Modelica.Blocks.Sources

Information

This package contains source components, i.e., blocks which have only output signals. These blocks are used as signal generators for Real, Integer and Boolean signals.

All Real source signals (with the exception of the Constant source) have at least the following two parameters:

The offset parameter is especially useful in order to shift the corresponding source, such that at initial time the system is stationary. To determine the corresponding value of offset, usually requires a trimming calculation.

Extends from Modelica.Icons.Library (Icon for library).

Package Content

Name	Description
RealExpression	Set output signal to a time varying Real expression
IntegerExpression	Set output signal to a time varying Integer expression
BooleanExpression	Set output signal to a time varying Boolean expression
Clock	Generate actual time signal
Constant	Generate constant signal of type Real
Step	Generate step signal of type Real
Ramp	Generate ramp signal
Sine	Generate sine signal
ExpSine	Generate exponentially damped sine signal
Exponentials	Generate a rising and falling exponential signal
Pulse	Generate pulse signal of type Real
SawTooth	Generate saw tooth signal
Trapezoid	Generate trapezoidal signal of type Real
KinematicPTP	Move as fast as possible along a distance within given kinematic constraints
KinematicPTP2	Move as fast as possible from start to end position within given kinematic constraints with output signals q, qd=der(q), qdd=der(qd)
TimeTable	Generate a (possibly discontinuous) signal by linear interpolation in a table
CombiTimeTable	Table look-up with respect to time and linear/perodic extrapolation methods (data from matrix/file)
BooleanConstant	Generate constant signal of type Boolean
BooleanStep	Generate step signal of type Boolean
BooleanPulse	Generate pulse signal of type Boolean
SampleTrigger	Generate sample trigger signal
BooleanTable	Generate a Boolean output signal based on a vector of time instants
IntegerConstant	Generate constant signal of type Integer
IntegerStep	Generate step signal of type Integer

Modelica.Blocks.Sources.RealExpression

Information

The (time varying) Real output signal of this block can be defined in its parameter menu via variable y. The purpose is to support the easy definition of Real expressions in a block diagram. For example, in the y-menu the definition "if time < 1 then 0 else 1" can be given in order to define that the output signal is one, if time ≥ 1 and otherwise it is zero. Note, that "time" is a built-in variable that is always accessible and represents the "model time" and that Variable y is both a variable and a connector.

Parameters

Type	Name	Default	Description
Time varying output signal
RealOutput	y	0.0	Value of Real output

Connectors

Type	Name	Description
Time varying output signal
output RealOutput	y	Value of Real output

Modelica definition

block RealExpression 
  "Set output signal to a time varying Real expression"

  Modelica.Blocks.Interfaces.RealOutput y=0.0 "Value of Real output";


end RealExpression;

Modelica.Blocks.Sources.IntegerExpression

Information

The (time varying) Integer output signal of this block can be defined in its parameter menu via variable y. The purpose is to support the easy definition of Integer expressions in a block diagram. For example, in the y-menu the definition "if time < 1 then 0 else 1" can be given in order to define that the output signal is one, if time ≥ 1 and otherwise it is zero. Note, that "time" is a built-in variable that is always accessible and represents the "model time" and that Variable y is both a variable and a connector.

Parameters

Type	Name	Default	Description
Time varying output signal
IntegerOutput	y	0	Value of Integer output

Connectors

Type	Name	Description
Time varying output signal
output IntegerOutput	y	Value of Integer output

Modelica definition

block IntegerExpression 
  "Set output signal to a time varying Integer expression"

  Modelica.Blocks.Interfaces.IntegerOutput y=0 "Value of Integer output";


end IntegerExpression;

Modelica.Blocks.Sources.BooleanExpression

Information

The (time varying) Boolean output signal of this block can be defined in its parameter menu via variable y. The purpose is to support the easy definition of Boolean expressions in a block diagram. For example, in the y-menu the definition "time >= 1 and time <= 2" can be given in order to define that the output signal is true in the time interval 1 ≤ time ≤ 2 and otherwise it is false. Note, that "time" is a built-in variable that is always accessible and represents the "model time" and that Variable y is both a variable and a connector.

Parameters

Type	Name	Default	Description
Time varying output signal
BooleanOutput	y	false	Value of Boolean output

Connectors

Type	Name	Description
Time varying output signal
output BooleanOutput	y	Value of Boolean output

Modelica definition

block BooleanExpression 
  "Set output signal to a time varying Boolean expression"

  Modelica.Blocks.Interfaces.BooleanOutput y=false "Value of Boolean output";


end BooleanExpression;

Modelica.Blocks.Sources.Clock

Information

The Real output y is a clock signal:

Extends from Interfaces.SO (Single Output continuous control block).

Parameters

Type	Name	Default	Description
Time	offset	0	Offset of output signal [s]
Time	startTime	0	Output = offset for time < startTime [s]

Connectors

Type	Name	Description
output RealOutput	y	Connector of Real output signal

Modelica definition

block Clock "Generate actual time signal "
  parameter Modelica.SIunits.Time offset=0 "Offset of output signal";
  parameter Modelica.SIunits.Time startTime=0 
    "Output = offset for time < startTime";
  extends Interfaces.SO;

equation 
  y = offset + (if time < startTime then 0 else time - startTime);
end Clock;

Modelica.Blocks.Sources.Constant

Information

The Real output y is a constant signal:

Extends from Interfaces.SO (Single Output continuous control block).

Parameters

Type	Name	Default	Description
Real	k		Constant output value

Connectors

Type	Name	Description
output RealOutput	y	Connector of Real output signal

Modelica definition

block Constant "Generate constant signal of type Real"
  parameter Real k(start=1) "Constant output value";
  extends Interfaces.SO;

equation 
  y = k;
end Constant;

Modelica.Blocks.Sources.Step

Information

The Real output y is a step signal:

Extends from Interfaces.SignalSource (Base class for continuous signal source).

Parameters

Type	Name	Default	Description
Real	height	1	Height of step
Real	offset	0	Offset of output signal y
Time	startTime	0	Output y = offset for time < startTime [s]

Connectors

Type	Name	Description
output RealOutput	y	Connector of Real output signal

Modelica definition

block Step "Generate step signal of type Real"
  parameter Real height=1 "Height of step";
  extends Interfaces.SignalSource;

equation 
  y = offset + (if time < startTime then 0 else height);
end Step;

Modelica.Blocks.Sources.Ramp

Information

The Real output y is a ramp signal:

Extends from Interfaces.SO (Single Output continuous control block).

Parameters

Type	Name	Default	Description
Real	height	1	Height of ramps
Time	duration		Durations of ramp [s]
Real	offset	0	Offset of output signal
Time	startTime	0	Output = offset for time < startTime [s]

Connectors

Type	Name	Description
output RealOutput	y	Connector of Real output signal

Modelica definition

block Ramp "Generate ramp signal"
  parameter Real height=1 "Height of ramps";
  parameter Modelica.SIunits.Time duration(min=Modelica.Constants.small, start = 2) 
    "Durations of ramp";
  parameter Real offset=0 "Offset of output signal";
  parameter Modelica.SIunits.Time startTime=0 
    "Output = offset for time < startTime";
  extends Interfaces.SO;

equation 
  y = offset + (if time < startTime then 0 else if time < (startTime +
    duration) then (time - startTime)*height/duration else height);
end Ramp;

Modelica.Blocks.Sources.Sine

Information

The Real output y is a sine signal:

Extends from Interfaces.SO (Single Output continuous control block).

Parameters

Type	Name	Default	Description
Real	amplitude	1	Amplitude of sine wave
Frequency	freqHz		Frequency of sine wave [Hz]
Angle	phase	0	Phase of sine wave [rad]
Real	offset	0	Offset of output signal
Time	startTime	0	Output = offset for time < startTime [s]

Connectors

Type	Name	Description
output RealOutput	y	Connector of Real output signal

Modelica definition

block Sine "Generate sine signal"
  parameter Real amplitude=1 "Amplitude of sine wave";
  parameter SIunits.Frequency freqHz(start=1) "Frequency of sine wave";
  parameter SIunits.Angle phase=0 "Phase of sine wave";
  parameter Real offset=0 "Offset of output signal";
  parameter SIunits.Time startTime=0 "Output = offset for time < startTime";
  extends Interfaces.SO;
protected 
  constant Real pi=Modelica.Constants.pi;

equation 
  y = offset + (if time < startTime then 0 else amplitude*
    Modelica.Math.sin(2*pi*freqHz*(time - startTime) + phase));
end Sine;

Modelica.Blocks.Sources.ExpSine

Information

The Real output y is a sine signal with exponentially changing amplitude:

Extends from Interfaces.SO (Single Output continuous control block).

Parameters

Type	Name	Default	Description
Real	amplitude	1	Amplitude of sine wave
Frequency	freqHz		Frequency of sine wave [Hz]
Angle	phase	0	Phase of sine wave [rad]
Damping	damping		Damping coefficient of sine wave [s-1]
Real	offset	0	Offset of output signal
Time	startTime	0	Output = offset for time < startTime [s]

Connectors

Type	Name	Description
output RealOutput	y	Connector of Real output signal

Modelica definition

block ExpSine "Generate exponentially damped sine signal"
  parameter Real amplitude=1 "Amplitude of sine wave";
  parameter SIunits.Frequency freqHz(start=2) "Frequency of sine wave";
  parameter SIunits.Angle phase=0 "Phase of sine wave";
  parameter SIunits.Damping damping(start=1) "Damping coefficient of sine wave";
  parameter Real offset=0 "Offset of output signal";
  parameter SIunits.Time startTime=0 "Output = offset for time < startTime";
  extends Interfaces.SO;
protected 
  constant Real pi=Modelica.Constants.pi;

equation 
  y = offset + (if time < startTime then 0 else amplitude*
    Modelica.Math.exp(-(time - startTime)*damping)*Modelica.Math.sin(2*pi
    *freqHz*(time - startTime) + phase));
end ExpSine;

Modelica.Blocks.Sources.Exponentials

Information

The Real output y is a rising exponential followed by a falling exponential signal:

Extends from Interfaces.SO (Single Output continuous control block).

Parameters

Type	Name	Default	Description
Real	outMax	1	Height of output for infinite riseTime
Time	riseTime		Rise time [s]
Time	riseTimeConst	0.1	Rise time constant; rising is defined as outMax*(1-exp(-riseTime/riseTimeConst)) [s]
Time	fallTimeConst	riseTimeConst	Fall time constant [s]
Real	offset	0	Offset of output signal
Time	startTime	0	Output = offset for time < startTime [s]

Connectors

Type	Name	Description
output RealOutput	y	Connector of Real output signal

Modelica definition

model Exponentials "Generate a rising and falling exponential signal"

  parameter Real outMax=1 "Height of output for infinite riseTime";
  parameter SIunits.Time riseTime(min=0,start = 0.5) "Rise time";
  parameter SIunits.Time riseTimeConst(min=Modelica.Constants.small)=0.1 
    "Rise time constant; rising is defined as outMax*(1-exp(-riseTime/riseTimeConst))";
  parameter SIunits.Time fallTimeConst(min=Modelica.Constants.small)=
    riseTimeConst "Fall time constant";
  parameter Real offset=0 "Offset of output signal";
  parameter SIunits.Time startTime=0 "Output = offset for time < startTime";
  extends Interfaces.SO;
protected 
  Real y_riseTime;

equation 
  y_riseTime = outMax*(1 - Modelica.Math.exp(-riseTime/riseTimeConst));
  y = offset + (if (time < startTime) then 0 else if (time < (startTime
     + riseTime)) then outMax*(1 - Modelica.Math.exp(-(time - startTime)/riseTimeConst)) else 
          y_riseTime*Modelica.Math.exp(-(time - startTime - riseTime)/
    fallTimeConst));

end Exponentials;

Modelica.Blocks.Sources.Pulse

Information

The Real output y is a pulse signal:

Extends from Modelica.Blocks.Interfaces.SO (Single Output continuous control block).

Parameters

Type	Name	Default	Description
Real	amplitude	1	Amplitude of pulse
Real	width	50	Width of pulse in % of period
Time	period		Time for one period [s]
Real	offset	0	Offset of output signals
Time	startTime	0	Output = offset for time < startTime [s]

Connectors

Type	Name	Description
output RealOutput	y	Connector of Real output signal

Modelica definition

block Pulse "Generate pulse signal of type Real"
  parameter Real amplitude=1 "Amplitude of pulse";
  parameter Real width(
    final min=Modelica.Constants.small,
    final max=100) = 50 "Width of pulse in % of period";
  parameter Modelica.SIunits.Time period(final min=Modelica.Constants.small,start=1) 
    "Time for one period";
  parameter Real offset=0 "Offset of output signals";
  parameter Modelica.SIunits.Time startTime=0 
    "Output = offset for time < startTime";
  extends Modelica.Blocks.Interfaces.SO;

protected 
  Modelica.SIunits.Time T0(final start=startTime) 
    "Start time of current period";
  Modelica.SIunits.Time T_width = period*width/100;
equation 
  when sample(startTime, period) then
    T0 = time;
  end when;
  y = offset + (if time < startTime or time >= T0 + T_width then 0 else 
    amplitude);
end Pulse;

Modelica.Blocks.Sources.SawTooth

Information

The Real output y is a saw tooth signal:

Extends from Interfaces.SO (Single Output continuous control block).

Parameters

Type	Name	Default	Description
Real	amplitude	1	Amplitude of saw tooth
Time	period		Time for one period [s]
Real	offset	0	Offset of output signals
Time	startTime	0	Output = offset for time < startTime [s]

Connectors

Type	Name	Description
output RealOutput	y	Connector of Real output signal

Modelica definition

block SawTooth "Generate saw tooth signal"
  parameter Real amplitude=1 "Amplitude of saw tooth";
  parameter SIunits.Time period(final min=Modelica.Constants.small,start = 1) 
    "Time for one period";
  parameter Real offset=0 "Offset of output signals";
  parameter SIunits.Time startTime=0 "Output = offset for time < startTime";
  extends Interfaces.SO;
protected 
  SIunits.Time T0(final start=startTime) "Start time of current period";

equation 
  when sample(startTime, period) then
    T0 = time;
  end when;
  y = offset + (if time < startTime then 0 else (amplitude/period)*(time
     - T0));
end SawTooth;

Modelica.Blocks.Sources.Trapezoid

Information

The Real output y is a trapezoid signal:

Extends from Interfaces.SO (Single Output continuous control block).

Parameters

Type	Name	Default	Description
Real	amplitude	1	Amplitude of trapezoid
Time	rising	0	Rising duration of trapezoid [s]
Time	width	0.5	Width duration of trapezoid [s]
Time	falling	0	Falling duration of trapezoid [s]
Time	period		Time for one period [s]
Integer	nperiod	-1	Number of periods (< 0 means infinite number of periods)
Real	offset	0	Offset of output signal
Time	startTime	0	Output = offset for time < startTime [s]

Connectors

Type	Name	Description
output RealOutput	y	Connector of Real output signal

Modelica definition

block Trapezoid "Generate trapezoidal signal of type Real"
  parameter Real amplitude=1 "Amplitude of trapezoid";
  parameter SIunits.Time rising(final min=0) = 0 "Rising duration of trapezoid";
  parameter SIunits.Time width(final min=0) = 0.5 "Width duration of trapezoid";
  parameter SIunits.Time falling(final min=0) = 0 
    "Falling duration of trapezoid";
  parameter SIunits.Time period(final min=Modelica.Constants.small, start= 1) 
    "Time for one period";
  parameter Integer nperiod=-1 
    "Number of periods (< 0 means infinite number of periods)";
  parameter Real offset=0 "Offset of output signal";
  parameter SIunits.Time startTime=0 "Output = offset for time < startTime";
  extends Interfaces.SO;
protected 
  parameter SIunits.Time T_rising=rising 
    "End time of rising phase within one period";
  parameter SIunits.Time T_width=T_rising + width 
    "End time of width phase within one period";
  parameter SIunits.Time T_falling=T_width + falling 
    "End time of falling phase within one period";
  SIunits.Time T0(final start=startTime) "Start time of current period";
  Integer counter(start=nperiod) "Period counter";
  Integer counter2(start=nperiod);

equation 
  when pre(counter2) <> 0 and sample(startTime, period) then
    T0 = time;
    counter2 = pre(counter);
    counter = pre(counter) - (if pre(counter) > 0 then 1 else 0);
  end when;
  y = offset + (if (time < startTime or counter2 == 0 or time >= T0 +
    T_falling) then 0 else if (time < T0 + T_rising) then (time - T0)*
    amplitude/T_rising else if (time < T0 + T_width) then amplitude else 
    (T0 + T_falling - time)*amplitude/(T_falling - T_width));
end Trapezoid;

Modelica.Blocks.Sources.KinematicPTP

Information

The goal is to move as fast as possible along a distance deltaq under given kinematical constraints. The distance can be a positional or angular range. In robotics such a movement is called PTP (Point-To-Point). This source block generates the acceleration qdd of this signal as output:

After integrating the output two times, the position q is obtained. The signal is constructed in such a way that it is not possible to move faster, given the maximally allowed velocity qd_max and the maximally allowed acceleration qdd_max.

If several distances are given (vector deltaq has more than 1 element), an acceleration output vector is constructed such that all signals are in the same periods in the acceleration, constant velocity and deceleration phase. This means that only one of the signals is at its limits whereas the others are sychnronized in such a way that the end point is reached at the same time instant.

This element is useful to generate a reference signal for a controller which controls a drive train or in combination with model Modelica.Mechanics.Rotational.Accelerate to drive a flange according to a given acceleration.

Extends from Interfaces.MO (Multiple Output continuous control block).

Parameters

Type	Name	Default	Description
Real	deltaq[:]		Distance to move
Real	qd_max[:]		Maximum velocities der(q)
Real	qdd_max[:]		Maximum accelerations der(qd)
Time	startTime	0	Time instant at which movement starts [s]
Integer	nout	max([size(deltaq, 1); size(q...	Number of outputs

Connectors

Type	Name	Description
output RealOutput	y[nout]	Connector of Real output signals

Modelica definition

block KinematicPTP 
  "Move as fast as possible along a distance within given kinematic constraints"

  parameter Real deltaq[:] "Distance to move";
  parameter Real qd_max[:](each final min=Modelica.Constants.small) 
    "Maximum velocities der(q)";
  parameter Real qdd_max[:](each final min=Modelica.Constants.small) 
    "Maximum accelerations der(qd)";
  parameter SIunits.Time startTime=0 "Time instant at which movement starts";

  extends Interfaces.MO(final nout=max([size(deltaq, 1); size(qd_max, 1);
         size(qdd_max, 1)]));

protected 
  parameter Real p_deltaq[nout]=(if size(deltaq, 1) == 1 then ones(nout)*
      deltaq[1] else deltaq);
  parameter Real p_qd_max[nout]=(if size(qd_max, 1) == 1 then ones(nout)*
      qd_max[1] else qd_max);
  parameter Real p_qdd_max[nout]=(if size(qdd_max, 1) == 1 then ones(nout)
      *qdd_max[1] else qdd_max);
  Real sd_max;
  Real sdd_max;
  Real sdd;
  Real aux1[nout];
  Real aux2[nout];
  SIunits.Time Ta1;
  SIunits.Time Ta2;
  SIunits.Time Tv;
  SIunits.Time Te;
  Boolean noWphase;

equation 
  for i in 1:nout loop
    aux1[i] = p_deltaq[i]/p_qd_max[i];
    aux2[i] = p_deltaq[i]/p_qdd_max[i];
  end for;
  sd_max = 1/max(abs(aux1));
  sdd_max = 1/max(abs(aux2));

  Ta1 = sqrt(1/sdd_max);
  Ta2 = sd_max/sdd_max;
  noWphase = Ta2 >= Ta1;
  Tv = if noWphase then Ta1 else 1/sd_max;
  Te = if noWphase then Ta1 + Ta1 else Tv + Ta2;

  // path-acceleration
  sdd = if time < startTime then 0 else ((if noWphase then (if time < Ta1
     + startTime then sdd_max else (if time < Te + startTime then -
    sdd_max else 0)) else (if time < Ta2 + startTime then sdd_max else (
    if time < Tv + startTime then 0 else (if time < Te + startTime then -
    sdd_max else 0)))));

  // acceleration
  y = p_deltaq*sdd;
end KinematicPTP;

Modelica.Blocks.Sources.KinematicPTP2

Information

The goal is to move as fast as possible from start position q_begin to end position q_end under given kinematical constraints. The positions can be translational or rotational definitions (i.e., q_begin/q_end is given). In robotics such a movement is called PTP (Point-To-Point). This source block generates the position q(t), the speed qd(t) = der(q), and the acceleration qdd = der(qd) as output. The signals are constructed in such a way that it is not possible to move faster, given the maximally allowed velocity qd_max and the maximally allowed acceleration qdd_max:

If vectors q_begin/q_end have more than 1 element, the output vectors are constructed such that all signals are in the same periods in the acceleration, constant velocity and deceleration phase. This means that only one of the signals is at its limits whereas the others are sychnronized in such a way that the end point is reached at the same time instant.

This element is useful to generate a reference signal for a controller which controls, e.g., a drive train, or to drive a flange according to a given acceleration.

Extends from Modelica.Blocks.Interfaces.BlockIcon (Basic graphical layout of input/output block).

Parameters

Type	Name	Default	Description
Real	q_begin[:]	{0}	Start position
Real	q_end[:]		End position
Real	qd_max[:]		Maximum velocities der(q)
Real	qdd_max[:]		Maximum accelerations der(qd)
Time	startTime	0	Time instant at which movement starts [s]

Connectors

Type	Name	Description
output RealOutput	q[nout]	Reference position of path planning
output RealOutput	qd[nout]	Reference speed of path planning
output RealOutput	qdd[nout]	Reference acceleration of path planning
output BooleanOutput	moving[nout]	= true, if end position not yet reached; = false, if end position reached or axis is completely at rest

Modelica definition

block KinematicPTP2 
  "Move as fast as possible from start to end position within given kinematic constraints with output signals q, qd=der(q), qdd=der(qd)"
  import SI = Modelica.SIunits;
  parameter Real q_begin[:] = {0} "Start position";
  parameter Real q_end[:] "End position";
  parameter Real qd_max[:](each final min=Modelica.Constants.small) 
    "Maximum velocities der(q)";
  parameter Real qdd_max[:](each final min=Modelica.Constants.small) 
    "Maximum accelerations der(qd)";
  parameter Modelica.SIunits.Time startTime=0 
    "Time instant at which movement starts";

  extends Modelica.Blocks.Interfaces.BlockIcon;
  final parameter Integer nout=max([size(q_begin, 1); size(q_end, 1); size(
      qd_max, 1); size(qdd_max, 1)]) 
    "Number of output signals (= dimension of q, qd, qdd, moving)";
  output Modelica.SIunits.Time endTime "Time instant at which movement stops";

  Modelica.Blocks.Interfaces.RealOutput q[nout] 
    "Reference position of path planning";
  Modelica.Blocks.Interfaces.RealOutput qd[nout] 
    "Reference speed of path planning";
  Modelica.Blocks.Interfaces.RealOutput qdd[nout] 
    "Reference acceleration of path planning";
  Modelica.Blocks.Interfaces.BooleanOutput moving[nout] 
    "= true, if end position not yet reached; = false, if end position reached or axis is completely at rest";
    

protected 
  parameter Real p_q_begin[nout]=(if size(q_begin, 1) == 1 then ones(nout)*
      q_begin[1] else q_begin);
  parameter Real p_q_end[nout]=(if size(q_end, 1) == 1 then ones(nout)*
      q_end[1] else q_end);
  parameter Real p_qd_max[nout]=(if size(qd_max, 1) == 1 then ones(nout)*
      qd_max[1] else qd_max);
  parameter Real p_qdd_max[nout]=(if size(qdd_max, 1) == 1 then ones(nout)*
      qdd_max[1] else qdd_max);
  parameter Real p_deltaq[nout]=p_q_end - p_q_begin;
  constant Real eps=10*Modelica.Constants.eps;
  Boolean motion_ref;
  Real sd_max_inv;
  Real sdd_max_inv;
  Real sd_max;
  Real sdd_max;
  Real sdd;
  Real aux1[nout];
  Real aux2[nout];
  SI.Time Ta1;
  SI.Time Ta2;
  SI.Time Tv;
  SI.Time Te;
  Boolean noWphase;
  SI.Time Ta1s;
  SI.Time Ta2s;
  SI.Time Tvs;
  SI.Time Tes;
  Real sd_max2;
  Real s1;
  Real s2;
  Real s3;
  Real s;
  Real sd;
  Real r_s;
  Real r_sd;
  Real r_sdd;

  function position
  annotation(derivative=position_der);
     input Real q_qd_qdd[3] "Required values for position, speed, acceleration";
     input Real dummy 
      "Just to have one input signal that should be differentiated to avoid possible problems in the Modelica tool (is not used)";
     output Real q;
  algorithm 
    q :=q_qd_qdd[1];
  end position;

  function position_der
  annotation(derivative=position_der2);
     input Real q_qd_qdd[3] "Required values for position, speed, acceleration";
     input Real dummy 
      "Just to have one input signal that should be differentiated to avoid possible problems in the Modelica tool (is not used)";
     input Real dummy_der;
     output Real qd;
  algorithm 
    qd :=q_qd_qdd[2];
  end position_der;

  function position_der2
     input Real q_qd_qdd[3] "Required values for position, speed, acceleration";
     input Real dummy 
      "Just to have one input signal that should be differentiated to avoid possible problems in the Modelica tool (is not used)";
     input Real dummy_der;
     input Real dummy_der2;
     output Real qdd;
  algorithm 
    qdd :=q_qd_qdd[3];
  end position_der2;
equation 
  for i in 1:nout loop
    aux1[i] = p_deltaq[i]/p_qd_max[i];
    aux2[i] = p_deltaq[i]/p_qdd_max[i];
  end for;

  sd_max_inv = max(abs(aux1));
  sdd_max_inv = max(abs(aux2));

  if sd_max_inv <= eps or sdd_max_inv <= eps then
    sd_max = 0;
    sdd_max = 0;
    Ta1 = 0;
    Ta2 = 0;
    noWphase = false;
    Tv = 0;
    Te = 0;
    Ta1s = 0;
    Ta2s = 0;
    Tvs = 0;
    Tes = 0;
    sd_max2 = 0;
    s1 = 0;
    s2 = 0;
    s3 = 0;
    r_sdd = 0;
    r_sd = 0;
    r_s = 0;
  else
    sd_max = 1/max(abs(aux1));
    sdd_max = 1/max(abs(aux2));
    Ta1 = sqrt(1/sdd_max);
    Ta2 = sd_max/sdd_max;
    noWphase = Ta2 >= Ta1;
    Tv = if noWphase then Ta1 else 1/sd_max;
    Te = if noWphase then Ta1 + Ta1 else Tv + Ta2;
    Ta1s = Ta1 + startTime;
    Ta2s = Ta2 + startTime;
    Tvs = Tv + startTime;
    Tes = Te + startTime;
    sd_max2 = sdd_max*Ta1;
    s1 = sdd_max*(if noWphase then Ta1*Ta1 else Ta2*Ta2)/2;
    s2 = s1 + (if noWphase then sd_max2*(Te - Ta1) - (sdd_max/2)*(Te - Ta1)
      ^2 else sd_max*(Tv - Ta2));
    s3 = s2 + sd_max*(Te - Tv) - (sdd_max/2)*(Te - Tv)*(Te - Tv);

    if time < startTime then
      r_sdd = 0;
      r_sd = 0;
      r_s = 0;
    elseif noWphase then
      if time < Ta1s then
        r_sdd = sdd_max;
        r_sd = sdd_max*(time - startTime);
        r_s = (sdd_max/2)*(time - startTime)*(time - startTime);
      elseif time < Tes then
        r_sdd = -sdd_max;
        r_sd = sd_max2 - sdd_max*(time - Ta1s);
        r_s = s1 + sd_max2*(time - Ta1s) - (sdd_max/2)*(time - Ta1s)*(time
           - Ta1s);
      else
        r_sdd = 0;
        r_sd = 0;
        r_s = s2;
      end if;
    elseif time < Ta2s then
      r_sdd = sdd_max;
      r_sd = sdd_max*(time - startTime);
      r_s = (sdd_max/2)*(time - startTime)*(time - startTime);
    elseif time < Tvs then
      r_sdd = 0;
      r_sd = sd_max;
      r_s = s1 + sd_max*(time - Ta2s);
    elseif time < Tes then
      r_sdd = -sdd_max;
      r_sd = sd_max - sdd_max*(time - Tvs);
      r_s = s2 + sd_max*(time - Tvs) - (sdd_max/2)*(time - Tvs)*(time - Tvs);
    else
      r_sdd = 0;
      r_sd = 0;
      r_s = s3;
    end if;

  end if;

  // acceleration
  qdd = p_deltaq*sdd;
  qd = p_deltaq*sd;
  q = p_q_begin + p_deltaq*s;
  endTime = Tes;

  s = position({r_s, r_sd, r_sdd}, time);
  sd = der(s);
  sdd = der(sd);

  // report when axis is moving
  motion_ref = time <= endTime;
  for i in 1:nout loop
    moving[i] = if abs(q_begin[i] - q_end[i]) > eps then motion_ref else false;
  end for;

end KinematicPTP2;

Modelica.Blocks.Sources.TimeTable

Information

This block generates an output signal by linear interpolation in a table. The time points and function values are stored in a matrix table[i,j], where the first column table[:,1] contains the time points and the second column contains the data to be interpolated. The table interpolation has the following proporties:

• The time points need to be monotonically increasing.
• Discontinuities are allowed, by providing the same time point twice in the table.
• Values outside of the table range, are computed by extrapolation through the last or first two points of the table.
• If the table has only one row, no interpolation is performed and the function value is just returned independantly of the actual time instant.
• Via parameters startTime and offset the curve defined by the table can be shifted both in time and in the ordinate value.
• The table is implemented in a numerically sound way by generating time events at interval boundaries, in order to not integrate over a discontinuous or not differentiable points.

Example:

   table = [0  0
            1  0
            1  1
            2  4
            3  9
            4 16]
If, e.g., time = 1.0, the output y =  0.0 (before event), 1.0 (after event)
    e.g., time = 1.5, the output y =  2.5,
    e.g., time = 2.0, the output y =  4.0,
    e.g., time = 5.0, the output y = 23.0 (i.e. extrapolation).

Extends from Interfaces.SO (Single Output continuous control block).

Parameters

Type	Name	Default	Description
Real	table[:, 2]		Table matrix (time = first column; e.g. table=[0, 0; 1, 1; 2, 4])
Real	offset	0	Offset of output signal
Time	startTime	0	Output = offset for time < startTime [s]

Connectors

Type	Name	Description
output RealOutput	y	Connector of Real output signal

Modelica definition

block TimeTable 
  "Generate a (possibly discontinuous) signal by linear interpolation in a table"

  parameter Real table[:, 2] 
    "Table matrix (time = first column; e.g. table=[0, 0; 1, 1; 2, 4])";
  parameter Real offset=0 "Offset of output signal";
  parameter SIunits.Time startTime=0 "Output = offset for time < startTime";
  extends Interfaces.SO;
protected 
  Real a "Interpolation coefficients a of actual interval (y=a*x+b)";
  Real b "Interpolation coefficients b of actual interval (y=a*x+b)";
  Integer last(start=1) "Last used lower grid index";
  SIunits.Time nextEvent(start=0, fixed=true) "Next event instant";

  function getInterpolationCoefficients 
    "Determine interpolation coefficients and next time event"
    input Real table[:, 2] "Table for interpolation";
    input Real offset "y-offset";
    input Real startTime "time-offset";
    input Real t "Actual time instant";
    input Integer last "Last used lower grid index";
    input Real TimeEps "Relative epsilon to check for identical time instants";
    output Real a "Interpolation coefficients a (y=a*x + b)";
    output Real b "Interpolation coefficients b (y=a*x + b)";
    output Real nextEvent "Next event instant";
    output Integer next "New lower grid index";
  protected 
    Integer columns=2 "Column to be interpolated";
    Integer ncol=2 "Number of columns to be interpolated";
    Integer nrow=size(table, 1) "Number of table rows";
    Integer next0;
    Real tp;
    Real dt;
  algorithm 
    next := last;
    nextEvent := t - TimeEps*abs(t);
    // in case there are no more time events
    tp := t + TimeEps*abs(t) - startTime;

    if tp < 0.0 then
      // First event not yet reached
      nextEvent := startTime;
      a := 0;
      b := offset;
    elseif nrow < 2 then
      // Special action if table has only one row
      a := 0;
      b := offset + table[1, columns];
    else

        // Find next time event instant. Note, that two consecutive time instants
      // in the table may be identical due to a discontinuous point.
      while next < nrow and tp >= table[next, 1] loop
        next := next + 1;
      end while;

      // Define next time event, if last table entry not reached
      if next < nrow then
        nextEvent := startTime + table[next, 1];
      end if;

      // Determine interpolation coefficients
      next0 := next - 1;
      dt := table[next, 1] - table[next0, 1];
      if dt <= TimeEps*abs(table[next, 1]) then
        // Interpolation interval is not big enough, use "next" value
        a := 0;
        b := offset + table[next, columns];
      else
        a := (table[next, columns] - table[next0, columns])/dt;
        b := offset + table[next0, columns] - a*table[next0, 1];
      end if;
    end if;
    // Take into account startTime "a*(time - startTime) + b"
    b := b - a*startTime;
  end getInterpolationCoefficients;
algorithm 
  when {time >= pre(nextEvent),initial()} then
    (a,b,nextEvent,last) := getInterpolationCoefficients(table, offset,
      startTime, time, last, 100*Modelica.Constants.eps);
  end when;
equation 
  y = a*time + b;
end TimeTable;

Modelica.Blocks.Sources.CombiTimeTable

Information

This block generates an output signal y[:] by linear interpolation in a table. The time points and function values are stored in a matrix table[i,j], where the first column table[:,1] contains the time points and the other columns contain the data to be interpolated.

Via parameter columns it can be defined which columns of the table are interpolated. If, e.g., columns={2,4}, it is assumed that 2 output signals are present and that the first output is computed by interpolation of column 2 and the second output is computed by interpolation of column 4 of the table matrix. The table interpolation has the following properties:

• The time points need to be monotonically increasing.
• Discontinuities are allowed, by providing the same time point twice in the table.
• Values outside of the table range, are computed by extrapolation according to the setting of parameter extrapolation:

    extrapolation = 0: hold the first or last value of the table,
                       if outside of the range.
                  = 1: extrapolate through the last or first two
                       points of the table.
                  = 2: periodically repeat the table data
                       (periodical function).
  

• Via parameter smoothness it is defined how the data is interpolated:

    smoothness = 0: linear interpolation
               = 1: smooth interpolation with Akima Splines such
                    that der(y) is continuous.
  

• If the table has only one row, no interpolation is performed and the table values of this row are just returned.
• Via parameters startTime and offset the curve defined by the table can be shifted both in time and in the ordinate value. The time instants stored in the table are therefore relative to startTime. If time < startTime, no interpolation is performed and the offset is used as ordinate value for all outputs.
• The table is implemented in a numerically sound way by generating time events at interval boundaries, in order to not integrate over a discontinuous or not differentiable points.
• For special applications it is sometimes needed to know the minimum and maximum time instant defined in the table as a parameter. For this reason parameters t_min and t_max are provided and can be access from the outside of the table object.

Example:

   table = [0  0
            1  0
            1  1
            2  4
            3  9
            4 16]; extrapolation = 1 (default)
If, e.g., time = 1.0, the output y =  0.0 (before event), 1.0 (after event)
    e.g., time = 1.5, the output y =  2.5,
    e.g., time = 2.0, the output y =  4.0,
    e.g., time = 5.0, the output y = 23.0 (i.e. extrapolation via last 2 points).

The table matrix can be defined in the following ways:

1. Explicitly supplied as parameter matrix "table", and the other parameters have the following values:

      tableName is "NoName" or has only blanks,
      fileName  is "NoName" or has only blanks.
   

2. Read from a file "fileName" where the matrix is stored as "tableName". Both ASCII and binary file format is possible. (the ASCII format is described below). It is most convenient to generate the binary file from Matlab (Matlab 4 storage format), e.g., by command

      save tables.mat tab1 tab2 tab3 -V4
   

   when the three tables tab1, tab2, tab3 should be used from the model.
3. Statically stored in function "usertab" in file "usertab.c". The matrix is identified by "tableName". Parameter fileName = "NoName" or has only blanks.

Table definition methods (1) and (3) do not allocate dynamic memory, and do not access files, whereas method (2) does. Therefore (1) and (3) are suited for hardware-in-the-loop simulation (e.g. with dSpace hardware). When the constant "NO_FILE" is defined in "usertab.c", all parts of the source code of method (2) are removed by the C-preprocessor, such that no dynamic memory allocation and no access to files takes place.

If tables are read from an ASCII-file, the file need to have the following structure ("-----" is not part of the file content):

-----------------------------------------------------
#1
double tab1(6,2)   # comment line
  0   0
  1   0
  1   1
  2   4
  3   9
  4  16
double tab2(6,2)   # another comment line
  0   0
  2   0
  2   2
  4   8
  6  18
  8  32
-----------------------------------------------------

Note, that the first two characters in the file need to be "#1". Afterwards, the corresponding matrix has to be declared with type, name and actual dimensions. Finally, in successive rows of the file, the elements of the matrix have to be given. Several matrices may be defined one after another.

Extends from Modelica.Blocks.Interfaces.MO (Multiple Output continuous control block).

Parameters

Type	Name	Default	Description
Integer	nout	max([size(columns, 1); size(...	Number of outputs
table data definition
Boolean	tableOnFile	false	= true, if table is defined on file or in function usertab
Real	table[:, :]	fill(0.0, 0, 2)	Table matrix (time = first column; e.g. table=[0,2])
String	tableName	"NoName"	Table name on file or in function usertab (see docu)
String	fileName	"NoName"	File where matrix is stored
table data interpretation
Integer	columns[:]	2:size(table, 2)	Columns of table to be interpolated
Smoothness	smoothness	Modelica.Blocks.Types.Smooth...	Smoothness of table interpolation
Extrapolation	extrapolation	Modelica.Blocks.Types.Extrap...	Extrapolation of data outside the definition range
Real	offset[:]	{0}	Offsets of output signals
Time	startTime	0	Output = offset for time < startTime [s]

Connectors

Type	Name	Description
output RealOutput	y[nout]	Connector of Real output signals

Modelica definition

model CombiTimeTable 
  "Table look-up with respect to time and linear/perodic extrapolation methods (data from matrix/file)"

  parameter Boolean tableOnFile=false 
    "= true, if table is defined on file or in function usertab";
  parameter Real table[:, :] = fill(0.0,0,2) 
    "Table matrix (time = first column; e.g. table=[0,2])";
  parameter String tableName="NoName" 
    "Table name on file or in function usertab (see docu)";
  parameter String fileName="NoName" "File where matrix is stored";
  parameter Integer columns[:]=2:size(table, 2) 
    "Columns of table to be interpolated";
  parameter Modelica.Blocks.Types.Smoothness smoothness=Modelica.Blocks.Types.Smoothness.LinearSegments 
    "Smoothness of table interpolation";
  parameter Modelica.Blocks.Types.Extrapolation extrapolation=Modelica.Blocks.Types.Extrapolation.LastTwoPoints 
    "Extrapolation of data outside the definition range";
  parameter Real offset[:]={0} "Offsets of output signals";
  parameter Modelica.SIunits.Time startTime=0 
    "Output = offset for time < startTime";
  extends Modelica.Blocks.Interfaces.MO(final nout=max([size(columns, 1); size(offset, 1)]));
  final parameter Real t_min(fixed=false) 
    "Minimum abscissa value defined in table";
  final parameter Real t_max(fixed=false) 
    "Maximum abscissa value defined in table";

protected 
  final parameter Real p_offset[nout]=(if size(offset, 1) == 1 then ones(nout)
       *offset[1] else offset);

  Integer tableID;

  function tableTimeInit 
    "Initialize 1-dim. table where first column is time (for details see: Modelica/C-Sources/ModelicaTables.h)"
    input String tableName;
    input String fileName;
    input Real table[ :, :];
    input Real startTime;
    input Modelica.Blocks.Types.Smoothness smoothness;
    input Modelica.Blocks.Types.Extrapolation extrapolation;
    output Integer tableID;
  external "C" tableID=  ModelicaTables_CombiTimeTable_init(
                 tableName, fileName, table, size(table, 1), size(table, 2),
                 startTime, smoothness, extrapolation);
  end tableTimeInit;

  function tableTimeIpo 
    "Interpolate 1-dim. table where first column is time (for details see: Modelica/C-Sources/ModelicaTables.h)"
    input Integer tableID;
    input Integer icol;
    input Real timeIn;
    output Real value;
  external "C" value = 
                     ModelicaTables_CombiTimeTable_interpolate(tableID, icol, timeIn);
  end tableTimeIpo;

  function tableTimeTmin 
    "Return minimum time value of 1-dim. table where first column is time (for details see: Modelica/C-Sources/ModelicaTables.h)"
    input Integer tableID;
    output Real Tmin "minimum time value in table";
  external "C" Tmin = 
                    ModelicaTables_CombiTimeTable_minimumTime(tableID);
  end tableTimeTmin;

  function tableTimeTmax 
    "Return maximum time value of 1-dim. table where first column is time (for details see: Modelica/C-Sources/ModelicaTables.h)"
    input Integer tableID;
    output Real Tmax "maximum time value in table";
  external "C" Tmax = 
                    ModelicaTables_CombiTimeTable_maximumTime(tableID);
  end tableTimeTmax;

equation 
  if tableOnFile then
    assert(tableName<>"NoName", "tableOnFile = true and no table name given");
  end if;
  if not tableOnFile then
    assert(size(table,1) > 0 and size(table,2) > 0, "tableOnFile = false and parameter table is an empty matrix");
  end if;
  for i in 1:nout loop
    y[i] = p_offset[i] + tableTimeIpo(tableID, columns[i], time);
  end for;
  when initial() then
    tableID=tableTimeInit((if not tableOnFile then "NoName" else tableName),
                          (if not tableOnFile then "NoName" else fileName), table,
                          startTime, smoothness, extrapolation);
  end when;
initial equation 
    t_min=tableTimeTmin(tableID);
    t_max=tableTimeTmax(tableID);
end CombiTimeTable;

Modelica.Blocks.Sources.BooleanConstant

Information

The Boolean output y is a constant signal:

Extends from Interfaces.partialBooleanSource (Partial source block (has 1 output Boolean signal and an appropriate default icon)).

Parameters

Type	Name	Default	Description
Boolean	k	true	Constant output value

Connectors

Type	Name	Description
output BooleanOutput	y	Connector of Boolean output signal

Modelica definition

block BooleanConstant "Generate constant signal of type Boolean"
  parameter Boolean k=true "Constant output value";
  extends Interfaces.partialBooleanSource;

equation 
  y = k;
end BooleanConstant;

Modelica.Blocks.Sources.BooleanStep

Information

The Boolean output y is a step signal:

Extends from Interfaces.partialBooleanSource (Partial source block (has 1 output Boolean signal and an appropriate default icon)).

Parameters

Type	Name	Default	Description
Time	startTime	0	Time instant of step start [s]
Boolean	startValue	false	Output before startTime

Connectors

Type	Name	Description
output BooleanOutput	y	Connector of Boolean output signal

Modelica definition

block BooleanStep "Generate step signal of type Boolean"
  parameter Modelica.SIunits.Time startTime=0 "Time instant of step start";
  parameter Boolean startValue = false "Output before startTime";

  extends Interfaces.partialBooleanSource;
equation 
 y = if time >= startTime then not startValue else startValue;
end BooleanStep;

Modelica.Blocks.Sources.BooleanPulse

Information

The Boolean output y is a pulse signal:

Extends from Modelica.Blocks.Interfaces.partialBooleanSource (Partial source block (has 1 output Boolean signal and an appropriate default icon)).

Parameters

Type	Name	Default	Description
Real	width	50	Width of pulse in % of period
Time	period		Time for one period [s]
Time	startTime	0	Time instant of first pulse [s]

Connectors

Type	Name	Description
output BooleanOutput	y	Connector of Boolean output signal

Modelica definition

block BooleanPulse "Generate pulse signal of type Boolean"

  parameter Real width(
    final min=Modelica.Constants.small,
    final max=100) = 50 "Width of pulse in % of period";
  parameter Modelica.SIunits.Time period(final min=Modelica.Constants.small,start=1) 
    "Time for one period";
  parameter Modelica.SIunits.Time startTime=0 "Time instant of first pulse";
  extends Modelica.Blocks.Interfaces.partialBooleanSource;

protected 
  parameter Modelica.SIunits.Time Twidth=period*width/100 "width of one pulse";
  discrete Modelica.SIunits.Time pulsStart "Start time of pulse";
initial equation 
  pulsStart = startTime;
equation 
    when sample(startTime, period) then
      pulsStart = time;
    end when;
    y = time >= pulsStart and time < pulsStart + Twidth;
end BooleanPulse;

Modelica.Blocks.Sources.SampleTrigger

Information

The Boolean output y is a trigger signal where the output y is only true at sample times (defined by parameter period) and is otherwise false.

Extends from Interfaces.partialBooleanSource (Partial source block (has 1 output Boolean signal and an appropriate default icon)).

Parameters

Type	Name	Default	Description
Time	period		Sample period [s]
Time	startTime	0	Time instant of first sample trigger [s]

Connectors

Type	Name	Description
output BooleanOutput	y	Connector of Boolean output signal

Modelica definition

block SampleTrigger "Generate sample trigger signal"
  parameter Modelica.SIunits.Time period(final min=Modelica.Constants.small,start=0.01) 
    "Sample period";
  parameter Modelica.SIunits.Time startTime=0 
    "Time instant of first sample trigger";
  extends Interfaces.partialBooleanSource;

equation 
  y = sample(startTime, period);
end SampleTrigger;

Modelica.Blocks.Sources.BooleanTable

Information

The Boolean output y is a signal defined by parameter vector table. In the vector time points are stored. At every time point, the output y changes its value to the negated value of the previous one.

Extends from Interfaces.partialBooleanSource (Partial source block (has 1 output Boolean signal and an appropriate default icon)).

Parameters

Type	Name	Default	Description
Boolean	startValue	false	Start value of y. At time = table[1], y changes to 'not startValue'
Time	table[:]		Vector of time points. At every time point, the output y gets its opposite value (e.g. table={0,1}) [s]

Connectors

Type	Name	Description
output BooleanOutput	y	Connector of Boolean output signal

Modelica definition

block BooleanTable 
  "Generate a Boolean output signal based on a vector of time instants"

  parameter Boolean startValue = false 
    "Start value of y. At time = table[1], y changes to 'not startValue'";
  parameter Modelica.SIunits.Time table[:] 
    "Vector of time points. At every time point, the output y gets its opposite value (e.g. table={0,1})";
  extends Interfaces.partialBooleanSource;

protected 
  function getFirstIndex "Get first index of table and check table"
    input Real table[:] "Vector of time instants";
    input Modelica.SIunits.Time simulationStartTime "Simulation start time";
    input Boolean startValue "Value of y for y < table[1]";
    output Integer index "First index to be used";
    output Modelica.SIunits.Time nextTime "Time instant of first event";
    output Boolean y "Value of y at simulationStartTime";
  protected 
    Modelica.SIunits.Time t_last;
    Integer j;
    Integer n=size(table,1) "Number of table points";
  algorithm 
    if size(table,1) == 0 then
       index :=0;
       nextTime :=-Modelica.Constants.inf;
       y :=startValue;
    elseif size(table,1) == 1 then
       index :=1;
       if table[1] > simulationStartTime then
          nextTime :=table[1];
          y        :=startValue;
       else
          nextTime :=simulationStartTime;
          y        :=startValue;
       end if;
    else

    // Check whether time values are strict monotonically increasing
      t_last :=table[1];
      for i in 2:n loop
         assert(table[i] > t_last,
           "Time values of table not strict monotonically increasing: table[" +
           String(i-1) + "] = " + String(table[i-1]) + "table[" + String(i)   +
           "] = " + String(table[i]));
      end for;

      // Determine first index in table
      j := 1;
      y := startValue;
      while j < n and table[j] <= simulationStartTime loop
        y :=not  y;
        j := j + 1;
      end while;

      if j == 1 then
         nextTime := table[1];
         y        := startValue;
      elseif j == n and table[n] <= simulationStartTime then
         nextTime := simulationStartTime - 1;
         y        :=not  y;
      else
         nextTime := table[j];
      end if;

      index := j;
    end if;
  end getFirstIndex;

  parameter Integer n = size(table,1) "Number of table points";
  Modelica.SIunits.Time nextTime;
  Integer index "Index of actual table entry";
initial algorithm 
  (index, nextTime, y) :=getFirstIndex(table, time, startValue);
algorithm 
  when time >= pre(nextTime) and n > 0 then
     if index < n then
        index    := index + 1;
        nextTime := table[index];
        y        :=not  y;
     elseif index == n then
        index := index + 1;
        y     :=not  y;
     end if;
  end when;
end BooleanTable;

Modelica.Blocks.Sources.IntegerConstant

Information

The Integer output y is a constant signal:

Extends from Interfaces.IntegerSO (Single Integer Output continuous control block).

Parameters

Type	Name	Default	Description
Integer	k		Constant output value

Connectors

Type	Name	Description
output IntegerOutput	y	Connector of Integer output signal

Modelica definition

block IntegerConstant "Generate constant signal of type Integer"
  parameter Integer k(start=1) "Constant output value";
  extends Interfaces.IntegerSO;

equation 
  y = k;
end IntegerConstant;

Modelica.Blocks.Sources.IntegerStep

Information

The Integer output y is a step signal:

Extends from Interfaces.IntegerSignalSource (Base class for continuous Integer signal source).

Parameters

Type	Name	Default	Description
Integer	height	1	Height of step
Integer	offset	0	Offset of output signal y
Time	startTime	0	Output y = offset for time < startTime [s]

Connectors

Type	Name	Description
output IntegerOutput	y	Connector of Integer output signal

Modelica definition

block IntegerStep "Generate step signal of type Integer"
  parameter Integer height=1 "Height of step";
  extends Interfaces.IntegerSignalSource;
equation 
  y = offset + (if time < startTime then 0 else height);
end IntegerStep;

Modelica.Blocks.Sources.KinematicPTP2.position_der

Inputs

Type	Name	Default	Description
Real	q_qd_qdd[3]		Required values for position, speed, acceleration
Real	dummy		Just to have one input signal that should be differentiated to avoid possible problems in the Modelica tool (is not used)
Real	dummy_der

Outputs

Type	Name	Description
Real	qd

Modelica definition

function position_der
  annotation(derivative=position_der2);
   input Real q_qd_qdd[3] "Required values for position, speed, acceleration";
   input Real dummy 
    "Just to have one input signal that should be differentiated to avoid possible problems in the Modelica tool (is not used)";
   input Real dummy_der;
   output Real qd;
algorithm 
  qd :=q_qd_qdd[2];
end position_der;

Modelica.Blocks.Sources.KinematicPTP2.position_der2

Inputs

Type	Name	Default	Description
Real	q_qd_qdd[3]		Required values for position, speed, acceleration
Real	dummy		Just to have one input signal that should be differentiated to avoid possible problems in the Modelica tool (is not used)
Real	dummy_der
Real	dummy_der2

Outputs

Type	Name	Description
Real	qdd

Modelica definition

function position_der2
   input Real q_qd_qdd[3] "Required values for position, speed, acceleration";
   input Real dummy 
    "Just to have one input signal that should be differentiated to avoid possible problems in the Modelica tool (is not used)";
   input Real dummy_der;
   input Real dummy_der2;
   output Real qdd;
algorithm 
  qdd :=q_qd_qdd[3];
end position_der2;