Merge Modelica Noise with AdvancedNoise

DLR-SR · May 3, 2016 · b5da0ed · b5da0ed
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diff --git a/Modelica_Noise 1.0 Beta.1/Blocks/Examples/NoiseExamples/ActuatorWithNoise.mo b/Modelica_Noise 1.0 Beta.1/Blocks/Examples/NoiseExamples/ActuatorWithNoise.mo
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+within Modelica_Noise.Blocks.Examples.NoiseExamples;
+model ActuatorWithNoise
+  "Demonstrates how to model measurement noise in an actuator"
+extends Modelica.Icons.Example;
+  Utilities.Parts.MotorWithCurrentControl Motor
+    annotation (Placement(transformation(extent={{-86,-10},{-66,10}})));
+  Utilities.Parts.Controller controller
+    annotation (Placement(transformation(extent={{0,60},{20,80}})));
+  Modelica.Blocks.Sources.Step     Speed(startTime=0.5, height=50)
+    annotation (Placement(transformation(extent={{-72,66},{-52,86}})));
+  Modelica.Mechanics.Rotational.Components.Gearbox gearbox(
+    lossTable=[0,0.85,0.8,0.1,0.1],
+    c=1e6,
+    d=1e4,
+    ratio=10,
+    w_rel(fixed=true),
+    b=0.0017453292519943,
+    phi_rel(fixed=true))
+    annotation (Placement(transformation(extent={{-60,-10},{-40,10}})));
+  Modelica.Mechanics.Translational.Components.IdealGearR2T idealGearR2T(ratio=
+        300) annotation (Placement(transformation(extent={{-32,-10},{-12,10}})));
+  Modelica.Mechanics.Translational.Components.Mass mass(m=100)
+    annotation (Placement(transformation(extent={{50,-10},{70,10}})));
+  Modelica.Mechanics.Translational.Sources.ConstantForce constantForce(
+      f_constant=10000) annotation (Placement(transformation(
+        extent={{10,-10},{-10,10}},
+        origin={86,0})));
+  Modelica.Blocks.Nonlinear.SlewRateLimiter slewRateLimiter(Rising=50)
+    annotation (Placement(transformation(extent={{-40,66},{-20,86}})));
+  Modelica.Mechanics.Translational.Components.Mass rodMass(m=3)
+    annotation (Placement(transformation(extent={{-4,-10},{16,10}})));
+  Modelica.Mechanics.Translational.Components.SpringDamper elastoGap(c=1e8, d=
+        1e5,
+    v_rel(fixed=true),
+    s_rel(fixed=true))
+             annotation (Placement(transformation(extent={{22,-10},{42,10}})));
+  inner Noise.GlobalSeed globalSeed(enableNoise=true)
+    annotation (Placement(transformation(extent={{60,60},{80,80}})));
+equation
+  connect(controller.y1, Motor.iq_rms1) annotation (Line(
+      points={{21,70},{30,70},{30,20},{-96,20},{-96,6},{-88,6}},
+      color={0,0,127}));
+  connect(Motor.phi, controller.positionMeasured) annotation (Line(
+      points={{-71,8},{-66,8},{-66,52},{-12,52},{-12,64},{-2,64},{-2,64}},
+      color={0,0,127}));
+  connect(Motor.flange, gearbox.flange_a) annotation (Line(
+      points={{-66,0},{-60,0}}));
+  connect(gearbox.flange_b, idealGearR2T.flangeR) annotation (Line(
+      points={{-40,0},{-32,0}}));
+  connect(constantForce.flange, mass.flange_b) annotation (Line(
+      points={{76,0},{70,0}},
+      color={0,127,0}));
+  connect(Speed.y, slewRateLimiter.u) annotation (Line(
+      points={{-51,76},{-42,76}},
+      color={0,0,127}));
+  connect(slewRateLimiter.y, controller.positionReference) annotation (Line(
+      points={{-19,76},{-2,76}},
+      color={0,0,127}));
+  connect(rodMass.flange_a, idealGearR2T.flangeT) annotation (Line(
+      points={{-4,0},{-12,0}},
+      color={0,127,0}));
+  connect(rodMass.flange_b, elastoGap.flange_a) annotation (Line(
+      points={{16,0},{22,0}},
+      color={0,127,0}));
+  connect(elastoGap.flange_b, mass.flange_a) annotation (Line(
+      points={{42,0},{50,0}},
+      color={0,127,0}));
+  annotation (
+    experiment(StopTime=8, Interval = 0.01, Tolerance=1e-005),
+    Documentation(info="<html>
+<p>
+This example models an actuator with a noisy sensor (which is in the Motor component):
+</p>
+
+<blockquote>
+<p>
+<img src=\"modelica://Modelica_Noise/Resources/Images/Blocks/Examples/NoiseExamples/ActuatorNoiseDiagram.png\"/>
+</p></blockquote>
+
+<p>
+The drive train consists of a synchronous motor with a current controller (= Motor) and a gear box.
+The gearbox drives a rod through a linear translation model. Softly attached to the rod is
+another mass representing the actual actuator (= mass). The actuator is loaded with a constant force.
+</p>
+
+<p>
+The whole drive is steered by a rate limited speed step command through a controller model.
+In the Motor the shaft angle is measured and this measurement signal is modelled by adding
+additive noise to the Motor angle.
+</p>
+
+<p>
+In the following figure, the position of the actuator and the Motor output torque are
+shown with and without noise. The noise is not very strong, such that it has no visible effect
+on the position of the actuator. The effect of the noise can be seen in the Motor torque.
+</p>
+
+<blockquote><p>
+<img src=\"modelica://Modelica_Noise/Resources/Images/Blocks/Examples/NoiseExamples/ActuatorNoise.png\"/>
+</p></blockquote>
+
+<p>
+Note, the noise in all components can be easily switched off by setting parameter
+enableNoise = false in the globalSeed component.
+</p>
+</html>", revisions="<html>
+<p>
+<table border=1 cellspacing=0 cellpadding=2>
+<tr><th>Date</th> <th align=\"left\">Description</th></tr>
+
+<tr><td valign=\"top\"> June 22, 2015 </td>
+    <td valign=\"top\">
+
+<table border=0>
+<tr><td valign=\"top\">
+         <img src=\"modelica://Modelica_Noise/Resources/Images/Blocks/Noise/dlr_logo.png\">
+</td><td valign=\"bottom\">
+         Initial version implemented by
+         A. Kl&ouml;ckner, F. v.d. Linden, D. Zimmer, M. Otter.<br>
+         <a href=\"http://www.dlr.de/rmc/sr/en\">DLR Institute of System Dynamics and Control</a>
+</td></tr></table>
+</td></tr>
+
+</table>
+</p>
+</html>"));
+end ActuatorWithNoise;
diff --git a/Modelica_Noise 1.0 Beta.1/Blocks/Examples/NoiseExamples/AutomaticSeed.mo b/Modelica_Noise 1.0 Beta.1/Blocks/Examples/NoiseExamples/AutomaticSeed.mo
@@ -0,0 +1,105 @@
+within Modelica_Noise.Blocks.Examples.NoiseExamples;
+model AutomaticSeed
+  "Demonstrates noise with startTime and automatic local seed for UniformNoise"
+  import Modelica_Noise;
+   extends Modelica.Icons.Example;
+   parameter Real startTime = 0.5 "Start time of noise";
+   parameter Real y_off = -1.0 "Output of block before startTime";
+
+  inner Modelica_Noise.Blocks.Noise.GlobalSeed globalSeed(useAutomaticSeed=false, enableNoise=true)
+    annotation (Placement(transformation(extent={{60,60},{80,80}})));
+
+  Modelica_Noise.Blocks.Noise.UniformNoise automaticSeed1(
+    samplePeriod=0.01,
+    startTime=startTime,
+    y_off=y_off,
+    y_min=-1, y_max=3)
+    annotation (Placement(transformation(extent={{-60,20},{-40,40}})));
+  Modelica_Noise.Blocks.Noise.UniformNoise automaticSeed2(
+    samplePeriod=0.01,
+    startTime=startTime,
+    y_off=y_off,y_min=-1, y_max=3)
+    annotation (Placement(transformation(extent={{-60,-20},{-40,0}})));
+  Modelica_Noise.Blocks.Noise.UniformNoise automaticSeed3(
+    samplePeriod=0.01,
+    startTime=startTime,
+    y_off=y_off, y_min=-1, y_max=3)
+    annotation (Placement(transformation(extent={{-60,-60},{-40,-40}})));
+  Modelica_Noise.Blocks.Noise.UniformNoise manualSeed1(
+    samplePeriod=0.01,
+    startTime=startTime,
+    y_off=y_off,
+    useAutomaticLocalSeed=false,
+    fixedLocalSeed=1,y_min=-1, y_max=3,
+    enableNoise=true)
+    annotation (Placement(transformation(extent={{0,20},{20,40}})));
+  Modelica_Noise.Blocks.Noise.UniformNoise manualSeed2(
+    samplePeriod=0.01,
+    startTime=startTime,
+    y_off=y_off,
+    useAutomaticLocalSeed=false,
+    fixedLocalSeed=2,y_min=-1, y_max=3)
+    annotation (Placement(transformation(extent={{0,-20},{20,0}})));
+  Modelica_Noise.Blocks.Noise.UniformNoise manualSeed3(
+    samplePeriod=0.01,
+    startTime=startTime,
+    y_off=y_off,
+    useAutomaticLocalSeed=false,y_min=-1, y_max=3,
+    fixedLocalSeed=3)
+    annotation (Placement(transformation(extent={{0,-60},{20,-40}})));
+ annotation (experiment(StopTime=2),    Documentation(info="<html>
+<p>
+This example demonstrates manual and automatic seed selection of
+<a href=\"Modelica_Noise.Blocks.Noise.UniformNoise\">UniformNoise</a> blocks, as well
+as starting the noise at startTime = 0.5 s with an output value of y = -1 before this
+time. All noise blocks in this example generate uniform noise in the
+band y_min=-1 .. y_max=3 with samplePeriod = 0.01 s.
+</p>
+
+<p>
+The blocks automaticSeed1, automaticSeed2, automaticSeed3 use the default
+option to automatically initialize the pseudo random number generators
+of the respective block. As a result, different noise is generated, see next
+diagram:
+</p>
+
+<p><blockquote>
+<img src=\"modelica://Modelica_Noise/Resources/Images/Blocks/Examples/NoiseExamples/AutomaticSeed1.png\">
+</blockquote></p>
+
+<p>
+The blocks manualSeed1, manualSeed2, manualSeed3 use manual selection of the local seed
+(useAutomaticLocalSeed = false). They use a fixedLocalSeed of 1, 2, and 3 respectively.
+Again, different noise is generated, see next diagram:
+</p>
+
+<p><blockquote>
+<img src=\"modelica://Modelica_Noise/Resources/Images/Blocks/Examples/NoiseExamples/AutomaticSeed2.png\">
+</blockquote></p>
+
+<p>
+Try to set fixedLocalSeed = 1 in block manualSeed2. As a result, the blocks manualSeed1 and
+manualSeed2 will produce exactly the same noise.
+</p>
+</html>", revisions="<html>
+<p>
+<table border=1 cellspacing=0 cellpadding=2>
+<tr><th>Date</th> <th align=\"left\">Description</th></tr>
+
+<tr><td valign=\"top\"> June 22, 2015 </td>
+    <td valign=\"top\">
+
+<table border=0>
+<tr><td valign=\"top\">
+         <img src=\"modelica://Modelica_Noise/Resources/Images/Blocks/Noise/dlr_logo.png\">
+</td><td valign=\"bottom\">
+         Initial version implemented by
+         A. Kl&ouml;ckner, F. v.d. Linden, D. Zimmer, M. Otter.<br>
+         <a href=\"http://www.dlr.de/rmc/sr/en\">DLR Institute of System Dynamics and Control</a>
+</td></tr></table>
+</td></tr>
+
+</table>
+</p>
+</html>"));
+end AutomaticSeed;
diff --git a/Modelica_Noise 1.0 Beta.1/Blocks/Examples/NoiseExamples/Densities.mo b/Modelica_Noise 1.0 Beta.1/Blocks/Examples/NoiseExamples/Densities.mo
@@ -0,0 +1,71 @@
+within Modelica_Noise.Blocks.Examples.NoiseExamples;
+model Densities
+  "Demonstrates how to compute distribution densities (= Probability Density Function)"
+  extends Modelica.Icons.Example;
+
+  Utilities.UniformDensity
+                    uniformDensity(u_min=-4, u_max=4)
+    annotation (Placement(transformation(extent={{10,20},{30,40}})));
+  Modelica.Blocks.Sources.Clock clock
+annotation (Placement(transformation(extent={{-80,10},{-60,30}})));
+  Modelica.Blocks.Sources.Constant const(k=-10)
+annotation (Placement(transformation(extent={{-80,-30},{-60,-10}})));
+  Modelica.Blocks.Math.Add add
+annotation (Placement(transformation(extent={{-46,-10},{-26,10}})));
+  Utilities.NormalDensity
+                    normalDensity(mu=0, sigma=2)
+    annotation (Placement(transformation(extent={{10,-10},{30,10}})));
+  Utilities.WeibullDensity
+                    weibullDensity(lambda=3, k=1.5)
+    annotation (Placement(transformation(extent={{10,-40},{30,-20}})));
+equation
+  connect(clock.y, add.u1) annotation (Line(
+  points={{-59,20},{-53.5,20},{-53.5,6},{-48,6}},
+  color={0,0,127}));
+  connect(const.y, add.u2) annotation (Line(
+  points={{-59,-20},{-54,-20},{-54,-6},{-48,-6}},
+  color={0,0,127}));
+  connect(add.y, uniformDensity.u) annotation (Line(
+  points={{-25,0},{-14,0},{-14,30},{8,30}},
+  color={0,0,127}));
+  connect(add.y, normalDensity.u) annotation (Line(
+  points={{-25,0},{8,0}},
+  color={0,0,127}));
+  connect(add.y, weibullDensity.u) annotation (Line(
+  points={{-25,0},{-14,0},{-14,-30},{8,-30}},
+  color={0,0,127}));
+ annotation (experiment(StopTime=20, Interval=2e-2),
+    Documentation(info="<html>
+<p>
+This example demonstrates how to compute the probability density functions (pdfs) of
+various distributions.
+In the following diagram simulations results for the uniform, normal, and Weibull distribution
+are shown. The outputs of the blocks are the pdfs that are plotted over one of the
+inputs:
+</p>
+
+<p><blockquote>
+<img src=\"modelica://Modelica_Noise/Resources/Images/Blocks/Examples/NoiseExamples/Densities.png\">
+</blockquote></p>
+</html>", revisions="<html>
+<p>
+<table border=1 cellspacing=0 cellpadding=2>
+<tr><th>Date</th> <th align=\"left\">Description</th></tr>
+
+<tr><td valign=\"top\"> June 22, 2015 </td>
+    <td valign=\"top\">
+
+<table border=0>
+<tr><td valign=\"top\">
+         <img src=\"modelica://Modelica_Noise/Resources/Images/Blocks/Noise/dlr_logo.png\">
+</td><td valign=\"bottom\">
+         Initial version implemented by
+         A. Kl&ouml;ckner, F. v.d. Linden, D. Zimmer, M. Otter.<br>
+         <a href=\"http://www.dlr.de/rmc/sr/en\">DLR Institute of System Dynamics and Control</a>
+</td></tr></table>
+</td></tr>
+
+</table>
+</p>
+</html>"));
+end Densities;
diff --git a/Modelica_Noise 1.0 Beta.1/Blocks/Examples/NoiseExamples/Distributions.mo b/Modelica_Noise 1.0 Beta.1/Blocks/Examples/NoiseExamples/Distributions.mo
@@ -0,0 +1,62 @@
+within Modelica_Noise.Blocks.Examples.NoiseExamples;
+model Distributions "Demonstrates noise with different types of distributions"
+  extends Modelica.Icons.Example;
+  parameter Modelica.SIunits.Period samplePeriod=0.02
+    "Sample period of all blocks";
+  parameter Real y_min = -1 "Minimum value of band for random values";
+  parameter Real y_max = 3 "Maximum value of band for random values";
+  inner Noise.GlobalSeed globalSeed(useAutomaticSeed=false)
+    annotation (Placement(transformation(extent={{40,60},{60,80}})));
+
+  Integer n=if time < 0.5 then 12 else 2;
+
+  Noise.UniformNoise uniformNoise(
+    useAutomaticLocalSeed=false,
+    fixedLocalSeed=1,
+    samplePeriod=samplePeriod,y_min=y_min, y_max=y_max)
+    annotation (Placement(transformation(extent={{-60,70},{-40,90}})));
+  Noise.TruncatedNormalNoise truncatedNormalNoise(
+    useAutomaticLocalSeed=false,
+    fixedLocalSeed=1,
+    samplePeriod=samplePeriod, y_min=y_min, y_max=y_max)
+    annotation (Placement(transformation(extent={{-60,20},{-40,40}})));
+ annotation (experiment(StopTime=2),    Documentation(info="<html>
+<p>
+This example demonstrates different noise distributions methods that can be selected
+for a Noise block. Both noise blocks use samplePeriod = 0.02 s, y_min=-1, y_max=3, and have
+identical fixedLocalSeed. This means that the same random numbers are drawn for the blocks.
+However, the random numbers are differently transformed according to the selected distributions 
+(uniform and truncated normal distribution), and therefore the blocks have different output values.
+Simulation results are shown in the next diagram:
+</p>
+
+<p><blockquote>
+<img src=\"modelica://Modelica_Noise/Resources/Images/Blocks/Examples/NoiseExamples/Distributions.png\">
+</blockquote></p>
+
+<p>
+As can be seen, uniform noise is distributed evenly between -1 and 3, and
+truncated normal distriution has more values centered around the mean value 1.
+</p>
+</html>", revisions="<html>
+<p>
+<table border=1 cellspacing=0 cellpadding=2>
+<tr><th>Date</th> <th align=\"left\">Description</th></tr>
+
+<tr><td valign=\"top\"> June 22, 2015 </td>
+    <td valign=\"top\">
+
+<table border=0>
+<tr><td valign=\"top\">
+         <img src=\"modelica://Modelica_Noise/Resources/Images/Blocks/Noise/dlr_logo.png\">
+</td><td valign=\"bottom\">
+         Initial version implemented by
+         A. Kl&ouml;ckner, F. v.d. Linden, D. Zimmer, M. Otter.<br>
+         <a href=\"http://www.dlr.de/rmc/sr/en\">DLR Institute of System Dynamics and Control</a>
+</td></tr></table>
+</td></tr>
+
+</table>
+</p>
+</html>"));
+end Distributions;