 1 -1 0 0 0 20 0.0000000 4 210 150 4096 5491 0\001 -4 1 -1 0 0 0 20 0.0000000 4 210 150 4096 3241 0\001 -4 1 -1 0 0 0 20 0.0000000 4 210 150 5895 3240 1\001 -4 1 -1 0 0 0 20 0.0000000 4 240 690 5895 1440 R:r_1\001 -4 1 -1 0 0 0 20 0.0000000 4 240 720 4050 1440 C:c_1\001 -4 1 -1 0 0 0 20 0.0000000 4 210 150 5850 5490 1\001 -4 1 -1 0 0 0 20 0.0000000 4 210 375 7650 3240 AF\001 -4 1 -1 0 0 0 20 0.0000000 4 210 375 7695 5490 AF\001 -4 1 -1 0 0 0 20 0.0000000 4 210 150 8775 4365 0\001 -4 0 -1 0 0 0 20 0.0000000 4 240 825 10620 4320 SS:f_2\001 -4 2 -1 0 0 0 20 0.0000000 4 240 825 1260 4365 SS:f_1\001 -4 1 -1 0 0 0 20 0.0000000 4 240 720 4005 7335 C:c_2\001 -4 1 -1 0 0 0 20 0.0000000 4 240 690 5850 7335 R:r_2\001 DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/TwoTanks/TwoTanks_desc.tex Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/TwoTanks/TwoTanks_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/TwoTanks/TwoTanks_desc.tex +++ /dev/null @@ -1,36 +0,0 @@ -% Verbal description for system TwoTanks (TwoTanks_desc.tex) -% Generated by MTT on Mon Jan 12 16:00:15 GMT 1998. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -This is a simple teaching example to illustrate compensator design via -observer/state-feedback methods. - -\begin{itemize} -\item Each tank is identical and of unit cross section. -\item Each tank has an identical inflow $f_1 = u$ -\item Each outflow is different and given by $\sigma_i v_i$ for $i=1$ - and $i=2$ where $v_i$ is the volume of liquid in tank i and - $\sigma_i$ the corresponding discharge coefficient. The net outflow - is thus $y = f_2 = \sigma_1 v_1 + \sigma_2 v_2$. -\item The system states are taken to be: - \begin{equation} - x = - \begin{pmatrix} - v_1 \\ v_2 - \end{pmatrix} - \end{equation} -\end{itemize} - - - - -%%% Local Variables: -%%% mode: latex -%%% TeX-master: t -%%% End: DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/TwoTanks/TwoTanks_lbl.txt Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/TwoTanks/TwoTanks_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/TwoTanks/TwoTanks_lbl.txt +++ /dev/null @@ -1,29 +0,0 @@ -%SUMMARY TwoTanks: -%DESCRIPTION -%% Label file for system TwoTanks (TwoTanks_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type C - c_1 lin effort,1 - c_2 lin effort,1 - -% Component type R - r_1 lin effort,sigma_1 - r_2 lin effort,sigma_2 - -% Component type SS - f_1 SS internal,external - f_2 SS 0,external DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/TwoTanks/TwoTanks_params.r Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/TwoTanks/TwoTanks_params.r ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/TwoTanks/TwoTanks_params.r +++ /dev/null @@ -1,11 +0,0 @@ -%% Parameter file for system TwoTanks (TwoTanks_params.r) -%% This file provides symbolic parameters for simplification - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -END; DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/TwoTanks/TwoTanks_pic.fig Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/TwoTanks/TwoTanks_pic.fig ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/TwoTanks/TwoTanks_pic.fig +++ /dev/null @@ -1,33 +0,0 @@ -#FIG 3.1 -Portrait -Center -Inches -1200 2 -6 2099 1799 3974 3974 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2100 1800 2100 3900 3900 3900 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3300 1800 3300 3600 3900 3600 --6 -6 5025 1800 6900 3975 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6899 1801 6899 3901 5099 3901 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5699 1801 5699 3601 5099 3601 --6 -2 1 1 2 -1 7 0 0 -1 6.000 0 0 -1 1 0 3 - 1 1 2.00 120.00 240.00 - 3600 3750 4200 3750 4200 4800 -2 1 1 2 -1 7 0 0 -1 6.000 0 0 -1 1 0 3 - 1 1 2.00 120.00 240.00 - 5400 3750 4800 3750 4800 4800 -2 1 1 2 -1 7 0 0 -1 6.000 0 0 -1 1 0 3 - 1 1 2.00 120.00 240.00 - 1800 1050 2400 1050 2400 2100 -2 1 1 2 -1 7 0 0 -1 6.000 0 0 -1 1 0 3 - 1 1 2.00 120.00 240.00 - 7200 1050 6600 1050 6600 2100 -4 0 -1 0 0 3 20 0.0000000 4 270 2610 3225 5250 y=total outflow = f_2\001 -4 0 -1 0 0 3 20 0.0000000 4 270 405 1950 900 f_1\001 -4 0 -1 0 0 3 20 0.0000000 4 270 405 6825 900 f_1\001 -4 0 -1 0 0 3 20 0.0000000 4 270 3525 2775 1500 u= inflow to each tank = f_1\001 DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/TwoTanks/TwoTanks_pic.tex Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/TwoTanks/TwoTanks_pic.tex ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/TwoTanks/TwoTanks_pic.tex +++ /dev/null @@ -1,7 +0,0 @@ -\makebox[4.569in][l]{ - \vbox to 3.861in{ - \vfill - \special{psfile=TwoTanks_pic.ps} - } - \vspace{-\baselineskip} -} DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/TwoTanks/TwoTanks_rep.tex Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/TwoTanks/TwoTanks_rep.tex ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/TwoTanks/TwoTanks_rep.tex +++ /dev/null @@ -1,84 +0,0 @@ - - -\section{\textbf{TwoTanks}: representation \textbf{abg}, language \textbf{tex}} -\label{sec:TwoTanks_abg.tex} -\index{\textbf{TwoTanks} -- abg} - - -MTT command: -\begin{verbatim} -mtt TwoTanks abg tex -\end{verbatim} - \input{/home/peterg/Research/Modelling/Control/StateSpace/TwoTanks/MTT_work/TwoTanks_abg.tex} - - -\section{\textbf{TwoTanks}: representation \textbf{sm}, language \textbf{tex}} -\label{sec:TwoTanks_sm.tex} -\index{\textbf{TwoTanks} -- sm} - - -MTT command: -\begin{verbatim} -mtt -o TwoTanks sm tex -\end{verbatim} - \input{/home/peterg/Research/Modelling/Control/StateSpace/TwoTanks/MTT_work/TwoTanks_sm.tex} - - -\section{\textbf{TwoTanks}: representation \textbf{tf}, language \textbf{tex}} -\label{sec:TwoTanks_tf.tex} -\index{\textbf{TwoTanks} -- tf} - - -MTT command: -\begin{verbatim} -mtt -o TwoTanks tf tex -\end{verbatim} - \input{/home/peterg/Research/Modelling/Control/StateSpace/TwoTanks/MTT_work/TwoTanks_tf.tex} - - -\section{\textbf{TwoTanks}: representation \textbf{smc}, language \textbf{tex}} -\label{sec:TwoTanks_smc.tex} -\index{\textbf{TwoTanks} -- smc} - - -MTT command: -\begin{verbatim} -mtt -o TwoTanks smc tex -\end{verbatim} - \input{/home/peterg/Research/Modelling/Control/StateSpace/TwoTanks/MTT_work/TwoTanks_smc.tex} - - -\section{\textbf{TwoTanks}: representation \textbf{ssk}, language \textbf{tex}} -\label{sec:TwoTanks_ssk.tex} -\index{\textbf{TwoTanks} -- ssk} - - -MTT command: -\begin{verbatim} -mtt -o TwoTanks ssk tex -\end{verbatim} - \input{/home/peterg/Research/Modelling/Control/StateSpace/TwoTanks/MTT_work/TwoTanks_ssk.tex} - - -\section{\textbf{TwoTanks}: representation \textbf{smo}, language \textbf{tex}} -\label{sec:TwoTanks_smo.tex} -\index{\textbf{TwoTanks} -- smo} - - -MTT command: -\begin{verbatim} -mtt -o TwoTanks smo tex -\end{verbatim} - \input{/home/peterg/Research/Modelling/Control/StateSpace/TwoTanks/MTT_work/TwoTanks_smo.tex} - - -\section{\textbf{TwoTanks}: representation \textbf{ssl}, language \textbf{tex}} -\label{sec:TwoTanks_ssl.tex} -\index{\textbf{TwoTanks} -- ssl} - - -MTT command: -\begin{verbatim} -mtt -o TwoTanks ssl tex -\end{verbatim} - \input{/home/peterg/Research/Modelling/Control/StateSpace/TwoTanks/MTT_work/TwoTanks_ssl.tex} DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/TwoTanks/TwoTanks_rep.txt Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/TwoTanks/TwoTanks_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/TwoTanks/TwoTanks_rep.txt +++ /dev/null @@ -1,21 +0,0 @@ -# Outline report file for system TwoTanks (TwoTanks_rep.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -mtt TwoTanks abg tex - -mtt -o TwoTanks sm tex -mtt -o TwoTanks tf tex - -mtt -o TwoTanks smc tex -mtt -o TwoTanks ssk tex - -mtt -o TwoTanks smo tex -mtt -o TwoTanks ssl tex - - DELETED mttroot/mtt/lib/examples/Control/SimpleStateSpace/TwoTanks/TwoTanks_simp.r Index: mttroot/mtt/lib/examples/Control/SimpleStateSpace/TwoTanks/TwoTanks_simp.r ================================================================== --- mttroot/mtt/lib/examples/Control/SimpleStateSpace/TwoTanks/TwoTanks_simp.r +++ /dev/null @@ -1,10 +0,0 @@ -%% Reduce comands to simplify output for system TwoTanks (TwoTanks_simp.r) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -END; DELETED mttroot/mtt/lib/examples/Electrical/rc/rc_abg.fig Index: mttroot/mtt/lib/examples/Electrical/rc/rc_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Electrical/rc/rc_abg.fig +++ /dev/null @@ -1,63 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -1 3 0 2 1 7 1 0 -1 0.000 1 0.0000 1800 1125 162 162 1800 1125 1890 1260 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1802 4277 2702 4277 2477 4502 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3152 4277 4052 4277 3827 4502 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4502 4277 5402 4277 5177 4502 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2926 4051 2926 3151 3151 3376 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4276 4051 4276 3151 4501 3376 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 2701 4276 2701 4501 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5401 4051 5401 4276 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5401 4276 5401 4501 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 2701 4051 2701 4276 -2 2 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 5 - 2475 585 3375 585 3375 765 2475 765 2475 585 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 4050 1215 4500 1215 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 4050 1080 4500 1080 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 1800 675 2475 675 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 3375 675 5400 675 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 4275 675 4275 1080 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 4275 1215 4275 1575 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 1800 1575 5400 1575 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 1800 945 1800 675 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 1800 1575 1800 1260 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 1 0 2 - 1 1 2.00 120.00 240.00 - 5400 1530 5400 765 -2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 6750 5625 6750 225 675 225 675 5625 6750 5625 -4 1 -1 0 0 0 20 0.0000 4 195 135 2927 4367 1\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 4277 4367 0\001 -4 1 -1 0 0 0 20 0.0000 4 195 660 5987 4367 SS:e2\001 -4 1 -1 0 0 0 20 0.0000 4 195 375 2926 2926 R:r\001 -4 1 -1 0 0 0 20 0.0000 4 195 390 4276 2926 C:c\001 -4 1 -1 0 0 0 20 0.0000 4 195 660 1395 4365 SS:e1\001 -4 0 1 1 0 0 20 0.0000 4 135 105 2880 450 r\001 -4 0 1 1 0 0 20 0.0000 4 135 120 4680 1215 c\001 -4 0 1 1 0 0 20 0.0000 4 135 120 5625 1170 e\001 -4 0 1 1 0 0 20 0.0000 4 195 135 5715 1305 2\001 -4 0 1 1 0 0 20 0.0000 4 135 120 1260 1170 e\001 -4 0 1 1 0 0 20 0.0000 4 195 135 1350 1305 1\001 -4 1 1 1 0 0 20 0.0000 4 255 1350 3600 4995 Bond graph\001 -4 1 1 1 0 0 20 0.0000 4 195 1200 3600 2025 Schematic\001 DELETED mttroot/mtt/lib/examples/Electrical/rc/rc_desc.tex Index: mttroot/mtt/lib/examples/Electrical/rc/rc_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Electrical/rc/rc_desc.tex +++ /dev/null @@ -1,21 +0,0 @@ -% Verbal description for system rc (rc_desc.tex) -% Generated by MTT on Sun Aug 24 11:03:55 BST 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1997/08/24 10:27:18 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{rc} is - displayed in Figure \Ref{rc_abg} and its label - file is listed in Section \Ref{sec:rc_lbl}. - The subsystems are listed in Section \Ref{sec:rc_sub}. - -The system \textbf{rc} is the simple electrical rc circuit shown in -Figure \Ref{rc_abg}. It can be regarded as a single-input -single-output system with input $e_1$ and output $e_2$. DELETED mttroot/mtt/lib/examples/Electrical/rc/rc_lbl.txt Index: mttroot/mtt/lib/examples/Electrical/rc/rc_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Electrical/rc/rc_lbl.txt +++ /dev/null @@ -1,32 +0,0 @@ -%% Label file for system rc (rc_lbl.txt) -%SUMMARY rc -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases - -% Argument aliases -%ALIAS $1 c -%ALIAS $2 r - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - c lin effort,c - -% Component type R - r lin flow,r - -% Component type SS - e1 SS external,internal - e2 SS external,0 DELETED mttroot/mtt/lib/examples/Electrical/rc/rc_rep.txt Index: mttroot/mtt/lib/examples/Electrical/rc/rc_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Electrical/rc/rc_rep.txt +++ /dev/null @@ -1,26 +0,0 @@ -## Outline report file for system rc (rc_rep.txt) -mtt rc abg tex -mtt rc struc tex -mtt rc cbg ps -mtt rc ode tex -mtt rc sm tex -mtt rc tf tex -mtt rc sro ps -mtt rc lmfr ps -mtt rc nyfr ps - -mtt rc numpar txt -mtt rc input txt - -## Octave .m form -mtt rc odeso ps - -## Octave .oct form -mtt -oct rc odeso ps - -## c form -mtt -c rc odeso ps - -mtt rc rep txt - - DELETED mttroot/mtt/lib/examples/Electromechanical/Electrostatic/Electrostatic_abg.fig Index: mttroot/mtt/lib/examples/Electromechanical/Electrostatic/Electrostatic_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Electromechanical/Electrostatic/Electrostatic_abg.fig +++ /dev/null @@ -1,31 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 900 2925 2475 2925 2250 3150 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2970 2925 4545 2925 4320 3150 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2700 2700 2700 1125 2925 1350 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 2475 2700 2475 3150 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5625 2925 7200 2925 6975 3150 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7447 2722 7447 1147 7672 1372 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7650 2925 9225 2925 9000 3150 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 7650 2700 7650 3150 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7425 3150 7425 4725 7650 4500 -4 1 -1 0 0 0 20 0.0000 4 195 135 2700 3015 1\001 -4 2 -1 0 0 0 20 0.0000 4 195 615 855 3015 SS:V\001 -4 1 -1 0 0 0 20 0.0000 4 195 375 2745 990 R:r\001 -4 1 -1 0 0 0 20 0.0000 4 195 870 5130 3015 CM:cm\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 7425 3015 1\001 -4 1 -1 0 0 0 20 0.0000 4 195 405 7425 1035 C:k\001 -4 0 -1 0 0 0 20 0.0000 4 195 540 9495 3015 SS:v\001 -4 1 -1 0 0 0 20 0.0000 4 195 405 7380 5040 R:d\001 DELETED mttroot/mtt/lib/examples/Electromechanical/Electrostatic/Electrostatic_desc.tex Index: mttroot/mtt/lib/examples/Electromechanical/Electrostatic/Electrostatic_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Electromechanical/Electrostatic/Electrostatic_desc.tex +++ /dev/null @@ -1,21 +0,0 @@ -% Verbal description for system Electrostatic (Electrostatic_desc.tex) -% Generated by MTT on Fri Sep 19 18:07:08 BST 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{Electrostatic} is - displayed in Figure \Ref{Electrostatic_abg} and its label - file is listed in Section \Ref{sec:Electrostatic_lbl}. - The subsystems are listed in Section \Ref{sec:Electrostatic_sub}. - -This is a simple electrostatic speaker using the \textbf{CM} -transducer component together with an electrical \textbf{R} and a -mechanical \textbf{R} and \textbf{C} components to model a compliant -support for the moving plate. See Karnopp, Margolis and Rosenberg -Section 8.2 for a similar example. - DELETED mttroot/mtt/lib/examples/Electromechanical/Electrostatic/Electrostatic_input.txt Index: mttroot/mtt/lib/examples/Electromechanical/Electrostatic/Electrostatic_input.txt ================================================================== --- mttroot/mtt/lib/examples/Electromechanical/Electrostatic/Electrostatic_input.txt +++ /dev/null @@ -1,12 +0,0 @@ -# Numerical parameter file (Electrostatic_input.txt) -# Generated by MTT at Fri Sep 19 17:34:53 BST 1997 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Set the inputs -u(1) = 1.0; # V (Default value) DELETED mttroot/mtt/lib/examples/Electromechanical/Electrostatic/Electrostatic_lbl.txt Index: mttroot/mtt/lib/examples/Electromechanical/Electrostatic/Electrostatic_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Electromechanical/Electrostatic/Electrostatic_lbl.txt +++ /dev/null @@ -1,31 +0,0 @@ -%SUMMARY Electrostatic: Simple electrostatic speaker model (uses CM) -%DESCRIPTION See Karnopp, Margolis & Rosenberg Section 8.2 -%% Label file for system Electrostatic (Electrostatic_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type C - k lin state,k - -% Component type CM - cm none c_0;x_0;m - -% Component type R - d lin flow,d - r lin flow,r - -% Component type SS - V SS external,internal - v SS 0,external DELETED mttroot/mtt/lib/examples/Electromechanical/Electrostatic/Electrostatic_numpar.txt Index: mttroot/mtt/lib/examples/Electromechanical/Electrostatic/Electrostatic_numpar.txt ================================================================== --- mttroot/mtt/lib/examples/Electromechanical/Electrostatic/Electrostatic_numpar.txt +++ /dev/null @@ -1,23 +0,0 @@ -# Numerical parameter file (Electrostatic_numpar.txt) -# Generated by MTT at Fri Sep 19 17:43:25 BST 1997 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Parameters -c_0 = 1.0; # Parameter c_0 for Electrostatic -d = 1.0; # Parameter d for Electrostatic -k = 100.0; # Parameter k for Electrostatic -m = 1.0; # Parameter m for Electrostatic -r = 1.0; # Parameter r for Electrostatic -x_0 = 1.0; # Parameter x_0 for Electrostatic - -# Initial states -x(1) = 0.0; # Initial state for Electrostatic (k) -x(2) = 0.0; # Initial state for Electrostatic_cm (transducer) -x(3) = 1.0; # Initial state for Electrostatic_cm (transducer) -x(4) = 0.0; # Initial state for Electrostatic_cm (mass) DELETED mttroot/mtt/lib/examples/Electromechanical/Electrostatic/Electrostatic_rep.txt Index: mttroot/mtt/lib/examples/Electromechanical/Electrostatic/Electrostatic_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Electromechanical/Electrostatic/Electrostatic_rep.txt +++ /dev/null @@ -1,16 +0,0 @@ -# Outline report file for system Electrostatic (Electrostatic_rep.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -mtt Electrostatic abg tex -mtt Electrostatic struc tex -mtt Electrostatic ode tex -mtt Electrostatic numpar txt -mtt Electrostatic input txt -mtt Electrostatic simpar txt -mtt -c Electrostatic odeso ps DELETED mttroot/mtt/lib/examples/Electromechanical/Electrostatic/Electrostatic_simp.r Index: mttroot/mtt/lib/examples/Electromechanical/Electrostatic/Electrostatic_simp.r ================================================================== --- mttroot/mtt/lib/examples/Electromechanical/Electrostatic/Electrostatic_simp.r +++ /dev/null @@ -1,10 +0,0 @@ -%% Reduce comands to simplify output for system Electrostatic (Electrostatic_simp.r) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -END; DELETED mttroot/mtt/lib/examples/Electromechanical/Electrostatic/Electrostatic_state.txt Index: mttroot/mtt/lib/examples/Electromechanical/Electrostatic/Electrostatic_state.txt ================================================================== --- mttroot/mtt/lib/examples/Electromechanical/Electrostatic/Electrostatic_state.txt +++ /dev/null @@ -1,13 +0,0 @@ -## -*-octave-*- Put Emacs into octave-mode ## - -## -## System Electrostatic, representation state, language txt; -## File Electrostatic_state.txt; -## Generated by MTT on Mon Feb 5 16:40:35 GMT 2001; - - - -Electrostatic_cm_1_mass = 0.0; # Default -Electrostatic_cm_1_transducer = 0.0; # Default -Electrostatic_cm_1_transducer_2 = 1.0; # plate displacement -Electrostatic_k = 0.0; # Default DELETED mttroot/mtt/lib/examples/Electromechanical/MotorGenerator/MotorGenerator_abg.fig Index: mttroot/mtt/lib/examples/Electromechanical/MotorGenerator/MotorGenerator_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Electromechanical/MotorGenerator/MotorGenerator_abg.fig +++ /dev/null @@ -1,50 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -6 6930 405 13770 3600 -2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 8328 2028 9903 2028 9903 2928 8328 2928 8328 2028 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6975 2475 8190 2475 7965 2700 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 11475 2250 11475 1035 11700 1260 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 11700 2475 12915 2475 12690 2700 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 12915 2250 12915 2700 -2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 12150 3150 10800 3150 10800 450 12150 450 12150 3150 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 10035 2475 11250 2475 11025 2700 -4 1 -1 0 0 0 20 0.0000 4 255 1110 9138 2568 DC:gener\001 -4 1 1 1 0 3 20 0.0000 4 255 1575 9225 3510 DC generator\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 11475 2610 0\001 -4 1 -1 0 0 0 20 0.0000 4 195 675 13410 2610 SS:v2\001 -4 1 -1 0 0 0 20 0.0000 4 255 585 11475 900 R:r_l\001 -4 1 1 1 0 3 20 0.0000 4 210 1575 11475 3510 Resistive load\001 --6 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1170 2475 2385 2475 2160 2700 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4186 2476 5401 2476 5176 2701 -2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 13185 4275 13185 225 45 225 45 4275 13185 4275 -2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 2476 2026 4051 2026 4051 2926 2476 2926 2476 2026 -2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 7245 2925 4950 2925 4950 2025 7245 2025 7245 2925 -4 1 -1 0 0 0 20 0.0000 4 195 1170 3286 2566 DC:motor\001 -4 1 1 1 0 3 20 0.0000 4 195 1155 3285 3510 DC motor\001 -4 1 -1 0 0 0 20 0.0000 4 195 1275 6120 2520 Shaft:shaft\001 -4 1 1 1 0 3 20 0.0000 4 270 1605 6165 3510 Flexible shaft\001 -4 1 4 100 0 18 14 0.0000 4 210 1110 2250 1890 [Electrical]\001 -4 1 4 100 0 18 14 0.0000 4 210 1110 10170 1980 [Electrical]\001 -4 1 4 100 0 18 14 0.0000 4 210 1335 4140 1890 [Mechanical]\001 -4 1 4 100 0 18 14 0.0000 4 210 1335 8325 1980 [Mechanical]\001 -4 1 -1 0 0 0 20 0.0000 4 195 885 675 2565 PSU:v1\001 DELETED mttroot/mtt/lib/examples/Electromechanical/MotorGenerator/MotorGenerator_desc.tex Index: mttroot/mtt/lib/examples/Electromechanical/MotorGenerator/MotorGenerator_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Electromechanical/MotorGenerator/MotorGenerator_desc.tex +++ /dev/null @@ -1,117 +0,0 @@ -% -*-latex-*- Put EMACS into LaTeX-mode -% Verbal description for system MotorGenerator (MotorGenerator_desc.tex) -% Generated by MTT on Thu Nov 16 13:11:36 GMT 2000. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 2000/12/28 17:43:16 peterg -% %% To RCS -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{MotorGenerator} is - displayed in Figure \Ref{fig:MotorGenerator_abg.ps} and its label - file is listed in Section \Ref{sec:MotorGenerator_lbl}. - The subsystems are listed in Section \Ref{sec:MotorGenerator_sub}. - -This example illustates: -\begin{itemize} -\item The reuse of the DC model as both a motor and a generator -\item The assignment of a \emph{domain} and \emph{units} to component ports. -\end{itemize} - -The command: -\begin{verbatim} -mtt -I MotorGenerator ese r -\end{verbatim} -gives the following output (irrelevant parts ommitted) -\begin{verbatim} -MTT (Model Transformation Tools) version 4.8 -($Date$) -This is free software with ABSOLUTELY NO WARRANTY. -Type `mtt warranty' for details. - -Creating MotorGenerator_rbg.m -Creating MotorGenerator_cmp.m -Creating MotorGenerator_fig.fig -Creating MotorGenerator_sabg.fig -Creating MotorGenerator_alias.txt -Creating MotorGenerator_alias.m -Creating MotorGenerator_sub.sh -Copying DC from /home/peterg/mtt_new/mtt-lib/comp/compound/Electromechanical/DC to . -Creating DC_rbg.m -Creating DC_cmp.m -Creating DC_fig.fig -Creating DC_sabg.fig -Creating DC_alias.txt -Creating DC_alias.m -Creating DC_sub.sh -Creating DC_abg.m -Checking port domains and units - domains and units are OK - -... - -Creating PSU_rbg.m -Creating PSU_cmp.m -Creating PSU_fig.fig -Creating PSU_sabg.fig -Creating PSU_alias.txt -Creating PSU_alias.m -Creating PSU_sub.sh -Copying Se from /home/peterg/mtt_new/mtt-lib/comp/compound/General/Se to . -Creating Se_rbg.m -Creating Se_cmp.m -Creating Se_fig.fig -Creating Se_sabg.fig -Creating Se_alias.txt -Creating Se_alias.m -Creating Se_sub.sh -Creating Se_abg.m -Checking port domains and units - no domains or units declared -.... - -Creating PSU_abg.m -Checking port domains and units - domains and units are OK -... - -Creating Shaft_rbg.m -Creating Shaft_cmp.m -Creating Shaft_fig.fig -Creating Shaft_sabg.fig -Creating Shaft_alias.txt -Creating Shaft_alias.m -Creating Shaft_sub.sh -Creating Shaft_abg.m -Checking port domains and units - domains and units are OK -.... - -Creating MotorGenerator_abg.m -Checking port domains and units - no domains or units declared - -Creating MotorGenerator_cbg.m (maximise integral causality) -Creating MotorGenerator_type.sh - ..... -Creating MotorGenerator_ese.r -Creating MotorGenerator_def.r -Creating MotorGenerator_struc.txt -... -INFORMATION: Component MotorGenerator connects ports with units volt and volt -INFORMATION: Component MotorGenerator connects ports with units amp and amp -... -INFORMATION: Component MotorGenerator connects ports with units N*m and N*m -INFORMATION: Component MotorGenerator connects ports with units radians/s and radians/s -... -INFORMATION: Component MotorGenerator connects ports with units N*m and N*m -INFORMATION: Component MotorGenerator connects ports with units radians/s and radians/s -Creating MotorGenerator_aliased.txt -Copying MotorGenerator_ese.r - -\end{verbatim} DELETED mttroot/mtt/lib/examples/Electromechanical/MotorGenerator/MotorGenerator_input.txt Index: mttroot/mtt/lib/examples/Electromechanical/MotorGenerator/MotorGenerator_input.txt ================================================================== --- mttroot/mtt/lib/examples/Electromechanical/MotorGenerator/MotorGenerator_input.txt +++ /dev/null @@ -1,17 +0,0 @@ -# Numerical parameter file (MotorGenerator_input.txt) -# Generated by MTT at Wed Dec 10 08:30:11 GMT 1997 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Set the inputs -## Removed by MTT on Wed Nov 15 10:11:43 GMT 2000: u(1) = 1.0; # v1 (Default value) -## Removed by MTT on Thu Nov 16 12:43:01 GMT 2000: motorgenerator_v1 = 1.0; # Added by MTT on Wed Nov 15 10:11:47 GMT 2000 -## Removed by MTT on Thu Nov 16 12:44:08 GMT 2000: motorgenerator_mtt2_1_v_1_u = 1.0; # Added by MTT on Thu Nov 16 12:43:05 GMT 2000 -## Removed by MTT on Thu Nov 16 12:46:31 GMT 2000: motorgenerator_v_1_v_1_u = 1.0; # Added by MTT on Thu Nov 16 12:44:12 GMT 2000 -## Removed by MTT on Mon Dec 4 14:40:32 GMT 2000: motorgenerator_v1_1_v = 1.0; # Added by MTT on Thu Nov 16 12:46:34 GMT 2000 -motorgenerator_v1_1_v_1_u = 1.0; # Added by MTT on Mon Dec 04 14:40:46 GMT 2000 DELETED mttroot/mtt/lib/examples/Electromechanical/MotorGenerator/MotorGenerator_lbl.txt Index: mttroot/mtt/lib/examples/Electromechanical/MotorGenerator/MotorGenerator_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Electromechanical/MotorGenerator/MotorGenerator_lbl.txt +++ /dev/null @@ -1,48 +0,0 @@ -%SUMMARY MotorGenerator: Motor-generator example -%DESCRIPTION A simple example of DC motor driving a generator via -%DESCRIPTION a flexible shaft - -%% Label file for system MotorGenerator (MotorGenerator_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 2000/11/16 09:58:49 peterg -% %% Initial revision -% %% -% %% Revision 1.3 2000/05/20 16:38:40 peterg -% %% New SS foramt -% %% -% %% Revision 1.2 1998/04/04 10:51:59 peterg -% %% New version using port coercion -% %% -% %% Revision 1.1 1996/12/04 16:24:01 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - -%Voltage in -v1 SS external,internal - -% Voltage out -v2 SS external,0 - -%Motor -motor lin k_m;l_m;r_m;j_m;b_m - -%Shaft -shaft lin c_s - -%Generator -gener lin k_g;l_g;r_g;j_g;b_g - -% Resistive load -r_l lin flow,r_l - DELETED mttroot/mtt/lib/examples/Electromechanical/MotorGenerator/MotorGenerator_numpar.txt Index: mttroot/mtt/lib/examples/Electromechanical/MotorGenerator/MotorGenerator_numpar.txt ================================================================== --- mttroot/mtt/lib/examples/Electromechanical/MotorGenerator/MotorGenerator_numpar.txt +++ /dev/null @@ -1,31 +0,0 @@ -# Numerical parameter file (MotorGenerator_numpar.txt) -# Generated by MTT at Wed Dec 10 08:29:31 GMT 1997 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %% Revision 1.1 2000/12/04 14:42:47 peterg -# %% Initial revision -# %% -# %% Revision 1.1 2000/08/01 12:26:48 peterg -# %% Initial revision -# %% -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Parameters -b_g = 0.0; # Parameter b_g for MotorGenerator -b_m = 0.0; # Parameter b_m for MotorGenerator -c_s = 0.01; # Parameter c_s for MotorGenerator -j_g = 1.0; # Parameter j_g for MotorGenerator -j_m = 1.0; # Parameter j_m for MotorGenerator -k_g = 1.0; # Parameter k_g for MotorGenerator -k_m = 1.0; # Parameter k_m for MotorGenerator -l_g = 0.1; # Parameter l_g for MotorGenerator -l_m = 0.1; # Parameter l_m for MotorGenerator -r_g = 0.1; # Parameter r_g for MotorGenerator -r_l = 1.0; # Parameter r_l for MotorGenerator -## Removed by MTT on Mon Dec 4 14:44:19 GMT 2000: r_m_1 = 0.1; # Parameter r_m for MotorGenerator - -r_m = 0.1; # Added by MTT on Mon Dec 04 14:44:44 GMT 2000 DELETED mttroot/mtt/lib/examples/Electromechanical/MotorGenerator/MotorGenerator_rep.txt Index: mttroot/mtt/lib/examples/Electromechanical/MotorGenerator/MotorGenerator_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Electromechanical/MotorGenerator/MotorGenerator_rep.txt +++ /dev/null @@ -1,33 +0,0 @@ -## -*-octave-*- Put Emacs into octave-mode -## Outline report file for system MotorGenerator (MotorGenerator_rep.txt) -## Generated by MTT on" Thu Nov 16 13:37:07 GMT 2000. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - -mtt MotorGenerator abg tex # The system description -mtt MotorGenerator cbg ps # The causal bond graph -mtt MotorGenerator struc tex # The system structure -mtt MotorGenerator sympar tex # The system parameters -## Uncomment the following lines or add others -## mtt MotorGenerator dae tex # The system dae -mtt MotorGenerator ode tex # The system ode -## mtt MotorGenerator sspar tex # Steady-state parameters -## mtt MotorGenerator ss tex # Steady state -## mtt MotorGenerator dm tex # Descriptor matrices (of linearised system) -mtt MotorGenerator sm tex # State matrices (of linearised system) -##mtt MotorGenerator tf tex # Transfer function (of linearised system) -## mtt MotorGenerator lmfr ps # log modulus of frequency response (of linearised system) -## mtt MotorGenerator simpar tex # Simulation parameters -## mtt MotorGenerator numpar tex # Numerical simulation parameters -## mtt MotorGenerator state tex # Simulation initial state -## mtt MotorGenerator input tex # Simulation input -## mtt MotorGenerator logic tex # Logic control -mtt MotorGenerator odeso ps # Simulation output - -mtt MotorGenerator rep txt # This file - DELETED mttroot/mtt/lib/examples/Electromechanical/MotorGenerator/MotorGenerator_simpar.txt Index: mttroot/mtt/lib/examples/Electromechanical/MotorGenerator/MotorGenerator_simpar.txt ================================================================== --- mttroot/mtt/lib/examples/Electromechanical/MotorGenerator/MotorGenerator_simpar.txt +++ /dev/null @@ -1,19 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# Simulation parameters for system MotorGenerator (MotorGenerator_simpar.txt) -# Generated by MTT on Fri Dec 1 18:03:55 GMT 2000. -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - - -FIRST = 0.0; # First time in simulation output -DT = 0.1; # Print interval -LAST = 10.0; # Last time in simulation -STEPFACTOR = 1; # Integration steps per print interval -WMIN = -1; # Minimum frequency = 10^WMIN -WMAX = 2; # Maximum frequency = 10^WMAX -WSTEPS = 100; # Number of frequency steps -INPUT = 1; # Index of the input DELETED mttroot/mtt/lib/examples/Electromechanical/MotorGenerator/PSU_abg.fig Index: mttroot/mtt/lib/examples/Electromechanical/MotorGenerator/PSU_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Electromechanical/MotorGenerator/PSU_abg.fig +++ /dev/null @@ -1,19 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -6 3780 1710 4860 2025 -4 0 4 100 0 18 18 0.0000 4 270 1065 3780 1935 SS:[out]\001 --6 -6 1530 675 4995 3015 -2 4 0 2 31 7 101 0 -1 0.000 0 0 7 0 0 5 - 4950 2970 1575 2970 1575 720 4950 720 4950 2970 --6 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2250 1845 3600 1845 3375 2070 -4 1 0 100 0 18 18 0.0000 4 210 570 1890 1935 Se:v\001 DELETED mttroot/mtt/lib/examples/Electromechanical/MotorGenerator/PSU_lbl.txt Index: mttroot/mtt/lib/examples/Electromechanical/MotorGenerator/PSU_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Electromechanical/MotorGenerator/PSU_lbl.txt +++ /dev/null @@ -1,30 +0,0 @@ -%% Label file for system PSU (PSU_lbl.txt) -%SUMMARY PSU -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -%UNITS out electrical volt amp -% Port aliases - -% Argument aliases - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type SS - [out] SS external,external - -% Component type Se - v SS external - DELETED mttroot/mtt/lib/examples/Electromechanical/MotorGenerator/Shaft_abg.fig Index: mttroot/mtt/lib/examples/Electromechanical/MotorGenerator/Shaft_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Electromechanical/MotorGenerator/Shaft_abg.fig +++ /dev/null @@ -1,30 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -6 1440 405 4410 3600 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2925 2250 2925 1035 3150 1260 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1486 2476 2701 2476 2476 2701 -2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 3600 3150 2250 3150 2250 450 3600 450 3600 3150 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3150 2475 4365 2475 4140 2700 -4 1 -1 0 0 0 20 0.0000 4 195 135 2925 2565 0\001 -4 1 -1 0 0 0 20 0.0000 4 255 630 2925 900 C:c_s\001 -4 1 1 1 0 3 20 0.0000 4 270 1605 2925 3510 Flexible shaft\001 --6 -6 540 2340 1440 2655 -4 2 4 100 0 18 18 0.0000 4 270 870 1440 2565 SS:[in]\001 --6 -6 4455 2340 5535 2655 -4 0 4 100 0 18 18 0.0000 4 270 1065 4455 2565 SS:[out]\001 --6 -2 4 0 2 31 7 101 0 -1 0.000 0 0 7 0 0 5 - 5850 3825 450 3825 450 225 5850 225 5850 3825 DELETED mttroot/mtt/lib/examples/Electromechanical/MotorGenerator/Shaft_lbl.txt Index: mttroot/mtt/lib/examples/Electromechanical/MotorGenerator/Shaft_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Electromechanical/MotorGenerator/Shaft_lbl.txt +++ /dev/null @@ -1,38 +0,0 @@ -%% Label file for system Shaft (Shaft_lbl.txt) -%SUMMARY Shaft -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 2000/12/28 17:43:16 peterg -% %% To RCS -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases - - -% Unit definitions -%UNITS in rotational N*m radians/s -%UNITS out rotational N*m radians/s - -% Argument aliases -%ALIAS $1 c_s - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type C - c_s lin effort,c_s - -% Component type SS - [in] SS external,external - [out] SS external,external DELETED mttroot/mtt/lib/examples/GasDynamics/LeakyCylinder/LeakyCylinder_abg.fig Index: mttroot/mtt/lib/examples/GasDynamics/LeakyCylinder/LeakyCylinder_abg.fig ================================================================== --- mttroot/mtt/lib/examples/GasDynamics/LeakyCylinder/LeakyCylinder_abg.fig +++ /dev/null @@ -1,30 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 4 1 7 1 0 -1 0.000 0 0 -1 0 0 4 - 2700 2025 7875 2025 7875 9450 2700 9450 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5625 6525 5625 7875 5850 7650 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5625 3780 5625 5130 5850 4905 -2 2 0 2 1 3 1 0 20 0.000 0 0 0 0 0 5 - 2700 5175 7875 5175 7875 6525 2700 6525 2700 5175 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2835 855 2835 5850 3060 5625 -2 2 0 2 1 3 1 0 20 0.000 0 0 0 0 0 5 - 2700 1575 2970 1575 2970 5175 2700 5175 2700 1575 -2 1 1 2 1 7 1 0 -1 6.000 0 0 -1 0 0 2 - 2700 585 2700 9855 -2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 9450 10125 9450 225 1125 225 1125 10125 9450 10125 -4 1 4 0 0 0 20 0.0000 4 240 3075 5625 8190 [mechanical,mass,thermal]\001 -4 1 -1 0 0 0 30 0.0000 4 300 1950 5625 8595 CG:bottom\001 -4 1 4 0 0 0 20 0.0000 4 255 3885 5625 6345 [mechanical_b,mass_b,thermal_b]\001 -4 1 -1 0 0 0 30 0.0000 4 405 3345 5625 5940 LeakyPiston:piston\001 -4 1 -1 0 0 0 30 0.0000 4 405 1260 5625 3285 CG:top\001 -4 1 4 0 0 0 20 0.0000 4 240 3075 5625 3600 [mechanical,mass,thermal]\001 -4 1 4 0 0 0 20 0.0000 4 255 3750 5625 5400 [mechanical_t,mass_t,thermal_t]\001 -4 1 4 0 0 0 20 0.0000 4 240 750 3375 5895 [shaft]\001 -4 0 -1 0 0 0 20 0.0000 4 195 975 2925 900 SS:shaft\001 DELETED mttroot/mtt/lib/examples/GasDynamics/LeakyCylinder/LeakyCylinder_desc.tex Index: mttroot/mtt/lib/examples/GasDynamics/LeakyCylinder/LeakyCylinder_desc.tex ================================================================== --- mttroot/mtt/lib/examples/GasDynamics/LeakyCylinder/LeakyCylinder_desc.tex +++ /dev/null @@ -1,28 +0,0 @@ -% Verbal description for system LeakyCylinder (LeakyCylinder_desc.tex) -% Generated by MTT on Tue Nov 25 17:22:29 GMT 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{LeakyCylinder} is - displayed in Figure \Ref{LeakyCylinder_abg} and its label - file is listed in Section \Ref{sec:LeakyCylinder_lbl}. - The subsystems are listed in Section \Ref{sec:LeakyCylinder_sub}. - -This example roughly corresponds to the Example in section 12.4.3 -(Fig. 12.17) of Karnopp, Margolis and Rosenberg (1990). It is a pseudo bond -graph representation based on the ``thermal acummulator'' of section -12.4.1 and the ``isentropic nozzle'' of section 12.4.2 of that book. - - - - - -%%% Local Variables: -%%% mode: latex -%%% TeX-master: t -%%% End: DELETED mttroot/mtt/lib/examples/GasDynamics/LeakyCylinder/LeakyCylinder_input.txt Index: mttroot/mtt/lib/examples/GasDynamics/LeakyCylinder/LeakyCylinder_input.txt ================================================================== --- mttroot/mtt/lib/examples/GasDynamics/LeakyCylinder/LeakyCylinder_input.txt +++ /dev/null @@ -1,12 +0,0 @@ -# Numerical parameter file (LeakyCylinder_input.txt) -# Generated by MTT at Tue Nov 25 17:00:09 GMT 1997 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Set the inputs -u(1) = 0.0; # shaft DELETED mttroot/mtt/lib/examples/GasDynamics/LeakyCylinder/LeakyCylinder_lbl.txt Index: mttroot/mtt/lib/examples/GasDynamics/LeakyCylinder/LeakyCylinder_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/GasDynamics/LeakyCylinder/LeakyCylinder_lbl.txt +++ /dev/null @@ -1,36 +0,0 @@ -%SUMMARY LeakyCylinder: Pseudo bond graph model of compressible gas dynamics - -%DESCRIPTION This example roughly corresponds to the Example in -%DESCRIPTION section 12.4.3 (Fig. 12.17) of Karnopp, Margolis and Rosenberg -%DESCRIPTION (1990). It is a pseudo bond graph representation based on the -%DESCRIPTION "thermal acummulator" of section 12.4.1 and the "isentropic -%DESCRIPTION nozzle" of section 12.4.2 of that book. - -%% Label file for system LeakyCylinder (LeakyCylinder_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1998/03/04 09:56:05 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type CG - bottom none c_v;r - top none c_v;r - -% Component type LeakyPiston - piston none m_p;a_b;a_t;gamma;r;0 - -% Component type SS - shaft SS external,external DELETED mttroot/mtt/lib/examples/GasDynamics/LeakyCylinder/LeakyCylinder_numpar.txt Index: mttroot/mtt/lib/examples/GasDynamics/LeakyCylinder/LeakyCylinder_numpar.txt ================================================================== --- mttroot/mtt/lib/examples/GasDynamics/LeakyCylinder/LeakyCylinder_numpar.txt +++ /dev/null @@ -1,23 +0,0 @@ -# Numerical parameter file (LeakyCylinder_numpar.txt) -# Generated by MTT at Mon Dec 1 08:59:51 GMT 1997 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Parameters -a_b = 1.0; # Parameter a_b for LeakyCylinder -a_l = 1.0; # Parameter a_l for LeakyCylinder -a_t = 1.0; # Parameter a_t for LeakyCylinder -c_v = 1.0; # Parameter c_v for LeakyCylinder -gamma = 1.0; # Parameter gamma for LeakyCylinder -m_p = 1.0; # Parameter m_p for LeakyCylinder -r = 1.0; # Parameter r for LeakyCylinder - -# Initial states -x(3) = 0.0; # Initial state for LeakyCylinder_bottom (cg) -x(6) = 0.0; # Initial state for LeakyCylinder_top (cg) -x(7) = 0.0; # Initial state for LeakyCylinder_piston_piston (m_p) DELETED mttroot/mtt/lib/examples/GasDynamics/LeakyCylinder/LeakyCylinder_rep.txt Index: mttroot/mtt/lib/examples/GasDynamics/LeakyCylinder/LeakyCylinder_rep.txt ================================================================== --- mttroot/mtt/lib/examples/GasDynamics/LeakyCylinder/LeakyCylinder_rep.txt +++ /dev/null @@ -1,16 +0,0 @@ -# Outline report file for system LeakyCylinder (LeakyCylinder_rep.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -mtt LeakyCylinder abg tex -mtt LeakyCylinder struc tex -mtt LeakyCylinder sympar tex -mtt LeakyCylinder ode tex -mtt LeakyCylinder ss tex -mtt LeakyCylinder sm tex -%mtt -c LeakyCylinder odeso ps DELETED mttroot/mtt/lib/examples/GasDynamics/LeakyCylinder/LeakyCylinder_simp.r Index: mttroot/mtt/lib/examples/GasDynamics/LeakyCylinder/LeakyCylinder_simp.r ================================================================== --- mttroot/mtt/lib/examples/GasDynamics/LeakyCylinder/LeakyCylinder_simp.r +++ /dev/null @@ -1,10 +0,0 @@ -%% Reduce comands to simplify output for system LeakyCylinder (LeakyCylinder_simp.r) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -END; DELETED mttroot/mtt/lib/examples/GasDynamics/LeakyCylinder/LeakyCylinder_sspar.r Index: mttroot/mtt/lib/examples/GasDynamics/LeakyCylinder/LeakyCylinder_sspar.r ================================================================== --- mttroot/mtt/lib/examples/GasDynamics/LeakyCylinder/LeakyCylinder_sspar.r +++ /dev/null @@ -1,10 +0,0 @@ -%% Reduce steady-state parameter file for LeakyCylinder (LeakyCylinder_sspar.r) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -END; DELETED mttroot/mtt/lib/examples/GasDynamics/LeakyCylinder/LeakyPiston_abg.fig Index: mttroot/mtt/lib/examples/GasDynamics/LeakyCylinder/LeakyPiston_abg.fig ================================================================== --- mttroot/mtt/lib/examples/GasDynamics/LeakyCylinder/LeakyPiston_abg.fig +++ /dev/null @@ -1,54 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6300 3375 6300 4725 6525 4500 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7200 3375 7200 4725 7425 4500 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6300 6075 6300 8122 6525 7897 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7245 6075 7245 8100 7470 7875 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 4500 9000 9225 9000 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 450 9000 4050 9000 -2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 4050 9675 4050 450 450 450 450 9675 4050 9675 -2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 9225 9675 4500 9675 4500 450 9225 450 9225 9675 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6300 2925 6300 1575 6525 1800 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7200 2925 7200 1575 7425 1800 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3150 2925 3150 1575 3375 1800 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3150 3375 3150 4725 3375 4500 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2056 4711 1101 3756 1101 4074 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3150 6075 3150 7425 3375 7200 -4 0 4 0 0 0 20 0.0000 4 255 1440 7200 5040 [thermal_in]\001 -4 1 4 0 0 0 20 0.0000 4 255 1110 6300 5040 [mass_in]\001 -4 1 4 0 0 0 20 0.0000 4 255 1260 6300 5895 [mass_out]\001 -4 0 4 0 0 0 20 0.0000 4 255 1590 7200 5895 [thermal_out]\001 -4 0 4 0 0 0 20 0.0000 4 255 1755 7155 8505 SS:[thermal_b]\001 -4 2 4 0 0 0 20 0.0000 4 255 1425 6255 8505 SS:[mass_b]\001 -4 1 1 1 0 0 20 0.0000 4 195 1335 6750 9450 Leak model\001 -4 1 1 1 0 0 20 0.0000 4 195 1515 2250 9405 Piston Model\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 6300 3240 0\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 7200 3240 0\001 -4 2 4 0 0 0 20 0.0000 4 255 2115 3195 1305 SS:[mechanical_t]\001 -4 2 4 0 0 0 20 0.0000 4 255 1380 6345 1305 SS:[mass_t]\001 -4 0 4 0 0 0 20 0.0000 4 255 1710 7155 1350 SS:[thermal_t]\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 3150 3240 0\001 -4 1 4 0 0 0 20 0.0000 4 255 540 3150 5040 [top]\001 -4 1 4 0 0 0 20 0.0000 4 240 750 2070 5040 [shaft]\001 -4 1 4 0 0 0 20 0.0000 4 240 1155 1080 3645 SS:[shaft]\001 -4 2 4 0 0 0 20 0.0000 4 255 2160 3150 7785 SS:[mechanical_b]\001 -4 1 4 0 0 0 20 0.0000 4 240 990 3150 5940 [bottom]\001 -4 1 -1 0 0 0 30 0.0000 4 300 1425 6885 5535 RG:leak\001 -4 1 -1 0 0 0 30 0.0000 4 405 2295 2700 5535 Piston:piston\001 DELETED mttroot/mtt/lib/examples/GasDynamics/LeakyCylinder/LeakyPiston_desc.tex Index: mttroot/mtt/lib/examples/GasDynamics/LeakyCylinder/LeakyPiston_desc.tex ================================================================== --- mttroot/mtt/lib/examples/GasDynamics/LeakyCylinder/LeakyPiston_desc.tex +++ /dev/null @@ -1,14 +0,0 @@ -% Verbal description for system LeakyPiston (LeakyPiston_desc.tex) -% Generated by MTT on Fri Nov 28 12:09:15 GMT 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{LeakyPiston} is - displayed in Figure \Ref{LeakyPiston_abg} and its label - file is listed in Section \Ref{sec:LeakyPiston_lbl}. - The subsystems are listed in Section \Ref{sec:LeakyPiston_sub}. DELETED mttroot/mtt/lib/examples/GasDynamics/LeakyCylinder/LeakyPiston_lbl.txt Index: mttroot/mtt/lib/examples/GasDynamics/LeakyCylinder/LeakyPiston_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/GasDynamics/LeakyCylinder/LeakyPiston_lbl.txt +++ /dev/null @@ -1,32 +0,0 @@ -%SUMMARY LeakyPiston: Leaky piston sub model -%DESCRIPTION -%% Label file for system LeakyPiston (LeakyPiston_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type Piston - piston lin $1;$2;$3 - -% Component type RG - leak lin $4;$5;$6 - -% Component type SS - [mass_b] external external - [mass_t] external external - [mechanical_b] external external - [mechanical_t] external external - [shaft] external external - [thermal_b] external external - [thermal_t] external external DELETED mttroot/mtt/lib/examples/GasDynamics/LeakyCylinder/Piston_abg.fig Index: mttroot/mtt/lib/examples/GasDynamics/LeakyCylinder/Piston_abg.fig ================================================================== --- mttroot/mtt/lib/examples/GasDynamics/LeakyCylinder/Piston_abg.fig +++ /dev/null @@ -1,31 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6075 1575 6075 3150 6300 2925 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6075 3600 6075 4275 6300 4050 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6075 4636 6075 5311 6300 5086 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5850 4500 4500 4500 4725 4725 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5905 4281 4950 3326 4950 3645 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6075 5850 6075 7200 6300 6975 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 3375 8100 6975 8100 -2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 6975 8775 6975 900 3375 900 3375 8775 6975 8775 -2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 9945 9225 9945 450 450 450 450 9225 9945 9225 -4 1 -1 0 0 0 20 0.0000 4 255 780 6120 3465 TF:a_t\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 6075 4590 1\001 -4 2 4 0 0 0 20 0.0000 4 240 1155 4905 3240 SS:[shaft]\001 -4 1 -1 0 0 0 20 0.0000 4 255 660 4050 4545 I:m_p\001 -4 1 -1 0 0 0 20 0.0000 4 255 825 6075 5670 TF:a_b\001 -4 2 4 0 0 0 20 0.0000 4 240 1395 6120 7650 SS:[bottom]\001 -4 1 1 1 0 0 20 0.0000 4 195 1515 5175 8505 Piston Model\001 -4 2 4 0 0 0 20 0.0000 4 255 945 6120 1395 SS:[top]\001 DELETED mttroot/mtt/lib/examples/GasDynamics/LeakyCylinder/Piston_desc.tex Index: mttroot/mtt/lib/examples/GasDynamics/LeakyCylinder/Piston_desc.tex ================================================================== --- mttroot/mtt/lib/examples/GasDynamics/LeakyCylinder/Piston_desc.tex +++ /dev/null @@ -1,22 +0,0 @@ -% Verbal description for system Piston (Piston_desc.tex) -% Generated by MTT on Fri Nov 28 12:09:27 GMT 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{Piston} is - displayed in Figure \Ref{Piston_abg} and its label - file is listed in Section \Ref{sec:Piston_lbl}. - The subsystems are listed in Section \Ref{sec:Piston_sub}. - -The two {\bf TF} components convert pressure to force. The {\bf I} -component represents piston inertia. - -%%% Local Variables: -%%% mode: plain-tex -%%% TeX-master: t -%%% End: DELETED mttroot/mtt/lib/examples/GasDynamics/LeakyCylinder/Piston_lbl.txt Index: mttroot/mtt/lib/examples/GasDynamics/LeakyCylinder/Piston_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/GasDynamics/LeakyCylinder/Piston_lbl.txt +++ /dev/null @@ -1,29 +0,0 @@ -%SUMMARY Piston: simple model of the piston -%DESCRIPTION Inludes inertia and pressure effects. -%% Label file for system Piston (Piston_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type I - m_p lin flow,$1 - -% Component type SS - [bottom] external external - [shaft] external external - [top] external external - -% Component type TF - a_b lin flow,$2 - a_t lin effort,$3 DELETED mttroot/mtt/lib/examples/Hybrid/Bounce/Bounce_abg.fig Index: mttroot/mtt/lib/examples/Hybrid/Bounce/Bounce_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Hybrid/Bounce/Bounce_abg.fig +++ /dev/null @@ -1,64 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -6 3150 4410 5940 4995 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 3 - 3154 4730 5449 4730 5404 4730 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 3379 4730 3154 4955 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 3604 4730 3379 4955 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 3829 4730 3604 4955 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 4054 4730 3829 4955 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 4279 4730 4054 4955 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 4505 4731 4280 4956 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 4730 4731 4505 4956 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 4955 4731 4730 4956 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 5180 4731 4955 4956 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 5405 4731 5180 4956 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 1 0 2 - 0 0 2.00 120.00 240.00 - 5897 4413 5627 4683 --6 -1 3 0 2 1 7 1 0 -1 0.0000000 1 0.000 4276 2206 612 612 4276 2206 4636 2701 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 1 0 2 - 0 0 2.00 120.00 240.00 - 5176 1531 4906 1801 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4500 2475 5175 3600 5175 3330 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4050 2250 2925 2250 3150 2475 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4500 2250 5625 2250 5400 2475 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4275 2070 4275 946 4500 1171 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4275 4050 4275 2475 4500 2700 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4297 4522 4297 5646 4522 5421 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6750 3600 7875 3600 7650 3825 -2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 8775 6300 8775 225 225 225 225 6300 8775 6300 -4 2 -1 0 0 2 20 0.0000000 4 240 2130 2835 2250 R:air_resistance\001 -4 1 -1 0 0 2 20 0.0000000 4 210 150 4276 2341 1\001 -4 1 1 1 0 3 20 0.0000000 4 210 525 5176 1441 Ball\001 -4 0 -1 0 0 2 20 0.0000000 4 270 1365 5760 2340 SS:gravity\001 -4 1 -1 0 0 2 20 0.0000000 4 240 1515 4275 810 I:ball_mass\001 -4 1 -1 0 0 2 20 0.0000000 4 270 1710 4320 5940 CSW:ground\001 -4 1 1 1 0 3 20 0.0000000 4 210 960 6030 4275 Ground\001 -4 1 1 1 0 3 20 0.0000000 4 150 135 4590 3465 v\001 -4 1 1 1 0 3 20 0.0000000 4 150 315 4590 5220 -v\001 -4 1 -1 0 0 2 20 0.0000000 4 210 150 4275 4365 0\001 -4 1 -1 0 0 2 20 0.0000000 4 210 1275 5985 3690 INTF:intf\001 -4 0 -1 0 0 2 20 0.0000000 4 210 585 8010 3690 SS:x\001 DELETED mttroot/mtt/lib/examples/Hybrid/Bounce/Bounce_desc.tex Index: mttroot/mtt/lib/examples/Hybrid/Bounce/Bounce_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Hybrid/Bounce/Bounce_desc.tex +++ /dev/null @@ -1,44 +0,0 @@ -% Verbal description for system Bounce (Bounce_desc.tex) -% Generated by MTT on Wed Jul 2 10:55:51 BST 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{Bounce}, togehter with a - schematic diagram is - displayed in Figure \Ref{Bounce_abg} and its label - file is listed in Section \Ref{sec:Bounce_lbl}. - The subsystems are listed in Section \Ref{sec:Bounce_sub}. - -The model uses the {\bf CSW} switched {\bf C} element to simulate -contact with the ground. The corresponding switching function (See -Section \ref{sec:Bounce_input.txt}), is based on the height above the -ground $h$ as follows: -\begin{equation} -i_{sw} = - \begin{cases} - 0 & \text{if $h > 0$}\\ - -1 & \text{if $h \le 0$} - \end{cases} -\end{equation} - -In other words, the component acts as an ideal spring when the ball is -in contact with the ground yet has no effect when the ball is not in -contact with the ground. - -The ball is modelled as a point mass (the \textbf{I} component) and a -linear resistance to motion (the (the \textbf{R} component). - -The system was simulated for 100 time units and the resultant height -is plotted in Figure \ref{fig:Bounce_odeso.ps}. The ball was released at zero -velocity from a height of ten units. The bounce height decreases due to -the effect of the modelled air resistance. - -%%% Local Variables: -%%% mode: latex -%%% TeX-master: t -%%% End: DELETED mttroot/mtt/lib/examples/Hybrid/Bounce/Bounce_input.txt Index: mttroot/mtt/lib/examples/Hybrid/Bounce/Bounce_input.txt ================================================================== --- mttroot/mtt/lib/examples/Hybrid/Bounce/Bounce_input.txt +++ /dev/null @@ -1,24 +0,0 @@ -# Numerical parameter file (Bounce_input.txt) -# Generated by MTT at Wed Jul 2 10:47:49 BST 1997 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %% Revision 1.3 2000/05/18 11:30:14 peterg -# %% Moved switch logic to logic.txt -# %% -# %% Revision 1.2 1998/10/01 19:20:33 peterg -# %% Cahged switch function -# %% -# %% Revision 1.1 1998/07/25 18:35:02 peterg -# %% Initial revision -# %% -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Set the inputs -## Removed by MTT on Fri Oct 5 10:37:56 BST 2001: mttu(1) = 9.81; - - -bounce_gravity = 9.81; # Added by MTT on Fri Oct 05 10:37:59 BST 2001 DELETED mttroot/mtt/lib/examples/Hybrid/Bounce/Bounce_lbl.txt Index: mttroot/mtt/lib/examples/Hybrid/Bounce/Bounce_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Hybrid/Bounce/Bounce_lbl.txt +++ /dev/null @@ -1,37 +0,0 @@ -%SUMMARY Bounce: Bouncing ball example (hybrid) -%DESCRIPTION -%% Label file for system Bounce (Bounce_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1997/09/11 09:54:22 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type INTF - intf - -% Component type CSW - ground lin state,k_g - -% Component type I - ball_mass lin flow,m - -% Component type R - air_resistance lin flow,r - -% Component type SS - gravity SS external,internal - x SS external,0 - DELETED mttroot/mtt/lib/examples/Hybrid/Bounce/Bounce_logic.txt Index: mttroot/mtt/lib/examples/Hybrid/Bounce/Bounce_logic.txt ================================================================== --- mttroot/mtt/lib/examples/Hybrid/Bounce/Bounce_logic.txt +++ /dev/null @@ -1,16 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# Simulation parameters for system Bounce (Bounce_logic.txt) -# Generated by MTT on Thu May 18 12:29:15 BST 2000. -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.1 2000/05/18 11:29:58 peterg -## Initial revision -## -############################################################### - - -# Set the switches -bounce_ground_1_mtt_switch_logic = (bounce_intf_1_mtt3<0); DELETED mttroot/mtt/lib/examples/Hybrid/Bounce/Bounce_numpar.txt Index: mttroot/mtt/lib/examples/Hybrid/Bounce/Bounce_numpar.txt ================================================================== --- mttroot/mtt/lib/examples/Hybrid/Bounce/Bounce_numpar.txt +++ /dev/null @@ -1,17 +0,0 @@ -# Numerical parameter file (Bounce_numpar.txt) -# Generated by MTT at Wed Jul 2 10:47:47 BST 1997 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %% Revision 1.1 2000/12/28 17:45:24 peterg -# %% To RCS -# %% -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Parameters -k_g = 100.0; # Ground stiffness -m = 1.0; # Ball mass -r = 1.0; # Air resistance DELETED mttroot/mtt/lib/examples/Hybrid/Bounce/Bounce_rep.txt Index: mttroot/mtt/lib/examples/Hybrid/Bounce/Bounce_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Hybrid/Bounce/Bounce_rep.txt +++ /dev/null @@ -1,25 +0,0 @@ -# Outline report file for system Bounce (Bounce_rep.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 2000/05/19 07:09:19 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -mtt Bounce abg tex -mtt Bounce struc tex -mtt Bounce ode tex - - -mtt Bounce simpar txt -mtt Bounce input txt -mtt Bounce logic txt -mtt Bounce numpar txt - -mtt Bounce odeso ps - -mtt Bounce rep txt DELETED mttroot/mtt/lib/examples/Hybrid/Bounce/Bounce_simpar.txt Index: mttroot/mtt/lib/examples/Hybrid/Bounce/Bounce_simpar.txt ================================================================== --- mttroot/mtt/lib/examples/Hybrid/Bounce/Bounce_simpar.txt +++ /dev/null @@ -1,16 +0,0 @@ -# Simulation parameters for system Bounce (Bounce_simpar.txt) -# Generated by MTT on Sat Jul 25 15:57:56 BST 1998. -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.1 1998/10/01 19:21:04 peterg -## Initial revision -## -############################################################### -FIRST=0.0; -LAST=10.0; -DT=0.02; -STEPFACTOR=1; - DELETED mttroot/mtt/lib/examples/Hybrid/Bounce/Bounce_state.txt Index: mttroot/mtt/lib/examples/Hybrid/Bounce/Bounce_state.txt ================================================================== --- mttroot/mtt/lib/examples/Hybrid/Bounce/Bounce_state.txt +++ /dev/null @@ -1,23 +0,0 @@ -# Initial state file (Bounce_state.txt) -# Generated by MTT at Sat Jul 25 15:56:57 BST 1998 -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.2 1998/07/25 20:34:05 peterg -## *** empty log message *** -## -## Revision 1.1 1998/07/25 14:59:11 peterg -## Initial revision -## -############################################################### - -# Set the states -## Removed by MTT on Fri Oct 5 10:38:29 BST 2001: mttx(1) = 10.0; # 3 (Bounce_intf) -## Removed by MTT on Fri Oct 5 10:38:29 BST 2001: mttx(2) = 0.0; # MTT_SWITCH (Bounce_ground) -## Removed by MTT on Fri Oct 5 10:38:29 BST 2001: mttx(3) = 0.0; # ball_mass (Bounce) - -bounce_ball_mass = 0.0; # Added by MTT on Fri Oct 05 10:38:33 BST 2001 -bounce_ground_1_mtt_switch = 0.0; # Added by MTT on Fri Oct 05 10:38:33 BST 2001 -bounce_intf_1_mtt3 = 10.0; # Added by MTT on Fri Oct 05 10:38:33 BST 2001 DELETED mttroot/mtt/lib/examples/Hybrid/BouncingRod/BouncingRod_abg.fig Index: mttroot/mtt/lib/examples/Hybrid/BouncingRod/BouncingRod_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Hybrid/BouncingRod/BouncingRod_abg.fig +++ /dev/null @@ -1,161 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -6 3513 9498 8733 9858 -6 3513 9498 4953 9813 -6 3513 9498 4233 9768 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 3514 9724 3739 9499 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 3739 9724 3964 9499 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 3964 9724 4189 9499 --6 -6 4189 9499 4909 9769 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 4190 9725 4415 9500 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 4415 9725 4640 9500 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 4640 9725 4865 9500 --6 --6 -6 4864 9499 6304 9814 -6 4864 9499 5584 9769 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 4865 9725 5090 9500 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 5090 9725 5315 9500 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 5315 9725 5540 9500 --6 -6 5540 9500 6260 9770 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 5541 9726 5766 9501 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 5766 9726 5991 9501 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 5991 9726 6216 9501 --6 --6 -6 6214 9499 6934 9769 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 6215 9725 6440 9500 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 6440 9725 6665 9500 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 6665 9725 6890 9500 --6 -6 6890 9500 7610 9770 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 6891 9726 7116 9501 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 7116 9726 7341 9501 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 7341 9726 7566 9501 --6 -6 7565 9500 8285 9770 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 7566 9726 7791 9501 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 7791 9726 8016 9501 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 8016 9726 8241 9501 --6 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 3514 9499 8689 9499 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 8242 9727 8467 9502 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 8467 9727 8692 9502 --6 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4727 2072 4727 3647 4952 3422 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6077 2072 6077 3647 6302 3422 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4502 3647 4952 3647 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5852 3647 6302 3647 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 7202 3647 7652 3647 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4728 8823 4728 10398 4953 10173 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4501 6571 2926 6571 3151 6796 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2251 6797 2251 8372 2476 8147 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 9923 6774 9923 8349 10148 8124 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5851 4771 6301 4771 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4726 8372 4726 6797 4951 7022 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4501 6346 4501 6796 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 7651 6346 7651 6796 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7629 6571 9204 6571 8979 6796 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4726 6347 4726 4772 4951 4997 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2521 4186 4096 4186 3871 4411 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4096 3961 4096 4411 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7426 4770 7426 6345 7651 6120 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7426 6795 7426 8370 7651 8145 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8101 4186 9676 4186 9451 4411 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 8101 3961 8101 4411 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7426 3647 7426 2072 7651 2297 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6076 4772 6076 6347 6301 6122 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7426 8820 7426 10395 7651 10170 -2 2 0 2 1 3 1 0 20 0.000 0 0 0 0 0 5 - 3827 3422 8327 3422 8327 4997 3827 4997 3827 3422 -2 1 0 3 1 7 1 0 -1 0.000 0 0 -1 1 0 2 - 1 0 3.00 180.00 360.00 - 9226 2521 8371 3196 -2 1 0 3 1 7 1 0 -1 0.000 0 0 -1 1 0 2 - 1 0 3.00 180.00 360.00 - 11458 7718 10603 8393 -2 1 0 3 1 7 1 0 -1 0.000 0 0 -1 1 0 2 - 1 0 3.00 180.00 360.00 - 701 7685 1556 8360 -4 1 -1 0 0 2 20 0.0000000 4 210 1470 2115 6660 INTF:intfL\001 -4 1 -1 0 0 2 20 0.0000000 4 210 1215 6077 4322 ROD:rod\001 -4 1 4 0 0 2 20 0.0000000 4 240 360 6077 3962 [p7]\001 -4 1 4 0 0 2 20 0.0000000 4 240 360 6077 4637 [p8]\001 -4 1 -1 0 0 2 20 0.0000000 4 210 150 4727 6662 1\001 -4 1 -1 0 0 2 20 0.0000000 4 210 150 7427 6662 1\001 -4 1 -1 0 0 2 20 0.0000000 4 210 150 4728 8688 0\001 -4 1 -1 0 0 2 20 0.0000000 4 270 1905 4728 10713 CSW:groundL\001 -4 1 -1 0 0 2 20 0.0000000 4 210 150 7428 8688 0\001 -4 1 -1 0 0 2 20 0.0000000 4 270 1365 6077 6662 SS:gravity\001 -4 1 -1 0 0 2 20 0.0000000 4 210 795 10217 4277 SS:aR\001 -4 1 -1 0 0 2 20 0.0000000 4 210 1485 10126 6661 INTF:intfR\001 -4 1 -1 0 0 2 20 0.0000000 4 210 795 2251 8641 SS:hL\001 -4 1 -1 0 0 2 20 0.0000000 4 210 810 9946 8641 SS:hR\001 -4 1 -1 0 0 2 20 0.0000000 4 210 795 6077 1937 SS:xC\001 -4 1 -1 0 0 2 20 0.0000000 4 270 1920 7426 10711 CSW:groundR\001 -4 1 -1 0 0 2 20 0.0000000 4 210 780 4727 1937 SS:xL\001 -4 1 -1 0 0 2 20 0.0000000 4 210 795 7427 1937 SS:xR\001 -4 1 4 0 0 2 20 0.0000000 4 240 360 4727 3962 [p3]\001 -4 1 4 0 0 2 20 0.0000000 4 240 360 7427 3962 [p4]\001 -4 1 4 0 0 2 20 0.0000000 4 240 360 4727 4637 [p5]\001 -4 1 4 0 0 2 20 0.0000000 4 240 360 7426 4636 [p6]\001 -4 1 -1 0 0 2 20 0.0000000 4 210 780 2026 4276 SS:aL\001 -4 1 4 0 0 2 20 0.0000000 4 240 360 4411 4276 [p1]\001 -4 1 4 0 0 2 20 0.0000000 4 240 360 7876 4321 [p2]\001 -4 0 1 1 0 3 30 0.0000000 4 300 1470 5311 10171 Ground\001 -4 0 1 1 0 3 30 0.0000000 4 390 2685 8326 2476 Bouncing Rod\001 -4 0 1 1 0 3 30 0.0000000 4 390 3315 11026 7651 Height of right tip\001 -4 2 1 1 0 3 30 0.0000000 4 390 3000 1800 7515 Height of left tip\001 DELETED mttroot/mtt/lib/examples/Hybrid/BouncingRod/BouncingRod_desc.tex Index: mttroot/mtt/lib/examples/Hybrid/BouncingRod/BouncingRod_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Hybrid/BouncingRod/BouncingRod_desc.tex +++ /dev/null @@ -1,48 +0,0 @@ -% Verbal description for system BouncingRod (BouncingRod_desc.tex) -% Generated by MTT on Sun Jul 6 17:21:23 BST 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% Revision 1.1 1997/07/06 16:35:20 peterg -% Initial revision -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -The acausal bond graph of system \textbf{BouncingRod} is displayed in -Figure \Ref{BouncingRod_abg} and its label file is listed in Section -\Ref{sec:BouncingRod_lbl}. - The subsystems are listed in Section -\Ref{sec:BouncingRod_sub}. - -The system consists of a uniform rod of mass 1kg, length 2m (and -therefore of inertia about the mass centre of $\frac{1}{3} -\text{kgm}^2$. The rod is released at an angle of $\frac{\pi}{4}$ from -the vertical, the mass centre is $10\text{m}$ above the ground and all -velocities are initially zero. The gravitational constant is taken as unity. - -The ground is modeled as an ideal compliance in the vertical -direction with compliance of $0.1 \text{mN}^{-1}$ and it is assumed -that contact takes place at the rod tips only. There is no -horizontal resistance to motion. This idealised setup is modeled by a -two {\bf CSW} components, one for each rod tip, modulated by the -height of each rod tip above the ground: each {\bf CSW} is off when -the corresponding height is positive. - -The system was simulated for 100 time units and the resultant height -of each tip is plotted in Figure \ref{fig:BouncingRod_odeso.ps}. The rod was -released at zero velocity from a height of ten units and at an angle -of $\frac{\pi}{4}$ radians to the vertical. The oscillations in height -are due to rod rotation about its mass centre. The bounce height -changes due to energy transfer to and from the rod rotation about its -mass centre. - - - - -%%% Local Variables: -%%% mode: plain-tex -%%% TeX-master: "yes" -%%% End: DELETED mttroot/mtt/lib/examples/Hybrid/BouncingRod/BouncingRod_input.txt Index: mttroot/mtt/lib/examples/Hybrid/BouncingRod/BouncingRod_input.txt ================================================================== --- mttroot/mtt/lib/examples/Hybrid/BouncingRod/BouncingRod_input.txt +++ /dev/null @@ -1,16 +0,0 @@ -# Numerical parameter file (BouncingRod_input.txt) -# Generated by MTT at Fri Jul 4 14:09:14 BST 1997 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %% Revision 1.1 1997/07/06 16:17:48 peterg -# %% Initial revision -# %% -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Set the inputs -## Removed by MTT on Mon Dec 4 08:27:04 GMT 2000: u(1) = 9.81; # gravity (Default value) -bouncingrod_gravity = 9.81; # Added by MTT on Mon Dec 04 08:27:10 GMT 2000 DELETED mttroot/mtt/lib/examples/Hybrid/BouncingRod/BouncingRod_lbl.txt Index: mttroot/mtt/lib/examples/Hybrid/BouncingRod/BouncingRod_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Hybrid/BouncingRod/BouncingRod_lbl.txt +++ /dev/null @@ -1,55 +0,0 @@ -%SUMMARY BouncingRod: Two-dimensional bouncing rod (hybrid) -%DESCRIPTION A uniform rod bounces on a compliant surface -- the -%DESCRIPTION CSW component is used. - -%% Label file for system BouncingRod (BouncingRod_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.5 2000/12/04 08:36:23 peterg -% %% Declare pi -% %% -% %% Revision 1.4 2000/05/18 10:30:39 peterg -% %% New SS form -% %% -% %% Revision 1.3 1997/09/11 09:55:25 peterg -% %% Added documentation -% %% -% %% Revision 1.2 1997/09/11 08:37:29 peterg -% %% Added description -% %% -% %% Revision 1.1 1997/07/06 16:18:37 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type CSW - groundL lin effort,epsilon - groundR lin effort,epsilon - -% Component type INTF - intfL - intfR - -% Component type ROD - rod none l;l;j;m - -% Component type SS - aL SS 0,internal - aR SS 0,internal - gravity SS external,internal - hL SS external,0 - hR SS external,0 - xC SS 0,internal - xL SS 0,internal - xR SS 0,internal DELETED mttroot/mtt/lib/examples/Hybrid/BouncingRod/BouncingRod_logic.txt Index: mttroot/mtt/lib/examples/Hybrid/BouncingRod/BouncingRod_logic.txt ================================================================== --- mttroot/mtt/lib/examples/Hybrid/BouncingRod/BouncingRod_logic.txt +++ /dev/null @@ -1,17 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# Simulation parameters for system BouncingRod (BouncingRod_logic.txt) -# Generated by MTT on Thu May 18 12:14:35 BST 2000. -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - -# Set the switches -## Removed by MTT on Mon Dec 4 08:30:13 GMT 2000: bouncingrod_groundl= (x(3)<=0); -## Removed by MTT on Mon Dec 4 08:30:13 GMT 2000: bouncingrod_groundr= (x(4)<=0); - -bouncingrod_groundl_1_mtt_switch_logic = (x(3)<=0); -bouncingrod_groundr_1_mtt_switch_logic = (x(4)<=0); - DELETED mttroot/mtt/lib/examples/Hybrid/BouncingRod/BouncingRod_numpar.txt Index: mttroot/mtt/lib/examples/Hybrid/BouncingRod/BouncingRod_numpar.txt ================================================================== --- mttroot/mtt/lib/examples/Hybrid/BouncingRod/BouncingRod_numpar.txt +++ /dev/null @@ -1,24 +0,0 @@ -# Numerical parameter file (BouncingRod_numpar.txt) -# Generated by MTT at Fri Jul 4 14:09:11 BST 1997 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %% Revision 1.2 2000/12/28 17:45:59 peterg -# %% To RCS -# %% -# %% Revision 1.1 1997/07/06 16:17:27 peterg -# %% Initial revision -# %% -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Parameters -epsilon = 0.01; -l = 1.0; # Default value -m = 1.0; # Default value -j = l*l*m/3; - - - DELETED mttroot/mtt/lib/examples/Hybrid/BouncingRod/BouncingRod_odes.h Index: mttroot/mtt/lib/examples/Hybrid/BouncingRod/BouncingRod_odes.h ================================================================== --- mttroot/mtt/lib/examples/Hybrid/BouncingRod/BouncingRod_odes.h +++ /dev/null @@ -1,7 +0,0 @@ -/* -%% Parameter file for system BouncingRod (BouncingRod_odes.h) -%% This file provides the params for simulation: -*/ -#define DT 0.1 /* Time step (for printing) */ -#define LAST 99.9 /* Last time */ -#define STEPFACTOR 1000 /* Integration steps per time step */ DELETED mttroot/mtt/lib/examples/Hybrid/BouncingRod/BouncingRod_rep.txt Index: mttroot/mtt/lib/examples/Hybrid/BouncingRod/BouncingRod_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Hybrid/BouncingRod/BouncingRod_rep.txt +++ /dev/null @@ -1,25 +0,0 @@ -# Outline report file for system BouncingRod (BouncingRod_rep.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.2 2000/12/28 17:45:59 peterg -% %% To RCS -% %% -% %% Revision 1.1 1997/07/06 16:20:44 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -mtt BouncingRod abg tex -mtt BouncingRod struc tex -mtt BouncingRod ode tex -mtt BouncingRod numpar txt -mtt BouncingRod input txt -mtt BouncingRod logic txt -mtt BouncingRod odeso ps - - - DELETED mttroot/mtt/lib/examples/Hybrid/BouncingRod/BouncingRod_simpar.txt Index: mttroot/mtt/lib/examples/Hybrid/BouncingRod/BouncingRod_simpar.txt ================================================================== --- mttroot/mtt/lib/examples/Hybrid/BouncingRod/BouncingRod_simpar.txt +++ /dev/null @@ -1,17 +0,0 @@ -# Simulation parameters for system BouncingRod (BouncingRod_simpar.txt) -# Generated by MTT on Sun Jul 26 12:14:17 BST 1998. -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.1 1999/12/21 08:07:38 peterg -## Initial revision -## -############################################################### - -LAST=20; -DT=0.01; -STEPFACTOR=1; - - DELETED mttroot/mtt/lib/examples/Hybrid/BouncingRod/BouncingRod_state.txt Index: mttroot/mtt/lib/examples/Hybrid/BouncingRod/BouncingRod_state.txt ================================================================== --- mttroot/mtt/lib/examples/Hybrid/BouncingRod/BouncingRod_state.txt +++ /dev/null @@ -1,27 +0,0 @@ -# Initial state file (BouncingRod_state.txt) -# Generated by MTT at Sun Jul 26 12:19:13 BST 1998 -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - - -# Set the states -## Removed by MTT on Mon Dec 4 08:27:53 GMT 2000: mttx(1) = 0.0; # MTT_SWITCH (BouncingRod_groundL) -## Removed by MTT on Mon Dec 4 08:27:53 GMT 2000: mttx(2) = 0.0; # MTT_SWITCH (BouncingRod_groundR) -## Removed by MTT on Mon Dec 4 08:27:53 GMT 2000: mttx(3) = 10+sin(pi/4); # 3 (BouncingRod_intfL) -## Removed by MTT on Mon Dec 4 08:27:53 GMT 2000: mttx(4) = 10-sin(pi/4); # 3 (BouncingRod_intfR) -## Removed by MTT on Mon Dec 4 08:27:53 GMT 2000: mttx(5) = 0.0; # J (BouncingRod_rod) -## Removed by MTT on Mon Dec 4 08:27:53 GMT 2000: mttx(6) = 0.0; # m_x (BouncingRod_rod) -## Removed by MTT on Mon Dec 4 08:27:53 GMT 2000: mttx(7) = 0.0; # m_y (BouncingRod_rod) -## Removed by MTT on Mon Dec 4 08:27:53 GMT 2000: mttx(8) = pi/4; # 3 (BouncingRod_rod_th) -bouncingrod_groundl_1_mtt_switch = 0.0; # Added by MTT on Mon Dec 04 08:27:59 GMT 2000 -bouncingrod_groundr_1_mtt_switch = 0.0; # Added by MTT on Mon Dec 04 08:27:59 GMT 2000 -bouncingrod_intfl_1_mtt3 = 10+sin(pi/4); -bouncingrod_intfr_1_mtt3 = 10-sin(pi/4); -bouncingrod_rod_1_j = 0.0; # Added by MTT on Mon Dec 04 08:27:59 GMT 2000 -bouncingrod_rod_1_m_x = 0.0; # Added by MTT on Mon Dec 04 08:27:59 GMT 2000 -bouncingrod_rod_1_m_y = 0.0; # Added by MTT on Mon Dec 04 08:27:59 GMT 2000 -bouncingrod_rod_1_th_1_mtt3 = pi/4; DELETED mttroot/mtt/lib/examples/Hybrid/BouncingRod/CSW_lbl.txt Index: mttroot/mtt/lib/examples/Hybrid/BouncingRod/CSW_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Hybrid/BouncingRod/CSW_lbl.txt +++ /dev/null @@ -1,30 +0,0 @@ -%SUMMARY ISW: Switched I component -%DESCRIPTION ISW acts as an I component except when the -s -c option is used. -%DESCRIPTION When the -s -c option is used: -%DESCRIPTION The component label is used as a variable name (eg Name) -%DESCRIPTION In the ode simulation: -%DESCRIPTION Name = 1 implies normal I (closed switch) -%DESCRIPTION Name = 0 implies state=0 (open switch) -%DESCRIPTION Name = -1 implies state>0 (Diode) - -%% Label file for system ISW (ISW_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1997/06/03 15:26:09 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type I - MTT_SWITCH $1 $1 DELETED mttroot/mtt/lib/examples/Hybrid/BouncingRod/ROD_abg.fig Index: mttroot/mtt/lib/examples/Hybrid/BouncingRod/ROD_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Hybrid/BouncingRod/ROD_abg.fig +++ /dev/null @@ -1,125 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4728 4278 5403 4953 5178 4953 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5854 5404 6529 6079 6304 6079 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4728 6078 5403 5403 5403 5628 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5853 4953 6528 4278 6528 4503 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 1 - 4277 3827 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3152 2702 4277 3827 4052 3827 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6977 6527 8102 7652 7877 7652 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3152 7652 4277 6527 4277 6752 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6977 3827 8102 2702 8102 2927 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5852 5177 6527 5177 6392 5312 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2927 2927 2927 4952 3152 4727 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2927 5402 2927 7427 3152 7202 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2701 5176 2026 5176 2161 5311 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2926 1351 2926 2476 3196 2206 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8328 2928 8328 4953 8553 4728 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8328 5403 8328 7428 8553 7203 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8327 1352 8327 2477 8597 2207 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5626 1351 5626 4951 5851 4726 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8551 5176 9226 5176 9091 5311 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3826 4951 6526 4051 6436 4231 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3826 4996 3826 5356 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4276 5176 3826 5176 3961 5311 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3826 5401 6301 6301 6121 6301 -2 1 0 1 5 -1 0 0 -1 0.000 0 0 -1 0 0 3 - 3601 5401 4051 6301 3826 6301 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3601 4951 4051 4051 4051 4276 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5536 5176 5086 5176 5221 5311 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 3600 9675 3600 675 2250 675 2250 9675 3600 9675 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 6300 9675 6300 675 4950 675 4950 9675 6300 9675 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 9000 9675 9000 675 7650 675 7650 9675 9000 9675 -2 4 0 1 4 7 1 0 -1 0.000 0 0 7 0 0 5 - 10125 5850 990 5850 990 4500 10125 4500 10125 5850 -2 4 0 1 4 7 1 0 -1 0.000 0 0 7 0 0 5 - 10125 2250 990 2250 990 900 10125 900 10125 2250 -2 4 0 1 4 7 1 0 -1 0.000 0 0 7 0 0 5 - 10125 9450 990 9450 990 8100 10125 8100 10125 9450 -2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 11025 10305 11025 225 225 225 225 10305 11025 10305 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2700 5625 2700 5400 1800 6300 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5625 5401 5625 9001 5850 8776 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2925 7875 2925 9000 3195 8730 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8325 7875 8325 9000 8595 8730 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8550 5400 9450 6300 9225 6300 -4 1 -1 0 0 0 20 0.0000 4 195 135 5628 5268 1\001 -4 1 -1 0 0 0 20 0.0000 4 195 270 6933 5268 I:J\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 2927 5312 1\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 2972 2792 0\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 2927 7742 0\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 8328 5313 1\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 8373 2793 0\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 8328 7743 0\001 -4 1 -1 0 0 0 20 0.0000 4 255 660 9676 5266 I:m_y\001 -4 1 -1 0 0 0 20 0.0000 4 255 660 1531 5221 I:m_x\001 -4 1 -1 0 0 0 20 0.0000 4 195 1110 4636 4141 EMTF:c1\001 -4 1 -1 0 0 0 20 0.0000 4 195 1110 4681 6391 EMTF:c2\001 -4 1 -1 0 0 0 20 0.0000 4 195 1095 7156 4141 EMTF:s1\001 -4 1 -1 0 0 0 20 0.0000 4 195 1095 7156 6391 EMTF:s2\001 -4 1 -1 0 0 0 20 0.0000 4 240 720 8372 1217 SS:[p5]\001 -4 1 -1 0 0 0 20 0.0000 4 240 720 5671 9361 SS:[p2]\001 -4 1 -1 0 0 0 20 0.0000 4 240 720 8417 9362 SS:[p6]\001 -4 1 5 0 0 0 20 0.0000 4 195 135 3603 5313 0\001 -4 1 26 0 0 0 16 0.0000 4 210 270 4501 4456 [in]\001 -4 1 26 0 0 0 16 0.0000 4 210 270 4501 3781 [out]\001 -4 1 26 0 0 0 16 0.0000 4 210 270 3826 4051 [mod]\001 -4 1 26 0 0 0 16 0.0000 4 210 270 6751 4456 [in]\001 -4 1 26 0 0 0 16 0.0000 4 210 270 6751 3781 [out]\001 -4 1 26 0 0 0 16 0.0000 4 210 270 6301 4006 [mod]\001 -4 1 26 0 0 0 16 0.0000 4 210 270 6751 6076 [in]\001 -4 1 26 0 0 0 16 0.0000 4 210 270 6751 6706 [out]\001 -4 1 26 0 0 0 16 0.0000 4 210 270 6211 6526 [mod]\001 -4 1 26 0 0 0 16 0.0000 4 210 270 4591 5896 [in]\001 -4 1 26 0 0 0 16 0.0000 4 210 270 4591 6841 [out]\001 -4 1 26 0 0 0 16 0.0000 4 210 270 3916 6526 [mod]\001 -4 1 -1 0 0 0 20 0.0000 4 240 720 2971 1216 SS:[p3]\001 -4 1 -1 0 0 0 20 0.0000 4 240 720 5671 1216 SS:[p1]\001 -4 1 -1 0 0 0 20 0.0000 4 240 720 2971 9361 SS:[p4]\001 -4 1 26 0 0 0 16 0.0000 4 210 270 4411 5446 [out]\001 -4 1 26 0 0 0 16 0.0000 4 210 270 4906 5446 [in]\001 -4 1 5 0 0 0 20 0.0000 4 195 960 4681 5266 INTF:th\001 -4 1 1 1 0 0 20 0.0000 4 195 210 2925 10035 X\001 -4 1 1 1 0 32 20 0.0000 4 135 180 5580 9990 a\001 -4 1 1 1 0 0 20 0.0000 4 195 210 8280 9990 Y\001 -4 1 4 1 0 0 20 0.0000 4 255 390 1350 2700 Tip\001 -4 1 4 1 0 0 20 0.0000 4 255 390 1350 9855 Tip\001 -4 1 4 1 0 0 20 0.0000 4 195 1380 1080 6120 Mass centre\001 -4 1 -1 0 0 0 20 0.0000 4 240 720 1710 6615 SS:[p7]\001 -4 1 -1 0 0 0 20 0.0000 4 240 720 9495 6570 SS:[p8]\001 DELETED mttroot/mtt/lib/examples/Hybrid/BouncingRod/ROD_desc.tex Index: mttroot/mtt/lib/examples/Hybrid/BouncingRod/ROD_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Hybrid/BouncingRod/ROD_desc.tex +++ /dev/null @@ -1,17 +0,0 @@ -% Verbal description for system ROD (ROD_desc.tex) -% Generated by MTT on Fri Jul 4 10:30:17 BST 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{ROD} is - displayed in Figure \Ref{ROD_abg} and its label - file is listed in Section \Ref{sec:ROD_lbl}. - The subsystems are listed in Section \Ref{sec:ROD_sub}. - - -This is a special version just for this problem. DELETED mttroot/mtt/lib/examples/Hybrid/BouncingRod/ROD_lbl.txt Index: mttroot/mtt/lib/examples/Hybrid/BouncingRod/ROD_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Hybrid/BouncingRod/ROD_lbl.txt +++ /dev/null @@ -1,60 +0,0 @@ -%SUMMARY ROD: rigid rod in two dimensions -%DESCRIPTION Port [1]: Angular torque/velocity - end 1 -%DESCRIPTION Port [2]: Angular torque/velocity - end 2 -%DESCRIPTION Port [3]: x force/velocity - end 1 -%DESCRIPTION Port [4]: x force/velocity - end 2 -%DESCRIPTION Port [5]: y force/velocity - end 1 -%DESCRIPTION Port [6]: y force/velocity - end 2 -%DESCRIPTION Port [7]: x force/velocity - centre -%DESCRIPTION Port [8]: y force/velocity - centre -%DESCRIPTION -%DESCRIPTION Parameter 1: length from end 1 to mass centre -%DESCRIPTION Parameter 2: length from end 2 to mass centre -%DESCRIPTION Parameter 3: inertia about mass centre -%DESCRIPTION Parameter 4: mass -%DESCRIPTION See Section 10.2 of "Metamodelling" - - -%% Label file for system ROD (ROD_lbl.txt) - - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% Revision 1.1 1996/11/07 10:57:17 peterg -% Initial revision -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - -%Inertias -J lin flow,$3 -m_x lin flow,$4 -m_y lin flow,$4 - -%Integrate angular velocity to get angle -th - -%Modulated transformers -s1 lsin flow,$1 -s2 lsin flow,$2 -c1 lcos flow,$1 -c2 lcos flow,$2 - -% ports - -[p1] SS external,external -[p2] SS external,external -[p3] SS external,external -[p4] SS external,external -[p5] SS external,external -[p6] SS external,external -[p7] SS external,external -[p8] SS external,external DELETED mttroot/mtt/lib/examples/Hybrid/Clutch/Clutch_abg.fig Index: mttroot/mtt/lib/examples/Hybrid/Clutch/Clutch_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Hybrid/Clutch/Clutch_abg.fig +++ /dev/null @@ -1,23 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 4726 3376 4726 2026 2476 2026 2476 3376 4726 3376 -2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 8101 3376 8101 2026 5851 2026 5851 3376 8101 3376 -2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 11476 3376 11476 2026 9226 2026 9226 3376 11476 3376 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4501 2701 6076 2701 5941 2836 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7876 2701 9451 2701 9316 2836 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1126 2701 2701 2701 2566 2836 -2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 11925 5400 11925 225 225 225 225 5400 11925 5400 -4 1 -1 0 0 0 20 0.0000 4 195 1170 3511 2791 DC:motor\001 -4 1 -1 0 0 0 20 0.0000 4 195 1140 10306 2791 Load:load\001 -4 1 -1 0 0 0 20 0.0000 4 195 1290 7021 2791 Drive:drive\001 -4 1 -1 0 0 0 20 0.0000 4 195 525 765 2790 SS:e\001 DELETED mttroot/mtt/lib/examples/Hybrid/Clutch/Clutch_desc.tex Index: mttroot/mtt/lib/examples/Hybrid/Clutch/Clutch_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Hybrid/Clutch/Clutch_desc.tex +++ /dev/null @@ -1,25 +0,0 @@ -% Verbal description for system Clutch (Clutch_desc.tex) -% Generated by MTT on Thu Jul 3 13:57:59 BST 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{Clutch} is displayed in - Figure \Ref{Clutch_abg} and its label file is listed in Section - \Ref{sec:Clutch_lbl}. The subsystems are listed in Section - \Ref{sec:Clutch_sub}. The details of the DC motor and the load are - hidden behind a word bond graph so as to focus on the clutch - mechanism as modelled by the \textbf{CSW} component. - It is natural to model the clutch shaft by a -compliance to absorb the shock of engaging the clutch; therefore the -drive model contains a \textbf{CSW} component. - - -Figure \ref{fig:Clutch_odeso.ps}, shows the angular velocities of the motor -and load. The clutch is engaged from time $t$ given by $0=5)&&(t<15); - -clutch_drive_1_clutch_1_mtt_switch_logic = (t>=5)&&(t<15); # Added by MTT on Fri Oct 05 11:47:40 BST 2001 DELETED mttroot/mtt/lib/examples/Hybrid/Clutch/Clutch_numpar.txt Index: mttroot/mtt/lib/examples/Hybrid/Clutch/Clutch_numpar.txt ================================================================== --- mttroot/mtt/lib/examples/Hybrid/Clutch/Clutch_numpar.txt +++ /dev/null @@ -1,19 +0,0 @@ -# Numerical parameter file (Clutch_numpar.txt) -# Generated by MTT at Thu Jul 3 12:12:35 BST 1997 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Parameters -b_m = 0.1; # Default value -epsilon = 0.01; -j_l = 1.0; # Default value -j_m = 10.0; # Default value -k_m = 1.0; # Default value -l_a = 0.1; # Default value -r_a = 1.0; # Default value -r_l = 5.0; # Default value DELETED mttroot/mtt/lib/examples/Hybrid/Clutch/Clutch_rep.txt Index: mttroot/mtt/lib/examples/Hybrid/Clutch/Clutch_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Hybrid/Clutch/Clutch_rep.txt +++ /dev/null @@ -1,28 +0,0 @@ -# Outline report file for system Clutch (Clutch_rep.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.2 2000/05/19 07:16:07 peterg -% %% Added logic -% %% -% %% Revision 1.1 1999/02/21 08:18:25 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -mtt Clutch abg tex -mtt Clutch struc tex -mtt Clutch ode tex -mtt Clutch dm tex - -mtt Clutch simpar txt -mtt Clutch input txt -mtt Clutch logic txt -mtt Clutch numpar txt - -mtt Clutch odeso ps - -mtt Clutch rep txt DELETED mttroot/mtt/lib/examples/Hybrid/Clutch/Clutch_simpar.txt Index: mttroot/mtt/lib/examples/Hybrid/Clutch/Clutch_simpar.txt ================================================================== --- mttroot/mtt/lib/examples/Hybrid/Clutch/Clutch_simpar.txt +++ /dev/null @@ -1,16 +0,0 @@ -# Simulation parameters for system Clutch (Clutch_simpar.txt) -# Generated by MTT on Sun Jul 26 13:26:44 BST 1998. -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.1 1999/12/21 09:13:19 peterg -## Initial revision -## -############################################################### - -LAST=20.0; -DT=0.1; -STEPFACTOR=1; - DELETED mttroot/mtt/lib/examples/Hybrid/Clutch/Drive_abg.fig Index: mttroot/mtt/lib/examples/Hybrid/Clutch/Drive_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Hybrid/Clutch/Drive_abg.fig +++ /dev/null @@ -1,31 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1800 2475 2925 2475 2700 2700 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3397 2497 4522 2497 4297 2722 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4950 2475 6075 2475 5850 2700 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6547 2497 7672 2497 7447 2722 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3150 2700 3150 3825 3375 3600 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6300 2700 6300 3825 6525 3600 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4725 2250 4725 1125 4950 1350 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 2925 2700 3375 2700 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 6030 2700 6525 2700 -4 1 -1 0 0 0 20 0.0000 4 195 135 3150 2565 1\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 6300 2565 1\001 -4 1 4 0 0 0 20 0.0000 4 240 810 1305 2565 SS:[in]\001 -4 1 4 0 0 0 20 0.0000 4 240 960 8235 2565 SS:[out]\001 -4 1 -1 0 0 0 20 0.0000 4 195 675 3150 4185 SS:v1\001 -4 1 -1 0 0 0 20 0.0000 4 195 675 6300 4185 SS:v2\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 4725 2610 0\001 -4 1 -1 0 0 0 20 0.0000 4 195 1410 4725 945 CSW:clutch\001 DELETED mttroot/mtt/lib/examples/Hybrid/Clutch/Drive_desc.tex Index: mttroot/mtt/lib/examples/Hybrid/Clutch/Drive_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Hybrid/Clutch/Drive_desc.tex +++ /dev/null @@ -1,14 +0,0 @@ -% Verbal description for system Drive (Drive_desc.tex) -% Generated by MTT on Thu Jul 3 13:58:26 BST 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{Drive} is - displayed in Figure \Ref{Drive_abg} and its label - file is listed in Section \Ref{sec:Drive_lbl}. - The subsystems are listed in Section \Ref{sec:Drive_sub}. DELETED mttroot/mtt/lib/examples/Hybrid/Clutch/Drive_lbl.txt Index: mttroot/mtt/lib/examples/Hybrid/Clutch/Drive_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Hybrid/Clutch/Drive_lbl.txt +++ /dev/null @@ -1,32 +0,0 @@ -%SUMMARY Drive: The clutch/shaft drive subsystem -%DESCRIPTION -%% Label file for system Drive (Drive_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1997/09/11 09:39:16 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type CSW - clutch lin effort,epsilon - -% Component type R -% r_d lin flow,r_d - -% Component type SS - v1 SS 0,external - v2 SS 0,external - - DELETED mttroot/mtt/lib/examples/Hybrid/Clutch/Load_abg.fig Index: mttroot/mtt/lib/examples/Hybrid/Clutch/Load_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Hybrid/Clutch/Load_abg.fig +++ /dev/null @@ -1,22 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2026 3376 2926 3376 2701 3601 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3151 3151 3151 2251 3376 2476 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3151 3601 3151 4501 3376 4276 -2 2 0 2 1 7 1 0 -1 0.000 0 0 0 0 0 5 - 2476 1801 3826 1801 3826 4951 2476 4951 2476 1801 -2 2 0 2 1 7 1 0 -1 0.000 0 0 0 0 0 5 - 2026 3151 2476 3151 2476 3601 2026 3601 2026 3151 -2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 6075 5400 6075 900 495 900 495 5400 6075 5400 -4 1 -1 0 0 0 20 0.0000 4 195 135 3151 3466 1\001 -4 1 -1 0 0 0 20 0.0000 4 255 450 3151 2161 I:j_l\001 -4 1 -1 0 0 0 20 0.0000 4 255 585 3196 4816 R:r_l\001 -4 1 4 0 0 0 20 0.0000 4 240 810 1576 3466 SS:[in]\001 -4 1 1 1 0 0 20 0.0000 4 255 4395 3331 1531 Rotating load with inertia and friction\001 DELETED mttroot/mtt/lib/examples/Hybrid/Clutch/Load_desc.tex Index: mttroot/mtt/lib/examples/Hybrid/Clutch/Load_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Hybrid/Clutch/Load_desc.tex +++ /dev/null @@ -1,14 +0,0 @@ -% Verbal description for system Load (Load_desc.tex) -% Generated by MTT on Thu Jul 3 13:58:38 BST 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{Load} is - displayed in Figure \Ref{Load_abg} and its label - file is listed in Section \Ref{sec:Load_lbl}. - The subsystems are listed in Section \Ref{sec:Load_sub}. DELETED mttroot/mtt/lib/examples/Hybrid/Clutch/Load_lbl.txt Index: mttroot/mtt/lib/examples/Hybrid/Clutch/Load_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Hybrid/Clutch/Load_lbl.txt +++ /dev/null @@ -1,23 +0,0 @@ -%SUMMARY Load: An inertial/frictional load -%DESCRIPTION -%% Label file for system Load (Load_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type I - j_l lin flow,j_l - -% Component type R - r_l lin flow,r_l DELETED mttroot/mtt/lib/examples/Hybrid/Weirs/Weir_abg.fig Index: mttroot/mtt/lib/examples/Hybrid/Weirs/Weir_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Hybrid/Weirs/Weir_abg.fig +++ /dev/null @@ -1,28 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 1350 2025 2475 2025 2250 2250 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2700 1800 2700 675 2925 900 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2925 2025 4050 2025 3825 2250 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4500 2025 5625 2025 5400 2250 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4275 1800 4275 675 4500 900 -2 4 0 2 31 7 99 0 -1 6.000 0 0 7 0 0 5 - 6975 3600 6975 180 225 180 225 3600 6975 3600 -4 1 0 100 0 0 20 0.0000 4 195 150 2700 2115 1\001 -4 1 0 100 0 0 20 0.0000 4 210 1065 2700 585 ISW:isw\001 -4 1 4 100 0 0 20 0.0000 4 255 870 765 2115 SS:[in]\001 -4 1 4 100 0 0 20 0.0000 4 255 1020 6255 2115 SS:[out]\001 -4 1 0 100 0 0 20 0.0000 4 195 150 4275 2115 1\001 -4 1 0 100 0 0 20 0.0000 4 195 390 4230 585 R:r\001 -4 1 1 99 0 1 20 0.0000 4 270 2250 3375 2835 Simple weir model\001 DELETED mttroot/mtt/lib/examples/Hybrid/Weirs/Weir_desc.tex Index: mttroot/mtt/lib/examples/Hybrid/Weirs/Weir_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Hybrid/Weirs/Weir_desc.tex +++ /dev/null @@ -1,24 +0,0 @@ -% -*-latex-*- Put EMACS into LaTeX-mode -% Verbal description for system Weir (Weir_desc.tex) -% Generated by MTT on Tue Mar 2 22:05:29 GMT 1999. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{Weir} is - displayed in Figure \Ref{Weir_abg} and its label - file is listed in Section \Ref{sec:Weir_lbl}. - The subsystems are listed in Section \Ref{sec:Weir_sub}. - - -The weir is modelled by an \textbf{ISW} component in series with an -\textbf{R} component. Physicaly, the former represents the inertia of -the fluid together with the switching effect of the weir; the latter -represents the flow resistance. - -The switching logic is on if the level on either side of the weir -reaches the level of the weir. DELETED mttroot/mtt/lib/examples/Hybrid/Weirs/Weir_lbl.txt Index: mttroot/mtt/lib/examples/Hybrid/Weirs/Weir_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Hybrid/Weirs/Weir_lbl.txt +++ /dev/null @@ -1,54 +0,0 @@ -#SUMMARY Weir -#DESCRIPTION Detailed description here - -## System Weir, representation lbl, language txt -## File Weir_lbl.txt -## Generated by MTT on Fri Oct 5 10:50:46 BST 2001 - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - - ############################################################### - ## Version control history - ############################################################### - ## $Id$ - ## $Log$ - ## Revision 1.2 2001/07/03 22:59:10 gawthrop - ## Fixed problems with argument passing for CRs - ## - ############################################################### - -## Port aliases -#ALIAS in in -#ALIAS out out - -## Argument aliases -#ALIAS $1 i_s -#ALIAS $2 r - -## Each line should be of one of the following forms: -## a comment (ie starting with #) -## component-name cr_name arg1,arg2,..argn -## blank - -## ---- Component labels ---- - -## Component type ISW - isw lin flow,i_s - -## Component type R - r lin flow,r - -## Component type R - [in] SS external,external - [out] SS external,external - - - - - - - - - DELETED mttroot/mtt/lib/examples/Hybrid/Weirs/Weirs_abg.fig Index: mttroot/mtt/lib/examples/Hybrid/Weirs/Weirs_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Hybrid/Weirs/Weirs_abg.fig +++ /dev/null @@ -1,73 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2025 6075 2025 4950 2250 5175 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 675 6300 1800 6300 1530 6570 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2025 6525 2025 7650 2250 7425 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 675 6075 675 6525 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 1800 7650 2250 7650 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 6075 6525 6750 7200 6570 7200 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2250 6300 3375 6300 3105 6570 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4500 6300 5625 6300 5355 6570 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6075 6300 7200 6300 6930 6570 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8325 6300 9450 6300 9180 6570 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5851 6076 5851 4951 6076 5176 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5850 6525 5850 7650 6075 7425 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5625 7650 6075 7650 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 9677 6077 9677 4952 9902 5177 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 9675 6525 9675 7650 9900 7425 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 9450 7650 9900 7650 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 4860 3150 4860 1980 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 7110 3150 7110 1395 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 1 0 3 - 1 0 2.00 120.00 240.00 - 2610 450 3285 450 3285 1080 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 3 - 3060 675 3060 3150 5760 3150 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 3 - 5985 3150 8955 3150 8955 675 -2 1 0 2 1 7 99 0 -1 0.000 0 0 -1 1 0 2 - 1 0 1.00 60.00 120.00 - 5850 2925 5850 3600 -4 1 -1 0 0 0 20 0.0000 4 195 150 2025 6390 0\001 -4 1 -1 0 0 0 20 0.0000 4 210 960 2025 4815 C:tank1\001 -4 1 -1 0 0 0 20 0.0000 4 270 720 1980 7965 SS:p1\001 -4 1 -1 0 0 0 20 0.0000 4 210 525 315 6390 SS:f\001 -4 0 -1 0 0 0 20 0.0000 4 210 795 6300 7515 R:leak\001 -4 1 -1 0 0 0 20 0.0000 4 195 1065 3960 6390 Weir:w1\001 -4 1 -1 0 0 0 20 0.0000 4 195 1065 7785 6390 Weir:w2\001 -4 1 -1 0 0 0 20 0.0000 4 210 960 5851 4816 C:tank2\001 -4 1 -1 0 0 0 20 0.0000 4 195 150 5851 6391 0\001 -4 1 -1 0 0 0 20 0.0000 4 270 720 5850 7965 SS:p2\001 -4 1 -1 0 0 0 20 0.0000 4 195 150 9677 6392 0\001 -4 1 -1 0 0 0 20 0.0000 4 210 960 9677 4817 C:tank3\001 -4 1 -1 0 0 0 20 0.0000 4 270 720 9630 7965 SS:p3\001 -4 1 1 1 0 3 20 0.0000 4 270 105 2970 315 f\001 -4 1 1 99 0 1 20 0.0000 4 210 825 3780 2565 Tank 1\001 -4 1 1 99 0 1 20 0.0000 4 210 825 5940 2565 Tank 2\001 -4 1 1 99 0 1 20 0.0000 4 210 825 8055 2565 Tank 3\001 -4 1 1 99 0 1 20 0.0000 4 210 585 5895 3870 Leak\001 DELETED mttroot/mtt/lib/examples/Hybrid/Weirs/Weirs_desc.tex Index: mttroot/mtt/lib/examples/Hybrid/Weirs/Weirs_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Hybrid/Weirs/Weirs_desc.tex +++ /dev/null @@ -1,66 +0,0 @@ -% Verbal description for system Weirs (Weirs_desc.tex) -% Generated by MTT on Thu Jul 3 10:27:26 BST 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% Revision 1.1 1997/09/11 10:31:48 peterg -% Initial revision -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{Weirs} is - displayed in Figure \Ref{Weirs_abg} and its label - file is listed in Section \Ref{sec:Weirs_lbl}. - The subsystems are listed in Section \Ref{sec:Weirs_sub}. - -%Each weir is modeled by two {\bf ISW} components: one for flow -%left-right and one for flow right-left. The switching is such that -%they become non-return valves when the left hand (respectively -%right-hand) level reaches an appropriate value. The parameters appear -%in Section \Ref{sec:Weirs_numpar.txt} and the switching conditions in -%Section \Ref{sec:Weirs_input.txt}. - -Aircraft fuel tanks are often fitted with baffles to reduce fuel -slosh. A simple model relating to such a system is shown in Figure -\Ref{Weirs_abg} which corresponds to a single tank containing two -dividing weirs. Liquid with flow rate $f$ enters the left-hand -compartment; liquid leaks out of the centre compartment at a flow rate -determined by gravity and the properties of the corresponding orifice. - -The Bond Graph appearing in Figure \Ref{Weirs_abg} represents each of -the three compartments by a \textbf{C} component (labelled tank1 to -tank3), the corresponding pressures are measured by the \textbf{SS} -elements p1--p3. The leak is represented by the \textbf{R} component -labelled leak. The flows over the two weirs are represented by the four -\textbf{ISW} components; each weir has a separate \textbf{ISW} -component for each flow direction. Each \textbf{ISW} component is -switched by the appropriate level. - -%It could be argued that, when switched on, each \textbf{ISW} component -%corresponds to flow inertia; but it is admitted that ideal -%\textbf{Sw} components would give a simpler approximation in this -%case. So the modeller has the choice of having a simple simulation -%problem but with four extra states, or a complex simulation with model -%switching but without the four extra states. - -The system was simulated for 20 time units and the resultant level of -each tank partition is plotted in Figure \Ref{fig:Weirs_odeso.ps}. Each -partition has unit cross section, and the two weir heights are $1$ and -$2$ respectively; the inflow $f$ is given by: -\begin{equation} - f = - \begin{cases} - 1 & \text{if $t \le 10$}\\ - 0 & \text{if $t > 10$} - \end{cases} -\end{equation} -and the leak resistance is linear with flow resistance 5. - - -%%% Local Variables: -%%% mode: plain-tex -%%% TeX-master: t -%%% End: DELETED mttroot/mtt/lib/examples/Hybrid/Weirs/Weirs_input.txt Index: mttroot/mtt/lib/examples/Hybrid/Weirs/Weirs_input.txt ================================================================== --- mttroot/mtt/lib/examples/Hybrid/Weirs/Weirs_input.txt +++ /dev/null @@ -1,21 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# Input specification (Weirs_input.txt) -# Generated by MTT at Tue Mar 2 07:48:04 GMT 1999 -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.1 2000/05/19 07:12:04 peterg -## Initial revision -## -############################################################### - -# Set the inputs -## Removed by MTT on Fri Oct 5 10:47:20 BST 2001: mttu(1) = 1.0*(t<10); # f (Weirs) - - - -weirs_f = 1.0*(t<10); # Added by MTT on Fri Oct 05 10:48:01 BST 2001 - - DELETED mttroot/mtt/lib/examples/Hybrid/Weirs/Weirs_lbl.txt Index: mttroot/mtt/lib/examples/Hybrid/Weirs/Weirs_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Hybrid/Weirs/Weirs_lbl.txt +++ /dev/null @@ -1,47 +0,0 @@ -%% Label file for system Weirs (Weirs_lbl.txt) -%SUMMARY Weirs Double-weir tanks system (hybrid) -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1999/03/09 00:12:12 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases - -% Argument aliases -%ALIAS $1 tank1 -%ALIAS $2 tank2 -%ALIAS $3 tank3 -%ALIAS $4 leak - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type C - tank1 lin effort,c_1 - tank2 lin effort,c_2 - tank3 lin effort,c_3 - -% Component type R - leak lin flow,r_l - -% Component type SS - f SS internal,external - p1 SS external,0 - p2 SS external,0 - p3 SS external,0 - -% Component type Weir - w1 none epsilon_i;epsilon_r - w2 none epsilon_i;epsilon_r DELETED mttroot/mtt/lib/examples/Hybrid/Weirs/Weirs_logic.txt Index: mttroot/mtt/lib/examples/Hybrid/Weirs/Weirs_logic.txt ================================================================== --- mttroot/mtt/lib/examples/Hybrid/Weirs/Weirs_logic.txt +++ /dev/null @@ -1,22 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# Simulation parameters for system Weirs (Weirs_logic.txt) -# Generated by MTT on Thu May 18 12:29:15 BST 2000. -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.1 2000/05/19 07:13:29 peterg -## Initial revision -## -## Revision 1.1 2000/05/18 11:29:58 peterg -## Initial revision -## -############################################################### - - -# Set the switches -## Removed by MTT on Fri Oct 5 11:28:40 BST 2001: weirs_w1_isw = (mttx(1)>1)|(mttx(2)>1); # First weir - height 1 -## Removed by MTT on Fri Oct 5 11:28:40 BST 2001: weirs_w2_isw = (mttx(2)>2)|(mttx(3)>2); # Second weir - height 2 -weirs_w1_1_isw_1_mtt_switch_logic = (mttx(1)>1)|(mttx(2)>1); # First weir - height 1 -weirs_w2_1_isw_1_mtt_switch_logic = (mttx(2)>2)|(mttx(3)>2); # Second weir - height 2 DELETED mttroot/mtt/lib/examples/Hybrid/Weirs/Weirs_numpar.txt Index: mttroot/mtt/lib/examples/Hybrid/Weirs/Weirs_numpar.txt ================================================================== --- mttroot/mtt/lib/examples/Hybrid/Weirs/Weirs_numpar.txt +++ /dev/null @@ -1,18 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# Numerical parameter file (Weirs_numpar.txt) -# Generated by MTT at Tue Mar 2 07:55:47 GMT 1999 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Parameters -c_1 = 1.0; # Weirs -c_2 = 1.0; # Weirs -c_3 = 1.0; # Weirs -epsilon_i = 0.01; # weir -epsilon_r = 0.1; # weir -r_l = 5.0; # Weirs DELETED mttroot/mtt/lib/examples/Hybrid/Weirs/Weirs_rep.txt Index: mttroot/mtt/lib/examples/Hybrid/Weirs/Weirs_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Hybrid/Weirs/Weirs_rep.txt +++ /dev/null @@ -1,46 +0,0 @@ -## -*-octave-*- Put Emacs into octave-mode -## Outline report file for system Weirs (Weirs_rep.txt) -## Generated by MTT on" Tue Mar 2 22:02:59 GMT 1999. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.5 2000/05/19 07:15:04 peterg -## Added logic -## -## Revision 1.4 1999/12/21 09:24:26 peterg -## Euler integration - compiled -## -## Revision 1.3 1999/03/02 22:19:22 peterg -## Added switch rep -## -## Revision 1.2 1999/03/02 22:09:49 peterg -## Addded switch rep -## -## Revision 1.1 1999/03/02 22:04:11 peterg -## Initial revision -## -############################################################### - -mtt Weirs abg tex # The system description -## mtt Weirs cbg ps # The causal bond graph -## Uncomment the following lines or add others -mtt Weirs struc tex # The system structure -## mtt Weirs dae tex # The system dae -mtt Weirs ode tex # The system ode -mtt Weirs switch txt # The system switches -## mtt Weirs sspar tex # Steady-state parameters -## mtt Weirs ss tex # Steady state -## mtt Weirs dm tex # Descriptor matrices (of linearised system) -## mtt Weirs sm tex # State matrices (of linearised system) -## mtt Weirs tf tex # Transfer function (of linearised system) -## mtt Weirs lmfr ps # log modulus of frequency response (of linearised system) -mtt Weirs simpar tex # Simulation parameters -mtt Weirs numpar tex # Numerical simulation parameters -mtt Weirs input tex # Simulation input -mtt Weirs logic tex # Switch logic -mtt Weirs odeso ps # Simulation output - -mtt Weirs rep txt DELETED mttroot/mtt/lib/examples/Hybrid/Weirs/Weirs_simpar.txt Index: mttroot/mtt/lib/examples/Hybrid/Weirs/Weirs_simpar.txt ================================================================== --- mttroot/mtt/lib/examples/Hybrid/Weirs/Weirs_simpar.txt +++ /dev/null @@ -1,16 +0,0 @@ -# Simulation parameters for system Weirs (Weirs_simpar.txt) -# Generated by MTT on Sun Jul 26 13:55:27 BST 1998. -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.1 1999/12/21 09:22:43 peterg -## Initial revision -## -############################################################### - - -LAST=19.9; -DT=0.01; -STEPFACTOR=1; DELETED mttroot/mtt/lib/examples/Hybrid/Weirs/weir_abg.fig Index: mttroot/mtt/lib/examples/Hybrid/Weirs/weir_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Hybrid/Weirs/weir_abg.fig +++ /dev/null @@ -1,25 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 1350 2025 2475 2025 2250 2250 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2700 1800 2700 675 2925 900 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2700 2250 2700 3375 2925 3150 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2925 2025 4050 2025 3825 2250 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4500 2025 5625 2025 5400 2250 -4 1 0 100 0 0 20 0.0000 4 195 150 2700 2115 1\001 -4 1 0 100 0 0 20 0.0000 4 210 1065 2700 585 ISW:isw\001 -4 1 0 100 0 0 20 0.0000 4 195 390 2700 3690 R:r\001 -4 1 0 100 0 0 20 0.0000 4 255 870 765 2115 SS:[in]\001 -4 1 0 100 0 0 20 0.0000 4 255 1020 6255 2115 SS:[out]\001 -4 1 0 100 0 0 20 0.0000 4 195 150 4275 2115 1\001 DELETED mttroot/mtt/lib/examples/Hybrid/Weirs/weir_lbl.txt Index: mttroot/mtt/lib/examples/Hybrid/Weirs/weir_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Hybrid/Weirs/weir_lbl.txt +++ /dev/null @@ -1,37 +0,0 @@ -%% Label file for system weir (weir_lbl.txt) -%SUMMARY weir -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS in in -%ALIAS out out - -% Argument aliases -%ALIAS $1 r - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type ISW - isw lin effort,epsilon_i - -% Component type R - r lin flow,epsilon_r - -% Component type SS - [in] SS external,external - [out] SS external,external - - DELETED mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/Cart_abg.fig Index: mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/Cart_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/Cart_abg.fig +++ /dev/null @@ -1,51 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4050 2925 4050 1575 4275 1800 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4275 3150 5625 3150 5400 3375 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4275 4950 5625 4950 5400 5175 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 2475 3825 2475 4275 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2475 3150 3825 3150 3600 3375 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 3825 4950 2475 4950 2700 5175 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 3825 2925 2870 1970 2870 2289 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4288 2957 5243 2002 5243 2320 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 6525 3150 7875 3150 7650 3375 -2 4 0 2 31 7 101 0 -1 0.000 0 0 7 0 0 5 - 9900 5850 225 5850 225 900 9900 900 9900 5850 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2475 4050 3825 4050 3600 4275 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4275 4050 5625 4050 5400 4275 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 5625 4725 5625 5175 -4 1 1 101 0 3 20 0.0000 4 270 1155 4140 3600 x-velocity\001 -4 1 0 100 0 18 20 0.0000 4 195 150 4050 3240 1\001 -4 1 4 100 0 18 20 0.0000 4 270 1320 1710 3240 SS:[drive]\001 -4 1 1 101 0 3 20 0.0000 4 270 1125 4185 4500 y-velocity\001 -4 1 1 101 0 3 20 0.0000 4 270 1905 4050 5490 angular-velocity\001 -4 1 0 100 0 18 20 0.0000 4 195 150 4050 5040 1\001 -4 1 4 100 0 18 20 0.0000 4 270 825 6165 5040 SS:[a]\001 -4 2 0 100 0 18 20 0.0000 4 270 735 2430 5040 R:r_p\001 -4 1 0 100 0 18 20 0.0000 4 270 720 2835 1845 R:r_c\001 -4 1 4 100 0 18 20 0.0000 4 270 825 4050 1440 SS:[x]\001 -4 1 0 100 0 18 20 0.0000 4 270 735 5355 1845 I:m_c\001 -4 1 0 100 0 18 20 0.0000 4 210 630 6075 3240 INTF\001 -4 0 0 100 0 18 20 0.0000 4 210 1590 8010 3240 De:Position\001 -4 1 0 100 0 18 20 0.0000 4 195 150 4050 4140 1\001 -4 1 4 100 0 18 20 0.0000 4 270 825 6165 4140 SS:[y]\001 -4 2 0 100 0 18 20 0.0000 4 270 2190 2430 4140 Sf:zero_velocity\001 DELETED mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/Cart_lbl.txt Index: mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/Cart_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/Cart_lbl.txt +++ /dev/null @@ -1,55 +0,0 @@ -%% Label file for system Cart (Cart_lbl.txt) -%SUMMARY Cart -%DESCRIPTION Simple cart model - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 2000/12/28 18:00:45 peterg -% %% To RCS -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS in drive -%ALIAS pendulum|out x,y,a -%UNITS drive translational N m/s -b%UNITS x translational N m/s -%UNITS y translational N m/s -%UNITS a rotational N*m radian/s - - -% Argument aliases -%ALIAS $1 m_c - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type I - m_c lin flow,m_c - -% Component type R - r_c lin flow,r_c - r_p lin flow,r_p - -% Component type SS - [a] SS external,external - [drive] SS external,external - [x] SS external,external - [y] SS external,external - -% Component type De - Position SS external - -% Component type Sf - zero_velocity SS 0 - - - DELETED mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/InvertedPendulumOnCart_lbl.txt Index: mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/InvertedPendulumOnCart_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/InvertedPendulumOnCart_lbl.txt +++ /dev/null @@ -1,33 +0,0 @@ -%% Label file for system InvertedPendulumOnCart (InvertedPendulumOnCart_lbl.txt) -%SUMMARY InvertedPendulumOnCart -%DESCRIPTION An Inverted Pendulum on a Cart - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 2000/12/28 18:00:45 peterg -% %% To RCS -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS in F -%UNITS F translational N m/s - -% Argument aliases - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type SS - [F] SS external,internal - - - DELETED mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/InvertedPendulum_abg.fig Index: mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/InvertedPendulum_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/InvertedPendulum_abg.fig +++ /dev/null @@ -1,46 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 6840 4950 8190 4950 7965 5175 -2 4 0 2 31 7 101 0 -1 0.000 0 0 7 0 0 5 - 9675 7425 3150 7425 3150 2475 9675 2475 9675 7425 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4950 5400 4950 6750 5175 6525 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 6075 5400 6075 6750 6300 6525 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 3825 5400 3825 6750 4050 6525 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4950 3150 4950 4500 5175 4275 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 6075 3150 6075 4500 6300 4275 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 3825 3150 3825 4500 4050 4275 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 4050 6750 3600 6750 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 5175 6750 4725 6750 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 6300 5400 5850 5400 -4 1 4 100 0 18 20 0.0000 4 270 825 3825 7065 SS:[x]\001 -4 1 4 100 0 18 20 0.0000 4 270 825 4950 7065 SS:[y]\001 -4 1 4 100 0 18 20 0.0000 4 270 825 6075 7065 SS:[a]\001 -4 1 0 100 0 18 20 0.0000 4 270 1545 4964 5040 gRODa:rod\001 -4 1 0 100 0 18 20 0.0000 4 270 915 3825 3015 Se:x_0\001 -4 1 0 100 0 18 20 0.0000 4 270 915 4950 3015 Se:y_0\001 -4 1 0 100 0 18 20 0.0000 4 270 915 6030 3015 Se:a_0\001 -4 1 4 100 0 18 14 0.0000 4 210 270 6660 4995 [a]\001 -4 1 0 100 0 18 20 0.0000 4 210 1140 8865 5040 De:theta\001 -4 1 4 100 0 18 14 0.0000 4 210 495 3825 4725 [x_a]\001 -4 1 4 100 0 18 14 0.0000 4 210 510 4950 4725 [y_a]\001 -4 1 4 100 0 18 14 0.0000 4 210 510 6075 4725 [a_a]\001 -4 1 4 100 0 18 14 0.0000 4 210 510 3825 5265 [x_b]\001 -4 1 4 100 0 18 14 0.0000 4 210 525 4950 5265 [y_b]\001 -4 1 4 100 0 18 14 0.0000 4 210 525 6075 5265 [a_b]\001 DELETED mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/InvertedPendulum_lbl.txt Index: mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/InvertedPendulum_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/InvertedPendulum_lbl.txt +++ /dev/null @@ -1,49 +0,0 @@ -%% Label file for system InvertedPendulum (InvertedPendulum_lbl.txt) -%SUMMARY InvertedPendulum -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 2000/12/28 18:00:45 peterg -% %% To RCS -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%UNITS x translational N m/s -%UNITS y translational N m/s -%UNITS a rotational N*m radian/s - - -%ALIAS in|cart x,y,a - - -% Argument aliases - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type De - theta SS external - -% Component type SS - [a] SS external,external - [x] SS external,external - [y] SS external,external - -% Component type Se - a_0 SS 0 - x_0 SS 0 - y_0 SS 0 - -% Component type gRod - rod none l;l;j_r;m_r;g - DELETED mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_abg.fig Index: mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_abg.fig +++ /dev/null @@ -1,26 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -1 4 0 2 1 7 51 0 -1 0.000 1 0.0000 3700 4909 203 203 3497 4909 3903 4909 -1 4 0 2 1 7 51 0 -1 0.000 1 0.0000 4817 4902 203 203 4614 4902 5020 4902 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2475 4275 3825 4275 3600 4500 -2 4 0 2 1 7 101 0 -1 0.000 0 0 7 0 0 5 - 5175 4725 3375 4725 3375 3825 5175 3825 5175 4725 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4275 4050 5230 3095 5230 3414 -2 1 0 2 1 7 101 0 -1 0.000 0 0 -1 0 0 5 - 4477 3712 5872 2317 6052 2497 4702 3847 4522 3667 -2 4 0 2 31 7 101 0 -1 0.000 0 0 7 0 0 5 - 6750 5400 1125 5400 1125 2025 6750 2025 6750 5400 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 3825 4050 3825 4500 -4 1 0 100 0 18 20 0.0000 4 210 570 4275 4365 Cart\001 -4 1 0 100 0 18 20 0.0000 4 210 630 2070 4365 Se:F\001 -4 1 0 100 0 18 20 0.0000 4 210 2445 5355 3060 InvertedPendulum\001 DELETED mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_desc.tex Index: mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_desc.tex +++ /dev/null @@ -1,30 +0,0 @@ -% -*-latex-*- Put EMACS into LaTeX-mode -% Verbal description for system idInvertedPendulumOnCart (InvertedPendulumOnCart_desc.tex) -% Generated by MTT on Thu Aug 5 10:38:16 BST 1999. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 2001/04/11 15:41:45 gawthrop -% %% New identification example - friction components only -% %% -% %% Revision 1.1 2000/12/28 18:00:45 peterg -% %% To RCS -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{idInvertedPendulumOnCart} is - displayed in Figure \Ref{fig:InvertedPendulumOnCart_abg.ps} and its label - file is listed in Section \Ref{sec:InvertedPendulumOnCart_lbl}. - The subsystems are listed in Section \Ref{sec:InvertedPendulumOnCart_sub}. - -This is a one input, two output nonlinear system comprising an -inverted pendulum attached by a hinge to a cart constrained to move in -the horizontal direction. The input is the horizontal force acting on -the cart, and the two outputs are the horizontal position and the -pendulum angle respectively. - -The identification procedure estimates the two friction parameters -$r_c$ and $r_c$ together with the cart mass $m_c$. DELETED mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_input.txt Index: mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_input.txt ================================================================== --- mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_input.txt +++ /dev/null @@ -1,10 +0,0 @@ -## -*-octave-*- Put Emacs into octave-mode ## - -## -## System idInvertedPendulumOnCart, representation input, language txt; -## File idInvertedPendulumOnCart_input.txt; -## Generated by MTT on Thu Apr 5 15:27:30 BST 2001; - - - -idInvertedPendulumOnCart_f = 1.0*(t<1); # Force for 1 sec DELETED mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_ippp.m Index: mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_ippp.m ================================================================== --- mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_ippp.m +++ /dev/null @@ -1,51 +0,0 @@ - -## Set up parameters -name = "idInvertedPendulumOnCart"; -sim = sidInvertedPendulumOnCart_simpar; # Simulation parameter -sym = sidInvertedPendulumOnCart_sympar; # Parameter names -par = sidInvertedPendulumOnCart_numpar; # Parameter values -x0 = sidInvertedPendulumOnCart_state(par); # Initial state - -## Simulation of "actual" system -t = [0:sim.dt:sim.last]'; -one = ones(size(t)); -u = 1.0*(t - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Component type C - t1 conical rho,g,V_1 - t2 conical rho,g,V_2 - -% Component type R - p1 discharge alpha,beta - p2 discharge alpha,beta - -% Component type Sf - u SS external - -% Component type De - y SS external - DELETED mttroot/mtt/lib/examples/Identification/idNonlinearTanks/idNonlinearTanks_numpar.txt Index: mttroot/mtt/lib/examples/Identification/idNonlinearTanks/idNonlinearTanks_numpar.txt ================================================================== --- mttroot/mtt/lib/examples/Identification/idNonlinearTanks/idNonlinearTanks_numpar.txt +++ /dev/null @@ -1,26 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# Numerical parameter file (sNonlinearTanks_numpar.txt) -# Generated by MTT at Mon Nov 29 17:36:54 EST 1999 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -## Parameters - -## States -v_1 = 0.5; # Tank 1 -v_2 = 0.25; # Tank 2 - -## Tank parameters -g = 1; #Gravity -rho = 1; # sC,sNonlinearTanks -alpha = 1.5; - -## Pipe parameters -beta = 1; - - DELETED mttroot/mtt/lib/examples/Identification/idNonlinearTanks/idNonlinearTanks_rep.tex Index: mttroot/mtt/lib/examples/Identification/idNonlinearTanks/idNonlinearTanks_rep.tex ================================================================== --- mttroot/mtt/lib/examples/Identification/idNonlinearTanks/idNonlinearTanks_rep.tex +++ /dev/null @@ -1,133 +0,0 @@ - - -\section{\textbf{abg.tex}: System idNonlinearTanks, representation \textbf{abg}, language \textbf{tex}} -\label{sec:idNonlinearTanks_abg.tex} -\index{\textbf{idNonlinearTanks} -- abg} - - -MTT command: -\begin{verbatim} -mtt idNonlinearTanks abg tex -\end{verbatim} - \input{/home/peterg/Research/Identification/MTT/idNonlinearTanks/MTT_work/idNonlinearTanks_abg.tex} - - -\section{\textbf{cbg.ps}: System idNonlinearTanks, representation \textbf{cbg}, language \textbf{ps}} -\label{sec:idNonlinearTanks_cbg.ps} -\index{\textbf{idNonlinearTanks} -- cbg} - - -MTT command: -\begin{verbatim} -mtt idNonlinearTanks cbg ps -\end{verbatim} -This representation is given as Figure \Ref{fig:idNonlinearTanks_cbg.ps}. -\fig{/home/peterg/Research/Identification/MTT/idNonlinearTanks/MTT_work/idNonlinearTanks_cbg} - {idNonlinearTanks_cbg.ps} - {0.9} - {System \textbf{idNonlinearTanks}, representation cbg} - - -\section{\textbf{struc.tex}: System idNonlinearTanks, representation \textbf{struc}, language \textbf{tex}} -\label{sec:idNonlinearTanks_struc.tex} -\index{\textbf{idNonlinearTanks} -- struc} - - -MTT command: -\begin{verbatim} -mtt idNonlinearTanks struc tex -\end{verbatim} - \input{/home/peterg/Research/Identification/MTT/idNonlinearTanks/MTT_work/idNonlinearTanks_struc.tex} - - -\section{\textbf{sympar.tex}: System idNonlinearTanks, representation \textbf{sympar}, language \textbf{tex}} -\label{sec:idNonlinearTanks_sympar.tex} -\index{\textbf{idNonlinearTanks} -- sympar} - - -MTT command: -\begin{verbatim} -mtt idNonlinearTanks sympar tex -\end{verbatim} - \input{/home/peterg/Research/Identification/MTT/idNonlinearTanks/MTT_work/idNonlinearTanks_sympar.tex} - - -\section{\textbf{odeso.ps}: System sidNonlinearTanks, representation \textbf{odeso}, language \textbf{ps}} -\label{sec:sidNonlinearTanks_odeso.ps} -\index{\textbf{sidNonlinearTanks} -- odeso} - - -MTT command: -\begin{verbatim} -mtt -oct -s sidNonlinearTanks odeso ps -\end{verbatim} -This representation is given as Figure \Ref{fig:sidNonlinearTanks_odeso.ps}. -\fig{/home/peterg/Research/Identification/MTT/idNonlinearTanks/MTT_work/sidNonlinearTanks_odeso} - {sidNonlinearTanks_odeso.ps} - {0.9} - {System \textbf{sidNonlinearTanks}, representation odeso} - - -\section{\textbf{ippp.ps}: System idNonlinearTanks, representation \textbf{ippp}, language \textbf{ps}} -\label{sec:idNonlinearTanks_ippp.ps} -\index{\textbf{idNonlinearTanks} -- ippp} - - -MTT command: -\begin{verbatim} -mtt -oct -i euler idNonlinearTanks ippp ps -\end{verbatim} -This representation is given as Figure \Ref{fig:idNonlinearTanks_ippp.ps}. -\fig{/home/peterg/Research/Identification/MTT/idNonlinearTanks/MTT_work/idNonlinearTanks_ippp} - {idNonlinearTanks_ippp.ps} - {0.9} - {System \textbf{idNonlinearTanks}, representation ippp} - - -\section{\textbf{rep.txt}: System idNonlinearTanks, representation \textbf{rep}, language \textbf{txt}} -\label{sec:idNonlinearTanks_rep.txt} -\index{\textbf{idNonlinearTanks} -- rep} - - -MTT command: -\begin{verbatim} -mtt idNonlinearTanks rep txt -\end{verbatim} - \begin{verbatim} -## -*-octave-*- Put Emacs into octave-mode -## Outline report file for system idNonlinearTanks (idRC_rep.txt) -## Generated by MTT on" Thu Apr 5 11:17:27 BST 2001. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.1 2000/12/28 11:58:07 peterg -## Put under RCS -## -############################################################### - -mtt idNonlinearTanks abg tex # The system description -mtt idNonlinearTanks cbg ps # The causal bond graph -mtt idNonlinearTanks struc tex # The system structure -mtt idNonlinearTanks sympar tex # The system parameters -## Uncomment the following lines or add others -## mtt idNonlinearTanks dae tex # The system dae -## mtt idNonlinearTanks ode tex # The system ode -## mtt idNonlinearTanks sspar tex # Steady-state parameters -## mtt idNonlinearTanks ss tex # Steady state -## mtt idNonlinearTanks dm tex # Descriptor matrices (of linearised system) -## mtt idNonlinearTanks sm tex # State matrices (of linearised system) -## mtt idNonlinearTanks tf tex # Transfer function (of linearised system) -## mtt idNonlinearTanks lmfr ps # log modulus of frequency response (of linearised system) -## mtt idNonlinearTanks simpar tex # Simulation parameters -## mtt idNonlinearTanks numpar tex # Numerical simulation parameters -## mtt idNonlinearTanks state tex # Simulation initial state -## mtt idNonlinearTanks input tex # Simulation input -## mtt idNonlinearTanks logic tex # Logic control - mtt -oct -s sidNonlinearTanks odeso ps # Simulation output - mtt -oct -i euler idNonlinearTanks ippp ps - -mtt idNonlinearTanks rep txt # This file - \end{verbatim} DELETED mttroot/mtt/lib/examples/Identification/idNonlinearTanks/idNonlinearTanks_rep.txt Index: mttroot/mtt/lib/examples/Identification/idNonlinearTanks/idNonlinearTanks_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Identification/idNonlinearTanks/idNonlinearTanks_rep.txt +++ /dev/null @@ -1,36 +0,0 @@ -## -*-octave-*- Put Emacs into octave-mode -## Outline report file for system idNonlinearTanks (idRC_rep.txt) -## Generated by MTT on" Thu Apr 5 11:17:27 BST 2001. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.1 2000/12/28 11:58:07 peterg -## Put under RCS -## -############################################################### - -mtt idNonlinearTanks abg tex # The system description -mtt idNonlinearTanks cbg ps # The causal bond graph -mtt idNonlinearTanks struc tex # The system structure -mtt idNonlinearTanks sympar tex # The system parameters -## Uncomment the following lines or add others -## mtt idNonlinearTanks dae tex # The system dae -## mtt idNonlinearTanks ode tex # The system ode -## mtt idNonlinearTanks sspar tex # Steady-state parameters -## mtt idNonlinearTanks ss tex # Steady state -## mtt idNonlinearTanks dm tex # Descriptor matrices (of linearised system) -## mtt idNonlinearTanks sm tex # State matrices (of linearised system) -## mtt idNonlinearTanks tf tex # Transfer function (of linearised system) -## mtt idNonlinearTanks lmfr ps # log modulus of frequency response (of linearised system) -## mtt idNonlinearTanks simpar tex # Simulation parameters -## mtt idNonlinearTanks numpar tex # Numerical simulation parameters -## mtt idNonlinearTanks state tex # Simulation initial state -## mtt idNonlinearTanks input tex # Simulation input -## mtt idNonlinearTanks logic tex # Logic control - mtt -oct -s sidNonlinearTanks odeso ps # Simulation output - mtt -oct -i euler idNonlinearTanks ippp ps - -mtt idNonlinearTanks rep txt # This file DELETED mttroot/mtt/lib/examples/Identification/idNonlinearTanks/idNonlinearTanks_simpar.txt Index: mttroot/mtt/lib/examples/Identification/idNonlinearTanks/idNonlinearTanks_simpar.txt ================================================================== --- mttroot/mtt/lib/examples/Identification/idNonlinearTanks/idNonlinearTanks_simpar.txt +++ /dev/null @@ -1,22 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# Simulation parameters for system idNonlinearTanks (sidNonlinearTanks_simpar.txt) -# Generated by MTT on Wed Apr 4 15:25:33 BST 2001. -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.1 2000/12/28 11:58:07 peterg -## Put under RCS -## -############################################################### - - -FIRST = 0.0; # First time in simulation output -DT = 0.1; # Print interval -LAST = 10.0; # Last time in simulation -STEPFACTOR = 10; # Integration steps per print interval -WMIN = -1; # Minimum frequency = 10^WMIN -WMAX = 2; # Maximum frequency = 10^WMAX -WSTEPS = 100; # Number of frequency steps -INPUT = 1; # Index of the input DELETED mttroot/mtt/lib/examples/Identification/idNonlinearTanks/idNonlinearTanks_subs.r Index: mttroot/mtt/lib/examples/Identification/idNonlinearTanks/idNonlinearTanks_subs.r ================================================================== --- mttroot/mtt/lib/examples/Identification/idNonlinearTanks/idNonlinearTanks_subs.r +++ /dev/null @@ -1,23 +0,0 @@ -% Default SUBS file -% File idRC_subs.r -% Generated by MTT on Tue Apr 3 09:43:38 BST 2001. - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 2001/04/05 12:00:18 gawthrop -% %% Identification example -% %% -% %% Revision 1.1 2000/12/28 09:13:38 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -% Put algebraic substitution commands here - -%The following is now done automatically -% FOR ALL x,y LET x^y = pow(x,y); -END; DELETED mttroot/mtt/lib/examples/Identification/idNonlinearTanks/sC_abg.fig Index: mttroot/mtt/lib/examples/Identification/idNonlinearTanks/sC_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Identification/idNonlinearTanks/sC_abg.fig +++ /dev/null @@ -1,26 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -6 3105 3105 3195 3645 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 3150 3150 3150 3600 --6 -6 6705 3105 6795 3645 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 6750 3150 6750 3600 --6 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 6750 3375 5400 3375 5625 3600 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 3150 3375 4500 3375 4275 3600 -4 1 4 100 0 18 14 0.0000 4 210 270 4410 3105 [1]\001 -4 1 4 100 0 18 14 0.0000 4 210 270 5535 3105 [2]\001 -4 0 4 100 0 18 18 0.0000 4 270 1935 6840 3465 SS:[sensitivity]\001 -4 2 4 100 0 18 18 0.0000 4 270 1410 3060 3465 SS:[actual]\001 -4 1 0 100 0 18 18 0.0000 4 210 450 4950 3465 C:c\001 DELETED mttroot/mtt/lib/examples/Identification/idNonlinearTanks/sC_lbl.txt Index: mttroot/mtt/lib/examples/Identification/idNonlinearTanks/sC_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Identification/idNonlinearTanks/sC_lbl.txt +++ /dev/null @@ -1,29 +0,0 @@ -%% Label file for system sC (sC_lbl.txt) -%SUMMARY sC -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS in actual,sensitivity - -% Argument aliases -%ALIAS $1 rho,g,V_0,V_0s - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - c sconical rho,g,V_0,V_0s - -% Component type SS - [actual] SS external,external - [sensitivity] SS external,external DELETED mttroot/mtt/lib/examples/Identification/idNonlinearTanks/sR_abg.fig Index: mttroot/mtt/lib/examples/Identification/idNonlinearTanks/sR_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Identification/idNonlinearTanks/sR_abg.fig +++ /dev/null @@ -1,26 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -6 4455 3105 4545 3645 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 4500 3150 4500 3600 --6 -6 5355 3105 5445 3645 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 5400 3150 5400 3600 --6 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 6750 3375 5400 3375 5625 3600 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 3150 3375 4500 3375 4275 3600 -4 1 4 100 0 18 14 0.0000 4 210 270 4410 3105 [1]\001 -4 1 4 100 0 18 14 0.0000 4 210 270 5535 3105 [2]\001 -4 0 4 100 0 18 18 0.0000 4 270 1935 6840 3465 SS:[sensitivity]\001 -4 2 4 100 0 18 18 0.0000 4 270 1410 3060 3465 SS:[actual]\001 -4 1 0 100 0 18 18 0.0000 4 210 390 4950 3465 R:r\001 DELETED mttroot/mtt/lib/examples/Identification/idNonlinearTanks/sR_lbl.txt Index: mttroot/mtt/lib/examples/Identification/idNonlinearTanks/sR_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Identification/idNonlinearTanks/sR_lbl.txt +++ /dev/null @@ -1,29 +0,0 @@ -%% Label file for system sR (sR_lbl.txt) -%SUMMARY sR -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS in actual,sensitivity - -% Argument aliases -%ALIAS $1 alpha,beta,alpha_s,beta_s - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - r sdischarge alpha,beta,alpha_s,beta_s - -% Component type SS - [actual] SS external,external - [sensitivity] SS external,external DELETED mttroot/mtt/lib/examples/Identification/idNonlinearTanks/sconical.cr Index: mttroot/mtt/lib/examples/Identification/idNonlinearTanks/sconical.cr ================================================================== --- mttroot/mtt/lib/examples/Identification/idNonlinearTanks/sconical.cr +++ /dev/null @@ -1,21 +0,0 @@ -%% CR for conical tank example - sensitivity - -in "conical.cr"; - -OPERATOR sconical; -%% The actual port (1) -FOR ALL rho,g,V_0,V_0s,V,sV LET - sconical(rho,g,V_0,V_0s,effort,1, - V,state,1, - sV,state,2) - = conical(rho,g,V_0,effort,1,V,state,1); - -%% The sensitivity port (2) -FOR ALL rho,g,V_0,V_0s,V,sV LET - sconical(rho,g,V_0,V_0s,effort,2, - V,state,1, - sV,state,2) - = df(conical(rho,g,V_0,effort,1,V,state,1),V) * sV - + df(conical(rho,g,V_0,effort,1,V,state,1),V_0)* V_0s; - -END;; DELETED mttroot/mtt/lib/examples/Identification/idNonlinearTanks/sdischarge.cr Index: mttroot/mtt/lib/examples/Identification/idNonlinearTanks/sdischarge.cr ================================================================== --- mttroot/mtt/lib/examples/Identification/idNonlinearTanks/sdischarge.cr +++ /dev/null @@ -1,31 +0,0 @@ -%% CR file for the sR component. - 2 port. -%% Special version just for this example. - -%% CR for non-linear pipe discharge -%% Just do for flow input causality. - -in "discharge.cr"; - -PROCEDURE l_discharge(alpha,beta,P); -BEGIN - result := sub({x=P},df(discharge(alpha,beta,flow,1,x,effort,1), x)); - return result; -END; - -OPERATOR sdischarge; -%% The actual port (1) -- Pressure input -FOR ALL alpha,beta,alpha_s,beta_s,P,sP LET - sdischarge(alpha,beta,alpha_s,beta_s,flow,1, - P,effort,1, - sP,effort,2) - = discharge(alpha,beta,flow,1,P,effort,1); - -%% The sensitivity port (2) -- Pressure input -FOR ALL alpha,beta,alpha_s,beta_s,P,sP LET - sdischarge(alpha,beta,alpha_s,beta_s,flow,2, - P,effort,1, - sP,effort,2) - = l_discharge(alpha,beta,P) * sP - + df(discharge(alpha,beta,flow,1,P,effort,1), alpha)* alpha_s - + df(discharge(alpha,beta,flow,1,P,effort,1), beta) * beta_s; -END;; DELETED mttroot/mtt/lib/examples/Identification/idNonlinearTanks/sidNonlinearTanks_lbl.txt Index: mttroot/mtt/lib/examples/Identification/idNonlinearTanks/sidNonlinearTanks_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Identification/idNonlinearTanks/sidNonlinearTanks_lbl.txt +++ /dev/null @@ -1,32 +0,0 @@ -%% Label file for system NonlinearTanks (NonlinearTanks_lbl.txt) -%SUMMARY NonlinearTanks -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type C - t1 sconical rho,g,V_1,V_1s - t2 sconical rho,g,V_2,V_2s - -% Component type R - p1 sdischarge alpha,beta,alphas,betas - p2 sdischarge alpha,beta,alphas,betas - -% Component type Sf - u SS external;0 - -% Component type De - y SS external;external - DELETED mttroot/mtt/lib/examples/Identification/idNonlinearTanks/sidNonlinearTanks_numpar.txt Index: mttroot/mtt/lib/examples/Identification/idNonlinearTanks/sidNonlinearTanks_numpar.txt ================================================================== --- mttroot/mtt/lib/examples/Identification/idNonlinearTanks/sidNonlinearTanks_numpar.txt +++ /dev/null @@ -1,32 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# Numerical parameter file (sNonlinearTanks_numpar.txt) -# Generated by MTT at Mon Nov 29 17:36:54 EST 1999 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -## Parameters - -## States -v_1 = 0.5; # Tank 1 -v_2 = 0.25; # Tank 2 - -## Tank parameters -g = 1; #Gravity -rho = 1; # sC,sNonlinearTanks -alpha = 1.5; - -## Pipe parameters -beta = 1; - -## Sensitivity. -v_1s = 0; # Tank 1 -v_2s = 0; # Tank 2 - -alphas = 0; -betas = 0; - DELETED mttroot/mtt/lib/examples/Identification/idNonlinearTanks/sidNonlinearTanks_simpar.txt Index: mttroot/mtt/lib/examples/Identification/idNonlinearTanks/sidNonlinearTanks_simpar.txt ================================================================== --- mttroot/mtt/lib/examples/Identification/idNonlinearTanks/sidNonlinearTanks_simpar.txt +++ /dev/null @@ -1,22 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# Simulation parameters for system sidNonlinearTanks (sidNonlinearTanks_simpar.txt) -# Generated by MTT on Wed Apr 4 15:25:33 BST 2001. -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.1 2000/12/28 11:58:07 peterg -## Put under RCS -## -############################################################### - - -FIRST = 0.0; # First time in simulation output -DT = 0.1; # Print interval -LAST = 10.0; # Last time in simulation -STEPFACTOR = 10; # Integration steps per print interval -WMIN = -1; # Minimum frequency = 10^WMIN -WMAX = 2; # Maximum frequency = 10^WMAX -WSTEPS = 100; # Number of frequency steps -INPUT = 1; # Index of the input DELETED mttroot/mtt/lib/examples/Identification/idNonlinearTanks/sidNonlinearTanks_subs.r Index: mttroot/mtt/lib/examples/Identification/idNonlinearTanks/sidNonlinearTanks_subs.r ================================================================== --- mttroot/mtt/lib/examples/Identification/idNonlinearTanks/sidNonlinearTanks_subs.r +++ /dev/null @@ -1,22 +0,0 @@ -% Default SUBS file -% File idRC_subs.r -% Generated by MTT on Tue Apr 3 09:43:38 BST 2001. - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 2000/12/28 09:13:38 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -% Put algebraic substitution commands here - -FOR ALL x,y LET x^y = pow(x,y); % Use the pow function - -ON ROUNDED; % No integer output - -END; DELETED mttroot/mtt/lib/examples/Identification/idRC/RC_abg.fig Index: mttroot/mtt/lib/examples/Identification/idRC/RC_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Identification/idRC/RC_abg.fig +++ /dev/null @@ -1,65 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3152 4277 4052 4277 3827 4502 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4502 4277 5402 4277 5177 4502 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4276 4051 4276 3151 4501 3376 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5626 4051 5626 3151 5851 3376 -2 2 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 5 - 3825 585 4725 585 4725 765 3825 765 3825 585 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 5400 1215 5850 1215 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 3150 675 3825 675 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 4725 675 6750 675 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 5625 675 5625 1080 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 5625 1215 5625 1575 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 3150 1575 6750 1575 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5852 4277 6752 4277 6527 4502 -2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 9225 5625 9225 225 900 225 900 5625 9225 5625 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 5400 1080 5850 1080 -2 1 0 2 0 7 50 0 -1 0.000 0 0 -1 0 0 2 - 4050 4050 4050 4500 -4 2 4 0 0 0 20 0.0000 4 255 2040 3105 4365 SS:[Electrical_in]\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 4277 4367 1\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 5627 4367 0\001 -4 1 -1 0 0 0 20 0.0000 4 195 375 4276 2926 R:r\001 -4 1 -1 0 0 0 20 0.0000 4 195 390 5626 2926 C:c\001 -4 0 1 1 0 0 20 0.0000 4 135 105 4230 450 r\001 -4 0 1 1 0 0 20 0.0000 4 135 120 6030 1215 c\001 -4 1 1 1 0 0 20 0.0000 4 255 1350 4950 4995 Bond graph\001 -4 1 1 1 0 0 20 0.0000 4 195 1200 4950 2025 Schematic\001 -4 0 4 0 0 0 20 0.0000 4 255 2190 6887 4367 SS:[Electrical_out]\001 -4 0 1 1 0 0 20 0.0000 4 135 135 3375 4005 v\001 -4 0 1 1 0 0 20 0.0000 4 195 135 3465 4140 1\001 -4 0 1 1 0 0 20 0.0000 4 195 75 3375 4590 i\001 -4 0 1 1 0 0 20 0.0000 4 195 135 3465 4725 1\001 -4 0 1 1 0 0 20 0.0000 4 195 75 6165 4590 i\001 -4 0 1 1 0 0 20 0.0000 4 195 135 6255 4725 2\001 -4 0 1 1 0 0 20 0.0000 4 135 135 6165 4005 v\001 -4 0 1 1 0 0 20 0.0000 4 195 135 6255 4140 2\001 -4 0 1 1 0 0 20 0.0000 4 135 135 6660 1170 v\001 -4 0 1 1 0 0 20 0.0000 4 195 135 6750 1305 2\001 -4 0 1 1 0 0 20 0.0000 4 195 75 6300 450 i\001 -4 0 1 1 0 0 20 0.0000 4 195 135 6390 585 2\001 -4 0 1 1 0 0 20 0.0000 4 195 75 3375 450 i\001 -4 0 1 1 0 0 20 0.0000 4 195 135 3465 585 1\001 -4 0 1 1 0 0 20 0.0000 4 135 135 3060 1170 v\001 -4 0 1 1 0 0 20 0.0000 4 195 135 3150 1305 1\001 DELETED mttroot/mtt/lib/examples/Identification/idRC/RC_desc.tex Index: mttroot/mtt/lib/examples/Identification/idRC/RC_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Identification/idRC/RC_desc.tex +++ /dev/null @@ -1,20 +0,0 @@ -% Verbal description for system RC (RC_desc.tex) -% Generated by MTT on Tue Aug 26 09:43:25 BST 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1997/08/26 09:28:25 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -\textbf{RC} is a Simple two-port RC circuit. The two ports are [in] -and [out] and the two parameters are c and r respectively - - The acausal bond graph of system \textbf{RC} is - displayed in Figure \Ref{RC_abg} and its label - file is listed in Section \Ref{sec:RC_lbl}. - The subsystems are listed in Section \Ref{sec:RC_sub}. DELETED mttroot/mtt/lib/examples/Identification/idRC/RC_lbl.txt Index: mttroot/mtt/lib/examples/Identification/idRC/RC_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Identification/idRC/RC_lbl.txt +++ /dev/null @@ -1,45 +0,0 @@ -%% Label file for system RC (RC_lbl.txt) -%SUMMARY RC A Simple two-port RC circuit -%DESCRIPTION This simple example is used in the manual. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.3 2000/09/14 15:13:02 peterg -% %% Changed port CRs to give SISO system when used in isolation -% %% -% %% Revision 1.2 1998/07/27 11:09:36 peterg -% %% Commented the aliases. -% %% -% %% Revision 1.1 1998/07/16 20:16:30 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS in Electrical_in # The left-hand port -%ALIAS out Electrical_out # The right-hand port - -% Argument aliases -%ALIAS $1 c # Capacitance -%ALIAS $2 r # Resistance - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type C - c lin effort,c - -% Component type R - r lin flow,r - -% Component type SS - [Electrical_in] SS external,internal - [Electrical_out] SS external,0 DELETED mttroot/mtt/lib/examples/Identification/idRC/idRC_abg.fig Index: mttroot/mtt/lib/examples/Identification/idRC/idRC_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Identification/idRC/idRC_abg.fig +++ /dev/null @@ -1,18 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2250 2475 3600 2475 3375 2700 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4500 2475 5850 2475 5625 2700 -2 4 0 2 31 7 101 0 -1 0.000 0 0 7 0 0 5 - 6975 3600 1125 3600 1125 1800 6975 1800 6975 3600 -4 1 0 100 0 18 18 0.0000 4 210 600 1800 2565 Se:u\001 -4 1 0 100 0 18 18 0.0000 4 210 750 4050 2565 RC:rc\001 -4 1 0 100 0 18 18 0.0000 4 270 600 6345 2565 De:y\001 DELETED mttroot/mtt/lib/examples/Identification/idRC/idRC_desc.tex Index: mttroot/mtt/lib/examples/Identification/idRC/idRC_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Identification/idRC/idRC_desc.tex +++ /dev/null @@ -1,33 +0,0 @@ -% -*-latex-*- Put EMACS into LaTeX-mode -% Verbal description for system idRC (idRC_desc.tex) -% Generated by MTT on Thu Apr 5 11:04:33 BST 2001. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 2000/12/28 09:13:38 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{idRC} is - displayed in Figure \Ref{fig:idRC_abg.ps} and its label - file is listed in Section \Ref{sec:idRC_lbl}. - The subsystems are listed in Section \Ref{sec:idRC_sub}. - - - This example illustrates the sensitivity approach to model-based - system identification\footnote{Peter J Gawthrop, \emph{Sensitivity - Bond Graphs}, Journal Franklin Institute, \textbf{337}, 2000, - pp 907--922}. - - The system is a simple RC circuit with zero initial condition; the - method identifies the resitance $r$. - - To see the results, type: -\begin{verbatim} -mtt -oct -i euler -pdf idRC ippp view -\end{verbatim} - DELETED mttroot/mtt/lib/examples/Identification/idRC/idRC_ippp.m Index: mttroot/mtt/lib/examples/Identification/idRC/idRC_ippp.m ================================================================== --- mttroot/mtt/lib/examples/Identification/idRC/idRC_ippp.m +++ /dev/null @@ -1,47 +0,0 @@ - -## Set up parameters -name = "idRC"; -sim = sidRC_simpar; # Simulation parameter -sym = sidRC_sympar; # Parameter names -par = sidRC_numpar; # Parameter values -par([sym.us,sym.rs,sym.cs])=0; # Reset sensitivity params -x0 = sidRC_state(par); # Initial state - -## Simulation of "actual" system -t = [0:sim.dt:sim.last]'; -T = 5; # Period -## u = sin((2*pi/T)*t); -u = ones(size(t)); -y_0 = sidRC_ssim(x0,par,sim,u); - -## Initial parameter -par_0 = par; -par_0(sym.r) = 1; - -## Identify -extras.criterion = 1e-5; -extras.max_iterations = 10; -extras.v = 1e-5; -extras.verbose = 1; # Show what is going on -[par,Par,Error,Y] = ppp_identify (name,u,y_0,["r"],par_0,extras); - -par = par - -grid; -xlabel("Time") -title("Estimated output"); -plot(t,y_0,t,Y); -figfig("idRC_outputs","pdf"); -figfig("idRC_outputs","ps"); - -xlabel("Iteration") -title("Estimation error"); -plot(Error); -figfig("idRC_error","pdf"); -figfig("idRC_error","ps"); - -xlabel("Iteration") -title("Estimated Parameter"); -plot(Par([sym.r,sym.c],:)'); -figfig("idRC_parameters","pdf"); -figfig("idRC_parameters","ps"); DELETED mttroot/mtt/lib/examples/Identification/idRC/idRC_rep.tex Index: mttroot/mtt/lib/examples/Identification/idRC/idRC_rep.tex ================================================================== --- mttroot/mtt/lib/examples/Identification/idRC/idRC_rep.tex +++ /dev/null @@ -1,133 +0,0 @@ - - -\section{\textbf{abg.tex}: System idRC, representation \textbf{abg}, language \textbf{tex}} -\label{sec:idRC_abg.tex} -\index{\textbf{idRC} -- abg} - - -MTT command: -\begin{verbatim} -mtt idRC abg tex -\end{verbatim} - \input{/home/peterg/Research/Identification/MTT/idRC/MTT_work/idRC_abg.tex} - - -\section{\textbf{cbg.ps}: System idRC, representation \textbf{cbg}, language \textbf{ps}} -\label{sec:idRC_cbg.ps} -\index{\textbf{idRC} -- cbg} - - -MTT command: -\begin{verbatim} -mtt idRC cbg ps -\end{verbatim} -This representation is given as Figure \Ref{fig:idRC_cbg.ps}. -\fig{/home/peterg/Research/Identification/MTT/idRC/MTT_work/idRC_cbg} - {idRC_cbg.ps} - {0.9} - {System \textbf{idRC}, representation cbg} - - -\section{\textbf{struc.tex}: System idRC, representation \textbf{struc}, language \textbf{tex}} -\label{sec:idRC_struc.tex} -\index{\textbf{idRC} -- struc} - - -MTT command: -\begin{verbatim} -mtt idRC struc tex -\end{verbatim} - \input{/home/peterg/Research/Identification/MTT/idRC/MTT_work/idRC_struc.tex} - - -\section{\textbf{sympar.tex}: System idRC, representation \textbf{sympar}, language \textbf{tex}} -\label{sec:idRC_sympar.tex} -\index{\textbf{idRC} -- sympar} - - -MTT command: -\begin{verbatim} -mtt idRC sympar tex -\end{verbatim} - \input{/home/peterg/Research/Identification/MTT/idRC/MTT_work/idRC_sympar.tex} - - -\section{\textbf{odeso.ps}: System idRC, representation \textbf{odeso}, language \textbf{ps}} -\label{sec:idRC_odeso.ps} -\index{\textbf{idRC} -- odeso} - - -MTT command: -\begin{verbatim} -mtt -oct idRC odeso ps -\end{verbatim} -This representation is given as Figure \Ref{fig:idRC_odeso.ps}. -\fig{/home/peterg/Research/Identification/MTT/idRC/MTT_work/idRC_odeso} - {idRC_odeso.ps} - {0.9} - {System \textbf{idRC}, representation odeso} - - -\section{\textbf{ippp.ps}: System idRC, representation \textbf{ippp}, language \textbf{ps}} -\label{sec:idRC_ippp.ps} -\index{\textbf{idRC} -- ippp} - - -MTT command: -\begin{verbatim} -mtt -oct -i euler idRC ippp ps -\end{verbatim} -This representation is given as Figure \Ref{fig:idRC_ippp.ps}. -\fig{/home/peterg/Research/Identification/MTT/idRC/MTT_work/idRC_ippp} - {idRC_ippp.ps} - {0.9} - {System \textbf{idRC}, representation ippp} - - -\section{\textbf{rep.txt}: System idRC, representation \textbf{rep}, language \textbf{txt}} -\label{sec:idRC_rep.txt} -\index{\textbf{idRC} -- rep} - - -MTT command: -\begin{verbatim} -mtt idRC rep txt -\end{verbatim} - \begin{verbatim} -## -*-octave-*- Put Emacs into octave-mode -## Outline report file for system idRC (idRC_rep.txt) -## Generated by MTT on" Thu Apr 5 11:17:27 BST 2001. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.1 2000/12/28 11:58:07 peterg -## Put under RCS -## -############################################################### - -mtt idRC abg tex # The system description -mtt idRC cbg ps # The causal bond graph -mtt idRC struc tex # The system structure -mtt idRC sympar tex # The system parameters -## Uncomment the following lines or add others -## mtt idRC dae tex # The system dae -## mtt idRC ode tex # The system ode -## mtt idRC sspar tex # Steady-state parameters -## mtt idRC ss tex # Steady state -## mtt idRC dm tex # Descriptor matrices (of linearised system) -## mtt idRC sm tex # State matrices (of linearised system) -## mtt idRC tf tex # Transfer function (of linearised system) -## mtt idRC lmfr ps # log modulus of frequency response (of linearised system) -## mtt idRC simpar tex # Simulation parameters -## mtt idRC numpar tex # Numerical simulation parameters -## mtt idRC state tex # Simulation initial state -## mtt idRC input tex # Simulation input -## mtt idRC logic tex # Logic control - mtt -oct idRC odeso ps # Simulation output - mtt -oct -i euler idRC ippp ps - -mtt idRC rep txt # This file - \end{verbatim} DELETED mttroot/mtt/lib/examples/Identification/idRC/idRC_rep.txt Index: mttroot/mtt/lib/examples/Identification/idRC/idRC_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Identification/idRC/idRC_rep.txt +++ /dev/null @@ -1,36 +0,0 @@ -## -*-octave-*- Put Emacs into octave-mode -## Outline report file for system idRC (idRC_rep.txt) -## Generated by MTT on" Thu Apr 5 11:17:27 BST 2001. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.1 2000/12/28 11:58:07 peterg -## Put under RCS -## -############################################################### - -mtt idRC abg tex # The system description -mtt idRC cbg ps # The causal bond graph -mtt idRC struc tex # The system structure -mtt idRC sympar tex # The system parameters -## Uncomment the following lines or add others -## mtt idRC dae tex # The system dae -## mtt idRC ode tex # The system ode -## mtt idRC sspar tex # Steady-state parameters -## mtt idRC ss tex # Steady state -## mtt idRC dm tex # Descriptor matrices (of linearised system) -## mtt idRC sm tex # State matrices (of linearised system) -## mtt idRC tf tex # Transfer function (of linearised system) -## mtt idRC lmfr ps # log modulus of frequency response (of linearised system) -## mtt idRC simpar tex # Simulation parameters -## mtt idRC numpar tex # Numerical simulation parameters -## mtt idRC state tex # Simulation initial state -## mtt idRC input tex # Simulation input -## mtt idRC logic tex # Logic control - mtt -oct idRC odeso ps # Simulation output - mtt -oct -i euler idRC ippp ps - -mtt idRC rep txt # This file DELETED mttroot/mtt/lib/examples/Identification/idRC/sRC_lbl.txt Index: mttroot/mtt/lib/examples/Identification/idRC/sRC_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Identification/idRC/sRC_lbl.txt +++ /dev/null @@ -1,37 +0,0 @@ -%% Label file for system sRC (sRC_lbl.txt) -%SUMMARY sRC Sensitivity version of RC -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 2000/12/28 09:13:38 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS in|Electrical_in Electrical_in_1,Electrical_in_2 -%ALIAS out|Electrical_out Electrical_out_1,Electrical_out_2 - -% Argument aliases - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type SS - [Electrical_in] SS external,external - [Electrical_out] SS external,external - -% Component type C - c slin effort,c;cs - -% Component type R - r slin flow,r;rs DELETED mttroot/mtt/lib/examples/Identification/idRC/sidRC.h Index: mttroot/mtt/lib/examples/Identification/idRC/sidRC.h ================================================================== --- mttroot/mtt/lib/examples/Identification/idRC/sidRC.h +++ /dev/null DELETED mttroot/mtt/lib/examples/Identification/idRC/sidRC_input.txt Index: mttroot/mtt/lib/examples/Identification/idRC/sidRC_input.txt ================================================================== --- mttroot/mtt/lib/examples/Identification/idRC/sidRC_input.txt +++ /dev/null @@ -1,10 +0,0 @@ -## -*-octave-*- Put Emacs into octave-mode ## - -## -## System sidRC, representation input, language txt; -## File sidRC_input.txt; -## Generated by MTT on Tue Apr 3 10:17:44 BST 2001; - - - -sidRC_u_1_se_1_1_u = 1.0; # Default DELETED mttroot/mtt/lib/examples/Identification/idRC/sidRC_numpar.txt Index: mttroot/mtt/lib/examples/Identification/idRC/sidRC_numpar.txt ================================================================== --- mttroot/mtt/lib/examples/Identification/idRC/sidRC_numpar.txt +++ /dev/null @@ -1,14 +0,0 @@ -## -*-octave-*- Put Emacs into octave-mode ## - -## -## System sidRC, representation numpar, language txt; -## File sidRC_numpar.txt; -## Generated by MTT on Wed Apr 4 12:11:21 BST 2001; - - - -c = 0.1; # Capacitance -cs = 0.0; # Sensitivity -r = 10.0; # Resistance -rs = 0.0; # Sensitivity -us = 0.0; # Sensitivity DELETED mttroot/mtt/lib/examples/Identification/idRC/sidRC_subs.r Index: mttroot/mtt/lib/examples/Identification/idRC/sidRC_subs.r ================================================================== --- mttroot/mtt/lib/examples/Identification/idRC/sidRC_subs.r +++ /dev/null @@ -1,27 +0,0 @@ -% Default SUBS file -% File sidRC_subs.r -% Generated by MTT on Tue Apr 3 09:43:38 BST 2001. - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 2001/04/05 11:57:29 gawthrop -% %% Identification example -% %% -% %% Revision 1.1 2000/12/28 09:13:38 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -% Put algebraic substitution commands here - - -%The following is now done automatically -%FOR ALL x,y LET x^y = pow(x,y); % Use the pow function - -%ON ROUNDED; % No integer output - -END; DELETED mttroot/mtt/lib/examples/Inverse/iMacroMicro/Make Index: mttroot/mtt/lib/examples/Inverse/iMacroMicro/Make ================================================================== --- mttroot/mtt/lib/examples/Inverse/iMacroMicro/Make +++ /dev/null @@ -1,7 +0,0 @@ -%Makes the figures for the paper/report. -mtt macmic cbg ps -mtt imacmic cbg ps -mtt imacmic sm m -mtt imacmic numpar m - -octave figures.m DELETED mttroot/mtt/lib/examples/Inverse/iMacroMicro/figures.m Index: mttroot/mtt/lib/examples/Inverse/iMacroMicro/figures.m ================================================================== --- mttroot/mtt/lib/examples/Inverse/iMacroMicro/figures.m +++ /dev/null @@ -1,56 +0,0 @@ -% Set up the parameters -imacmic_numpar; - -% Range of damping for the macro controller -D_1 = [0:0.1:2]; - -% Compute the damping factor d and save in arrray DD -% -- uses zeros of system -% $$$ DD = []; -% $$$ for d_1 = D_1 -% $$$ [A,B,C,D] = macmic_dm(m_1,m_2,b_1,b_2,k_2,k_t,b_t,b_3,m_3,p_1,d_1); -% $$$ zz = ss2zp(A,B,C,D,1); -% $$$ z = (zz(:,2)); -% $$$ re = sort(real(z)); -% $$$ im = sort(imag(z)); -% $$$ d = -re./sqrt(re.^2 + im.^2); -% $$$ d = sort(d); -% $$$ DD = [DD d]; -% $$$ end; -% $$$ -% $$$ plot(D_1,min(DD)); grid -% $$$ xlabel('Derivative gain'); -% $$$ ylabel('Damping factor'); -% $$$ -% $$$ - -% Compute the damping factor d and save in arrray DD -% -- uses poles of inverse system -DD1 = []; -for d_1 = D_1 - [A] = imacmic_sm; - z = eig(A); - - re = (real(z)); - im = (imag(z)); - d = -re./sqrt(re.^2 + im.^2); - d = sort(d); - DD1 = [DD1 d]; -end; -minDD1 = min(DD1); - -plot(D_1,minDD1); grid -xlabel('Derivative gain'); -ylabel('Damping factor'); - -Maximum_Damping = max(minDD1) -index = minDD1 == Maximum_Damping*ones(size(minDD1)); -Opt_gain = index*D_1' - -% Plot on disk -set term postscript -set output "damping.ps" -plot(D_1,minDD1); grid - - - DELETED mttroot/mtt/lib/examples/Inverse/iMacroMicro/iMacroMicro_abg.fig Index: mttroot/mtt/lib/examples/Inverse/iMacroMicro/iMacroMicro_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Inverse/iMacroMicro/iMacroMicro_abg.fig +++ /dev/null @@ -1,151 +0,0 @@ -#FIG 3.2 -Portrait -Center -Inches -A4 -100.00 -Single --2 -1200 2 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2706 4806 3606 4806 3456 4956 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2406 5106 2406 6006 2556 5856 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3906 5106 3906 6006 4056 5856 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7208 4808 8108 4808 7958 4958 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8708 4808 9608 4808 9458 4958 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8408 5108 8408 6008 8558 5858 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7208 4508 8108 3608 8108 3833 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8708 3608 9608 4508 9383 4508 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 9909 5109 9909 6009 10059 5859 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6908 5108 6908 6008 7058 5858 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8405 2405 8405 3305 8555 3155 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 11407 5107 11407 6007 11557 5857 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 11406 3306 11406 2406 11556 2556 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4206 4806 5106 4806 4956 4956 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5406 5106 5406 6006 5556 5856 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4206 4506 5106 3606 5106 3831 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5405 3305 5405 2405 5555 2555 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2405 3305 2405 2405 2555 2555 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 11707 4807 12607 4807 12457 4957 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 11707 3607 12607 4507 12382 4507 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2105 1805 2105 905 2255 1055 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2705 1805 2705 905 2855 1055 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5706 4806 6606 4806 6456 4956 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5706 3606 6606 4506 6381 4506 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2704 3604 3604 4504 3379 4504 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1208 4808 2108 4808 1958 4958 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1208 4508 2108 3608 2108 3833 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 681 3606 1131 3606 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 906 4506 906 3606 1056 3756 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 12905 4505 12905 3605 13055 3755 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 10207 4807 11107 4807 10957 4957 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 10207 4507 11107 3607 11107 3832 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 8400 3300 8625 3300 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 12900 3600 13125 3600 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 12675 4500 12900 4500 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 8175 2400 8400 2400 -2 4 1 2 1 7 1 0 -1 6.000 0 0 7 0 0 5 - 1501 5401 301 5401 301 3001 1501 3001 1501 5401 -2 4 1 2 1 7 1 0 -1 6.000 0 0 7 0 0 5 - 3300 2700 1500 2700 1500 450 3300 450 3300 2700 -2 4 1 2 1 7 1 0 -1 6.000 0 0 7 0 0 5 - 3000 6600 1800 6600 1800 3000 3000 3000 3000 6600 -2 4 1 2 1 7 1 0 -1 6.000 0 0 7 0 0 5 - 4501 6601 3301 6601 3301 3901 4501 3901 4501 6601 -2 4 1 2 1 7 1 0 -1 6.000 0 0 7 0 0 5 - 6000 6600 4800 6600 4800 1800 6000 1800 6000 6600 -2 4 1 2 1 7 1 0 -1 6.000 0 0 7 0 0 5 - 7501 6601 6301 6601 6301 3901 7501 3901 7501 6601 -2 4 1 2 1 7 1 0 -1 6.000 0 0 7 0 0 5 - 9000 6600 7800 6600 7800 1800 9000 1800 9000 6600 -2 4 1 2 1 7 1 0 -1 6.000 0 0 7 0 0 5 - 10501 6601 9301 6601 9301 3901 10501 3901 10501 6601 -2 4 1 2 1 7 1 0 -1 6.000 0 0 7 0 0 5 - 12000 6600 10800 6600 10800 1800 12000 1800 12000 6600 -2 4 1 2 1 7 1 0 -1 6.000 0 0 7 0 0 5 - 13501 5401 12301 5401 12301 3001 13501 3001 13501 5401 -2 1 0 1 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 11700 4575 11700 4800 -2 1 0 1 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 12600 4800 12600 5025 -2 1 0 1 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 10200 4575 10200 4800 -2 1 0 1 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 11100 4800 11100 5025 -2 1 0 1 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 9600 4500 9450 4650 -2 1 0 1 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 8700 3600 8850 3450 -4 1 -1 0 0 0 20 0.0000 4 195 150 2406 4881 0\001 -4 1 -1 0 0 0 20 0.0000 4 195 585 3906 6381 I:m1\001 -4 1 -1 0 0 0 20 0.0000 4 210 585 2405 6380 R:b1\001 -4 1 -1 0 0 0 20 0.0000 4 195 150 2405 3680 0\001 -4 1 -1 0 0 0 20 0.0000 4 195 150 3906 4881 1\001 -4 1 -1 0 0 0 20 0.0000 4 195 150 8408 4883 0\001 -4 1 -1 0 0 0 20 0.0000 4 195 150 8408 3683 0\001 -4 1 -1 0 0 0 20 0.0000 4 210 585 8483 6383 R:b3\001 -4 1 -1 0 0 0 20 0.0000 4 210 675 8407 2182 SS:f2\001 -4 1 -1 0 0 0 20 0.0000 4 195 585 9906 6381 I:m3\001 -4 1 -1 0 0 0 20 0.0000 4 195 585 6905 6380 I:m2\001 -4 1 -1 0 0 0 20 0.0000 4 195 150 11407 4882 0\001 -4 1 -1 0 0 0 20 0.0000 4 195 150 11407 3682 0\001 -4 1 -1 0 0 0 20 0.0000 4 210 525 11406 2181 C:kt\001 -4 1 -1 0 0 0 20 0.0000 4 210 525 11482 6382 R:bt\001 -4 1 -1 0 0 0 20 0.0000 4 195 150 5406 4881 0\001 -4 1 -1 0 0 0 20 0.0000 4 195 150 5406 3681 0\001 -4 1 -1 0 0 0 20 0.0000 4 210 585 5481 6381 R:b2\001 -4 1 -1 0 0 0 20 0.0000 4 195 150 12909 4884 1\001 -4 1 -1 0 0 0 20 0.0000 4 195 150 6908 4883 1\001 -4 1 -1 0 0 0 20 0.0000 4 195 150 2404 2179 1\001 -4 1 -1 0 0 0 20 0.0000 4 255 585 2779 754 C:p1\001 -4 1 -1 0 0 0 20 0.0000 4 210 585 2104 754 R:d1\001 -4 1 -1 0 0 0 20 0.0000 4 195 150 910 4885 1\001 -4 1 -1 0 0 0 20 0.0000 4 210 675 902 3377 SS:fb\001 -4 1 -1 0 0 0 20 0.0000 4 210 615 12905 3380 SS:ft\001 -4 1 -1 0 0 0 20 0.0000 4 195 150 9909 4884 1\001 -4 1 -1 0 0 0 20 0.0000 4 210 585 5405 2180 C:k2\001 -4 1 1 1 0 3 20 0.0000 4 210 1455 900 5700 Macro base\001 -4 1 1 1 0 3 20 0.0000 4 210 1800 2401 376 Macro control\001 -4 1 1 1 0 3 20 0.0000 4 195 1950 2400 6900 Macro actuator\001 -4 1 1 1 0 3 20 0.0000 4 195 1530 3900 3825 Macro mass\001 -4 1 1 1 0 3 20 0.0000 4 195 1470 6900 3825 Micro mass\001 -4 1 1 1 0 3 20 0.0000 4 270 1890 5400 1650 Compliant link\001 -4 1 1 1 0 3 20 0.0000 4 195 1890 8475 1650 Micro actuator\001 -4 1 1 1 0 3 20 0.0000 4 255 1125 9900 3825 Tip mass\001 -4 1 1 0 0 3 20 0.0000 4 270 2985 11400 1650 Compliant environment\001 -4 1 -1 0 0 0 20 0.0000 4 255 1275 12901 5701 Tip sensor\001 DELETED mttroot/mtt/lib/examples/Inverse/iMacroMicro/iMacroMicro_desc.tex Index: mttroot/mtt/lib/examples/Inverse/iMacroMicro/iMacroMicro_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Inverse/iMacroMicro/iMacroMicro_desc.tex +++ /dev/null @@ -1,31 +0,0 @@ -% Verbal description for system iMacroMicro (iMacroMicro_desc.tex) -% Generated by MTT on Tue Dec 9 18:13:04 GMT 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1999/02/22 22:24:27 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{iMacroMicro} is - displayed in Figure \Ref{iMacroMicro_abg} and its label - file is listed in Section \Ref{sec:iMacroMicro_lbl}. - The subsystems are listed in Section \Ref{sec:iMacroMicro_sub}. - -This is a Bond Graph model of the macro-micro manipulation system -discussed by Sharon in his thesis and by Sharon, Hogan and Hardt in -various papers. The micro loop is inverted whilst leaving the macro -control in place. This {\em partial inverse\/} gives information about -the {\em zero dynamics\/} of the micro control system with the -particular macro controller in place and allows desidn of the macro -controller to ease the design of the micro controller. - - -%%% Local Variables: -%%% mode: plain-tex -%%% TeX-master: t -%%% End: DELETED mttroot/mtt/lib/examples/Inverse/iMacroMicro/iMacroMicro_lbl.txt Index: mttroot/mtt/lib/examples/Inverse/iMacroMicro/iMacroMicro_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Inverse/iMacroMicro/iMacroMicro_lbl.txt +++ /dev/null @@ -1,32 +0,0 @@ -%% Label file (macmic_lbl.txt) -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - -%Masses -m1 lin flow,m_1 -m2 lin flow,m_2 -m3 lin flow,m_3 - -%Springs -k2 lin state,k_2 -kt lin state,k_t - -%Dampers -b1 lin flow,b_1 -b2 lin flow,b_2 -b3 lin flow,b_3 -bt lin flow,b_t - -%Source/sensors -f2 SS external,internal -ft SS external,0 -fb SS internal,0 - -%Control -p1 lin flow,p_1 -d1 lin flow,d_1 - - - DELETED mttroot/mtt/lib/examples/Inverse/iMacroMicro/iMacroMicro_numpar.txt Index: mttroot/mtt/lib/examples/Inverse/iMacroMicro/iMacroMicro_numpar.txt ================================================================== --- mttroot/mtt/lib/examples/Inverse/iMacroMicro/iMacroMicro_numpar.txt +++ /dev/null @@ -1,11 +0,0 @@ -m_1 = 0.0169; # m_1; -m_2 = 0.0169; # m_2; -b_1 = 0.13; # b_1; -b_2 = 0.013; # b_2; -k_2 = 24; # k_2; -k_t = 150; # k_t; -b_t = 0.16; # b_t; -b_3 = 0.13; # b_3; -m_3 = 0.005; # m_3; -p_1 = 10; # p_1; -d_1 = 0.9; # d_1; DELETED mttroot/mtt/lib/examples/Inverse/iMacroMicro/iMacroMicro_rep.txt Index: mttroot/mtt/lib/examples/Inverse/iMacroMicro/iMacroMicro_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Inverse/iMacroMicro/iMacroMicro_rep.txt +++ /dev/null @@ -1,21 +0,0 @@ -# Outline report file for system iMacroMicro (iMacroMicro_rep.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -mtt iMacroMicro abg tex -mtt iMacroMicro cbg ps -mtt iMacroMicro struc tex -mtt iMacroMicro dae tex -mtt iMacroMicro dm tex -mtt iMacroMicro tf tex -mtt iMacroMicro numpar txt -mtt iMacroMicro lmfr ps -mtt iMacroMicro lpfr ps -%mtt iMacroMicro sro ps -%mtt -c iMacroMicro odeso ps - DELETED mttroot/mtt/lib/examples/Inverse/iMacroMicro/iMacroMicro_simpar.txt Index: mttroot/mtt/lib/examples/Inverse/iMacroMicro/iMacroMicro_simpar.txt ================================================================== --- mttroot/mtt/lib/examples/Inverse/iMacroMicro/iMacroMicro_simpar.txt +++ /dev/null @@ -1,18 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# Simulation parameters for system iMacroMicro (iMacroMicro_simpar.txt) -# Generated by MTT on Wed Nov 18 10:08:20 GMT 1998. -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - - -LAST = 10.0; # Last time in simulation -DT = 0.1; # Print interval -STEPFACTOR = 1; # Integration steps per print interval -WMIN = -2; # Minimum frequency = 10^WMIN -WMAX = 4; # Maximum frequency = 10^WMAX -WSTEPS = 100; # Number of frequency steps -INPUT = 1; # Index of the input DELETED mttroot/mtt/lib/examples/Inverse/iNMP/NMP/NMP_abg.fig Index: mttroot/mtt/lib/examples/Inverse/iNMP/NMP/NMP_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Inverse/iNMP/NMP/NMP_abg.fig +++ /dev/null @@ -1,64 +0,0 @@ -#FIG 3.1 -Portrait -Center -Inches -1200 2 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3903 2403 4803 2403 4653 2553 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5403 2403 6303 2403 6153 2553 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3603 2103 3603 1203 3753 1353 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2702 3002 3302 2402 3302 2627 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3905 4201 4805 4201 4655 4351 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5405 4201 6305 4201 6155 4351 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3605 4501 3605 5401 3755 5251 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2702 3602 3302 4202 3077 4202 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7803 3302 8703 3302 8553 3452 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1203 3302 2103 3302 1953 3452 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 2101 3076 2101 3301 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 2101 3301 2101 3526 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 8701 3076 8701 3301 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 8701 3301 8701 3526 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5103 2103 5103 1203 5253 1353 -2 4 1 2 -1 7 0 0 -1 6.000 0 0 7 0 0 5 - 5700 3000 5700 600 3000 600 3000 3000 5700 3000 -2 4 1 2 -1 7 0 0 -1 6.000 0 0 7 0 0 5 - 5700 6000 5700 3600 3000 3600 3000 6000 5700 6000 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6975 4200 7650 3600 7650 3825 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7052 2402 7652 3002 7427 3002 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5100 4500 5100 5400 5250 5250 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4800 4501 4164 5137 4376 5137 -4 1 -1 0 0 0 20 0.0000 4 195 135 3603 2478 1\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 5103 2478 0\001 -4 1 -1 0 0 0 20 0.0000 4 255 615 3602 1052 R:r_s\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 2402 3377 0\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 3603 4278 1\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 5103 4278 0\001 -4 1 -1 0 0 0 20 0.0000 4 195 690 6603 4278 AE:m\001 -4 1 -1 0 0 0 20 0.0000 4 255 600 3603 5778 R:r_f\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 7577 3377 1\001 -4 1 -1 0 0 0 20 0.0000 4 195 660 751 3376 SS:e1\001 -4 1 -1 0 0 0 20 0.0000 4 195 660 9151 3376 SS:e2\001 -4 1 -1 0 0 0 20 0.0000 4 255 630 5102 1052 C:c_s\001 -4 1 -1 0 0 0 20 0.0000 4 255 1440 4200 375 Slow system\001 -4 1 -1 0 0 0 20 0.0000 4 255 1350 4200 6450 Fast system\001 -4 1 -1 0 0 0 20 0.0000 4 255 600 6678 2478 AE:p\001 -4 1 -1 0 0 0 20 0.0000 4 255 615 5104 5779 C:c_f\001 -4 1 -1 0 0 0 20 0.0000 4 195 375 4203 5478 R:r\001 DELETED mttroot/mtt/lib/examples/Inverse/iNMP/NMP/NMP_desc.tex Index: mttroot/mtt/lib/examples/Inverse/iNMP/NMP/NMP_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Inverse/iNMP/NMP/NMP_desc.tex +++ /dev/null @@ -1,21 +0,0 @@ -% Verbal description for system NMP (NMP_desc.tex) -% Generated by MTT on Tue Dec 9 17:34:06 GMT 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{NMP} is - displayed in Figure \Ref{NMP_abg} and its label - file is listed in Section \Ref{sec:NMP_lbl}. - The subsystems are listed in Section \Ref{sec:NMP_sub}. - -This is a simple non-minimum phase system with an inverse-type -response. It is the standard fast negative and slow positive systems -in parallel. The corresponding inverse system \textbf{iNMP} is -unstable. - - DELETED mttroot/mtt/lib/examples/Inverse/iNMP/NMP/NMP_lbl.txt Index: mttroot/mtt/lib/examples/Inverse/iNMP/NMP/NMP_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Inverse/iNMP/NMP/NMP_lbl.txt +++ /dev/null @@ -1,46 +0,0 @@ -%% Label file for system NMP (NMP_lbl.txt) -%SUMMARY NMP A simple non-minimum phase system -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1999/03/09 00:08:21 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases - -% Argument aliases -%ALIAS $1 c_f -%ALIAS $2 c_s -%ALIAS $3 r_f -%ALIAS $4 r_s - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type AE - m lin -1 - p lin 1 - -% Component type C - c_f lin effort,c_f - c_s lin effort,c_s - -% Component type R - r lin flow,r - r_f lin flow,r_f - r_s lin flow,r_s - -% Component type SS - e1 SS SS external,internal - e2 SS SS external,0 DELETED mttroot/mtt/lib/examples/Inverse/iNMP/NMP/NMP_numpar.txt Index: mttroot/mtt/lib/examples/Inverse/iNMP/NMP/NMP_numpar.txt ================================================================== --- mttroot/mtt/lib/examples/Inverse/iNMP/NMP/NMP_numpar.txt +++ /dev/null @@ -1,17 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# Numerical parameter file (NMP_numpar.txt) -# Generated by MTT at Thu Oct 8 09:25:16 BST 1998 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Parameters -c_f = 0.5; # NMP -c_s = 1.0; # NMP -r = 1.0; # NMP -r_f = 1.0; # NMP -r_s = 1.0; # NMP DELETED mttroot/mtt/lib/examples/Inverse/iNMP/NMP/NMP_rep.txt Index: mttroot/mtt/lib/examples/Inverse/iNMP/NMP/NMP_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Inverse/iNMP/NMP/NMP_rep.txt +++ /dev/null @@ -1,18 +0,0 @@ -# Outline report file for system NMP (NMP_rep.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -mtt NMP abg tex -mtt NMP struc tex -mtt NMP ode tex -mtt NMP sm tex -mtt NMP tf tex - -mtt NMP sro ps -mtt NMP lmfr ps -mtt NMP lpfr ps DELETED mttroot/mtt/lib/examples/Inverse/iNMP/iNMP/iNMP_abg.fig Index: mttroot/mtt/lib/examples/Inverse/iNMP/iNMP/iNMP_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Inverse/iNMP/iNMP/iNMP_abg.fig +++ /dev/null @@ -1,68 +0,0 @@ -#FIG 3.1 -Portrait -Center -Inches -1200 2 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3903 2403 4803 2403 4653 2553 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5403 2403 6303 2403 6153 2553 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3603 2103 3603 1203 3753 1353 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2702 3002 3302 2402 3302 2627 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3905 4201 4805 4201 4655 4351 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5405 4201 6305 4201 6155 4351 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3605 4501 3605 5401 3755 5251 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2702 3602 3302 4202 3077 4202 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7803 3302 8703 3302 8553 3452 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1203 3302 2103 3302 1953 3452 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 2101 3301 2101 3526 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 8701 3301 8701 3526 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5103 2103 5103 1203 5253 1353 -2 4 1 2 -1 7 0 0 -1 6.000 0 0 7 0 0 5 - 5700 3000 5700 600 3000 600 3000 3000 5700 3000 -2 4 1 2 -1 7 0 0 -1 6.000 0 0 7 0 0 5 - 5700 6000 5700 3600 3000 3600 3000 6000 5700 6000 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6975 4200 7650 3600 7650 3825 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7052 2402 7652 3002 7427 3002 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5100 4500 5100 5400 5250 5250 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4800 4501 4164 5137 4376 5137 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 1200 3075 1200 3300 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 7800 3075 7800 3300 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 6300 2400 6300 2625 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5400 2175 5400 2400 -4 1 -1 0 0 0 20 0.0000 4 195 135 3603 2478 1\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 5103 2478 0\001 -4 1 -1 0 0 0 20 0.0000 4 255 615 3602 1052 R:r_s\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 2402 3377 0\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 3603 4278 1\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 5103 4278 0\001 -4 1 -1 0 0 0 20 0.0000 4 195 690 6603 4278 AE:m\001 -4 1 -1 0 0 0 20 0.0000 4 255 600 3603 5778 R:r_f\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 7577 3377 1\001 -4 1 -1 0 0 0 20 0.0000 4 195 660 751 3376 SS:e1\001 -4 1 -1 0 0 0 20 0.0000 4 195 660 9151 3376 SS:e2\001 -4 1 -1 0 0 0 20 0.0000 4 255 630 5102 1052 C:c_s\001 -4 1 -1 0 0 0 20 0.0000 4 255 1440 4200 375 Slow system\001 -4 1 -1 0 0 0 20 0.0000 4 255 1350 4200 6450 Fast system\001 -4 1 -1 0 0 0 20 0.0000 4 255 600 6678 2478 AE:p\001 -4 1 -1 0 0 0 20 0.0000 4 255 615 5104 5779 C:c_f\001 -4 1 -1 0 0 0 20 0.0000 4 195 375 4203 5478 R:r\001 DELETED mttroot/mtt/lib/examples/Inverse/iNMP/iNMP/iNMP_desc.tex Index: mttroot/mtt/lib/examples/Inverse/iNMP/iNMP/iNMP_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Inverse/iNMP/iNMP/iNMP_desc.tex +++ /dev/null @@ -1,21 +0,0 @@ -% Verbal description for system iNMP (iNMP_desc.tex) -% Generated by MTT on Tue Dec 9 17:34:06 GMT 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{iNMP} is - displayed in Figure \Ref{iNMP_abg} and its label - file is listed in Section \Ref{sec:iNMP_lbl}. - The subsystems are listed in Section \Ref{sec:iNMP_sub}. - -This is a simple non-minimum phase system with an inverse-type -response. It is the standard fast negative and slow positive systems -in parallel. The corresponding inverse system \textbf{iiNMP} is -unstable. - - DELETED mttroot/mtt/lib/examples/Inverse/iNMP/iNMP/iNMP_lbl.txt Index: mttroot/mtt/lib/examples/Inverse/iNMP/iNMP/iNMP_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Inverse/iNMP/iNMP/iNMP_lbl.txt +++ /dev/null @@ -1,46 +0,0 @@ -%% Label file for system iNMP (iNMP_lbl.txt) -%SUMMARY iNMP Inverse simple non-minimum phase system -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1999/03/09 00:10:07 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases - -% Argument aliases -%ALIAS $1 c_f -%ALIAS $2 c_s -%ALIAS $3 r_f -%ALIAS $4 r_s - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type AE - m lin -1 - p lin 1 - -% Component type C - c_f lin effort,c_f - c_s lin effort,c_s - -% Component type R - r lin flow,r - r_f lin flow,r_f - r_s lin flow,r_s - -% Component type SS - e1 SS SS external,internal - e2 SS SS external,0 DELETED mttroot/mtt/lib/examples/Inverse/iNMP/iNMP/iNMP_numpar.txt Index: mttroot/mtt/lib/examples/Inverse/iNMP/iNMP/iNMP_numpar.txt ================================================================== --- mttroot/mtt/lib/examples/Inverse/iNMP/iNMP/iNMP_numpar.txt +++ /dev/null @@ -1,17 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# Numerical parameter file (NMP_numpar.txt) -# Generated by MTT at Thu Oct 8 09:25:16 BST 1998 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Parameters -c_f = 0.5; # NMP -c_s = 1.0; # NMP -r = 1.0; # NMP -r_f = 1.0; # NMP -r_s = 1.0; # NMP DELETED mttroot/mtt/lib/examples/Inverse/iNMP/iNMP/iNMP_rep.txt Index: mttroot/mtt/lib/examples/Inverse/iNMP/iNMP/iNMP_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Inverse/iNMP/iNMP/iNMP_rep.txt +++ /dev/null @@ -1,17 +0,0 @@ -# Outline report file for system iNMP (iNMP_rep.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -mtt iNMP abg tex -mtt iNMP struc tex -mtt iNMP ode tex -mtt iNMP dm tex -mtt iNMP tf tex - -mtt iNMP lmfr ps -mtt iNMP lpfr ps DELETED mttroot/mtt/lib/examples/Inverse/iRC2/iRC2c/iRC2c_abg.fig Index: mttroot/mtt/lib/examples/Inverse/iRC2/iRC2c/iRC2c_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Inverse/iRC2/iRC2c/iRC2c_abg.fig +++ /dev/null @@ -1,54 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2475 3600 3375 3600 3150 3825 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5175 3375 5175 2475 5400 2700 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8325 3376 8325 2476 8550 2701 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4050 3600 4950 3600 4725 3825 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7200 3601 8100 3601 7875 3826 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4050 3600 4050 3420 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 6525 3780 6525 3600 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5625 3600 6525 3600 6300 3825 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3600 3345 3600 2445 3825 2670 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6750 3346 6750 2446 6975 2671 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 2475 3780 2475 3600 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 2475 3600 2475 3420 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3465 3375 3780 3375 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4050 3780 4050 3600 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4995 3375 5310 3375 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 8145 3375 8460 3375 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 6615 2475 6930 2475 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 6525 3600 6525 3420 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 7200 3780 7200 3600 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 7200 3555 7200 3375 -4 0 -1 0 0 2 20 0.0000000 4 210 150 5085 3735 0\001 -4 0 -1 0 0 2 20 0.0000000 4 210 150 3510 3690 1\001 -4 0 -1 0 0 2 20 0.0000000 4 210 150 6660 3691 1\001 -4 0 -1 0 0 2 20 0.0000000 4 210 150 8235 3736 0\001 -4 0 -1 0 0 2 20 0.0000000 4 240 750 3465 2250 R:r_1\001 -4 0 -1 0 0 2 20 0.0000000 4 240 750 4995 2250 C:c_1\001 -4 0 -1 0 0 2 20 0.0000000 4 240 750 6525 2250 R:r_2\001 -4 0 -1 0 0 2 20 0.0000000 4 240 750 8100 2295 C:c_2\001 -4 2 -1 0 0 2 20 0.0000000 4 270 750 2385 3690 SS:uy\001 DELETED mttroot/mtt/lib/examples/Inverse/iRC2/iRC2c/iRC2c_desc.tex Index: mttroot/mtt/lib/examples/Inverse/iRC2/iRC2c/iRC2c_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Inverse/iRC2/iRC2c/iRC2c_desc.tex +++ /dev/null @@ -1,20 +0,0 @@ -% -*-latex-*- Put EMACS into LaTeX-mode -% Verbal description for system iRC2c (iRC2c_desc.tex) -% Generated by MTT on Mon Apr 6 10:46:00 BST 1998. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{iRC2c} is - displayed in Figure \Ref{iRC2c_abg} and its label - file is listed in Section \Ref{sec:iRC2c_lbl}. - The subsystems are listed in Section \Ref{sec:iRC2c_sub}. - -This example gives the inverse of a double RC circuit with -\emph{collocated} sensor/actuator pairing. - - DELETED mttroot/mtt/lib/examples/Inverse/iRC2/iRC2c/iRC2c_input.txt Index: mttroot/mtt/lib/examples/Inverse/iRC2/iRC2c/iRC2c_input.txt ================================================================== --- mttroot/mtt/lib/examples/Inverse/iRC2/iRC2c/iRC2c_input.txt +++ /dev/null @@ -1,12 +0,0 @@ -# Numerical parameter file (iRC2c_input.txt) -# Generated by MTT at Mon Mar 2 15:42:48 GMT 1998 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Set the inputs -u(1) = 1 ; # iRC2c (u_s) DELETED mttroot/mtt/lib/examples/Inverse/iRC2/iRC2c/iRC2c_lbl.txt Index: mttroot/mtt/lib/examples/Inverse/iRC2/iRC2c/iRC2c_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Inverse/iRC2/iRC2c/iRC2c_lbl.txt +++ /dev/null @@ -1,30 +0,0 @@ -%SUMMARY iRC2c Inverse of double RC circuit with collocated io -%DESCRIPTION -%% Label file for system iRC2c (iRC2c_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type C - c_1 lin effort,c_1 - c_2 lin effort,c_2 - -% Component type R - r_1 lin flow,r_1 - r_2 lin flow,r_2 - -% Component type SS - uy SS external,external - - DELETED mttroot/mtt/lib/examples/Inverse/iRC2/iRC2c/iRC2c_numpar.txt Index: mttroot/mtt/lib/examples/Inverse/iRC2/iRC2c/iRC2c_numpar.txt ================================================================== --- mttroot/mtt/lib/examples/Inverse/iRC2/iRC2c/iRC2c_numpar.txt +++ /dev/null @@ -1,25 +0,0 @@ -# Numerical parameter file (iRC2c_numpar.txt) -# Generated by MTT at Mon Mar 2 15:41:26 GMT 1998 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Parameters -c_1 = 1.0; # iRC2c -c_1s = 0.1; # iRC2c -c_2 = 1.0; # iRC2c -c_2s = 0.1; # iRC2c -r_1 = 1.0; # iRC2c -r_1s = 1.0; # iRC2c -r_2 = 1.0; # iRC2c -r_2s = 1.0; # iRC2c - -# Initial states -x(1) = 0.0; # iRC2c (c_1) -x(2) = 0.0; # iRC2c (c_1s) -x(3) = 0.0; # iRC2c (c_2) -x(4) = 0.0; # iRC2c (c_2s) DELETED mttroot/mtt/lib/examples/Inverse/iRC2/iRC2c/iRC2c_rep.txt Index: mttroot/mtt/lib/examples/Inverse/iRC2/iRC2c/iRC2c_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Inverse/iRC2/iRC2c/iRC2c_rep.txt +++ /dev/null @@ -1,16 +0,0 @@ -# Outline report file for system iRC2c (iRC2c_rep.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -mtt iRC2c abg tex -mtt iRC2c struc tex -mtt iRC2c dae tex -mtt iRC2c dm tex -mtt iRC2c tf tex - - DELETED mttroot/mtt/lib/examples/Inverse/iRC2/iRC2n/iRC2n_abg.fig Index: mttroot/mtt/lib/examples/Inverse/iRC2/iRC2n/iRC2n_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Inverse/iRC2/iRC2n/iRC2n_abg.fig +++ /dev/null @@ -1,68 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5625 3600 5625 3420 -2 1 2 2 1 7 1 0 -1 4.500 0 0 7 0 0 4 - 9585 3465 8325 3465 8190 3375 8190 2565 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2475 3600 3375 3600 3150 3825 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5175 3375 5175 2475 5400 2700 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8325 3376 8325 2476 8550 2701 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4050 3600 4950 3600 4725 3825 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7200 3601 8100 3601 7875 3826 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8775 3601 9675 3601 9450 3826 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3465 3375 3780 3375 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5040 2475 5355 2475 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 6615 3375 6930 3375 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 8190 2475 8505 2475 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 2475 3600 2475 3420 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3375 3780 3375 3600 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4050 3600 4050 3420 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4950 3780 4950 3600 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 6525 3780 6525 3600 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5625 3600 6525 3600 6300 3825 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 7200 3600 7200 3420 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 8100 3780 8100 3600 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 8775 3600 8775 3420 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 9675 3600 9675 3780 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3600 3345 3600 2445 3825 2670 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6750 3346 6750 2446 6975 2671 -2 1 1 1 1 7 1 0 -1 4.000 0 0 7 0 0 4 - 9585 3510 5400 3510 5310 3420 5310 2790 -2 1 2 2 1 -1 1 0 -1 3.000 0 0 7 0 0 9 - 8392 2632 8392 3712 6862 3712 6862 2497 6727 2362 6592 2497 - 6592 3442 5242 3442 5242 2632 -4 0 -1 0 0 2 20 0.0000000 4 210 150 5085 3735 0\001 -4 0 -1 0 0 2 20 0.0000000 4 210 150 3510 3690 1\001 -4 0 -1 0 0 2 20 0.0000000 4 210 150 6660 3691 1\001 -4 0 -1 0 0 2 20 0.0000000 4 210 150 8235 3736 0\001 -4 2 -1 0 0 2 20 0.0000000 4 210 600 2295 3645 SS:u\001 -4 0 -1 0 0 2 20 0.0000000 4 270 585 9810 3690 SS:y\001 -4 0 -1 0 0 2 20 0.0000000 4 240 750 3465 2250 R:r_1\001 -4 0 -1 0 0 2 20 0.0000000 4 240 750 4995 2250 C:c_1\001 -4 0 -1 0 0 2 20 0.0000000 4 240 750 6525 2250 R:r_2\001 -4 0 -1 0 0 2 20 0.0000000 4 240 750 8100 2295 C:c_2\001 DELETED mttroot/mtt/lib/examples/Inverse/iRC2/iRC2n/iRC2n_desc.tex Index: mttroot/mtt/lib/examples/Inverse/iRC2/iRC2n/iRC2n_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Inverse/iRC2/iRC2n/iRC2n_desc.tex +++ /dev/null @@ -1,19 +0,0 @@ -% -*-latex-*- Put EMACS into LaTeX-mode -% Verbal description for system iRC2n (iRC2n_desc.tex) -% Generated by MTT on Mon Apr 6 10:46:52 BST 1998. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{iRC2n} is - displayed in Figure \Ref{iRC2n_abg} and its label - file is listed in Section \Ref{sec:iRC2n_lbl}. - The subsystems are listed in Section \Ref{sec:iRC2n_sub}. - -This example gives the inverse of a double RC circuit with -\emph{non-collocated} sensor/actuator pairing. - DELETED mttroot/mtt/lib/examples/Inverse/iRC2/iRC2n/iRC2n_input.txt Index: mttroot/mtt/lib/examples/Inverse/iRC2/iRC2n/iRC2n_input.txt ================================================================== --- mttroot/mtt/lib/examples/Inverse/iRC2/iRC2n/iRC2n_input.txt +++ /dev/null @@ -1,12 +0,0 @@ -# Numerical parameter file (iRC2n_input.txt) -# Generated by MTT at Mon Mar 2 15:42:48 GMT 1998 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Set the inputs -u(1) = 1 ; # iRC2n (u_s) DELETED mttroot/mtt/lib/examples/Inverse/iRC2/iRC2n/iRC2n_lbl.txt Index: mttroot/mtt/lib/examples/Inverse/iRC2/iRC2n/iRC2n_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Inverse/iRC2/iRC2n/iRC2n_lbl.txt +++ /dev/null @@ -1,32 +0,0 @@ -%SUMMARY iRC2n Inverse of double RC circuit with non-collocated io -%DESCRIPTION -%% Label file for system iRC2n (iRC2n_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 2000/05/20 16:43:52 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type C - c_1 lin effort,c_1 - c_2 lin effort,c_2 - -% Component type R - r_1 lin flow,r_1 - r_2 lin flow,r_2 - -% Component type SS - u SS external,internal - y SS external,0 DELETED mttroot/mtt/lib/examples/Inverse/iRC2/iRC2n/iRC2n_numpar.txt Index: mttroot/mtt/lib/examples/Inverse/iRC2/iRC2n/iRC2n_numpar.txt ================================================================== --- mttroot/mtt/lib/examples/Inverse/iRC2/iRC2n/iRC2n_numpar.txt +++ /dev/null @@ -1,25 +0,0 @@ -# Numerical parameter file (iRC2n_numpar.txt) -# Generated by MTT at Mon Mar 2 15:41:26 GMT 1998 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Parameters -c_1 = 1.0; # iRC2n -c_1s = 0.1; # iRC2n -c_2 = 1.0; # iRC2n -c_2s = 0.1; # iRC2n -r_1 = 1.0; # iRC2n -r_1s = 1.0; # iRC2n -r_2 = 1.0; # iRC2n -r_2s = 1.0; # iRC2n - -# Initial states -x(1) = 0.0; # iRC2n (c_1) -x(2) = 0.0; # iRC2n (c_1s) -x(3) = 0.0; # iRC2n (c_2) -x(4) = 0.0; # iRC2n (c_2s) DELETED mttroot/mtt/lib/examples/Inverse/iRC2/iRC2n/iRC2n_rep.txt Index: mttroot/mtt/lib/examples/Inverse/iRC2/iRC2n/iRC2n_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Inverse/iRC2/iRC2n/iRC2n_rep.txt +++ /dev/null @@ -1,17 +0,0 @@ -# Outline report file for system iRC2n (iRC2n_rep.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -mtt iRC2n abg tex -mtt iRC2n struc tex -mtt iRC2n dae tex -mtt iRC2n dm tex -mtt iRC2n tf tex - - - DELETED mttroot/mtt/lib/examples/Inverse/iRC2/iRC2n/iRC2n_simp.r Index: mttroot/mtt/lib/examples/Inverse/iRC2/iRC2n/iRC2n_simp.r ================================================================== --- mttroot/mtt/lib/examples/Inverse/iRC2/iRC2n/iRC2n_simp.r +++ /dev/null @@ -1,12 +0,0 @@ -%% Reduce commands to simplify output for system iRC2n (iRC2n_simp.r) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -MTTu1 := y; - -END; DELETED mttroot/mtt/lib/examples/Inverse/iRC2/saRC2c/saRC2c_abg.fig Index: mttroot/mtt/lib/examples/Inverse/iRC2/saRC2c/saRC2c_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Inverse/iRC2/saRC2c/saRC2c_abg.fig +++ /dev/null @@ -1,134 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3151 3601 4051 3601 3826 3826 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5851 3376 5851 2476 6076 2701 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 9001 3377 9001 2477 9226 2702 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4726 3601 5626 3601 5401 3826 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7876 3602 8776 3602 8551 3827 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4726 3601 4726 3421 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 7201 3781 7201 3601 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6301 3601 7201 3601 6976 3826 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4276 3346 4276 2446 4501 2671 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7426 3347 7426 2447 7651 2672 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5671 3376 5986 3376 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 8821 3376 9136 3376 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 7291 2476 7606 2476 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 7201 3601 7201 3421 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 7876 3781 7876 3601 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2925 3825 2925 4725 3150 4500 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2925 5175 2925 6075 3150 5850 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3151 6301 4051 6301 3826 6526 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5851 6076 5851 5176 6076 5401 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 9001 6077 9001 5177 9226 5402 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4726 6301 5626 6301 5401 6526 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7876 6302 8776 6302 8551 6527 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4726 6301 4726 6121 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 7201 6481 7201 6301 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6301 6301 7201 6301 6976 6526 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4276 6046 4276 5146 4501 5371 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7426 6047 7426 5147 7651 5372 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3151 6481 3151 6301 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3151 6301 3151 6121 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4141 6076 4456 6076 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4726 6481 4726 6301 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5671 6076 5986 6076 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 8821 6076 9136 6076 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 7291 5176 7606 5176 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 7201 6301 7201 6121 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 7876 6481 7876 6301 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1756 6301 2656 6301 2431 6526 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4050 3780 4050 3600 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4050 3600 4050 3420 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4141 2475 4456 2475 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4725 3781 4725 3601 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 7875 3645 7875 3465 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 7875 6300 7875 6120 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 2700 3375 2700 3825 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1801 3600 2701 3600 2476 3825 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 2700 3825 3150 3825 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3105 5175 2925 5175 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 2925 5175 2745 5175 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 1755 6480 1755 6300 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 1755 6300 1755 6120 -2 4 1 2 1 7 1 0 -1 6.000 0 0 7 0 0 5 - 9900 4050 9900 1530 3600 1530 3600 4050 9900 4050 -2 4 1 2 1 7 1 0 -1 6.000 0 0 7 0 0 5 - 9900 7020 9900 4500 3600 4500 3600 7020 9900 7020 -4 2 -1 0 0 2 20 0.0000000 4 240 870 1710 3645 SS:u_s\001 -4 0 -1 0 0 2 20 0.0000000 4 210 150 7336 3692 1\001 -4 0 -1 0 0 2 20 0.0000000 4 210 150 8911 3737 0\001 -4 0 -1 0 0 2 20 0.0000000 4 210 150 4231 3691 1\001 -4 0 -1 0 0 2 20 0.0000000 4 210 150 5806 3736 0\001 -4 0 -1 0 0 2 20 0.0000000 4 210 150 7336 6392 1\001 -4 0 -1 0 0 2 20 0.0000000 4 210 150 8911 6437 0\001 -4 0 -1 0 0 2 20 0.0000000 4 240 750 4141 4951 R:r_1\001 -4 0 -1 0 0 2 20 0.0000000 4 240 750 5671 4951 C:c_1\001 -4 0 -1 0 0 2 20 0.0000000 4 240 750 7201 4951 R:r_2\001 -4 0 -1 0 0 2 20 0.0000000 4 210 150 4231 6391 1\001 -4 0 -1 0 0 2 20 0.0000000 4 210 150 5806 6436 0\001 -4 2 -1 0 0 2 20 0.0000000 4 210 600 1665 6345 SS:u\001 -4 0 -1 0 0 2 20 0.0000000 4 240 750 8775 4950 C:c_2\001 -4 2 -1 0 0 2 20 0.0000000 4 210 150 3016 3691 1\001 -4 0 -1 0 0 2 20 0.0000000 4 240 870 4141 2251 R:r_1s\001 -4 0 -1 0 0 2 20 0.0000000 4 240 870 5671 2251 C:c_1s\001 -4 0 -1 0 0 2 20 0.0000000 4 240 870 7201 2251 R:r_2s\001 -4 0 -1 0 0 2 20 0.0000000 4 240 870 8775 2250 C:c_2s\001 -4 0 -1 0 0 2 20 0.0000000 4 210 390 2835 5040 AF\001 -4 2 -1 0 0 2 20 0.0000000 4 210 150 3016 6391 0\001 -4 1 1 1 0 0 20 0.0000000 4 210 450 2565 4455 e=0\001 -4 1 1 1 0 0 20 0.0000000 4 210 420 2070 6570 f=0\001 -4 1 1 1 0 0 20 0.0000000 4 270 2550 6750 1845 Specification system\001 -4 1 1 1 0 0 20 0.0000000 4 270 1830 6615 6840 Inverse system\001 DELETED mttroot/mtt/lib/examples/Inverse/iRC2/saRC2c/saRC2c_desc.tex Index: mttroot/mtt/lib/examples/Inverse/iRC2/saRC2c/saRC2c_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Inverse/iRC2/saRC2c/saRC2c_desc.tex +++ /dev/null @@ -1,24 +0,0 @@ -% -*-latex-*- Put EMACS into LaTeX-mode -% Verbal description for system saRC2c (saRC2c_desc.tex) -% Generated by MTT on Mon Apr 6 10:47:43 BST 1998. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{saRC2c} is - displayed in Figure \Ref{saRC2c_abg} and its label - file is listed in Section \Ref{sec:saRC2c_lbl}. - The subsystems are listed in Section \Ref{sec:saRC2c_sub}. - -This example gives the inverse of a double RC circuit with -\begin{itemize} -\item specification system, -\item amplifier connection and -\item collocated sensor/actuator pairing. -\end{itemize} - - DELETED mttroot/mtt/lib/examples/Inverse/iRC2/saRC2c/saRC2c_input.txt Index: mttroot/mtt/lib/examples/Inverse/iRC2/saRC2c/saRC2c_input.txt ================================================================== --- mttroot/mtt/lib/examples/Inverse/iRC2/saRC2c/saRC2c_input.txt +++ /dev/null @@ -1,12 +0,0 @@ -# Numerical parameter file (saRC2c_input.txt) -# Generated by MTT at Mon Mar 2 15:42:48 GMT 1998 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Set the inputs -u(1) = 1 ; # saRC2c (u_s) DELETED mttroot/mtt/lib/examples/Inverse/iRC2/saRC2c/saRC2c_lbl.txt Index: mttroot/mtt/lib/examples/Inverse/iRC2/saRC2c/saRC2c_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Inverse/iRC2/saRC2c/saRC2c_lbl.txt +++ /dev/null @@ -1,33 +0,0 @@ -%SUMMARY saRC2c -%DESCRIPTION -%% Label file for system saRC2c (saRC2c_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type C - c_1 lin effort,c_1 - c_1s lin effort,c_1s - c_2 lin effort,c_2 - c_2s lin effort,c_2s - -% Component type R - r_1 lin flow,r_1 - r_1s lin flow,r_1s - r_2 lin flow,r_2 - r_2s lin flow,r_2s - -% Component type SS - u SS external,0 - u_s SS external,external DELETED mttroot/mtt/lib/examples/Inverse/iRC2/saRC2c/saRC2c_numpar.txt Index: mttroot/mtt/lib/examples/Inverse/iRC2/saRC2c/saRC2c_numpar.txt ================================================================== --- mttroot/mtt/lib/examples/Inverse/iRC2/saRC2c/saRC2c_numpar.txt +++ /dev/null @@ -1,25 +0,0 @@ -# Numerical parameter file (saRC2c_numpar.txt) -# Generated by MTT at Mon Mar 2 15:41:26 GMT 1998 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Parameters -c_1 = 1.0; # saRC2c -c_1s = 0.1; # saRC2c -c_2 = 1.0; # saRC2c -c_2s = 0.1; # saRC2c -r_1 = 1.0; # saRC2c -r_1s = 1.0; # saRC2c -r_2 = 1.0; # saRC2c -r_2s = 1.0; # saRC2c - -# Initial states -x(1) = 0.0; # saRC2c (c_1) -x(2) = 0.0; # saRC2c (c_1s) -x(3) = 0.0; # saRC2c (c_2) -x(4) = 0.0; # saRC2c (c_2s) DELETED mttroot/mtt/lib/examples/Inverse/iRC2/saRC2c/saRC2c_rep.txt Index: mttroot/mtt/lib/examples/Inverse/iRC2/saRC2c/saRC2c_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Inverse/iRC2/saRC2c/saRC2c_rep.txt +++ /dev/null @@ -1,19 +0,0 @@ -# Outline report file for system saRC2c (saRC2c_rep.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -mtt saRC2c abg tex -mtt saRC2c struc tex -mtt saRC2c dae tex -mtt saRC2c dm tex -mtt saRC2c tf tex - -mtt -c saRC2c odeso ps -mtt saRC2c lmfr ps - - DELETED mttroot/mtt/lib/examples/Inverse/iRC2/szRC2c/szRC2c_abg.fig Index: mttroot/mtt/lib/examples/Inverse/iRC2/szRC2c/szRC2c_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Inverse/iRC2/szRC2c/szRC2c_abg.fig +++ /dev/null @@ -1,141 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3151 3601 4051 3601 3826 3826 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5851 3376 5851 2476 6076 2701 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 9001 3377 9001 2477 9226 2702 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4726 3601 5626 3601 5401 3826 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7876 3602 8776 3602 8551 3827 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4726 3601 4726 3421 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 7201 3781 7201 3601 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6301 3601 7201 3601 6976 3826 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4276 3346 4276 2446 4501 2671 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7426 3347 7426 2447 7651 2672 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5671 3376 5986 3376 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 8821 3376 9136 3376 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 7291 2476 7606 2476 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 7201 3601 7201 3421 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 7876 3781 7876 3601 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2925 3825 2925 4725 3150 4500 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2925 5175 2925 6075 3150 5850 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3151 6301 4051 6301 3826 6526 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5851 6076 5851 5176 6076 5401 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 9001 6077 9001 5177 9226 5402 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4726 6301 5626 6301 5401 6526 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7876 6302 8776 6302 8551 6527 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4726 6301 4726 6121 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 7201 6481 7201 6301 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6301 6301 7201 6301 6976 6526 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4276 6046 4276 5146 4501 5371 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7426 6047 7426 5147 7651 5372 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3151 6481 3151 6301 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3151 6301 3151 6121 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4141 6076 4456 6076 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4726 6481 4726 6301 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5671 6076 5986 6076 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 8821 6076 9136 6076 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 7291 5176 7606 5176 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 7201 6301 7201 6121 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 7876 6481 7876 6301 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1756 6301 2656 6301 2431 6526 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1801 4950 2701 4950 2476 5175 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 2700 4950 2700 4770 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 1800 5130 1800 4950 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 2655 6480 2655 6300 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4050 3780 4050 3600 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4050 3600 4050 3420 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4141 2475 4456 2475 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4725 3781 4725 3601 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 7875 3645 7875 3465 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 7875 6300 7875 6120 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 2700 3375 2700 3825 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1801 3600 2701 3600 2476 3825 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 2700 3825 3150 3825 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 2925 6075 2745 6075 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3105 5175 2925 5175 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 1755 6300 1755 6120 -2 4 1 2 1 7 1 0 -1 6.000 0 0 7 0 0 5 - 9900 4275 9900 1125 3600 1125 3600 4275 9900 4275 -2 4 1 2 1 7 1 0 -1 6.000 0 0 7 0 0 5 - 9900 7650 9900 4500 3600 4500 3600 7650 9900 7650 -4 2 -1 0 0 2 20 0.0000000 4 240 870 1710 3645 SS:u_s\001 -4 0 -1 0 0 2 20 0.0000000 4 210 150 7336 3692 1\001 -4 0 -1 0 0 2 20 0.0000000 4 210 150 8911 3737 0\001 -4 0 -1 0 0 2 20 0.0000000 4 210 150 4231 3691 1\001 -4 0 -1 0 0 2 20 0.0000000 4 210 150 5806 3736 0\001 -4 0 -1 0 0 2 20 0.0000000 4 210 150 7336 6392 1\001 -4 0 -1 0 0 2 20 0.0000000 4 210 150 8911 6437 0\001 -4 0 -1 0 0 2 20 0.0000000 4 240 750 4141 4951 R:r_1\001 -4 0 -1 0 0 2 20 0.0000000 4 240 750 5671 4951 C:c_1\001 -4 0 -1 0 0 2 20 0.0000000 4 240 750 7201 4951 R:r_2\001 -4 0 -1 0 0 2 20 0.0000000 4 210 150 4231 6391 1\001 -4 0 -1 0 0 2 20 0.0000000 4 210 150 5806 6436 0\001 -4 2 -1 0 0 2 20 0.0000000 4 210 600 1665 6345 SS:u\001 -4 2 -1 0 0 2 20 0.0000000 4 210 990 1620 5040 SS:zero\001 -4 0 -1 0 0 2 20 0.0000000 4 240 750 8775 4950 C:c_2\001 -4 2 -1 0 0 2 20 0.0000000 4 210 150 3016 3691 1\001 -4 0 -1 0 0 2 20 0.0000000 4 210 150 2835 5040 0\001 -4 2 -1 0 0 2 20 0.0000000 4 210 150 3016 6391 1\001 -4 0 -1 0 0 2 20 0.0000000 4 240 870 4141 2251 R:r_1s\001 -4 0 -1 0 0 2 20 0.0000000 4 240 870 5671 2251 C:c_1s\001 -4 0 -1 0 0 2 20 0.0000000 4 240 870 7201 2251 R:r_2s\001 -4 0 -1 0 0 2 20 0.0000000 4 240 870 8775 2250 C:c_2s\001 -4 1 1 1 0 3 20 0.0000000 4 210 450 2250 4860 e=0\001 -4 1 1 1 0 3 20 0.0000000 4 270 420 2250 5220 f=0\001 -4 1 1 1 0 3 20 0.0000000 4 270 1845 6525 7110 Inverse system\001 -4 1 1 1 0 3 20 0.0000000 4 270 2565 6660 1665 Specification system\001 DELETED mttroot/mtt/lib/examples/Inverse/iRC2/szRC2c/szRC2c_desc.tex Index: mttroot/mtt/lib/examples/Inverse/iRC2/szRC2c/szRC2c_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Inverse/iRC2/szRC2c/szRC2c_desc.tex +++ /dev/null @@ -1,24 +0,0 @@ -% -*-latex-*- Put EMACS into LaTeX-mode -% Verbal description for system szRC2c (szRC2c_desc.tex) -% Generated by MTT on Mon Apr 6 10:50:51 BST 1998. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{szRC2c} is - displayed in Figure \Ref{szRC2c_abg} and its label - file is listed in Section \Ref{sec:szRC2c_lbl}. - The subsystems are listed in Section \Ref{sec:szRC2c_sub}. - - -This example gives the inverse of a double RC circuit with -\begin{itemize} -\item specification system, -\item zero-zero \textbf{SS} connection and -\item collocated sensor/actuator pairing. -\end{itemize} - DELETED mttroot/mtt/lib/examples/Inverse/iRC2/szRC2c/szRC2c_input.txt Index: mttroot/mtt/lib/examples/Inverse/iRC2/szRC2c/szRC2c_input.txt ================================================================== --- mttroot/mtt/lib/examples/Inverse/iRC2/szRC2c/szRC2c_input.txt +++ /dev/null @@ -1,12 +0,0 @@ -# Numerical parameter file (szRC2c_input.txt) -# Generated by MTT at Mon Mar 2 15:42:48 GMT 1998 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Set the inputs -u(1) = 1 ; # szRC2c (u_s) DELETED mttroot/mtt/lib/examples/Inverse/iRC2/szRC2c/szRC2c_lbl.txt Index: mttroot/mtt/lib/examples/Inverse/iRC2/szRC2c/szRC2c_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Inverse/iRC2/szRC2c/szRC2c_lbl.txt +++ /dev/null @@ -1,37 +0,0 @@ -%SUMMARY szRC2c Specification inverse of double RC circuit with collocated io -%DESCRIPTION -%% Label file for system szRC2c (szRC2c_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 2000/05/20 16:44:55 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type C - c_1 lin effort,c_1 - c_1s lin effort,c_1s - c_2 lin effort,c_2 - c_2s lin effort,c_2s - -% Component type R - r_1 lin flow,r_1 - r_1s lin flow,r_1s - r_2 lin flow,r_2 - r_2s lin flow,r_2s - -% Component type SS - u_s SS external,external - zero SS 0,0 - u SS external,external DELETED mttroot/mtt/lib/examples/Inverse/iRC2/szRC2c/szRC2c_numpar.txt Index: mttroot/mtt/lib/examples/Inverse/iRC2/szRC2c/szRC2c_numpar.txt ================================================================== --- mttroot/mtt/lib/examples/Inverse/iRC2/szRC2c/szRC2c_numpar.txt +++ /dev/null @@ -1,25 +0,0 @@ -# Numerical parameter file (szRC2c_numpar.txt) -# Generated by MTT at Mon Mar 2 15:41:26 GMT 1998 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Parameters -c_1 = 1.0; # szRC2c -c_1s = 0.1; # szRC2c -c_2 = 1.0; # szRC2c -c_2s = 0.1; # szRC2c -r_1 = 1.0; # szRC2c -r_1s = 1.0; # szRC2c -r_2 = 1.0; # szRC2c -r_2s = 1.0; # szRC2c - -# Initial states -x(1) = 0.0; # szRC2c (c_1) -x(2) = 0.0; # szRC2c (c_1s) -x(3) = 0.0; # szRC2c (c_2) -x(4) = 0.0; # szRC2c (c_2s) DELETED mttroot/mtt/lib/examples/Inverse/iRC2/szRC2c/szRC2c_rep.txt Index: mttroot/mtt/lib/examples/Inverse/iRC2/szRC2c/szRC2c_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Inverse/iRC2/szRC2c/szRC2c_rep.txt +++ /dev/null @@ -1,19 +0,0 @@ -# Outline report file for system szRC2c (szRC2c_rep.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -mtt szRC2c abg tex -mtt szRC2c struc tex -mtt szRC2c dae tex -mtt szRC2c dm tex -mtt szRC2c tf tex - -mtt -c szRC2c odeso ps -mtt szRC2c lmfr ps - - DELETED mttroot/mtt/lib/examples/Inverse/iRC2/szRC2n/szRC2n_abg.fig Index: mttroot/mtt/lib/examples/Inverse/iRC2/szRC2n/szRC2n_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Inverse/iRC2/szRC2n/szRC2n_abg.fig +++ /dev/null @@ -1,151 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2251 4726 3151 4726 2926 4951 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4951 4501 4951 3601 5176 3826 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8101 4502 8101 3602 8326 3827 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3826 4726 4726 4726 4501 4951 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6976 4727 7876 4727 7651 4952 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8551 4727 9451 4727 9226 4952 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3151 4906 3151 4726 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3826 4726 3826 4546 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 6301 4906 6301 4726 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5401 4726 6301 4726 6076 4951 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 6976 4726 6976 4546 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3825 4905 3825 4725 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4770 4500 5085 4500 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 6345 3600 6660 3600 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 6975 4905 6975 4725 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 7920 4500 8235 4500 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 9450 4725 9450 4905 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 9450 4680 9450 4500 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 10126 6301 9901 6076 11026 6076 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 9901 6076 9901 5896 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 11026 6256 11026 6076 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 9675 4950 9675 5850 9900 5625 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5402 7427 5402 7247 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2252 7427 3152 7427 2927 7652 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4952 7202 4952 6302 5177 6527 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8102 7203 8102 6303 8327 6528 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3827 7427 4727 7427 4502 7652 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6977 7428 7877 7428 7652 7653 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8552 7428 9452 7428 9227 7653 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3242 7202 3557 7202 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4817 6302 5132 6302 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 6392 7202 6707 7202 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 7967 6302 8282 6302 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 2252 7427 2252 7247 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3152 7607 3152 7427 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3827 7427 3827 7247 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4727 7607 4727 7427 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 6302 7607 6302 7427 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5402 7427 6302 7427 6077 7652 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 6977 7427 6977 7247 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 7877 7607 7877 7427 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 8552 7427 8552 7247 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3377 7172 3377 6272 3602 6497 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6527 7173 6527 6273 6752 6498 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 9450 7425 9450 7605 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3150 4725 3150 4545 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3240 3600 3555 3600 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 9901 4725 10801 4725 10576 4950 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 10800 4725 10800 4905 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 10800 4725 10800 4545 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3375 4516 3375 3616 3600 3841 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6525 4517 6525 3617 6750 3842 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 9495 5850 9810 5850 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 9675 6300 9855 6300 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 9675 6313 9675 7213 9900 6988 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 9675 7245 9495 7245 -2 4 1 2 1 7 1 0 -1 6.000 0 0 7 0 0 5 - 9045 5355 9045 2250 2475 2250 2475 5355 9045 5355 -2 4 1 2 1 7 1 0 -1 6.000 0 0 7 0 0 5 - 9045 8730 9045 5625 2475 5625 2475 8730 9045 8730 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 6300 4680 6300 4500 -4 0 -1 0 0 2 20 0.0000000 4 210 150 4861 4861 0\001 -4 0 -1 0 0 2 20 0.0000000 4 210 150 3286 4816 1\001 -4 0 -1 0 0 2 20 0.0000000 4 210 150 6436 4817 1\001 -4 0 -1 0 0 2 20 0.0000000 4 210 150 8011 4862 0\001 -4 0 -1 0 0 2 20 0.0000000 4 210 150 9586 4816 0\001 -4 2 -1 0 0 2 20 0.0000000 4 240 870 2071 4771 SS:u_s\001 -4 0 -1 0 0 2 20 0.0000000 4 240 870 3241 3376 R:r_1s\001 -4 0 -1 0 0 2 20 0.0000000 4 240 870 6301 3376 R:r_2s\001 -4 0 -1 0 0 2 20 0.0000000 4 240 870 4771 3376 C:c_1s\001 -4 0 -1 0 0 2 20 0.0000000 4 240 870 7875 3375 C:c_2s\001 -4 0 -1 0 0 2 20 0.0000000 4 210 990 11206 6166 SS:zero\001 -4 1 1 1 0 3 20 0.0000000 4 210 450 10441 5986 e=0\001 -4 1 1 1 0 3 20 0.0000000 4 270 420 10441 6346 f=0\001 -4 0 -1 0 0 2 20 0.0000000 4 210 150 9585 6210 1\001 -4 0 -1 0 0 2 20 0.0000000 4 210 150 4862 7562 0\001 -4 0 -1 0 0 2 20 0.0000000 4 210 150 3287 7517 1\001 -4 0 -1 0 0 2 20 0.0000000 4 210 150 6437 7518 1\001 -4 0 -1 0 0 2 20 0.0000000 4 210 150 8012 7563 0\001 -4 2 -1 0 0 2 20 0.0000000 4 210 600 2072 7472 SS:u\001 -4 0 -1 0 0 2 20 0.0000000 4 240 750 3242 6077 R:r_1\001 -4 0 -1 0 0 2 20 0.0000000 4 240 750 4772 6077 C:c_1\001 -4 0 -1 0 0 2 20 0.0000000 4 240 750 6302 6077 R:r_2\001 -4 0 -1 0 0 2 20 0.0000000 4 240 750 7876 6076 C:c_2\001 -4 0 -1 0 0 2 20 0.0000000 4 210 150 9630 7515 0\001 -4 0 -1 0 0 2 20 0.0000000 4 270 855 10935 4815 SS:y_s\001 -4 1 1 1 0 3 20 0.0000000 4 270 420 10260 5085 f=0\001 -4 1 1 1 0 3 20 0.0000000 4 270 2565 5625 2745 Specification system\001 -4 1 1 1 0 3 20 0.0000000 4 270 1845 5535 8280 Inverse system\001 DELETED mttroot/mtt/lib/examples/Inverse/iRC2/szRC2n/szRC2n_desc.tex Index: mttroot/mtt/lib/examples/Inverse/iRC2/szRC2n/szRC2n_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Inverse/iRC2/szRC2n/szRC2n_desc.tex +++ /dev/null @@ -1,29 +0,0 @@ -% -*-latex-*- Put EMACS into LaTeX-mode -% Verbal description for system szRC2n (szRC2n_desc.tex) -% Generated by MTT on Mon Apr 6 10:52:26 BST 1998. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{szRC2n} is - displayed in Figure \Ref{szRC2n_abg} and its label - file is listed in Section \Ref{sec:szRC2n_lbl}. - The subsystems are listed in Section \Ref{sec:szRC2n_sub}. - -This example gives the inverse of a double RC circuit with -\begin{itemize} -\item specification system, -\item zero-zero \textbf{SS} connection and -\item non-collocated sensor/actuator pairing. -\end{itemize} - - - -%%% Local Variables: -%%% mode: latex -%%% TeX-master: t -%%% End: DELETED mttroot/mtt/lib/examples/Inverse/iRC2/szRC2n/szRC2n_input.txt Index: mttroot/mtt/lib/examples/Inverse/iRC2/szRC2n/szRC2n_input.txt ================================================================== --- mttroot/mtt/lib/examples/Inverse/iRC2/szRC2n/szRC2n_input.txt +++ /dev/null @@ -1,12 +0,0 @@ -# Numerical parameter file (szRC2n_input.txt) -# Generated by MTT at Mon Mar 2 15:42:48 GMT 1998 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Set the inputs -u(1) = 1 ; # szRC2n (u_s) DELETED mttroot/mtt/lib/examples/Inverse/iRC2/szRC2n/szRC2n_lbl.txt Index: mttroot/mtt/lib/examples/Inverse/iRC2/szRC2n/szRC2n_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Inverse/iRC2/szRC2n/szRC2n_lbl.txt +++ /dev/null @@ -1,38 +0,0 @@ -%SUMMARY szRC2n Specification inverse of double RC circuit with noncollocated io -%DESCRIPTION -%% Label file for system szRC2n (szRC2n_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 2000/05/20 16:45:37 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type C - c_1 lin effort,c_1 - c_1s lin effort,c_1s - c_2 lin effort,c_2 - c_2s lin effort,c_2s - -% Component type R - r_1 lin flow,r_1 - r_1s lin flow,r_1s - r_2 lin flow,r_2 - r_2s lin flow,r_2s - -% Component type SS - u_s SS external,internal - y_s SS external,0 - zero SS 0,0 - u SS external,external DELETED mttroot/mtt/lib/examples/Inverse/iRC2/szRC2n/szRC2n_numpar.txt Index: mttroot/mtt/lib/examples/Inverse/iRC2/szRC2n/szRC2n_numpar.txt ================================================================== --- mttroot/mtt/lib/examples/Inverse/iRC2/szRC2n/szRC2n_numpar.txt +++ /dev/null @@ -1,25 +0,0 @@ -# Numerical parameter file (szRC2n_numpar.txt) -# Generated by MTT at Mon Mar 2 15:41:26 GMT 1998 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Parameters -c_1 = 1.0; # szRC2n -c_1s = 0.1; # szRC2n -c_2 = 1.0; # szRC2n -c_2s = 0.1; # szRC2n -r_1 = 1.0; # szRC2n -r_1s = 1.0; # szRC2n -r_2 = 1.0; # szRC2n -r_2s = 1.0; # szRC2n - -# Initial states -x(1) = 0.0; # szRC2n (c_1) -x(2) = 0.0; # szRC2n (c_1s) -x(3) = 0.0; # szRC2n (c_2) -x(4) = 0.0; # szRC2n (c_2s) DELETED mttroot/mtt/lib/examples/Inverse/iRC2/szRC2n/szRC2n_rep.txt Index: mttroot/mtt/lib/examples/Inverse/iRC2/szRC2n/szRC2n_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Inverse/iRC2/szRC2n/szRC2n_rep.txt +++ /dev/null @@ -1,19 +0,0 @@ -# Outline report file for system szRC2n (szRC2n_rep.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -mtt szRC2n abg tex -mtt szRC2n struc tex -mtt szRC2n dae tex -mtt szRC2n dm tex -mtt szRC2n tf tex - -mtt -c szRC2n odeso ps -mtt szRC2n lmfr ps - - DELETED mttroot/mtt/lib/examples/Inverse/iTanks/iTanks_abg.fig Index: mttroot/mtt/lib/examples/Inverse/iTanks/iTanks_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Inverse/iTanks/iTanks_abg.fig +++ /dev/null @@ -1,77 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 900 3150 2025 3150 1755 3420 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2475 3150 3600 3150 3330 3420 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2250 2925 2250 1800 2520 2070 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7201 3151 8326 3151 8056 3421 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8776 3151 9901 3151 9631 3421 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6976 2926 6976 1801 7246 2071 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8551 2926 8551 1801 8821 2071 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4050 3150 5175 3150 4905 3420 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5625 3150 6750 3150 6480 3420 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3825 2925 3825 1800 4095 2070 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5400 2925 5400 1800 5670 2070 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6975 3375 6975 4500 7245 4230 -2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 11295 5625 11295 450 45 450 45 5625 11295 5625 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 3 - 3150 1125 3150 2700 1305 2700 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 4 - 4500 1125 4500 2700 6300 2700 6300 1125 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 3 - 7650 1125 7650 2700 9675 2700 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 1350 3600 9720 3600 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3825 3375 3825 4500 4095 4230 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 900 2925 900 3150 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 2025 3150 2025 3375 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3600 3375 3825 3375 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3825 4500 4095 4500 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 9900 2925 9900 3150 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 8775 3150 8775 3375 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 6705 3375 6930 3375 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 6975 4500 7200 4500 -4 1 -1 0 0 2 20 0.0000 4 195 135 2250 3240 1\001 -4 1 -1 0 0 2 20 0.0000 4 195 210 2250 1665 R\001 -4 1 -1 0 0 2 20 0.0000 4 195 135 8551 3241 1\001 -4 1 -1 0 0 2 20 0.0000 4 195 135 6976 3241 0\001 -4 1 -1 0 0 2 20 0.0000 4 195 210 8551 1666 R\001 -4 1 -1 0 0 2 20 0.0000 4 195 210 6976 1666 C\001 -4 1 -1 0 0 2 20 0.0000 4 195 135 5400 3240 1\001 -4 1 -1 0 0 2 20 0.0000 4 195 135 3825 3240 0\001 -4 1 -1 0 0 2 20 0.0000 4 195 210 5400 1665 R\001 -4 1 -1 0 0 2 20 0.0000 4 195 210 3825 1665 C\001 -4 1 -1 0 0 2 20 0.0000 4 195 705 495 3240 SS:u1\001 -4 1 -1 0 0 2 20 0.0000 4 195 705 10440 3240 SS:u2\001 -4 1 -1 0 0 2 20 0.0000 4 255 675 3825 4725 SS:y1\001 -4 1 -1 0 0 2 20 0.0000 4 255 675 6975 4770 SS:y2\001 -4 1 1 1 0 3 20 0.0000 4 270 510 2295 1125 Pipe\001 -4 1 1 1 0 3 20 0.0000 4 270 510 5445 1125 Pipe\001 -4 1 1 1 0 3 20 0.0000 4 270 510 8595 1125 Pipe\001 -4 1 1 1 0 3 20 0.0000 4 210 600 3870 1125 Tank\001 -4 1 1 1 0 3 20 0.0000 4 210 600 6975 1125 Tank\001 -4 1 1 1 0 3 20 0.0000 4 270 1665 5265 5445 System inverse\001 DELETED mttroot/mtt/lib/examples/Inverse/iTanks/iTanks_desc.tex Index: mttroot/mtt/lib/examples/Inverse/iTanks/iTanks_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Inverse/iTanks/iTanks_desc.tex +++ /dev/null @@ -1,65 +0,0 @@ -% -*-latex-*- Put EMACS into LaTeX-mode -% Verbal description for system iTanks (iTanks_desc.tex) -% Generated by MTT on Wed Nov 18 11:04:33 GMT 1998. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -Figure \Ref{iTanks_abg} shows the bond graph of a two-tank system -superimposed on a schematic diagram. -The two \textbf{C} components corresponds to the fluid storage and how -it relates to the pressure at the base of the tanks. In this case, for -simplicity, each tank ($i=1$ or $i=2$) is assumed to have a unity constitutive relationship: -\begin{equation} - \text{pressure} = p_i = v_i = \text{volume} -\end{equation} -The volumetric flow rate into the first, and out of the second, tank -is represented by the two unlabelled \textbf{R} components. Again, -each is assumed to have a unit constitutive relationship: -\begin{equation} - \text{flow} = f_i = \Delta_i = \text{pressure drop} -\end{equation} -The volumetric flow rate between the first and the second tanks -is represented \textbf{R} component labelled $k$. The constitutive relationship is assumed -linear of the form: -\begin{equation} - \text{flow} = f = k \Delta = \text{pressure drop} -\end{equation} - -The system has two inputs: -\begin{equation} - \begin{aligned} - u_1 &= \text{input pressure at left-hand pipe} \\ - u_2 &= \text{input pressure at right-hand pipe} - \end{aligned} -\end{equation} -and two outputs: -\begin{equation} - \begin{aligned} - y_1 &= p_1 = \text{pressure at left-hand tank} \\ - y_2 &= p_2 = \text{pressure at right-hand tank} - \end{aligned} -\end{equation} -The system transfer-function matrix is given by: -\begin{equation} - \begin{aligned} -G_{11} = G_{22} &= \frac{(s + k + 1)}{(s^2 + 2 s {(k + 1)} + 2 k + 1)}\\ -G_{12} = G_{21} &= \frac{k}{(s^2 + 2 s {(k + 1)} + 2 k + 1)} -\end{aligned} -\end{equation} - -However, Figure \Ref{iTanks_abg} shows the causality of the -\textbf{SS} components to \emph{invert} the system with respect to its -inputs and outputs. Figure \Ref{fig:iTanks_cbg.ps} shows the causally -complete bond graph; this system has no dynamic components in integral -causality -- the inverse has no poles and therefore the system has no -zeros. - -Some further representations of the inverse appear in the following -sections. - - DELETED mttroot/mtt/lib/examples/Inverse/iTanks/iTanks_lbl.txt Index: mttroot/mtt/lib/examples/Inverse/iTanks/iTanks_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Inverse/iTanks/iTanks_lbl.txt +++ /dev/null @@ -1,24 +0,0 @@ -%SUMMARY iTanks: Inversion of a two-tanks system -%DESCRIPTION This inverse system has no poles thus -%DESCRIPTION the system itself has no (multivariable) zeros -%% Label file for system iTanks (iTanks_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type SS - u1 SS external,internal - u2 SS external,internal - y1 SS external,0 - y2 SS external,0 DELETED mttroot/mtt/lib/examples/Inverse/iTanks/iTanks_rep.txt Index: mttroot/mtt/lib/examples/Inverse/iTanks/iTanks_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Inverse/iTanks/iTanks_rep.txt +++ /dev/null @@ -1,26 +0,0 @@ -# Outline report file for system iTanks (iTanks_rep.txt) -# Generated by MTT on" Wed Nov 18 10:44:55 GMT 1998. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - -mtt iTanks abg tex # The system description -mtt iTanks cbg ps # The causal bond graph -# Uncomment the following lines or add others - mtt iTanks struc tex # The system structure -# mtt iTanks dae tex # The system dae -# mtt iTanks ode tex # The system ode -# mtt iTanks sspar tex # Steady-state parameters -# mtt iTanks ss tex # Steady state -mtt iTanks dm tex # Descriptor matrices (of linearised system) -mtt iTanks tf tex -mtt iTanks lmfr ps # log modulus of frequency response (of linearised system) -mtt iTanks lpfr ps # log modulus of frequency response (of linearised system) -# mtt iTanks simpar tex # Simulation parameters -# mtt iTanks numpar tex # Numerical simulation parameters -# mtt iTanks input tex # Simulation input -# mtt iTanks odeso ps # Simulation output DELETED mttroot/mtt/lib/examples/Inverse/iTwoLink/ROD_abg.fig Index: mttroot/mtt/lib/examples/Inverse/iTwoLink/ROD_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Inverse/iTwoLink/ROD_abg.fig +++ /dev/null @@ -1,123 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4728 4278 5403 4953 5178 4953 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5854 5404 6529 6079 6304 6079 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4728 6078 5403 5403 5403 5628 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5853 4953 6528 4278 6528 4503 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 1 - 4277 3827 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3152 2702 4277 3827 4052 3827 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6977 6527 8102 7652 7877 7652 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3152 7652 4277 6527 4277 6752 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6977 3827 8102 2702 8102 2927 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5852 5177 6527 5177 6392 5312 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2927 2927 2927 4952 3152 4727 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2927 5402 2927 7427 3152 7202 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2701 5176 2026 5176 2161 5311 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2926 1351 2926 2476 3196 2206 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2926 7876 2926 9001 3196 8731 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8328 2928 8328 4953 8553 4728 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8328 5403 8328 7428 8553 7203 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8327 1352 8327 2477 8597 2207 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8327 7877 8327 9002 8597 8732 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5626 1351 5626 4951 5851 4726 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5626 5401 5626 9001 5851 8776 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8551 5176 9226 5176 9091 5311 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3826 4951 6526 4051 6436 4231 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3826 4996 3826 5356 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4276 5176 3826 5176 3961 5311 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3826 5401 6301 6301 6121 6301 -2 1 0 1 5 -1 0 0 -1 0.000 0 0 -1 0 0 3 - 3601 5401 4051 6301 3826 6301 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3601 4951 4051 4051 4051 4276 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5536 5176 5086 5176 5221 5311 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 6300 9675 6300 675 4950 675 4950 9675 6300 9675 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 9000 9675 9000 675 7650 675 7650 9675 9000 9675 -2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 11025 10305 11025 225 225 225 225 10305 11025 10305 -2 4 0 1 1 7 0 0 -1 0.000 0 0 7 0 0 5 - 3600 9675 2250 9675 2250 675 3600 675 3600 9675 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 10125 2250 990 2250 990 900 10125 900 10125 2250 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 10125 5850 990 5850 990 4500 10125 4500 10125 5850 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 10125 9450 990 9450 990 8100 10125 8100 10125 9450 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 2700 4950 2700 5400 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5850 4950 5850 5400 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 8550 4950 8550 5400 -4 1 -1 0 0 0 20 0.0000000 4 210 150 5628 5268 1\001 -4 1 -1 0 0 0 20 0.0000000 4 210 315 6933 5268 I:J\001 -4 1 -1 0 0 0 20 0.0000000 4 210 150 2927 5312 1\001 -4 1 -1 0 0 0 20 0.0000000 4 210 150 2972 2792 0\001 -4 1 -1 0 0 0 20 0.0000000 4 210 150 2927 7742 0\001 -4 1 -1 0 0 0 20 0.0000000 4 210 150 8328 5313 1\001 -4 1 -1 0 0 0 20 0.0000000 4 210 150 8373 2793 0\001 -4 1 -1 0 0 0 20 0.0000000 4 210 150 8328 7743 0\001 -4 1 -1 0 0 0 20 0.0000000 4 270 735 9676 5266 I:m_y\001 -4 1 -1 0 0 0 20 0.0000000 4 240 735 1531 5221 I:m_x\001 -4 1 -1 0 0 0 20 0.0000000 4 210 1170 4636 4141 EMTF:c1\001 -4 1 -1 0 0 0 20 0.0000000 4 210 1170 4681 6391 EMTF:c2\001 -4 1 -1 0 0 0 20 0.0000000 4 210 1155 7156 4141 EMTF:s1\001 -4 1 -1 0 0 0 20 0.0000000 4 210 1155 7156 6391 EMTF:s2\001 -4 1 5 0 0 0 20 0.0000000 4 210 150 3603 5313 0\001 -4 1 26 0 0 0 16 0.0000000 4 195 330 6751 4456 [in]\001 -4 1 26 0 0 0 16 0.0000000 4 195 450 6751 3781 [out]\001 -4 1 26 0 0 0 16 0.0000000 4 195 330 6751 6076 [in]\001 -4 1 26 0 0 0 16 0.0000000 4 195 450 6751 6706 [out]\001 -4 1 26 0 0 0 16 0.0000000 4 195 570 6211 6526 [mod]\001 -4 1 5 0 0 0 20 0.0000000 4 210 990 4681 5266 INTF:th\001 -4 1 1 1 0 0 20 0.0000000 4 210 210 2925 10035 X\001 -4 1 1 1 0 32 20 0.0000000 4 135 195 5580 9990 a\001 -4 1 1 1 0 0 20 0.0000000 4 210 210 8280 9990 Y\001 -4 2 26 0 0 0 16 0.0000000 4 195 570 3960 4140 [mod]\001 -4 2 26 0 0 0 16 0.0000000 4 195 570 6345 4095 [mod]\001 -4 2 26 0 0 0 16 0.0000000 4 195 570 3960 6210 [mod]\001 -4 1 26 0 0 0 16 0.0000000 4 195 330 4590 4455 [in]\001 -4 1 26 0 0 0 16 0.0000000 4 195 450 4545 3780 [out]\001 -4 1 26 0 0 0 16 0.0000000 4 195 450 4590 6660 [out]\001 -4 0 26 0 0 0 16 0.0000000 4 195 330 4365 6030 [in]\001 -4 1 4 0 0 0 20 0.0000000 4 240 1065 2971 1216 SS:[x_a]\001 -4 1 4 0 0 0 20 0.0000000 4 240 1080 2971 9361 SS:[x_b]\001 -4 1 4 0 0 0 20 0.0000000 4 270 1065 8372 1217 SS:[y_a]\001 -4 1 4 0 0 0 20 0.0000000 4 270 1080 8417 9362 SS:[y_b]\001 -4 1 4 0 0 0 20 0.0000000 4 270 1575 5671 1216 SS:[alpha_a]\001 -4 1 4 0 0 0 20 0.0000000 4 270 1590 5671 9361 SS:[alpha_b]\001 -4 1 1 1 0 0 20 0.0000000 4 270 630 1350 2700 Tip a\001 -4 1 1 1 0 0 20 0.0000000 4 240 1470 1260 6300 Mass centre\001 -4 1 1 1 0 0 20 0.0000000 4 270 645 1350 9855 Tip b\001 DELETED mttroot/mtt/lib/examples/Inverse/iTwoLink/ROD_desc.tex Index: mttroot/mtt/lib/examples/Inverse/iTwoLink/ROD_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Inverse/iTwoLink/ROD_desc.tex +++ /dev/null @@ -1,17 +0,0 @@ -% Verbal description for system ROD (ROD_desc.tex) -% Generated by MTT on Fri Aug 15 09:53:23 BST 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{ROD} is - displayed in Figure \Ref{ROD_abg} and its label - file is listed in Section \Ref{sec:ROD_lbl}. - The subsystems are listed in Section \Ref{sec:ROD_sub}. - -{\bf ROD} is essentially as described in Figure 10.2 of -``Metamodelling''. DELETED mttroot/mtt/lib/examples/Inverse/iTwoLink/ROD_lbl.txt Index: mttroot/mtt/lib/examples/Inverse/iTwoLink/ROD_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Inverse/iTwoLink/ROD_lbl.txt +++ /dev/null @@ -1,53 +0,0 @@ -%SUMMARY ROD: rigid rod in two dimensions -%DESCRIPTION Port [alpha_a]: Angular torque/velocity - end a -%DESCRIPTION Port [alpha_b]: Angular torque/velocity - end b -%DESCRIPTION Port [x_a]: x force/velocity - end a -%DESCRIPTION Port [x_b]: x force/velocity - end b -%DESCRIPTION Port [y_a]: y force/velocity - end a -%DESCRIPTION Port [y_b]: y force/velocity - end b -%DESCRIPTION -%DESCRIPTION Parameter 1: length from end 1 to mass centre -%DESCRIPTION Parameter 2: length from end 2 to mass centre -%DESCRIPTION Parameter 3: inertia about mass centre -%DESCRIPTION Parameter 4: mass -%DESCRIPTION See Section 10.2 of "Metamodelling" - - -%% Label file for system ROD (ROD_lbl.txt) - - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.2 1997/08/15 09:43:06 peterg -% %% Now has lablelled (as opposed to numbered) ports. -% %% -% Revision 1.1 1996/11/07 10:57:17 peterg -% Initial revision -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - -%Inertias -J lin flow,$3 -m_x lin flow,$4 -m_y lin flow,$4 - -%Integrate angular velocity to get angle -th - -%Modulated transformers -s1 lsin flow,$1 -s2 lsin flow,$2 -c1 lcos flow,$1 -c2 lcos flow,$2 - - - DELETED mttroot/mtt/lib/examples/Inverse/iTwoLink/iTwoLink_abg.fig Index: mttroot/mtt/lib/examples/Inverse/iTwoLink/iTwoLink_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Inverse/iTwoLink/iTwoLink_abg.fig +++ /dev/null @@ -1,74 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3826 4951 2476 4951 2701 5176 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4051 3376 4051 4726 4276 4501 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3781 4726 4276 4726 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 2476 4726 2476 5221 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4276 4951 5626 4951 5401 5176 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 6526 4681 6526 5176 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3825 2250 2475 2250 2700 2475 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4050 675 4050 2025 4275 1800 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3780 2025 4275 2025 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 2475 2025 2475 2520 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4275 2250 5625 2250 5400 2475 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 6525 1980 6525 2475 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6525 2250 7875 2250 7650 2475 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6525 4950 7875 4950 7650 5175 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 8371 3376 7876 3376 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8101 3376 8101 4726 8326 4501 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 8326 4726 8326 5221 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 8370 675 7875 675 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8100 675 8100 2025 8325 1800 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 8325 2025 8325 2520 -2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 5175 6075 675 6075 675 225 5175 225 5175 6075 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 675 5625 5175 5625 -2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 11475 6075 6975 6075 6975 225 11475 225 11475 6075 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 6975 5625 11475 5625 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8325 2250 9450 3375 9225 3375 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8325 4950 9450 3825 9225 3825 -4 1 -1 0 0 0 20 0.0000000 4 210 150 4051 5041 1\001 -4 1 -1 0 0 0 20 0.0000000 4 210 150 4050 2340 1\001 -4 1 -1 0 0 0 20 0.0000000 4 210 780 4050 585 SS:t1s\001 -4 1 -1 0 0 0 20 0.0000000 4 210 750 6120 2340 AF:a1\001 -4 1 -1 0 0 0 20 0.0000000 4 270 1290 1845 2340 msd:spec1\001 -4 1 -1 0 0 0 20 0.0000000 4 270 1290 1846 5041 msd:spec2\001 -4 1 -1 0 0 0 20 0.0000000 4 210 780 4051 3286 SS:t2s\001 -4 1 -1 0 0 0 20 0.0000000 4 210 750 6121 5041 AF:a2\001 -4 1 -1 0 0 0 20 0.0000000 4 210 150 8101 5041 0\001 -4 1 -1 0 0 0 20 0.0000000 4 210 150 8100 2340 0\001 -4 1 -1 0 0 0 20 0.0000000 4 210 660 8100 585 SS:t1\001 -4 1 1 1 0 0 20 0.0000000 4 270 1620 2880 5940 Specification\001 -4 1 1 1 0 0 20 0.0000000 4 270 900 9270 5940 System\001 -4 1 -1 0 0 0 20 0.0000000 4 210 660 8101 3286 SS:t2\001 -4 1 -1 0 0 0 20 0.0000000 4 270 1500 9900 3690 twolink:syst\001 -4 0 4 0 0 0 20 0.0000000 4 270 1080 9585 3330 [joint_1]\001 -4 0 4 0 0 0 20 0.0000000 4 270 1080 9540 4140 [joint_2]\001 DELETED mttroot/mtt/lib/examples/Inverse/iTwoLink/iTwoLink_desc.tex Index: mttroot/mtt/lib/examples/Inverse/iTwoLink/iTwoLink_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Inverse/iTwoLink/iTwoLink_desc.tex +++ /dev/null @@ -1,53 +0,0 @@ -% Verbal description for system iTwoLink (iTwoLink_desc.tex) -% Generated by MTT on Mon Nov 17 10:42:48 GMT 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.3 1998/01/19 10:08:21 peterg -% %% Added comment about linearisation point -% %% -% %% Revision 1.2 1998/01/19 09:57:26 peterg -% %% Added a discussion of the relevance of G(s). -% %% -% Revision 1.1 1997/12/09 16:53:27 peterg -% Initial revision -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{iTwoLink} is - displayed in Figure \Ref{iTwoLink_abg} and its label - file is listed in Section \Ref{sec:iTwoLink_lbl}. - The subsystems are listed in Section \Ref{sec:iTwoLink_sub}. - -This example illustrates the inversion of two link manipulator -dynamics using two identical simple mass-spring-damper systems as -specification systems. - -The velocities $\omega_1=\omega_2$ specified by the specification -systems are given in Figure \Ref{fig:iTwoLink_odeso.ps-iTwoLink-t1s} -together with the input defined in Section \Ref{sec:iTwoLink_input.txt}. -The torques $\tau_1$ and $\tau_2$ required to give the these -velocities specified by the specification system are given in Figures -\Ref{fig:iTwoLink_odeso.ps-iTwoLink-t1} and -\Ref{fig:iTwoLink_odeso.ps-iTwoLink-t2} respectively. - -The corresponding velocity/torque diagrams for joints 1 and 2 appear in -Figures \Ref{fig:iTwoLink_odeso.ps-iTwoLink-t1s:iTwoLink-t1} -\Ref{fig:iTwoLink_odeso.ps-iTwoLink-t2s:iTwoLink-t2} respectively. -Such diagrams can be used for actuator sizing in terms of torque, -velocity and power. - - -This non-linear system can be linearised (about the various -configurations) and small-signal frequency response methods applied. -For example, the four transfer functions $G_11$ to $G_22$ in Section -\Ref{sec:iTwoLink_tf} (representing the system linearised about zero -angles and velocities), give the small-signal relations between the -two spec. torques and the required system torques. Used together with -$G_31$ and $G_42$ (relating the spec. torques and the joint -velocities) gives, in principle, a method for evaluating actuator -requirements (for small signals) as a function of frequency. - DELETED mttroot/mtt/lib/examples/Inverse/iTwoLink/iTwoLink_input.txt Index: mttroot/mtt/lib/examples/Inverse/iTwoLink/iTwoLink_input.txt ================================================================== --- mttroot/mtt/lib/examples/Inverse/iTwoLink/iTwoLink_input.txt +++ /dev/null @@ -1,13 +0,0 @@ -# Numerical parameter file (iTwoLink_input.txt) -# Generated by MTT at Mon Nov 17 10:40:37 GMT 1997 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Set the inputs -u(1) = 1.0 - 2.0*(t>5.0) + 2.0*(t>15.0);; # t1s input torque -u(2) = 1.0 - 2.0*(t>5.0) + (t>15.0); # t2s input torque DELETED mttroot/mtt/lib/examples/Inverse/iTwoLink/iTwoLink_lbl.txt Index: mttroot/mtt/lib/examples/Inverse/iTwoLink/iTwoLink_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Inverse/iTwoLink/iTwoLink_lbl.txt +++ /dev/null @@ -1,40 +0,0 @@ -%SUMMARY iTwoLink: Inverse of two-link manipulator -%DESCRIPTION Uses the specification system idea to get an ordinary -%DESCRIPTION differential equation inverse. -%% Label file for system iTwoLink (iTwoLink_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1998/11/17 15:50:45 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%ALIAS INTF General/INTF - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type AF - a1 lin flow,1 - a2 lin flow,1 - -% Component type SS - t1 SS external,0 - t2 SS external,0 - t1s SS external,external - t2s SS external,external - -% Component type msd - spec1 - spec2 - -% Component type onelink - syst DELETED mttroot/mtt/lib/examples/Inverse/iTwoLink/iTwoLink_numpar.txt Index: mttroot/mtt/lib/examples/Inverse/iTwoLink/iTwoLink_numpar.txt ================================================================== --- mttroot/mtt/lib/examples/Inverse/iTwoLink/iTwoLink_numpar.txt +++ /dev/null @@ -1,17 +0,0 @@ -# Numerical parameter file (iTwoLink_numpar.txt) -# Generated by MTT at Mon Nov 17 10:40:34 GMT 1997 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Parameters -d_s = 1.0; # Parameter d_s for msd -k_s = 1.0; # Parameter k_s for msd -m_s = 1.0; # Parameter m_s for msd -j_s = 1.0; # Parameter j_s for twolink -l = 1.0; # Parameter l for twolink -m_s = 1.0; # Parameter m_s for twolink DELETED mttroot/mtt/lib/examples/Inverse/iTwoLink/iTwoLink_rep.txt Index: mttroot/mtt/lib/examples/Inverse/iTwoLink/iTwoLink_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Inverse/iTwoLink/iTwoLink_rep.txt +++ /dev/null @@ -1,34 +0,0 @@ -# Outline report file for system iTwoLink (iTwoLink_rep.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1997/12/09 16:53:42 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -mtt -c iTwoLink abg tex -mtt -c iTwoLink struc tex -mtt -c iTwoLink simp r -mtt -c iTwoLink dae tex -mtt -c iTwoLink ode tex -mtt -c iTwoLink sspar r -mtt -c iTwoLink sm tex -mtt -c iTwoLink tf tex - -mtt -c iTwoLink numpar txt -mtt -c iTwoLink input txt -mtt -c iTwoLink odeso ps 'iTwoLink_t1' -mtt -c iTwoLink odeso ps 'iTwoLink_t2' -mtt -c iTwoLink odeso ps 'iTwoLink_t1s' -mtt -c iTwoLink odeso ps 'iTwoLink_t1s:iTwoLink_t1' -mtt -c iTwoLink odeso ps 'iTwoLink_t2s:iTwoLink_t2' - - - - - - DELETED mttroot/mtt/lib/examples/Inverse/iTwoLink/iTwoLink_simp.r Index: mttroot/mtt/lib/examples/Inverse/iTwoLink/iTwoLink_simp.r ================================================================== --- mttroot/mtt/lib/examples/Inverse/iTwoLink/iTwoLink_simp.r +++ /dev/null @@ -1,17 +0,0 @@ -%% Reduce comands to simplify output for system twolink (twolink_simp.r) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - trig1 := {cos(~x)*cos(~y) => (cos(x+y)+cos(x-y))/2, - cos(~x)*sin(~y) => (sin(x+y)-sin(x-y))/2, - sin(~x)*sin(~y) => (cos(x-y)-cos(x+y))/2, - cos(~x)^2 => (1+cos(2*x))/2, - sin(~x)^2 => (1-cos(2*x))/2}; - LET trig1; - -END; DELETED mttroot/mtt/lib/examples/Inverse/iTwoLink/iTwoLink_sspar.r Index: mttroot/mtt/lib/examples/Inverse/iTwoLink/iTwoLink_sspar.r ================================================================== --- mttroot/mtt/lib/examples/Inverse/iTwoLink/iTwoLink_sspar.r +++ /dev/null @@ -1,17 +0,0 @@ -%% Reduce steady-state parameter file for ionelink (ionelink_sspar.r) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -mttx1 := 0; -mttx2 := 0; -mttx3 := 0; -mttx4 := 0; -mttx5 := 0; -mttx6 := 0; - -END; DELETED mttroot/mtt/lib/examples/Inverse/iTwoLink/iTwoLink_state.txt Index: mttroot/mtt/lib/examples/Inverse/iTwoLink/iTwoLink_state.txt ================================================================== --- mttroot/mtt/lib/examples/Inverse/iTwoLink/iTwoLink_state.txt +++ /dev/null @@ -1,17 +0,0 @@ -# State file (iTwoLink_state.txt) -# Generated by MTT at Mon Nov 17 10:40:34 GMT 1997 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Initial states -x(1) = 0.0; # Initial state for iTwoLink_spec1 (spring) -x(2) = 0.0; # Initial state for iTwoLink_spec1 (inertia) -x(3) = 0.0; # Initial state for iTwoLink_spec2 (spring) -x(4) = 0.0; # Initial state for iTwoLink_spec2 (inertia) -x(5) = 0.0; # Initial state for iTwoLink_syst_rod1_th (3) -x(6) = 0.0; # Initial state for iTwoLink_syst_rod2_th (3) DELETED mttroot/mtt/lib/examples/Inverse/iTwoLink/itwolink_desc.tex Index: mttroot/mtt/lib/examples/Inverse/iTwoLink/itwolink_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Inverse/iTwoLink/itwolink_desc.tex +++ /dev/null @@ -1,50 +0,0 @@ -% Verbal description for system itwolink (itwolink_desc.tex) -% Generated by MTT on Mon Nov 17 10:42:48 GMT 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.2 1998/01/19 09:57:26 peterg -% %% Added a discussion of the relevance of G(s). -% %% -% Revision 1.1 1997/12/09 16:53:27 peterg -% Initial revision -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{itwolink} is - displayed in Figure \Ref{itwolink_abg} and its label - file is listed in Section \Ref{sec:itwolink_lbl}. - The subsystems are listed in Section \Ref{sec:itwolink_sub}. - -This example illustrates the inversion of two link manipulator -dynamics using two identical simple mass-spring-damper systems as -specification systems. - -The velocities $\omega_1=\omega_2$ specified by the specification -systems are given in Figure \Ref{fig:itwolink_odeso.ps-itwolink-t1s} -together with the input defined in Section \Ref{sec:itwolink_input.txt}. -The torques $\tau_1$ and $\tau_2$ required to give the these -velocities specified by the specification system are given in Figures -\Ref{fig:itwolink_odeso.ps-itwolink-t1} and -\Ref{fig:itwolink_odeso.ps-itwolink-t2} respectively. - -The corresponding velocity/torque diagrams for joints 1 and 2 appear in -Figures \Ref{fig:itwolink_odeso.ps-itwolink-t1s:itwolink-t1} -\Ref{fig:itwolink_odeso.ps-itwolink-t2s:itwolink-t2} respectively. -Such diagrams can be used for actuator sizing in terms of torque, -velocity and power. - - -This non-linear system can be linearised (about the various -configurations) and small-signal frequency response methods applied. -For example, the four transfer functions $G_11$ to $G_22$ in Section -\Ref{sec:itwolink_tf} (representing the system linearised about zero -angles and velocities), give the small-signal relations between the -two spec. torques and the required system torques. Used together with -$G_31$ and $G_42$ (relating the spec. torques and the joint -velocities) gives, in principle, a method for evaluating actuator -requirements (for small signals) as a function of frequency. - DELETED mttroot/mtt/lib/examples/Inverse/iTwoLink/itwolink_rep.txt Index: mttroot/mtt/lib/examples/Inverse/iTwoLink/itwolink_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Inverse/iTwoLink/itwolink_rep.txt +++ /dev/null @@ -1,35 +0,0 @@ -# Outline report file for system itwolink (itwolink_rep.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -mtt -c itwolink abg tex -mtt -c itwolink struc tex -mtt -c itwolink simp r -mtt -c itwolink dae tex -mtt -c itwolink cse tex -mtt -c itwolink ode tex -mtt -c itwolink sspar r -mtt -c itwolink dm tex -mtt -c itwolink sm tex -mtt -c itwolink tf tex -mtt -c itwolink lmfr ps - -mtt -c itwolink odes h -mtt -c itwolink numpar txt -mtt -c itwolink input txt -mtt -c itwolink odeso ps 'itwolink_t1' -mtt -c itwolink odeso ps 'itwolink_t2' -mtt -c itwolink odeso ps 'itwolink_t1s' -mtt -c itwolink odeso ps 'itwolink_t1s:itwolink_t1' -mtt -c itwolink odeso ps 'itwolink_t1s:itwolink_t2' -mtt -c itwolink rep txt - - - - - DELETED mttroot/mtt/lib/examples/Inverse/iTwoLink/msd_abg.fig Index: mttroot/mtt/lib/examples/Inverse/iTwoLink/msd_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Inverse/iTwoLink/msd_abg.fig +++ /dev/null @@ -1,21 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3825 4050 4950 4050 4725 4275 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3600 3825 3600 2700 3825 2925 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3600 4275 3600 5400 3825 5175 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2250 4050 3375 4050 3150 4275 -2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 6750 6975 6750 1125 900 1125 900 6975 6750 6975 -4 1 -1 0 0 0 20 0.0000000 4 210 150 3600 4185 1\001 -4 0 -1 0 0 0 20 0.0000000 4 270 1200 5085 4140 R:damper\001 -4 1 1 1 0 0 20 0.0000000 4 270 3585 3555 6300 Mass-spring-damper system\001 -4 2 4 0 0 0 20 0.0000000 4 240 870 2160 4140 SS:[in]\001 -4 1 -1 0 0 0 20 0.0000000 4 210 990 3600 5715 I:inertia\001 -4 1 -1 0 0 0 20 0.0000000 4 270 1050 3555 2610 C:spring\001 DELETED mttroot/mtt/lib/examples/Inverse/iTwoLink/msd_desc.tex Index: mttroot/mtt/lib/examples/Inverse/iTwoLink/msd_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Inverse/iTwoLink/msd_desc.tex +++ /dev/null @@ -1,31 +0,0 @@ -% Verbal description for system msd (msd_desc.tex) -% Generated by MTT on Thu Nov 13 09:38:17 GMT 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{msd} is - displayed in Figure \Ref{msd_abg} and its label - file is listed in Section \Ref{sec:msd_lbl}. - The subsystems are listed in Section \Ref{sec:msd_sub}. - - - \textbf{msd} is a simple Mass-Spring-Damper system with collocated - force and velocity. It is set up to provide a specification system - for each link of the two-link maipulator. This is appropriate because - \begin{itemize} - \item it has compatible physical behaviour with the system itself, - \item it specifies two decoupled systems, - \item it has linear behaviour and - \item it has a simple performance interpretation in terms of system - rise-time and overshoot. - \end{itemize} - -%%% Local Variables: -%%% mode: latex -%%% TeX-master: t -%%% End: DELETED mttroot/mtt/lib/examples/Inverse/iTwoLink/msd_lbl.txt Index: mttroot/mtt/lib/examples/Inverse/iTwoLink/msd_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Inverse/iTwoLink/msd_lbl.txt +++ /dev/null @@ -1,29 +0,0 @@ -%SUMMARY msd: Simple mass-spring damper -%DESCRIPTION -%% Label file for system msd (msd_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type C - spring lin state,k_s - -% Component type I - inertia lin flow,m_s - -% Component type R - damper lin flow,d_s - -% Component type SS - [in] SS external,external DELETED mttroot/mtt/lib/examples/Inverse/iTwoLink/oldROD_abg.fig Index: mttroot/mtt/lib/examples/Inverse/iTwoLink/oldROD_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Inverse/iTwoLink/oldROD_abg.fig +++ /dev/null @@ -1,123 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4728 4278 5403 4953 5178 4953 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5854 5404 6529 6079 6304 6079 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4728 6078 5403 5403 5403 5628 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5853 4953 6528 4278 6528 4503 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 1 - 4277 3827 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3152 2702 4277 3827 4052 3827 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6977 6527 8102 7652 7877 7652 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3152 7652 4277 6527 4277 6752 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6977 3827 8102 2702 8102 2927 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5852 5177 6527 5177 6392 5312 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2927 2927 2927 4952 3152 4727 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2927 5402 2927 7427 3152 7202 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2701 5176 2026 5176 2161 5311 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2926 1351 2926 2476 3196 2206 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2926 7876 2926 9001 3196 8731 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8328 2928 8328 4953 8553 4728 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8328 5403 8328 7428 8553 7203 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8327 1352 8327 2477 8597 2207 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8327 7877 8327 9002 8597 8732 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5626 1351 5626 4951 5851 4726 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5626 5401 5626 9001 5851 8776 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8551 5176 9226 5176 9091 5311 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3826 4951 6526 4051 6436 4231 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3826 4996 3826 5356 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4276 5176 3826 5176 3961 5311 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3826 5401 6301 6301 6121 6301 -2 1 0 1 5 -1 0 0 -1 0.000 0 0 -1 0 0 3 - 3601 5401 4051 6301 3826 6301 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3601 4951 4051 4051 4051 4276 -2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5536 5176 5086 5176 5221 5311 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 6300 9675 6300 675 4950 675 4950 9675 6300 9675 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 9000 9675 9000 675 7650 675 7650 9675 9000 9675 -2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 11025 10305 11025 225 225 225 225 10305 11025 10305 -2 4 0 1 1 7 0 0 -1 0.000 0 0 7 0 0 5 - 3600 9675 2250 9675 2250 675 3600 675 3600 9675 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 10125 2250 990 2250 990 900 10125 900 10125 2250 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 10125 5850 990 5850 990 4500 10125 4500 10125 5850 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 10125 9450 990 9450 990 8100 10125 8100 10125 9450 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 2700 4950 2700 5400 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5850 4950 5850 5400 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 8550 4950 8550 5400 -4 1 -1 0 0 0 20 0.0000000 4 210 150 5628 5268 1\001 -4 1 -1 0 0 0 20 0.0000000 4 210 315 6933 5268 I:J\001 -4 1 -1 0 0 0 20 0.0000000 4 210 150 2927 5312 1\001 -4 1 -1 0 0 0 20 0.0000000 4 210 150 2972 2792 0\001 -4 1 -1 0 0 0 20 0.0000000 4 210 150 2927 7742 0\001 -4 1 -1 0 0 0 20 0.0000000 4 210 150 8328 5313 1\001 -4 1 -1 0 0 0 20 0.0000000 4 210 150 8373 2793 0\001 -4 1 -1 0 0 0 20 0.0000000 4 210 150 8328 7743 0\001 -4 1 -1 0 0 0 20 0.0000000 4 270 735 9676 5266 I:m_y\001 -4 1 -1 0 0 0 20 0.0000000 4 240 735 1531 5221 I:m_x\001 -4 1 -1 0 0 0 20 0.0000000 4 210 1170 4636 4141 EMTF:c1\001 -4 1 -1 0 0 0 20 0.0000000 4 210 1170 4681 6391 EMTF:c2\001 -4 1 -1 0 0 0 20 0.0000000 4 210 1155 7156 4141 EMTF:s1\001 -4 1 -1 0 0 0 20 0.0000000 4 210 1155 7156 6391 EMTF:s2\001 -4 1 5 0 0 0 20 0.0000000 4 210 150 3603 5313 0\001 -4 1 26 0 0 0 16 0.0000000 4 195 330 6751 4456 [in]\001 -4 1 26 0 0 0 16 0.0000000 4 195 450 6751 3781 [out]\001 -4 1 26 0 0 0 16 0.0000000 4 195 330 6751 6076 [in]\001 -4 1 26 0 0 0 16 0.0000000 4 195 450 6751 6706 [out]\001 -4 1 26 0 0 0 16 0.0000000 4 195 570 6211 6526 [mod]\001 -4 1 5 0 0 0 20 0.0000000 4 210 990 4681 5266 INTF:th\001 -4 1 1 1 0 0 20 0.0000000 4 210 210 2925 10035 X\001 -4 1 1 1 0 32 20 0.0000000 4 135 195 5580 9990 a\001 -4 1 1 1 0 0 20 0.0000000 4 210 210 8280 9990 Y\001 -4 2 26 0 0 0 16 0.0000000 4 195 570 3960 4140 [mod]\001 -4 2 26 0 0 0 16 0.0000000 4 195 570 6345 4095 [mod]\001 -4 2 26 0 0 0 16 0.0000000 4 195 570 3960 6210 [mod]\001 -4 1 26 0 0 0 16 0.0000000 4 195 330 4590 4455 [in]\001 -4 1 26 0 0 0 16 0.0000000 4 195 450 4545 3780 [out]\001 -4 1 26 0 0 0 16 0.0000000 4 195 450 4590 6660 [out]\001 -4 0 26 0 0 0 16 0.0000000 4 195 330 4365 6030 [in]\001 -4 1 4 0 0 0 20 0.0000000 4 240 1065 2971 1216 SS:[x_a]\001 -4 1 4 0 0 0 20 0.0000000 4 240 1080 2971 9361 SS:[x_b]\001 -4 1 4 0 0 0 20 0.0000000 4 270 1065 8372 1217 SS:[y_a]\001 -4 1 4 0 0 0 20 0.0000000 4 270 1080 8417 9362 SS:[y_b]\001 -4 1 4 0 0 0 20 0.0000000 4 270 1575 5671 1216 SS:[alpha_a]\001 -4 1 4 0 0 0 20 0.0000000 4 270 1590 5671 9361 SS:[alpha_b]\001 -4 1 1 1 0 0 20 0.0000000 4 270 630 1350 2700 Tip a\001 -4 1 1 1 0 0 20 0.0000000 4 240 1470 1260 6300 Mass centre\001 -4 1 1 1 0 0 20 0.0000000 4 270 645 1350 9855 Tip b\001 DELETED mttroot/mtt/lib/examples/Inverse/iTwoLink/oldROD_desc.tex Index: mttroot/mtt/lib/examples/Inverse/iTwoLink/oldROD_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Inverse/iTwoLink/oldROD_desc.tex +++ /dev/null @@ -1,20 +0,0 @@ -% Verbal description for system oldROD (oldROD_desc.tex) -% Generated by MTT on Fri Aug 15 09:53:23 BST 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% Revision 1.1 1997/08/15 09:41:19 peterg -% Initial revision -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{oldROD} is - displayed in Figure \Ref{oldROD_abg} and its label - file is listed in Section \Ref{sec:oldROD_lbl}. - The subsystems are listed in Section \Ref{sec:oldROD_sub}. - -{\bf oldROD} is essentially as described in Figure 10.2 of -``Metamodelling''. DELETED mttroot/mtt/lib/examples/Inverse/iTwoLink/oldROD_lbl.txt Index: mttroot/mtt/lib/examples/Inverse/iTwoLink/oldROD_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Inverse/iTwoLink/oldROD_lbl.txt +++ /dev/null @@ -1,53 +0,0 @@ -%SUMMARY oldROD: rigid rod in two dimensions -%DESCRIPTION Port [alpha_a]: Angular torque/velocity - end a -%DESCRIPTION Port [alpha_b]: Angular torque/velocity - end b -%DESCRIPTION Port [x_a]: x force/velocity - end a -%DESCRIPTION Port [x_b]: x force/velocity - end b -%DESCRIPTION Port [y_a]: y force/velocity - end a -%DESCRIPTION Port [y_b]: y force/velocity - end b -%DESCRIPTION -%DESCRIPTION Parameter 1: length from end 1 to mass centre -%DESCRIPTION Parameter 2: length from end 2 to mass centre -%DESCRIPTION Parameter 3: inertia about mass centre -%DESCRIPTION Parameter 4: mass -%DESCRIPTION See Section 10.2 of "Metamodelling" - - -%% Label file for system oldROD (oldROD_lbl.txt) - - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.2 1997/08/15 09:43:06 peterg -% %% Now has lablelled (as opposed to numbered) ports. -% %% -% Revision 1.1 1996/11/07 10:57:17 peterg -% Initial revision -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - -%Inertias -J lin flow,$3 -m_x lin flow,$4 -m_y lin flow,$4 - -%Integrate angular velocity to get angle -th - -%Modulated transformers -s1 lsin flow,$1 -s2 lsin flow,$2 -c1 lcos flow,$1 -c2 lcos flow,$2 - - - DELETED mttroot/mtt/lib/examples/Inverse/iTwoLink/twolink_abg.fig Index: mttroot/mtt/lib/examples/Inverse/iTwoLink/twolink_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Inverse/iTwoLink/twolink_abg.fig +++ /dev/null @@ -1,82 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -1 3 0 2 1 7 1 0 -1 0.000 1 0.0000 8550 1125 485 485 8550 1125 8730 1575 -1 3 0 2 1 7 1 0 -1 0.000 1 0.0000 8550 5625 485 485 8550 5625 9035 6110 -2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3468 1128 3738 1128 -2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5720 1130 5990 1130 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2025 5625 4502 5627 4277 5852 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4726 5851 4726 7426 4951 7201 -2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3472 8647 3742 8647 -2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4597 8647 4867 8647 -2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5724 8649 5994 8649 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4730 8645 4730 10220 4955 9995 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5855 8645 5855 10220 6080 9995 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3601 3826 3601 7426 3826 7201 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5851 3826 5851 7426 6076 7201 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 6525 8775 6525 7200 2925 7200 2925 8775 6525 8775 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 6525 2025 6525 450 2925 450 2925 2025 6525 2025 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 6525 6435 6525 4860 2925 4860 2925 6435 6525 6435 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 6525 11250 6525 9675 2925 9675 2925 11250 6525 11250 -2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 9450 11475 9450 225 180 225 180 11475 9450 11475 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3603 1128 3603 2703 3828 2478 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5853 1128 5853 2703 6078 2478 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4726 3826 4726 5401 4951 5176 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 6525 4050 2925 4050 2925 2475 6525 2475 6525 4050 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3600 8622 3600 10197 3825 9972 -2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 8775 5175 8775 1575 8325 1575 8325 5175 8775 5175 -2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 8775 9675 8775 6075 8325 6075 8325 9675 8775 9675 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 4 - 2025 2250 4725 2250 4725 2700 4950 2475 -4 1 -1 0 0 0 20 0.0000 4 255 810 3603 948 SS:v_x\001 -4 0 -1 0 0 0 20 0.0000 4 195 135 4683 5718 0\001 -4 1 -1 0 0 0 20 0.0000 4 255 840 3608 10673 SS:F_x\001 -4 1 -1 0 0 0 20 0.0000 4 255 840 4733 10673 SS:F_a\001 -4 1 -1 0 0 0 20 0.0000 4 255 840 5903 10673 SS:F_y\001 -4 1 -1 0 0 0 20 0.0000 4 195 1200 4729 3379 ROD:rod1\001 -4 1 -1 0 0 0 20 0.0000 4 195 1200 4731 8196 ROD:rod2\001 -4 0 1 1 0 3 20 0.0000 4 210 720 6795 3375 Link 1\001 -4 0 1 1 0 3 20 0.0000 4 225 795 6750 5760 Joint 2\001 -4 0 1 1 0 3 20 0.0000 4 210 720 6750 8190 Link 2\001 -4 0 1 1 0 3 20 0.0000 4 270 375 6750 10485 Tip\001 -4 0 1 1 0 3 20 0.0000 4 225 795 6750 1260 Joint 1\001 -4 1 4 0 0 0 16 0.0000 4 210 495 3600 2970 [x_a]\001 -4 1 4 0 0 0 16 0.0000 4 225 900 4725 2970 [alpha_a]\001 -4 1 4 0 0 0 16 0.0000 4 210 510 3600 3780 [x_b]\001 -4 1 4 0 0 0 16 0.0000 4 225 915 4725 3780 [alpha_b]\001 -4 1 4 0 0 0 16 0.0000 4 225 510 5850 3780 [y_b]\001 -4 1 4 0 0 0 16 0.0000 4 225 495 5850 2970 [y_a]\001 -4 1 4 0 0 0 16 0.0000 4 210 495 3605 7835 [x_a]\001 -4 1 4 0 0 0 16 0.0000 4 225 900 4730 7835 [alpha_a]\001 -4 1 4 0 0 0 16 0.0000 4 225 495 5855 7835 [y_a]\001 -4 1 4 0 0 0 16 0.0000 4 210 510 3607 8512 [x_b]\001 -4 1 4 0 0 0 16 0.0000 4 225 915 4733 8513 [alpha_b]\001 -4 1 4 0 0 0 16 0.0000 4 225 510 5859 8514 [y_b]\001 -4 2 4 0 0 0 20 0.0000 4 255 1380 1936 2341 SS:[joint_1]\001 -4 2 4 0 0 0 20 0.0000 4 255 1380 1936 5716 SS:[joint_2]\001 -4 1 -1 0 0 0 20 0.0000 4 255 810 5808 948 SS:v_y\001 DELETED mttroot/mtt/lib/examples/Inverse/iTwoLink/twolink_desc.tex Index: mttroot/mtt/lib/examples/Inverse/iTwoLink/twolink_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Inverse/iTwoLink/twolink_desc.tex +++ /dev/null @@ -1,28 +0,0 @@ -% Verbal description for system twolink (twolink_desc.tex) -% Generated by MTT on Fri Jun 13 16:30:23 BST 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% Revision 1.1 1997/08/15 13:31:00 peterg -% Initial revision -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{twolink} is - displayed in Figure \Ref{twolink_abg} and its label - file is listed in Section \Ref{sec:twolink_lbl}. - The subsystems are listed in Section \Ref{sec:twolink_sub}. - -This is a heirachical version of the example from Section 10.5 of -"Metamodelling". It uses two compound components: {\bf ROD} and {\bf -GRAV}. {\bf ROD} is essentially as described in Figure 10.2 {\bf -GRAV} represents gravity by a vertical accelleration as in Section -10.9 of "Metamodelling" - -%%% Local Variables: -%%% mode: plain-tex -%%% TeX-master: t -%%% End: DELETED mttroot/mtt/lib/examples/Inverse/iTwoLink/twolink_lbl.txt Index: mttroot/mtt/lib/examples/Inverse/iTwoLink/twolink_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Inverse/iTwoLink/twolink_lbl.txt +++ /dev/null @@ -1,54 +0,0 @@ -%SUMMARY twolink: two-link manipulator from Section 10.5 of "Metamodelling" -%DESCRIPTION This is a heirachical version of the -%DESCRIPTION example from Section 10.5 of "Metamodelling". -%DESCRIPTION It uses two compound components: ROD and GRA -%DESCRIPTION ROD is essentially as described in Figure 10.2 -%DESCRIPTION GRAV represents gravity by a vertical accelleration -%DESCRIPTION as in Section 10.9 of "Metamodelling" - - -%% Label (twolink_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.2 1996/12/05 12:39:49 peterg -% %% Documentation -% %% -% %% Revision 1.1 1996/12/05 12:17:15 peterg -% %% Initial revision -% %% -% %% Revision 1.1 1996/11/14 10:48:42 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - -%Rod parameters - identical rods -rod1 none l;l;j_s;m_s -rod2 none l;l;j_s;m_s - -%Zero velocity sources -v_x SS internal,0 -v_y SS internal,0 - - -%Zero force/torque sources -F_x SS 0,internal -F_a SS 0,internal -F_y SS 0,internal - - -%Torque at joints -%f_a1 SS external,external -%f_a2 SS external,external - -%Gravity -%g - DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/CantileverBeam/CantileverBeam_abg.fig Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/CantileverBeam/CantileverBeam_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/CantileverBeam/CantileverBeam_abg.fig +++ /dev/null @@ -1,16 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 1125 2700 2250 2700 2025 2925 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2745 2700 3870 2700 3645 2925 -4 1 0 100 0 18 20 1.5708 4 225 675 1035 2700 Free\001 -4 1 0 100 0 18 20 1.5708 4 300 3405 2610 2700 BernoulliEuler:Lump*20\001 -4 1 0 100 0 18 20 1.5708 4 225 795 4230 2700 Fixed\001 DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/CantileverBeam/CantileverBeam_desc.tex Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/CantileverBeam/CantileverBeam_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/CantileverBeam/CantileverBeam_desc.tex +++ /dev/null @@ -1,59 +0,0 @@ -% -*-latex-*- Put EMACS into LaTeX-mode -% Verbal description for system CantileverBeam (CantileverBeam_desc.tex) -% Generated by MTT on Mon Apr 19 07:04:54 BST 1999. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1999/05/18 04:01:50 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -The acausal bond graph of system \textbf{CantileverBeam} is displayed in -Figure \Ref{fig:CantileverBeam_abg.ps} and its label file is listed in -Section \Ref{sec:CantileverBeam_lbl}. The subsystems are listed in Section -\Ref{sec:CantileverBeam_sub}. - -This example represents the dynamics of a uniform beam with one fixed -and one free end. The beam is approximated by 20 equal lumps using -the Bernoulli-Euler approximation with damping. -The input is the angular velocity of the fixed end, the output is the -linear velocity of the free end. - -The system parameters are given in Section -\Ref{sec:CantileverBeam_numpar.tex}. Note that the numer of ban -segments has been set to 21. - - The system has 20 states (10 -modes of vibration), 1 inputs and 1 outputs. - -The first 5 vibration frequencies are given in Table \ref{tab:freq} -togtherr with the theoretical (based on the Bernoulli-Euler beam with -the same values of $EI$ and $\rho A$. -\begin{table}[htbp] - \begin{center} - \begin{tabular}{||l|l|l||} - \hline - \hline - Mode & Frequency & Theoretical frequency\\ - \hline - 1 & 76.14 & 76.14\\ - 2 & 477.11 & 484.50\\ - 3 &1330.62 &1334.55\\ - 4 &2586.77 &2617.19\\ - 5 &4225.14 &4323.77\\ - \hline - \hline - \end{tabular} - \caption{Mode frequencies (rad $s^{-1}$)} - \label{tab:freq} - \end{center} -\end{table} - - - - - DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/CantileverBeam/CantileverBeam_input.txt Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/CantileverBeam/CantileverBeam_input.txt ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/CantileverBeam/CantileverBeam_input.txt +++ /dev/null @@ -1,14 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# Input specification (CantileverBeam_input.txt) -# Generated by MTT at Thu Apr 22 00:12:54 BST 1999 -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - -# Set the inputs -mttu(1) = exp(-t/0.1); # tau (CantileverBeam) - -# Set the switches DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/CantileverBeam/CantileverBeam_lbl.txt Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/CantileverBeam/CantileverBeam_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/CantileverBeam/CantileverBeam_lbl.txt +++ /dev/null @@ -1,37 +0,0 @@ -%% Label file for system CantileverBeam (CantileverBeam_lbl.txt) -%SUMMARY CantileverBeam -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -%VAR n -%VAR BeamLength -%VAR BeamWidth -%VAR BeamThickness -%VAR Youngs -%VAR Density -%VAR Area -%VAR AreaMoment -%VAR EI -%VAR rhoA -%VAR k - -% Port aliases - -% Argument aliases - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type BernoulliEuler - Lump DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/CantileverBeam/CantileverBeam_numpar.txt Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/CantileverBeam/CantileverBeam_numpar.txt ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/CantileverBeam/CantileverBeam_numpar.txt +++ /dev/null @@ -1,42 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# Numerical parameter file (CantileverBeam_numpar.txt) -# Generated by MTT at Mon Apr 19 06:24:08 BST 1999 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Parameters -N = 21; -BeamLength = 0.58; -BeamWidth = 0.05; -BeamThickness = 0.005; -Youngs = 68.94e9; -Density = 2712.8; -Area = BeamWidth*BeamThickness; -AreaMoment = (BeamWidth*BeamThickness^3)/12; - -EI = Youngs*AreaMoment; -rhoA = Density*Area; - -dz = BeamLength/N; # Incremental length -dm = rhoA*dz; # Incremental mass -dk = EI/dz; # Incremental stiffness -dr = 0; # Damping - -K = sqrt(EI/rhoA)/BeamLength^2; # Normalising factor - - -# EI= 58.6957 # from Reza -# rhoA= 0.7989 # from Reza - - - - - - - - DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/CantileverBeam/CantileverBeam_rep.txt Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/CantileverBeam/CantileverBeam_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/CantileverBeam/CantileverBeam_rep.txt +++ /dev/null @@ -1,28 +0,0 @@ -## -*-octave-*- Put Emacs into octave-mode -## Outline report file for system CantileverBeam (CantileverBeam_rep.txt) -## Generated by MTT on" Mon Apr 19 06:43:08 BST 1999. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - -mtt CantileverBeam abg tex # The system description -## mtt CantileverBeam cbg ps # The causal bond graph -## Uncomment the following lines or add others -mtt CantileverBeam struc tex # The system structure -## mtt CantileverBeam dae tex # The system dae -## mtt CantileverBeam ode tex # The system ode -## mtt CantileverBeam sspar tex # Steady-state parameters -## mtt CantileverBeam ss tex # Steady state -## mtt CantileverBeam dm tex # Descriptor matrices (of linearised system) -## mtt CantileverBeam sm tex # State matrices (of linearised system) -## mtt CantileverBeam tf tex # Transfer function (of linearised system) -mtt CantileverBeam simpar tex # Simulation parameters -mtt CantileverBeam numpar tex # Numerical simulation parameters -## mtt CantileverBeam input tex # Simulation input -## mtt CantileverBeam odeso ps # Simulation output -mtt CantileverBeam lmfr ps # log modulus of frequency response (of linearised system) - DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/CantileverBeam/CantileverBeam_simpar.txt Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/CantileverBeam/CantileverBeam_simpar.txt ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/CantileverBeam/CantileverBeam_simpar.txt +++ /dev/null @@ -1,18 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# Simulation parameters for system CantileverBeam (CantileverBeam_simpar.txt) -# Generated by MTT on Mon Apr 19 06:32:42 BST 1999. -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - - -LAST = 1.0; # Last time in simulation -DT = 0.001; # Print interval -STEPFACTOR = 1; # Integration steps per print interval -WMIN = 1; # Minimum frequency = 10^WMIN -WMAX = 4; # Maximum frequency = 10^WMAX -WSTEPS = 200; # Number of frequency steps -INPUT = 1; # Index of the input DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/CantileverBeam/Fixed_abg.fig Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/CantileverBeam/Fixed_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/CantileverBeam/Fixed_abg.fig +++ /dev/null @@ -1,21 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4275 1800 5400 1800 5175 2025 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4230 2700 5355 2700 5130 2925 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 5400 1575 5400 2025 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 5400 2475 5400 2925 -4 0 0 100 0 18 20 0.0000 4 225 1065 5625 1890 Sf:zero\001 -4 0 0 100 0 18 20 0.0000 4 225 585 5625 2790 Sf:u\001 -4 2 4 100 0 18 20 0.0000 4 300 1230 4140 1890 SS:[y_in]\001 -4 2 4 100 0 18 20 0.0000 4 300 1785 4140 2790 SS:[theta_in]\001 DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/CantileverBeam/Fixed_lbl.txt Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/CantileverBeam/Fixed_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/CantileverBeam/Fixed_lbl.txt +++ /dev/null @@ -1,31 +0,0 @@ -%% Label file for system Fixed (Fixed_lbl.txt) -%SUMMARY Fixed -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS in y_in,theta_in - -% Argument aliases - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type SS - [theta_in] SS external,external - [y_in] SS external,external - -% Component type Sf - u SS external - zero SS 0 DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/CantileverBeam/Free_abg.fig Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/CantileverBeam/Free_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/CantileverBeam/Free_abg.fig +++ /dev/null @@ -1,21 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4275 1800 5400 1800 5175 2025 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4230 2700 5355 2700 5130 2925 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 5400 1575 5400 2025 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 5400 2475 5400 2925 -4 2 0 100 0 18 20 0.0000 4 300 585 4140 1890 Df:y\001 -4 2 0 100 0 18 20 0.0000 4 225 1125 4140 2790 Se:zero\001 -4 0 4 100 0 18 20 0.0000 4 300 1440 5490 1890 SS:[y_out]\001 -4 0 4 100 0 18 20 0.0000 4 300 1995 5445 2790 SS:[theta_out]\001 DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/CantileverBeam/Free_lbl.txt Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/CantileverBeam/Free_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/CantileverBeam/Free_lbl.txt +++ /dev/null @@ -1,35 +0,0 @@ -%% Label file for system Free (Free_lbl.txt) -%SUMMARY Free -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS out y_out,theta_out - -% Argument aliases - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type Df - y SS external - -% Component type SS - [theta_out] SS external,external - [y_out] SS external,external - -% Component type Se - zero SS 0 - - DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/CantileverBeam/frequencies.m Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/CantileverBeam/frequencies.m ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/CantileverBeam/frequencies.m +++ /dev/null @@ -1,14 +0,0 @@ -function [w_r,w_a,n_null] = frequencies (A,B,C,D) - - ## usage: [w_r,w_a] = frequencies (A,B,C,D) - ## - ## Resonant and antiresonant frequencies for undampled beam - - poles = eig(A); - Np = length(poles); - zeros = tzero(A,B,C,D); - Nz = length(zeros); - w_r = sort(imag(poles)); w_r = w_r(Np/2+1:Np); - w_a = sort(imag(zeros)); w_a = nozeros(w_a(Nz/2+1:Nz))'; - n_null = (Nz/2-length(w_a))*2; -endfunction DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/PinnedBeam/Fixed_lbl.txt Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/PinnedBeam/Fixed_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/PinnedBeam/Fixed_lbl.txt +++ /dev/null @@ -1,31 +0,0 @@ -%% Label file for system Fixed (Fixed_lbl.txt) -%SUMMARY Fixed -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS in y_in,theta_in - -% Argument aliases - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type SS - [theta_in] SS external,external - [y_in] SS external,external - -% Component type Sf - u SS external - zero SS 0 DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/PinnedBeam/Free_lbl.txt Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/PinnedBeam/Free_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/PinnedBeam/Free_lbl.txt +++ /dev/null @@ -1,35 +0,0 @@ -%% Label file for system Free (Free_lbl.txt) -%SUMMARY Free -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS out y_out,theta_out - -% Argument aliases - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type Df - y SS external - -% Component type SS - [theta_out] SS external,external - [y_out] SS external,external - -% Component type Se - zero SS 0 - - DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/PinnedBeam/MakeFreqTable.m Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/PinnedBeam/MakeFreqTable.m ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/PinnedBeam/MakeFreqTable.m +++ /dev/null @@ -1,64 +0,0 @@ -# ## Makes the table of resonant frequencies - -# ## Actual resonant freqs -# fr_measured = [ -# 2.0683e+01 -# 7.5310e+01 -# 1.7080e+02 -# 3.0532e+02 -# 4.7414e+02]; - -# fa_measured = [ -# 2.0896e+01 -# 7.6867e+01 -# 1.7794e+02 -# 3.1890e+02 -# 4.8768e+02]; - -## Parameters - ideal pinned beam -PinnedBeam_numpar; - -## Ideal pinned beam - theory -[fr_theory] = beam_frequencies("pinned",ei,rhoa,beamlength)/(2*pi); -[fa_theory] = beam_frequencies("clamped-pinned",ei,rhoa,beamlength)/(2*pi); - -## SM form to get poles and zeros of the model -# ## Ideal pinned -# [A,B,C,D] = PinnedBeam_sm; -# fr_model_ideal = frequencies(A,B,C,D)/(2*pi); - -# ## Actual with non-ideal pins -# PinnedBeam_numpar; - -[A,B,C,D] = PinnedBeam_sm; - -[w_r, w_a] = frequencies(A,B,C,D); -fr_model = w_r/(2*pi); -fa_model = w_a/(2*pi); - - -printf("\nIndex \t& Theory \t& Model \t& Theory \t& Model \\\\ \n"); -printf("\\hline\n"); -for i = 1:5 - printf("%i \t& %3.2f \t& %3.2f \t& %3.2f \t& %3.2f\\\\ \n", i, \ - fr_theory(i), fr_model(i), fa_theory(i), fa_model(i)); -endfor - -# printf("\nMode \t& Theory \t& Model(ideal) \t& Model \t& Actual \\\\ \n"); -# printf("\\hline\n"); -# for i = 1:5 -# printf("%i \t& %3.2f \t& %3.2f \t& %3.2f \t& %3.2f\\\\ \n", i, fr_theory(i), \ -# fr_model_ideal(i), fr_model(i), fr_measured(i)); -# endfor - -# printf("\nMode \t& Theory \t& Model \t& Actual \\\\ \n"); -# printf("\\hline\n"); -# for i = 1:5 -# printf("%i \t& %3.2f \t& %3.2f \t& %3.2f \\\\ \n", i, fa_theory(i), fa_model(i), fa_measured(i)); -# endfor - - - - - - DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/PinnedBeam/PinnedBeam_abg.fig Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/PinnedBeam/PinnedBeam_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/PinnedBeam/PinnedBeam_abg.fig +++ /dev/null @@ -1,50 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -6 2925 1980 3015 2520 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 2970 2025 2970 2475 --6 -6 4005 2880 4095 3420 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 4050 2925 4050 3375 --6 -6 8955 1980 9045 2520 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 9000 2025 9000 2475 --6 -6 7830 2880 7920 3420 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 7875 2925 7875 3375 --6 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4770 2700 5895 2700 5670 2925 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 6300 2700 7425 2700 7200 2925 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2970 2250 4095 2250 3870 2475 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2925 3150 4050 3150 3825 3375 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 7875 2250 9000 2250 8775 2475 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 7875 3150 9000 3150 8775 3375 -2 4 0 2 31 7 101 0 -1 0.000 0 0 7 0 0 5 - 1125 225 1125 5400 10800 5400 10800 225 1125 225 -4 1 0 100 0 18 20 1.5708 4 360 3855 4635 2700 BernoulliEuler:LumpL\001 -4 1 0 100 0 18 20 1.5708 4 360 4170 6165 2700 BernoulliEuler:Lump*18\001 -4 1 0 100 0 18 20 1.5708 4 360 3885 7740 2700 BernoulliEuler:LumpR\001 -4 2 4 100 0 18 14 0.0000 4 210 585 3915 2070 [y_in]\001 -4 2 4 100 0 18 14 0.0000 4 210 990 3915 2970 [theta_in]\001 -4 0 4 100 0 18 14 0.0000 4 210 735 7965 1980 [y_out]\001 -4 0 4 100 0 18 14 0.0000 4 210 1140 7965 2970 [theta_out]\001 -4 2 0 100 0 18 20 0.0000 4 285 1230 2835 3285 SS:ssL\001 -4 0 0 100 0 18 20 0.0000 4 285 1515 9135 2385 Sf:zeroR\001 -4 0 0 100 0 18 20 0.0000 4 285 1260 9135 3285 SS:ssR\001 -4 2 0 100 0 18 20 0.0000 4 285 1485 2835 2385 Sf:zeroL\001 DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/PinnedBeam/PinnedBeam_desc.tex Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/PinnedBeam/PinnedBeam_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/PinnedBeam/PinnedBeam_desc.tex +++ /dev/null @@ -1,101 +0,0 @@ -% -*-latex-*- Put EMACS into LaTeX-mode -% Verbal description for system PinnedBeam (PinnedBeam_desc.tex) -% Generated by MTT on Mon Apr 19 07:04:54 BST 1999. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.2 1999/11/24 22:17:26 peterg -% %% Updated to correspond to Reza's beam -% %% -% %% Revision 1.1 1999/10/11 05:08:14 peterg -% %% Initial revision -% %% -% %% Revision 1.1 1999/05/18 04:01:50 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -The acausal bond graph of system \textbf{PinnedBeam} is displayed in -Figure \Ref{fig:PinnedBeam_abg.ps} and its label file is listed in -Section \Ref{sec:PinnedBeam_lbl}. The subsystems are listed in Section -\Ref{sec:PinnedBeam_sub}. - -This example represents the dynamics of a uniform beam with two pinned -ends. The left-hand end is driven by a torque input and the -corresponding collocated angular velocity is measured. The beam is -approximated by 20 equal lumps using the Bernoulli-Euler. Because the -two end lumps have different causality to the rest of the beam lumps, -they are represented seperately. The system has 40 states (20 modes -of vibration), 1 input and 1 output. - -\begin{table}[htbp] - \begin{center} - \begin{tabular}{|l|l|} - \hline - Name & Value\\ - \hline - Beam Length, $L$ & 0.60 m\\ - Beam Width $w$ & 0.05 m\\ - Beam Thickness $t_b$ & 0.003\\ - Young's Modulus $E$ & $68.94 \times 10^9$ \\ - Density $\rho$ & 2712.8\\ - \hline - Derived quantities & \\ - \hline - $EI$ & 7.76\\ - $\rho A$ & 0.40692 \\ - \hline - \end{tabular} - \caption{Beam parameters} - \label{tab:beam} - \end{center} -\end{table} - - -The beam was made of aluminium with physical dimensions and constants -given in Table \ref{tab:beam}. The derived beam constants are given by the -formulae: -\begin{equation} - \label{eq:formulae} - \begin{align} - EI &= E \times w \frac{1}{12} t_b^3\\ - \rho A &= \rho \times w t_b - \end{align} -\end{equation} - -The system parameters are also given in Section -\Ref{sec:PinnedBeam_numpar.tex}. - - -\begin{table}[htbp] - \begin{center} - \begin{tabular}{||l|l|l|l|l||} - \hline - \hline -Index & $f_r$ (theory) & $f_r$ (model)& $f_a$ (theory) & $f_a$ (model) \\ -\hline -1 & 19.05 & 19.01 & 29.72 & 31.28\\ -2 & 76.24 & 75.57 & 96.50 & 100.80\\ -3 & 171.58 & 168.29 & 200.73 & 208.20\\ -4 & 304.76 & 294.89 & 344.13 & 350.88\\ -5 & 476.34 & 452.25 & 524.98 & 525.23\\ - \hline - \hline - \end{tabular} - \caption{Resonant and anti-resonant frequencies (Hz)} - \label{tab:freq} - \end{center} -\end{table} - -Standard modal analysis give the theoretical system resonant -frequencies $f_r$ (based on the Bernoulli-Euler beam with the same values of -$EI$ and $\rho A$). The system anti-resonances $f_a$ correspond to those of -the \emph{inverse} system with reversed causality, that the driven -pinned end is replaced by a clamped end; again modal analysis of the -inverse system gives the system anti resonances. The model and -theoretical values are compared in Table \ref{tab:freq} for the first -5 modes. (This table was generated using the script MakeFreqTable.m) - DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/PinnedBeam/PinnedBeam_input.txt Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/PinnedBeam/PinnedBeam_input.txt ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/PinnedBeam/PinnedBeam_input.txt +++ /dev/null @@ -1,14 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# Input specification (PinnedBeam_input.txt) -# Generated by MTT at Thu Apr 22 00:12:54 BST 1999 -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - -# Set the inputs -mttu(1) = exp(-t/0.1); # tau (PinnedBeam) - -# Set the switches DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/PinnedBeam/PinnedBeam_lbl.txt Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/PinnedBeam/PinnedBeam_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/PinnedBeam/PinnedBeam_lbl.txt +++ /dev/null @@ -1,52 +0,0 @@ -%% Label file for system PinnedBeam (PinnedBeam_lbl.txt) -%SUMMARY PinnedBeam -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1999/10/11 05:08:22 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -%VAR n -%VAR BeamLength -%VAR BeamWidth -%VAR BeamThickness -%VAR Youngs -%VAR Density -%VAR Area -%VAR AreaMoment -%VAR EI -%VAR rhoA -%VAR k - -% Port aliases - -% Argument aliases - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type BernoulliEuler - Lump - LumpL - LumpR - -% Component type SS - ssL SS external,external - ssR SS 0,internal - -% Component type Sf - zeroL none 0 - zeroR none 0 - - DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/PinnedBeam/PinnedBeam_numpar.txt Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/PinnedBeam/PinnedBeam_numpar.txt ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/PinnedBeam/PinnedBeam_numpar.txt +++ /dev/null @@ -1,30 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# Numerical parameter file (pPinnedBeam_numpar.txt) -# Generated by MTT at Mon Apr 19 06:24:08 BST 1999 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -## Number of lumps -Lumps = 20; # Number of lumps - -## Beam physical parameters -BeamLength = 0.60; -BeamWidth = 0.05; -BeamThickness = 0.003; -Youngs = 68.94e9; -Density = 2712.8; -Area = BeamWidth*BeamThickness; -AreaMoment = (BeamWidth*BeamThickness^3)/12; -EI = Youngs*AreaMoment; -rhoA = Density*Area; - -## Segments -dz = BeamLength/Lumps; # Incremental length -dm = rhoA*dz; # Incremental mass -dk = EI/dz; # Incremental stiffness -dr = 0; # Damping DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/PinnedBeam/PinnedBeam_rep.txt Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/PinnedBeam/PinnedBeam_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/PinnedBeam/PinnedBeam_rep.txt +++ /dev/null @@ -1,28 +0,0 @@ -## -*-octave-*- Put Emacs into octave-mode -## Outline report file for system PinnedBeam (PinnedBeam_rep.txt) -## Generated by MTT on" Mon Apr 19 06:43:08 BST 1999. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - -mtt PinnedBeam abg tex # The system description -## mtt PinnedBeam cbg ps # The causal bond graph -## Uncomment the following lines or add others -mtt PinnedBeam struc tex # The system structure -## mtt PinnedBeam dae tex # The system dae -## mtt PinnedBeam ode tex # The system ode -## mtt PinnedBeam sspar tex # Steady-state parameters -## mtt PinnedBeam ss tex # Steady state -## mtt PinnedBeam dm tex # Descriptor matrices (of linearised system) -## mtt PinnedBeam sm tex # State matrices (of linearised system) -## mtt PinnedBeam tf tex # Transfer function (of linearised system) -mtt PinnedBeam simpar tex # Simulation parameters -mtt PinnedBeam numpar tex # Numerical simulation parameters -## mtt PinnedBeam input tex # Simulation input -## mtt PinnedBeam odeso ps # Simulation output -mtt PinnedBeam lmfr ps # log modulus of frequency response (of linearised system) - DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/PinnedBeam/PinnedBeam_simpar.txt Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/PinnedBeam/PinnedBeam_simpar.txt ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/PinnedBeam/PinnedBeam_simpar.txt +++ /dev/null @@ -1,18 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# Simulation parameters for system PinnedBeam (PinnedBeam_simpar.txt) -# Generated by MTT on Mon Apr 19 06:32:42 BST 1999. -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - - -LAST = 1.0; # Last time in simulation -DT = 0.01; # Print interval -STEPFACTOR = 10; # Integration steps per print interval -WMIN = 1; # Minimum frequency = 10^WMIN -WMAX = 4; # Maximum frequency = 10^WMAX -WSTEPS = 200; # Number of frequency steps -INPUT = 1; # Index of the input DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/MacroMicro/MacroMicro_abg.fig Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/MacroMicro/MacroMicro_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/MacroMicro/MacroMicro_abg.fig +++ /dev/null @@ -1,132 +0,0 @@ -#FIG 3.1 -Portrait -Center -Inches -1200 2 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2706 4806 3606 4806 3456 4956 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2406 5106 2406 6006 2556 5856 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3906 5106 3906 6006 4056 5856 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7208 4808 8108 4808 7958 4958 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8708 4808 9608 4808 9458 4958 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8408 5108 8408 6008 8558 5858 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7208 4508 8108 3608 8108 3833 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8708 3608 9608 4508 9383 4508 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 9909 5109 9909 6009 10059 5859 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6908 5108 6908 6008 7058 5858 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 8405 2405 8405 3305 8555 3155 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 11407 5107 11407 6007 11557 5857 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 11406 3306 11406 2406 11556 2556 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4206 4806 5106 4806 4956 4956 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5406 5106 5406 6006 5556 5856 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4206 4506 5106 3606 5106 3831 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5405 3305 5405 2405 5555 2555 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2405 3305 2405 2405 2555 2555 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 11707 4807 12607 4807 12457 4957 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 11707 3607 12607 4507 12382 4507 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2105 1805 2105 905 2255 1055 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2705 1805 2705 905 2855 1055 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5706 4806 6606 4806 6456 4956 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5706 3606 6606 4506 6381 4506 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2704 3604 3604 4504 3379 4504 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1208 4808 2108 4808 1958 4958 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1208 4508 2108 3608 2108 3833 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 681 3606 1131 3606 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 906 4506 906 3606 1056 3756 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 12905 4505 12905 3605 13055 3755 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 10207 4807 11107 4807 10957 4957 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 10207 4507 11107 3607 11107 3832 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 8400 3300 8625 3300 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 12900 3600 13125 3600 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 12675 3600 12900 3600 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 8175 3300 8400 3300 -2 4 1 2 1 7 1 0 -1 6.000 0 0 7 0 0 5 - 1501 5401 301 5401 301 3001 1501 3001 1501 5401 -2 2 1 2 1 7 1 0 -1 6.000 1 0 0 0 0 5 - 1502 452 3302 452 3302 3377 1502 3377 1502 452 -2 4 1 2 1 7 1 0 -1 6.000 0 0 7 0 0 5 - 4501 6601 3301 6601 3301 3901 4501 3901 4501 6601 -2 4 1 2 1 7 1 0 -1 6.000 0 0 7 0 0 5 - 6000 6600 4800 6600 4800 1800 6000 1800 6000 6600 -2 4 1 2 1 7 1 0 -1 6.000 0 0 7 0 0 5 - 7501 6601 6301 6601 6301 3901 7501 3901 7501 6601 -2 4 1 2 1 7 2 0 -1 6.000 0 0 7 0 0 5 - 9000 6600 7800 6600 7800 1800 9000 1800 9000 6600 -2 4 1 2 1 7 1 0 -1 6.000 0 0 7 0 0 5 - 10501 6601 9301 6601 9301 3901 10501 3901 10501 6601 -2 4 1 2 1 -1 1 0 -1 6.000 0 0 7 0 0 5 - 12000 6600 10800 6600 10800 1800 12000 1800 12000 6600 -2 4 1 2 1 7 1 0 -1 6.000 0 0 7 0 0 5 - 13501 5401 12301 5401 12301 3001 13501 3001 13501 5401 -4 1 -1 0 0 0 20 0.0000000 4 210 150 2406 4881 0\001 -4 1 -1 0 0 0 20 0.0000000 4 210 585 3906 6381 I:m1\001 -4 1 -1 0 0 0 20 0.0000000 4 210 585 2405 6380 R:b1\001 -4 1 -1 0 0 0 20 0.0000000 4 210 150 2405 3680 0\001 -4 1 -1 0 0 0 20 0.0000000 4 210 150 3906 4881 1\001 -4 1 -1 0 0 0 20 0.0000000 4 210 150 8408 4883 0\001 -4 1 -1 0 0 0 20 0.0000000 4 210 150 8408 3683 0\001 -4 1 -1 0 0 0 20 0.0000000 4 210 585 8483 6383 R:b3\001 -4 1 -1 0 0 0 20 0.0000000 4 210 675 8407 2182 SS:f2\001 -4 1 -1 0 0 0 20 0.0000000 4 210 585 9906 6381 I:m3\001 -4 1 -1 0 0 0 20 0.0000000 4 210 585 6905 6380 I:m2\001 -4 1 -1 0 0 0 20 0.0000000 4 210 150 11407 4882 0\001 -4 1 -1 0 0 0 20 0.0000000 4 210 150 11407 3682 0\001 -4 1 -1 0 0 0 20 0.0000000 4 210 525 11406 2181 C:kt\001 -4 1 -1 0 0 0 20 0.0000000 4 210 525 11482 6382 R:bt\001 -4 1 -1 0 0 0 20 0.0000000 4 210 150 5406 4881 0\001 -4 1 -1 0 0 0 20 0.0000000 4 210 150 5406 3681 0\001 -4 1 -1 0 0 0 20 0.0000000 4 210 585 5481 6381 R:b2\001 -4 1 -1 0 0 0 20 0.0000000 4 210 150 12909 4884 1\001 -4 1 -1 0 0 0 20 0.0000000 4 210 150 6908 4883 1\001 -4 1 -1 0 0 0 20 0.0000000 4 210 150 2404 2179 1\001 -4 1 -1 0 0 0 20 0.0000000 4 270 585 2779 754 C:p1\001 -4 1 -1 0 0 0 20 0.0000000 4 210 585 2104 754 R:d1\001 -4 1 -1 0 0 0 20 0.0000000 4 210 150 910 4885 1\001 -4 1 -1 0 0 0 20 0.0000000 4 210 675 902 3377 SS:fb\001 -4 1 -1 0 0 0 20 0.0000000 4 210 615 12905 3380 SS:ft\001 -4 1 -1 0 0 0 20 0.0000000 4 210 150 9909 4884 1\001 -4 1 -1 0 0 0 20 0.0000000 4 210 585 5405 2180 C:k2\001 -4 1 1 1 0 3 20 0.0000000 4 240 1530 3901 6901 Macro mass\001 -4 1 1 1 0 3 20 0.0000000 4 240 1800 2401 376 Macro control\001 -4 1 1 1 0 3 20 0.0000000 4 240 1455 900 5700 Macro base\001 -4 1 1 1 0 3 20 0.0000000 4 270 1890 5400 1650 Compliant link\001 -4 1 1 1 0 3 20 0.0000000 4 240 1470 6901 6901 Micro mass\001 -4 1 1 1 0 3 20 0.0000000 4 240 1890 8475 1650 Micro actuator\001 -4 1 1 1 0 3 20 0.0000000 4 270 1125 9901 6901 Tip mass\001 -4 1 1 1 0 3 20 0.0000000 4 270 2985 11400 1650 Compliant environment\001 -4 1 1 1 0 3 20 0.0000000 4 270 1305 12901 5701 Tip sensor\001 DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/MacroMicro/MacroMicro_desc.tex Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/MacroMicro/MacroMicro_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/MacroMicro/MacroMicro_desc.tex +++ /dev/null @@ -1,18 +0,0 @@ -% Verbal description for system MacroMicro (MacroMicro_desc.tex) -% Generated by MTT on Tue Dec 9 17:55:41 GMT 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{MacroMicro} is - displayed in Figure \Ref{MacroMicro_abg} and its label - file is listed in Section \Ref{sec:MacroMicro_lbl}. - The subsystems are listed in Section \Ref{sec:MacroMicro_sub}. - -This is a Bond Graph model of the macro-micro manipulation system -discussed by Sharon in his thesis and BY Sharon, Hogan and Hardt in -various papers. DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/MacroMicro/MacroMicro_lbl.txt Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/MacroMicro/MacroMicro_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/MacroMicro/MacroMicro_lbl.txt +++ /dev/null @@ -1,32 +0,0 @@ -%% Label file (macmic_lbl.txt) -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - -%Masses -m1 lin flow,m_1 -m2 lin flow,m_2 -m3 lin flow,m_3 - -%Springs -k2 lin state,k_2 -kt lin state,k_t - -%Dampers -b1 lin flow,b_1 -b2 lin flow,b_2 -b3 lin flow,b_3 -bt lin flow,b_t - -%Source/sensors -f2 SS external,internal -ft SS external,0 -fb SS internal,0 - -%Control -p1 lin flow,p_1 -d1 lin flow,d_1 - - - DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/MacroMicro/MacroMicro_numpar.txt Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/MacroMicro/MacroMicro_numpar.txt ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/MacroMicro/MacroMicro_numpar.txt +++ /dev/null @@ -1,12 +0,0 @@ - -m_1 = 0.0169; # m_1; -m_2 = 0.0169; # m_2; -b_1 = 0.13; # b_1; -b_2 = 0.013; # b_2; -k_2 = 24; # k_2; -k_t = 150; # k_t; -b_t = 0.16; # b_t; -b_3 = 0.13; # b_3; -m_3 = 0.005; # m_3; -p_1 = 10; # p_1; -d_1 = 0.9; # d_1; DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/MacroMicro/MacroMicro_rep.txt Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/MacroMicro/MacroMicro_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/MacroMicro/MacroMicro_rep.txt +++ /dev/null @@ -1,19 +0,0 @@ -# Outline report file for system MacroMicro (MacroMicro_rep.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -mtt MacroMicro abg tex -mtt MacroMicro cbg ps -mtt MacroMicro struc tex -mtt MacroMicro dae tex -mtt MacroMicro dm tex -mtt MacroMicro tf tex -mtt MacroMicro numpar txt -mtt MacroMicro lmfr ps -mtt MacroMicro sro ps - DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/MacroMicro/MacroMicro_simpar.txt Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/MacroMicro/MacroMicro_simpar.txt ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/MacroMicro/MacroMicro_simpar.txt +++ /dev/null @@ -1,19 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# Simulation parameters for system MacroMicro (MacroMicro_simpar.txt) -# Generated by MTT on Thu Nov 9 15:19:17 GMT 2000. -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - - -FIRST = 0.0; # First time in simulation output -DT = 0.01; # Print interval -LAST = 1.0; # Last time in simulation -STEPFACTOR = 10; # Integration steps per print interval -WMIN = -1; # Minimum frequency = 10^WMIN -WMAX = 2; # Maximum frequency = 10^WMAX -WSTEPS = 100; # Number of frequency steps -INPUT = 1; # Index of the input DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/MacroMicro/MacroMicro_state.txt Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/MacroMicro/MacroMicro_state.txt ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/MacroMicro/MacroMicro_state.txt +++ /dev/null @@ -1,14 +0,0 @@ -## -*-octave-*- Put Emacs into octave-mode ## - -## -## System MacroMicro, representation state, language txt; -## File MacroMicro_state.txt; -## Generated by MTT on Thu Nov 9 15:19:28 GMT 2000; - - -MacroMicro_k2 = 0.0; # Default -MacroMicro_kt = 0.0; # Default -MacroMicro_m1 = 0.0; # Default -MacroMicro_m2 = 0.0; # Default -MacroMicro_m3 = 0.0; # Default -MacroMicro_p1 = 0.0; # Default DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/NonlinearMSD/NonlinearMSD_abg.fig Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/NonlinearMSD/NonlinearMSD_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/NonlinearMSD/NonlinearMSD_abg.fig +++ /dev/null @@ -1,45 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -0 32 #969296 -0 33 #e7e7cf -0 34 #9e9a9e -0 35 #cf9200 -0 36 #f761ae -0 37 #7171ff -0 38 #595d59 -1 3 0 3 1 7 55 0 -1 0.000 1 0.0000 1845 2430 186 186 1845 2430 2031 2430 -2 2 0 1 1 7 55 0 47 0.000 0 0 -1 0 0 5 - 1800 2475 4500 2475 4500 2925 1800 2925 1800 2475 -2 1 0 3 1 7 55 0 -1 0.000 0 0 -1 0 0 2 - 1830 2467 3180 129 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 3375 5625 4725 5625 4500 5850 -2 1 0 3 1 7 55 0 -1 0.000 0 0 -1 0 0 12 - 4453 2442 4177 1964 3884 2024 4282 1579 3700 1707 4103 1268 - 3521 1396 3914 946 3337 1077 3749 632 3445 696 3158 215 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2925 5625 1575 5625 1800 5850 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 3150 5400 3150 4050 3375 4275 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 3150 7200 3150 5850 3375 6075 -4 1 1 55 0 32 30 0.0000 4 315 240 2385 2295 q\001 -4 0 1 55 0 3 30 0.0000 4 300 270 2025 1260 L\001 -4 0 1 55 0 3 30 0.0000 4 300 270 3105 3510 L\001 -4 1 1 55 0 32 30 0.0000 4 225 195 1530 2250 t\001 -4 1 0 100 0 18 18 0.0000 4 195 150 3150 5715 1\001 -4 1 0 100 0 18 18 0.0000 4 210 390 3195 3915 R:r\001 -4 1 4 100 0 18 18 0.0000 4 270 930 3060 7515 SS:[yu]\001 -4 1 0 100 0 18 18 0.0000 4 270 240 1305 5715 I:j\001 -4 0 0 100 0 18 18 0.0000 4 270 8610 4860 5715 C:k:mtt_e=k*(l^2)*cos(mtt_f/2)*2*(sin(mtt_f/2)-sin(alpha/2))+0*eta\001 -4 0 1 101 0 3 20 0.0000 4 270 3255 4950 675 Rod (length L) hinged at left\001 -4 0 1 101 0 3 20 0.0000 4 270 4275 4950 1125 Spring (stiffness k) unstretched when \001 -4 0 1 101 0 32 20 0.0000 4 210 510 9225 1125 q=a\001 -4 0 1 101 0 3 20 0.0000 4 270 3120 4950 1575 eta is the equilibrium angle\001 DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/NonlinearMSD/NonlinearMSD_desc.tex Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/NonlinearMSD/NonlinearMSD_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/NonlinearMSD/NonlinearMSD_desc.tex +++ /dev/null @@ -1,127 +0,0 @@ -% -*-latex-*- Put EMACS into LaTeX-mode -% Verbal description for system NonlinearMSD (NonlinearMSD_desc.tex) -% Generated by MTT on Thu Mar 7 14:48:47 GMT 2002. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 2000/12/28 09:13:38 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -This example illustrates the use of \textbf{MTT} to \emph{linaerise} a -nonlinear system -- a non-linear mass-spring-damper system called -\textbf{NonlinearMSD}. The model is considered in Section -\ref{sec:model} and linearisation in Section \Ref{sec:linearisation}. - -Further work is suggested in Section \Ref{sec:further}. - -\subsection{Bond Graph model}\label{sec:model} - -The schematic diagram of the system -\textbf{NonlinearMSD} is displayed in Figure -\ref{fig:NonlinearMSD_abg.ps}. The system comprises -\begin{itemize} -\item a rigid foundation, -\item a rod of length $L$ hinged at the left-hand end and -\item a linear spring of stiffness $k$ attached to the rigid - foundation a distance $L$ from the hinge and to the free end of the rod. -\end{itemize} -The spring is unstretched when the rod makes an angle $\theta = \alpa -= \frac{pi}{3}$ with the foundation. - -Using elementary geometry, the effectice angular spring generates a -torque $\tau$ given by (\ref{eq:spring}) -\begin{equation}\label{eq:spring} - \tau = -2kl^2 \cos{\frac{\theta}{2}} (\sin{\frac{\theta}{2}}-\sin{\frac{\alpha}{2}}) -\end{equation} - -The acausal bond graph of system \textbf{NonlinearMSD} is also -displayed in Figure \Ref{fig:NonlinearMSD_abg.ps}. This shows the -three bond graph components representing the friction \textbf{R}, the -inertia \textbf{I} and the spring \textbf{C} components. The -non-linear spring characteristic is given explicitly\footnote{The - additional 0*eta term has no effect - it merely introduced the - variable $\eta$ -- the equilibrium angle -- into the model}. - -The (nonlinear) system ordinary differential equation is given by -\textbf{MTT} in Section \Ref{sec:NonlinearMSD_ode.tex}. This is a -special case of the general non-linear ordinary differential equation: -\begin{equation} - \label{eq:non-state} - \begin{cases} - \dot{x} = f(x,u)\\ - y = g(x,u) - \end{cases} -\end{equation} - -\subsection{Linearisation} -\label{sec:linearisation} - -The first step in linearisation is to determine a set of (constant) -states $x_e$ and (constant) inputs $u_e$ so that the system is in -equilibrium - that is -\begin{equation} - \label{eq:eqilibrium} - \dot{x} = f(x_e,u_e) = 0 -\end{equation} - -In this case, choosing an angle $\theta=\eta$ and an input: -\begin{equation}\label{eq:u_e} - u_e = -\tau = 2kl^2 \cos{\frac{\eta}{2}} (\sin{\frac{\eta}{2}}-\sin{\frac{\alpha}{2}}) -\end{equation} -together with zero velocity gives an equilibrium. - -With this choice -The linearised system is given in terms of the $A$, $B$, $C$ and $D$ -matrices appearing in the state equation: -\begin{equation} - \label{eq:state} - \begin{cases} - \dot{x} = Ax + Bu\\ - y = Cx + Du - \end{cases} -\end{equation} - -\textbf{MTT} automatically generates these matrices -- see Section -\Ref{sec:NonlinearMSD_sm.tex}. - -\subsection{Further work} -\label{sec:further} -\begin{enumerate} -\item Derive the system ordinary differential equation appearing in - Section \Ref{sec:NonlinearMSD_ode.tex}. -\item Explain how the input of (\ref{eq:u_e}) gives equilibrium for - all $\eta$. -\item Explain how the elements of the $A$, $B$, $C$ and $D$ appearing - Section \Ref{sec:NonlinearMSD_sm.tex} arise from the ordinary - differential equation of Section \Ref{sec:NonlinearMSD_ode.tex} - together with the input of (\ref{eq:u_e}). -\item Setting up parameters, inputs and initial state as in Sections - \Ref{sec:NonlinearMSD_numpar.tex}, \Ref{sec:NonlinearMSD_input.tex} - and \Ref{sec:NonlinearMSD_state.tex}, perform simulations as in - Section \Ref{sec:NonlinearMSD_state.tex} - the figure shows the - angular \emph{velocity} $\dot{\theta}$. -\item Repeat the simulation with different perturbations by modifying - the file ``NonlinearMSD\_input.tex'' (see Section - \Ref{sec:NonlinearMSD_input.tex}) - \begin{enumerate} - \item note that for smaller perturbations, the graphs are of similar - shape (scaled by the perturbation input) - \item note that for larger perturbations the graphs are quite - different - this is a non-linear system. - \end{enumerate} -\item \label{item:1} Repeat the simulation with different equilibrium angles $\eta$ by modifying - the file ``NonlinearMSD\_numpar.tex'' (see Section - \Ref{sec:NonlinearMSD_numpar.tex}) appropriately. Note that when - $\eta=\pi$, the linearised system is \emph{unstable}. -\item The (2,1) element of the $A$ matrix in Section - \Ref{sec:NonlinearMSD_sm.tex} is the \emph{linearised} stiffness - $k_l$. Plot this against $\eta$ and explain the observation in item - \ref{item:1}. -\end{enumerate} - - DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/NonlinearMSD/NonlinearMSD_input.txt Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/NonlinearMSD/NonlinearMSD_input.txt ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/NonlinearMSD/NonlinearMSD_input.txt +++ /dev/null @@ -1,10 +0,0 @@ -## -*-octave-*- Put Emacs into octave-mode ## - -## -## System NonlinearMSD, representation input, language txt; -## File NonlinearMSD_input.txt; -## Generated by MTT on Thu Mar 7 10:50:46 GMT 2002; - -## First term is the equilibrium input; last term is the perturbation input. -NonlinearMSD_yu = k*(l^2)*cos(eta/2)*2*(sin(eta/2)-sin(alpha/2)) + 1e-2; - DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/NonlinearMSD/NonlinearMSD_numpar.txt Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/NonlinearMSD/NonlinearMSD_numpar.txt ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/NonlinearMSD/NonlinearMSD_numpar.txt +++ /dev/null @@ -1,15 +0,0 @@ -## -*-octave-*- Put Emacs into octave-mode ## - -## -## System NonlinearMSD, representation numpar, language txt; -## File NonlinearMSD_numpar.txt; -## Generated by MTT on Thu Mar 7 14:03:19 GMT 2002; - - - -alpha = pi/3; # Angle for unstretched string -eta = pi/3; # Equilibrium angle -j = 1.0; # Inertia -k = 1.0; # Spring constant -l = 1.0; # Rod length -r = 1.0; # Rotational resistance DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/NonlinearMSD/NonlinearMSD_rep.txt Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/NonlinearMSD/NonlinearMSD_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/NonlinearMSD/NonlinearMSD_rep.txt +++ /dev/null @@ -1,33 +0,0 @@ -## -*-octave-*- Put Emacs into octave-mode -## Outline report file for system NonlinearMSD (NonlinearMSD_rep.txt) -## Generated by MTT on" Thu Mar 7 14:44:37 GMT 2002. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.1 2000/12/28 11:58:07 peterg -## Put under RCS -## -############################################################### - -mtt NonlinearMSD abg tex # The system description -mtt NonlinearMSD sympar tex # The system parameters -## Uncomment the following lines or add others -## mtt NonlinearMSD dae tex # The system dae -mtt NonlinearMSD ode tex # The system ode -mtt NonlinearMSD sspar tex # Steady-state parameters -mtt NonlinearMSD ss tex # Steady state -## mtt NonlinearMSD dm tex # Descriptor matrices (of linearised system) -mtt NonlinearMSD sm tex # State matrices (of linearised system) -## mtt NonlinearMSD tf tex # Transfer function (of linearised system) -## mtt NonlinearMSD lmfr ps # log modulus of frequency response (of linearised system) -## mtt NonlinearMSD simpar tex # Simulation parameters -mtt NonlinearMSD numpar tex # Numerical simulation parameters -mtt NonlinearMSD state tex # Simulation initial state -mtt NonlinearMSD input tex # Simulation input -## mtt NonlinearMSD logic tex # Logic control -mtt NonlinearMSD odeso ps # Simulation output - -## mtt NonlinearMSD rep txt # This file DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/NonlinearMSD/NonlinearMSD_sspar.r Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/NonlinearMSD/NonlinearMSD_sspar.r ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/NonlinearMSD/NonlinearMSD_sspar.r +++ /dev/null @@ -1,25 +0,0 @@ -% Steady-state parameter file (NonlinearMSD_sspar.r) -% Generated by MTT at Thu Mar 7 10:39:15 GMT 2002 - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% % Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% % $Id$ -% % $Log$ -% % Revision 1.1 2000/12/28 09:32:04 peterg -% % Initial revision -% % -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -%% This one corresponds to the unstretched spring at theta = pi/3 -%% Note that U is calculated to give equilibrium for all angles - -alpha := pi/3; - -% Steady-state states -MTTX1 := eta; %Initial angle (corresponds to u=0) -MTTX2 := 0; %Initial anglular velocity -% Steady-state inputs -MTTU1 := k*(l^2)*cos(MTTX1/2)*2*(sin(MTTX1/2)-sin(alpha/2)); -;;END; DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/NonlinearMSD/NonlinearMSD_state.txt Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/NonlinearMSD/NonlinearMSD_state.txt ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/NonlinearMSD/NonlinearMSD_state.txt +++ /dev/null @@ -1,11 +0,0 @@ -## -*-octave-*- Put Emacs into octave-mode ## - -## -## System NonlinearMSD, representation state, language txt; -## File NonlinearMSD_state.txt; -## Generated by MTT on Thu Mar 7 10:50:45 GMT 2002; - - - -NonlinearMSD_j = 0.0; % Initial angular momentum -NonlinearMSD_k = eta; % Initial angle DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/NonlinearMSD/plot_k.m Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/NonlinearMSD/plot_k.m ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/NonlinearMSD/plot_k.m +++ /dev/null @@ -1,18 +0,0 @@ -## Plots the effective spring constant. - -p = NonlinearMSD_numpar; # Numerical parameters -s = NonlinearMSD_sympar # Symbolic parameters - -Eta = eta=[0:0.01:1]*pi; K = []; -for eta=Eta - p(s.eta) = eta; # Change the eta parameter - A = NonlinearMSD_sm(p); # SS A matrix - k = -A(2,1); - K = [K k]; -endfor - -grid; -ylabel("k"); -xlabel("eta"); -plot(Eta,K); -figfig("k","eps"); DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/InvertedPendulumOnCart/Cart_abg.fig Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/InvertedPendulumOnCart/Cart_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/InvertedPendulumOnCart/Cart_abg.fig +++ /dev/null @@ -1,49 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4050 2925 4050 1575 4275 1800 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4275 3150 5625 3150 5400 3375 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4275 4950 5625 4950 5400 5175 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 2475 3825 2475 4275 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2475 3150 3825 3150 3600 3375 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 3825 4950 2475 4950 2700 5175 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 3825 2925 2870 1970 2870 2289 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4288 2957 5243 2002 5243 2320 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 6525 3150 7875 3150 7650 3375 -2 4 0 2 31 7 101 0 -1 0.000 0 0 7 0 0 5 - 9900 5850 225 5850 225 900 9900 900 9900 5850 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2475 4050 3825 4050 3600 4275 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4275 4050 5625 4050 5400 4275 -4 1 1 101 0 3 20 0.0000 4 270 1155 4140 3600 x-velocity\001 -4 1 0 100 0 18 20 0.0000 4 195 150 4050 3240 1\001 -4 1 4 100 0 18 20 0.0000 4 270 1320 1710 3240 SS:[drive]\001 -4 1 1 101 0 3 20 0.0000 4 270 1125 4185 4500 y-velocity\001 -4 1 1 101 0 3 20 0.0000 4 270 1905 4050 5490 angular-velocity\001 -4 1 0 100 0 18 20 0.0000 4 195 150 4050 5040 1\001 -4 1 4 100 0 18 20 0.0000 4 270 825 6165 5040 SS:[a]\001 -4 2 0 100 0 18 20 0.0000 4 270 735 2430 5040 R:r_p\001 -4 1 0 100 0 18 20 0.0000 4 270 720 2835 1845 R:r_c\001 -4 1 4 100 0 18 20 0.0000 4 270 825 4050 1440 SS:[x]\001 -4 1 0 100 0 18 20 0.0000 4 270 735 5355 1845 I:m_c\001 -4 1 0 100 0 18 20 0.0000 4 210 630 6075 3240 INTF\001 -4 0 0 100 0 18 20 0.0000 4 210 1590 8010 3240 De:Position\001 -4 1 0 100 0 18 20 0.0000 4 195 150 4050 4140 1\001 -4 1 4 100 0 18 20 0.0000 4 270 825 6165 4140 SS:[y]\001 -4 2 0 100 0 18 20 0.0000 4 270 2190 2430 4140 Sf:zero_velocity\001 DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/InvertedPendulumOnCart/Cart_lbl.txt Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/InvertedPendulumOnCart/Cart_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/InvertedPendulumOnCart/Cart_lbl.txt +++ /dev/null @@ -1,55 +0,0 @@ -%% Label file for system Cart (Cart_lbl.txt) -%SUMMARY Cart -%DESCRIPTION Simple cart model - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 2000/12/28 18:00:45 peterg -% %% To RCS -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS in drive -%ALIAS pendulum|out x,y,a -%UNITS drive translational N m/s -b%UNITS x translational N m/s -%UNITS y translational N m/s -%UNITS a rotational N*m radian/s - - -% Argument aliases -%ALIAS $1 m_c - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type I - m_c lin flow,m_c - -% Component type R - r_c lin flow,r_c - r_p lin flow,r_p - -% Component type SS - [a] SS external,external - [drive] SS external,external - [x] SS external,external - [y] SS external,external - -% Component type De - Position SS external - -% Component type Sf - zero_velocity SS 0 - - - DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/InvertedPendulumOnCart/InvertedPendulumOnCart_abg.fig Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/InvertedPendulumOnCart/InvertedPendulumOnCart_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/InvertedPendulumOnCart/InvertedPendulumOnCart_abg.fig +++ /dev/null @@ -1,28 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -6 3780 4005 3870 4545 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 3825 4050 3825 4500 --6 -1 4 0 2 1 7 51 0 -1 0.000 1 0.0000 3700 4909 203 203 3497 4909 3903 4909 -1 4 0 2 1 7 51 0 -1 0.000 1 0.0000 4817 4902 203 203 4614 4902 5020 4902 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 2475 4275 3825 4275 3600 4500 -2 4 0 2 1 7 101 0 -1 0.000 0 0 7 0 0 5 - 5175 4725 3375 4725 3375 3825 5175 3825 5175 4725 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4275 4050 5230 3095 5230 3414 -2 1 0 2 1 7 101 0 -1 0.000 0 0 -1 0 0 5 - 4477 3712 5872 2317 6052 2497 4702 3847 4522 3667 -2 4 0 2 31 7 101 0 -1 0.000 0 0 7 0 0 5 - 6750 5400 1125 5400 1125 2025 6750 2025 6750 5400 -4 1 0 100 0 18 20 0.0000 4 210 570 4275 4365 Cart\001 -4 1 0 100 0 18 20 0.0000 4 270 840 2070 4365 SS:[F]\001 -4 1 0 100 0 18 20 0.0000 4 210 2445 5355 3060 InvertedPendulum\001 DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/InvertedPendulumOnCart/InvertedPendulumOnCart_desc.tex Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/InvertedPendulumOnCart/InvertedPendulumOnCart_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/InvertedPendulumOnCart/InvertedPendulumOnCart_desc.tex +++ /dev/null @@ -1,21 +0,0 @@ -% -*-latex-*- Put EMACS into LaTeX-mode -% Verbal description for system InvertedPendulumOnCart (InvertedPendulumOnCart_desc.tex) -% Generated by MTT on Thu Aug 5 10:38:16 BST 1999. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{InvertedPendulumOnCart} is - displayed in Figure \Ref{fig:InvertedPendulumOnCart_abg.ps} and its label - file is listed in Section \Ref{sec:InvertedPendulumOnCart_lbl}. - The subsystems are listed in Section \Ref{sec:InvertedPendulumOnCart_sub}. - -This is a one input, two output nonlinear system comprising an -inverted pendulum attached by a hinge to a cart constrained to move in -the horizontal direction. The input is the horizontal force acting on -the cart, and the two outputs are the horizontal position and the -pendulum angle respectively. DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/InvertedPendulumOnCart/InvertedPendulumOnCart_input.txt Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/InvertedPendulumOnCart/InvertedPendulumOnCart_input.txt ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/InvertedPendulumOnCart/InvertedPendulumOnCart_input.txt +++ /dev/null @@ -1,10 +0,0 @@ -## -*-octave-*- Put Emacs into octave-mode ## - -## -## System InvertedPendulumOnCart, representation input, language txt; -## File idInvertedPendulumOnCart_input.txt; -## Generated by MTT on Thu Apr 5 15:27:30 BST 2001; - - - -InvertedPendulumOnCart_f = 1.0*(t<1); # Force for 1 sec DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/InvertedPendulumOnCart/InvertedPendulumOnCart_lbl.txt Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/InvertedPendulumOnCart/InvertedPendulumOnCart_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/InvertedPendulumOnCart/InvertedPendulumOnCart_lbl.txt +++ /dev/null @@ -1,34 +0,0 @@ -%% Label file for system InvertedPendulumOnCart (InvertedPendulumOnCart_lbl.txt) -%SUMMARY InvertedPendulumOnCart -%DESCRIPTION An Inverted Pendulum on a Cart - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 2000/12/28 18:00:45 peterg -% %% To RCS -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS in F -%UNITS F translational N m/s - -% Argument aliases - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type SS - [F] SS external,internal - - - - DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/InvertedPendulumOnCart/InvertedPendulumOnCart_numpar.txt Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/InvertedPendulumOnCart/InvertedPendulumOnCart_numpar.txt ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/InvertedPendulumOnCart/InvertedPendulumOnCart_numpar.txt +++ /dev/null @@ -1,27 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# Numerical parameter file (InvertedPendulumOnCart_numpar.txt) -# Generated by MTT at Thu Aug 5 10:07:08 BST 1999 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Parameters -## Removed by MTT on Thu Nov 9 17:21:31 GMT 2000: ## Removed by MTT on Thu Nov 9 17:21:31 GMT 2000: e_s = 1.0; # Se -## Removed by MTT on Thu Nov 9 17:21:31 GMT 2000: ## Removed by MTT on Thu Nov 9 17:21:31 GMT 2000: f_s = 1.0; # Sf -g = 1.0; # Pendulum,gRODa -## Removed by MTT on Thu Nov 9 17:21:31 GMT 2000: ## Removed by MTT on Thu Nov 9 17:21:31 GMT 2000: j_m = 1.0; # gRODa -j_r = 1.0; # Pendulum -l = 1.0; # Pendulum -## Removed by MTT on Thu Nov 9 17:21:31 GMT 2000: ## Removed by MTT on Thu Nov 9 17:21:31 GMT 2000: l_a = 1.0; # gRODa -## Removed by MTT on Thu Nov 9 17:21:31 GMT 2000: ## Removed by MTT on Thu Nov 9 17:21:31 GMT 2000: l_b = 1.0; # gRODa -## Removed by MTT on Thu Nov 9 17:21:31 GMT 2000: m = 1.0; # gRODa -## Removed by MTT on Thu Nov 9 17:21:31 GMT 2000: m_c = 1.0; # Cart -## Removed by MTT on Thu Nov 9 17:21:31 GMT 2000: m_r = 1.0; # Pendulum -r_c = 0.1; # Cart -r_p = 0.1; # Cart -m_c = 1.0; # Added by MTT on Thu Nov 09 17:22:55 GMT 2000 -m_r = 1.0; # Added by MTT on Thu Nov 09 17:22:55 GMT 2000 DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/InvertedPendulumOnCart/InvertedPendulumOnCart_rep.txt Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/InvertedPendulumOnCart/InvertedPendulumOnCart_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/InvertedPendulumOnCart/InvertedPendulumOnCart_rep.txt +++ /dev/null @@ -1,27 +0,0 @@ -## -*-octave-*- Put Emacs into octave-mode -## Outline report file for system InvertedPendulumOnCart (InvertedPendulumOnCart_rep.txt) -## Generated by MTT on" Fri Oct 22 09:03:14 EST 1999. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - -mtt InvertedPendulumOnCart abg tex # The system description -mtt InvertedPendulumOnCart cbg ps # The causal bond graph -## Uncomment the following lines or add others -mtt InvertedPendulumOnCart struc tex # The system structure -mtt InvertedPendulumOnCart dae tex # The system dae -## mtt InvertedPendulumOnCart ode tex # The system ode -## mtt InvertedPendulumOnCart sspar tex # Steady-state parameters -## mtt InvertedPendulumOnCart ss tex # Steady state -## mtt InvertedPendulumOnCart dm tex # Descriptor matrices (of linearised system) -mtt InvertedPendulumOnCart sm tex # State matrices (of linearised system) -## mtt InvertedPendulumOnCart tf tex # Transfer function (of linearised system) -## mtt InvertedPendulumOnCart lmfr ps # log modulus of frequency response (of linearised system) -mtt InvertedPendulumOnCart simpar tex # Simulation parameters -mtt InvertedPendulumOnCart numpar tex # Numerical simulation parameters -mtt InvertedPendulumOnCart input tex # Simulation input -mtt -c InvertedPendulumOnCart odeso ps # Simulation output DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/InvertedPendulumOnCart/InvertedPendulumOnCart_simpar.txt Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/InvertedPendulumOnCart/InvertedPendulumOnCart_simpar.txt ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/InvertedPendulumOnCart/InvertedPendulumOnCart_simpar.txt +++ /dev/null @@ -1,18 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# Simulation parameters for system InvertedPendulumOnCart (InvertedPendulumOnCart_simpar.txt) -# Generated by MTT on Thu Aug 5 09:17:05 BST 1999. -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - - -LAST = 100.0; # Last time in simulation -DT = 0.1; # Print interval -STEPFACTOR = 1; # Integration steps per print interval -WMIN = -1; # Minimum frequency = 10^WMIN -WMAX = 2; # Maximum frequency = 10^WMAX -WSTEPS = 100; # Number of frequency steps -INPUT = 1; # Index of the input DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/InvertedPendulumOnCart/InvertedPendulumOnCart_subs.r Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/InvertedPendulumOnCart/InvertedPendulumOnCart_subs.r ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/InvertedPendulumOnCart/InvertedPendulumOnCart_subs.r +++ /dev/null @@ -1,27 +0,0 @@ -% Default SUBS file -% File InvertedPendulumOnCart_subs.r -% Generated by MTT on Thu Nov 9 18:55:44 GMT 2000. - - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.2 2001/04/02 10:57:57 gawthrop -% %% Added missing ; -% %% -% %% Revision 1.1 2000/12/28 18:00:45 peterg -% %% To RCS -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -% Put algebraic substitution commands here - -for all x let cos(x)^2+sin(x)^2 = 1; - -FOR ALL x,y LET x^y = pow(x,y); % Use the pow function - -ON ROUNDED; % No integer output - -END; DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/InvertedPendulumOnCart/InvertedPendulum_abg.fig Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/InvertedPendulumOnCart/InvertedPendulum_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/InvertedPendulumOnCart/InvertedPendulum_abg.fig +++ /dev/null @@ -1,48 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -6 3555 5085 6345 5310 -4 1 4 100 0 18 14 0.0000 4 210 510 3825 5265 [x_b]\001 -4 1 4 100 0 18 14 0.0000 4 210 525 4950 5265 [y_b]\001 -4 1 4 100 0 18 14 0.0000 4 210 525 6075 5265 [a_b]\001 --6 -6 3780 3105 6345 4545 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4950 3150 4950 4500 5175 4275 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 6075 3150 6075 4500 6300 4275 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 3825 3150 3825 4500 4050 4275 --6 -6 3780 5355 6345 6795 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 4950 5400 4950 6750 5175 6525 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 6075 5400 6075 6750 6300 6525 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 3825 5400 3825 6750 4050 6525 --6 -6 3555 4545 6345 4770 -4 1 4 100 0 18 14 0.0000 4 210 495 3825 4725 [x_a]\001 -4 1 4 100 0 18 14 0.0000 4 210 510 4950 4725 [y_a]\001 -4 1 4 100 0 18 14 0.0000 4 210 510 6075 4725 [a_a]\001 --6 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 6840 4950 8190 4950 7965 5175 -2 4 0 2 31 7 101 0 -1 0.000 0 0 7 0 0 5 - 9675 7425 3150 7425 3150 2475 9675 2475 9675 7425 -4 1 4 100 0 18 20 0.0000 4 270 825 3825 7065 SS:[x]\001 -4 1 4 100 0 18 20 0.0000 4 270 825 4950 7065 SS:[y]\001 -4 1 4 100 0 18 20 0.0000 4 270 825 6075 7065 SS:[a]\001 -4 1 0 100 0 18 20 0.0000 4 270 1545 4964 5040 gRODa:rod\001 -4 1 0 100 0 18 20 0.0000 4 270 915 3825 3015 Se:x_0\001 -4 1 0 100 0 18 20 0.0000 4 270 915 4950 3015 Se:y_0\001 -4 1 0 100 0 18 20 0.0000 4 270 915 6030 3015 Se:a_0\001 -4 1 4 100 0 18 14 0.0000 4 210 270 6660 4995 [a]\001 -4 1 0 100 0 18 20 0.0000 4 210 1140 8865 5040 De:theta\001 DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/InvertedPendulumOnCart/InvertedPendulum_lbl.txt Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/InvertedPendulumOnCart/InvertedPendulum_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/InvertedPendulumOnCart/InvertedPendulum_lbl.txt +++ /dev/null @@ -1,49 +0,0 @@ -%% Label file for system InvertedPendulum (InvertedPendulum_lbl.txt) -%SUMMARY InvertedPendulum -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 2000/12/28 18:00:45 peterg -% %% To RCS -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%UNITS x translational N m/s -%UNITS y translational N m/s -%UNITS a rotational N*m radian/s - - -%ALIAS in|cart x,y,a - - -% Argument aliases - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type De - theta SS external - -% Component type SS - [a] SS external,external - [x] SS external,external - [y] SS external,external - -% Component type Se - a_0 SS 0 - x_0 SS 0 - y_0 SS 0 - -% Component type gRod - rod none l;l;j_r;m_r;g - DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/Pendulum/Pendulum_abg.fig Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/Pendulum/Pendulum_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/Pendulum/Pendulum_abg.fig +++ /dev/null @@ -1,51 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3017 1577 3287 1577 -2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5269 1579 5539 1579 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3152 1577 3152 3152 3377 2927 -2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4142 3152 4412 3152 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4277 1577 4277 3152 4502 2927 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5402 1577 5402 3152 5627 2927 -2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3019 4279 3289 4279 -2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4144 4279 4414 4279 -2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5271 4281 5541 4281 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4277 4277 4277 5852 4502 5627 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5402 4277 5402 5852 5627 5627 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 7200 2250 7200 675 1575 675 1575 2250 7200 2250 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 7200 4500 7200 2925 1575 2925 1575 4500 7200 4500 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 7200 6750 7200 5175 1575 5175 1575 6750 7200 6750 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3150 4299 3150 5874 3375 5649 -4 1 -1 0 0 0 20 0.0000000 4 240 870 3152 1397 SS:v_x\001 -4 1 -1 0 0 0 20 0.0000000 4 240 810 4277 1397 SS:f_a\001 -4 1 -1 0 0 0 20 0.0000000 4 210 1110 4278 3828 ROD:rod\001 -4 1 -1 0 0 0 20 0.0000000 4 240 885 3155 6305 SS:F_x\001 -4 1 -1 0 0 0 20 0.0000000 4 240 870 4280 6305 SS:F_a\001 -4 1 -1 0 0 0 20 0.0000000 4 270 885 5450 6305 SS:F_y\001 -4 1 -1 0 0 0 20 0.0000000 4 270 1920 5986 1396 ACCEL:gravity\001 -4 1 1 1 0 3 20 0.0000000 4 240 1245 7965 1440 Fixed end\001 -4 1 1 1 0 3 20 0.0000000 4 240 1110 7920 6075 Free end\001 -4 1 1 1 0 3 20 0.0000000 4 270 1755 8280 3735 Rod dynamics\001 -4 1 4 0 0 0 16 0.0000000 4 195 495 3152 3467 [x_a]\001 -4 1 4 0 0 0 16 0.0000000 4 210 885 4277 3467 [alpha_a]\001 -4 1 4 0 0 0 16 0.0000000 4 210 495 5402 3467 [y_a]\001 -4 1 4 0 0 0 16 0.0000000 4 195 510 3154 4144 [x_b]\001 -4 1 4 0 0 0 16 0.0000000 4 210 900 4280 4145 [alpha_b]\001 -4 1 4 0 0 0 16 0.0000000 4 210 510 5406 4146 [y_b]\001 DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/Pendulum/Pendulum_desc.tex Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/Pendulum/Pendulum_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/Pendulum/Pendulum_desc.tex +++ /dev/null @@ -1,25 +0,0 @@ -% Verbal description for system Pendulum (Pendulum_desc.tex) -% Generated by MTT on Fri Aug 15 09:52:55 BST 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{Pendulum} is - displayed in Figure \Ref{Pendulum_abg} and its label - file is listed in Section \Ref{sec:Pendulum_lbl}. - The subsystems are listed in Section \Ref{sec:Pendulum_sub}. - -This is a heirachical version of the example from Section 10.3 of -``Metamodelling''. It uses two compound components: {\bf ROD} and {\bf -GRAV}. {\bf ROD} is -essentially as described in Figure 10.2 {\bf GRAV} represents gravity by a -vertical accelleration as in Section 10.9 of "Metamodelling". - -%%% Local Variables: -%%% mode: plain-tex -%%% TeX-master: t -%%% End: DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/Pendulum/Pendulum_input.txt Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/Pendulum/Pendulum_input.txt ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/Pendulum/Pendulum_input.txt +++ /dev/null @@ -1,17 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode' -# Numerical parameter file (Pendulum_input.txt) -# Generated by MTT at Fri Aug 15 09:02:02 BST 1997 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# Revision 1.1 1997/08/15 08:04:01 peterg -# Initial revision -# -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Set the inputs -u(1) = 0.0; # no torque at joint -u(2) = 9.81; # g DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/Pendulum/Pendulum_lbl.txt Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/Pendulum/Pendulum_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/Pendulum/Pendulum_lbl.txt +++ /dev/null @@ -1,50 +0,0 @@ -%SUMMARY Pendulum: Pendulum example from Section 10.3 of "Metamodelling" -%DESCRIPTION This is a heirachical version of the -%DESCRIPTION example from Section 10.3 of "Metamodelling". -%DESCRIPTION It uses two compound components: ROD and GRA -%DESCRIPTION ROD is essentially as described in Figure 10.2 -%DESCRIPTION GRAV represents gravity by a vertical accelleration -%DESCRIPTION as in Section 10.9 of "Metamodelling". - -%ALIAS ACCEL Mechanical-2D/ACCEL # Constant acceleration -%% Label file for system pend (pend_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.2 1997/08/15 09:46:22 peterg -% %% New labeled ports version -% %% -% Revision 1.1 1996/11/09 18:44:58 peterg -% Initial revision -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - -%Rod parameters -rod none l;l;j;m - -%Zero velocity sources -v_x SS internal,0 - -%Zero force/torque sources -F_x SS 0,internal -F_y SS 0,internal -F_a SS 0,internal - -%Torque at end -f_a SS external,external - -%Gravity -gravity - - - - - DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/Pendulum/Pendulum_numpar.txt Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/Pendulum/Pendulum_numpar.txt ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/Pendulum/Pendulum_numpar.txt +++ /dev/null @@ -1,15 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# Numerical parameter file (Pendulum_numpar.txt) -# Generated by MTT at Mon Jul 27 12:38:25 BST 1998 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Parameters -l = 1.0; # Pendulum -m = 1.0; # Pendulum -j = m*l*l/12.0; # Pendulum DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/Pendulum/Pendulum_rep.txt Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/Pendulum/Pendulum_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/Pendulum/Pendulum_rep.txt +++ /dev/null @@ -1,21 +0,0 @@ -# Outline report file for system Pendulum (Pendulum_rep.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1999/02/22 09:17:59 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -mtt Pendulum abg tex -mtt Pendulum struc tex -mtt Pendulum dae tex -mtt Pendulum cse tex -mtt Pendulum rfe tex -mtt Pendulum ode tex -mtt Pendulum input txt -mtt Pendulum numpar txt -mtt -c Pendulum odeso ps DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/Pendulum/Pendulum_simpar.txt Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/Pendulum/Pendulum_simpar.txt ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/Pendulum/Pendulum_simpar.txt +++ /dev/null @@ -1,23 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# Simulation parameters for system Pendulum (Pendulum_simpar.txt) -# Generated by MTT on Mon Jul 27 12:27:43 BST 1998. -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.3 1999/12/23 20:16:47 peterg -## Removed MTHOD -## -## Revision 1.2 1999/02/22 10:08:05 peterg -## -## -## Revision 1.1 1998/07/27 11:29:13 peterg -## Initial revision -## -############################################################### - - -LAST=10.0; # Last time in simulation -DT=0.1; # Print interval -STEPFACTOR=10; # Integration steps per print interval DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/Pendulum/Pendulum_state.txt Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/Pendulum/Pendulum_state.txt ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/Pendulum/Pendulum_state.txt +++ /dev/null @@ -1,14 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# Initial state file (Pendulum_state.txt) -# Generated by MTT at Mon Jul 27 12:34:12 BST 1998 -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - -# Set the states -mttx(1) = 0.0; # J (Pendulum_rod) -mttx(2) = pi/4; # 3 (Pendulum_rod_th) -mttx(3) = 0.0; # 2 (Pendulum_gravity) DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/Pendulum/Pendulum_subs.r Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/Pendulum/Pendulum_subs.r ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/Pendulum/Pendulum_subs.r +++ /dev/null @@ -1,17 +0,0 @@ -%% Reduce comands to sunstitute in system Pendulum (Pendulum_subs.r) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - trig1 := {cos(~x)*cos(~y) => (cos(x+y)+cos(x-y))/2, - cos(~x)*sin(~y) => (sin(x+y)-sin(x-y))/2, - sin(~x)*sin(~y) => (cos(x-y)-cos(x+y))/2, - cos(~x)^2 => (1+cos(2*x))/2, - sin(~x)^2 => (1-cos(2*x))/2}; - LET trig1; - -END; DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/TwoLink_abg.fig Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/TwoLink_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/TwoLink_abg.fig +++ /dev/null @@ -1,88 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -1 3 0 2 1 7 1 0 -1 0.0000000 1 0.000 8550 1125 485 485 8550 1125 8730 1575 -1 3 0 2 1 7 1 0 -1 0.0000000 1 0.000 8550 5625 485 485 8550 5625 9035 6110 -2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3468 1128 3738 1128 -2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5720 1130 5990 1130 -2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4593 2703 4863 2703 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4728 1128 4728 2703 4953 2478 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4502 5492 4502 5762 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2927 5627 4502 5627 4277 5852 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4726 5851 4726 7426 4951 7201 -2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3472 8647 3742 8647 -2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4597 8647 4867 8647 -2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5724 8649 5994 8649 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4730 8645 4730 10220 4955 9995 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5855 8645 5855 10220 6080 9995 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3601 3826 3601 7426 3826 7201 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5851 3826 5851 7426 6076 7201 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 6525 8775 6525 7200 2925 7200 2925 8775 6525 8775 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 6525 2025 6525 450 2925 450 2925 2025 6525 2025 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 6525 6435 6525 4860 2925 4860 2925 6435 6525 6435 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 6525 11250 6525 9675 2925 9675 2925 11250 6525 11250 -2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 9450 11475 9450 225 180 225 180 11475 9450 11475 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3603 1128 3603 2703 3828 2478 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5853 1128 5853 2703 6078 2478 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4726 3826 4726 5401 4951 5176 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 6525 4050 2925 4050 2925 2475 6525 2475 6525 4050 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3600 8622 3600 10197 3825 9972 -2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 8775 5175 8775 1575 8325 1575 8325 5175 8775 5175 -2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 8775 9675 8775 6075 8325 6075 8325 9675 8775 9675 -2 2 0 2 1 7 1 0 -1 0.000 0 0 0 0 0 5 - 7650 450 9405 450 9405 675 7650 675 7650 450 -4 1 -1 0 0 0 20 0.0000000 4 240 870 3603 948 SS:v_x\001 -4 0 -1 0 0 0 20 0.0000000 4 210 150 4683 5718 0\001 -4 1 -1 0 0 0 20 0.0000000 4 240 960 2432 5717 SS:f_a2\001 -4 1 -1 0 0 0 20 0.0000000 4 240 885 3608 10673 SS:F_x\001 -4 1 -1 0 0 0 20 0.0000000 4 240 870 4733 10673 SS:F_a\001 -4 1 -1 0 0 0 20 0.0000000 4 270 885 5903 10673 SS:F_y\001 -4 1 -1 0 0 0 20 0.0000000 4 210 1260 4729 3379 ROD:rod1\001 -4 1 -1 0 0 0 20 0.0000000 4 210 1260 4731 8196 ROD:rod2\001 -4 1 -1 0 0 0 20 0.0000000 4 240 960 4771 946 SS:f_a1\001 -4 0 1 1 0 3 20 0.0000000 4 240 810 6795 3375 Link 1\001 -4 0 1 1 0 3 20 0.0000000 4 240 870 6750 5760 Joint 2\001 -4 0 1 1 0 3 20 0.0000000 4 240 810 6750 8190 Link 2\001 -4 0 1 1 0 3 20 0.0000000 4 270 420 6750 10485 Tip\001 -4 0 1 1 0 3 20 0.0000000 4 240 870 6750 1260 Joint 1\001 -4 1 4 0 0 0 16 0.0000000 4 195 495 3600 2970 [x_a]\001 -4 1 4 0 0 0 16 0.0000000 4 210 885 4725 2970 [alpha_a]\001 -4 1 4 0 0 0 16 0.0000000 4 195 510 3600 3780 [x_b]\001 -4 1 4 0 0 0 16 0.0000000 4 210 900 4725 3780 [alpha_b]\001 -4 1 4 0 0 0 16 0.0000000 4 210 510 5850 3780 [y_b]\001 -4 1 4 0 0 0 16 0.0000000 4 210 495 5850 2970 [y_a]\001 -4 1 4 0 0 0 16 0.0000000 4 195 495 3605 7835 [x_a]\001 -4 1 4 0 0 0 16 0.0000000 4 210 885 4730 7835 [alpha_a]\001 -4 1 4 0 0 0 16 0.0000000 4 210 495 5855 7835 [y_a]\001 -4 1 4 0 0 0 16 0.0000000 4 195 510 3607 8512 [x_b]\001 -4 1 4 0 0 0 16 0.0000000 4 210 900 4733 8513 [alpha_b]\001 -4 1 4 0 0 0 16 0.0000000 4 210 510 5859 8514 [y_b]\001 -4 1 -1 0 0 0 20 0.0000000 4 270 870 5850 945 SS:v_y\001 DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/TwoLink_desc.tex Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/TwoLink_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/TwoLink_desc.tex +++ /dev/null @@ -1,42 +0,0 @@ -% Verbal description for system TwoLink (TwoLink_desc.tex) -% Generated by MTT on Fri Jun 13 16:30:23 BST 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1998/01/19 14:20:07 peterg -% %% Initial revision -% %% -% Revision 1.1 1997/08/15 13:31:00 peterg -% Initial revision -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{TwoLink} is - displayed in Figure \Ref{TwoLink_abg} and its label - file is listed in Section \Ref{sec:TwoLink_lbl}. - The subsystems are listed in Section \Ref{sec:TwoLink_sub}. - -This is a heirachical version of the example from Section 10.5 of -"Metamodelling". It uses the compound components: {\bf ROD}. {\bf -ROD} is essentially as described in Figure 10.2. -There is no gravity included in this model. - -This system has a number of dynamic elements (those corresponding to -translation motion) in derivative causality, thus the system is -represnted as a Differential-Algebraic Equation (Section -\Ref{sec:TwoLink_dae.tex}). Hovever, this is of contrained-state form -and therfore can be written as a set of constrained-state equations -(Section \Ref{sec:TwoLink_cse.tex}). The corresponding ordinary -differential equation is complicated due to the trig functions -involved in inverting the E matrix. - -As well as the standard representation the ``robot-form'' equations -appear in Section \Ref{sec:TwoLink_rfe}. - -%%% Local Variables: -%%% mode: plain-tex -%%% TeX-master: t -%%% End: DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/TwoLink_input.txt Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/TwoLink_input.txt ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/TwoLink_input.txt +++ /dev/null @@ -1,14 +0,0 @@ -# Numerical parameter file (TwoLink_input.txt) -# Generated by MTT at Fri Jun 13 16:56:09 BST 1997 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Set the inputs -u(1) = (t<1.0); # Torque on Joint 1 -u(2) = -(t>10.0)&&(t<11.0); # Torque on Joint 2 -u(3) = 0.0; # Gravity DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/TwoLink_lbl.txt Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/TwoLink_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/TwoLink_lbl.txt +++ /dev/null @@ -1,55 +0,0 @@ -%SUMMARY TwoLink: two-link manipulator from Section 10.5 of "Metamodelling" -%DESCRIPTION This is a heirachical version of the -%DESCRIPTION example from Section 10.5 of "Metamodelling". -%DESCRIPTION It uses two compound components: ROD and GRA -%DESCRIPTION ROD is essentially as described in Figure 10.2 -%DESCRIPTION GRAV represents gravity by a vertical accelleration -%DESCRIPTION as in Section 10.9 of "Metamodelling" - - -%% Label (TwoLink_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1998/07/27 10:45:22 peterg -% %% Initial revision -% %% -% %% Revision 1.2 1996/12/05 12:39:49 peterg -% %% Documentation -% %% -% %% Revision 1.1 1996/12/05 12:17:15 peterg -% %% Initial revision -% %% -% %% Revision 1.1 1996/11/14 10:48:42 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - -%Rod parameters - uniform rods -rod1 none l_1;l_1;j_1;m_1 -rod2 none l_2;l_2;j_2;m_2 - -%Zero velocity sources -v_x SS internal,0 -v_y SS internal,0 - - -%Zero force/torque sources -F_x SS 0,internal -F_a SS 0,internal -F_y SS 0,internal - - -%Torque/velocity at joints -f_a1 SS external,external -f_a2 SS external,external - - DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/TwoLink_numpar.txt Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/TwoLink_numpar.txt ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/TwoLink_numpar.txt +++ /dev/null @@ -1,18 +0,0 @@ -# Numerical parameter file (TwoLink_numpar.txt) -# Generated by MTT at Mon Jan 19 13:53:15 GMT 1998 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Parameters -j_1 = 1.0; # Parameter j_1 for TwoLink -j_2 = 1.0; # Parameter j_2 for TwoLink -l_1 = 1.0; # Parameter l_1 for TwoLink -l_2 = 1.0; # Parameter l_2 for TwoLink -m_1 = 1.0; # Parameter m_1 for TwoLink -m_2 = 1.0; # Parameter m_2 for TwoLink - DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/TwoLink_rep.txt Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/TwoLink_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/TwoLink_rep.txt +++ /dev/null @@ -1,29 +0,0 @@ -# Outline report file for system TwoLink (TwoLink_rep.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.3 1999/02/22 09:18:33 peterg -% %% Removed -c -% %% -% %% Revision 1.2 1998/01/19 14:21:21 peterg -% %% Removed ordinary differential equation representation - its to -% %% verbose. -% %% -% %% Revision 1.1 1998/01/19 14:15:52 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -mtt TwoLink abg tex -mtt TwoLink struc tex -mtt TwoLink sympar tex -mtt TwoLink dae tex -mtt TwoLink cse tex -mtt TwoLink rfe tex - -mtt TwoLink input txt -mtt TwoLink numpar txt -mtt -c TwoLink odeso ps DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/TwoLink_simp.r Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/TwoLink_simp.r ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/TwoLink_simp.r +++ /dev/null @@ -1,11 +0,0 @@ -%% Reduce comands to simplify output for system TwoLink (TwoLink_simp.r) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -END; DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/TwoLink_simpar.txt Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/TwoLink_simpar.txt ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/TwoLink_simpar.txt +++ /dev/null @@ -1,24 +0,0 @@ -# Simulation parameters for system TwoLink (TwoLink_simpar.txt) -# Generated by MTT on Mon Jul 27 08:16:50 BST 1998. -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.3 1999/02/22 10:07:24 peterg -## Step facttor 10 -## -## Revision 1.2 1999/02/22 10:06:13 peterg -## Method Euler -## -## Revision 1.1 1998/07/27 10:46:30 peterg -## Initial revision -## -############################################################### - - -LAST=50.0; -DT=0.1; -STEPFACTOR=10; - - DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/TwoLink_subs.r Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/TwoLink_subs.r ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/TwoLink_subs.r +++ /dev/null @@ -1,20 +0,0 @@ -%% Reduce substitution statements for system TwoLink (TwoLink_subs.r) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1998/03/22 20:12:51 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - trig1 := {cos(~x)*cos(~y) => (cos(x+y)+cos(x-y))/2, - cos(~x)*sin(~y) => (sin(x+y)-sin(x-y))/2, - sin(~x)*sin(~y) => (cos(x-y)-cos(x+y))/2, - cos(~x)^2 => (1+cos(2*x))/2, - sin(~x)^2 => (1-cos(2*x))/2}; - LET trig1; - -END; DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/twolink_desc.tex Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/twolink_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/twolink_desc.tex +++ /dev/null @@ -1,25 +0,0 @@ -% Verbal description for system twolink (twolink_desc.tex) -% Generated by MTT on Fri Jun 13 16:30:23 BST 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{twolink} is - displayed in Figure \Ref{twolink_abg} and its label - file is listed in Section \Ref{sec:twolink_lbl}. - The subsystems are listed in Section \Ref{sec:twolink_sub}. - -This is a heirachical version of the example from Section 10.5 of -"Metamodelling". It uses two compound components: {\bf ROD} and {\bf -GRAV}. {\bf ROD} is essentially as described in Figure 10.2 {\bf -GRAV} represents gravity by a vertical accelleration as in Section -10.9 of "Metamodelling" - -%%% Local Variables: -%%% mode: plain-tex -%%% TeX-master: t -%%% End: DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/twolink_lbl.txt Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/twolink_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/twolink_lbl.txt +++ /dev/null @@ -1,50 +0,0 @@ -%SUMMARY twolink: two-link manipulator from Section 10.5 of "Metamodelling" -%DESCRIPTION This is a heirachical version of the -%DESCRIPTION example from Section 10.5 of "Metamodelling". -%DESCRIPTION It uses two compound components: ROD and GRA -%DESCRIPTION ROD is essentially as described in Figure 10.2 -%DESCRIPTION GRAV represents gravity by a vertical accelleration -%DESCRIPTION as in Section 10.9 of "Metamodelling" - - -%% Label (twolink_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1996/12/05 12:17:15 peterg -% %% Initial revision -% %% -% %% Revision 1.1 1996/11/14 10:48:42 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - -%Rod parameters - identical rods -rod1 none l;l;j;m -rod2 none l;l;j;m - -%Zero velocity sources -v_x internal 0 - - -%Zero force/torque sources -F_x 0 internal -F_a 0 internal -F_y 0 internal - - -%Torque at joints -f_a1 external external -f_a2 external external - - -%Gravity -g DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/twolink_params.r Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/twolink_params.r ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/twolink_params.r +++ /dev/null @@ -1,24 +0,0 @@ -%% Parameter file for system twolink (twolink_params.r) -%% This file provides symbolic parameters for simplification - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -% Useful trig simplifications - - - trig1 := {cos(~x)*cos(~y) => (cos(x+y)+cos(x-y))/2, - cos(~x)*sin(~y) => (sin(x+y)-sin(x-y))/2, - sin(~x)*sin(~y) => (cos(x-y)-cos(x+y))/2, - cos(~x)^2 => (1+cos(2*x))/2, - sin(~x)^2 => (1-cos(2*x))/2}; - LET trig1; - -% Some simplifications -- see book -j := m*l*l/3; - -END; DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/twolink_rep.txt Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/twolink_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/twolink_rep.txt +++ /dev/null @@ -1,19 +0,0 @@ -%% Outline report file for system twolink (twolink_rep.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -abg tex -struc tex -dae tex -csm tex -sro ps -lmfr ps -odeso ps -input txt -numpar txt - DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/twolink_simp.r Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/twolink_simp.r ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/twolink_simp.r +++ /dev/null @@ -1,14 +0,0 @@ -%% Reduce comands to simplify output for system twolink (twolink_simp.r) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%simplify the output equations -% Joint angles -mttx2 := theta_1; -mttx4 := theta_1 + theta_2; -END; DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyc/TwoLinkxyc_abg.fig Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyc/TwoLinkxyc_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyc/TwoLinkxyc_abg.fig +++ /dev/null @@ -1,86 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -1 3 0 2 1 7 1 0 -1 0.000 1 0.0000 8550 1125 485 485 8550 1125 8730 1575 -1 3 0 2 1 7 1 0 -1 0.000 1 0.0000 8550 5625 485 485 8550 5625 9035 6110 -2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3468 1128 3738 1128 -2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5720 1130 5990 1130 -2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4593 2703 4863 2703 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4728 1128 4728 2703 4953 2478 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4502 5492 4502 5762 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2927 5627 4502 5627 4277 5852 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4726 5851 4726 7426 4951 7201 -2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3472 8647 3742 8647 -2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4597 8647 4867 8647 -2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5724 8649 5994 8649 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4730 8645 4730 10220 4955 9995 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5855 8645 5855 10220 6080 9995 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3601 3826 3601 7426 3826 7201 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5851 3826 5851 7426 6076 7201 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 6525 8775 6525 7200 2925 7200 2925 8775 6525 8775 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 6525 2025 6525 450 2925 450 2925 2025 6525 2025 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 6525 6435 6525 4860 2925 4860 2925 6435 6525 6435 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 6525 11250 6525 9675 2925 9675 2925 11250 6525 11250 -2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 9450 11475 9450 225 180 225 180 11475 9450 11475 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3603 1128 3603 2703 3828 2478 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5853 1128 5853 2703 6078 2478 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4726 3826 4726 5401 4951 5176 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 6525 4050 2925 4050 2925 2475 6525 2475 6525 4050 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3600 8622 3600 10197 3825 9972 -2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 8775 5175 8775 1575 8325 1575 8325 5175 8775 5175 -2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 8775 9675 8775 6075 8325 6075 8325 9675 8775 9675 -4 1 -1 0 0 0 20 0.0000 4 255 810 3603 948 SS:v_x\001 -4 0 -1 0 0 0 20 0.0000 4 195 135 4683 5718 0\001 -4 1 -1 0 0 0 20 0.0000 4 255 900 2432 5717 SS:f_a2\001 -4 1 -1 0 0 0 20 0.0000 4 255 840 3608 10673 SS:F_x\001 -4 1 -1 0 0 0 20 0.0000 4 255 840 4733 10673 SS:F_a\001 -4 1 -1 0 0 0 20 0.0000 4 255 840 5903 10673 SS:F_y\001 -4 1 -1 0 0 0 20 0.0000 4 195 1200 4729 3379 ROD:rod1\001 -4 1 -1 0 0 0 20 0.0000 4 195 1200 4731 8196 ROD:rod2\001 -4 1 -1 0 0 0 20 0.0000 4 255 900 4771 946 SS:f_a1\001 -4 0 1 1 0 3 20 0.0000 4 210 720 6795 3375 Link 1\001 -4 0 1 1 0 3 20 0.0000 4 225 795 6750 5760 Joint 2\001 -4 0 1 1 0 3 20 0.0000 4 210 720 6750 8190 Link 2\001 -4 0 1 1 0 3 20 0.0000 4 270 375 6750 10485 Tip\001 -4 0 1 1 0 3 20 0.0000 4 225 795 6750 1260 Joint 1\001 -4 1 -1 0 0 0 20 0.0000 4 255 1170 5850 945 ACCEL:g\001 -4 1 4 0 0 0 16 0.0000 4 210 495 3600 2970 [x_a]\001 -4 1 4 0 0 0 16 0.0000 4 225 900 4725 2970 [alpha_a]\001 -4 1 4 0 0 0 16 0.0000 4 210 510 3600 3780 [x_b]\001 -4 1 4 0 0 0 16 0.0000 4 225 915 4725 3780 [alpha_b]\001 -4 1 4 0 0 0 16 0.0000 4 225 510 5850 3780 [y_b]\001 -4 1 4 0 0 0 16 0.0000 4 225 495 5850 2970 [y_a]\001 -4 1 4 0 0 0 16 0.0000 4 210 495 3605 7835 [x_a]\001 -4 1 4 0 0 0 16 0.0000 4 225 900 4730 7835 [alpha_a]\001 -4 1 4 0 0 0 16 0.0000 4 225 495 5855 7835 [y_a]\001 -4 1 4 0 0 0 16 0.0000 4 210 510 3607 8512 [x_b]\001 -4 1 4 0 0 0 16 0.0000 4 225 915 4733 8513 [alpha_b]\001 -4 1 4 0 0 0 16 0.0000 4 225 510 5859 8514 [y_b]\001 DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyc/TwoLinkxyc_desc.tex Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyc/TwoLinkxyc_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyc/TwoLinkxyc_desc.tex +++ /dev/null @@ -1,31 +0,0 @@ -% Verbal description for system TwoLinkxyc (TwoLinkxyc_desc.tex) -% Generated by MTT on Fri Jun 13 16:30:23 BST 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% Revision 1.1 1997/08/15 13:31:00 peterg -% Initial revision -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{TwoLinkxyc} is - displayed in Figure \Ref{TwoLinkxyc_abg} and its label - file is listed in Section \Ref{sec:TwoLinkxyc_lbl}. - The subsystems are listed in Section \Ref{sec:TwoLinkxyc_sub}. - -This system is identical to \textbf{twolink} except that the two -colocated {\bf SS} components act at the tip in the $x$ and $y$ -directions instead of at the two joints. - -It uses two compound components: {\bf ROD} and {\bf GRAV}. {\bf ROD} -is essentially as described in Figure 10.2 of "Metamodelling" and {\bf -GRAV} represents gravity by a vertical acceleration as in Section -10.9 of "Metamodelling" - -%%% Local Variables: -%%% mode: plain-tex -%%% TeX-master: t -%%% End: DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyc/TwoLinkxyc_input.txt Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyc/TwoLinkxyc_input.txt ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyc/TwoLinkxyc_input.txt +++ /dev/null @@ -1,14 +0,0 @@ -# Numerical parameter file (TwoLinkxyc_input.txt) -# Generated by MTT at Fri Jun 13 16:56:09 BST 1997 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Set the inputs -u(1) = (t<1.0); -u(2) = 0.0; # -u(3) = 0.0; # gravity DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyc/TwoLinkxyc_lbl.txt Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyc/TwoLinkxyc_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyc/TwoLinkxyc_lbl.txt +++ /dev/null @@ -1,51 +0,0 @@ -%SUMMARY TwoLinkxyc: two-link manipulator with collocated tip source-sensors. -%DESCRIPTION This is related to a heirachical version of the -%DESCRIPTION example from Section 10.5 of "Metamodelling". -%DESCRIPTION It uses two compound components: ROD and GRA -%DESCRIPTION ROD is essentially as described in Figure 10.2 -%DESCRIPTION GRAV represents gravity by a vertical accelleration -%DESCRIPTION as in Section 10.9 of "Metamodelling" -%DESCRIPTION except that the collocated source-sensors act at the -%DESCRIPTION tip rather than at the joints. - -%% Label (TwoLinkxyc_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1998/01/06 15:56:31 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - -%Rod parameters - identical rods -rod1 none l;l;j;m;mg -rod2 none l;l;j;m;mg - -%Zero velocity sources -v_x SS internal,0 - - -%Zero force/torque sources -F_a SS 0,internal - - -%Torque at joints -f_a1 SS 0,internal -f_a2 SS 0,internal - -%Forces at tip -F_x SS external,external -F_y SS external,external - - -%Gravity -g - DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyc/TwoLinkxyc_numpar.txt Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyc/TwoLinkxyc_numpar.txt ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyc/TwoLinkxyc_numpar.txt +++ /dev/null @@ -1,17 +0,0 @@ -# Numerical parameter file (TwoLinkxyc_numpar.txt) -# Generated by MTT at Fri Jun 13 16:39:41 BST 1997 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %% Revision 1.1 2000/05/20 15:43:27 peterg -# %% Initial revision -# %% -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Parameters -l = 1.0; # Default value -m = 1.0; # Default value -j = m*l*l/12.0; # Uniform rod DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyc/TwoLinkxyc_rep.txt Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyc/TwoLinkxyc_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyc/TwoLinkxyc_rep.txt +++ /dev/null @@ -1,18 +0,0 @@ -# Outline report file for system TwoLinkxyc (TwoLinkxyc_rep.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -mtt TwoLinkxyc abg tex -mtt TwoLinkxyc struc tex -mtt TwoLinkxyc dae tex -mtt TwoLinkxyc cse tex -mtt TwoLinkxyc rfe tex -mtt TwoLinkxyc ode tex -mtt TwoLinkxyc input txt -mtt TwoLinkxyc numpar txt -mtt -c TwoLinkxyc odeso ps DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyc/TwoLinkxyc_simp.r Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyc/TwoLinkxyc_simp.r ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyc/TwoLinkxyc_simp.r +++ /dev/null @@ -1,17 +0,0 @@ -%% Reduce comands to simplify output for system TwoLinkxyc (TwoLinkxyc_simp.r) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - trig1 := {cos(~x)*cos(~y) => (cos(x+y)+cos(x-y))/2, - cos(~x)*sin(~y) => (sin(x+y)-sin(x-y))/2, - sin(~x)*sin(~y) => (cos(x-y)-cos(x+y))/2, - cos(~x)^2 => (1+cos(2*x))/2, - sin(~x)^2 => (1-cos(2*x))/2}; - LET trig1; - -END; DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyc/TwoLinkxyc_simpar.txt Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyc/TwoLinkxyc_simpar.txt ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyc/TwoLinkxyc_simpar.txt +++ /dev/null @@ -1,21 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# Simulation parameters for system TwoLinkxyc (TwoLinkxyc_simpar.txt) -# Generated by MTT on Mon Feb 22 09:44:37 GMT 1999. -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.1 1999/02/22 10:09:34 peterg -## Initial revision -## -############################################################### - - -LAST = 10.0; # Last time in simulation -DT = 0.1; # Print interval -STEPFACTOR = 10; # Integration steps per print interval -WMIN = -1; # Minimum frequency = 10^WMIN -WMAX = 2; # Maximum frequency = 10^WMAX -WSTEPS = 100; # Number of frequency steps -INPUT = 1; # Index of the input DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyc/TwoLinkxyc_sspar.r Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyc/TwoLinkxyc_sspar.r ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyc/TwoLinkxyc_sspar.r +++ /dev/null @@ -1,10 +0,0 @@ -%% Reduce steady-state parameter file for TwoLinkxyc (TwoLinkxyc_sspar.r) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -END; DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyc/TwoLinkxyc_state.txt Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyc/TwoLinkxyc_state.txt ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyc/TwoLinkxyc_state.txt +++ /dev/null @@ -1,16 +0,0 @@ -# State initialisation file file (TwoLinkxyc_numpar.txt) -# Generated by MTT at Fri Jun 13 16:39:41 BST 1997 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Initial states -x(1) = 0.0; # Initial state for TwoLinkxyc_rod1 (J) -x(2) = 0.0; # Initial state for TwoLinkxyc_rod1_th (3) -x(3) = 0.0; # Initial state for TwoLinkxyc_rod2 (J) -x(4) = 3.142/4; # Initial state for TwoLinkxyc_rod2_th (3) - 45 deg. -x(5) = 0.0; # Initial state for TwoLinkxyc_g (2) DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyn/TwoLinkxyn_abg.fig Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyn/TwoLinkxyn_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyn/TwoLinkxyn_abg.fig +++ /dev/null @@ -1,86 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -1 3 0 2 1 7 1 0 -1 0.000 1 0.0000 8550 1125 485 485 8550 1125 8730 1575 -1 3 0 2 1 7 1 0 -1 0.000 1 0.0000 8550 5625 485 485 8550 5625 9035 6110 -2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3468 1128 3738 1128 -2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5720 1130 5990 1130 -2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4593 2703 4863 2703 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4728 1128 4728 2703 4953 2478 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4502 5492 4502 5762 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2927 5627 4502 5627 4277 5852 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4726 5851 4726 7426 4951 7201 -2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3472 8647 3742 8647 -2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4597 8647 4867 8647 -2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5724 8649 5994 8649 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4730 8645 4730 10220 4955 9995 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5855 8645 5855 10220 6080 9995 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3601 3826 3601 7426 3826 7201 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5851 3826 5851 7426 6076 7201 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 6525 8775 6525 7200 2925 7200 2925 8775 6525 8775 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 6525 2025 6525 450 2925 450 2925 2025 6525 2025 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 6525 6435 6525 4860 2925 4860 2925 6435 6525 6435 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 6525 11250 6525 9675 2925 9675 2925 11250 6525 11250 -2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 9450 11475 9450 225 180 225 180 11475 9450 11475 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3603 1128 3603 2703 3828 2478 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5853 1128 5853 2703 6078 2478 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4726 3826 4726 5401 4951 5176 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 6525 4050 2925 4050 2925 2475 6525 2475 6525 4050 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3600 8622 3600 10197 3825 9972 -2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 8775 5175 8775 1575 8325 1575 8325 5175 8775 5175 -2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 8775 9675 8775 6075 8325 6075 8325 9675 8775 9675 -4 1 -1 0 0 0 20 0.0000 4 255 810 3603 948 SS:v_x\001 -4 0 -1 0 0 0 20 0.0000 4 195 135 4683 5718 0\001 -4 1 -1 0 0 0 20 0.0000 4 255 900 2432 5717 SS:f_a2\001 -4 1 -1 0 0 0 20 0.0000 4 255 840 3608 10673 SS:F_x\001 -4 1 -1 0 0 0 20 0.0000 4 255 840 4733 10673 SS:F_a\001 -4 1 -1 0 0 0 20 0.0000 4 255 840 5903 10673 SS:F_y\001 -4 1 -1 0 0 0 20 0.0000 4 195 1200 4729 3379 ROD:rod1\001 -4 1 -1 0 0 0 20 0.0000 4 195 1200 4731 8196 ROD:rod2\001 -4 1 -1 0 0 0 20 0.0000 4 255 900 4771 946 SS:f_a1\001 -4 0 1 1 0 3 20 0.0000 4 210 720 6795 3375 Link 1\001 -4 0 1 1 0 3 20 0.0000 4 225 795 6750 5760 Joint 2\001 -4 0 1 1 0 3 20 0.0000 4 210 720 6750 8190 Link 2\001 -4 0 1 1 0 3 20 0.0000 4 270 375 6750 10485 Tip\001 -4 0 1 1 0 3 20 0.0000 4 225 795 6750 1260 Joint 1\001 -4 1 -1 0 0 0 20 0.0000 4 255 1170 5850 945 ACCEL:g\001 -4 1 4 0 0 0 16 0.0000 4 210 495 3600 2970 [x_a]\001 -4 1 4 0 0 0 16 0.0000 4 225 900 4725 2970 [alpha_a]\001 -4 1 4 0 0 0 16 0.0000 4 210 510 3600 3780 [x_b]\001 -4 1 4 0 0 0 16 0.0000 4 225 915 4725 3780 [alpha_b]\001 -4 1 4 0 0 0 16 0.0000 4 225 510 5850 3780 [y_b]\001 -4 1 4 0 0 0 16 0.0000 4 225 495 5850 2970 [y_a]\001 -4 1 4 0 0 0 16 0.0000 4 210 495 3605 7835 [x_a]\001 -4 1 4 0 0 0 16 0.0000 4 225 900 4730 7835 [alpha_a]\001 -4 1 4 0 0 0 16 0.0000 4 225 495 5855 7835 [y_a]\001 -4 1 4 0 0 0 16 0.0000 4 210 510 3607 8512 [x_b]\001 -4 1 4 0 0 0 16 0.0000 4 225 915 4733 8513 [alpha_b]\001 -4 1 4 0 0 0 16 0.0000 4 225 510 5859 8514 [y_b]\001 DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyn/TwoLinkxyn_desc.tex Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyn/TwoLinkxyn_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyn/TwoLinkxyn_desc.tex +++ /dev/null @@ -1,31 +0,0 @@ -% Verbal description for system TwoLinkxyn (TwoLinkxyn_desc.tex) -% Generated by MTT on Fri Jun 13 16:30:23 BST 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% Revision 1.1 1998/01/06 17:36:33 peterg -% Initial revision -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{TwoLinkxyn} is - displayed in Figure \Ref{TwoLinkxyn_abg} and its label - file is listed in Section \Ref{sec:TwoLinkxyn_lbl}. - The subsystems are listed in Section \Ref{sec:TwoLinkxyn_sub}. - -This system is identical to \textbf{twolink} except that there are -now two non-collocated input-output pairs: The torque input to joint 1 --- x velocity of the tip and the torque input to joint 2 --- y velocity of the tip. - -It uses two compound components: {\bf ROD} and {\bf GRAV}. {\bf ROD} -is essentially as described in Figure 10.2 of "Metamodelling" and {\bf -GRAV} represents gravity by a vertical acceleration as in Section -10.9 of "Metamodelling" - -%%% Local Variables: -%%% mode: plain-tex -%%% TeX-master: t -%%% End: DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyn/TwoLinkxyn_input.txt Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyn/TwoLinkxyn_input.txt ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyn/TwoLinkxyn_input.txt +++ /dev/null @@ -1,14 +0,0 @@ -# Numerical parameter file (TwoLinkxyn_input.txt) -# Generated by MTT at Fri Jun 13 16:56:09 BST 1997 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Set the inputs -u(1) = (t<1.0); -u(2) = 0.0; # -u(3) = 0.0; # gravity DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyn/TwoLinkxyn_lbl.txt Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyn/TwoLinkxyn_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyn/TwoLinkxyn_lbl.txt +++ /dev/null @@ -1,51 +0,0 @@ -%SUMMARY TwoLinkxyn: two-link manipulator with collocated tip source-sensors. -%DESCRIPTION This is related to a heirachical version of the -%DESCRIPTION example from Section 10.5 of "Metamodelling". -%DESCRIPTION It uses two compound components: ROD and GRA -%DESCRIPTION ROD is essentially as described in Figure 10.2 -%DESCRIPTION GRAV represents gravity by a vertical accelleration -%DESCRIPTION as in Section 10.9 of "Metamodelling" -%DESCRIPTION except that the source sensors are not collocated: -%DESCRIPTION sources at the joints, sensors at the xy motion of the tip. - -%% Label (TwoLinkxyn_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1998/01/06 17:37:55 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - -%Rod parameters - identical rods -rod1 none l;l;j;m;mg -rod2 none l;l;j;m;mg - -%Zero velocity sources -v_x SS internal,0 - - -%Zero force/torque sources -F_a SS 0,internal - - -%Torque at joints -f_a1 SS external,internal -f_a2 SS external,internal - -%Forces at tip -F_x SS 0,external -F_y SS 0,external - - -%Gravity -g - DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyn/TwoLinkxyn_numpar.txt Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyn/TwoLinkxyn_numpar.txt ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyn/TwoLinkxyn_numpar.txt +++ /dev/null @@ -1,14 +0,0 @@ -# Numerical parameter file (TwoLinkxyn_numpar.txt) -# Generated by MTT at Fri Jun 13 16:39:41 BST 1997 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Parameters -l = 1.0; # Default value -m = 1.0; # Default value -j = m*l*l/12.0; # Uniform rod DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyn/TwoLinkxyn_rep.txt Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyn/TwoLinkxyn_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyn/TwoLinkxyn_rep.txt +++ /dev/null @@ -1,21 +0,0 @@ -# Outline report file for system TwoLinkxyn (TwoLinkxyn_rep.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1999/02/22 10:01:42 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -mtt TwoLinkxyn abg tex -mtt TwoLinkxyn struc tex -mtt TwoLinkxyn dae tex -mtt TwoLinkxyn cse tex -mtt TwoLinkxyn rfe tex -mtt TwoLinkxyn ode tex -mtt TwoLinkxyn input txt -mtt TwoLinkxyn numpar txt -mtt -c TwoLinkxyn odeso ps DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyn/TwoLinkxyn_simp.r Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyn/TwoLinkxyn_simp.r ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyn/TwoLinkxyn_simp.r +++ /dev/null @@ -1,17 +0,0 @@ -%% Reduce comands to simplify output for system TwoLinkxyn (TwoLinkxyn_simp.r) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - trig1 := {cos(~x)*cos(~y) => (cos(x+y)+cos(x-y))/2, - cos(~x)*sin(~y) => (sin(x+y)-sin(x-y))/2, - sin(~x)*sin(~y) => (cos(x-y)-cos(x+y))/2, - cos(~x)^2 => (1+cos(2*x))/2, - sin(~x)^2 => (1-cos(2*x))/2}; - LET trig1; - -END; DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyn/TwoLinkxyn_simpar.txt Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyn/TwoLinkxyn_simpar.txt ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyn/TwoLinkxyn_simpar.txt +++ /dev/null @@ -1,18 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# Simulation parameters for system TwoLinkxyn (TwoLinkxyn_simpar.txt) -# Generated by MTT on Mon Feb 22 09:53:04 GMT 1999. -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - - -LAST = 10.0; # Last time in simulation -DT = 0.1; # Print interval -STEPFACTOR = 10; # Integration steps per print interval -WMIN = -1; # Minimum frequency = 10^WMIN -WMAX = 2; # Maximum frequency = 10^WMAX -WSTEPS = 100; # Number of frequency steps -INPUT = 1; # Index of the input DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyn/TwoLinkxyn_sspar.r Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyn/TwoLinkxyn_sspar.r ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyn/TwoLinkxyn_sspar.r +++ /dev/null @@ -1,10 +0,0 @@ -%% Reduce steady-state parameter file for TwoLinkxyn (TwoLinkxyn_sspar.r) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -END; DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyn/TwoLinkxyn_state.txt Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyn/TwoLinkxyn_state.txt ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyn/TwoLinkxyn_state.txt +++ /dev/null @@ -1,16 +0,0 @@ -# State file (TwoLinkxyn_state.txt) -# Generated by MTT at Fri Jun 13 16:39:41 BST 1997 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Initial states -x(1) = 0.0; # Initial state for TwoLinkxyn_rod1 (J) -x(2) = 0.0; # Initial state for TwoLinkxyn_rod1_th (3) -x(3) = 0.0; # Initial state for TwoLinkxyn_rod2 (J) -x(4) = 3.142/4; # Initial state for TwoLinkxyn_rod2_th (3) - 45 deg. -x(5) = 0.0; # Initial state for TwoLinkxyn_g (2) DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/gTwoLink/gTwoLink_abg.fig Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/gTwoLink/gTwoLink_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/gTwoLink/gTwoLink_abg.fig +++ /dev/null @@ -1,86 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -1 3 0 2 1 7 1 0 -1 0.000 1 0.0000 8550 1125 485 485 8550 1125 8730 1575 -1 3 0 2 1 7 1 0 -1 0.000 1 0.0000 8550 5625 485 485 8550 5625 9035 6110 -2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3468 1128 3738 1128 -2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5720 1130 5990 1130 -2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4593 2703 4863 2703 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4728 1128 4728 2703 4953 2478 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4502 5492 4502 5762 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2927 5627 4502 5627 4277 5852 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4726 5851 4726 7426 4951 7201 -2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3472 8647 3742 8647 -2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4597 8647 4867 8647 -2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5724 8649 5994 8649 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4730 8645 4730 10220 4955 9995 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5855 8645 5855 10220 6080 9995 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3601 3826 3601 7426 3826 7201 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5851 3826 5851 7426 6076 7201 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 6525 8775 6525 7200 2925 7200 2925 8775 6525 8775 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 6525 2025 6525 450 2925 450 2925 2025 6525 2025 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 6525 6435 6525 4860 2925 4860 2925 6435 6525 6435 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 6525 11250 6525 9675 2925 9675 2925 11250 6525 11250 -2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 9450 11475 9450 225 180 225 180 11475 9450 11475 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3603 1128 3603 2703 3828 2478 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5853 1128 5853 2703 6078 2478 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4726 3826 4726 5401 4951 5176 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 6525 4050 2925 4050 2925 2475 6525 2475 6525 4050 -2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3600 8622 3600 10197 3825 9972 -2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 8775 5175 8775 1575 8325 1575 8325 5175 8775 5175 -2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 8775 9675 8775 6075 8325 6075 8325 9675 8775 9675 -4 1 -1 0 0 0 20 0.0000 4 255 810 3603 948 SS:v_x\001 -4 0 -1 0 0 0 20 0.0000 4 195 135 4683 5718 0\001 -4 1 -1 0 0 0 20 0.0000 4 255 900 2432 5717 SS:f_a2\001 -4 1 -1 0 0 0 20 0.0000 4 255 840 3608 10673 SS:F_x\001 -4 1 -1 0 0 0 20 0.0000 4 255 840 4733 10673 SS:F_a\001 -4 1 -1 0 0 0 20 0.0000 4 255 840 5903 10673 SS:F_y\001 -4 1 -1 0 0 0 20 0.0000 4 195 1200 4729 3379 ROD:rod1\001 -4 1 -1 0 0 0 20 0.0000 4 195 1200 4731 8196 ROD:rod2\001 -4 1 -1 0 0 0 20 0.0000 4 255 900 4771 946 SS:f_a1\001 -4 0 1 1 0 3 20 0.0000 4 210 720 6795 3375 Link 1\001 -4 0 1 1 0 3 20 0.0000 4 225 795 6750 5760 Joint 2\001 -4 0 1 1 0 3 20 0.0000 4 210 720 6750 8190 Link 2\001 -4 0 1 1 0 3 20 0.0000 4 270 375 6750 10485 Tip\001 -4 0 1 1 0 3 20 0.0000 4 225 795 6750 1260 Joint 1\001 -4 1 -1 0 0 0 20 0.0000 4 255 1170 5850 945 ACCEL:g\001 -4 1 4 0 0 0 16 0.0000 4 210 495 3600 2970 [x_a]\001 -4 1 4 0 0 0 16 0.0000 4 225 900 4725 2970 [alpha_a]\001 -4 1 4 0 0 0 16 0.0000 4 210 510 3600 3780 [x_b]\001 -4 1 4 0 0 0 16 0.0000 4 225 915 4725 3780 [alpha_b]\001 -4 1 4 0 0 0 16 0.0000 4 225 510 5850 3780 [y_b]\001 -4 1 4 0 0 0 16 0.0000 4 225 495 5850 2970 [y_a]\001 -4 1 4 0 0 0 16 0.0000 4 210 495 3605 7835 [x_a]\001 -4 1 4 0 0 0 16 0.0000 4 225 900 4730 7835 [alpha_a]\001 -4 1 4 0 0 0 16 0.0000 4 225 495 5855 7835 [y_a]\001 -4 1 4 0 0 0 16 0.0000 4 210 510 3607 8512 [x_b]\001 -4 1 4 0 0 0 16 0.0000 4 225 915 4733 8513 [alpha_b]\001 -4 1 4 0 0 0 16 0.0000 4 225 510 5859 8514 [y_b]\001 DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/gTwoLink/gTwoLink_desc.tex Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/gTwoLink/gTwoLink_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/gTwoLink/gTwoLink_desc.tex +++ /dev/null @@ -1,43 +0,0 @@ -% Verbal description for system gTwoLink (gTwoLink_desc.tex) -% Generated by MTT on Fri Jun 13 16:30:23 BST 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1998/01/19 14:20:07 peterg -% %% Initial revision -% %% -% Revision 1.1 1997/08/15 13:31:00 peterg -% Initial revision -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{gTwoLink} is - displayed in Figure \Ref{gTwoLink_abg} and its label - file is listed in Section \Ref{sec:gTwoLink_lbl}. - The subsystems are listed in Section \Ref{sec:gTwoLink_sub}. - -This is a heirachical version of the example from Section 10.5 of -"Metamodelling". It uses the compound components: {\bf ROD}. {\bf -ROD} is essentially as described in Figure 10.2. -Gravity is included as discussed in "Metamodelling" by accelerating -the manipulator vertically using the {\bf ACCEL} component. - -This system has a number of dynamic elements (those corresponding to -translation motion) in derivative causality, thus the system is -represnted as a Differential-Algebraic Equation (Section -\Ref{sec:gTwoLink_dae.tex}). Hovever, this -is of contrained-state form and therfore can be written as a set of -constrained-state equations (Section \Ref{sec:gTwoLink_cse.tex}). The -corresponding ordinary differential equation is complicated due to the -trig functions involved in inverting the E matrix. - -As well as the standard representation the ``robot-form'' equations -appear in Section \Ref{sec:gTwoLink_rfe.tex}. - -%%% Local Variables: -%%% mode: plain-tex -%%% TeX-master: t -%%% End: DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/gTwoLink/gTwoLink_input.txt Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/gTwoLink/gTwoLink_input.txt ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/gTwoLink/gTwoLink_input.txt +++ /dev/null @@ -1,14 +0,0 @@ -# Numerical parameter file (gTwoLink_input.txt) -# Generated by MTT at Fri Jun 13 16:56:09 BST 1997 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Set the inputs -u(1) = (t<1.0); -u(2) = 0.0; # -u(3) = 0.0; # gravity DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/gTwoLink/gTwoLink_lbl.txt Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/gTwoLink/gTwoLink_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/gTwoLink/gTwoLink_lbl.txt +++ /dev/null @@ -1,53 +0,0 @@ -%SUMMARY gTwoLink: two-link manipulator from Section 10.5 of "Metamodelling" -%DESCRIPTION This is a heirachical version of the -%DESCRIPTION example from Section 10.5 of "Metamodelling". -%DESCRIPTION It uses two compound components: ROD and GRA -%DESCRIPTION ROD is essentially as described in Figure 10.2 -%DESCRIPTION GRAV represents gravity by a vertical accelleration -%DESCRIPTION as in Section 10.9 of "Metamodelling" - - -%% Label (gTwoLink_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.2 1996/12/05 12:39:49 peterg -% %% Documentation -% %% -% %% Revision 1.1 1996/12/05 12:17:15 peterg -% %% Initial revision -% %% -% %% Revision 1.1 1996/11/14 10:48:42 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - -%Rod parameters - identical rods -rod1 none l;l;j;m;mg -rod2 none l;l;j;m;mg - -%Zero velocity sources -v_x SS internal,0 - - -%Zero force/torque sources -F_x SS 0,internal -F_a SS 0,internal -F_y SS 0,internal - - -%Torque at joints -f_a1 SS external,external -f_a2 SS external,external - -%Gravity -g - DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/gTwoLink/gTwoLink_numpar.txt Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/gTwoLink/gTwoLink_numpar.txt ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/gTwoLink/gTwoLink_numpar.txt +++ /dev/null @@ -1,15 +0,0 @@ -# Numerical parameter file (gTwoLink_numpar.txt) -# Generated by MTT at Fri Jun 13 16:39:41 BST 1997 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Parameters -l = 1.0; # Default value -m = 1.0; # Default value -j = m*l*l/12.0; # Uniform rod - DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/gTwoLink/gTwoLink_rep.txt Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/gTwoLink/gTwoLink_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/gTwoLink/gTwoLink_rep.txt +++ /dev/null @@ -1,22 +0,0 @@ -# Outline report file for system gTwoLink (gTwoLink_rep.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1999/02/22 09:18:53 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -mtt gTwoLink abg tex -mtt gTwoLink struc tex -mtt gTwoLink sympar tex -mtt gTwoLink dae tex -mtt gTwoLink cse tex -mtt gTwoLink rfe tex -mtt gTwoLink ode tex -mtt gTwoLink input txt -mtt gTwoLink numpar txt -mtt -c gTwoLink odeso ps DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/gTwoLink/gTwoLink_simp.r Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/gTwoLink/gTwoLink_simp.r ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/gTwoLink/gTwoLink_simp.r +++ /dev/null @@ -1,17 +0,0 @@ -%% Reduce comands to simplify output for system gTwoLink (gTwoLink_simp.r) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - trig1 := {cos(~x)*cos(~y) => (cos(x+y)+cos(x-y))/2, - cos(~x)*sin(~y) => (sin(x+y)-sin(x-y))/2, - sin(~x)*sin(~y) => (cos(x-y)-cos(x+y))/2, - cos(~x)^2 => (1+cos(2*x))/2, - sin(~x)^2 => (1-cos(2*x))/2}; - LET trig1; - -END; DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/gTwoLink/gTwoLink_simpar.txt Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/gTwoLink/gTwoLink_simpar.txt ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/gTwoLink/gTwoLink_simpar.txt +++ /dev/null @@ -1,16 +0,0 @@ -# Simulation parameters for system gTwoLink (gTwoLink_simpar.txt) -# Generated by MTT on Mon Jul 27 08:11:02 BST 1998. -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.1 1999/02/22 10:06:54 peterg -## Initial revision -## -############################################################### - - -LAST=50.0; -DT=0.1; -STEPFACTOR=10; DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/gTwoLink/gTwoLink_state.txt Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/gTwoLink/gTwoLink_state.txt ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/gTwoLink/gTwoLink_state.txt +++ /dev/null @@ -1,15 +0,0 @@ -# Initial state file (gTwoLink_state.txt) -# Generated by MTT at Mon Jul 27 07:54:23 BST 1998 -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - -# Set the states -mttx(1) = 0.0; # J (gTwoLink_rod1) -mttx(2) = 0.0; # 3 (gTwoLink_rod1_th) -mttx(3) = 0.0; # J (gTwoLink_rod2) -mttx(4) = pi/4; # 3 (gTwoLink_rod2_th) -mttx(5) = 0.0; # 2 (gTwoLink_g) DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/gTwoLink/twolink_desc.tex Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/gTwoLink/twolink_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/gTwoLink/twolink_desc.tex +++ /dev/null @@ -1,25 +0,0 @@ -% Verbal description for system twolink (twolink_desc.tex) -% Generated by MTT on Fri Jun 13 16:30:23 BST 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{twolink} is - displayed in Figure \Ref{twolink_abg} and its label - file is listed in Section \Ref{sec:twolink_lbl}. - The subsystems are listed in Section \Ref{sec:twolink_sub}. - -This is a heirachical version of the example from Section 10.5 of -"Metamodelling". It uses two compound components: {\bf ROD} and {\bf -GRAV}. {\bf ROD} is essentially as described in Figure 10.2 {\bf -GRAV} represents gravity by a vertical accelleration as in Section -10.9 of "Metamodelling" - -%%% Local Variables: -%%% mode: plain-tex -%%% TeX-master: t -%%% End: DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/gTwoLink/twolink_lbl.txt Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/gTwoLink/twolink_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/gTwoLink/twolink_lbl.txt +++ /dev/null @@ -1,50 +0,0 @@ -%SUMMARY twolink: two-link manipulator from Section 10.5 of "Metamodelling" -%DESCRIPTION This is a heirachical version of the -%DESCRIPTION example from Section 10.5 of "Metamodelling". -%DESCRIPTION It uses two compound components: ROD and GRA -%DESCRIPTION ROD is essentially as described in Figure 10.2 -%DESCRIPTION GRAV represents gravity by a vertical accelleration -%DESCRIPTION as in Section 10.9 of "Metamodelling" - - -%% Label (twolink_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1996/12/05 12:17:15 peterg -% %% Initial revision -% %% -% %% Revision 1.1 1996/11/14 10:48:42 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - -%Rod parameters - identical rods -rod1 none l;l;j;m -rod2 none l;l;j;m - -%Zero velocity sources -v_x internal 0 - - -%Zero force/torque sources -F_x 0 internal -F_a 0 internal -F_y 0 internal - - -%Torque at joints -f_a1 external external -f_a2 external external - - -%Gravity -g DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/gTwoLink/twolink_params.r Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/gTwoLink/twolink_params.r ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/gTwoLink/twolink_params.r +++ /dev/null @@ -1,24 +0,0 @@ -%% Parameter file for system twolink (twolink_params.r) -%% This file provides symbolic parameters for simplification - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -% Useful trig simplifications - - - trig1 := {cos(~x)*cos(~y) => (cos(x+y)+cos(x-y))/2, - cos(~x)*sin(~y) => (sin(x+y)-sin(x-y))/2, - sin(~x)*sin(~y) => (cos(x-y)-cos(x+y))/2, - cos(~x)^2 => (1+cos(2*x))/2, - sin(~x)^2 => (1-cos(2*x))/2}; - LET trig1; - -% Some simplifications -- see book -j := m*l*l/3; - -END; DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/gTwoLink/twolink_rep.txt Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/gTwoLink/twolink_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/gTwoLink/twolink_rep.txt +++ /dev/null @@ -1,19 +0,0 @@ -%% Outline report file for system twolink (twolink_rep.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -abg tex -struc tex -dae tex -csm tex -sro ps -lmfr ps -odeso ps -input txt -numpar txt - DELETED mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/gTwoLink/twolink_simp.r Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/gTwoLink/twolink_simp.r ================================================================== --- mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/gTwoLink/twolink_simp.r +++ /dev/null @@ -1,14 +0,0 @@ -%% Reduce comands to simplify output for system twolink (twolink_simp.r) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%simplify the output equations -% Joint angles -mttx2 := theta_1; -mttx4 := theta_1 + theta_2; -END; DELETED mttroot/mtt/lib/examples/Sensitivity/sRCc/sRCc_abg.fig Index: mttroot/mtt/lib/examples/Sensitivity/sRCc/sRCc_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Sensitivity/sRCc/sRCc_abg.fig +++ /dev/null @@ -1,69 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -1 3 0 2 1 7 1 0 -1 0.000 1 0.0000 1800 1125 162 162 1800 1125 1890 1260 -2 1 0 4 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1802 4277 2702 4277 2477 4502 -2 1 0 4 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3152 4277 4052 4277 3827 4502 -2 1 0 4 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4502 4277 5402 4277 5177 4502 -2 1 0 4 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2926 4051 2926 3151 3151 3376 -2 1 0 4 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4276 4051 4276 3151 4501 3376 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 2701 4276 2701 4501 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5401 4051 5401 4276 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5401 4276 5401 4501 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 2701 4051 2701 4276 -2 2 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 5 - 2475 585 3375 585 3375 765 2475 765 2475 585 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 4050 1215 4500 1215 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 4050 1080 4500 1080 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 1800 675 2475 675 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 3375 675 5400 675 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 4275 675 4275 1080 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 4275 1215 4275 1575 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 1800 1575 5400 1575 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 1800 945 1800 675 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 1800 1575 1800 1260 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 1 0 2 - 1 1 2.00 120.00 240.00 - 5400 1530 5400 765 -2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 6750 5625 6750 225 675 225 675 5625 6750 5625 -4 1 -1 0 0 0 20 0.0000 4 255 180 2927 4367 1\001 -4 1 -1 0 0 0 20 0.0000 4 255 180 4277 4367 0\001 -4 1 -1 0 0 0 20 0.0000 4 255 600 2926 2926 sR:r\001 -4 1 -1 0 0 0 20 0.0000 4 255 645 4276 2926 sC:c\001 -4 1 -1 0 0 0 20 0.0000 4 255 945 1395 4365 sSe:e1\001 -4 0 1 1 0 0 20 0.0000 4 180 120 2880 450 r\001 -4 0 1 1 0 0 20 0.0000 4 180 165 4680 1215 c\001 -4 0 1 1 0 0 20 0.0000 4 180 165 5625 1170 e\001 -4 0 1 1 0 0 20 0.0000 4 255 180 5715 1305 2\001 -4 0 1 1 0 0 20 0.0000 4 180 165 1260 1170 e\001 -4 0 1 1 0 0 20 0.0000 4 255 180 1350 1305 1\001 -4 1 1 1 0 0 20 0.0000 4 330 1725 3600 4995 Bond graph\001 -4 1 1 1 0 0 20 0.0000 4 255 1545 3600 2025 Schematic\001 -4 1 -1 0 0 0 20 0.0000 4 255 1005 5987 4367 sDe:e2\001 -4 1 4 100 0 18 4 0.0000 4 120 270 4500 4005 [1,2]\001 -4 1 4 100 0 18 4 0.0000 4 120 270 3105 4005 [1,2]\001 DELETED mttroot/mtt/lib/examples/Sensitivity/sRCc/sRCc_desc.tex Index: mttroot/mtt/lib/examples/Sensitivity/sRCc/sRCc_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Sensitivity/sRCc/sRCc_desc.tex +++ /dev/null @@ -1,33 +0,0 @@ -% Verbal description for system sRCc (sRCc_desc.tex) -% Generated by MTT on Sun Aug 24 11:03:55 BST 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1999/07/29 05:17:04 peterg -% %% Initial revision -% %% -% %% Revision 1.1 1997/08/24 10:27:18 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{sRCc} is - displayed in Figure \Ref{sRCc_abg} and its label - file is listed in Section \Ref{sec:sRCc_lbl}. - The subsystems are listed in Section \Ref{sec:sRCc_sub}. - -The system \textbf{sRCc} is the the sensitivity version of the simple -electrical sRCc circuit shown in Figure \Ref{sRCc_abg}. The circuit itself can be -regarded as a single-input single-output system with input $e_1$ and -output $e_2$; the sensitivity system has {\em two\/} outputs: $e_2$ -and $\frac{\partial e_2}{\partial r}$. - -All bonds are two-bond vector bonds, and the {\bf sR} and {\bf sC} -components are two-port versions of the usual {\bf R} and {\bf C} -components respectively. One port conveys the usual effort/flow pair; -the other port conveys the sensitivity of the effort and flow with -respect to the $c$ parameter. - DELETED mttroot/mtt/lib/examples/Sensitivity/sRCc/sRCc_lbl.txt Index: mttroot/mtt/lib/examples/Sensitivity/sRCc/sRCc_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Sensitivity/sRCc/sRCc_lbl.txt +++ /dev/null @@ -1,37 +0,0 @@ -%% Label file for system sRCc (sRCc_lbl.txt) -%SUMMARY sRCc Sensitivity of output of RC circuit wrt value of r -%DESCRIPTION Uses the sR and sC components and vector bonds - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1999/07/29 05:18:59 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases - -% Argument aliases - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type sSe - e1 lin external;0 - -% Component type sDe - e2 - -% Component type sC - c lin;lin effort,c;1 - -% Component type sR - r lin;lin flow,r;0 DELETED mttroot/mtt/lib/examples/Sensitivity/sRCc/sRCc_rep.txt Index: mttroot/mtt/lib/examples/Sensitivity/sRCc/sRCc_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Sensitivity/sRCc/sRCc_rep.txt +++ /dev/null @@ -1,27 +0,0 @@ -## -*-octave-*- Put Emacs into octave-mode -## Outline report file for system sRCc (sRCc_rep.txt) -## Generated by MTT on" Thu Jul 29 06:02:47 BST 1999. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - -mtt sRCc abg tex # The system description -## mtt sRCc cbg ps # The causal bond graph -## Uncomment the following lines or add others -mtt sRCc struc tex # The system structure -## mtt sRCc dae tex # The system dae -mtt sRCc ode tex # The system ode -## mtt sRCc sspar tex # Steady-state parameters -## mtt sRCc ss tex # Steady state -## mtt sRCc dm tex # Descriptor matrices (of linearised system) -mtt sRCc sm tex # State matrices (of linearised system) -mtt sRCc tf tex # Transfer function (of linearised system) -mtt sRCc lmfr ps # log modulus of frequency response (of linearised system) -## mtt sRCc simpar tex # Simulation parameters -## mtt sRCc numpar tex # Numerical simulation parameters -## mtt sRCc input tex # Simulation input - mtt sRCc odeso ps # Simulation output DELETED mttroot/mtt/lib/examples/Sensitivity/sRCr/sRCr_abg.fig Index: mttroot/mtt/lib/examples/Sensitivity/sRCr/sRCr_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Sensitivity/sRCr/sRCr_abg.fig +++ /dev/null @@ -1,69 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -1 3 0 2 1 7 1 0 -1 0.000 1 0.0000 1800 1125 162 162 1800 1125 1890 1260 -2 1 0 4 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1802 4277 2702 4277 2477 4502 -2 1 0 4 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3152 4277 4052 4277 3827 4502 -2 1 0 4 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4502 4277 5402 4277 5177 4502 -2 1 0 4 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2926 4051 2926 3151 3151 3376 -2 1 0 4 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4276 4051 4276 3151 4501 3376 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 2701 4276 2701 4501 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5401 4051 5401 4276 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5401 4276 5401 4501 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 2701 4051 2701 4276 -2 2 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 5 - 2475 585 3375 585 3375 765 2475 765 2475 585 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 4050 1215 4500 1215 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 4050 1080 4500 1080 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 1800 675 2475 675 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 3375 675 5400 675 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 4275 675 4275 1080 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 4275 1215 4275 1575 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 1800 1575 5400 1575 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 1800 945 1800 675 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2 - 1800 1575 1800 1260 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 1 0 2 - 1 1 2.00 120.00 240.00 - 5400 1530 5400 765 -2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 6750 5625 6750 225 675 225 675 5625 6750 5625 -4 1 -1 0 0 0 20 0.0000 4 255 180 2927 4367 1\001 -4 1 -1 0 0 0 20 0.0000 4 255 180 4277 4367 0\001 -4 1 -1 0 0 0 20 0.0000 4 255 600 2926 2926 sR:r\001 -4 1 -1 0 0 0 20 0.0000 4 255 645 4276 2926 sC:c\001 -4 1 -1 0 0 0 20 0.0000 4 255 945 1395 4365 sSe:e1\001 -4 0 1 1 0 0 20 0.0000 4 180 120 2880 450 r\001 -4 0 1 1 0 0 20 0.0000 4 180 165 4680 1215 c\001 -4 0 1 1 0 0 20 0.0000 4 180 165 5625 1170 e\001 -4 0 1 1 0 0 20 0.0000 4 255 180 5715 1305 2\001 -4 0 1 1 0 0 20 0.0000 4 180 165 1260 1170 e\001 -4 0 1 1 0 0 20 0.0000 4 255 180 1350 1305 1\001 -4 1 1 1 0 0 20 0.0000 4 330 1725 3600 4995 Bond graph\001 -4 1 1 1 0 0 20 0.0000 4 255 1545 3600 2025 Schematic\001 -4 1 -1 0 0 0 20 0.0000 4 255 1005 5987 4367 sDe:e2\001 -4 1 4 100 0 18 10 0.0000 4 150 345 4545 4005 [1,2]\001 -4 1 4 100 0 18 10 0.0000 4 150 345 3195 4005 [1,2]\001 DELETED mttroot/mtt/lib/examples/Sensitivity/sRCr/sRCr_desc.tex Index: mttroot/mtt/lib/examples/Sensitivity/sRCr/sRCr_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Sensitivity/sRCr/sRCr_desc.tex +++ /dev/null @@ -1,33 +0,0 @@ -% Verbal description for system sRCr (sRCr_desc.tex) -% Generated by MTT on Sun Aug 24 11:03:55 BST 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1999/07/29 05:17:04 peterg -% %% Initial revision -% %% -% %% Revision 1.1 1997/08/24 10:27:18 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{sRCr} is - displayed in Figure \Ref{sRCr_abg} and its label - file is listed in Section \Ref{sec:sRCr_lbl}. - The subsystems are listed in Section \Ref{sec:sRCr_sub}. - -The system \textbf{sRCr} is the the sensitivity version of the simple -electrical sRCr circuit shown in Figure \Ref{sRCr_abg}. The circuit itself can be -regarded as a single-input single-output system with input $e_1$ and -output $e_2$; the sensitivity system has {\em two\/} outputs: $e_2$ -and $\frac{\partial e_2}{\partial r}$. - -All bonds are two-bond vector bonds, and the {\bf sR} and {\bf sC} -components are two-port versions of the usual {\bf R} and {\bf C} -components respectively. One port conveys the usual effort/flow pair; -the other port conveys the sensitivity of the effort and flow with -respect to the $r$ parameter. - DELETED mttroot/mtt/lib/examples/Sensitivity/sRCr/sRCr_lbl.txt Index: mttroot/mtt/lib/examples/Sensitivity/sRCr/sRCr_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Sensitivity/sRCr/sRCr_lbl.txt +++ /dev/null @@ -1,37 +0,0 @@ -%% Label file for system sRCr (sRCr_lbl.txt) -%SUMMARY sRCr Sensitivity of output of RC circuit wrt value of r -%DESCRIPTION Uses the sR and sC components and vector bonds - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1999/07/29 05:18:59 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases - -% Argument aliases - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type sSe - e1 lin external;0 - -% Component type sDe - e2 - -% Component type sC - c lin;lin effort,c;0 - -% Component type sR - r lin;lin flow,r;1 DELETED mttroot/mtt/lib/examples/Sensitivity/sRCr/sRCr_rep.txt Index: mttroot/mtt/lib/examples/Sensitivity/sRCr/sRCr_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Sensitivity/sRCr/sRCr_rep.txt +++ /dev/null @@ -1,27 +0,0 @@ -## -*-octave-*- Put Emacs into octave-mode -## Outline report file for system sRCr (sRCr_rep.txt) -## Generated by MTT on" Thu Jul 29 06:02:47 BST 1999. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - -mtt sRCr abg tex # The system description -## mtt sRCr cbg ps # The causal bond graph -## Uncomment the following lines or add others -mtt sRCr struc tex # The system structure -## mtt sRCr dae tex # The system dae -mtt sRCr ode tex # The system ode -## mtt sRCr sspar tex # Steady-state parameters -## mtt sRCr ss tex # Steady state -## mtt sRCr dm tex # Descriptor matrices (of linearised system) -mtt sRCr sm tex # State matrices (of linearised system) -mtt sRCr tf tex # Transfer function (of linearised system) -mtt sRCr lmfr ps # log modulus of frequency response (of linearised system) -## mtt sRCr simpar tex # Simulation parameters -## mtt sRCr numpar tex # Numerical simulation parameters -## mtt sRCr input tex # Simulation input - mtt sRCr odeso ps # Simulation output DELETED mttroot/mtt/lib/examples/Simulation/BigHeatedRod/BigHeatedRod_abg.fig Index: mttroot/mtt/lib/examples/Simulation/BigHeatedRod/BigHeatedRod_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Simulation/BigHeatedRod/BigHeatedRod_abg.fig +++ /dev/null @@ -1,37 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4500 3150 5850 3150 5625 3375 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4500 4275 5850 4275 5625 4500 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1800 3150 3150 3150 2925 3375 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3150 2925 3150 3375 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 1800 4050 1800 4500 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1777 4275 3127 4275 2902 4500 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4500 4095 4500 4545 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6975 3150 8325 3150 8100 3375 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 6975 2925 6975 3375 -2 2 0 2 1 7 1 0 -1 0.000 0 0 0 0 0 5 - 2925 2025 4725 2025 4725 5400 2925 5400 2925 2025 -2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 9450 5850 9450 1575 450 1575 450 5850 9450 5850 -4 0 -1 0 0 0 20 0.0000000 4 240 870 6030 3240 RT:r_2\001 -4 2 4 0 0 0 20 0.0000000 4 240 690 2835 3060 [t_in]\001 -4 0 4 0 0 0 20 0.0000000 4 240 840 4770 3015 [t_out]\001 -4 2 4 0 0 0 20 0.0000000 4 240 735 2880 4185 [e_in]\001 -4 0 4 0 0 0 20 0.0000000 4 240 885 4770 4185 [e_out]\001 -4 2 -1 0 0 0 20 0.0000000 4 240 900 1620 3240 SS:T_1\001 -4 0 -1 0 0 0 20 0.0000000 4 240 900 8460 3240 SS:T_2\001 -4 2 -1 0 0 0 20 0.0000000 4 240 780 1665 4365 SS:I_r\001 -4 0 -1 0 0 0 20 0.0000000 4 240 930 5985 4365 SS:V_0\001 -4 1 -1 0 0 0 20 0.0000000 4 270 1575 3780 3825 Segment:s*100\001 DELETED mttroot/mtt/lib/examples/Simulation/BigHeatedRod/BigHeatedRod_input.txt Index: mttroot/mtt/lib/examples/Simulation/BigHeatedRod/BigHeatedRod_input.txt ================================================================== --- mttroot/mtt/lib/examples/Simulation/BigHeatedRod/BigHeatedRod_input.txt +++ /dev/null @@ -1,12 +0,0 @@ -# Numerical parameter file (BigHeatedRod_input.txt) -# Generated by MTT at Thu Sep 4 16:11:06 BST 1997 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Set the inputs -u(1) = 10.0*(t<5.0); # I_r DELETED mttroot/mtt/lib/examples/Simulation/BigHeatedRod/BigHeatedRod_lbl.txt Index: mttroot/mtt/lib/examples/Simulation/BigHeatedRod/BigHeatedRod_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Simulation/BigHeatedRod/BigHeatedRod_lbl.txt +++ /dev/null @@ -1,48 +0,0 @@ -%SUMMARY BigHeatedRod: Thermal/Electrical model of Electric rod -%DESCRIPTION Introduces the idea of the ES component which -%DESCRIPTION transforms a relative-temperature/enthalpy pseudo bond -%DESCRIPTION (at the [e]port) into an absolute-temperature/enntropy -%DESCRIPTION energy bond (at the [s] port) and vice versa. - -%VAR rod_length -%VAR rod_radius -%VAR electrical_resistivity -%VAR thermal_resistivity -%VAR thermal_capacity -%VAR segments -%VAR area -%VAR delta_x -%VAR volume -%VAR density -%VAR mass - -%% Label file for system BigHeatedRod (BigHeatedRod_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1997/09/11 16:16:29 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type RT - r_2 lin flow,r_2 - -% Component type SS - I_r SS internal,external - T_1 SS t_0,internal - T_2 SS t_0,internal - V_0 SS internal,internal - -% Component type Segment - s DELETED mttroot/mtt/lib/examples/Simulation/BigHeatedRod/BigHeatedRod_numpar.txt Index: mttroot/mtt/lib/examples/Simulation/BigHeatedRod/BigHeatedRod_numpar.txt ================================================================== --- mttroot/mtt/lib/examples/Simulation/BigHeatedRod/BigHeatedRod_numpar.txt +++ /dev/null @@ -1,36 +0,0 @@ -# Numerical parameter file (BigHeatedRod_numpar.txt) -# Generated by MTT at Thu Sep 4 16:11:04 BST 1997 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -# Constants for copper -density = 8.96; -rod_length = 1.0; -rod_radius = 1e-3; -electrical_resistivity = 16.8*0.000000001; -thermal_resistivity = 1/390.0; -thermal_capacity = 380.0; - - -segments = 100; -area = pi*rod_radius*rod_radius; -delta_x = rod_length/segments; -volume = area*delta_x; -mass = volume*density; - -# Parameters -c_t = thermal_capacity*mass; -r = electrical_resistivity*delta_x/area; -r_t = thermal_resistivity*delta_x/area; -r_2 = r_t; -t_0 = 300; # Ambient - - - - DELETED mttroot/mtt/lib/examples/Simulation/BigHeatedRod/BigHeatedRod_rep.txt Index: mttroot/mtt/lib/examples/Simulation/BigHeatedRod/BigHeatedRod_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Simulation/BigHeatedRod/BigHeatedRod_rep.txt +++ /dev/null @@ -1,15 +0,0 @@ -# Outline report file for system BigHeatedRod (BigHeatedRod_rep.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -mtt -o -c BigHeatedRod abg tex - -mtt -o -c BigHeatedRod numpar txt -mtt -o -c BigHeatedRod input txt -mtt -o -c BigHeatedRod odeso ps - DELETED mttroot/mtt/lib/examples/Simulation/BigHeatedRod/BigHeatedRod_simpar.txt Index: mttroot/mtt/lib/examples/Simulation/BigHeatedRod/BigHeatedRod_simpar.txt ================================================================== --- mttroot/mtt/lib/examples/Simulation/BigHeatedRod/BigHeatedRod_simpar.txt +++ /dev/null @@ -1,20 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# Simulation parameters for system BigHeatedRod (BigHeatedRod_simpar.txt) -# Generated by MTT on Tue Aug 24 01:20:41 BST 1999. -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - - -LAST = 10.0; # Last time in simulation -DT = 0.1; # Print interval -STEPFACTOR = 1; # Integration steps per print interval -WMIN = -1; # Minimum frequency = 10^WMIN -WMAX = 2; # Maximum frequency = 10^WMAX -WSTEPS = 100; # Number of frequency steps -INPUT = 1; # Index of the input - -DT = 1.0; # Print interval DELETED mttroot/mtt/lib/examples/Simulation/BigHeatedRod/BigHeatedRod_state.txt Index: mttroot/mtt/lib/examples/Simulation/BigHeatedRod/BigHeatedRod_state.txt ================================================================== --- mttroot/mtt/lib/examples/Simulation/BigHeatedRod/BigHeatedRod_state.txt +++ /dev/null @@ -1,111 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# Initial state file (BigHeatedRod_state.txt) -# Generated by MTT at Friday August 14 18:38:47 BST 1998 -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - -# Set the states -mttx(1) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(2) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(3) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(4) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(5) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(6) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(7) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(8) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(9) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(10) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(11) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(12) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(13) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(14) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(15) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(16) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(17) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(18) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(19) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(20) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(21) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(22) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(23) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(24) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(25) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(26) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(27) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(28) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(29) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(30) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(31) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(32) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(33) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(34) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(35) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(36) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(37) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(38) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(39) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(40) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(41) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(42) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(43) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(44) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(45) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(46) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(47) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(48) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(49) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(50) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(51) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(52) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(53) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(54) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(55) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(56) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(57) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(58) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(59) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(60) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(61) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(62) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(63) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(64) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(65) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(66) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(67) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(68) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(69) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(70) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(71) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(72) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(73) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(74) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(75) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(76) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(77) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(78) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(79) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(80) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(81) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(82) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(83) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(84) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(85) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(86) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(87) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(88) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(89) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(90) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(91) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(92) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(93) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(94) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(95) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(96) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(97) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(98) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(99) = c_t*t_0; # c (BigHeatedRod_s_c_t) -mttx(100) = c_t*t_0; # c (BigHeatedRod_s_c_t) DELETED mttroot/mtt/lib/examples/Simulation/BigHeatedRod/HR_input.txt Index: mttroot/mtt/lib/examples/Simulation/BigHeatedRod/HR_input.txt ================================================================== --- mttroot/mtt/lib/examples/Simulation/BigHeatedRod/HR_input.txt +++ /dev/null @@ -1,12 +0,0 @@ -# Numerical parameter file (HR_input.txt) -# Generated by MTT at Thu Sep 4 16:11:06 BST 1997 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Set the inputs -u(1) = 10.0*(t<5.0); # I_r DELETED mttroot/mtt/lib/examples/Simulation/BigHeatedRod/HR_numpar.txt Index: mttroot/mtt/lib/examples/Simulation/BigHeatedRod/HR_numpar.txt ================================================================== --- mttroot/mtt/lib/examples/Simulation/BigHeatedRod/HR_numpar.txt +++ /dev/null @@ -1,36 +0,0 @@ -# Numerical parameter file (HR_numpar.txt) -# Generated by MTT at Thu Sep 4 16:11:04 BST 1997 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -# Constants for copper -density = 8.96; -rod_length = 1.0; -rod_radius = 1e-3; -electrical_resistivity = 16.8*0.000000001; -thermal_resistivity = 1/390.0; -thermal_capacity = 380.0; - - -segments = 2; -area = pi*rod_radius*rod_radius; -delta_x = rod_length/segments; -volume = area*delta_x; -mass = volume*density; - -# Parameters -c_t = thermal_capacity*mass; -r = electrical_resistivity*delta_x/area; -r_t = thermal_resistivity*delta_x/area; -r_2 = r_t/100; -t_0 = 300; # Ambient - - - - DELETED mttroot/mtt/lib/examples/Simulation/BigHeatedRod/HR_simpar.txt Index: mttroot/mtt/lib/examples/Simulation/BigHeatedRod/HR_simpar.txt ================================================================== --- mttroot/mtt/lib/examples/Simulation/BigHeatedRod/HR_simpar.txt +++ /dev/null @@ -1,19 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# Simulation parameters for system HR (HR_simpar.txt) -# Generated by MTT on Wednesday July 29 13:59:50 BST 1998. -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - - -LAST = 10; # Last time in simulation -WMIN = 1; # Minimum frequency = 10^WMIN -WMAX = 2; # Maximum frequency = 10^WMAX -WSTEPS = 100; # Number of frequency steps - -STEPFACTOR = 1; # Added automatically -METHOD = IMPLICIT; # Added automatically -DT = 0.25; # Added automatically DELETED mttroot/mtt/lib/examples/Simulation/BigHeatedRod/HeatedRod_desc.tex Index: mttroot/mtt/lib/examples/Simulation/BigHeatedRod/HeatedRod_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Simulation/BigHeatedRod/HeatedRod_desc.tex +++ /dev/null @@ -1,39 +0,0 @@ -% Verbal description for system HeatedRod (HeatedRod_desc.tex) -% Generated by MTT on Thu Sep 4 18:05:09 BST 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - - - - - The acausal bond graph of system \textbf{HeatedRod} is - displayed in Figure \Ref{HeatedRod_abg} and its label - file is listed in Section \Ref{sec:HeatedRod_lbl}. -The subsystems are listed in Section \Ref{sec:HeatedRod_sub}. - - System \textbf{HeatedRod} is a model of a rod of copper with an - electric current passing through it which warms it up. The two ends of - the rod are fixed at ambient temperature; this is where all the heat - loss occurs. - - This system introduces the idea of the {\bf ES} component which - transforms a relative-temperature/enthalpy pseudo bond (at the [e] - port) into an absolute-temperature/enntropy energy bond (at the [s] - port) and vice versa. - - The model is similar to that described in chapter 8 of - Cellier's book. However, instead of representing the thermal - resistance by {\bf RS} components and reinserting the entropy flow, - the {\bf RT} component uses two {\bf ES} components to convert from - true to pseudo bonds and back again. Similary, the thermal capacity is - modelled by the {\bf CT} component. - - - The rod parameters are given in the numpar file and the input current - in the input file. DELETED mttroot/mtt/lib/examples/Simulation/BigHeatedRod/HeatedRod_lbl.txt Index: mttroot/mtt/lib/examples/Simulation/BigHeatedRod/HeatedRod_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Simulation/BigHeatedRod/HeatedRod_lbl.txt +++ /dev/null @@ -1,33 +0,0 @@ -%SUMMARY HeatedRod: Thermal/Electrical model of Electric rod -%DESCRIPTION Introduces the idea of the ES component which -%DESCRIPTION transforms a relative-temperature/enthalpy pseudo bond -%DESCRIPTION (at the [e]port) into an absolute-temperature/enntropy -%DESCRIPTION energy bond (at the [s] port) and vice versa. - -%% Label file for system HeatedRod (HeatedRod_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type RT - r_2 lin flow,r_2 - -% Component type SS - I_r internal external - T_1 t_0 internal - T_2 t_0 internal - V_0 0 internal - -% Component type Segment - s DELETED mttroot/mtt/lib/examples/Simulation/BigHeatedRod/Run Index: mttroot/mtt/lib/examples/Simulation/BigHeatedRod/Run ================================================================== --- mttroot/mtt/lib/examples/Simulation/BigHeatedRod/Run +++ /dev/null @@ -1,126 +0,0 @@ -#! /bin/sh -# Shell script for running the large HeatedRod systems to compare -# four integration methods. -# Usage example: Run 100 0.25 runf the 100 segment example at interval 0.25 - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.2 1998/08/15 14:07:11 peterg -## Don't do ImplicitL -## -## Revision 1.1 1998/08/15 13:58:27 peterg -## Initial revision -## -############################################################### - - -n=$1 -DT=$2 - -if [ -z "$n" ]; then - echo "First argument is N: number of segments (eg 100)" - exit -fi -if [ -z "$DT" ]; then - echo "Second argument is DT: the sample interval (eg 0.25)" - exit -fi -if [ -z "$3" ]; then - METHODS='ImplicitS Euler Implicit' -else - METHODS=$3 -fi - -echo "Running system HR$1 with DT = $DT" -echo "using methods $METHODS" - -#Create the system -mtt -q rename HR HR$n >/dev/null -rm -f MTT_work/HR$1_state.* #Why ?? - -# Is it already correct? -count=`grep -c "*$n" HR$1_abg.fig` - -# if not, then set the correct number of segments -if [ "$count" = "0" ]; then - echo Setting number of segments to $n - mv HR$1_abg.fig HR$1_abg.old - sed "s/\*[0-9]*/*$1/"HR$1_abg.fig - - mv HR$1_numpar.txt HR$1_numpar.old - sed "s/segments = [0-9]*/segments = $1/"HR$1_numpar.txt - - echo "Making the default HR$1_state.txt" - rm -f HR$1_state.txt MTT_work/HR$1_state.txt - mtt -q HR$1 state txt - echo "Setting $n states to c_t*t_0" - mv HR$1_state.txt HR$1_state.old - sed "s/0.0/c_t*t_0/"HR$1_state.txt -fi - - - - - - -rm -f HR$1_table.txt - -#Do the methods of interest - -for METHOD in $METHODS; do - -case $METHOD in - Euler) - # What is the minimum step size for Euler? - mtt -q HR$n numpar m - mtt -q HR$n sm m -octave -q <HR$1.tmp1 - HR$1_numpar; - A=HR$1_sm; - Max_Eig=max(eig(-A)) - STEPFACTOR=ceil( Max_Eig*$DT/2 ) -EOF - MinSTEPFACTOR=`awk '{if ($1=="STEPFACTOR") print $3}' HR$1.tmp1` - STEPFACTOR=$MinSTEPFACTOR - ;; - ImplicitS) - # What is the empirical step size for sparse method? - octave -q <HR$1.tmp1 - if $n>100 - SparseSTEPFACTOR=10*$n - else - SparseSTEPFACTOR=5*$n - endif -EOF - SparseSTEPFACTOR=`awk '{if ($1=="SparseSTEPFACTOR") print $3}' HR$1.tmp1` - - STEPFACTOR=$SparseSTEPFACTOR - ;; - *) - STEPFACTOR=1 - ;; -esac - - - echo "Doing HR$1 with DT=$DT using $METHOD (STEPFACTOR = $STEPFACTOR)" - - # Modify the simpar.txt files - grep -v 'STEPFACTOR' HR_simpar.txt | grep -v 'METHOD' | grep -v 'DT' > HR$1_simpar.txt - echo "STEPFACTOR = $STEPFACTOR; # Added automatically" >>HR$1_simpar.txt - echo "METHOD = $METHOD; # Added automatically" >>HR$1_simpar.txt - echo "DT = $DT; # Added automatically" >>HR$1_simpar.txt - mtt -q -c -o HR$1 odeso ps > junk 2>>junk #HR$1_$METHOD.tmp - grep user junk |\ - awk '{print System " &\t" METHOD " &\t" DT " &\t" STEPFACTOR " &\t" $2 "\\\\"}'\ - METHOD=$METHOD STEPFACTOR=$STEPFACTOR System=HR$1 DT=$DT >> HR$1_table.txt - - cp HR$1_odeso.ps HR$1.$METHOD.$DT.ps -done - -cat HR$1_table.txt - - - DELETED mttroot/mtt/lib/examples/Simulation/BigHeatedRod/Run_All Index: mttroot/mtt/lib/examples/Simulation/BigHeatedRod/Run_All ================================================================== --- mttroot/mtt/lib/examples/Simulation/BigHeatedRod/Run_All +++ /dev/null @@ -1,20 +0,0 @@ -#! /bin/sh -# Generates the tables of timings -# PJG 17/8/98 - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - - -Run 2 0.25 'ImplicitS Implicit Euler' -Run 10 0.25 'ImplicitS Implicit Euler' -Run 20 0.25 'ImplicitS Implicit Euler' -Run 50 0.25 'ImplicitS Implicit Euler' -Run 100 0.25 'ImplicitS Implicit Euler' -Run 200 0.25 'ImplicitS Implicit' - -cat Run*_table.txt | sort DELETED mttroot/mtt/lib/examples/Simulation/BigHeatedRod/Segment_abg.fig Index: mttroot/mtt/lib/examples/Simulation/BigHeatedRod/Segment_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Simulation/BigHeatedRod/Segment_abg.fig +++ /dev/null @@ -1,64 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -6 2835 2205 2925 2745 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 2880 2250 2880 2700 --6 -6 8505 2250 8595 2790 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 8550 2295 8550 2745 --6 -6 5310 6255 5400 6795 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 5355 6300 5355 6750 --6 -6 5805 6255 5895 6795 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 5850 6300 5850 6750 --6 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1306 2476 2881 2476 2656 2701 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3781 2476 5356 2476 5131 2701 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5761 2476 8550 2475 8325 2700 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5581 4276 5581 2701 5806 2926 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5581 6301 5581 4726 5806 4951 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1350 6525 5356 6526 5131 6751 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5806 6526 8550 6525 8325 6750 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5806 2701 6920 3815 6601 3815 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5581 2251 5581 676 5806 901 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5356 676 5806 676 -2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 9900 7425 9900 90 45 90 45 7425 9900 7425 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 7650 4455 7650 1800 1575 1800 1575 4455 7650 4455 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 7650 6975 7650 4545 1575 4545 1575 6975 7650 6975 -4 1 -1 0 0 0 20 0.0000 4 240 810 3331 2566 RT:r_t\001 -4 1 -1 0 0 0 20 0.0000 4 195 150 5581 2566 0\001 -4 1 -1 0 0 0 20 0.0000 4 210 555 5581 4591 RS:r\001 -4 1 -1 0 0 0 20 0.0000 4 195 150 5581 6616 1\001 -4 1 -1 0 0 0 20 0.0000 4 240 840 7021 4141 CT:c_t\001 -4 1 -1 0 0 0 20 0.0000 4 255 870 5581 586 SS:T_s\001 -4 2 4 0 0 0 20 0.0000 4 255 1110 1261 2566 SS:[t_in]\001 -4 0 4 0 0 0 20 0.0000 4 255 1260 8685 2565 SS:[t_out]\001 -4 2 4 0 0 0 20 0.0000 4 255 1155 1260 6615 SS:[e_in]\001 -4 0 4 0 0 0 20 0.0000 4 255 1305 8685 6615 SS:[e_out]\001 -4 0 1 1 0 0 20 0.0000 4 210 1875 1845 4050 Thermal model\001 -4 0 1 1 0 0 20 0.0000 4 210 2025 1800 5175 Electrical model\001 -4 0 1 1 0 0 20 0.0000 4 255 2415 6075 585 Temperature sensor\001 DELETED mttroot/mtt/lib/examples/Simulation/BigHeatedRod/Segment_lbl.txt Index: mttroot/mtt/lib/examples/Simulation/BigHeatedRod/Segment_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Simulation/BigHeatedRod/Segment_lbl.txt +++ /dev/null @@ -1,38 +0,0 @@ -%SUMMARY Segment: Segment of HeatedRod -%DESCRIPTION Part of the HeatedRod example. -%% Label file for system Segment (Segment_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.2 1998/08/10 12:29:48 peterg -% %% Added missing ports. -% %% -% %% Revision 1.1 1997/09/11 16:17:14 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - -% Component type CT - c_t lin effort,c_t - -% Component type RS - r lin flow,r - -% Component type RT - r_t lin flow,r_t - -% Component type SS - T_s SS external,0 - [t_in] SS external,internal - [t_out] SS internal,external - [e_in] SS external,internal - [e_out] SS external,internal - DELETED mttroot/mtt/lib/examples/Simulation/BigHeatedRod/examples.m Index: mttroot/mtt/lib/examples/Simulation/BigHeatedRod/examples.m ================================================================== --- mttroot/mtt/lib/examples/Simulation/BigHeatedRod/examples.m +++ /dev/null @@ -1,17 +0,0 @@ - -mttdt = 1; -mttx=(zeros(200,1)); -mttu=(zeros(200,1)); -BigHeatedRod_numpar; -alpha = BigHeatedRod_smx(mttx,mttu,mttdt); -show_matrix (alpha); -psfig("sparsity.ps"); - - -[N,junk] = size(alpha); -A = eye(N) - alpha; -plot(log10(abs(eig(A)))) -grid; -xlabel("i"); -ylabel("e_i"); -psfig("eig.ps"); DELETED mttroot/mtt/lib/examples/Simulation/BigHeatedRod/time_svdlu.m Index: mttroot/mtt/lib/examples/Simulation/BigHeatedRod/time_svdlu.m ================================================================== --- mttroot/mtt/lib/examples/Simulation/BigHeatedRod/time_svdlu.m +++ /dev/null @@ -1,16 +0,0 @@ -function [N,Ts,Tl]=time_svdlu; - - N=[100:100:700]; - - Ts=[]; Tl=[]; - for n=N - n - M=rand(n,n); - ts=time; svd(M); ts=time-ts - tl=time; lu(M); tl=time-tl - Ts=[Ts,ts]; - Tl=[Tl,tl]; - endfor; - -endfunction; - DELETED mttroot/mtt/lib/examples/Simulation/ImplicitRC/ImplicitRC_abg.fig Index: mttroot/mtt/lib/examples/Simulation/ImplicitRC/ImplicitRC_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Simulation/ImplicitRC/ImplicitRC_abg.fig +++ /dev/null @@ -1,21 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 900 3150 2250 3150 2025 3375 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3600 3150 4950 3150 4725 3375 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6075 3150 7425 3150 7200 3375 -2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 8550 5175 8550 900 45 900 45 5175 8550 5175 -4 1 -1 0 0 10 20 0.0000 4 210 570 495 3240 Se:u\001 -4 1 -1 0 0 10 20 0.0000 4 210 1095 2925 3240 RC:slow\001 -4 1 -1 0 0 10 20 0.0000 4 210 1005 5535 3240 RC:fast\001 -4 1 -1 0 0 10 20 0.0000 4 270 600 7830 3240 De:y\001 DELETED mttroot/mtt/lib/examples/Simulation/ImplicitRC/ImplicitRC_desc.tex Index: mttroot/mtt/lib/examples/Simulation/ImplicitRC/ImplicitRC_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Simulation/ImplicitRC/ImplicitRC_desc.tex +++ /dev/null @@ -1,165 +0,0 @@ -% -*-latex-*- Put EMACS into LaTeX-mode -% Verbal description for system ImplicitRC (ImplicitRC_desc.tex) -% Generated by MTT on Wednesday June 24 09:50:17 BST 1998. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -This report describes the \emph{implicit} integration methods -available in MTT. They are introduced to provide simulation -of systems within the following context: -\begin{enumerate} -\item The system may be stiff with a mixture of slow and fast - (possibly due to approximating algebraic loops) subsystems. -\item The fast parts of the response are of no interest -\item A fixed sample interval is required -- possibly for real-time - simulation or control -\item The system is nonlinear. -\item The solution of nonlinear algebraic equations is to be avaided. -\end{enumerate} - -The following sections consider the linear and nonlinear versions -respectively. The ideas are based on a standard textbook -\footnote{Press et al: \emph{Numerical Recipes in C}, 2nd edition, - 1992. Cambridge, Section 16.6}. - - -\subsection{Implicit integration - the linear case} -\label{sec:linear} - -Consider the \emph{linear} system: -\begin{equation} - \label{eq:sys} - \dot x = A x + B u -\end{equation} - -For the purposes of simulation, it can be discretised (with sample -interval $\Delta t$) in at least two -ways: -\begin{enumerate} -\item $ \dot x \approx \frac{x_{i+1} - x_{i}}{\Delta t}$ -\item $ \dot x \approx \frac{x_{i} - x_{i-1}}{\Delta t}$ -\end{enumerate} -The former is gives rise to the \emph{forward} Euler or \emph{explicit} -integration scheme: -\begin{equation} - x_{i+1} = x_{i} + \Delta t \left [ A x_{i} + B_{i} u \right ] -\end{equation} -and the latter gives rise to the \emph{backward} Euler or \emph{implicit} -integration scheme: -\begin{equation} - x_{i} = x_{i-1} + \Delta t \left [ A x_{i} + B_{i} u \right ] -\end{equation} -which must be rewritten as: -\begin{equation} - x_{i} = \left [ I - \Delta t A \right ]^{-1} x_{i-1} + \Delta t B_{i} u -\end{equation} -for the purposes of implementation. - -The explicit method gives simple implementation whereas the implicit -method requires matrix inversion. However, the explicit method is only -stable if: -\begin{equation} - \Delta t < \frac{2}{| \lambda |} -\end{equation} -where $\lambda$ is the \emph{largest} eigenvalue of $A$. If this -largest eigenvalue is real so $\lambda = \frac{1}{\tau}$ where $\tau$ -is the \emph{smallest} system time constant: -\begin{equation} - \Delta t < 2 \tau -\end{equation} - -If the system is stiff, that is it contains at least one small time -constant relative to the dominant time constants, Euler integration is -not feasible due to the very small sample interval $\Delta t$ -required. - -In contrast, the implicit method is stable. - - -\subsubsection{Example} - The acausal bond graph of system \textbf{ImplicitRC} is - displayed in Figure \Ref{ImplicitRC_abg} and its label - file is listed in Section \Ref{sec:ImplicitRC_lbl}. - The subsystems are listed in Section \Ref{sec:ImplicitRC_sub}. - -The system represents two simple RC circuits in series with -differential equations as given in Section \Ref{sec:ImplicitRC_ode.tex} and -transfer function as given in Section \Ref{sec:ImplicitRC_tf.tex}. - -For the purposes of this example the two time constants are $1$ and -$\epsilon=10^{-3}$ -- this is a stiff system. All of the simulations -use a sample interval of $\Delta t = 0.1$ ang the input is a unit -step. Section \Ref{sec:ImplicitRC_sro} shows the exact (computed from -the matrix exponential) solution, and Section \Ref{sec:ImplicitRC_odeso} -shows the solution by implicit integration. - -The explicit solution is not shown, but was found to be unstable for -$\Delta t > 0.002$ as predicted. - -\subsection{Implicit integration - the nonlinear case}} -\label{sec:nonlinear} - -Consider the \emph{nonlinear} system: -\begin{equation} - \label{eq:sys} - \dot x = f(x,u) -\end{equation} -and suppose it can be linearised about any state and input to give: -\begin{equation} - A(x,u) = \frac{\partial f(x,u)}{\partial x} -\end{equation} - -The corresponding \emph{implicit} scheme is: -\begin{equation} - x_{i} = x_{i-1} + \Delta t f(x_{i},u_{i}) -\end{equation} -This is not easy to solve in general due to the set of non-linear -equations that need to be solved. To avoid this, consider a further -approximation: -\begin{equation} - f(x_{i},u_{i}) \approx f(x_{i-1},u_{i}) + A(x_{i-1},u_i) ( x_{i} - x_{i-1} ) -\end{equation} -This then gives the \emph{semi-implicit} scheme -\begin{equation} - x_{i} = x_{i-1} + \Delta t \left [ f(x_{i-1},u_{i}) + A(x_{i-1},u_i) ( - x_{i} - x_{i-1} ) \right ] -\end{equation} -which can be rewritten as: -\begin{equation}\label{eq:implicit} - x_{i} = \left [ I - \Delta t A(x_{i-1},u_i) \right ]^{-1} - \Delta t \left [ f(x_{i-1},u_{i}) - A(x_{i-1},u_i) x_{i-1} \right ] -\end{equation} - - -Because of the approximations invoved, Equation \ref{eq:implicit} is -not guarenteed to be stable. Nevertheless, it should do a much better -job than the corresponding \emph{explicit} method for reasonably -smooth systems. -This method is chosen by setting -\begin{verbatim} -METHOD='Implicit' -\end{verbatim} -in the MTT simpar.txt file. - -A further approximation arises by setting $A(x_{i-1},u_i) = -A(x_{0},u_0)$ ie computing it one only at the beginning of the -simulation. -This method is chosen by setting -\begin{verbatim} -METHOD='ImplicitL' -\end{verbatim} -in the MTT simpar.txt file. - -Both methods make use of the \textbf{smx} ``state-matrix with state $x$'' -representation of MTT which is generated symbolically from the system -bond graph. - -%%% Local Variables: -%%% mode: latex -%%% TeX-master: t -%%% End: DELETED mttroot/mtt/lib/examples/Simulation/ImplicitRC/ImplicitRC_lbl.txt Index: mttroot/mtt/lib/examples/Simulation/ImplicitRC/ImplicitRC_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Simulation/ImplicitRC/ImplicitRC_lbl.txt +++ /dev/null @@ -1,30 +0,0 @@ -%SUMMARY ImplicitRC -%DESCRIPTION -%% Label file for system ImplicitRC (ImplicitRC_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type RC - fast lin epsilon;1 - slow lin 1;1 - -% Component type SS - u SS external - y SS external - - - - - DELETED mttroot/mtt/lib/examples/Simulation/ImplicitRC/ImplicitRC_numpar.txt Index: mttroot/mtt/lib/examples/Simulation/ImplicitRC/ImplicitRC_numpar.txt ================================================================== --- mttroot/mtt/lib/examples/Simulation/ImplicitRC/ImplicitRC_numpar.txt +++ /dev/null @@ -1,15 +0,0 @@ -# Numerical parameter file (ImplicitRC_numpar.txt) -# Generated by MTT at Wednesday June 24 09:21:23 BST 1998 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Parameters -epsilon = 1e-3; # ImplicitRC -c = 1.0; -r = 1.0; - DELETED mttroot/mtt/lib/examples/Simulation/ImplicitRC/ImplicitRC_rep.txt Index: mttroot/mtt/lib/examples/Simulation/ImplicitRC/ImplicitRC_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Simulation/ImplicitRC/ImplicitRC_rep.txt +++ /dev/null @@ -1,22 +0,0 @@ -# Outline report file for system ImplicitRC (ImplicitRC_rep.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -mtt ImplicitRC abg tex -mtt ImplicitRC struc tex -mtt ImplicitRC ode tex -mtt ImplicitRC sm tex -mtt ImplicitRC sm m -mtt ImplicitRC tf tex - -mtt ImplicitRC sro ps - -mtt ImplicitRC numpar tex - -mtt ImplicitRC simpar tex -mtt -c ImplicitRC odeso ps DELETED mttroot/mtt/lib/examples/Simulation/ImplicitRC/ImplicitRC_simpar.txt Index: mttroot/mtt/lib/examples/Simulation/ImplicitRC/ImplicitRC_simpar.txt ================================================================== --- mttroot/mtt/lib/examples/Simulation/ImplicitRC/ImplicitRC_simpar.txt +++ /dev/null @@ -1,15 +0,0 @@ -%% Simulation parameters for system ImplicitRC (ImplicitRC_simpar.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1998/08/12 13:29:02 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -LAST=10.0 -DT=0.1 -STEPFACTOR=1 DELETED mttroot/mtt/lib/examples/Simulation/ImplicitRC/examples.sh Index: mttroot/mtt/lib/examples/Simulation/ImplicitRC/examples.sh ================================================================== --- mttroot/mtt/lib/examples/Simulation/ImplicitRC/examples.sh +++ /dev/null @@ -1,28 +0,0 @@ -#! /bin/sh - -mv ImplicitRC_simpar.txt SAVE -Delta="0.01 0.2 1.0" -for delta in $Delta; do - echo Doing with sample interval = $delta - - cp SAVE ImplicitRC_simpar.txt -cat <>ImplicitRC_simpar.txt -DT=$delta -EOF - mtt -q ImplicitRC odeso dat - cp ImplicitRC_odeso.dat ImplicitRC_odeso.$delta -done - -gnuplot < -%ALIAS in|out Th_out,Hy_out -%% Label file for system In (In_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1998/07/04 09:41:53 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type SS - [Hy_out] SS external,external - [Th_out] SS external,external - Hy_in SS p_1,internal - Th_in SS t_1,internal - DELETED mttroot/mtt/lib/examples/Thermal/GasTurbines/SimpleGasTurbine/Load_abg.fig Index: mttroot/mtt/lib/examples/Thermal/GasTurbines/SimpleGasTurbine/Load_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Thermal/GasTurbines/SimpleGasTurbine/Load_abg.fig +++ /dev/null @@ -1,24 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2700 900 2700 2250 2925 2025 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2700 2700 2700 4050 2925 3825 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4050 2475 5400 2475 5175 2700 -2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 6795 5175 6795 225 1350 225 1350 5175 6795 5175 -4 1 4 0 0 22 20 0.0000 4 270 900 2745 720 SS:[in]\001 -4 1 -1 0 0 22 20 0.0000 4 210 2325 2880 2565 PS:PowerSensor\001 -4 1 4 0 0 22 20 0.0000 4 270 420 2385 2250 [in]\001 -4 1 4 0 0 22 20 0.0000 4 270 615 2385 2835 [out]\001 -4 1 4 0 0 22 20 0.0000 4 270 1035 3735 2250 [power]\001 -4 1 -1 0 0 22 20 0.0000 4 210 1095 6030 2565 Df:Work\001 -4 1 -1 0 0 22 20 0.0000 4 270 630 2655 4410 R:r_l\001 DELETED mttroot/mtt/lib/examples/Thermal/GasTurbines/SimpleGasTurbine/Load_lbl.txt Index: mttroot/mtt/lib/examples/Thermal/GasTurbines/SimpleGasTurbine/Load_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/GasTurbines/SimpleGasTurbine/Load_lbl.txt +++ /dev/null @@ -1,36 +0,0 @@ -%% Label file for system Load (Load_lbl.txt) -%SUMMARY Load -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS in in - -% Argument aliases -%ALIAS $1 r_l - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - - - PowerSensor - -% Component type Df - Work SS external - -% Component type R - r_l lin flow,r_l - -% Component type SS - [in] SS external,external DELETED mttroot/mtt/lib/examples/Thermal/GasTurbines/SimpleGasTurbine/Out_abg.fig Index: mttroot/mtt/lib/examples/Thermal/GasTurbines/SimpleGasTurbine/Out_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Thermal/GasTurbines/SimpleGasTurbine/Out_abg.fig +++ /dev/null @@ -1,21 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2252 4952 3197 4952 3017 5132 -2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 5400 5625 5400 1530 675 1530 675 5625 5400 5625 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2205 2250 3150 2250 2970 2430 -2 1 0 3 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 2250 4725 2250 5175 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 2250 2250 2250 2475 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 2250 1980 2250 2250 -4 0 -1 0 0 0 20 0.0000000 4 240 1290 3465 2340 SS:Th_out\001 -4 0 -1 0 0 0 20 0.0000000 4 270 1320 3375 5040 SS:Hy_out\001 -4 2 4 0 0 0 20 0.0000000 4 270 1380 2160 5040 SS:[Hy_in]\001 -4 2 4 0 0 0 20 0.0000000 4 240 1350 2115 2340 SS:[Th_in]\001 DELETED mttroot/mtt/lib/examples/Thermal/GasTurbines/SimpleGasTurbine/Out_desc.tex Index: mttroot/mtt/lib/examples/Thermal/GasTurbines/SimpleGasTurbine/Out_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Thermal/GasTurbines/SimpleGasTurbine/Out_desc.tex +++ /dev/null @@ -1,14 +0,0 @@ -% Verbal description for system Out (Out_desc.tex) -% Generated by MTT on Tue Jan 13 18:02:44 GMT 1998. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{Out} is - displayed in Figure \Ref{Out_abg} and its label - file is listed in Section \Ref{sec:Out_lbl}. - The subsystems are listed in Section \Ref{sec:Out_sub}. DELETED mttroot/mtt/lib/examples/Thermal/GasTurbines/SimpleGasTurbine/Out_lbl.txt Index: mttroot/mtt/lib/examples/Thermal/GasTurbines/SimpleGasTurbine/Out_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/GasTurbines/SimpleGasTurbine/Out_lbl.txt +++ /dev/null @@ -1,25 +0,0 @@ -%SUMMARY Out: Outflow conditions -%DESCRIPTION -%ALIAS in Th_in,Hy_in -%% Label file for system Out (Out_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type SS - [Hy_in] SS external,external - [Th_in] SS external,external - Hy_out SS p_1,internal - Th_out SS t_1,internal - DELETED mttroot/mtt/lib/examples/Thermal/GasTurbines/SimpleGasTurbine/Shaft_abg.fig Index: mttroot/mtt/lib/examples/Thermal/GasTurbines/SimpleGasTurbine/Shaft_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Thermal/GasTurbines/SimpleGasTurbine/Shaft_abg.fig +++ /dev/null @@ -1,27 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 1620 2700 2970 2700 2745 2925 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 3375 2700 4725 2700 4500 2925 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 3150 2925 3150 4275 3375 4050 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 3150 2475 3150 1125 3375 1350 -2 4 0 2 31 7 50 0 -1 0.000 0 0 7 0 0 5 - 6075 4950 6075 450 450 450 450 4950 6075 4950 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 3375 2475 4330 1520 4330 1839 -4 1 0 100 0 18 18 0.0000 4 195 150 3150 2790 1\001 -4 1 0 100 0 18 18 0.0000 4 270 540 3150 990 I:j_s\001 -4 1 4 100 0 18 18 0.0000 4 270 870 1170 2790 SS:[in]\001 -4 1 4 100 0 18 18 0.0000 4 270 1065 5310 2790 SS:[out]\001 -4 1 4 100 0 18 18 0.0000 4 270 1215 3195 4680 SS:[load]\001 -4 1 0 100 0 18 18 0.0000 4 270 1245 4455 1395 Df:speed\001 DELETED mttroot/mtt/lib/examples/Thermal/GasTurbines/SimpleGasTurbine/Shaft_lbl.txt Index: mttroot/mtt/lib/examples/Thermal/GasTurbines/SimpleGasTurbine/Shaft_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/GasTurbines/SimpleGasTurbine/Shaft_lbl.txt +++ /dev/null @@ -1,35 +0,0 @@ -%% Label file for system Shaft (Shaft_lbl.txt) -%SUMMARY Shaft -%DESCRIPTION - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS in in -%ALIAS load load -%ALIAS out out - -% Argument aliases -%ALIAS $1 j_s - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - speed SS external - -% Component type I - j_s lin flow,j_s - -% Component type SS - [in] SS external,external - [load] SS external,external - [out] SS external,external DELETED mttroot/mtt/lib/examples/Thermal/GasTurbines/SimpleGasTurbine/SimpleGasTurbine_abg.fig Index: mttroot/mtt/lib/examples/Thermal/GasTurbines/SimpleGasTurbine/SimpleGasTurbine_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Thermal/GasTurbines/SimpleGasTurbine/SimpleGasTurbine_abg.fig +++ /dev/null @@ -1,45 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6078 1803 6078 2944 6303 2719 -2 1 0 4 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4230 3375 5584 3375 5359 3600 -2 1 0 4 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6750 3375 8104 3375 7879 3600 -2 1 0 4 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1575 3375 2704 3375 2479 3600 -2 1 0 4 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 9450 3375 10579 3375 10354 3600 -2 1 0 2 0 7 50 0 -1 0.000 0 0 -1 0 0 4 - 8550 3870 8550 5850 6975 5850 7200 6075 -2 1 0 2 0 7 50 0 -1 0.000 0 0 -1 0 0 4 - 5175 5850 3375 5850 3375 3825 3600 4050 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6075 6284 6075 7425 6300 7200 -2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 12152 8550 12152 675 225 675 225 8550 12152 8550 -4 1 4 0 0 2 12 0.0000 4 180 540 8510 3740 [Shaft]\001 -4 1 4 0 0 2 12 0.0000 4 180 540 3379 3739 [Shaft]\001 -4 1 1 1 0 2 30 0.0000 4 300 210 2162 3017 1\001 -4 1 1 1 0 2 30 0.0000 4 300 210 4817 3017 2\001 -4 1 1 1 0 2 30 0.0000 4 300 210 7292 3017 3\001 -4 1 1 1 0 2 30 0.0000 4 300 210 9947 3017 4\001 -4 1 4 0 0 2 12 0.0000 4 180 540 6078 3198 [Heat]\001 -4 1 -1 0 0 22 20 0.0000 4 210 570 1217 3467 In:in\001 -4 1 -1 0 0 2 20 0.0000 4 195 1050 6167 3467 Comb:c1\001 -4 0 -1 0 0 22 20 0.0000 4 210 1005 10758 3468 Out:out\001 -4 1 -1 0 0 2 20 0.0000 4 255 1455 3469 3469 Pump:comp\001 -4 1 -1 0 0 2 20 0.0000 4 255 1335 8780 3470 Pump:turb\001 -4 1 4 0 0 2 12 0.0000 4 180 465 6075 6165 [load]\001 -4 1 -1 0 0 22 20 0.0000 4 210 1500 6078 5943 Shaft:shaft\001 -4 1 -1 0 0 22 20 0.0000 4 210 1380 6075 7740 Load:load\001 -4 1 1 1 0 3 25 0.0000 4 270 1425 6030 8145 Work out\001 -4 1 -1 0 0 22 20 0.0000 4 210 1185 6030 1665 Fuel:fuel\001 -4 1 1 1 0 3 25 0.0000 4 270 1140 5985 1215 Heat in\001 DELETED mttroot/mtt/lib/examples/Thermal/GasTurbines/SimpleGasTurbine/SimpleGasTurbine_desc.tex Index: mttroot/mtt/lib/examples/Thermal/GasTurbines/SimpleGasTurbine/SimpleGasTurbine_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Thermal/GasTurbines/SimpleGasTurbine/SimpleGasTurbine_desc.tex +++ /dev/null @@ -1,123 +0,0 @@ -% -*-latex-*- used to set EMACS into LaTeX-mode -% Verbal description for system SimpleGasTurbine (SimpleGasTurbine_desc.tex) -% Generated by MTT on Tue Jan 13 18:01:55 GMT 1998. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1998/05/18 15:45:50 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{SimpleGasTurbine} is - displayed in Figure \Ref{SimpleGasTurbine_abg} and its label - file is listed in Section \Ref{sec:SimpleGasTurbine_lbl}. - The subsystems are listed in Section \Ref{sec:SimpleGasTurbine_sub}. - - \textbf{SimpleGasTurbine} can be regarded as an single-spool gas - turbine (producing shaft power) with an ideal-gas working fluid. It - corresponds to the simple Joule Cycle as described in Chapter 12 of - Rogers and Mayhew and in Chapter 2 of Cohen, Rogers and - Saravanamutto. However, unlike those examples, the system is - written with dynamics in mind. - - The system is described using an energy Bond Graph- this ensures - that the first law is observed. In particular transformers are used - to explicitly convert between energy covariables. Although this is - a simple model, I believe that it provides the basis for building - complex thermodynamic systems involving gas power cycles. - - -There are five main components: -\begin{enumerate} -\item p1 -- a \textbf{Pump} component representing the compressor - stage. This converts shaft work to energy flow in the working fluid. -\item c1 -- a \textbf{Comb} component representing the combustion - chamber. This converts the heat obtained by burning fuel to energy - flow in the working fluid. -\item t1 -- a \textbf{Turb} component representing the turbine - component. This converts the energy flow in the working fluid to - shaft work -\item j\_s -- an \textbf{I} component representing the combined inertia - of the shaft and compressor and turbine rotors. -\item a \textbf{Load} component to absorb the shaft power. -\end{enumerate} -The components \textbf{In} and \textbf{Out} provide the inlet and -outlet conditions. - -Both \textbf{Pump} and \textbf{Turb} are implemented with the -\emph{polytropic} constitutive relationship with index $n$. When -$n=\gamma=\frac{c_p}{c_v}$ this corresponds to isentropic compression -and expansion and thus the \textbf{SimpleGasTurbine} achieves its -cycle efficiency. However, other values of $n$ can be used to account -for isentropic efficiency of less than unity. - -To obtain a very simple dynamic model (and to avoid the need for an -accurate combustion chamber model) there are no dynamics associated -with the combustion chamber, but rahter it is assumed that the -corresponding temperature is imposed on the component (that is $T_3$ -is the system input) the corresponding heat flow is then an output. - -Both heat input and work output are measured using the \textbf{PS} -(power sensor) component, that for work output is embedded in the -\textbf{Load} component. These can be monitored to give the efficiency -of the \textbf{SimpleGasTurbine}. - -A symbolic steady-state for the model was computed -- see Section -\ref{sec:SimpleGasTurbine_ss.tex}. In particular, the load -resistance was chosen to absorb all the generated work at the steady -state and the shaft inertia was chosen to give a unit time constant -for the linearised system. The mass flow and shaft speeds were taken -as unity. - -For the purposed of simulation, the numerical values given in Examples -12.1 of Chapter 12 of Rogers and Mayhew, except that the isentropic -efficiencies are 100\% ($n=\gamma$) -- see Section -\ref{sec:SimpleGasTurbine_numpar.tex}. - -Simulations were performed starting at the steady state and increasing -the combustion chamber temperature by 10\% at $t=1$ and reducing by -10\% at $t=5$. Graphs of the various outputs are plotted: -\begin{itemize} -\item Figure - \Ref{fig:SimpleGasTurbine_odeso-SimpleGasTurbine-comp-1-T,SimpleGasTurbine-c1-1-T,SimpleGasTurbine-turb-1-T.ps} - -- the temperatures at the output of the - \begin{itemize} - \item compressor, - \item combustion chamber and - \item turbine - \end{itemize} -\item Figure - \Ref{fig:SimpleGasTurbine_odeso-SimpleGasTurbine-fuel-1-Heat-1-y,SimpleGasTurbine-load-1-Work-1-y.ps} - -- the heat input and work output -\item Figure - \Ref{fig:SimpleGasTurbine_odeso-SimpleGasTurbine-shaft-1-speed-1-y.ps} -- the shaft speed and -\item Figure - \Ref{fig:SimpleGasTurbine_odeso-SimpleGasTurbine-c1-1-P.ps} - -- the pressure at the output of the - \begin{itemize} - \item compressor, - \item combustion chamber and - \item turbine - \end{itemize} -\end{itemize} - -This model can be modified extended in various ways to yield related -dynamic systems. For example: -\begin{itemize} -\item an air cooler is obtained by changing the direction of heat and - work flows -\item additional \textbf{Turb} and \textbf{Comb} components add reheat - to the cycle -\item an isentropic nozzle can be added and the work output removed - to give a jet engine. -\end{itemize} - - -%%% Local Variables: -%%% mode: latex -%%% TeX-master: t -%%% End: DELETED mttroot/mtt/lib/examples/Thermal/GasTurbines/SimpleGasTurbine/SimpleGasTurbine_input.txt Index: mttroot/mtt/lib/examples/Thermal/GasTurbines/SimpleGasTurbine/SimpleGasTurbine_input.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/GasTurbines/SimpleGasTurbine/SimpleGasTurbine_input.txt +++ /dev/null @@ -1,16 +0,0 @@ -# Numerical parameter file (SimpleGasTurbine_input.txt) -# Generated by MTT at Tue Mar 31 12:38:39 BST 1998 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -t_3 = 1000; - -# Set the inputs -## Removed by MTT on Mon Nov 27 15:18:54 GMT 2000: u(1) = t_3 + 0.1*t_3*(t>1) - 0.2*t_3*(t>5); # SimpleGasTurbine (T3) -simplegasturbine_fuel_1_t3_1_u = t_3 + 0.1*t_3*(t>1) - 0.2*t_3*(t>5); - DELETED mttroot/mtt/lib/examples/Thermal/GasTurbines/SimpleGasTurbine/SimpleGasTurbine_lbl.txt Index: mttroot/mtt/lib/examples/Thermal/GasTurbines/SimpleGasTurbine/SimpleGasTurbine_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/GasTurbines/SimpleGasTurbine/SimpleGasTurbine_lbl.txt +++ /dev/null @@ -1,87 +0,0 @@ -#SUMMARY SimpleGasTurbine: single-spool gas turbine producing shaft power -#DESCRIPTION SimpleGasTurbine can be regarded as an single-spool gas -#DESCRIPTION turbine (producing shaft power) with an ideal-gas working fluid. It -#DESCRIPTION corresponds to the simple Joule Cycle as described in Chapter 12 of -#DESCRIPTION Rogers and Mayhew and in Chapter 2 of Cohen, Rogers and -#DESCRIPTION Saravanamutto. However, unlike those examples, the system is -#DESCRIPTION written with dynamics in mind. - -#ALIAS Comb CompressibleFlow/Comb -#ALIAS Pump CompressibleFlow/Pump - -#PAR t_2 -#PAR t_3 -#PAR t_4 -#PAR p_2 -#PAR p_3 -#PAR p_4 -#PAR mdot -#PAR gamma_0 -#PAR q_0 -#PAR w_0 -#PAR omega_0 -#PAR r_p -#PAR c_p -#PAR mom_0 - -#NOTPAR density -#NOTPAR ideal_gas -#NOTPAR q_0 - -## Label file for system SimpleGasTurbine (SimpleGasTurbine_lbl.txt) - -# ############################################################### -# ## Version control history -# ############################################################### -# ## $Id$ -# ## $Log$ -# ## Revision 1.4 1998/07/30 15:27:42 peterg -# ## Use #VAR inplace of dummy component. -# ## -# ## Revision 1.3 1998/07/03 14:54:45 peterg -# ## k_p --> k -# ## k_t --> k -# ## -# ## Revision 1.2 1998/07/03 14:53:38 peterg -# ## Renames tank to comb to be consistent. -# ## -# ## Revision 1.1 1998/05/18 15:46:02 peterg -# ## Initial revision -# ## -# ############################################################### - -## Each line should be of one of the following forms: -# a comment (ie starting with #) -# Component-name CR_name arg1,arg2,..argn -# blank - -# Component type Fuel - fuel - -# Component type In - in - -# Component type Pump - comp none c_v;density,ideal_gas,r;alpha;effort,k - -# Component type Comb - c1 none m_c;v_c;r - -# Component type Pump - turb none c_v;density,ideal_gas,r;alpha;effort,k - -# Component type Out - out - -# Component type Shaft - shaft none j_s - -# Component type Load - load none r_l - - - - - - - DELETED mttroot/mtt/lib/examples/Thermal/GasTurbines/SimpleGasTurbine/SimpleGasTurbine_numpar.txt Index: mttroot/mtt/lib/examples/Thermal/GasTurbines/SimpleGasTurbine/SimpleGasTurbine_numpar.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/GasTurbines/SimpleGasTurbine/SimpleGasTurbine_numpar.txt +++ /dev/null @@ -1,56 +0,0 @@ -# Numerical parameter file (SimpleGasTurbine_numpar.txt) -# Generated by MTT at Tue Mar 31 12:15:00 BST 1998 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Parameters -c_p = 1005.0; -c_v = 718.0; -gamma_0 = c_p/c_v; -alpha = (gamma_0-1)/gamma_0; -k = 1.0; -p_1 = 1e5; # 1 bar -p_4 = p_1; -r = c_p-c_v; -t_1 = 288.0; # In -v_c = 1.0; - -%Set the CC pressure and temperature -t_3 = 1000.0; -r_p = 6.0; -p_3 = r_p*p_1; - -%Find stored mass to give combustion chamber pressure p_3 (at -% temperature t_3 -m_c = (p_3*v_c)/(t_3*r); - -%Equate pressures -p_4 = p_1; -p_2 = p_3; - -%Compute ss temperatures (isentropic) -t_2 = t_1*(p_2/p_1)^alpha; -t_4 = t_3*(p_4/p_3)^alpha; - -%Find the steady-state work output -w_0 = c_p*(t_3-t_4) - c_p*(t_2-t_1); - -%Unit mass flow -mdot = 1; - -%Corresponding shaft speed -omega_0 = mdot/k; - -%Compute the corresponding load resistance (to absorb that work) -r_l = w_0/(omega_0)^2; - -%Compute shaft inertia to give unit time constant (j_s*r_l) -j_s = r_l; - -%Find angular momentum to give shaft speed omega_0 -mom_0 = omega_0*j_s; DELETED mttroot/mtt/lib/examples/Thermal/GasTurbines/SimpleGasTurbine/SimpleGasTurbine_rep.txt Index: mttroot/mtt/lib/examples/Thermal/GasTurbines/SimpleGasTurbine/SimpleGasTurbine_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/GasTurbines/SimpleGasTurbine/SimpleGasTurbine_rep.txt +++ /dev/null @@ -1,37 +0,0 @@ -# Outline report file for system SimpleGasTurbine (SimpleGasTurbine_rep.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 2000/11/27 18:16:18 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -mtt -o -ss SimpleGasTurbine abg tex -mtt -o -ss SimpleGasTurbine struc tex -mtt -o -ss SimpleGasTurbine sympar tex -mtt -o -ss SimpleGasTurbine ode tex - -mtt -o -ss SimpleGasTurbine sspar r -mtt -o -ss SimpleGasTurbine ss tex -mtt -o -ss SimpleGasTurbine sm tex - -mtt -o -ss SimpleGasTurbine numpar tex -mtt -o -ss SimpleGasTurbine input tex -mtt -o -ss SimpleGasTurbine state tex -mtt -o -ss SimpleGasTurbine simpar tex -mtt -o -ss -c SimpleGasTurbine odeso ps 'SimpleGasTurbine_comp_1_T,SimpleGasTurbine_c1_1_T,SimpleGasTurbine_turb_1_T' - -mtt -o -ss -c SimpleGasTurbine odeso ps 'SimpleGasTurbine_fuel_1_Heat_1_y,SimpleGasTurbine_load_1_Work_1_y' - -mtt -o -ss -c SimpleGasTurbine odeso ps 'SimpleGasTurbine_shaft_1_speed_1_y' - -mtt -o -ss -c SimpleGasTurbine odeso ps 'SimpleGasTurbine_c1_1_P' - - - - - DELETED mttroot/mtt/lib/examples/Thermal/GasTurbines/SimpleGasTurbine/SimpleGasTurbine_simp.r Index: mttroot/mtt/lib/examples/Thermal/GasTurbines/SimpleGasTurbine/SimpleGasTurbine_simp.r ================================================================== --- mttroot/mtt/lib/examples/Thermal/GasTurbines/SimpleGasTurbine/SimpleGasTurbine_simp.r +++ /dev/null @@ -1,11 +0,0 @@ -%% Reduce commands to simplify output for system SimpleGasTurbine (SimpleGasTurbine_simp.r) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -LET c_v = c_p - r; -END; DELETED mttroot/mtt/lib/examples/Thermal/GasTurbines/SimpleGasTurbine/SimpleGasTurbine_sspar.r Index: mttroot/mtt/lib/examples/Thermal/GasTurbines/SimpleGasTurbine/SimpleGasTurbine_sspar.r ================================================================== --- mttroot/mtt/lib/examples/Thermal/GasTurbines/SimpleGasTurbine/SimpleGasTurbine_sspar.r +++ /dev/null @@ -1,48 +0,0 @@ -% Steady-state parameter file (SimpleGasTurbine_sspar.r) -% Generated by MTT at Thu Mar 26 16:28:59 GMT 1998 - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% % Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% % $Id$ -% % $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%Find stored mass to give combustion chamber pressure p_3 (at -% temperature t_3 -m_c := (p_3*v_c)/(t_3*r); - -%Equate pressures -p_4 := p_1; -p_2 := p_3; - -%Compute ss temperatures (isentropic) -t_2 := t_1*(p_2/p_1)^alpha; -t_4 := t_3*(p_4/p_3)^alpha; - -%Find the steady-state work output -w_0 := c_p*(t_3-t_4) - c_p*(t_2-t_1); - -%Compute the corresponding load resistance (to absorb that work) -r_l := w_0/(omega_0)^2; - -%Unit mass flow -mdot := 1; - -%Corresponding shaft speed -omega_0 := mdot/k; - -%Compute shaft inertia to give unit time constant (j_s*r_l) -j_s := r_l; - -%Find angular momentum to give shaft speed omega_0 -mom_0 := omega_0*j_s; - -% Steady-state states -MTTX1 := mom_0; - -% Steady-state inputs - combustion temperature -MTTU1 := t_3; % SimpleGasTurbine (T3) - -;;END; - DELETED mttroot/mtt/lib/examples/Thermal/GasTurbines/SimpleGasTurbine/SimpleGasTurbine_state.txt Index: mttroot/mtt/lib/examples/Thermal/GasTurbines/SimpleGasTurbine/SimpleGasTurbine_state.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/GasTurbines/SimpleGasTurbine/SimpleGasTurbine_state.txt +++ /dev/null @@ -1,15 +0,0 @@ -# State initialisation file (SimpleGasTurbine_state.txt) -# Generated by MTT at Tue Mar 31 12:37:17 BST 1998 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -# Set the states -## Removed by MTT on Mon Nov 27 15:20:21 GMT 2000: x(1) = j_s/k ; # SimpleGasTurbine (j_s) - -simplegasturbine_shaft_1_j_s = j_s/k ; DELETED mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Components/TestPipe/TestPipe_abg.fig Index: mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Components/TestPipe/TestPipe_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Components/TestPipe/TestPipe_abg.fig +++ /dev/null @@ -1,32 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2026 1351 4051 1351 3826 1576 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4051 1126 4051 1576 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2027 2702 4052 2702 3827 2927 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4951 2702 6976 2702 6751 2927 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4951 1351 6976 1351 6751 1576 -2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 8550 3375 8550 405 450 405 450 3375 8550 3375 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4050 2475 4050 2925 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4950 2475 4950 2925 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4950 1125 4950 1575 -4 2 4 0 0 0 20 0.0000000 4 240 930 4096 991 [Th_in]\001 -4 2 -1 0 0 22 20 0.0000000 4 285 1065 1936 1441 SS:Th_in\001 -4 2 -1 0 0 22 20 0.0000000 4 285 1080 1937 2792 SS:Hy_in\001 -4 2 4 0 0 0 20 0.0000000 4 270 960 4097 2342 [Hy_in]\001 -4 0 -1 0 0 22 20 0.0000000 4 285 1215 7111 1441 SS:Th_out\001 -4 0 4 0 0 0 20 0.0000000 4 240 1080 4951 991 [Th_out]\001 -4 0 4 0 0 0 20 0.0000000 4 270 1110 4951 2342 [Hy_out]\001 -4 0 -1 0 0 22 20 0.0000000 4 285 1230 7111 2792 SS:Hy_out\001 -4 1 -1 0 0 22 20 0.0000000 4 285 1110 4545 1980 Pipe:pipe\001 DELETED mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Components/TestPipe/TestPipe_lbl.txt Index: mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Components/TestPipe/TestPipe_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Components/TestPipe/TestPipe_lbl.txt +++ /dev/null @@ -1,29 +0,0 @@ -%SUMMARY TestPipe -%DESCRIPTION -%% Label file for system TestPipe (TestPipe_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1998/11/20 08:02:53 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - -%ALIAS Pipe IncompressibleFlow/Pipe - -% Component type Pipe - pipe lin rho;c_p;lin,r - -% Component type SS - Hy_in SS external,external - Hy_out SS external,external - Th_in SS external,external - Th_out SS external,external DELETED mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Components/TestPipe/TestPipe_rep.txt Index: mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Components/TestPipe/TestPipe_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Components/TestPipe/TestPipe_rep.txt +++ /dev/null @@ -1,26 +0,0 @@ -# Outline report file for system TestPipe (TestPipe_rep.txt) -# Generated by MTT on" Fri Nov 20 08:16:40 GMT 1998. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - -mtt TestPipe abg tex # The system description -mtt TestPipe cbg ps # The causal bond graph -# Uncomment the following lines or add others -mtt TestPipe struc tex # The system structure -mtt TestPipe dae tex # The system dae -# mtt TestPipe ode tex # The system ode -# mtt TestPipe sspar tex # Steady-state parameters -# mtt TestPipe ss tex # Steady state -# mtt TestPipe dm tex # Descriptor matrices (of linearised system) -# mtt TestPipe sm tex # State matrices (of linearised system) -# mtt TestPipe tf tex # Transfer function (of linearised system) -# mtt TestPipe lmfr ps # log modulus of frequency response (of linearised system) -# mtt TestPipe simpar tex # Simulation parameters -# mtt TestPipe numpar tex # Numerical simulation parameters -# mtt TestPipe input tex # Simulation input -# mtt TestPipe odeso ps # Simulation output DELETED mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Components/TestPump/TestPump_abg.fig Index: mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Components/TestPump/TestPump_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Components/TestPump/TestPump_abg.fig +++ /dev/null @@ -1,38 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2026 1351 4051 1351 3826 1576 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2027 2702 4052 2702 3827 2927 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4951 2702 6976 2702 6751 2927 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4951 1351 6976 1351 6751 1576 -2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 8550 3375 8550 405 450 405 450 3375 8550 3375 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4500 4500 4500 2475 4725 2700 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4275 4500 4725 4500 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4050 2475 4050 2925 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4950 2476 4950 2926 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4950 1125 4950 1575 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4050 1125 4050 1575 -4 2 4 0 0 0 20 0.0000 4 255 870 4096 991 [Th_in]\001 -4 2 -1 0 0 22 20 0.0000 4 270 1200 1936 1441 SS:Th_in\001 -4 2 -1 0 0 22 20 0.0000 4 270 1245 1937 2792 SS:Hy_in\001 -4 0 -1 0 0 22 20 0.0000 4 270 1395 7111 1441 SS:Th_out\001 -4 0 4 0 0 0 20 0.0000 4 255 1020 4951 991 [Th_out]\001 -4 0 -1 0 0 22 20 0.0000 4 270 1440 7111 2792 SS:Hy_out\001 -4 2 4 0 0 0 20 0.0000 4 255 885 3735 2565 [Hy_in]\001 -4 0 4 0 0 0 20 0.0000 4 255 1035 5355 2565 [Hy_out]\001 -4 1 4 0 0 0 20 0.0000 4 240 810 4545 2340 [Shaft]\001 -4 1 -1 0 0 22 20 0.0000 4 210 1200 4500 4815 SS:Shaft\001 -4 1 -1 0 0 22 20 0.0000 4 270 1740 4545 1980 lPump:pump\001 DELETED mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Components/TestPump/TestPump_lbl.txt Index: mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Components/TestPump/TestPump_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Components/TestPump/TestPump_lbl.txt +++ /dev/null @@ -1,43 +0,0 @@ -%SUMMARY TestPump: test of incompressible-flow pump component -%DESCRIPTION -%% Label file for system TestPump (TestPump_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.5 1998/11/20 13:00:27 peterg -% %% Replaces Pump by lPump in ALIAS -% %% -% %% Revision 1.4 1998/11/20 08:31:24 peterg -% %% Fixed alias error -% %% -% %% Revision 1.3 1998/11/20 08:28:41 peterg -% %% Tidied -% %% -% %% Revision 1.2 1998/11/20 08:09:57 peterg -% %% Added alias for Pump -% %% -% %% Revision 1.1 1998/11/20 08:06:28 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - -%ALIAS lPump IncompressibleFlow/lPump - - -% Component type lPump - pump lin;lin rho;c_p;flow,r_p;k_p;flow,r_l - -% Component type SS - Hy_in SS external,external - Hy_out SS external,external - Shaft SS external,external - Th_in SS external,external - Th_out SS external,external DELETED mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Components/TestPump/TestPump_rep.txt Index: mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Components/TestPump/TestPump_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Components/TestPump/TestPump_rep.txt +++ /dev/null @@ -1,26 +0,0 @@ -# Outline report file for system TestPump (TestPump_rep.txt) -# Generated by MTT on" Fri Nov 20 08:19:56 GMT 1998. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - -mtt TestPump abg tex # The system description -mtt TestPump cbg ps # The causal bond graph -# Uncomment the following lines or add others -mtt TestPump struc tex # The system structure -#mtt TestPump dae tex # The system dae -mtt TestPump ode tex # The system ode -# mtt TestPump sspar tex # Steady-state parameters -# mtt TestPump ss tex # Steady state -# mtt TestPump dm tex # Descriptor matrices (of linearised system) -# mtt TestPump sm tex # State matrices (of linearised system) -# mtt TestPump tf tex # Transfer function (of linearised system) -# mtt TestPump lmfr ps # log modulus of frequency response (of linearised system) -# mtt TestPump simpar tex # Simulation parameters -# mtt TestPump numpar tex # Numerical simulation parameters -# mtt TestPump input tex # Simulation input -# mtt TestPump odeso ps # Simulation output DELETED mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Components/TestTank/TestTank_abg.fig Index: mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Components/TestTank/TestTank_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Components/TestTank/TestTank_abg.fig +++ /dev/null @@ -1,36 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2026 1351 4051 1351 3826 1576 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2027 2702 4052 2702 3827 2927 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4951 2702 6976 2702 6751 2927 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4951 1351 6976 1351 6751 1576 -2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 8550 3375 8550 405 450 405 450 3375 8550 3375 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 2025 1125 2025 1575 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 6975 1126 6975 1576 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 6975 2476 6975 2926 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 2025 2476 2025 2926 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4502 4500 4502 2475 4727 2700 -4 2 4 0 0 0 20 0.0000000 4 240 930 4096 991 [Th_in]\001 -4 2 -1 0 0 22 20 0.0000000 4 285 1065 1936 1441 SS:Th_in\001 -4 2 -1 0 0 22 20 0.0000000 4 285 1080 1937 2792 SS:Hy_in\001 -4 0 -1 0 0 22 20 0.0000000 4 285 1215 7111 1441 SS:Th_out\001 -4 0 4 0 0 0 20 0.0000000 4 240 1080 4951 991 [Th_out]\001 -4 0 -1 0 0 22 20 0.0000000 4 285 1230 7111 2792 SS:Hy_out\001 -4 1 -1 0 0 22 20 0.0000000 4 225 1140 4545 1980 Tank:tank\001 -4 1 4 0 0 0 20 0.0000000 4 240 1170 4590 2295 [Heat_in]\001 -4 2 4 0 0 0 20 0.0000000 4 270 960 3915 2565 [Hy_in]\001 -4 0 4 0 0 0 20 0.0000000 4 270 1110 5130 2565 [Hy_out]\001 -4 1 -1 0 0 0 20 0.0000000 4 240 1590 4500 4860 SS:[Heat_in]\001 DELETED mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Components/TestTank/TestTank_lbl.txt Index: mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Components/TestTank/TestTank_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Components/TestTank/TestTank_lbl.txt +++ /dev/null @@ -1,37 +0,0 @@ -%SUMMARY TestTank: Equations for incompressible-flow Tank component -%DESCRIPTION -%% Label file for system TestTank (TestTank_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.3 1998/11/20 08:36:30 peterg -% %% Corrected alias -% %% -% %% Revision 1.2 1998/11/20 08:09:20 peterg -% %% Added alias for Tank -% %% -% %% Revision 1.1 1998/11/20 08:07:20 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - -%ALIAS Tank IncompressibleFlow/Tank - -% Component type SS - Heat_in SS external,external - Hy_in SS external,external - Hy_out SS external,external - Th_in SS external,external - Th_out SS external,external - -% Component type Tank - tank none rho;c_p;c - DELETED mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Components/TestTank/TestTank_rep.txt Index: mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Components/TestTank/TestTank_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Components/TestTank/TestTank_rep.txt +++ /dev/null @@ -1,26 +0,0 @@ -# Outline report file for system TestTank (TestTank_rep.txt) -# Generated by MTT on" Fri Nov 20 08:11:01 GMT 1998. - -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - -mtt TestTank abg tex # The system description -mtt TestTank cbg ps # The causal bond graph -# Uncomment the following lines or add others -mtt TestTank struc tex # The system structure -# mtt TestTank dae tex # The system dae -mtt TestTank ode tex # The system ode -# mtt TestTank sspar tex # Steady-state parameters -# mtt TestTank ss tex # Steady state -# mtt TestTank dm tex # Descriptor matrices (of linearised system) -# mtt TestTank sm tex # State matrices (of linearised system) -# mtt TestTank tf tex # Transfer function (of linearised system) -# mtt TestTank lmfr ps # log modulus of frequency response (of linearised system) -# mtt TestTank simpar tex # Simulation parameters -# mtt TestTank numpar tex # Numerical simulation parameters -# mtt TestTank input tex # Simulation input -# mtt TestTank odeso ps # Simulation output DELETED mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/LiquidTurbine/In_abg.fig Index: mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/LiquidTurbine/In_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/LiquidTurbine/In_abg.fig +++ /dev/null @@ -1,25 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2253 2253 3198 2253 3018 2433 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2252 4952 3197 4952 3017 5132 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3196 2026 3196 2476 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3195 4725 3195 5175 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3602 4950 4547 4950 4367 5130 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3602 2250 4547 2250 4367 2430 -2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 7200 5670 7200 1530 675 1530 675 5670 7200 5670 -4 2 -1 0 0 0 20 0.0000 4 255 1095 2026 2341 SS:Th_in\001 -4 2 -1 0 0 0 20 0.0000 4 255 1110 2071 5041 SS:Hy_in\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 3376 5041 0\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 3376 2341 0\001 -4 0 4 0 0 0 20 0.0000 4 255 2235 4727 5042 SS:[Hydraulic_out]\001 -4 0 4 0 0 0 20 0.0000 4 255 2085 4772 2342 SS:[Thermal_out]\001 DELETED mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/LiquidTurbine/In_desc.tex Index: mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/LiquidTurbine/In_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/LiquidTurbine/In_desc.tex +++ /dev/null @@ -1,14 +0,0 @@ -% Verbal description for system In (In_desc.tex) -% Generated by MTT on Tue Jan 13 18:02:36 GMT 1998. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{In} is - displayed in Figure \Ref{In_abg} and its label - file is listed in Section \Ref{sec:In_lbl}. - The subsystems are listed in Section \Ref{sec:In_sub}. DELETED mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/LiquidTurbine/In_lbl.txt Index: mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/LiquidTurbine/In_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/LiquidTurbine/In_lbl.txt +++ /dev/null @@ -1,27 +0,0 @@ -%SUMMARY In: Inflow conditions -%DESCRIPTION -%% Label file for system In (In_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - -%ALIAS out Thermal_out,Hydraulic_out -%ALIAS Th_out Thermal_out -%ALIAS Hy_out Hydraulic_out - - - -% Component type SS - Hy_in SS p_0,external - Th_in SS t_0,external - [Hydraulic_out] SS external,external - [Thermal_out] SS external,external DELETED mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/LiquidTurbine/LiquidTurbine_abg.fig Index: mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/LiquidTurbine/LiquidTurbine_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/LiquidTurbine/LiquidTurbine_abg.fig +++ /dev/null @@ -1,41 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6302 1127 6302 2252 6527 2027 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 6077 1127 6527 1127 -2 1 0 4 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 9495 2700 10534 2703 10309 2928 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 4 - 6075 5175 3600 5175 3600 3150 3849 3399 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 6076 5401 6526 5401 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6300 4950 6300 4050 6525 4275 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 4 - 8775 3150 8775 5175 6525 5175 6750 5400 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6301 6299 6301 5399 6526 5624 -2 1 0 4 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2025 2700 3060 2700 2835 2925 -2 1 0 4 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4497 2698 5715 2700 5490 2925 -2 1 0 4 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6930 2700 8145 2700 7920 2925 -2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 11925 7200 11925 225 900 225 900 7200 11925 7200 -4 1 4 0 0 2 16 0.0000 4 210 750 3602 3062 [Shaft]\001 -4 1 4 0 0 2 16 0.0000 4 225 1005 6302 2477 [Heat_in]\001 -4 1 4 0 0 2 16 0.0000 4 210 750 8733 3063 [Shaft]\001 -4 1 -1 0 0 2 20 0.0000 4 255 1185 3737 2792 lPump:p1\001 -4 1 -1 0 0 22 20 0.0000 4 210 1110 6257 1037 SS:Heat\001 -4 1 -1 0 0 22 20 0.0000 4 195 150 6301 5266 1\001 -4 1 -1 0 0 22 20 0.0000 4 210 1170 6391 6751 SS:Work\001 -4 1 -1 0 0 22 20 0.0000 4 270 555 6300 3915 I:j_s\001 -4 1 -1 0 0 2 20 0.0000 4 195 1065 6302 2792 Tank:C1\001 -4 1 -1 0 0 2 20 0.0000 4 255 1140 8868 2793 lPump:t1\001 -4 1 -1 0 0 22 20 0.0000 4 210 570 1620 2790 In:in\001 -4 1 -1 0 0 22 20 0.0000 4 210 1005 11116 2791 Out:out\001 DELETED mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/LiquidTurbine/LiquidTurbine_desc.tex Index: mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/LiquidTurbine/LiquidTurbine_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/LiquidTurbine/LiquidTurbine_desc.tex +++ /dev/null @@ -1,37 +0,0 @@ -% -*-latex-*- used to set EMACS into LaTeX-mode -% Verbal description for system LiquidTurbine (LiquidTurbine_desc.tex) -% Generated by MTT on Tue Jan 13 18:01:55 GMT 1998. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{LiquidTurbine} is - displayed in Figure \Ref{LiquidTurbine_abg} and its label - file is listed in Section \Ref{sec:LiquidTurbine_lbl}. - The subsystems are listed in Section \Ref{sec:LiquidTurbine_sub}. - -\textbf{LiquidTurbine} can be regarded as a single-spool gas turbine -with an incompressible working fluid. Of course, such a device cannot -convert heat to work; however, it provides a useful first step towards -modelling a gas turbine. - -There are three main components: -\begin{enumerate} -\item p1 -- a leaky pump \textbf{lPump} component. This is analogous - to the gas turbine compressor. -\item c1 -- a tank \textbf{Tank} component. This is analogous - to the gas turbine combustion chamber. -\item t1 -- a leaky turbine \textbf{lTurb} component. This is analogous - to the gas turbine turbine. -\end{enumerate} -The components \textbf{In} and \textbf{Out} provide the inlet and -outlet conditions. - -%%% Local Variables: -%%% mode: latex -%%% TeX-master: t -%%% End: DELETED mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/LiquidTurbine/LiquidTurbine_lbl.txt Index: mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/LiquidTurbine/LiquidTurbine_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/LiquidTurbine/LiquidTurbine_lbl.txt +++ /dev/null @@ -1,46 +0,0 @@ -%SUMMARY LiquidTurbine -%DESCRIPTION -%% Label file for system LiquidTurbine (LiquidTurbine_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%ALIAS lPump IncompressibleFlow/lPump -%ALIAS Tank IncompressibleFlow/Tank - -%VAR p_0 -%VAR q_0 -%VAR t_0 - - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - -% Component type I - j_s lin flow,j_s - -% Component type Pump - p1 lin;lin rho;c_p;flow,r_p;k_p;flow,r_pl - -% Component type SS - Heat SS external,external - Work SS external,external - -% Component type Turb - t1 lin;lin rho;c_p;flow,r_t;k_t;flow,r_tl - -% Component type Tank - C1 none rho;c_p;c_t - -% Component type In - in - -% Component type Out - out - DELETED mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/LiquidTurbine/LiquidTurbine_numpar.txt Index: mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/LiquidTurbine/LiquidTurbine_numpar.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/LiquidTurbine/LiquidTurbine_numpar.txt +++ /dev/null @@ -1,25 +0,0 @@ -# Numerical parameter file (LiquidTurbine_numpar.txt) -# Generated by MTT at Mon Mar 9 09:16:28 GMT 1998 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Parameters -c = 1.0; -c_p = 1.0; # LiquidTurbine -c_t = 1.0; # LiquidTurbine -j_s = 1.0; # LiquidTurbine -k_p = 1.0; # LiquidTurbine -k_t = 1.0; # LiquidTurbine -p_0 = 1e5; # In,Out -q_0 = 1e5; # Heat in -r_p = 1.0; # LiquidTurbine -r_pl = 100.0; # LiquidTurbine -r_t = 1.0; # LiquidTurbine -r_tl = 100.0; # LiquidTurbine -rho = 1.0; # LiquidTurbine -t_0 = 300.0; # In,Out DELETED mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/LiquidTurbine/LiquidTurbine_rep.txt Index: mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/LiquidTurbine/LiquidTurbine_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/LiquidTurbine/LiquidTurbine_rep.txt +++ /dev/null @@ -1,27 +0,0 @@ -# Outline report file for system LiquidTurbine (LiquidTurbine_rep.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1999/02/21 02:13:25 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -mtt -o -ss LiquidTurbine abg tex -mtt -o -ss LiquidTurbine struc tex -mtt -o -ss LiquidTurbine sympar tex -mtt -o -ss LiquidTurbine ss tex -mtt -o -ss LiquidTurbine ode tex - - -mtt -o -ss LiquidTurbine numpar txt -mtt -o -ss LiquidTurbine input txt - -mtt -o -ss -c LiquidTurbine odeso ps 'LiquidTurbine_Heat' -mtt -o -ss -c LiquidTurbine odeso ps 'LiquidTurbine_Work' -mtt -o -ss -c LiquidTurbine odeso ps 'LiquidTurbine_in_Hy_in' -mtt -o -ss -c LiquidTurbine odeso ps 'LiquidTurbine_out_Hy_out' -mtt -o -ss -c LiquidTurbine odeso ps 'LiquidTurbine_out_Th_out' DELETED mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/LiquidTurbine/LiquidTurbine_sspar.r Index: mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/LiquidTurbine/LiquidTurbine_sspar.r ================================================================== --- mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/LiquidTurbine/LiquidTurbine_sspar.r +++ /dev/null @@ -1,20 +0,0 @@ -% Steady-state parameter file (LiquidTurbine_sspar.r) -% Generated by MTT at Fri Nov 20 11:42:16 GMT 1998 - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% % Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% % $Id$ -% % $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - - -% Steady-state states -MTTX1 := 1; % LiquidTurbine (j_s) -MTTX2 := p_0*c/rho; % LiquidTurbine_C1 (tank) - pressure = p0 -MTTX3 := t_0*p_0*c*c_p; % LiquidTurbine_C1 (tank) - temp = t0 -% Steady-state inputs -MTTU1 := q_0; % LiquidTurbine (Heat) -MTTU2 := 0; % LiquidTurbine (Work) -;;END; DELETED mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/LiquidTurbine/Out_abg.fig Index: mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/LiquidTurbine/Out_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/LiquidTurbine/Out_abg.fig +++ /dev/null @@ -1,25 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2252 4952 3197 4952 3017 5132 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2205 2250 3150 2250 2970 2430 -2 1 0 3 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 2250 4725 2250 5175 -2 1 0 3 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 2205 2025 2205 2475 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3600 4950 4545 4950 4365 5130 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3555 2250 4500 2250 4320 2430 -2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 6075 5850 6075 1530 45 1530 45 5850 6075 5850 -4 2 4 0 0 0 20 0.0000 4 255 2085 2160 5040 SS:[Hydraulic_in]\001 -4 2 4 0 0 0 20 0.0000 4 255 1935 2115 2340 SS:[Thermal_in]\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 3375 5040 0\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 3375 2340 0\001 -4 0 -1 0 0 0 20 0.0000 4 255 1245 4590 2340 SS:Th_out\001 -4 0 -1 0 0 0 20 0.0000 4 255 1260 4635 5040 SS:Hy_out\001 DELETED mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/LiquidTurbine/Out_desc.tex Index: mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/LiquidTurbine/Out_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/LiquidTurbine/Out_desc.tex +++ /dev/null @@ -1,14 +0,0 @@ -% Verbal description for system Out (Out_desc.tex) -% Generated by MTT on Tue Jan 13 18:02:44 GMT 1998. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{Out} is - displayed in Figure \Ref{Out_abg} and its label - file is listed in Section \Ref{sec:Out_lbl}. - The subsystems are listed in Section \Ref{sec:Out_sub}. DELETED mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/LiquidTurbine/Out_lbl.txt Index: mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/LiquidTurbine/Out_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/LiquidTurbine/Out_lbl.txt +++ /dev/null @@ -1,27 +0,0 @@ -%SUMMARY Out: Outflow conditions -%DESCRIPTION -%% Label file for system Out (Out_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - -%ALIAS in Thermal_in,Hydraulic_in -%ALIAS Th_in Thermal_in -%ALIAS Hy_in Hydraulic_in - - -% Component type SS - Hy_out SS p_0,external - Th_out SS t_0,external - [Hydraulic_in] SS external,external - [Thermal_in] SS external,external - DELETED mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/In_abg.fig Index: mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/In_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/In_abg.fig +++ /dev/null @@ -1,29 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2253 2253 3198 2253 3018 2433 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2252 4952 3197 4952 3017 5132 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3196 2026 3196 2476 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3602 4950 4547 4950 4367 5130 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3602 2250 4547 2250 4367 2430 -2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 7200 5670 7200 1530 675 1530 675 5670 7200 5670 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 2250 4725 2250 5175 -4 2 -1 0 0 0 20 0.0000 4 285 1140 2026 2341 SS:Th_in\001 -4 2 -1 0 0 0 20 0.0000 4 285 1125 2071 5041 SS:Hy_in\001 -4 1 -1 0 0 0 20 0.0000 4 210 150 3376 5041 0\001 -4 1 -1 0 0 0 20 0.0000 4 210 150 3376 2341 0\001 -4 0 4 0 0 0 20 0.0000 4 285 2295 4727 5042 SS:[Hydraulic_out]\001 -4 0 4 0 0 0 20 0.0000 4 285 2175 4772 2342 SS:[Thermal_out]\001 DELETED mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/In_desc.tex Index: mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/In_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/In_desc.tex +++ /dev/null @@ -1,14 +0,0 @@ -% Verbal description for system In (In_desc.tex) -% Generated by MTT on Tue Jan 13 18:02:36 GMT 1998. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{In} is - displayed in Figure \Ref{In_abg} and its label - file is listed in Section \Ref{sec:In_lbl}. - The subsystems are listed in Section \Ref{sec:In_sub}. DELETED mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/In_lbl.txt Index: mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/In_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/In_lbl.txt +++ /dev/null @@ -1,27 +0,0 @@ -%SUMMARY In: Inflow conditions -%DESCRIPTION -%% Label file for system In (In_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - -%ALIAS out Thermal_out,Hydraulic_out -%ALIAS Th_out Thermal_out -%ALIAS Hy_out Hydraulic_out - - - -% Component type SS - Hy_in SS internal,external - Th_in SS external,internal - [Hydraulic_out] SS external,external - [Thermal_out] SS external,external DELETED mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/Out_abg.fig Index: mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/Out_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/Out_abg.fig +++ /dev/null @@ -1,29 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2252 4952 3197 4952 3017 5132 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2205 2250 3150 2250 2970 2430 -2 1 0 3 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 2250 4725 2250 5175 -2 1 0 3 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 2205 2025 2205 2475 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3600 4950 4545 4950 4365 5130 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3555 2250 4500 2250 4320 2430 -2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 6075 5850 6075 1530 45 1530 45 5850 6075 5850 -4 2 4 0 0 0 20 0.0000 4 285 2145 2160 5040 SS:[Hydraulic_in]\001 -4 2 4 0 0 0 20 0.0000 4 285 2025 2115 2340 SS:[Thermal_in]\001 -4 1 -1 0 0 0 20 0.0000 4 210 150 3375 5040 0\001 -4 1 -1 0 0 0 20 0.0000 4 210 150 3375 2340 0\001 -4 0 -1 0 0 0 20 0.0000 4 285 1290 4590 2340 SS:Th_out\001 -4 0 -1 0 0 0 20 0.0000 4 285 1275 4635 5040 SS:Hy_out\001 DELETED mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/Out_desc.tex Index: mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/Out_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/Out_desc.tex +++ /dev/null @@ -1,14 +0,0 @@ -% Verbal description for system Out (Out_desc.tex) -% Generated by MTT on Tue Jan 13 18:02:44 GMT 1998. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{Out} is - displayed in Figure \Ref{Out_abg} and its label - file is listed in Section \Ref{sec:Out_lbl}. - The subsystems are listed in Section \Ref{sec:Out_sub}. DELETED mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/Out_lbl.txt Index: mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/Out_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/Out_lbl.txt +++ /dev/null @@ -1,26 +0,0 @@ -%SUMMARY Out: Outflow conditions -%DESCRIPTION -%% Label file for system Out (Out_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - -%ALIAS in Thermal_in,Hydraulic_in -%ALIAS Th_in Thermal_in -%ALIAS Hy_in Hydraulic_in - - -% Component type SS - Hy_out SS p_0,internal - Th_out SS t_0,internal - [Hydraulic_in] SS external,external - [Thermal_in] SS external,external DELETED mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/ShowerHeater_abg.fig Index: mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/ShowerHeater_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/ShowerHeater_abg.fig +++ /dev/null @@ -1,39 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -6 6210 4140 6390 4365 -4 1 0 100 0 18 18 0.0000 4 195 150 6300 4365 0\001 --6 -2 1 0 4 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 9495 2700 10534 2703 10309 2928 -2 1 0 4 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2025 2700 3060 2700 2835 2925 -2 1 0 4 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4497 2698 5715 2700 5490 2925 -2 1 0 4 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6930 2700 8145 2700 7920 2925 -2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 11925 7200 11925 225 900 225 900 7200 11925 7200 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6300 4050 6300 2925 6525 3150 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6525 4275 7650 4275 7425 4500 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4950 4275 6075 4275 5850 4500 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2475 4275 3600 4275 3375 4500 -4 1 4 0 0 2 16 0.0000 4 240 1020 6302 2477 [Heat_in]\001 -4 1 -1 0 0 2 20 0.0000 4 210 1245 6302 2792 TankC:t1\001 -4 1 -1 0 0 2 20 0.0000 4 285 945 8868 2793 Pipe:p2\001 -4 1 -1 0 0 22 20 0.0000 4 225 600 1620 2790 In:in\001 -4 1 -1 0 0 22 20 0.0000 4 225 1080 11116 2791 Out:out\001 -4 1 -1 0 0 2 20 0.0000 4 285 945 3737 2792 Pipe:p1\001 -4 1 0 100 0 18 18 0.0000 4 210 1305 4275 4365 RS:heater\001 -4 1 0 100 0 18 18 0.0000 4 270 1020 1935 4365 Se:V_in\001 -4 1 0 100 0 18 18 0.0000 4 270 1215 8280 4365 De:T_out\001 DELETED mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/ShowerHeater_desc.tex Index: mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/ShowerHeater_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/ShowerHeater_desc.tex +++ /dev/null @@ -1,55 +0,0 @@ -% -*-latex-*- used to set EMACS into LaTeX-mode -% Verbal description for system ShowerHeater (ShowerHeater_desc.tex) -% Generated by MTT on Tue Jan 13 18:01:55 GMT 1998. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{ShowerHeater} is - displayed in Figure \Ref{ShowerHeater_abg} and its label - file is listed in Section \Ref{sec:ShowerHeater_lbl}. - The subsystems are listed in Section \Ref{sec:ShowerHeater_sub}. - -\textbf{ShowerHeater} is a very elementary model of an electric heater suitable for -a shower. It illustates the use of bond graph components which are -internally pseudo, but externally true bond graphs -(temperature/entropy flow). - -There are three main components: -\begin{enumerate} -\item p1 and p2 -- a \textbf{Pipe} component (see Section - \Ref{sec:Pipe}). It is assumed that the pipes have zero flow - resistance and thus do not generate heat via flow resistance. -\item t1 -- a tank \textbf{Tank} component. -\item Heater -- a resistive heater modelled by the thermodynamic - \textbf{R} component \textbf{RS}. -\end{enumerate} -Other components could be added to represent thermal conduction and -thermal capacities. - -The components \textbf{In} and \textbf{Out} provide the inlet and -outlet conditions. - -The three inputs are -\begin{description} -\item[$u_1$] The flow rate -\item[$u_2$] The inlet temperature -\item[$u_3$] The voltage across the heating element. -\end{description} -The single output is -\begin{description} -\item[$y_1$] The outflow temperature -\end{description} -and the state is -\begin{description} -\item[$x_1$] The heat contained in the tank. -\end{description} - -%%% Local Variables: -%%% mode: latex -%%% TeX-master: t -%%% End: DELETED mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/ShowerHeater_input.txt Index: mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/ShowerHeater_input.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/ShowerHeater_input.txt +++ /dev/null @@ -1,16 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# Input specification (ShowerHeater_input.txt) -# Generated by MTT at Tue Dec 14 10:03:59 EST 1999 -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - -# Set the inputs -mttu(1) = 1e-4*(t>30); # Inflow -mttu(2) = 280; # In temperature -mttu(3) = 240*((t<60)&&(t>1)); # Input voltage - -# Set the switches DELETED mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/ShowerHeater_lbl.txt Index: mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/ShowerHeater_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/ShowerHeater_lbl.txt +++ /dev/null @@ -1,41 +0,0 @@ -%SUMMARY ShowerHeater -%DESCRIPTION -%% Label file for system ShowerHeater (ShowerHeater_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%ALIAS Pipe IncompressibleFlow/Pipe - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - -% Component type Pipe - p1 lin rho;c_p;flow,0 - p2 lin rho;c_p;flow,0 - - -% Component type TankC - t1 TankC rho;c_p;v - -% Component type In - in - -% Component type Out - out - -% Component type RS - heater lin flow,r_h - -% Component type Se - V_in SS external - -% Component type De - T_out SS external DELETED mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/ShowerHeater_numpar.txt Index: mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/ShowerHeater_numpar.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/ShowerHeater_numpar.txt +++ /dev/null @@ -1,19 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# Numerical parameter file (ShowerHeater_numpar.txt) -# Generated by MTT at Tue Dec 14 09:52:42 EST 1999 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Parameters -c_p = 4.184*1e3; # Specific heat -p_0 = 0.0; # Ambient pressure -r = 1.0; # Pipe flow resistance (no idea what - # this should be) -r_h = 10.0; # Heater resistance -rho = 1e3; # Density -v = 1e-3; # Volume (1 lit) DELETED mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/ShowerHeater_rep.txt Index: mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/ShowerHeater_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/ShowerHeater_rep.txt +++ /dev/null @@ -1,23 +0,0 @@ -# Outline report file for system ShowerHeater (ShowerHeater_rep.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1999/02/21 02:13:25 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -mtt ShowerHeater abg tex -mtt ShowerHeater struc tex -mtt ShowerHeater sympar tex -mtt ShowerHeater ode tex - - -mtt ShowerHeater numpar txt -mtt ShowerHeater input txt - -mtt -c ShowerHeater odeso ps - DELETED mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/ShowerHeater_simpar.txt Index: mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/ShowerHeater_simpar.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/ShowerHeater_simpar.txt +++ /dev/null @@ -1,18 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# Simulation parameters for system ShowerHeater (ShowerHeater_simpar.txt) -# Generated by MTT on Tue Dec 14 10:05:57 EST 1999. -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - - -LAST = 100.0; # Last time in simulation -DT = 0.5; # Print interval -STEPFACTOR = 1; # Integration steps per print interval -WMIN = -1; # Minimum frequency = 10^WMIN -WMAX = 2; # Maximum frequency = 10^WMAX -WSTEPS = 100; # Number of frequency steps -INPUT = 1; # Index of the input DELETED mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/ShowerHeater_simpar.txt_old Index: mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/ShowerHeater_simpar.txt_old ================================================================== --- mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/ShowerHeater_simpar.txt_old +++ /dev/null @@ -1,18 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# Simulation parameters for system ShowerHeater (ShowerHeater_simpar.txt) -# Generated by MTT on Tue Dec 14 10:05:57 EST 1999. -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - - -LAST = 100.0; # Last time in simulation -DT = 0.5; # Print interval -STEPFACTOR = 1; # Integration steps per print interval -WMIN = -1; # Minimum frequency = 10^WMIN -WMAX = 2; # Maximum frequency = 10^WMAX -WSTEPS = 100; # Number of frequency steps -INPUT = 1; # Index of the input DELETED mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/ShowerHeater_sspar.r Index: mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/ShowerHeater_sspar.r ================================================================== --- mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/ShowerHeater_sspar.r +++ /dev/null @@ -1,20 +0,0 @@ -% Steady-state parameter file (ShowerHeater_sspar.r) -% Generated by MTT at Fri Nov 20 11:42:16 GMT 1998 - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% % Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% % $Id$ -% % $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - - -% Steady-state states -MTTX1 := 1; % ShowerHeater (j_s) -MTTX2 := p_0*c/rho; % ShowerHeater_C1 (tank) - pressure = p0 -MTTX3 := t_0*p_0*c*c_p; % ShowerHeater_C1 (tank) - temp = t0 -% Steady-state inputs -MTTU1 := q_0; % ShowerHeater (Heat) -MTTU2 := 0; % ShowerHeater (Work) -;;END; DELETED mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/ShowerHeater_state.txt Index: mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/ShowerHeater_state.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/ShowerHeater_state.txt +++ /dev/null @@ -1,15 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# Initial state file (ShowerHeater_state.txt) -# Generated by MTT at Tue Dec 14 10:06:08 EST 1999 -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - -# Set the states -mttx(1) = 280*rho*v*c_p; # Initial heat in tank - - - DELETED mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/TankC_TankC_abg.fig Index: mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/TankC_TankC_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/TankC_TankC_abg.fig +++ /dev/null @@ -1,81 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -6 2430 2070 3600 3105 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2445 2477 3570 2477 3345 2702 -4 1 1 1 0 3 20 0.0000 4 210 180 2850 2297 T\001 -4 1 1 1 0 3 20 0.0000 4 210 150 2985 2387 1\001 -4 1 1 1 0 3 20 0.0000 4 210 150 2985 3062 1\001 -4 1 1 1 0 3 20 0.0000 4 210 180 2850 2927 S\001 -4 1 1 1 0 3 30 0.0000 4 60 120 2850 2657 .\001 --6 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5865 2477 6990 2477 6765 2702 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4065 5627 6990 5627 6765 5852 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7440 2478 8565 2478 8340 2703 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 9241 2479 10366 2479 10141 2704 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7440 5626 10365 5626 10140 5851 -2 4 1 2 1 7 1 0 -1 6.000 0 0 7 0 0 5 - 8609 6571 5864 6571 5864 1801 8609 1801 8609 6571 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 6989 2701 7439 2701 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7214 2702 7214 3827 7439 3602 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4050 5850 4050 5400 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3825 1127 3825 2252 4050 2027 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4065 2475 5190 2475 4965 2700 -2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 12825 7155 12825 225 225 225 225 7155 12825 7155 -4 0 4 0 0 0 20 0.0000 4 285 2295 10546 5719 SS:[Hydraulic_out]\001 -4 0 4 0 0 0 20 0.0000 4 285 2175 10501 2569 SS:[Thermal_out]\001 -4 2 4 0 0 0 20 0.0000 4 285 2145 4019 5716 SS:[Hydraulic_in]\001 -4 1 -1 0 0 22 20 0.0000 4 225 390 5550 2567 ES\001 -4 1 1 1 0 3 20 0.0000 4 210 150 4606 5538 1\001 -4 1 1 1 0 3 30 0.0000 4 60 120 4471 5808 .\001 -4 1 1 1 0 3 20 0.0000 4 210 180 4471 5448 P\001 -4 1 1 1 0 3 20 0.0000 4 210 210 4471 6078 V\001 -4 1 4 0 0 0 20 0.0000 4 270 300 5280 2252 [s]\001 -4 1 4 0 0 0 20 0.0000 4 270 315 5820 2252 [e]\001 -4 1 1 1 0 3 20 0.0000 4 210 150 6406 2388 1\001 -4 1 1 1 0 3 20 0.0000 4 210 660 6584 2206 T - T\001 -4 1 1 1 0 3 20 0.0000 4 210 150 6899 2386 0\001 -4 1 1 1 0 3 30 0.0000 4 60 120 6497 2659 .\001 -4 1 1 1 0 3 20 0.0000 4 210 195 6497 2929 E\001 -4 1 -1 0 0 22 20 0.0000 4 225 915 7214 4186 C:tank\001 -4 1 -1 0 0 22 20 0.0000 4 210 165 7215 5762 0\001 -4 1 -1 0 0 22 20 0.0000 4 225 390 8925 2568 ES\001 -4 1 1 1 0 3 30 0.0000 4 60 120 9648 5811 .\001 -4 1 1 1 0 3 20 0.0000 4 210 180 9648 5451 P\001 -4 1 1 1 0 3 20 0.0000 4 210 210 9648 6081 V\001 -4 1 1 1 0 3 20 0.0000 4 210 150 9783 5541 2\001 -4 1 1 1 0 3 20 0.0000 4 210 195 7846 2930 E\001 -4 1 4 0 0 0 20 0.0000 4 270 315 8655 2208 [e]\001 -4 1 4 0 0 0 20 0.0000 4 270 300 9150 2208 [s]\001 -4 1 1 1 0 3 20 0.0000 4 210 180 9648 2301 T\001 -4 1 1 1 0 3 20 0.0000 4 210 150 9783 2391 2\001 -4 1 1 1 0 3 20 0.0000 4 210 180 9648 2931 S\001 -4 1 1 1 0 3 30 0.0000 4 60 120 9648 2661 .\001 -4 1 1 1 0 3 20 0.0000 4 210 150 9783 3066 2\001 -4 1 1 1 0 3 30 0.0000 4 60 120 7846 2660 .\001 -4 1 1 1 0 3 20 0.0000 4 210 660 7936 2209 T - T\001 -4 1 1 1 0 3 20 0.0000 4 210 150 8251 2389 0\001 -4 1 1 1 0 3 20 0.0000 4 210 150 7758 2391 2\001 -4 1 1 1 0 3 20 0.0000 4 285 2550 7259 6346 Pseudo Bond Graph\001 -4 1 4 0 0 0 20 0.0000 4 285 1530 3870 945 SS:[Heat_in]\001 -4 1 -1 0 0 22 20 0.0000 4 210 165 7245 2565 0\001 -4 1 -1 0 0 22 20 0.0000 4 210 165 3825 2565 0\001 -4 2 4 0 0 0 20 0.0000 4 285 2025 2385 2565 SS:[Thermal_in]\001 DELETED mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/TankC_abg.fig Index: mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/TankC_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/TankC_abg.fig +++ /dev/null @@ -1,81 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -6 2430 2070 3600 3105 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2445 2477 3570 2477 3345 2702 -4 1 1 1 0 3 20 0.0000 4 210 180 2850 2297 T\001 -4 1 1 1 0 3 20 0.0000 4 210 150 2985 2387 1\001 -4 1 1 1 0 3 20 0.0000 4 210 150 2985 3062 1\001 -4 1 1 1 0 3 20 0.0000 4 210 180 2850 2927 S\001 -4 1 1 1 0 3 30 0.0000 4 60 120 2850 2657 .\001 --6 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5865 2477 6990 2477 6765 2702 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4065 5627 6990 5627 6765 5852 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7440 2478 8565 2478 8340 2703 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 9241 2479 10366 2479 10141 2704 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7440 5626 10365 5626 10140 5851 -2 4 1 2 1 7 1 0 -1 6.000 0 0 7 0 0 5 - 8609 6571 5864 6571 5864 1801 8609 1801 8609 6571 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 6989 2701 7439 2701 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7214 2702 7214 3827 7439 3602 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4050 5850 4050 5400 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3825 1127 3825 2252 4050 2027 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4065 2475 5190 2475 4965 2700 -2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 12825 7155 12825 225 225 225 225 7155 12825 7155 -4 0 4 0 0 0 20 0.0000 4 285 2295 10546 5719 SS:[Hydraulic_out]\001 -4 0 4 0 0 0 20 0.0000 4 285 2175 10501 2569 SS:[Thermal_out]\001 -4 2 4 0 0 0 20 0.0000 4 285 2145 4019 5716 SS:[Hydraulic_in]\001 -4 1 -1 0 0 22 20 0.0000 4 225 390 5550 2567 ES\001 -4 1 1 1 0 3 20 0.0000 4 210 150 4606 5538 1\001 -4 1 1 1 0 3 30 0.0000 4 60 120 4471 5808 .\001 -4 1 1 1 0 3 20 0.0000 4 210 180 4471 5448 P\001 -4 1 1 1 0 3 20 0.0000 4 210 210 4471 6078 V\001 -4 1 4 0 0 0 20 0.0000 4 270 300 5280 2252 [s]\001 -4 1 4 0 0 0 20 0.0000 4 270 315 5820 2252 [e]\001 -4 1 1 1 0 3 20 0.0000 4 210 150 6406 2388 1\001 -4 1 1 1 0 3 20 0.0000 4 210 660 6584 2206 T - T\001 -4 1 1 1 0 3 20 0.0000 4 210 150 6899 2386 0\001 -4 1 1 1 0 3 30 0.0000 4 60 120 6497 2659 .\001 -4 1 1 1 0 3 20 0.0000 4 210 195 6497 2929 E\001 -4 1 -1 0 0 22 20 0.0000 4 225 915 7214 4186 C:tank\001 -4 1 -1 0 0 22 20 0.0000 4 210 165 7215 5762 0\001 -4 1 -1 0 0 22 20 0.0000 4 225 390 8925 2568 ES\001 -4 1 1 1 0 3 30 0.0000 4 60 120 9648 5811 .\001 -4 1 1 1 0 3 20 0.0000 4 210 180 9648 5451 P\001 -4 1 1 1 0 3 20 0.0000 4 210 210 9648 6081 V\001 -4 1 1 1 0 3 20 0.0000 4 210 150 9783 5541 2\001 -4 1 1 1 0 3 20 0.0000 4 210 195 7846 2930 E\001 -4 1 4 0 0 0 20 0.0000 4 270 315 8655 2208 [e]\001 -4 1 4 0 0 0 20 0.0000 4 270 300 9150 2208 [s]\001 -4 1 1 1 0 3 20 0.0000 4 210 180 9648 2301 T\001 -4 1 1 1 0 3 20 0.0000 4 210 150 9783 2391 2\001 -4 1 1 1 0 3 20 0.0000 4 210 180 9648 2931 S\001 -4 1 1 1 0 3 30 0.0000 4 60 120 9648 2661 .\001 -4 1 1 1 0 3 20 0.0000 4 210 150 9783 3066 2\001 -4 1 1 1 0 3 30 0.0000 4 60 120 7846 2660 .\001 -4 1 1 1 0 3 20 0.0000 4 210 660 7936 2209 T - T\001 -4 1 1 1 0 3 20 0.0000 4 210 150 8251 2389 0\001 -4 1 1 1 0 3 20 0.0000 4 210 150 7758 2391 2\001 -4 1 1 1 0 3 20 0.0000 4 285 2550 7259 6346 Pseudo Bond Graph\001 -4 1 4 0 0 0 20 0.0000 4 285 1530 3870 945 SS:[Heat_in]\001 -4 1 -1 0 0 22 20 0.0000 4 210 165 7245 2565 0\001 -4 1 -1 0 0 22 20 0.0000 4 210 165 3825 2565 0\001 -4 2 4 0 0 0 20 0.0000 4 285 2025 2385 2565 SS:[Thermal_in]\001 DELETED mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/TankC_cr.r Index: mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/TankC_cr.r ================================================================== --- mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/TankC_cr.r +++ /dev/null @@ -1,15 +0,0 @@ -% Constitutive relation file for TankC (TankC_cr.r) -% Generated by MTT at Thu Mar 5 10:30:23 GMT 1998 - -OPERATOR TankC; - -%Pressure -% -- not relevant here - -%Temperature -FOR ALL rho,c_p,volume,Energy -LET TankC(rho,c_p,volume,effort,1, - Energy,state,1 - ) = Energy/(volume*rho*c_p); - -END; DELETED mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/TankC_desc.tex Index: mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/TankC_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/TankC_desc.tex +++ /dev/null @@ -1,14 +0,0 @@ -% Verbal description for system TankC (TankC_desc.tex) -% Generated by MTT on Tue Jan 13 18:03:04 GMT 1998. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{TankC} is - displayed in Figure \Ref{TankC_abg} and its label - file is listed in Section \Ref{sec:TankC_lbl}. - The subsystems are listed in Section \Ref{sec:TankC_sub}. DELETED mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/TankC_lbl.txt Index: mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/TankC_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/TankC_lbl.txt +++ /dev/null @@ -1,58 +0,0 @@ -%% Label file for system TankC (TankC_lbl.txt) -%SUMMARY TankC: TankC of hot incompressible liquid - fixed volume -%DESCRIPTION rho - density; c_p - specific heat; v - volume -%DESCRIPTION Typical lable: tank TankC rho;c_p;v - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.3 1998/11/20 13:20:27 peterg -% %% Aliased ports -% %% -% %% Revision 1.2 1998/11/20 09:46:34 peterg -% %% Modernised lbl syntax -% %% -% %% Revision 1.1 1998/11/20 08:57:19 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Port aliases -%ALIAS in Thermal_in,Hydraulic_in -%ALIAS out Thermal_out,Hydraulic_out - -%ALIAS Th_in Thermal_in -%ALIAS Hy_in Hydraulic_in - -%ALIAS Th_out Thermal_out -%ALIAS Hy_out Hydraulic_out - -%ALIAS Heat Heat_in - -% Argument aliases -%ALIAS $1 rho -%ALIAS $2 c_p -%ALIAS $3 v - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% component-name cr_name arg1,arg2,..argn -% blank - -% ---- Component labels ---- - -% Component type C - tank TankC rho,c_p,v - -% Component type SS - [Heat_in] SS external,external - [Hydraulic_in] SS external,external - [Hydraulic_out] SS external,external - [Thermal_in] SS external,external - [Thermal_out] SS external,external - - - DELETED mttroot/mtt/lib/examples/Thermal/ThermalConduction/HeatedRod/HeatedRod_abg.fig Index: mttroot/mtt/lib/examples/Thermal/ThermalConduction/HeatedRod/HeatedRod_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermalConduction/HeatedRod/HeatedRod_abg.fig +++ /dev/null @@ -1,37 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4500 3150 5850 3150 5625 3375 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 4500 4275 5850 4275 5625 4500 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1800 3150 3150 3150 2925 3375 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3150 2925 3150 3375 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 1800 4050 1800 4500 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1777 4275 3127 4275 2902 4500 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4500 4095 4500 4545 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6975 3150 8325 3150 8100 3375 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 6975 2925 6975 3375 -2 2 0 2 1 7 1 0 -1 0.000 0 0 0 0 0 5 - 2925 2025 4725 2025 4725 5400 2925 5400 2925 2025 -2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 9450 5850 9450 1575 450 1575 450 5850 9450 5850 -4 0 -1 0 0 0 20 0.0000000 4 240 870 6030 3240 RT:r_2\001 -4 2 4 0 0 0 20 0.0000000 4 240 690 2835 3060 [t_in]\001 -4 0 4 0 0 0 20 0.0000000 4 240 840 4770 3015 [t_out]\001 -4 2 4 0 0 0 20 0.0000000 4 240 735 2880 4185 [e_in]\001 -4 0 4 0 0 0 20 0.0000000 4 240 885 4770 4185 [e_out]\001 -4 2 -1 0 0 0 20 0.0000000 4 240 900 1620 3240 SS:T_1\001 -4 0 -1 0 0 0 20 0.0000000 4 240 900 8460 3240 SS:T_2\001 -4 2 -1 0 0 0 20 0.0000000 4 240 780 1665 4365 SS:I_r\001 -4 0 -1 0 0 0 20 0.0000000 4 240 930 5985 4365 SS:V_0\001 -4 1 -1 0 0 0 20 0.0000000 4 270 1575 3780 3825 Segment:s*20\001 DELETED mttroot/mtt/lib/examples/Thermal/ThermalConduction/HeatedRod/HeatedRod_desc.tex Index: mttroot/mtt/lib/examples/Thermal/ThermalConduction/HeatedRod/HeatedRod_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermalConduction/HeatedRod/HeatedRod_desc.tex +++ /dev/null @@ -1,67 +0,0 @@ -% Verbal description for system HeatedRod (HeatedRod_desc.tex) -% Generated by MTT on Thu Sep 4 18:05:09 BST 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1997/09/11 16:16:50 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -\begin{table}[htbp] - \begin{center} - \leavevmode - \begin{tabular}{l l l} - \hline - Parameter & Symbol & Value \\ - \hline - Length & $L_r$ & 1m \\ - Diameter & $D_r$ & 1mm \\ - Resistivity & $\rho$ & $1.68\times10^{-9} \Omega$m \\ - Thermal conductivity & $\sigma$ & 390 W$\text{m}^{-1}$\\ - Thermal capacity & $\kappa$ & 380 J$\text{m}^{-3}$\\ - \hline - \end{tabular} - \caption{Heated rod parameters} - \label{tab:rod} - \end{center} -\end{table} - - System \textbf{HeatedRod} is a model of a well-insulated rod of copper with an - electric current passing through it which warms it up. The two ends of - the rod are fixed at ambient temperature; this is where all the heat - loss occurs. - - This example introduces the idea of the {\bf FP}, \textbf{RT} and - \textbf{CT} components in the context of thermal conduction. - - The model is similar to that described in chapter 8 of \citeN{Cel91}. - However, instead of representing the thermal resistance by {\bf RS} - components and reinserting the entropy flow, the {\bf RT} component - uses two {\bf FP} components to convert from true to pseudo bonds and - back again. Similary, the thermal capacity is modelled by the {\bf - CT} component. - - This distributed system (which strictly speaking has a partial - differential equation model) is approximated by an ordinary - diffferential equation model by modelling the system by a number of - discrete segments of length $\Delta x$. Each segment model consists - of two conceptual parts. - \begin{itemize} - \item An ideal lump of copper with no thermal resistance but with the - normal attributes of electrical resistance (modelled by the - \textbf{RS} component and thermal capacity (modelled by the - \textbf{CF} component). - \item A thin lump wtih thermal resistance but no thermal capacity or - electrical resistance (modeled by the \textbf{RT} component). - \end{itemize} -At this level of the hierarchy, all bonds are true energy bonds and -thus energy conservation is assured. Note that the \textbf{RS} -component correctely transforms electrical to thermal energy. - -The system was simulated with a total of nine lumps whilst passing a -current of 1A though the rod for a total of 10s. The initial -temperature and the end temperatures were all set at 300K. DELETED mttroot/mtt/lib/examples/Thermal/ThermalConduction/HeatedRod/HeatedRod_input.txt Index: mttroot/mtt/lib/examples/Thermal/ThermalConduction/HeatedRod/HeatedRod_input.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermalConduction/HeatedRod/HeatedRod_input.txt +++ /dev/null @@ -1,15 +0,0 @@ -# Numerical parameter file (HeatedRod_input.txt) -# Generated by MTT at Thu Sep 4 16:11:06 BST 1997 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %% Revision 1.1 1998/08/15 13:40:20 peterg -# %% Initial revision -# %% -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Set the inputs -u(1) = 10.0*(t<5.0); # I_r DELETED mttroot/mtt/lib/examples/Thermal/ThermalConduction/HeatedRod/HeatedRod_lbl.txt Index: mttroot/mtt/lib/examples/Thermal/ThermalConduction/HeatedRod/HeatedRod_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermalConduction/HeatedRod/HeatedRod_lbl.txt +++ /dev/null @@ -1,48 +0,0 @@ -%SUMMARY HeatedRod: Thermal/Electrical model of Electric rod -%DESCRIPTION Introduces the idea of the ES component which -%DESCRIPTION transforms a relative-temperature/enthalpy pseudo bond -%DESCRIPTION (at the [e]port) into an absolute-temperature/enntropy -%DESCRIPTION energy bond (at the [s] port) and vice versa. - -%VAR rod_length -%VAR rod_radius -%VAR electrical_resistivity -%VAR thermal_resistivity -%VAR thermal_capacity -%VAR segments -%VAR area -%VAR delta_x -%VAR volume -%VAR density -%VAR mass - -%% Label file for system HeatedRod (HeatedRod_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1997/09/11 16:16:29 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type RT - r_2 lin flow,r_2 - -% Component type SS - I_r SS internal,external - T_1 SS t_0,internal - T_2 SS t_0,internal - V_0 SS internal,internal - -% Component type Segment - s DELETED mttroot/mtt/lib/examples/Thermal/ThermalConduction/HeatedRod/HeatedRod_numpar.txt Index: mttroot/mtt/lib/examples/Thermal/ThermalConduction/HeatedRod/HeatedRod_numpar.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermalConduction/HeatedRod/HeatedRod_numpar.txt +++ /dev/null @@ -1,39 +0,0 @@ -# Numerical parameter file (HeatedRod_numpar.txt) -# Generated by MTT at Thu Sep 4 16:11:04 BST 1997 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %% Revision 1.1 1998/08/15 13:40:33 peterg -# %% Initial revision -# %% -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -# Constants for copper -density = 8.96; -rod_length = 1.0; -rod_radius = 1e-3; -electrical_resistivity = 16.8*0.000000001; -thermal_resistivity = 1/390.0; -thermal_capacity = 380.0; - - -segments = 20; -area = pi*rod_radius*rod_radius; -delta_x = rod_length/segments; -volume = area*delta_x; -mass = volume*density; - -# Parameters -c_t = thermal_capacity*mass; -r = electrical_resistivity*delta_x/area; -r_t = thermal_resistivity*delta_x/area; -r_2 = r_t; -t_0 = 300; # Ambient - - - - DELETED mttroot/mtt/lib/examples/Thermal/ThermalConduction/HeatedRod/HeatedRod_rep.txt Index: mttroot/mtt/lib/examples/Thermal/ThermalConduction/HeatedRod/HeatedRod_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermalConduction/HeatedRod/HeatedRod_rep.txt +++ /dev/null @@ -1,23 +0,0 @@ -# Outline report file for system HeatedRod (HeatedRod_rep.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1999/02/21 02:14:29 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -mtt -o -ss HeatedRod abg tex -mtt -o -ss HeatedRod struc tex -mtt -o -ss HeatedRod ode tex -mtt -o -ss HeatedRod ss tex -mtt -o -ss HeatedRod sm tex -mtt -o -ss HeatedRod lmfr ps - -mtt -o -ss HeatedRod numpar txt -mtt -o -ss HeatedRod input txt -mtt -o -ss -c HeatedRod odeso ps - DELETED mttroot/mtt/lib/examples/Thermal/ThermalConduction/HeatedRod/HeatedRod_simpar.txt Index: mttroot/mtt/lib/examples/Thermal/ThermalConduction/HeatedRod/HeatedRod_simpar.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermalConduction/HeatedRod/HeatedRod_simpar.txt +++ /dev/null @@ -1,21 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# Simulation parameters for system HR (HR_simpar.txt) -# Generated by MTT on Wednesday July 29 13:59:50 BST 1998. -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -## Revision 1.1 1998/08/15 13:40:47 peterg -## Initial revision -## -############################################################### - - -LAST = 10; # Last time in simulation -WMIN = 1; # Minimum frequency = 10^WMIN -WMAX = 2; # Maximum frequency = 10^WMAX -WSTEPS = 100; # Number of frequency steps - -STEPFACTOR = 1; # Added automatically -DT = 0.1; # Added automatically DELETED mttroot/mtt/lib/examples/Thermal/ThermalConduction/HeatedRod/HeatedRod_sspar.r Index: mttroot/mtt/lib/examples/Thermal/ThermalConduction/HeatedRod/HeatedRod_sspar.r ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermalConduction/HeatedRod/HeatedRod_sspar.r +++ /dev/null @@ -1,27 +0,0 @@ -% Steady-state parameter file (HeatedRod_sspar.r) -% Generated by MTT at Thu Jun 25 09:32:38 BST 1998 - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% % Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% % $Id$ -% % $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - - -% Steady-state states -MTTX1 := t_0*c_t; % HeatedRod_s_c_t (c) -MTTX2 := t_0*c_t; % HeatedRod_s_c_t (c) -MTTX3 := t_0*c_t; % HeatedRod_s_c_t (c) -MTTX4 := t_0*c_t; % HeatedRod_s_c_t (c) -MTTX5 := t_0*c_t; % HeatedRod_s_c_t (c) -MTTX6 := t_0*c_t; % HeatedRod_s_c_t (c) -MTTX7 := t_0*c_t; % HeatedRod_s_c_t (c) -MTTX8 := t_0*c_t; % HeatedRod_s_c_t (c) -MTTX9 := t_0*c_t; % HeatedRod_s_c_t (c) - -% Steady-state inputs -MTTU1 := 1.0; % HeatedRod (I_r) - -;;END; DELETED mttroot/mtt/lib/examples/Thermal/ThermalConduction/HeatedRod/HeatedRod_state.txt Index: mttroot/mtt/lib/examples/Thermal/ThermalConduction/HeatedRod/HeatedRod_state.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermalConduction/HeatedRod/HeatedRod_state.txt +++ /dev/null @@ -1,31 +0,0 @@ -# -*-octave-*- Put Emacs into octave-mode -# Initial state file (HeatedRod_state.txt) -# Generated by MTT at Sat Aug 15 15:34:41 BST 1998 -############################################################### -## Version control history -############################################################### -## $Id$ -## $Log$ -############################################################### - -# Set the states -mttx(1) = c_t*t_0; # c (HeatedRod_s_c_t) -mttx(2) = c_t*t_0; # c (HeatedRod_s_c_t) -mttx(3) = c_t*t_0; # c (HeatedRod_s_c_t) -mttx(4) = c_t*t_0; # c (HeatedRod_s_c_t) -mttx(5) = c_t*t_0; # c (HeatedRod_s_c_t) -mttx(6) = c_t*t_0; # c (HeatedRod_s_c_t) -mttx(7) = c_t*t_0; # c (HeatedRod_s_c_t) -mttx(8) = c_t*t_0; # c (HeatedRod_s_c_t) -mttx(9) = c_t*t_0; # c (HeatedRod_s_c_t) -mttx(10) = c_t*t_0; # c (HeatedRod_s_c_t) -mttx(11) = c_t*t_0; # c (HeatedRod_s_c_t) -mttx(12) = c_t*t_0; # c (HeatedRod_s_c_t) -mttx(13) = c_t*t_0; # c (HeatedRod_s_c_t) -mttx(14) = c_t*t_0; # c (HeatedRod_s_c_t) -mttx(15) = c_t*t_0; # c (HeatedRod_s_c_t) -mttx(16) = c_t*t_0; # c (HeatedRod_s_c_t) -mttx(17) = c_t*t_0; # c (HeatedRod_s_c_t) -mttx(18) = c_t*t_0; # c (HeatedRod_s_c_t) -mttx(19) = c_t*t_0; # c (HeatedRod_s_c_t) -mttx(20) = c_t*t_0; # c (HeatedRod_s_c_t) DELETED mttroot/mtt/lib/examples/Thermal/ThermalConduction/HeatedRod/Segment_abg.fig Index: mttroot/mtt/lib/examples/Thermal/ThermalConduction/HeatedRod/Segment_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermalConduction/HeatedRod/Segment_abg.fig +++ /dev/null @@ -1,44 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1306 2476 2881 2476 2656 2701 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3781 2476 5356 2476 5131 2701 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5761 2476 8550 2475 8325 2700 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5581 4276 5581 2701 5806 2926 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5581 6301 5581 4726 5806 4951 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1350 6525 5356 6526 5131 6751 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5806 6526 8550 6525 8325 6750 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5806 2701 6920 3815 6601 3815 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5581 2251 5581 676 5806 901 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5356 676 5806 676 -2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 9900 7425 9900 90 45 90 45 7425 9900 7425 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 7650 4455 7650 1800 1575 1800 1575 4455 7650 4455 -2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 - 7650 6975 7650 4545 1575 4545 1575 6975 7650 6975 -4 1 -1 0 0 0 20 0.0000000 4 240 810 3331 2566 RT:r_t\001 -4 1 -1 0 0 0 20 0.0000000 4 210 150 5581 2566 0\001 -4 1 -1 0 0 0 20 0.0000000 4 210 555 5581 4591 RS:r\001 -4 1 -1 0 0 0 20 0.0000000 4 210 150 5581 6616 1\001 -4 1 -1 0 0 0 20 0.0000000 4 240 840 7021 4141 CT:c_t\001 -4 1 -1 0 0 0 20 0.0000000 4 240 870 5581 586 SS:T_s\001 -4 2 4 0 0 0 20 0.0000000 4 240 1020 1261 2566 SS:[t_in]\001 -4 0 4 0 0 0 20 0.0000000 4 240 1020 8685 2565 SS:[t_out]\001 -4 2 4 0 0 0 20 0.0000000 4 240 1065 1260 6615 SS:[e_in]\001 -4 0 4 0 0 0 20 0.0000000 4 240 1065 8685 6615 SS:[e_out]\001 -4 0 1 1 0 0 20 0.0000000 4 240 1875 1845 4050 Thermal model\001 -4 0 1 1 0 0 20 0.0000000 4 240 2025 1800 5175 Electrical model\001 -4 0 1 1 0 0 20 0.0000000 4 270 2415 6075 585 Temperature sensor\001 DELETED mttroot/mtt/lib/examples/Thermal/ThermalConduction/HeatedRod/Segment_desc.tex Index: mttroot/mtt/lib/examples/Thermal/ThermalConduction/HeatedRod/Segment_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermalConduction/HeatedRod/Segment_desc.tex +++ /dev/null @@ -1,19 +0,0 @@ -% Verbal description for system Segment (Segment_desc.tex) -% Generated by MTT on Thu Sep 4 18:05:43 BST 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - - - The acausal bond graph of system \textbf{Segment} is - displayed in Figure \ref{Segment_abg} and its label - file is listed in Section \ref{sec:Segment_lbl}. - The subsystems are listed in Section \ref{sec:Segment_sub}. - - - DELETED mttroot/mtt/lib/examples/Thermal/ThermalConduction/HeatedRod/Segment_lbl.txt Index: mttroot/mtt/lib/examples/Thermal/ThermalConduction/HeatedRod/Segment_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermalConduction/HeatedRod/Segment_lbl.txt +++ /dev/null @@ -1,39 +0,0 @@ -%SUMMARY Segment: Segment of HeatedRod -%DESCRIPTION Part of the HeatedRod example. -%% Label file for system Segment (Segment_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.2 1998/08/10 12:29:48 peterg -% %% Added missing ports. -% %% -% %% Revision 1.1 1997/09/11 16:17:14 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type CT - c_t lin effort,c_t - -% Component type RS - r lin flow,r - -% Component type RT - r_t lin flow,r_t - -% Component type SS - T_s SS external,0 - [t_in] SS external,external - [t_out] SS external,external - [e_in] SS external,external - [e_out] SS external,external DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/CarnotCycle/CarnotCycle_abg.fig Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/CarnotCycle/CarnotCycle_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/CarnotCycle/CarnotCycle_abg.fig +++ /dev/null @@ -1,26 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3827 3152 5402 3152 5177 3377 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 6977 3152 8552 3152 8327 3377 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 8552 2927 8552 3377 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1352 3150 2927 3150 2702 3375 -2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 9900 5850 9900 450 0 450 0 5850 9900 5850 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 2925 2925 2925 3375 -4 1 -1 0 0 0 20 0.0000000 4 270 1440 6212 3242 Cycle:cycle\001 -4 0 -1 0 0 0 20 0.0000000 4 210 1110 8687 3242 SS:Work\001 -4 1 1 1 0 3 20 0.0000000 4 210 735 4456 3466 dS/dT\001 -4 1 1 1 0 3 20 0.0000000 4 210 180 4501 2926 T\001 -4 1 1 1 0 3 20 0.0000000 4 210 180 7921 2926 P\001 -4 1 1 1 0 3 20 0.0000000 4 210 765 7786 3466 dV/dT\001 -4 2 -1 0 0 0 20 0.0000000 4 210 990 1170 3285 SS:Heat\001 -4 1 1 1 0 3 30 0.0000000 4 390 2310 5085 4635 Carnot cycle\001 -4 1 -1 0 0 0 20 0.0000000 4 210 570 3375 3240 RT:r\001 DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/CarnotCycle/CarnotCycle_desc.tex Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/CarnotCycle/CarnotCycle_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/CarnotCycle/CarnotCycle_desc.tex +++ /dev/null @@ -1,72 +0,0 @@ -% Verbal description for system CarnotCycle (CarnotCycle_desc.tex) -% Generated by MTT on Tue Dec 9 12:13:57 GMT 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{CarnotCycle} is - displayed in Figure \Ref{CarnotCycle_abg} and its label - file is listed in Section \Ref{sec:CarnotCycle_lbl}. - The subsystems are listed in Section \Ref{sec:CarnotCycle_sub}. - -The Carnot cycle is a simple closed thermodynamic cycle with four parts: -\begin{enumerate} -\item Isentropic compression -\item Heat injection at constant temperature -\item Isentropic expansion -\item Heat extraction at constant temperature -\end{enumerate} - -The subsystem \textbf{Cycle} (Section \Ref{sec:Cycle}) is a two-port -component describing an ideal gas. It has two energy ports which, with -integral causality correspond to -\begin{enumerate} -\item Entropy flow in; temperature out -\item Volume rate of change in; pressure out -\end{enumerate} - -In contast to the Otto cycle (see Table -\Ref{tab:cycles} where each table entry gives the causality on the -heat and work ports respectively). The ideal Carnot cycle has -derivative causality on the {\bf [Heat]} port for two parts of the -cycle. - -To avoid this causlity change, the Carnot cycle is approximated by -applying the heat from a temperature source via a thermal resistance -{\bf RT} component. During the {\em heat injection\/} and {\em heat -extraction\/} parts of the cycle, the resistance parameter $r\approx -0$, but during the {\em isentropic compression\/} and {\em isentropic -expansion\/} parts of the cycle, the resistance parameter $r\approx -\inf$. - -The simulation parameters appear in Section -\Ref{sec:CarnotCycle_numpar.txt}. The results are plotted against time -as follows: -\begin{itemize} -\item Volume (Figure \Ref{fig:CarnotCycle_odeso.ps-CarnotCycle-cycle-V}) -\item Pressure (Figure -\Ref{fig:CarnotCycle_odeso.ps-CarnotCycle-cycle-P}) -\item Entropy (Figure \Ref{fig:CarnotCycle_odeso.ps-CarnotCycle-cycle-S}) -\item Temperature (Figure -\Ref{fig:CarnotCycle_odeso.ps-CarnotCycle-cycle-T}) -\end{itemize} - -These values are replotted as the standard PV and TS diagrams in -Figures -\Ref{fig:CarnotCycle_odeso.ps-CarnotCycle-cycle-V:CarnotCycle-cycle-P} -and -\Ref{fig:CarnotCycle_odeso.ps-CarnotCycle-cycle-S:CarnotCycle-cycle-T} -respectively. - -The PV diagram shows the long and thin form typical of the Carnot -cycle -- this implies a poor work ratio. The TS diagram is not -informative; it is not the expected rectangle because both T and S -change in a stepwise manner. - - - - DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/CarnotCycle/CarnotCycle_input.txt Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/CarnotCycle/CarnotCycle_input.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/CarnotCycle/CarnotCycle_input.txt +++ /dev/null @@ -1,42 +0,0 @@ -# Numerical parameter file (CarnotCycle_input.txt) -# Generated by MTT at Mon Dec 8 20:05:30 GMT 1997 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -alpha = 0.553; - -# Set the inputs -if ((t>=0.0)&&(t<1.0)) #Cooling - u(1) = 300.0; # Source temperature - r = 1e-5; # Small r - isothermal - u(2) = -alpha; # Volume rate-of-change -endif; - -if ((t>=1.0)&&(t<2.0)) #Compression - u(1) = 300.0; # Source temperature - r = 1e5; # Large resistance -- isentropic - u(2) = -(0.8-alpha); # Volume rate-of-change - TopTemp = x(1)/(m_g*c_v); -endif; - -if ((t>=2.0)&&(t<3.0)) #Heating - u(1) = TopTemp; # Source temperature - r = 1e-5; # Small r - isothermal - u(2) = (0.8-alpha); # Volume rate-of-change -endif; - -if (t>=3.0) #Cooling -% Temp = x(1)/(m_g*c_v); # - u(1) = 300.0; # Source temperature - r = 1e5; # Large resistance -- no entropy flow - u(2) = alpha; # Volume rate-of-change -endif; - - - DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/CarnotCycle/CarnotCycle_lbl.txt Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/CarnotCycle/CarnotCycle_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/CarnotCycle/CarnotCycle_lbl.txt +++ /dev/null @@ -1,42 +0,0 @@ -%SUMMARY CarnotCycle: a simple closed thermodynamic cycle -%DESCRIPTION The Carnot cycle is a simple closed thermodynamic cycle -%DESCRIPTION with four parts: -%DESCRIPTION o Isentropic compression -%DESCRIPTION o Heat injection at constant temperature -%DESCRIPTION o Isentropic expansion -%DESCRIPTION o Heat extraction at constant temperature - -%VAR P_0 -%VAR T_0 -%VAR V_0 -%VAR TopTemp -%VAR alpha - -%% Label file for system CarnotCycle (CarnotCycle_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1998/07/21 15:18:18 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type Cycle - cycle none ideal_gas;c_v;gamma_g;m_g - -% Component type RT - r lin flow,r - -% Component type SS - Heat SS external,internal - Work SS internal,external DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/CarnotCycle/CarnotCycle_numpar.txt Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/CarnotCycle/CarnotCycle_numpar.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/CarnotCycle/CarnotCycle_numpar.txt +++ /dev/null @@ -1,27 +0,0 @@ -# Numerical parameter file (CarnotCycle_numpar.txt) -# Generated by MTT at Mon Dec 8 20:02:31 GMT 1997 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %% Revision 1.1 1998/03/04 11:49:01 peterg -# %% Initial revision -# %% -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Initial states -- needed to choose an approppriate mass -P_0 = 1e5; -V_0 = 1; -T_0 = 300; - -# Parameters -c_v = 718.0; # Parameter c_v for CU -gamma_g = 1.4; # Parameter gamma for CU -m_g = P_0*V_0/(T_0*(gamma_g-1)*c_v); # Parameter m for CU - - -r = 1.0; # Parameter r for CarnotCycle - - DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/CarnotCycle/CarnotCycle_params.r Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/CarnotCycle/CarnotCycle_params.r ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/CarnotCycle/CarnotCycle_params.r +++ /dev/null @@ -1,11 +0,0 @@ -%% Parameter file for system CarnotCycle (CarnotCycle_params.r) -%% This file provides symbolic parameters for simplification - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -END; DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/CarnotCycle/CarnotCycle_rep.txt Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/CarnotCycle/CarnotCycle_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/CarnotCycle/CarnotCycle_rep.txt +++ /dev/null @@ -1,26 +0,0 @@ -# Outline report file for system CarnotCycle (CarnotCycle_rep.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1999/02/21 02:15:05 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -mtt -ss -o CarnotCycle abg tex -mtt -ss -o CarnotCycle struc tex -mtt -ss -o CarnotCycle ode tex -mtt -ss -o CarnotCycle ss tex - -mtt -ss -o CarnotCycle numpar txt -mtt -ss -o CarnotCycle input txt - -mtt -ss -c -o CarnotCycle odeso ps 'CarnotCycle_cycle_V' -mtt -ss -c -o CarnotCycle odeso ps 'CarnotCycle_cycle_P' -mtt -ss -c -o CarnotCycle odeso ps 'CarnotCycle_cycle_S' -mtt -ss -c -o CarnotCycle odeso ps 'CarnotCycle_cycle_T' -mtt -ss -c -o CarnotCycle odeso ps 'CarnotCycle_cycle_V:CarnotCycle_cycle_P' -mtt -ss -c -o CarnotCycle odeso ps 'CarnotCycle_cycle_S:CarnotCycle_cycle_T' DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/CarnotCycle/CarnotCycle_simp.r Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/CarnotCycle/CarnotCycle_simp.r ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/CarnotCycle/CarnotCycle_simp.r +++ /dev/null @@ -1,10 +0,0 @@ -%% Reduce comands to simplify output for system CarnotCycle (CarnotCycle_simp.r) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -END; DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/CarnotCycle/CarnotCycle_simpar.txt Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/CarnotCycle/CarnotCycle_simpar.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/CarnotCycle/CarnotCycle_simpar.txt +++ /dev/null @@ -1,12 +0,0 @@ -%% Simulation parameters for system OttoCycle (OttoCycle_simpar.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -LAST=4.0 -DT=0.01 -STEPFACTOR=10 DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/CarnotCycle/CarnotCycle_sspar.r Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/CarnotCycle/CarnotCycle_sspar.r ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/CarnotCycle/CarnotCycle_sspar.r +++ /dev/null @@ -1,44 +0,0 @@ -% Steady-state parameter file (CarnotCycle_sspar.r) -% Generated by MTT at Wed Mar 4 11:02:40 GMT 1998 - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% % Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% % $Id$ -% % $Log$ -% % Revision 1.1 1998/03/04 11:49:14 peterg -% % Initial revision -% % -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - - -% Set a pressure of 1 bar -P_0 := 10^5; - -% Unit initial volume -V_0 := 1; - -% Internal energy -U_0 := P_0*V_0/(gamma_g-1); - -% Set initial temperature of 300k -T_0 := 300; - -% Deduce the mass of gas -m := U_0/(T_0*c_v); - -% Entropy -S_0 := U_0/T_0; - -% Steady-state states -MTTX1 := U_0; % CarnotCycle_cycle_gas (c) -MTTX2 := V_0; % CarnotCycle_cycle_gas (c) -MTTX3 := S_0; % CarnotCycle_cycle_entropy (3) -MTTX4 := V_0; % CarnotCycle_cycle_volume (3) - -% Steady-state inputs -MTTU1 := 0; % CarnotCycle (Heat) -MTTU2 := 0; % CarnotCycle (Work) -;;END; - DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/DieselCycle/CT2_desc.tex Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/DieselCycle/CT2_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/DieselCycle/CT2_desc.tex +++ /dev/null @@ -1,41 +0,0 @@ -% Verbal description for system CT2 (CT2_desc.tex) -% Generated by MTT on Thu Dec 4 16:00:14 GMT 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1997/12/07 20:29:56 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{CT2} is - displayed in Figure \Ref{CT2_abg} and its label - file is listed in Section \Ref{sec:CT2_lbl}. - The subsystems are listed in Section \Ref{sec:CT2_sub}. - -\textbf{CT2} is a two port thermal capacitor representing an ideal -heat engine converting heat to work without energy loss. There are two -ports {\bf [in]} (with covariables Temperature (absolute) and -entropy flow) and {\bf [out]} with covariables Pressure and rate of -change of volume. - -Rather than using the corresponding (nonlinear) Constitutive -Relationship (with entropy and volume as states) directly, the -component is built up from a {\em linear\/} two-port capacitor with -internal energy and volume as states. The {\bf ES} component provides -the conversion from the pseudo Bond Graph with temperature (relative) -and enthalpy flow as covariables to the true Bond Graph with with -covariables Temperature (absolute) and entropy flow. - -The power-sensor {\bf PS} component is used to subtract the work enrgy -from the internal energy. - - - - - - - DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/DieselCycle/DieselCycle_abg.fig Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/DieselCycle/DieselCycle_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/DieselCycle/DieselCycle_abg.fig +++ /dev/null @@ -1,33 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2026 3151 3601 3151 3376 3376 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5176 3151 6751 3151 6526 3376 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 6751 2926 6751 3376 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 2026 2926 2026 3376 -2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 10350 5850 10350 450 675 450 675 5850 10350 5850 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 7425 2925 7425 3375 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7426 3150 9001 3150 8776 3375 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7065 2924 7065 1349 7290 1574 -4 1 4 0 0 0 20 0.0000 4 240 735 3601 2926 [Heat]\001 -4 1 -1 0 0 0 20 0.0000 4 255 1290 4411 3241 Cycle:cycle\001 -4 1 4 0 0 0 20 0.0000 4 240 825 5176 2926 [Work]\001 -4 2 -1 0 0 0 20 0.0000 4 195 960 1936 3241 SS:Heat\001 -4 1 1 1 0 3 20 0.0000 4 210 690 2655 3465 dS/dT\001 -4 1 1 1 0 3 20 0.0000 4 195 165 2700 2925 T\001 -4 1 1 1 0 3 20 0.0000 4 195 165 6120 2925 P\001 -4 1 1 1 0 3 20 0.0000 4 210 720 5985 3465 dV/dT\001 -4 0 -1 0 0 0 20 0.0000 4 195 1050 9091 3241 SS:Work\001 -4 1 1 1 0 3 30 0.0000 4 405 2085 5535 4500 Diesel cycle\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 7066 3241 1\001 -4 1 -1 0 0 0 20 0.0000 4 195 375 7021 1261 R:r\001 DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/DieselCycle/DieselCycle_desc.tex Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/DieselCycle/DieselCycle_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/DieselCycle/DieselCycle_desc.tex +++ /dev/null @@ -1,73 +0,0 @@ -% Verbal description for system DieselCycle (DieselCycle_desc.tex) -% Generated by MTT on Thu Dec 4 15:59:55 GMT 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% Revision 1.1 1997/12/09 12:30:26 peterg -% Initial revision -% -% Revision 1.1 1997/12/08 09:37:04 peterg -% Initial revision -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{DieselCycle} is - displayed in Figure \Ref{DieselCycle_abg} and its label - file is listed in Section \Ref{sec:DieselCycle_lbl}. - The subsystems are listed in Section \Ref{sec:DieselCycle_sub}. - - -The Diesel cycle is a simple closed thermodynamic cycle with four parts: -\begin{enumerate} -\item Isentropic compression -\item Heating at constant pressure -\item Isentropic expansion -\item Cooling at constant volume -\end{enumerate} - -The subsystem \textbf{Cycle} (Section \Ref{sec:Cycle}) is a two-port -component describing an ideal gas. It has two energy ports which, with -integral causality correspond to -\begin{enumerate} -\item Entropy flow in; temperature out -\item Volume rate of change in; pressure out -\end{enumerate} - -In contast to the Otto cycle (see Table -\Ref{tab:cycles} where each table entry gives the causality on the -heat and work ports respectively). The ideal Diesel cycle has -derivative causality on the {\bf [Work]} port for one part of the -cycle. - -To avoid this causality change, the Diesel cycle is approximated by -applying the volume change from a pressure source via a resistance -{\bf R} component. During the {\em heat injection\/} part of the -cycle, the resistance parameter $r\approx 0$, but during the other parts of -the cycle, the resistance parameter $r\approx \inf$. - -The simulation parameters appear in Section -\Ref{sec:DieselCycle_numpar.txt}. The results are plotted against time -as follows: -\begin{itemize} -\item Volume (Figure \Ref{fig:DieselCycle_odeso.ps-DieselCycle-cycle-V}) -\item Pressure (Figure -\Ref{fig:DieselCycle_odeso.ps-DieselCycle-cycle-P}) -\item Entropy (Figure \Ref{fig:DieselCycle_odeso.ps-DieselCycle-cycle-S}) -\item Temperature (Figure -\Ref{fig:DieselCycle_odeso.ps-DieselCycle-cycle-T}) -\end{itemize} - -These values are replotted as the standard PV and TS diagrams in -Figures -\Ref{fig:DieselCycle_odeso.ps-DieselCycle-cycle-V:DieselCycle-cycle-P} -and -\Ref{fig:DieselCycle_odeso.ps-DieselCycle-cycle-S:DieselCycle-cycle-T} -respectively. - - - - - DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/DieselCycle/DieselCycle_input.txt Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/DieselCycle/DieselCycle_input.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/DieselCycle/DieselCycle_input.txt +++ /dev/null @@ -1,44 +0,0 @@ -# Numerical parameter file (DieselCycle_input.txt) -# Generated by MTT at Thu Dec 4 11:17:09 GMT 1997 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -# Set the inputs - -if ((t>=0.0)&&(t<1.0)) #Compression - u(1) = 0.0; # Entropy flow - r = 1e10; # Big R to make a flow source - u(2) = 0.8*r; #- Volume rate-of-change - TopPressure = (gamma_g-1)*(x(1)/x(2)) -endif; - -if ((t>=1.0)&&(t<2.0)) #Heating - u(1) = 1000; # Entropy flow - r = 1e4; # small r constant pressure - u(2) = TopPressure; # Pressure source - Volume = x(4); -endif; - -if ((t>=2.0)&&(t<3.0)) #Expansion - u(1) = 0.0; # Entropy flow - r = 1e10; # Big R to make a flow source - u(2) = -(1-Volume)*r; # Volume rate-of-change -endif; - -if (t>=3.0) #Cooling - Pressure = (gamma_g-1)*x(1)/x(2); - u(1) = -1000*(Pressure>1e5); # Entropy flow - r = 1e10; # Big R to make a flow source - u(2) = 0.0*r; # Volume rate-of-change -endif; - - - - - DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/DieselCycle/DieselCycle_lbl.txt Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/DieselCycle/DieselCycle_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/DieselCycle/DieselCycle_lbl.txt +++ /dev/null @@ -1,45 +0,0 @@ -%SUMMARY DieselCycle:a simple closed thermodynamic cycle -%DESCRIPTION The Diese cycle is a simple closed thermodynamic cycle -%DESCRIPTION with four parts: -%DESCRIPTION o Isentropic compression -%DESCRIPTION o Heating at constant pressure -%DESCRIPTION o Isentropic expansion -%DESCRIPTION o Cooling at constant volume - -%VAR P_0 -%VAR T_0 -%VAR V_0 -%VAR S_0 -%VAR U_0 -%VAR TopPressure -%VAR Volume -%VAR Pressure - -%% Label file for system DieselCycle (DieselCycle_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1998/07/21 15:25:50 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type Cycle - cycle none ideal_gas;c_v;gamma_g;m_g - -% Component type R - r lin flow,r - -% Component type SS - Heat SS internal,external - Work SS external,internal DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/DieselCycle/DieselCycle_numpar.txt Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/DieselCycle/DieselCycle_numpar.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/DieselCycle/DieselCycle_numpar.txt +++ /dev/null @@ -1,23 +0,0 @@ -# Numerical parameter file (DieselCycle_numpar.txt) -# Generated by MTT at Thu Dec 4 11:44:46 GMT 1997 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %% Revision 1.1 1998/03/04 11:45:49 peterg -# %% Initial revision -# %% -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Initial states -- needed to choose an approppriate mass -P_0 = 1e5; -V_0 = 1; -T_0 = 300; - -# Parameters -c_v = 718.0; # Parameter c_v for CU -gamma_g = 1.4; # Parameter gamma_g for CU -m_g = P_0*V_0/(T_0*(gamma_g-1)*c_v);# Parameter m for CU - DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/DieselCycle/DieselCycle_rep.txt Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/DieselCycle/DieselCycle_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/DieselCycle/DieselCycle_rep.txt +++ /dev/null @@ -1,30 +0,0 @@ -# Outline report file for system DieselCycle (DieselCycle_rep.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1999/02/21 02:15:29 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -mtt -o -ss DieselCycle abg tex -mtt -o -ss DieselCycle struc tex -mtt -o -ss DieselCycle ode tex -mtt -o -ss DieselCycle ss tex - -mtt -o -ss DieselCycle numpar txt -mtt -o -ss DieselCycle input txt - -mtt -o -ss -c DieselCycle odeso ps 'DieselCycle_cycle_V' -mtt -o -ss -c DieselCycle odeso ps 'DieselCycle_cycle_P' -mtt -o -ss -c DieselCycle odeso ps 'DieselCycle_cycle_S' -mtt -o -ss -c DieselCycle odeso ps 'DieselCycle_cycle_T' -mtt -o -ss -c DieselCycle odeso ps 'DieselCycle_cycle_V:DieselCycle_cycle_P' -mtt -o -ss -c DieselCycle odeso ps 'DieselCycle_cycle_S:DieselCycle_cycle_T' - - - - DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/DieselCycle/DieselCycle_simpar.txt Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/DieselCycle/DieselCycle_simpar.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/DieselCycle/DieselCycle_simpar.txt +++ /dev/null @@ -1,12 +0,0 @@ -%% Simulation parameters for system DieselCycle (DieselCycle_simpar.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -LAST=4.0 -DT=0.01 -STEPFACTOR=10 DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/DieselCycle/DieselCycle_sspar.r Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/DieselCycle/DieselCycle_sspar.r ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/DieselCycle/DieselCycle_sspar.r +++ /dev/null @@ -1,39 +0,0 @@ -% Steady-state parameter file (DieselCycle_sspar.r) -% Generated by MTT at Wed Mar 4 11:02:40 GMT 1998 - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% % Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% % $Id$ -% % $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Set a pressure of 1 bar -P_0 := 10^5; - -% Unit initial volume -V_0 := 1; - -% Internal energy -U_0 := P_0*V_0/(gamma_g-1); - -% Set initial temperature of 300k -T_0 := 300; - -% Deduce the mass of gas -m := U_0/(T_0*c_v); - -% Entropy -S_0 := U_0/T_0; - -% Steady-state states -MTTX1 := U_0; % DieselCycle_cycle_gas (c) -MTTX2 := V_0; % DieselCycle_cycle_gas (c) -MTTX3 := S_0; % DieselCycle_cycle_entropy (3) -MTTX4 := V_0; % DieselCycle_cycle_volume (3) - -% Steady-state inputs -MTTU1 := 0; % DieselCycle (Heat) -MTTU2 := 0; % DieselCycle (Work) -;;END; DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/DieselCycle/TestCU_abg.fig Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/DieselCycle/TestCU_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/DieselCycle/TestCU_abg.fig +++ /dev/null @@ -1,16 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1125 2925 2475 2925 2250 3150 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3150 2925 4500 2925 4275 3150 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 1125 2700 1125 3150 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4500 2700 4500 3150 -4 1 -1 0 0 0 20 0.0000 4 195 600 2790 3015 CU:c\001 -4 2 -1 0 0 0 20 0.0000 4 195 960 1035 3015 SS:Heat\001 -4 0 -1 0 0 0 20 0.0000 4 195 1050 4635 3015 SS:Work\001 DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/DieselCycle/TestCU_cr.r Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/DieselCycle/TestCU_cr.r ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/DieselCycle/TestCU_cr.r +++ /dev/null @@ -1,6 +0,0 @@ -% Constitutive relation file for TestCU (TestCU_cr.r) -% Generated by MTT at Sat Jun 27 12:13:42 BST 1998 - -in "CU_cr.r"; -in "lin.cr"; -END; DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/DieselCycle/TestCU_lbl.txt Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/DieselCycle/TestCU_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/DieselCycle/TestCU_lbl.txt +++ /dev/null @@ -1,24 +0,0 @@ -%SUMMARY TestCU -%DESCRIPTION -%% Label file for system TestCU (TestCU_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type CU - c CU ideal_gas,c_v,gamma,m - -% Component type SS - Heat external external - Work external external DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/DieselCycle/TestCU_simp.r Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/DieselCycle/TestCU_simp.r ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/DieselCycle/TestCU_simp.r +++ /dev/null @@ -1,12 +0,0 @@ -%% Reduce commands to simplify output for system TestCU (TestCU_simp.r) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -On Factor; -Off Div; -END; DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/OttoCycle/CT2_desc.tex Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/OttoCycle/CT2_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/OttoCycle/CT2_desc.tex +++ /dev/null @@ -1,41 +0,0 @@ -% Verbal description for system CT2 (CT2_desc.tex) -% Generated by MTT on Thu Dec 4 16:00:14 GMT 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1997/12/07 20:29:56 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{CT2} is - displayed in Figure \Ref{CT2_abg} and its label - file is listed in Section \Ref{sec:CT2_lbl}. - The subsystems are listed in Section \Ref{sec:CT2_sub}. - -\textbf{CT2} is a two port thermal capacitor representing an ideal -heat engine converting heat to work without energy loss. There are two -ports {\bf [in]} (with covariables Temperature (absolute) and -entropy flow) and {\bf [out]} with covariables Pressure and rate of -change of volume. - -Rather than using the corresponding (nonlinear) Constitutive -Relationship (with entropy and volume as states) directly, the -component is built up from a {\em linear\/} two-port capacitor with -internal energy and volume as states. The {\bf ES} component provides -the conversion from the pseudo Bond Graph with temperature (relative) -and enthalpy flow as covariables to the true Bond Graph with with -covariables Temperature (absolute) and entropy flow. - -The power-sensor {\bf PS} component is used to subtract the work enrgy -from the internal energy. - - - - - - - DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/OttoCycle/OttoCycle_abg.fig Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/OttoCycle/OttoCycle_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/OttoCycle/OttoCycle_abg.fig +++ /dev/null @@ -1,23 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2026 3151 3601 3151 3376 3376 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5176 3151 6751 3151 6526 3376 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 6751 2926 6751 3376 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 2026 2926 2026 3376 -2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 8325 5850 8325 450 675 450 675 5850 8325 5850 -4 1 -1 0 0 0 20 0.0000000 4 270 1440 4411 3241 Cycle:cycle\001 -4 0 -1 0 0 0 20 0.0000000 4 210 1110 6886 3241 SS:Work\001 -4 2 -1 0 0 0 20 0.0000000 4 210 990 1936 3241 SS:Heat\001 -4 1 1 1 0 3 20 0.0000000 4 210 735 2655 3465 dS/dT\001 -4 1 1 1 0 3 20 0.0000000 4 210 180 2700 2925 T\001 -4 1 1 1 0 3 20 0.0000000 4 210 180 6120 2925 P\001 -4 1 1 1 0 3 20 0.0000000 4 210 765 5985 3465 dV/dT\001 -4 1 1 1 0 3 30 0.0000000 4 390 1800 4365 4770 Otto cycle\001 DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/OttoCycle/OttoCycle_desc.tex Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/OttoCycle/OttoCycle_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/OttoCycle/OttoCycle_desc.tex +++ /dev/null @@ -1,65 +0,0 @@ -% Verbal description for system OttoCycle (OttoCycle_desc.tex) -% Generated by MTT on Thu Dec 4 15:59:55 GMT 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% Revision 1.1 1997/12/08 09:37:04 peterg -% Initial revision -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{OttoCycle} is - displayed in Figure \Ref{OttoCycle_abg} and its label - file is listed in Section \Ref{sec:OttoCycle_lbl}. - The subsystems are listed in Section \Ref{sec:OttoCycle_sub}. - - -The Otto cycle is a simple closed thermodynamic cycle with four parts: -\begin{enumerate} -\item Isentropic compression -\item Heating at constant volume -\item Isentropic expansion -\item Cooling at constant volume -\end{enumerate} - -The subsystem \textbf{Cycle} (Section \Ref{sec:Cycle}) is a two-port -component describing an ideal gas. It has two energy ports which, with -integral causality correspond to -\begin{enumerate} -\item Entropy flow in; temperature out -\item Volume rate of change in; pressure out -\end{enumerate} - -In Bond Graph terms, each of the four parts of the Otto cycle -correspond to integral causality as in each case a \emph{flow} is -constrained. This is in contrast to other cycles listed in Table -\Ref{tab:cycles} where each table entry gives the causality on the -heat and work ports respectively. This is possibly why the Otto cycle -is conceptually and practically simple. - -The simulation parameters appear in Section -\Ref{sec:OttoCycle_numpar.txt}. The results are plotted against time -as follows: -\begin{itemize} -\item Volume (Figure \Ref{fig:OttoCycle_odeso.ps-OttoCycle-cycle-V}) -\item Pressure (Figure -\Ref{fig:OttoCycle_odeso.ps-OttoCycle-cycle-P}) -\item Entropy (Figure \Ref{fig:OttoCycle_odeso.ps-OttoCycle-cycle-S}) -\item Temperature (Figure -\Ref{fig:OttoCycle_odeso.ps-OttoCycle-cycle-T}) -\end{itemize} - -These values are replotted as the standard PV and TS diagrams in -Figures -\Ref{fig:OttoCycle_odeso.ps-OttoCycle-cycle-V:OttoCycle-cycle-P} -and -\Ref{fig:OttoCycle_odeso.ps-OttoCycle-cycle-S:OttoCycle-cycle-T} -respectively. - - - - - DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/OttoCycle/OttoCycle_input.txt Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/OttoCycle/OttoCycle_input.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/OttoCycle/OttoCycle_input.txt +++ /dev/null @@ -1,41 +0,0 @@ -# Numerical parameter file (OttoCycle_input.txt) -# Generated by MTT at Thu Dec 4 11:17:09 GMT 1997 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %% Revision 1.2 2000/12/28 18:15:52 peterg -# %% To RCS -# %% -# %% Revision 1.1 1998/08/10 14:42:13 peterg -# %% Initial revision -# %% -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Set the inputs - -if ((t>=0.0)&&(t<1.0)) #Compression - OttoCycle_Heat = 0.0; # Entropy flow - OttoCycle_Work = -0.8; # Volume rate-of-change -endif; - -if ((t>=1.0)&&(t<2.0)) #Heating - OttoCycle_Heat = 1000; # Entropy flow - OttoCycle_Work = 0.0; # Volume rate-of-change -endif; - -if ((t>=2.0)&&(t<3.0)) #Expansion - OttoCycle_Heat = 0.0; # Entropy flow - OttoCycle_Work = 0.8; # Volume rate-of-change -endif; - -if (t>=3.0) #Cooling - OttoCycle_Heat = -1000; # Entropy flow - OttoCycle_Work = 0.0; # Volume rate-of-change -endif; - - - - DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/OttoCycle/OttoCycle_lbl.txt Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/OttoCycle/OttoCycle_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/OttoCycle/OttoCycle_lbl.txt +++ /dev/null @@ -1,45 +0,0 @@ -%SUMMARY OttoCycle: a simple closed thermodynamic cycle -%DESCRIPTION The Otto cycle is a simple closed thermodynamic cycle -%DESCRIPTION with four parts: -%DESCRIPTION o Isentropic compression -%DESCRIPTION o Heating at constant volume -%DESCRIPTION o Isentropic expansion -%DESCRIPTION o Cooling at constant volume - -%PAR P_0 -%PAR T_0 -%PAR V_0 -%NOTPAR ideal_gas - - -%% Label file for system OttoCycle (OttoCycle_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.3 1998/08/10 16:05:52 peterg -% %% Added VARs and parameters -% %% -% %% Revision 1.2 1998/07/21 15:15:27 peterg -% %% Documentation + new format -% %% -% %% Revision 1.1 1998/07/21 15:12:21 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type Cycle - cycle none ideal_gas;c_v;gamma_g;m_g - -% Component type SS - Heat SS internal,external - Work SS internal,external DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/OttoCycle/OttoCycle_numpar.txt Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/OttoCycle/OttoCycle_numpar.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/OttoCycle/OttoCycle_numpar.txt +++ /dev/null @@ -1,23 +0,0 @@ -# Numerical parameter file (OttoCycle_numpar.txt) -# Generated by MTT at Thu Dec 4 11:44:46 GMT 1997 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %% Revision 1.1 1998/03/04 11:45:49 peterg -# %% Initial revision -# %% -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Initial states -- needed to choose an appropriate mass -P_0 = 1e5; -V_0 = 1; -T_0 = 300; - -# Parameters -c_v = 718.0; # Parameter c_v for CU -gamma_g = 1.4; # Parameter gamma for CU -m_g = P_0*V_0/(T_0*(gamma_g-1)*c_v);# Parameter m for CU - DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/OttoCycle/OttoCycle_rep.txt Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/OttoCycle/OttoCycle_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/OttoCycle/OttoCycle_rep.txt +++ /dev/null @@ -1,30 +0,0 @@ -# Outline report file for system OttoCycle (OttoCycle_rep.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1999/02/21 02:16:17 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -mtt -o -ss OttoCycle abg tex -mtt -o -ss OttoCycle struc tex -mtt -o -ss OttoCycle ode tex -mtt -o -ss OttoCycle ss tex - -mtt -o -ss OttoCycle numpar txt -mtt -o -ss OttoCycle input txt - -mtt -o -ss -c OttoCycle odeso ps 'OttoCycle_cycle_V' -mtt -o -ss -c OttoCycle odeso ps 'OttoCycle_cycle_P' -mtt -o -ss -c OttoCycle odeso ps 'OttoCycle_cycle_S' -mtt -o -ss -c OttoCycle odeso ps 'OttoCycle_cycle_T' -mtt -o -ss -c OttoCycle odeso ps 'OttoCycle_cycle_V:OttoCycle_cycle_P' -mtt -o -ss -c OttoCycle odeso ps 'OttoCycle_cycle_S:OttoCycle_cycle_T' - - - - DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/OttoCycle/OttoCycle_simpar.txt Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/OttoCycle/OttoCycle_simpar.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/OttoCycle/OttoCycle_simpar.txt +++ /dev/null @@ -1,12 +0,0 @@ -%% Simulation parameters for system OttoCycle (OttoCycle_simpar.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -LAST=4.0 -DT=0.01 -STEPFACTOR=1 DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/OttoCycle/OttoCycle_sspar.r Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/OttoCycle/OttoCycle_sspar.r ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/OttoCycle/OttoCycle_sspar.r +++ /dev/null @@ -1,39 +0,0 @@ -% Steady-state parameter file (OttoCycle_sspar.r) -% Generated by MTT at Wed Mar 4 11:02:40 GMT 1998 - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% % Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% % $Id$ -% % $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Set a pressure of 1 bar -P_0 := 10^5; - -% Unit initial volume -V_0 := 1; - -% Internal energy -U_0 := P_0*V_0/(gamma_g-1); - -% Set initial temperature of 300k -T_0 := 300; - -% Deduce the mass of gas -m := U_0/(T_0*c_v); - -% Entropy -S_0 := U_0/T_0; - -% Steady-state states -MTTX1 := U_0; % OttoCycle_cycle_gas (c) -MTTX2 := V_0; % OttoCycle_cycle_gas (c) -MTTX3 := S_0; % OttoCycle_cycle_entropy (3) -MTTX4 := V_0; % OttoCycle_cycle_volume (3) - -% Steady-state inputs -MTTU1 := 0; % OttoCycle (Heat) -MTTU2 := 0; % OttoCycle (Work) -;;END; DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/OttoCycle/OttoCycle_state.txt Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/OttoCycle/OttoCycle_state.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/OttoCycle/OttoCycle_state.txt +++ /dev/null @@ -1,13 +0,0 @@ -## -*-octave-*- Put Emacs into octave-mode ## - -## -## System OttoCycle, representation state, language txt; -## File OttoCycle_state.txt; -## Generated by MTT on Thu Dec 28 18:37:57 GMT 2000; - - - -OttoCycle_cycle_1_entropy_1_mtt3 = 0.0; # Default -OttoCycle_cycle_1_gas_1_c = 0.0; # Default -OttoCycle_cycle_1_gas_1_c = 0.0; # Default -OttoCycle_cycle_1_volume_1_mtt3 = 0.0; # Default DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isentropic/Isentropic_abg.fig Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isentropic/Isentropic_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isentropic/Isentropic_abg.fig +++ /dev/null @@ -1,25 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2026 3151 3601 3151 3376 3376 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5176 3151 6751 3151 6526 3376 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 6751 2926 6751 3376 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 2026 2926 2026 3376 -2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 8325 5850 8325 450 675 450 675 5850 8325 5850 -4 1 -1 0 0 0 20 0.0000000 4 270 1440 4411 3241 Cycle:cycle\001 -4 0 -1 0 0 0 20 0.0000000 4 210 1110 6886 3241 SS:Work\001 -4 2 -1 0 0 0 20 0.0000000 4 210 990 1936 3241 SS:Heat\001 -4 1 1 1 0 3 20 0.0000000 4 210 180 2700 2925 T\001 -4 1 1 1 0 3 20 0.0000000 4 210 180 6120 2925 P\001 -4 1 1 1 0 3 30 0.0000000 4 390 3360 4365 4770 Isentropic process\001 -4 1 1 1 0 3 20 0.0000000 4 210 480 2700 3555 S=0\001 -4 1 1 1 0 3 30 0.0000000 4 60 105 2565 3330 .\001 -4 1 1 1 0 3 20 0.0000000 4 210 195 6120 3555 V\001 -4 1 1 1 0 3 30 0.0000000 4 60 105 6165 3285 .\001 DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isentropic/Isentropic_desc.tex Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isentropic/Isentropic_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isentropic/Isentropic_desc.tex +++ /dev/null @@ -1,16 +0,0 @@ -% Verbal description for system Isentropic (Isentropic_desc.tex) -% Generated by MTT on Thu Dec 4 15:59:55 GMT 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% Revision 1.1 1997/12/09 12:30:26 peterg -% Initial revision -% -% Revision 1.1 1997/12/08 09:37:04 peterg -% Initial revision -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isentropic/Isentropic_input.txt Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isentropic/Isentropic_input.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isentropic/Isentropic_input.txt +++ /dev/null @@ -1,15 +0,0 @@ -# Numerical parameter file (Isentropic_input.txt) -# Generated by MTT at Thu Dec 4 11:17:09 GMT 1997 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Set the inputs - u(1) = -0.8; # Volume rate-of-change - - - DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isentropic/Isentropic_lbl.txt Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isentropic/Isentropic_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isentropic/Isentropic_lbl.txt +++ /dev/null @@ -1,34 +0,0 @@ -%SUMMARY Isentropic: Isentropic thermodynamic process - ideal gas -%DESCRIPTION A dynamic simulation of an isentropic process using -%DESCRIPTION the Cycle component and the two-prt CU component. - -%VAR P_0 -%VAR T_0 -%VAR V_0 - - -%% Label file for system Isentropic (Isentropic_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1998/07/21 14:27:44 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type Cycle - cycle none ideal_gas;c_v;gamma_g;m_g - -% Component type SS - Heat SS internal,0 - Work SS internal,external DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isentropic/Isentropic_numpar.txt Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isentropic/Isentropic_numpar.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isentropic/Isentropic_numpar.txt +++ /dev/null @@ -1,23 +0,0 @@ -# Numerical parameter file (Isentropic_numpar.txt) -# Generated by MTT at Thu Dec 4 11:44:46 GMT 1997 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %% Revision 1.1 1998/03/04 11:45:49 peterg -# %% Initial revision -# %% -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Initial states -- needed to choose an approppriate mass -P_0 = 1e5; -V_0 = 1; -T_0 = 300; - -# Parameters -c_v = 718.0; # Parameter c_v for CU -gamma_g = 1.4; # Parameter gamma for CU -m_g = P_0*V_0/(T_0*(gamma_g-1)*c_v); # Parameter m for CU - DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isentropic/Isentropic_rep.txt Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isentropic/Isentropic_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isentropic/Isentropic_rep.txt +++ /dev/null @@ -1,26 +0,0 @@ -# Outline report file for system Isentropic (Isentropic_rep.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1999/02/21 02:18:41 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -mtt -o -ss Isentropic abg tex -mtt -o -ss Isentropic struc tex -mtt -o -ss Isentropic ode tex -mtt -o -ss Isentropic ss tex - -mtt -o -ss Isentropic numpar txt -mtt -o -ss Isentropic input txt - -mtt -o -ss -c Isentropic odeso ps 'Isentropic_cycle_V' -mtt -o -ss -c Isentropic odeso ps 'Isentropic_cycle_P' -mtt -o -ss -c Isentropic odeso ps 'Isentropic_cycle_S' -mtt -o -ss -c Isentropic odeso ps 'Isentropic_cycle_T' -mtt -o -ss -c Isentropic odeso ps 'Isentropic_cycle_V:Isentropic_cycle_P' -mtt -o -ss -c Isentropic odeso ps 'Isentropic_cycle_S:Isentropic_cycle_T' DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isentropic/Isentropic_simpar.txt Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isentropic/Isentropic_simpar.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isentropic/Isentropic_simpar.txt +++ /dev/null @@ -1,13 +0,0 @@ -%% Simulation parameters for system Isentropic (Isentropic_simpar.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -LAST=1.0 -DT=0.01 -STEPFACTOR=1 - DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isentropic/Isentropic_simpar.txt_old Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isentropic/Isentropic_simpar.txt_old ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isentropic/Isentropic_simpar.txt_old +++ /dev/null @@ -1,13 +0,0 @@ -%% Simulation parameters for system Isentropic (Isentropic_simpar.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -LAST=1.0 -DT=0.01 -STEPFACTOR=1 - DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isentropic/Isentropic_sspar.r Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isentropic/Isentropic_sspar.r ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isentropic/Isentropic_sspar.r +++ /dev/null @@ -1,39 +0,0 @@ -% Steady-state parameter file (Isentropic_sspar.r) -% Generated by MTT at Wed Mar 4 11:02:40 GMT 1998 - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% % Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% % $Id$ -% % $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Set a pressure of 1 bar -P_0 := 10^5; - -% Unit initial volume -V_0 := 1; - -% Internal energy -U_0 := P_0*V_0/(gamma_g-1); - -% Set initial temperature of 300k -T_0 := 300; - -% Deduce the mass of gas -m := U_0/(T_0*c_v); - -% Entropy -S_0 := U_0/T_0; - -% Steady-state states -MTTX1 := U_0; % Isentropic_cycle_gas (c) -MTTX2 := V_0; % Isentropic_cycle_gas (c) -MTTX3 := S_0; % Isentropic_cycle_entropy (3) -MTTX4 := V_0; % Isentropic_cycle_volume (3) - -% Steady-state inputs -MTTU1 := 0; % Isentropic (Heat) -MTTU2 := 0; % Isentropic (Work) -;;END; DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isobaric/Cycle_abg.fig Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isobaric/Cycle_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isobaric/Cycle_abg.fig +++ /dev/null @@ -1,81 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5400 1800 6750 1800 6525 2025 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5175 2025 5175 3375 5400 3150 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5175 3825 5175 5175 5400 4950 -2 2 0 3 1 7 1 0 -1 0.000 1 0 -1 0 0 5 - 6075 900 9000 900 9000 2700 6075 2700 6075 900 -2 2 0 2 1 3 1 0 20 0.000 0 0 -1 0 0 5 - 8325 900 8550 900 8550 2700 8325 2700 8325 900 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 10125 3825 10125 5175 10350 4950 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7875 1800 9900 1800 9675 2025 -2 2 0 2 1 3 1 0 20 0.000 0 0 -1 0 0 5 - 8550 1665 9585 1665 9585 1935 8550 1935 8550 1665 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 1 0 2 - 1 0 2.00 120.00 240.00 - 4725 1440 5805 1440 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 1 0 2 - 1 0 2.00 120.00 240.00 - 9675 1440 10755 1440 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 1 0 2 - 1 0 2.00 120.00 240.00 - 7785 3465 8415 2835 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3600 1800 4950 1800 4725 2025 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1755 1800 3105 1800 2880 2025 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3375 2025 3375 5175 3600 4950 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3150 5175 3600 5175 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 10350 1800 11700 1800 11475 2025 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 12150 1800 13500 1800 13275 2025 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 11700 5175 12150 5175 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 11925 2025 11925 5175 12150 4950 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 10125 2025 10125 3375 10350 3150 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4950 2025 5400 2025 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 9900 2025 10350 2025 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 9900 5175 10350 5175 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4950 5175 5400 5175 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5400 1575 5400 2025 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 7875 1575 7875 2025 -4 1 -1 0 0 0 20 0.0000 4 255 855 7290 1890 CU:gas\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 5175 1890 1\001 -4 1 -1 0 0 0 20 0.0000 4 255 1590 5175 3690 INTF:entropy\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 10125 1890 1\001 -4 1 1 1 0 3 20 0.0000 4 270 1035 7200 1440 Ideal gas\001 -4 1 1 1 0 3 20 0.0000 4 210 885 4635 1305 Heat in\001 -4 1 1 1 0 3 20 0.0000 4 210 1080 10170 1305 Work out\001 -4 1 1 1 0 3 20 0.0000 4 270 1800 5130 5895 Entropy change\001 -4 1 1 1 0 3 20 0.0000 4 270 1365 7110 3690 Ideal piston\001 -4 1 -1 0 0 0 20 0.0000 4 195 1560 10125 3690 INTF:volume\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 3375 1890 0\001 -4 2 4 0 0 0 20 0.0000 4 240 1140 1575 1890 SS:[Heat]\001 -4 1 -1 0 0 0 20 0.0000 4 195 585 3375 5490 SS:T\001 -4 1 1 1 0 3 20 0.0000 4 255 1485 3240 5895 Temperature\001 -4 1 -1 0 0 0 20 0.0000 4 195 570 5130 5490 SS:S\001 -4 1 -1 0 0 0 20 0.0000 4 195 615 10125 5490 SS:V\001 -4 1 -1 0 0 0 20 0.0000 4 195 570 11880 5490 SS:P\001 -4 0 4 0 0 0 20 0.0000 4 240 1230 13680 1890 SS:[Work]\001 -4 1 1 1 0 3 20 0.0000 4 270 1815 10080 5850 Volume change\001 -4 1 1 1 0 3 20 0.0000 4 195 975 11925 5850 Pressure\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 11925 1890 0\001 DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isobaric/Cycle_desc.tex Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isobaric/Cycle_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isobaric/Cycle_desc.tex +++ /dev/null @@ -1,74 +0,0 @@ -% Verbal description for system Cycle (Cycle_desc.tex) -% Generated by MTT on Thu Dec 4 15:59:55 GMT 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.2 1998/06/30 12:46:49 peterg -% %% Changed CT2 to CU -% %% -% %% Revision 1.1 1998/06/30 12:46:24 peterg -% %% Initial revision -% %% -% Revision 1.1 1997/12/08 09:37:04 peterg -% Initial revision -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{Cycle} is - displayed in Figure \Ref{Cycle_abg} and its label - file is listed in Section \Ref{sec:Cycle_lbl}. - The subsystems are listed in Section \Ref{sec:Cycle_sub}. - -The system has two heat engine ports: -\begin{enumerate} -\item \textbf{[Heat]} and -\item \textbf{[Work]} -\end{enumerate} -By convention, energy flows in to the \textbf{[Heat]} port and out of -the \textbf{[Work]} port. Both ports are true energy ports. - - -The subsystem \textbf{CU} (Section \Ref{sec:CU}) is a two-port -component describing an ideal gas. It has two energy ports which, with -integral causality correspond to -\begin{enumerate} -\item Entropy flow in; temperature out -\item Volume rate of change in; pressure out -\end{enumerate} - -Four \textbf{SS} components are set up as sensors to measure the -important quantities pertaining to the cycle: -\begin{enumerate} -\item \textbf{S} to measure the integrated entropy flow -\item \textbf{T} to measure the (absolute) temperature -\item \textbf{V} to measure the integrated volume change -\item \textbf{P} to measure the pressure -\end{enumerate} - - \begin{table}[htbp] - \begin{center} - \leavevmode - \begin{tabular}{|l|l|l|l|l|} - \hline - Cycle & Compression & Heating & Expansion & Cooling \\ - \hline - Otto & II & II & II & II \\ - Carnot & II & DI & II & DI \\ - Diesel & II & ID & II & II \\ - Joule & II & ID & II & ID \\ - \hline - \end{tabular} - \caption{Cycles and their causality} - \label{tab:cycles} - \end{center} - \end{table} - - A number of cycles can be built depending on the causality of the - two ports \textbf{[Heat]} and \textbf{[Work]} of \textbf{Cycle} - Some possible cycles listed in Tables \Ref{tab:cycles} where each - table entry gives the causality on the heat and work ports - respectively. - DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isobaric/Cycle_lbl.txt Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isobaric/Cycle_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isobaric/Cycle_lbl.txt +++ /dev/null @@ -1,54 +0,0 @@ -#SUMMARY Cycle: Closed cycle with ideal gas -#DESCRIPTION Uses the CU two-port thermal capacitor. - -#ALIAS in Heat -#ALIAS out Work - -#ALIAS $1 ideal_gas -#ALIAS $2 c_v -#ALIAS $3 gamma_g -#ALIAS $4 m_g - -## Label file for system Cycle (Cycle_lbl.txt) - -# ############################################################### -# ## Version control history -# ############################################################### -# ## $Id$ -# ## $Log$ -# ## Revision 1.2 1998/07/21 14:21:04 peterg -# ## New style file -# ## -# ## Revision 1.1 1997/12/08 20:24:43 peterg -# ## Initial revision -# ## -# ## Revision 1.1 1997/12/07 20:38:05 peterg -# ## Initial revision -# ## -# ############################################################### - -## Each line should be of one of the following forms: -# a comment (ie starting with #) -# Component-name CR_name arg1,arg2,..argn -# blank - - - - -# Component type CU - gas CU ideal_gas,c_v,gamma_g,m_g - -# Component type INTF - entropy - volume - -# Component type SS - S SS external,0 - T SS external,0 - V SS external,0 - P SS external,0 - [Heat] SS external,external - [Work] SS external,external - - - DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isobaric/Cycle_simp.r Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isobaric/Cycle_simp.r ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isobaric/Cycle_simp.r +++ /dev/null @@ -1,10 +0,0 @@ -%% Reduce commands to simplify output for system Cycle (Cycle_simp.r) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -END; DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isobaric/Isobaric_abg.fig Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isobaric/Isobaric_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isobaric/Isobaric_abg.fig +++ /dev/null @@ -1,25 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2026 3151 3601 3151 3376 3376 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5176 3151 6751 3151 6526 3376 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 2026 2926 2026 3376 -2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 8325 5850 8325 450 675 450 675 5850 8325 5850 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 5175 2925 5175 3375 -4 1 -1 0 0 0 20 0.0000000 4 270 1440 4411 3241 Cycle:cycle\001 -4 0 -1 0 0 0 20 0.0000000 4 210 1110 6886 3241 SS:Work\001 -4 2 -1 0 0 0 20 0.0000000 4 210 990 1936 3241 SS:Heat\001 -4 1 1 1 0 3 20 0.0000000 4 210 180 2700 2925 T\001 -4 1 1 1 0 3 20 0.0000000 4 210 180 6120 2925 P\001 -4 1 1 1 0 3 30 0.0000000 4 390 3015 4365 4770 Isobaric process\001 -4 1 1 1 0 3 20 0.0000000 4 210 480 2700 3555 S=0\001 -4 1 1 1 0 3 30 0.0000000 4 60 105 2565 3330 .\001 -4 1 1 1 0 3 20 0.0000000 4 210 195 6120 3555 V\001 -4 1 1 1 0 3 30 0.0000000 4 60 105 6165 3285 .\001 DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isobaric/Isobaric_desc.tex Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isobaric/Isobaric_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isobaric/Isobaric_desc.tex +++ /dev/null @@ -1,16 +0,0 @@ -% Verbal description for system Isobaric (Isobaric_desc.tex) -% Generated by MTT on Thu Dec 4 15:59:55 GMT 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% Revision 1.1 1997/12/09 12:30:26 peterg -% Initial revision -% -% Revision 1.1 1997/12/08 09:37:04 peterg -% Initial revision -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isobaric/Isobaric_input.txt Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isobaric/Isobaric_input.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isobaric/Isobaric_input.txt +++ /dev/null @@ -1,15 +0,0 @@ -# Numerical parameter file (Isobaric_input.txt) -# Generated by MTT at Thu Dec 4 11:17:09 GMT 1997 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Set the inputs - u(1) = 1000; #Entropy flow - - - DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isobaric/Isobaric_lbl.txt Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isobaric/Isobaric_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isobaric/Isobaric_lbl.txt +++ /dev/null @@ -1,33 +0,0 @@ -%SUMMARY Isobaric: Isobaric thermodynamic process - ideal gas -%DESCRIPTION A dynamic simulation of an isobaric (constant pressure) -%DESCRIPTION process using the Cycle component and the two-port CU component. - -%VAR P_0 -%VAR T_0 -%VAR V_0 - -%% Label file for system Isobaric (Isobaric_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1998/07/21 14:32:49 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type Cycle - cycle none ideal_gas;c_v;gamma_g;m_g - -% Component type SS - Heat SS internal,external - Work SS P_0,internal DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isobaric/Isobaric_numpar.txt Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isobaric/Isobaric_numpar.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isobaric/Isobaric_numpar.txt +++ /dev/null @@ -1,23 +0,0 @@ -# Numerical parameter file (Isobaric_numpar.txt) -# Generated by MTT at Thu Dec 4 11:44:46 GMT 1997 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %% Revision 1.1 1998/03/04 11:45:49 peterg -# %% Initial revision -# %% -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Initial states -- needed to choose an approppriate mass -P_0 = 1e5; -V_0 = 1; -T_0 = 300; - -# Parameters -c_v = 718.0; # Parameter c_v for CU -gamma_g = 1.4; # Parameter gamma_g for CU -m_g = P_0*V_0/(T_0*(gamma_g-1)*c_v); # Parameter m for CU - DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isobaric/Isobaric_rep.txt Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isobaric/Isobaric_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isobaric/Isobaric_rep.txt +++ /dev/null @@ -1,30 +0,0 @@ -# Outline report file for system Isobaric (Isobaric_rep.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1999/02/21 02:19:31 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -mtt -ss Isobaric abg tex -mtt -ss Isobaric struc tex -mtt -ss Isobaric ode tex -mtt -ss Isobaric ss tex - -mtt -ss Isobaric numpar txt -mtt -ss Isobaric input txt - -mtt -ss -c Isobaric odeso ps 'Isobaric_cycle_V' -mtt -ss -c Isobaric odeso ps 'Isobaric_cycle_P' -mtt -ss -c Isobaric odeso ps 'Isobaric_cycle_S' -mtt -ss -c Isobaric odeso ps 'Isobaric_cycle_T' -mtt -ss -c Isobaric odeso ps 'Isobaric_cycle_V:Isobaric_cycle_P' -mtt -ss -c Isobaric odeso ps 'Isobaric_cycle_S:Isobaric_cycle_T' - - - - DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isobaric/Isobaric_simpar.txt Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isobaric/Isobaric_simpar.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isobaric/Isobaric_simpar.txt +++ /dev/null @@ -1,12 +0,0 @@ -%% Simulation parameters for system Isobaric (Isobaric_simpar.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -LAST=1.0 -DT=0.01 -STEPFACTOR=1 DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isobaric/Isobaric_simpar.txt_old Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isobaric/Isobaric_simpar.txt_old ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isobaric/Isobaric_simpar.txt_old +++ /dev/null @@ -1,12 +0,0 @@ -%% Simulation parameters for system Isobaric (Isobaric_simpar.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -LAST=1.0 -DT=0.01 -STEPFACTOR=1 DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isobaric/Isobaric_sspar.r Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isobaric/Isobaric_sspar.r ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isobaric/Isobaric_sspar.r +++ /dev/null @@ -1,38 +0,0 @@ -% Steady-state parameter file (Isobaric_sspar.r) -% Generated by MTT at Wed Mar 4 11:02:40 GMT 1998 - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% % Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% % $Id$ -% % $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Set a pressure of 1 bar -P_0 := 10^5; - -% Unit initial volume -V_0 := 1; - -% Internal energy -U_0 := P_0*V_0/(gamma_g-1); - -% Set initial temperature of 300k -T_0 := 300; - -% Deduce the mass of gas -m := U_0/(T_0*c_v); - -% Entropy -S_0 := U_0/T_0; - -% Steady-state states -MTTX1 := U_0; % Isobaric_cycle_gas (c) -%MTTX2 := V_0; % Isobaric_cycle_gas (c) -MTTX2 := S_0; % Isobaric_cycle_entropy (3) -MTTX3 := V_0; % Isobaric_cycle_volume (3) - -% Steady-state inputs -MTTU1 := 0; % Isobaric (Heat) -;;END; DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isothermal/Cycle_abg.fig Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isothermal/Cycle_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isothermal/Cycle_abg.fig +++ /dev/null @@ -1,81 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5400 1800 6750 1800 6525 2025 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5175 2025 5175 3375 5400 3150 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5175 3825 5175 5175 5400 4950 -2 2 0 3 1 7 1 0 -1 0.000 1 0 -1 0 0 5 - 6075 900 9000 900 9000 2700 6075 2700 6075 900 -2 2 0 2 1 3 1 0 20 0.000 0 0 -1 0 0 5 - 8325 900 8550 900 8550 2700 8325 2700 8325 900 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 10125 3825 10125 5175 10350 4950 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 7875 1800 9900 1800 9675 2025 -2 2 0 2 1 3 1 0 20 0.000 0 0 -1 0 0 5 - 8550 1665 9585 1665 9585 1935 8550 1935 8550 1665 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 1 0 2 - 1 0 2.00 120.00 240.00 - 4725 1440 5805 1440 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 1 0 2 - 1 0 2.00 120.00 240.00 - 9675 1440 10755 1440 -2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 1 0 2 - 1 0 2.00 120.00 240.00 - 7785 3465 8415 2835 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3600 1800 4950 1800 4725 2025 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 1755 1800 3105 1800 2880 2025 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 3375 2025 3375 5175 3600 4950 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3150 5175 3600 5175 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 10350 1800 11700 1800 11475 2025 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 12150 1800 13500 1800 13275 2025 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 11700 5175 12150 5175 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 11925 2025 11925 5175 12150 4950 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 10125 2025 10125 3375 10350 3150 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4950 2025 5400 2025 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 9900 2025 10350 2025 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 9900 5175 10350 5175 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 4950 5175 5400 5175 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 6750 2025 6750 1575 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 9900 2025 9900 1575 -4 1 -1 0 0 0 20 0.0000 4 255 855 7290 1890 CU:gas\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 5175 1890 1\001 -4 1 -1 0 0 0 20 0.0000 4 255 1590 5175 3690 INTF:entropy\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 10125 1890 1\001 -4 1 1 1 0 3 20 0.0000 4 270 1035 7200 1440 Ideal gas\001 -4 1 1 1 0 3 20 0.0000 4 210 885 4635 1305 Heat in\001 -4 1 1 1 0 3 20 0.0000 4 210 1080 10170 1305 Work out\001 -4 1 1 1 0 3 20 0.0000 4 270 1800 5130 5895 Entropy change\001 -4 1 1 1 0 3 20 0.0000 4 270 1365 7110 3690 Ideal piston\001 -4 1 -1 0 0 0 20 0.0000 4 195 1560 10125 3690 INTF:volume\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 3375 1890 0\001 -4 2 4 0 0 0 20 0.0000 4 240 1140 1575 1890 SS:[Heat]\001 -4 1 -1 0 0 0 20 0.0000 4 195 585 3375 5490 SS:T\001 -4 1 1 1 0 3 20 0.0000 4 255 1485 3240 5895 Temperature\001 -4 1 -1 0 0 0 20 0.0000 4 195 570 5130 5490 SS:S\001 -4 1 -1 0 0 0 20 0.0000 4 195 615 10125 5490 SS:V\001 -4 1 -1 0 0 0 20 0.0000 4 195 570 11880 5490 SS:P\001 -4 0 4 0 0 0 20 0.0000 4 240 1230 13680 1890 SS:[Work]\001 -4 1 1 1 0 3 20 0.0000 4 270 1815 10080 5850 Volume change\001 -4 1 1 1 0 3 20 0.0000 4 195 975 11925 5850 Pressure\001 -4 1 -1 0 0 0 20 0.0000 4 195 135 11925 1890 0\001 DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isothermal/Cycle_desc.tex Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isothermal/Cycle_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isothermal/Cycle_desc.tex +++ /dev/null @@ -1,74 +0,0 @@ -% Verbal description for system Cycle (Cycle_desc.tex) -% Generated by MTT on Thu Dec 4 15:59:55 GMT 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.2 1998/06/30 12:46:49 peterg -% %% Changed CT2 to CU -% %% -% %% Revision 1.1 1998/06/30 12:46:24 peterg -% %% Initial revision -% %% -% Revision 1.1 1997/12/08 09:37:04 peterg -% Initial revision -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - The acausal bond graph of system \textbf{Cycle} is - displayed in Figure \Ref{Cycle_abg} and its label - file is listed in Section \Ref{sec:Cycle_lbl}. - The subsystems are listed in Section \Ref{sec:Cycle_sub}. - -The system has two heat engine ports: -\begin{enumerate} -\item \textbf{[Heat]} and -\item \textbf{[Work]} -\end{enumerate} -By convention, energy flows in to the \textbf{[Heat]} port and out of -the \textbf{[Work]} port. Both ports are true energy ports. - - -The subsystem \textbf{CU} (Section \Ref{sec:CU}) is a two-port -component describing an ideal gas. It has two energy ports which, with -integral causality correspond to -\begin{enumerate} -\item Entropy flow in; temperature out -\item Volume rate of change in; pressure out -\end{enumerate} - -Four \textbf{SS} components are set up as sensors to measure the -important quantities pertaining to the cycle: -\begin{enumerate} -\item \textbf{S} to measure the integrated entropy flow -\item \textbf{T} to measure the (absolute) temperature -\item \textbf{V} to measure the integrated volume change -\item \textbf{P} to measure the pressure -\end{enumerate} - - \begin{table}[htbp] - \begin{center} - \leavevmode - \begin{tabular}{|l|l|l|l|l|} - \hline - Cycle & Compression & Heating & Expansion & Cooling \\ - \hline - Otto & II & II & II & II \\ - Carnot & II & DI & II & DI \\ - Diesel & II & ID & II & II \\ - Joule & II & ID & II & ID \\ - \hline - \end{tabular} - \caption{Cycles and their causality} - \label{tab:cycles} - \end{center} - \end{table} - - A number of cycles can be built depending on the causality of the - two ports \textbf{[Heat]} and \textbf{[Work]} of \textbf{Cycle} - Some possible cycles listed in Tables \Ref{tab:cycles} where each - table entry gives the causality on the heat and work ports - respectively. - DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isothermal/Cycle_lbl.txt Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isothermal/Cycle_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isothermal/Cycle_lbl.txt +++ /dev/null @@ -1,54 +0,0 @@ -#SUMMARY Cycle: Closed cycle with ideal gas -#DESCRIPTION Uses the CU two-port thermal capacitor. - -#ALIAS in Heat -#ALIAS out Work - -#ALIAS $1 ideal_gas -#ALIAS $2 c_v -#ALIAS $3 gamma_g -#ALIAS $4 m_g - -## Label file for system Cycle (Cycle_lbl.txt) - -# ############################################################### -# ## Version control history -# ############################################################### -# ## $Id$ -# ## $Log$ -# ## Revision 1.2 1998/07/21 14:21:04 peterg -# ## New style file -# ## -# ## Revision 1.1 1997/12/08 20:24:43 peterg -# ## Initial revision -# ## -# ## Revision 1.1 1997/12/07 20:38:05 peterg -# ## Initial revision -# ## -# ############################################################### - -## Each line should be of one of the following forms: -# a comment (ie starting with #) -# Component-name CR_name arg1,arg2,..argn -# blank - - - - -# Component type CU - gas CU ideal_gas,c_v,gamma_g,m_g - -# Component type INTF - entropy - volume - -# Component type SS - S SS external,0 - T SS external,0 - V SS external,0 - P SS external,0 - [Heat] SS external,external - [Work] SS external,external - - - DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isothermal/Cycle_simp.r Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isothermal/Cycle_simp.r ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isothermal/Cycle_simp.r +++ /dev/null @@ -1,10 +0,0 @@ -%% Reduce commands to simplify output for system Cycle (Cycle_simp.r) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -END; DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isothermal/Isothermal_abg.fig Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isothermal/Isothermal_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isothermal/Isothermal_abg.fig +++ /dev/null @@ -1,25 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2026 3151 3601 3151 3376 3376 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5176 3151 6751 3151 6526 3376 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 6751 2926 6751 3376 -2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 8325 5850 8325 450 675 450 675 5850 8325 5850 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 3600 2925 3600 3375 -4 1 -1 0 0 0 20 0.0000000 4 270 1440 4411 3241 Cycle:cycle\001 -4 0 -1 0 0 0 20 0.0000000 4 210 1110 6886 3241 SS:Work\001 -4 2 -1 0 0 0 20 0.0000000 4 210 990 1936 3241 SS:Heat\001 -4 1 1 1 0 3 20 0.0000000 4 210 180 6120 2925 P\001 -4 1 1 1 0 3 30 0.0000000 4 390 3510 4365 4770 Isothermal process\001 -4 1 1 1 0 3 20 0.0000000 4 210 195 6120 3555 V\001 -4 1 1 1 0 3 30 0.0000000 4 60 105 6165 3285 .\001 -4 1 1 1 0 3 20 0.0000000 4 210 165 2700 3555 S\001 -4 1 1 1 0 3 30 0.0000000 4 60 105 2700 3285 .\001 -4 1 1 1 0 3 20 0.0000000 4 210 1005 2700 2925 T=const\001 DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isothermal/Isothermal_desc.tex Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isothermal/Isothermal_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isothermal/Isothermal_desc.tex +++ /dev/null @@ -1,16 +0,0 @@ -% Verbal description for system Isothermal (Isothermal_desc.tex) -% Generated by MTT on Thu Dec 4 15:59:55 GMT 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% Revision 1.1 1997/12/09 12:30:26 peterg -% Initial revision -% -% Revision 1.1 1997/12/08 09:37:04 peterg -% Initial revision -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isothermal/Isothermal_input.txt Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isothermal/Isothermal_input.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isothermal/Isothermal_input.txt +++ /dev/null @@ -1,15 +0,0 @@ -# Numerical parameter file (Isothermal_input.txt) -# Generated by MTT at Thu Dec 4 11:17:09 GMT 1997 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Set the inputs - u(1) = -0.8; # Volume rate-of-change - - - DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isothermal/Isothermal_lbl.txt Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isothermal/Isothermal_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isothermal/Isothermal_lbl.txt +++ /dev/null @@ -1,33 +0,0 @@ -%SUMMARY Isothermal: Isothermal thermodynamic process - ideal gas -%DESCRIPTION A dynamic simulation of an isothermal process using -%DESCRIPTION the Cycle component and the two-port CU component. - -%VAR P_0 -%VAR T_0 -%VAR V_0 - -%% Label file for system Isothermal (Isothermal_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1998/07/21 14:30:29 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type Cycle - cycle none ideal_gas;c_v;gamma_g;m_g - -% Component type SS - Heat SS t_0,internal - Work SS internal,external DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isothermal/Isothermal_numpar.txt Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isothermal/Isothermal_numpar.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isothermal/Isothermal_numpar.txt +++ /dev/null @@ -1,23 +0,0 @@ -# Numerical parameter file (Isothermal_numpar.txt) -# Generated by MTT at Thu Dec 4 11:44:46 GMT 1997 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %% Revision 1.1 1998/03/04 11:45:49 peterg -# %% Initial revision -# %% -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Initial states -- needed to choose an approppriate mass -P_0 = 1e5; -V_0 = 1; -T_0 = 300; - -# Parameters -c_v = 718.0; # Parameter c_v for CU -gamma_g = 1.4; # Parameter gamma_g for CU -m_g = P_0*V_0/(T_0*(gamma_g-1)*c_v); # Parameter m for CU - DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isothermal/Isothermal_rep.txt Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isothermal/Isothermal_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isothermal/Isothermal_rep.txt +++ /dev/null @@ -1,30 +0,0 @@ -# Outline report file for system Isothermal (Isothermal_rep.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1999/02/21 02:20:18 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -mtt -ss Isothermal abg tex -mtt -ss Isothermal struc tex -mtt -ss Isothermal ode tex -mtt -ss Isothermal ss tex - -mtt -ss Isothermal numpar txt -mtt -ss Isothermal input txt - -mtt -ss -c Isothermal odeso ps 'Isothermal_cycle_V' -mtt -ss -c Isothermal odeso ps 'Isothermal_cycle_P' -mtt -ss -c Isothermal odeso ps 'Isothermal_cycle_S' -mtt -ss -c Isothermal odeso ps 'Isothermal_cycle_T' -mtt -ss -c Isothermal odeso ps 'Isothermal_cycle_V:Isothermal_cycle_P' -mtt -ss -c Isothermal odeso ps 'Isothermal_cycle_S:Isothermal_cycle_T' - - - - DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isothermal/Isothermal_simpar.txt Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isothermal/Isothermal_simpar.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isothermal/Isothermal_simpar.txt +++ /dev/null @@ -1,12 +0,0 @@ -%% Simulation parameters for system Isothermal (Isothermal_simpar.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -LAST=1.0 -DT=0.01 -STEPFACTOR=1 DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isothermal/Isothermal_simpar.txt_old Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isothermal/Isothermal_simpar.txt_old ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isothermal/Isothermal_simpar.txt_old +++ /dev/null @@ -1,12 +0,0 @@ -%% Simulation parameters for system Isothermal (Isothermal_simpar.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -LAST=1.0 -DT=0.01 -STEPFACTOR=1 DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isothermal/Isothermal_sspar.r Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isothermal/Isothermal_sspar.r ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isothermal/Isothermal_sspar.r +++ /dev/null @@ -1,37 +0,0 @@ -% Steady-state parameter file (Isothermal_sspar.r) -% Generated by MTT at Wed Mar 4 11:02:40 GMT 1998 - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% % Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% % $Id$ -% % $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Set a pressure of 1 bar -P_0 := 10^5; - -% Unit initial volume -V_0 := 1; - -% Internal energy -U_0 := P_0*V_0/(gamma_g-1); - -% Set initial temperature of 300k -T_0 := 300; - -% Deduce the mass of gas -m := U_0/(T_0*c_v); - -% Entropy -S_0 := U_0/T_0; - -% Steady-state states -MTTX1 := V_0; % Isothermal_cycle_gas (c) -MTTX2 := S_0; % Isothermal_cycle_entropy (3) -MTTX3 := V_0; % Isothermal_cycle_volume (3) - -% Steady-state inputs -MTTU1 := 0; % Isothermal (Work) -;;END; DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isovolumetric/Isovolumetric_abg.fig Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isovolumetric/Isovolumetric_abg.fig ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isovolumetric/Isovolumetric_abg.fig +++ /dev/null @@ -1,25 +0,0 @@ -#FIG 3.1 -Portrait -Center -Metric -1200 2 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 2026 3151 3601 3151 3376 3376 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 - 5176 3151 6751 3151 6526 3376 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 6751 2926 6751 3376 -2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 - 2026 2926 2026 3376 -2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5 - 8325 5850 8325 450 675 450 675 5850 8325 5850 -4 1 -1 0 0 0 20 0.0000000 4 270 1440 4411 3241 Cycle:cycle\001 -4 0 -1 0 0 0 20 0.0000000 4 210 1110 6886 3241 SS:Work\001 -4 2 -1 0 0 0 20 0.0000000 4 210 990 1936 3241 SS:Heat\001 -4 1 1 1 0 3 20 0.0000000 4 210 180 2700 2925 T\001 -4 1 1 1 0 3 20 0.0000000 4 210 180 6120 2925 P\001 -4 1 1 1 0 3 30 0.0000000 4 390 4020 4365 4770 Isovolumetric process\001 -4 1 1 1 0 3 20 0.0000000 4 210 510 6120 3555 V=0\001 -4 1 1 1 0 3 30 0.0000000 4 60 105 5940 3285 .\001 -4 1 1 1 0 3 20 0.0000000 4 210 165 2700 3555 S\001 -4 1 1 1 0 3 30 0.0000000 4 60 105 2700 3285 .\001 DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isovolumetric/Isovolumetric_desc.tex Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isovolumetric/Isovolumetric_desc.tex ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isovolumetric/Isovolumetric_desc.tex +++ /dev/null @@ -1,16 +0,0 @@ -% Verbal description for system Isovolumetric (Isovolumetric_desc.tex) -% Generated by MTT on Thu Dec 4 15:59:55 GMT 1997. - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% Revision 1.1 1997/12/09 12:30:26 peterg -% Initial revision -% -% Revision 1.1 1997/12/08 09:37:04 peterg -% Initial revision -% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isovolumetric/Isovolumetric_input.txt Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isovolumetric/Isovolumetric_input.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isovolumetric/Isovolumetric_input.txt +++ /dev/null @@ -1,15 +0,0 @@ -# Numerical parameter file (Isovolumetric_input.txt) -# Generated by MTT at Thu Dec 4 11:17:09 GMT 1997 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Set the inputs - u(1) = 1000; #Entropy flow - - - DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isovolumetric/Isovolumetric_lbl.txt Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isovolumetric/Isovolumetric_lbl.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isovolumetric/Isovolumetric_lbl.txt +++ /dev/null @@ -1,35 +0,0 @@ -%SUMMARY Isovolumetric: Isovolumetric thermodynamic process - ideal gas -%DESCRIPTION A dynamic simulation of an Isovolumetric (constant volume) -%DESCRIPTION process using the Cycle component and the two-port CU component. -%DESCRIPTION -%DESCRIPTION the Cycle component and the two-port CU component. - -%VAR P_0 -%VAR T_0 -%VAR V_0 - -%% Label file for system Isovolumetric (Isovolumetric_lbl.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1998/07/21 14:37:03 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Each line should be of one of the following forms: -% a comment (ie starting with %) -% Component-name CR_name arg1,arg2,..argn -% blank - - - -% Component type Cycle - cycle none ideal_gas;c_v;gamma_g;m_g - -% Component type SS - Heat SS internal,external - Work SS internal,0 DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isovolumetric/Isovolumetric_numpar.txt Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isovolumetric/Isovolumetric_numpar.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isovolumetric/Isovolumetric_numpar.txt +++ /dev/null @@ -1,23 +0,0 @@ -# Numerical parameter file (Isovolumetric_numpar.txt) -# Generated by MTT at Thu Dec 4 11:44:46 GMT 1997 - -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% Version control history -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -# %% $Id$ -# %% $Log$ -# %% Revision 1.1 1998/03/04 11:45:49 peterg -# %% Initial revision -# %% -# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -# Initial states -- needed to choose an approppriate mass -P_0 = 1e5; -V_0 = 1; -T_0 = 300; - -# Parameters -c_v = 718.0; # Parameter c_v for CU -gamma_g = 1.4; # Parameter gamma_g for CU -m_g = P_0*V_0/(T_0*(gamma_g-1)*c_v); # Parameter m for CU - DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isovolumetric/Isovolumetric_rep.txt Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isovolumetric/Isovolumetric_rep.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isovolumetric/Isovolumetric_rep.txt +++ /dev/null @@ -1,30 +0,0 @@ -# Outline report file for system Isovolumetric (Isovolumetric_rep.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %% Revision 1.1 1999/02/21 02:21:03 peterg -% %% Initial revision -% %% -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -mtt -o -ss Isovolumetric abg tex -mtt -o -ss Isovolumetric struc tex -mtt -o -ss Isovolumetric ode tex -mtt -o -ss Isovolumetric ss tex - -mtt -o -ss Isovolumetric numpar txt -mtt -o -ss Isovolumetric input txt - -mtt -o -ss -c Isovolumetric odeso ps 'Isovolumetric_cycle_V' -mtt -o -ss -c Isovolumetric odeso ps 'Isovolumetric_cycle_P' -mtt -o -ss -c Isovolumetric odeso ps 'Isovolumetric_cycle_S' -mtt -o -ss -c Isovolumetric odeso ps 'Isovolumetric_cycle_T' -mtt -o -ss -c Isovolumetric odeso ps 'Isovolumetric_cycle_V:Isovolumetric_cycle_P' -mtt -o -ss -c Isovolumetric odeso ps 'Isovolumetric_cycle_S:Isovolumetric_cycle_T' - - - - DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isovolumetric/Isovolumetric_simpar.txt Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isovolumetric/Isovolumetric_simpar.txt ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isovolumetric/Isovolumetric_simpar.txt +++ /dev/null @@ -1,12 +0,0 @@ -%% Simulation parameters for system Isovolumetric (Isovolumetric_simpar.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -LAST=1.0 -DT=0.01 -STEPFACTOR=1 DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isovolumetric/Isovolumetric_simpar.txt_old Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isovolumetric/Isovolumetric_simpar.txt_old ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isovolumetric/Isovolumetric_simpar.txt_old +++ /dev/null @@ -1,12 +0,0 @@ -%% Simulation parameters for system Isovolumetric (Isovolumetric_simpar.txt) - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% %% $Id$ -% %% $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -LAST=1.0 -DT=0.01 -STEPFACTOR=1 DELETED mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isovolumetric/Isovolumetric_sspar.r Index: mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isovolumetric/Isovolumetric_sspar.r ================================================================== --- mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isovolumetric/Isovolumetric_sspar.r +++ /dev/null @@ -1,39 +0,0 @@ -% Steady-state parameter file (Isovolumetric_sspar.r) -% Generated by MTT at Wed Mar 4 11:02:40 GMT 1998 - -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% % Version control history -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% % $Id$ -% % $Log$ -% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% Set a pressure of 1 bar -P_0 := 10^5; - -% Unit initial volume -V_0 := 1; - -% Internal energy -U_0 := P_0*V_0/(gamma_g-1); - -% Set initial temperature of 300k -T_0 := 300; - -% Deduce the mass of gas -m := U_0/(T_0*c_v); - -% Entropy -S_0 := U_0/T_0; - -% Steady-state states -MTTX1 := U_0; % Isovolumetric_cycle_gas (c) -MTTX2 := V_0; % Isovolumetric_cycle_gas (c) -MTTX3 := S_0; % Isovolumetric_cycle_entropy (3) -MTTX4 := V_0; % Isovolumetric_cycle_volume (3) - -% Steady-state inputs -MTTU1 := 0; % Isovolumetric (Heat) -MTTU2 := 0; % Isovolumetric (Work) -;;END; DELETED mttroot/mtt/lib/octave/.octaverc Index: mttroot/mtt/lib/octave/.octaverc ================================================================== --- mttroot/mtt/lib/octave/.octaverc +++ /dev/null @@ -1,7 +0,0 @@ -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -%% Startup file for Octave for use with MTT -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -implicit_str_to_num_ok = 1; -empty_list_elements_ok = 1; - DELETED mttroot/mtt/lib/octave/README Index: mttroot/mtt/lib/octave/README ================================================================== --- mttroot/mtt/lib/octave/README +++ /dev/null @@ -1,1 +0,0 @@ -This contains some octave specific helps to MTT DELETED mttroot/mtt/lib/octave/mkoctfile Index: mttroot/mtt/lib/octave/mkoctfile ================================================================== --- mttroot/mtt/lib/octave/mkoctfile +++ /dev/null @@ -1,202 +0,0 @@ -#! /bin/sh -# -# mkoctfile -- create a .oct file suitable for dynamic linking by -# Octave. -echo mkoctfile with optimisation level 0 -# Exit immediately on any error. - -set -e - -# Default values for these variables are filled in when Octave is -# compiled. - -: ${CPPFLAGS=""} -: ${INCFLAGS="-I/usr/include -I/usr/include/octave-2.0.16"} -: ${F77="g77"} -: ${FFLAGS="-O0"} -: ${FPICFLAG="-fPIC"} -: ${CC="gcc"} -: ${CFLAGS="-DHAVE_CONFIG_H -mieee-fp -O0"} -: ${CPICFLAG="-fPIC"} -: ${CXX="c++"} -: ${CXXFLAGS="-O0"} -: ${CXXPICFLAG="-fPIC"} -: ${XTRA_CFLAGS="-mieee-fp -fno-rtti -fno-exceptions -fno-implicit-templates"} -: ${XTRA_CXXFLAGS="-mieee-fp -fno-rtti -fno-exceptions -fno-implicit-templates"} - -: ${SH_LD="c++"} -: ${SH_LDFLAGS="-shared"} - -: ${ALL_FFLAGS="$FFLAGS"} - -: ${ALL_CFLAGS="$INCFLAGS $XTRA_CFLAGS $CFLAGS"} - -: ${ALL_CXXFLAGS="$INCFLAGS $XTRA_CXXFLAGS $CXXFLAGS"} - -# Local variables. - -usage_msg="usage: mkoctfile [options] file ..." - -cfiles= -ccfiles= -f77files= -objfiles= -octfiles= -octfile= -incflags= -defs= -ldflags= -dbg=: -strip=false - -if [ $# -eq 0 ]; then - echo $usage_msg - exit 1; -fi - -while [ $# -gt 0 ]; do - file= - case "$1" in - *.c) - file=$1 - cfiles="$cfiles $file" - ;; - *.cc | *.C | *.cpp) - file=$1 - ccfiles="$ccfiles $file" - ;; - *.f | *.F) - file=$1 - f77files="$f77files $file" - ;; - *.o) - file=$1 - objfiles="$objfiles $file" - ;; - -d | --debug | -v | --verbose) - dbg=echo - ;; - -h | -\? | --help) - echo $usage_msg - cat << EOF - -Options: - - -h, -?, --help Print this message. - -IDIR Add -IDIR to compile commands. - -DDEF Add -DDEF to compile commands. - -lLIB Add library LIB to link command. - -LDIR Add -LDIR to link command. - -o FILE, --output FILE Output file name. Default extension is .oct. - -s, --strip Strip output file. - -v, --verbose Echo commands as they are executed. - - FILE Compile or link FILE. Recognized file types are: - - .c C source - .cc C++ source - .C C++ source - .cpp C++ source - .f Fortran source - .F Fortran source - .o object file - -EOF - exit 0 - ;; - -I*) - incflags="$incflags $1" - ;; - -D*) - defs="$defs $1" - ;; - -[lL]*) - ldflags="$ldflags $1" - ;; - -o | --output) - shift - if [ $# -gt 0 ]; then - octfile=`echo $1 | sed 's,\.[^.]*$,,'`.oct - else - echo "mkoctfile: output file name missing" - fi - ;; - -s | --strip) - strip=true - ;; - *) - echo "mkoctfile: unrecognized argument $1" - exit 1 - ;; - esac - if [ -n "$file" ]; then - if [ -z "$octfile" ]; then - octfile=`echo $file | sed 's,\.[^.]*$,,'`.oct - fi - fi - shift -done - -# Compile Fortran, C, and C++ files. Add the name of each object file -# that is produced to the overall list of object files. - -if [ -n "$f77files" ]; then - for f in $f77files; do - case $f in - *.f) - b=`echo $f | sed 's,\.f$,,'` - ;; - *.F) - b=`echo $f | sed 's,\.F$,,'` - ;; - esac - o=$b.o - objfiles="$objfiles $o" - $dbg $F77 -c $FPICFLAG $ALL_FFLAGS $f -o $o - eval $F77 -c $FPICFLAG $ALL_FFLAGS $f -o $o - done -fi - -if [ -n "$cfiles" ]; then - for f in $cfiles; do - b=`echo $f | sed 's,\.c$,,'` - o=$b.o - objfiles="$objfiles $o" - $dbg $CC -c $CPPFLAGS $CPICFLAG $ALL_CFLAGS $incflags $defs $f -o $o - eval $CC -c $CPPFLAGS $CPICFLAG $ALL_CFLAGS $incflags $defs $f -o $o - done -fi - -if [ -n "$ccfiles" ]; then - for f in $ccfiles; do - case $f in - *.cc) - b=`echo $f | sed 's,\.cc$,,'` - ;; - *.C) - b=`echo $f | sed 's,\.C$,,'` - ;; - *.cpp) - b=`echo $f | sed 's,\.cpp$,,'` - ;; - esac - o=$b.o - objfiles="$objfiles $o" - $dbg $CXX -c $CPPFLAGS $CXXPICFLAG $ALL_CXXFLAGS $incflags $defs $f -o $o - eval $CXX -c $CPPFLAGS $CXXPICFLAG $ALL_CXXFLAGS $incflags $defs $f -o $o - done -fi - -# Link all the object files. - -$dbg $SH_LD $SH_LDFLAGS -o $octfile $objfiles $ldflags -eval $SH_LD $SH_LDFLAGS -o $octfile $objfiles $ldflags - -# Maybe strip it. - -if $strip; then - $dbg strip $octfile - eval strip $octfile -fi - -exit 0 DELETED mttroot/mtt/lib/reduce/fix_c.r Index: mttroot/mtt/lib/reduce/fix_c.r ================================================================== --- mttroot/mtt/lib/reduce/fix_c.r +++ /dev/null @@ -1,20 +0,0 @@ -%% Fixes for c-code generation - -ON ROUNDED$ % No integer output - -%% Changes x^y to pow(x,y) - OPERATOR pow$ - FOR ALL x,y LET x^y = pow(x,y)$ % Use the pow function - - %% Derivatives - FOR ALL f,g,x LET df(pow(f,g),x)= - pow(f,g-1) * (df(f,x)*g + df(g,x)*f*log(f))$ - - %% Special cases - FOR ALL x LET pow(x,0) = 1$ - FOR ALL x LET pow(x,1) = x$ - -OPERATOR fabs$ -FOR ALL x let abs(x) = fabs(x)$ - -END$ DELETED mttroot/mtt/lib/reduce/reserved_words.make Index: mttroot/mtt/lib/reduce/reserved_words.make ================================================================== --- mttroot/mtt/lib/reduce/reserved_words.make +++ /dev/null @@ -1,15 +0,0 @@ -#! /bin/sh - -reduce_reserved_word_manual_page=${1:-"/usr/local/reduce/doc/manual/appenda.tex"} -output="reserved_words.txt" - -cat $reduce_reserved_word_manual_page |\ - tr "\n" " " |\ - sed 's/\\\_/_/g' |\ - sed 's/\\tt\ $[A-Za-z0-9_]*$/\"\1\"/g' |\ - tr " " "\n" |\ - sed 's/\{//g' |\ - sed 's/\}//g' |\ - awk -F\" '(NF==3) { printf "%s\n",$2 }' |\ - sort -u \ -> $output DELETED mttroot/mtt/lib/reduce/reserved_words.txt Index: mttroot/mtt/lib/reduce/reserved_words.txt ================================================================== --- mttroot/mtt/lib/reduce/reserved_words.txt +++ /dev/null @@ -1,279 +0,0 @@ -ABS -ACOS -ACOSH -ACOT -ACOTH -ACSC -ACSCH -ADJPREC -ALGEBRAIC -ALGINT -ALLBRANCH -ALLFAC -AND -ANTISYMMETRIC -APPEND -ARGLENGTH -ARRAY -ASEC -ASECH -ASIN -ASINH -ATAN -ATAN2 -ATANH -BEGIN -BFSPACE -BYE -CARD_NO -CEILING -CLEAR -CLEARRULES -COEFF -COEFFN -COFACTOR -COMBINEEXPT -COMBINELOGS -COMMENT -COMP -COMPLEX -CONJ -CONS -CONT -COS -COSH -COT -COTH -CRAMER -CREF -CSC -CSCH -DECOMPOSE -DEFINE -DEFN -DEG -DEMO -DEN -DEPEND -DET -DF -DIFFERENCE -DILOG -DISPLAY -DIV -DO -E -ECHO -ED -EDITDEF -EI -END -EPS -EQ -EQUAL -ERF -ERRCONT -EVALLHSEQP -EVAL_MODE -EVEN -EVENP -EXP -EXPANDLOGS -EXPR -EXPT -EZGCD -FACTOR -FACTORIAL -FACTORIZE -FEXPR -FIRST -FIX -FIXP -FLOOR -FOR -FORALL -FOREACH -FORT -FORT_WIDTH -FREEOF -FULLROOTS -G -GCD -GEQ -GO -GOTO -GREATERP -HIGH_POW -HYPOT -I -IF -IFACTOR -IMPART -IN -INDEX -INFINITY -INFIX -INPUT -INT -INTEGER -INTERPOL -INTSTR -K -KORDER -LAMBDA -LCM -LCOF -LENGTH -LEQ -LESSP -LET -LHS -LINEAR -LINELENGTH -LISP -LIST -LISTARGP -LISTARGS -LN -LOAD -LOAD_PACKAGE -LOG -LOG10 -LOGB -LOW_POW -LTERM -MACRO -MAINVAR -MASS -MAT -MATCH -MATEIGEN -MATRIX -MAX -MCD -MEMBER -MEMQ -MIN -MINUS -MKID -MODULAR -MSG -MSHELL -MULTIPLICITIES -NAT -NEQ -NERO -NEXTPRIME -NIL -NODEPEND -NONCOM -NONZERO -NOSPLIT -NOSPUR -NULLSPACE -NUM -NUMBERP -ODD -OFF -ON -OPERATOR -OR -ORDER -ORDP -OUT -OUTPUT -PART -PAUSE -PERIOD -PF -PI -PLUS -PRECEDENCE -PRECISE -PRECISION -PRET -PRI -PRIMEP -PRINT_PRECISION -PROCEDURE -PRODUCT -QUIT -QUOTIENT -RANDOM -RANDOM_NEW_SEED -RANK -RAT -RATARG -RATIONAL -RATIONALIZE -RATPRI -REAL -REDERR -REDUCT -REMAINDER -REMFAC -REMIND -REPART -REPEAT -REST -RESULTANT -RETRY -RETURN -REVERSE -REVPRI -RHS -RLISP88 -ROOT_MULTIPLICITY -ROUND -ROUNDALL -ROUNDBF -ROUNDED -SAVEAS -SAVESTRUCTR -SCALAR -SEC -SECH -SECOND -SET -SETMOD -SETQ -SHARE -SHOWRULES -SHOWTIME -SHUT -SIGN -SIN -SINH -SMACRO -SOLVE -SOLVESINGULAR -SPUR -SQRT -STRUCTR -SUB -SUM -SYMBOLIC -SYMMETRIC -T -TAN -TANH -THIRD -TIME -TIMES -TP -TRA -TRACE -TRFAC -TRIGFORM -TRINT -UNTIL -VARNAME -VECDIM -VECTOR -WEIGHT -WHEN -WHERE -WHILE -WRITE -WS -WTLEVEL DELETED mttroot/mtt/lib/rep/gnuplot_rep.make Index: mttroot/mtt/lib/rep/gnuplot_rep.make ================================================================== --- mttroot/mtt/lib/rep/gnuplot_rep.make +++ /dev/null @@ -1,24 +0,0 @@ -# -*-makefile-*- -# create a gnuplot input file - -MTTFLAGS = $(OPTS) - -all: $(SYS)_gnuplot.$(LANG) - -$(SYS)_gnuplot.view: $(SYS)_gnuplot.wish $(SYS)_odes.dat2 - sh $(SYS)_gnuplot.wish - -$(SYS)_gnuplot.wish: $(SYS)_struc.txt - $(MTTPATH)/trans/struc2gnuplot_txt2wish $(SYS) - -$(SYS)_gnuplot.txt: $(SYS)_struc.txt $(MTTPATH)/trans/struc2gnuplot_txt.exe - $(MTTPATH)/trans/struc2gnuplot_txt.exe $(SYS) < $(SYS)_struc.txt > $(SYS)_gnuplot.txt - -$(SYS)_struc.txt: - mtt $(MTTFLAGS) $(SYS) struc txt - -$(MTTPATH)/trans/struc2gnuplot_txt.exe: - make -f $(MTT_CC)/Makefile struc2gnuplot_txt.exe - -$(SYS)_odes.dat2: - mtt $(OPTS) $(SYS) odes dat2 DELETED mttroot/mtt/lib/rep/ippp_rep.make Index: mttroot/mtt/lib/rep/ippp_rep.make ================================================================== --- mttroot/mtt/lib/rep/ippp_rep.make +++ /dev/null @@ -1,71 +0,0 @@ -# -*-makefile-*- -# Makefile for representation ippp - ppp system identification -# File ippp_rep.make - - ###################################### - ##### Model Transformation Tools ##### - ###################################### - - ############################################################### - ## Version control history - ############################################################### - ## $Id$ - ## $Log$ - ## Revision 1.3 2001/04/11 07:52:45 gawthrop - ## Temporary fix to avoid incorrect _input.cc with stdin - ## - ## Revision 1.2 2001/04/05 11:49:07 gawthrop - ## Fixed a number of bugs to as to work with reports. - ## - ## Revision 1.1 2001/04/04 10:05:38 gawthrop - ## Reresentation for system identification for ppp - ## - ############################################################### - -#Copyright (C) 2000 by Peter J. Gawthrop - -all: $(SYS)_ippp.$(LANG) - -$(SYS)_ippp.view: $(SYS)_ippp.pdf - acroread *.pdf - -$(SYS)_ippp.ps: $(SYS)_parameters.ps $(SYS)_error.ps $(SYS)_outputs.ps $(SYS)_ippp.pdf - cp $(SYS)_parameters.ps $(SYS)_ippp.ps - -$(SYS)_ippp.pdf: $(SYS)_parameters.pdf $(SYS)_error.pdf $(SYS)_outputs.pdf - cp $(SYS)_parameters.pdf $(SYS)_ippp.pdf - -$(SYS)_parameters.ps: s$(SYS)_ode2odes.m s$(SYS)_ssim.m $(SYS)_ippp.m s$(SYS)_sympar.m s$(SYS)_simpar.m - octave $(SYS)_ippp.m - -$(SYS)_error.ps: $(SYS)_parameters.ps - touch $(SYS)_error.ps - -$(SYS)_outputs.ps: $(SYS)_parameters.ps - touch $(SYS)_outputs.ps - -$(SYS)_parameters.pdf: s$(SYS)_ode2odes.m s$(SYS)_ssim.m $(SYS)_ippp.m s$(SYS)_sympar.m s$(SYS)_simpar.m - octave $(SYS)_ippp.m - -$(SYS)_error.pdf: $(SYS)_parameters.pdf - touch $(SYS)_error.pdf - -$(SYS)_outputs.pdf: $(SYS)_parameters.pdf - touch $(SYS)_outputs.pdf - -s$(SYS)_ode2odes.m: - echo Starting creation of s$(SYS)_ode2odes.m with options $(OPTS) - mtt -q $(OPTS) -stdin -s s$(SYS) ode2odes oct - -s$(SYS)_ssim.m: s$(SYS)_def.m - mtt -q $(OPTS) -s s$(SYS) ssim m - -s$(SYS)_sympar.m: - mtt -q $(OPTS) -s s$(SYS) sympar m - -s$(SYS)_simpar.m: - mtt -q $(OPTS) -s s$(SYS) simpar m - -s$(SYS)_def.m: - mtt -q $(OPTS) -s s$(SYS) def m - DELETED mttroot/mtt/lib/rep/nppp_rep.make Index: mttroot/mtt/lib/rep/nppp_rep.make ================================================================== --- mttroot/mtt/lib/rep/nppp_rep.make +++ /dev/null @@ -1,84 +0,0 @@ -# -*-makefile-*- -# Makefile for representation nppp -# File nppp_rep.make - -#Copyright (C) 2000,2001,2002 by Peter J. Gawthrop - -all: $(SYS)_nppp.$(LANG) - -$(SYS)_nppp.view: $(SYS)_nppp.ps - echo Viewing $(SYS)_nppp.ps; ghostview $(SYS)_nppp.ps& - -$(SYS)_nppp.ps: $(SYS)_ode2odes.out s$(SYS)_ode2odes.out \ - $(SYS)_sim.m s$(SYS)_sim.m \ - $(SYS)_state.m $(SYS)_sympar.m $(SYS)_numpar.m \ - s$(SYS)_state.m s$(SYS)_sympar.m s$(SYS)_numpar.m \ - $(SYS)_sm.m $(SYS)_def.m s$(SYS)_def.m \ - $(SYS)_simpar.m s$(SYS)_simpar.m - octave $(SYS)_nppp.m - -$(SYS)_ode2odes.out: - echo Starting creation of $(SYS)_ode2odes.out '....' - mtt -q -stdin $(SYS) ode2odes out - -s$(SYS)_ode2odes.out: - echo Starting creation of s$(SYS)_ode2odes.out '....' - mtt -q -stdin -s s$(SYS) ode2odes out - -$(SYS)_sim.m: - echo Starting creation of $(SYS)_sim '....' - mtt -q $(SYS) sim m - -s$(SYS)_sim.m: - echo Starting creation of s$(SYS)_sim. '....' - mtt -q -s s$(SYS) sim m - -$(SYS)_state.m: - echo Starting creation of $(SYS)_state. '....' - mtt -q $(SYS) state m - -$(SYS)_sympar.m : - echo Starting creation of $(SYS)_sympar.m '....' - mtt -q $(SYS) sympar m - -$(SYS)_numpar.m: - echo Starting creation of $(SYS)_numpar. '....' - mtt -q $(SYS) numpar m - -$(SYS)_simpar.m: - echo Starting creation of $(SYS)_simpar. '....' - mtt -q $(SYS) simpar m - -s$(SYS)_state.m: - echo Starting creation of s$(SYS)_state. '....' - mtt -q -s s$(SYS) state m - -s$(SYS)_sympar.m : - echo Starting creation of s$(SYS)_sympar.m '....' - mtt -q -s s$(SYS) sympar m - -s$(SYS)_numpar.m: - echo Starting creation of s$(SYS)_numpar. '....' - mtt -q -s s$(SYS) numpar m - -s$(SYS)_simpar.m: - echo Starting creation of s$(SYS)_simpar. '....' - mtt -q -s s$(SYS) simpar m - -$(SYS)_sm.m: - echo Starting creation of $(SYS)_sm. '....' - mtt -q $(SYS) sm m - -$(SYS)_def.m: - echo Starting creation of $(SYS)_def. '....' - mtt -q $(SYS) def m - -s$(SYS)_def.m: - echo Starting creation of s$(SYS)_def. '....' - mtt -q -s s$(SYS) def m - - - - - - DELETED mttroot/mtt/lib/rep/sim_rep.make Index: mttroot/mtt/lib/rep/sim_rep.make ================================================================== --- mttroot/mtt/lib/rep/sim_rep.make +++ /dev/null @@ -1,115 +0,0 @@ -# -*-makefile-*- -# $Id$ -# $Log$ -# Revision 1.3 2000/08/31 02:56:18 geraint -# Keep mkdir quiet if $(SYS)_Simulation_Dir exists -# -# Revision 1.2 2000/08/30 04:34:55 geraint -# *** empty log message *** -# - -BIN=$(MTTPATH)/trans -INC=$(MTTPATH)/lib/cr/hh -SRC=$(MTTPATH)/trans/cc - -CC=g++ - -INCLUDE=-I$(MTTPATH)/lib/cr/hh -OPTIMISE=-O3 -WARNINGS=-Wall -ansi -pedantic - -DIR=$(SYS)_Simulation_Dir -EXE=$(SYS)_sim.exe -OBJ=$(SYS)_input.o $(SYS)_numpar.o $(SYS)_ode.o $(SYS)_init.o $(SYS)_sim.o $(SYS)_switch.o - -MTTFLAGS=-c -i euler -o -q - -all: $(EXE) - -$(SYS)_sim.exe: $(OBJ) - $(CC) $(WARNINGS) $(OPTIMISE) $(INCLUDE) $(CFLAGS) $(OBJ) -o $(SYS)_sim.exe - mkdir -p ../$(DIR) - cp *.cc ../$(DIR) - cp *.hh ../$(DIR) - cp *.o ../$(DIR) - cp $(EXE) ../$(DIR) - -$(SYS)_sim.o: $(SYS)_sim.cc $(SYS)_struc.hh - $(CC) $(WARNINGS) $(OPTIMISE) $(INCLUDE) $(CFLAGS) -c $(SYS)_sim.cc - -$(SYS)_sim.cc: sim.txt - $(BIN)/sim_txt2cc $(SYS) sim < sim.txt > $(SYS)_sim.cc - -sim.txt: - cp $(MTTPATH)/trans/cc/src/sim.txt . - -# list of constitutive relationships -$(SYS)_cr.hh: $(SYS)_cr.txt - $(BIN)/cr_txt2hh $(SYS) < $(SYS)_cr.txt > $(SYS)_cr.hh - -$(SYS)_cr.txt: - mtt $(MTTFLAGS) $(SYS) cr txt - -# elementary system equations, Reduce format -$(SYS)_ese.r: - mtt --version - mtt $(MTTFLAGS) $(SYS) ese r - -# state initialisation (MTT already has state.cc) -$(SYS)_init.o: $(SYS)_init.cc - $(CC) $(WARNINGS) $(OPTIMISE) $(INCLUDE) $(CFLAGS) -c $(SYS)_init.cc - -$(SYS)_init.cc: $(SYS)_struc.txt - $(BIN)/struc2state_txt2cc $(SYS) < $(SYS)_struc.txt > $(SYS)_init.cc - -# system inputs -$(SYS)_input.o: $(SYS)_input.cc $(SYS)_cr.hh $(SYS)_numpar.hh - $(CC) $(WARNINGS) $(OPTIMISE) $(INCLUDE) $(CFLAGS) -c $(SYS)_input.cc - -$(SYS)_input.cc: $(SYS)_struc.txt - $(BIN)/struc2input_txt2cc $(SYS) < $(SYS)_struc.txt > $(SYS)_input.cc - -# system numerical parameters -$(SYS)_numpar.o: $(SYS)_numpar.cc - $(CC) $(WARNINGS) $(OPTIMISE) $(INCLUDE) $(CFLAGS) -c $(SYS)_numpar.cc - -$(SYS)_numpar.cc: $(SYS)_sympar.txt - $(BIN)/sympar2numpar_txt2cc $(SYS) < $(SYS)_sympar.txt > $(SYS)_numpar.cc - -$(SYS)_numpar.hh: $(SYS)_sympar.txt - $(BIN)/sympar2numpar_txt2hh $(SYS) < $(SYS)_sympar.txt > $(SYS)_numpar.hh - -$(SYS)_numpar.txt: - mtt $(MTTFLAGS) $(SYS) numpar txt - -# ordinary differential equations -$(SYS)_ode.o: $(SYS)_ode.cc $(SYS)_cr.hh $(SYS)_numpar.hh - $(CC) $(WARNINGS) $(OPTIMISE) $(INCLUDE) $(CFLAGS) -c $(SYS)_ode.cc - -$(SYS)_ode.cc: $(SYS)_ode.txt - $(BIN)/ode_txt2cc $(SYS) < $(SYS)_ode.txt > $(SYS)_ode.cc - -$(SYS)_ode.txt: $(SYS)_ese.r - $(BIN)/stripComments '%' < $(SYS)_ese.r | $(BIN)/resolve $(SYS) > $(SYS)_ode.txt - -# system structure, sizes of state-space matrices -$(SYS)_struc.hh: $(SYS)_struc.txt - $(BIN)/struc_txt2hh $(SYS) < $(SYS)_struc.txt > $(SYS)_struc.hh - -$(SYS)_struc.txt: - mtt $(MTTFLAGS) $(SYS) struc txt - -# logic control -$(SYS)_switch.o: $(SYS)_switch.cc $(SYS)_struc.txt $(SYS)_sympars.txt - $(CC) $(WARNINGS) $(OPTIMISE) $(INCLUDE) $(CFLAGS) -c $(SYS)_switch.cc - -$(SYS)_switch.cc: $(SYS)_struc.txt - $(BIN)/struc2switch_txt2cc $(SYS) < $(SYS)_struc.txt > $(SYS)_switch.cc - -# list of symbolic parameters -$(SYS)_sympar.txt: - mtt $(MTTFLAGS) $(SYS) sympar txt - -# list of symbolic parameters and switch controls -$(SYS)_sympars.txt: - mtt $(MTTFLAGS) $(SYS) sympars txt DELETED mttroot/mtt/lib/rep/simu_rep.make Index: mttroot/mtt/lib/rep/simu_rep.make ================================================================== --- mttroot/mtt/lib/rep/simu_rep.make +++ /dev/null @@ -1,141 +0,0 @@ -# -*-makefile-*- -# $Id$ -# $Log$ -# Revision 1.1 2000/08/31 14:31:28 peterg -# Initial revision -# -# Revision 1.3 2000/08/31 02:56:18 geraint -# Keep mkdir quiet if $(SYS)_Simulation_Dir exists -# -# Revision 1.2 2000/08/30 04:34:55 geraint -# *** empty log message *** -# - -BIN=$(MTTPATH)/trans -INC=$(MTTPATH)/lib/cr/hh -SRC=$(MTTPATH)/trans/cc - -CC=g++ - -INCLUDE=-I$(MTTPATH)/lib/cr/hh -OPTIMISE=-O3 -WARNINGS=-Wall -ansi -pedantic - -DIR=$(SYS)_Simulation_Dir -EXE=$(SYS)_sim.exe -OBJ=$(SYS)_input.o $(SYS)_numpar.o $(SYS)_ode.o $(SYS)_init.o $(SYS)_sim.o $(SYS)_switch.o - -MTTFLAGS=-c -i euler -o -q - -all: $(EXE) - -$(SYS)_sim.exe: $(OBJ) - echo Creating $(SYS)_sim.exe - $(CC) $(WARNINGS) $(OPTIMISE) $(INCLUDE) $(CFLAGS) $(OBJ) -o $(SYS)_sim.exe - mkdir -p ../$(DIR) - cp *.cc ../$(DIR) - cp *.hh ../$(DIR) - cp *.o ../$(DIR) - cp $(EXE) ../$(DIR) - -$(SYS)_sim.o: $(SYS)_sim.cc $(SYS)_struc.hh - echo Creating $(SYS)_sim.o - $(CC) $(WARNINGS) $(OPTIMISE) $(INCLUDE) $(CFLAGS) -c $(SYS)_sim.cc - -$(SYS)_sim.cc: sim.txt - echo Creating $(SYS)_sim.cc - $(BIN)/sim_txt2cc $(SYS) sim < sim.txt > $(SYS)_sim.cc - -sim.txt: - echo Creating sim.txt: - cp $(MTTPATH)/trans/cc/src/sim.txt . - -# list of constitutive relationships -$(SYS)_cr.hh: $(SYS)_cr.txt - echo Creating $(SYS)_cr.hh - $(BIN)/cr_txt2hh $(SYS) < $(SYS)_cr.txt > $(SYS)_cr.hh - -$(SYS)_cr.txt: - mtt $(MTTFLAGS) $(SYS) cr txt - -# elementary system equations, Reduce format -$(SYS)_ese.r: - echo Creating $(SYS)_ese.r - mtt --version - mtt $(MTTFLAGS) $(SYS) ese r - -# state initialisation (MTT already has state.cc) -$(SYS)_init.o: $(SYS)_init.cc - echo Creating $(SYS)_init.o - $(CC) $(WARNINGS) $(OPTIMISE) $(INCLUDE) $(CFLAGS) -c $(SYS)_init.cc - -$(SYS)_init.cc: $(SYS)_struc.txt - echo Creating $(SYS)_init.cc - $(BIN)/struc2state_txt2cc $(SYS) < $(SYS)_struc.txt > $(SYS)_init.cc - -# system inputs -$(SYS)_input.o: $(SYS)_input.cc $(SYS)_cr.hh $(SYS)_numpar.hh - echo Creating $(SYS)_input.o - $(CC) $(WARNINGS) $(OPTIMISE) $(INCLUDE) $(CFLAGS) -c $(SYS)_input.cc - -$(SYS)_input.cc: $(SYS)_struc.txt - echo Creating $(SYS)_input.cc - $(BIN)/struc2input_txt2cc $(SYS) < $(SYS)_struc.txt > $(SYS)_input.cc - -# system numerical parameters -$(SYS)_numpar.o: $(SYS)_numpar.cc - echo Creating $(SYS)_numpar.o - $(CC) $(WARNINGS) $(OPTIMISE) $(INCLUDE) $(CFLAGS) -c $(SYS)_numpar.cc - -$(SYS)_numpar.cc: $(SYS)_sympar.txt - echo Creating $(SYS)_numpar.cc - $(BIN)/sympar2numpar_txt2cc $(SYS) < $(SYS)_sympar.txt > $(SYS)_numpar.cc - -$(SYS)_numpar.hh: $(SYS)_sympar.txt - echo Creating $(SYS)_numpar.hh - $(BIN)/sympar2numpar_txt2hh $(SYS) < $(SYS)_sympar.txt > $(SYS)_numpar.hh - -$(SYS)_numpar.txt: - echo Creating $(SYS)_numpar.txt - mtt $(MTTFLAGS) $(SYS) numpar txt - -# ordinary differential equations -$(SYS)_ode.o: $(SYS)_ode.cc $(SYS)_cr.hh $(SYS)_numpar.hh - echo Creating $(SYS)_ode.o - $(CC) $(WARNINGS) $(OPTIMISE) $(INCLUDE) $(CFLAGS) -c $(SYS)_ode.cc - -$(SYS)_ode.cc: $(SYS)_ode.txt - echo Creating $(SYS)_ode.cc - $(BIN)/ode_txt2cc $(SYS) < $(SYS)_ode.txt > $(SYS)_ode.cc - -$(SYS)_ode.txt: $(SYS)_ese.r - echo Creating $(SYS)_ode.txt - $(BIN)/stripComments '%' < $(SYS)_ese.r | $(BIN)/resolve $(SYS) > $(SYS)_ode.txt - -# system structure, sizes of state-space matrices -$(SYS)_struc.hh: $(SYS)_struc.txt - echo Creating $(SYS)_struc.hh - $(BIN)/struc_txt2hh $(SYS) < $(SYS)_struc.txt > $(SYS)_struc.hh - -$(SYS)_struc.txt: - echo Creating $(SYS)_struc.txt - mtt $(MTTFLAGS) $(SYS) struc txt - -# logic control -$(SYS)_switch.o: $(SYS)_switch.cc $(SYS)_struc.txt $(SYS)_sympars.txt - echo Creating $(SYS)_switch.o - $(CC) $(WARNINGS) $(OPTIMISE) $(INCLUDE) $(CFLAGS) -c $(SYS)_switch.cc - -$(SYS)_switch.cc: $(SYS)_struc.txt - echo Creating $(SYS)_switch.cc - $(BIN)/struc2switch_txt2cc $(SYS) < $(SYS)_struc.txt > $(SYS)_switch.cc - -# list of symbolic parameters -$(SYS)_sympar.txt: - echo Creating $(SYS)_sympar.txt - mtt $(MTTFLAGS) $(SYS) sympar txt - -# list of symbolic parameters and switch controls -$(SYS)_sympars.txt: - echo Creating $(SYS)_sympars.txt - mtt $(MTTFLAGS) $(SYS) sympars txt DELETED mttroot/mtt/lib/xfig/Basic/0.fig Index: mttroot/mtt/lib/xfig/Basic/0.fig ================================================================== --- mttroot/mtt/lib/xfig/Basic/0.fig +++ /dev/null @@ -1,10 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -4 1 0 100 0 18 18 0.0000 4 285 765 900 765 0\001 DELETED mttroot/mtt/lib/xfig/Basic/1.fig Index: mttroot/mtt/lib/xfig/Basic/1.fig ================================================================== --- mttroot/mtt/lib/xfig/Basic/1.fig +++ /dev/null @@ -1,10 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -4 1 0 100 0 18 18 0.0000 4 285 765 900 765 1\001 DELETED mttroot/mtt/lib/xfig/Basic/AE.fig Index: mttroot/mtt/lib/xfig/Basic/AE.fig ================================================================== --- mttroot/mtt/lib/xfig/Basic/AE.fig +++ /dev/null @@ -1,10 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -4 1 0 100 0 18 18 0.0000 4 285 765 900 765 AE:ae_1\001 DELETED mttroot/mtt/lib/xfig/Basic/AEf.fig Index: mttroot/mtt/lib/xfig/Basic/AEf.fig ================================================================== --- mttroot/mtt/lib/xfig/Basic/AEf.fig +++ /dev/null @@ -1,10 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -4 1 0 100 0 18 18 0.0000 4 285 765 900 765 AEf:aef_1\001 DELETED mttroot/mtt/lib/xfig/Basic/AF.fig Index: mttroot/mtt/lib/xfig/Basic/AF.fig ================================================================== --- mttroot/mtt/lib/xfig/Basic/AF.fig +++ /dev/null @@ -1,10 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -4 1 0 100 0 18 18 0.0000 4 285 765 900 765 AF:af_1\001 DELETED mttroot/mtt/lib/xfig/Basic/AFe.fig Index: mttroot/mtt/lib/xfig/Basic/AFe.fig ================================================================== --- mttroot/mtt/lib/xfig/Basic/AFe.fig +++ /dev/null @@ -1,10 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -4 1 0 100 0 18 18 0.0000 4 285 765 900 765 AFe:afe_1\001 DELETED mttroot/mtt/lib/xfig/Basic/C.fig Index: mttroot/mtt/lib/xfig/Basic/C.fig ================================================================== --- mttroot/mtt/lib/xfig/Basic/C.fig +++ /dev/null @@ -1,10 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -4 1 0 100 0 18 18 0.0000 4 285 765 900 765 C:c_1\001 DELETED mttroot/mtt/lib/xfig/Basic/De.fig Index: mttroot/mtt/lib/xfig/Basic/De.fig ================================================================== --- mttroot/mtt/lib/xfig/Basic/De.fig +++ /dev/null @@ -1,10 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -4 1 0 100 0 18 18 0.0000 4 285 765 900 765 De:de_1\001 DELETED mttroot/mtt/lib/xfig/Basic/DescriptiveText.fig Index: mttroot/mtt/lib/xfig/Basic/DescriptiveText.fig ================================================================== --- mttroot/mtt/lib/xfig/Basic/DescriptiveText.fig +++ /dev/null @@ -1,10 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -4 1 1 101 0 3 20 0.0000 4 255 2025 1395 630 Descriptive text.\001 DELETED mttroot/mtt/lib/xfig/Basic/Df.fig Index: mttroot/mtt/lib/xfig/Basic/Df.fig ================================================================== --- mttroot/mtt/lib/xfig/Basic/Df.fig +++ /dev/null @@ -1,10 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -4 1 0 100 0 18 18 0.0000 4 285 765 900 765 Df:df_1\001 DELETED mttroot/mtt/lib/xfig/Basic/EMTF.fig Index: mttroot/mtt/lib/xfig/Basic/EMTF.fig ================================================================== --- mttroot/mtt/lib/xfig/Basic/EMTF.fig +++ /dev/null @@ -1,10 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -4 1 0 100 0 18 18 0.0000 4 285 765 900 765 EMTF:emtf_1\001 DELETED mttroot/mtt/lib/xfig/Basic/GY.fig Index: mttroot/mtt/lib/xfig/Basic/GY.fig ================================================================== --- mttroot/mtt/lib/xfig/Basic/GY.fig +++ /dev/null @@ -1,10 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -4 1 0 100 0 18 18 0.0000 4 285 765 900 765 GY:gy_1\001 DELETED mttroot/mtt/lib/xfig/Basic/I.fig Index: mttroot/mtt/lib/xfig/Basic/I.fig ================================================================== --- mttroot/mtt/lib/xfig/Basic/I.fig +++ /dev/null @@ -1,10 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -4 1 0 100 0 18 18 0.0000 4 285 765 900 765 I:i_1\001 DELETED mttroot/mtt/lib/xfig/Basic/INTF.fig Index: mttroot/mtt/lib/xfig/Basic/INTF.fig ================================================================== --- mttroot/mtt/lib/xfig/Basic/INTF.fig +++ /dev/null @@ -1,10 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -4 1 0 100 0 18 18 0.0000 4 285 765 900 765 INTF:intf_1\001 DELETED mttroot/mtt/lib/xfig/Basic/InPort.fig Index: mttroot/mtt/lib/xfig/Basic/InPort.fig ================================================================== --- mttroot/mtt/lib/xfig/Basic/InPort.fig +++ /dev/null @@ -1,10 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -4 2 4 100 0 18 18 0.0000 4 270 870 1890 855 SS:[in]\001 DELETED mttroot/mtt/lib/xfig/Basic/MAKE_COMPONENT Index: mttroot/mtt/lib/xfig/Basic/MAKE_COMPONENT ================================================================== --- mttroot/mtt/lib/xfig/Basic/MAKE_COMPONENT +++ /dev/null @@ -1,22 +0,0 @@ -#!/bin/sh -## Makes a new component - -if [ -z "$2" ]; then - label=$1 -else - label=$2 -fi - -case $1 in - 0) - echo Making new component $1 with no label - sed "s/TEXT/$1/" $1.fig - ;; - 1) - echo Making new component $1 with no label - sed "s/TEXT/$1/" $1.fig - ;; - *) - echo Making new component $1 with label $label - sed "s/TEXT/$1:$label/" $1.fig -esac DELETED mttroot/mtt/lib/xfig/Basic/MAKE_COMPONENTS Index: mttroot/mtt/lib/xfig/Basic/MAKE_COMPONENTS ================================================================== --- mttroot/mtt/lib/xfig/Basic/MAKE_COMPONENTS +++ /dev/null @@ -1,28 +0,0 @@ -#!/bin/sh -## Makes all components - -./MAKE_COMPONENT R r_1 -./MAKE_COMPONENT C c_1 -./MAKE_COMPONENT I i_1 - -./MAKE_COMPONENT 0 -./MAKE_COMPONENT 1 - -./MAKE_COMPONENT SS ss_1 -./MAKE_COMPONENT Se se_1 -./MAKE_COMPONENT Sf sf_1 -./MAKE_COMPONENT De de_1 -./MAKE_COMPONENT Df df_1 - -./MAKE_COMPONENT TF tf_1 -./MAKE_COMPONENT GY gy_1 -./MAKE_COMPONENT AE ae_1 -./MAKE_COMPONENT AEf aef_1 -./MAKE_COMPONENT AF af_1 -./MAKE_COMPONENT AFe afe_1 - - -./MAKE_COMPONENT EMTF emtf_1 -./MAKE_COMPONENT INTF intf_1 - -./MAKE_COMPONENT Subsystem sub_1 DELETED mttroot/mtt/lib/xfig/Basic/OutPort.fig Index: mttroot/mtt/lib/xfig/Basic/OutPort.fig ================================================================== --- mttroot/mtt/lib/xfig/Basic/OutPort.fig +++ /dev/null @@ -1,10 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -4 0 4 100 0 18 18 0.0000 4 270 1065 1890 855 SS:[out]\001 DELETED mttroot/mtt/lib/xfig/Basic/Port.fig Index: mttroot/mtt/lib/xfig/Basic/Port.fig ================================================================== --- mttroot/mtt/lib/xfig/Basic/Port.fig +++ /dev/null @@ -1,10 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -4 1 4 100 0 18 18 0.0000 4 300 1620 1890 855 SS:[port_1]\001 DELETED mttroot/mtt/lib/xfig/Basic/PortLabel.fig Index: mttroot/mtt/lib/xfig/Basic/PortLabel.fig ================================================================== --- mttroot/mtt/lib/xfig/Basic/PortLabel.fig +++ /dev/null @@ -1,10 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -4 1 4 100 0 18 14 0.0000 4 210 825 855 630 [port_1]\001 DELETED mttroot/mtt/lib/xfig/Basic/PortLabel.txt Index: mttroot/mtt/lib/xfig/Basic/PortLabel.txt ================================================================== --- mttroot/mtt/lib/xfig/Basic/PortLabel.txt +++ /dev/null @@ -1,10 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -4 1 4 100 0 18 14 0.0000 4 210 825 855 630 [port_1]\001 DELETED mttroot/mtt/lib/xfig/Basic/R.fig Index: mttroot/mtt/lib/xfig/Basic/R.fig ================================================================== --- mttroot/mtt/lib/xfig/Basic/R.fig +++ /dev/null @@ -1,10 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -4 1 0 100 0 18 18 0.0000 4 285 765 900 765 R:r_1\001 DELETED mttroot/mtt/lib/xfig/Basic/SS.fig Index: mttroot/mtt/lib/xfig/Basic/SS.fig ================================================================== --- mttroot/mtt/lib/xfig/Basic/SS.fig +++ /dev/null @@ -1,10 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -4 1 0 100 0 18 18 0.0000 4 285 765 900 765 SS:ss_1\001 DELETED mttroot/mtt/lib/xfig/Basic/Se.fig Index: mttroot/mtt/lib/xfig/Basic/Se.fig ================================================================== --- mttroot/mtt/lib/xfig/Basic/Se.fig +++ /dev/null @@ -1,10 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -4 1 0 100 0 18 18 0.0000 4 285 765 900 765 Se:se_1\001 DELETED mttroot/mtt/lib/xfig/Basic/Sf.fig Index: mttroot/mtt/lib/xfig/Basic/Sf.fig ================================================================== --- mttroot/mtt/lib/xfig/Basic/Sf.fig +++ /dev/null @@ -1,10 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -4 1 0 100 0 18 18 0.0000 4 285 765 900 765 Sf:sf_1\001 DELETED mttroot/mtt/lib/xfig/Basic/Subsystem.fig Index: mttroot/mtt/lib/xfig/Basic/Subsystem.fig ================================================================== --- mttroot/mtt/lib/xfig/Basic/Subsystem.fig +++ /dev/null @@ -1,10 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -4 1 0 100 0 18 18 0.0000 4 285 765 900 765 Subsystem:sub_1\001 DELETED mttroot/mtt/lib/xfig/Basic/TF.fig Index: mttroot/mtt/lib/xfig/Basic/TF.fig ================================================================== --- mttroot/mtt/lib/xfig/Basic/TF.fig +++ /dev/null @@ -1,10 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -4 1 0 100 0 18 18 0.0000 4 285 765 900 765 TF:tf_1\001 DELETED mttroot/mtt/lib/xfig/Basic/blue-box.fig Index: mttroot/mtt/lib/xfig/Basic/blue-box.fig ================================================================== --- mttroot/mtt/lib/xfig/Basic/blue-box.fig +++ /dev/null @@ -1,11 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 4 1 2 1 7 101 0 -1 6.000 0 0 7 0 0 5 - 3825 2700 450 2700 450 450 3825 450 3825 2700 DELETED mttroot/mtt/lib/xfig/Basic/bond.fig Index: mttroot/mtt/lib/xfig/Basic/bond.fig ================================================================== --- mttroot/mtt/lib/xfig/Basic/bond.fig +++ /dev/null @@ -1,11 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 - 900 675 2250 675 2025 900 DELETED mttroot/mtt/lib/xfig/Basic/gold-box.fig Index: mttroot/mtt/lib/xfig/Basic/gold-box.fig ================================================================== --- mttroot/mtt/lib/xfig/Basic/gold-box.fig +++ /dev/null @@ -1,11 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 4 0 2 31 7 101 0 -1 0.000 0 0 7 0 0 5 - 3825 2700 450 2700 450 450 3825 450 3825 2700 DELETED mttroot/mtt/lib/xfig/Basic/halfstroke.fig Index: mttroot/mtt/lib/xfig/Basic/halfstroke.fig ================================================================== --- mttroot/mtt/lib/xfig/Basic/halfstroke.fig +++ /dev/null @@ -1,11 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 1350 1125 1350 1350 DELETED mttroot/mtt/lib/xfig/Basic/stroke.fig Index: mttroot/mtt/lib/xfig/Basic/stroke.fig ================================================================== --- mttroot/mtt/lib/xfig/Basic/stroke.fig +++ /dev/null @@ -1,11 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 - 675 675 675 1125 DELETED mttroot/mtt/lib/xfig/Basic/template.txt Index: mttroot/mtt/lib/xfig/Basic/template.txt ================================================================== --- mttroot/mtt/lib/xfig/Basic/template.txt +++ /dev/null @@ -1,10 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -4 1 0 100 0 18 18 0.0000 4 285 765 900 765 TEXT\001 DELETED mttroot/mtt/lib/xfig/Thermal/CT.fig Index: mttroot/mtt/lib/xfig/Thermal/CT.fig ================================================================== --- mttroot/mtt/lib/xfig/Thermal/CT.fig +++ /dev/null @@ -1,10 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -4 1 0 100 0 18 18 0.0000 4 285 765 900 765 CT:ct_1\001 DELETED mttroot/mtt/lib/xfig/Thermal/MAKE_COMPONENT Index: mttroot/mtt/lib/xfig/Thermal/MAKE_COMPONENT ================================================================== --- mttroot/mtt/lib/xfig/Thermal/MAKE_COMPONENT +++ /dev/null @@ -1,16 +0,0 @@ -#!/bin/sh -## Makes a new component - -if [ -z "$2" ]; then - label=$1 -else - label=$2 -fi - -if [ "$1" = "0" ]||[ "$1" = "1" ]; then - echo Making new component $1 with no label - sed "s/TEXT/$1/" $1.fig -else - echo Making new component $1 with label $label - sed "s/TEXT/$1:$label/" $1.fig -fi DELETED mttroot/mtt/lib/xfig/Thermal/MAKE_COMPONENTS Index: mttroot/mtt/lib/xfig/Thermal/MAKE_COMPONENTS ================================================================== --- mttroot/mtt/lib/xfig/Thermal/MAKE_COMPONENTS +++ /dev/null @@ -1,7 +0,0 @@ -#!/bin/sh -## Makes all components - -./MAKE_COMPONENT RS rs_1 -./MAKE_COMPONENT RT rt_1 -./MAKE_COMPONENT CT ct_1 - DELETED mttroot/mtt/lib/xfig/Thermal/RS.fig Index: mttroot/mtt/lib/xfig/Thermal/RS.fig ================================================================== --- mttroot/mtt/lib/xfig/Thermal/RS.fig +++ /dev/null @@ -1,10 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -4 1 0 100 0 18 18 0.0000 4 285 765 900 765 RS:rs_1\001 DELETED mttroot/mtt/lib/xfig/Thermal/RT.fig Index: mttroot/mtt/lib/xfig/Thermal/RT.fig ================================================================== --- mttroot/mtt/lib/xfig/Thermal/RT.fig +++ /dev/null @@ -1,10 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -4 1 0 100 0 18 18 0.0000 4 285 765 900 765 RT:rt_1\001 DELETED mttroot/mtt/lib/xfig/Thermal/template.txt Index: mttroot/mtt/lib/xfig/Thermal/template.txt ================================================================== --- mttroot/mtt/lib/xfig/Thermal/template.txt +++ /dev/null @@ -1,10 +0,0 @@ -#FIG 3.2 -Portrait -Center -Metric -A4 -100.00 -Single --2 -1200 2 -4 1 0 100 0 18 18 0.0000 4 285 765 900 765 TEXT\001 DELETED mttroot/mtt/lib/xfig/libs.txt Index: mttroot/mtt/lib/xfig/libs.txt ================================================================== --- mttroot/mtt/lib/xfig/libs.txt +++ /dev/null @@ -1,4 +0,0 @@ -/home/peterg/mtt_new/mtt/lib/xfig/Basic Basic -/home/peterg/mtt_new/mtt/lib/comp/compound/Electrical Electrical -/home/peterg/mtt_new/mtt/lib/comp/compound/Thermal Thermal -