Merge remote-tracking branch 'origin' into hydraulic-macros

Author: matthew-kapp

docs/make.jl

@@ -31,6 +31,7 @@ makedocs(sitename = "ModelingToolkitStandardLibrary.jl",
         ModelingToolkitStandardLibrary.Hydraulic,
         ModelingToolkitStandardLibrary.Hydraulic.IsothermalCompressible],
     clean = true, doctest = false, linkcheck = true,
+    linkcheck_ignore = ["https://www.mathworks.com/help/simscape/ug/basic-principles-of-modeling-physical-networks.html#bq89sba-6"],
     warnonly = [:docs_block, :missing_docs, :cross_references],
     format = Documenter.HTML(assets = ["assets/favicon.ico"],
         canonical = "https://docs.sciml.ai/ModelingToolkitStandardLibrary/stable/"),

src/Electrical/Analog/ideal_components.jl

@@ -392,10 +392,9 @@ R = R_const + pos * R_ref * (1 + alpha * (port.T - T_ref))
 
     @parameters begin
         R_ref = 1.0,
-        [description = "Resistance at temperature T_ref when fully closed (pos=1.0)",
-            unit = "Ω"]
-        T_ref = 300.15, [description = "Reference temperature", unit = "K"]
-        R_const = 1e-3, [description = "Constant resistance between p and n", unit = "Ω"]
+        [description = "Resistance at temperature T_ref when fully closed (pos=1.0) (Ω)"]
+        T_ref = 300.15, [description = "Reference temperature (K)"]
+        R_const = 1e-3, [description = "Constant resistance between p and n (Ω)"]
     end
 
     @components begin
@@ -404,13 +403,12 @@ R = R_const + pos * R_ref * (1 + alpha * (port.T - T_ref))
 
     @variables begin
         pos(t), [description = "Position of the wiper (normally 0-1)"]
-        R(t), [description = "Resistance", unit = "Ω"]
+        R(t), [description = "Resistance (Ω)"]
     end
 
     if T_dep
         @parameters begin
-            alpha = 1e-3,
-            [description = "Temperature coefficient of resistance", unit = "K^-1"]
+            alpha = 1e-3, [description = "Temperature coefficient of resistance (K^-1)"]
         end
         @components begin
             port = HeatPort()

src/Hydraulic/IsothermalCompressible/components.jl

@@ -1,9 +1,12 @@
 
 """
-    Cap(; name)
+    Cap(; p_int, name)
 
 Caps a hydraulic port to prevent mass flow in or out.
 
+# Parameters:
+- `p_int`: [Pa] initial pressure (set by `p_int` argument)
+
 # Connectors:
 - `port`: hydraulic port
 """
@@ -25,10 +28,13 @@ Caps a hydraulic port to prevent mass flow in or out.
 end
 
 """
-    Open(; name)
+    Open(; p_int, name)
 
 Provides an "open" boundary condition for a hydraulic port such that mass flow `dm` is non-zero.  This is opposite from an un-connected hydraulic port or the `Cap` boundary component which sets the mass flow `dm` to zero.  
 
+# Parameters:
+- `p_int`: [Pa] initial pressure (set by `p_int` argument)
+
 # Connectors:
 - `port`: hydraulic port
 """
@@ -224,11 +230,12 @@ end
 @deprecate Pipe Tube
 
 """
-    FlowDivider(; n, name)
+    FlowDivider(;p_int, n, name)
 
 Reduces the flow from `port_a` to `port_b` by `n`.  Useful for modeling parallel tubes efficiently by placing a `FlowDivider` on each end of a tube.
 
 # Parameters:
+- `p_int`: [Pa] initial pressure
 - `n`: divide flow from `port_a` to `port_b` by `n`
 
 # Connectors:
@@ -310,11 +317,14 @@ end
 end
 
 """
-    Valve(reversible = false; Cd, Cd_reverse = Cd, minimum_area = 0, name)
+    Valve(reversible = false; p_a_int, p_b_int, area_int, Cd, Cd_reverse = Cd, minimum_area = 0, name)
 
 Valve with `area` input and discharge coefficient `Cd` defined by https://en.wikipedia.org/wiki/Discharge_coefficient.  The `Cd_reverse` parameter allows for directional flow restriction, making it possible to define a check valve.
 
 # Parameters:
+- `p_a_int`: [Pa] initial pressure for `port_a`
+- `p_b_int`: [Pa] initial pressure for `port_b`
+- `area_int`: [m^2] initial valve opening
 - `Cd`: discharge coefficient flowing from `a → b`
 - `Cd_reverse`: discharge coefficient flowing from `b → a`
 - `minimum_area`: when `reversible = false` applies a forced minimum area
@@ -513,7 +523,7 @@ See also [`FixedVolume`](@ref), [`DynamicVolume`](@ref)
 end
 
 """
-DynamicVolume(N, add_inertia=true, reversible=false; area, x_int = 0, x_max, x_min = 0, x_damp = x_min, direction = +1, perimeter = 2 * sqrt(area * pi), shape_factor = 64, head_factor = 1, Cd = 1e2, Cd_reverse = Cd, name)    
+    DynamicVolume(N, add_inertia=true, reversible=false; area, x_int = 0, x_max, x_min = 0, x_damp = x_min, direction = +1, perimeter = 2 * sqrt(area * pi), shape_factor = 64, head_factor = 1, Cd = 1e2, Cd_reverse = Cd, name)
 
 Volume with moving wall with `flange` connector for converting hydraulic energy to 1D mechanical.  The `direction` argument aligns the mechanical port with the hydraulic port, useful when connecting two dynamic volumes together in oppsing directions to create an actuator.
 
@@ -686,11 +696,14 @@ dm ────►               │  │ area
 end
 
 """
-    SpoolValve(reversible = false; Cd, d, name)
+    SpoolValve(reversible = false; p_a_int, p_b_int, x_int, Cd, d, name)
 
 Spool valve with `x` valve opening input as mechanical flange port and `d` diameter of orifice. See `Valve` for more information.
 
 # Parameters:
+- `p_a_int`: [Pa] initial pressure for `port_a`
+- `p_b_int`: [Pa] initial pressure for `port_b`
+- `x_int`: [m] initial valve opening
 - `d`: [m] orifice diameter
 - `Cd`: discharge coefficient flowing from `a → b`
 
@@ -730,13 +743,18 @@ See [`Valve`](@ref) for more information.
 end
 
 """
-    SpoolValve2Way(reversible = false; m, g, Cd, d, name)
+    SpoolValve2Way(reversible = false; p_s_int, p_a_int, p_b_int, p_r_int, m, g, x_int, Cd, d, name)
 
 2-ways spool valve with 4 ports and spool mass. Fluid flow direction S → A and B → R when `x` is positive and S → B and A → R when `x` is negative. 
 
 # Parameters:
+- `p_s_int`: [Pa] initial pressure for `port_s`
+- `p_a_int`: [Pa] initial pressure for `port_a`
+- `p_b_int`: [Pa] initial pressure for `port_b`
+- `p_r_int`: [Pa] initial pressure for `port_r`
 - `m`: [kg] mass of the  spool
 - `g`: [m/s²] gravity field acting on the spool, positive value acts in the positive direction
+- `x_int`: [m] initial valve opening
 - `d`: [m] orifice diameter
 - `Cd`: discharge coefficient flowing from `s → a` and `b → r`
 
@@ -786,6 +804,8 @@ end
 
 """
     Actuator(N, add_inertia = true, reversible = false;
+        p_a_int,
+        p_b_int,
         area_a,
         area_b,
         perimeter_a = 2 * sqrt(area_a * pi),
@@ -815,6 +835,8 @@ Actuator made of two DynamicVolumes connected in opposite direction with body ma
 
 # Parameters:
 ## volume
+- `p_a_int`: [Pa] initial pressure for `port_a`
+- `p_b_int`: [Pa] initial pressure for `port_b`
 - `area_a`: [m^2] moving wall area of volume `A`
 - `area_b`: [m^2] moving wall area of volume `B`
 - `length_a_int`: [m] initial wall position for `A`

src/Hydraulic/IsothermalCompressible/sources.jl

@@ -1,5 +1,5 @@
 """
-    MassFlow(; name)
+    MassFlow(; name, p_int)
 
 Hydraulic mass flow input source
 

src/Hydraulic/IsothermalCompressible/utils.jl

@@ -4,10 +4,14 @@ regPow(x, a, delta = 0.01) = x * (x * x + delta * delta)^((a - 1) / 2);
 regRoot(x, delta = 0.01) = regPow(x, 0.5, delta)
 
 """
-    HydraulicPort(; name)
+    HydraulicPort(;p_int, name)
 
 Connector port for hydraulic components.
 
+# Arguments:
+
+- `p_int`: [Pa] initial gauge pressure
+
 # States:
 - `p`: [Pa] gauge total pressure
 - `dm`: [kg/s] mass flow