WIP

Author: Brad Carman

src/Hydraulic/IsothermalCompressible/components.jl

@@ -10,7 +10,7 @@ Caps a hydraulic port to prevent mass flow in or out.
 # Connectors:
 - `port`: hydraulic port
 """
-@component function Cap(; p_int, name)
+@component function Cap(; name)
 
     vars = @variables p(t), [guess=0]
 
@@ -553,7 +553,7 @@ dm ────►               │  │ area
 @component function DynamicVolume(N, add_inertia = true, reversible = false;
      #   p_int,
         area,
-    #    x_int = 0,
+        x_int = 0,
         x_max,
         x_min = 0,
         x_damp = x_min,
@@ -578,7 +578,7 @@ dm ────►               │  │ area
     #    p_int = p_int
         area = area
 
-    #    x_int = x_int
+        x_int = x_int
         x_max = x_max
         x_min = x_min
         x_damp = x_damp
@@ -594,7 +594,7 @@ dm ────►               │  │ area
         minimum_area = minimum_area
     end
 
-    vars = @variables x(t) vol(t)
+    vars = @variables x(t)=x_int vol(t)=x_int * area
 
     ports = @named begin
         port = HydraulicPort(;)
@@ -621,7 +621,7 @@ dm ────►               │  │ area
     @named moving_volume = VolumeBase(;
     #    x_int = 0,
         area,
-        dead_volume = N == 0 ? area * x_min : 0,
+        dead_volume = N == 0 ? area * x_int : 0,
         Χ1 = N == 0 ? 1 : 0,
         Χ2 = 1) # changed x_int to x_min
 
@@ -641,7 +641,7 @@ dm ────►               │  │ area
     volumes = []
     if N > 0
         Δx = ParentScope(x_max) / N
-       x₀ = ParentScope(x) # x_int
+        x₀ = ParentScope(x_int)
 
         for i in 1:N
             length = ifelse(x₀ > Δx * i,
@@ -729,7 +729,7 @@ See [`Valve`](@ref) for more information.
            connect(valve.port_b, port_b)
            valve.area ~ x * 2π * d]
 
-    ODESystem(eqs, t, vars, pars; name, systems, defaults = [flange.v => 0])
+    ODESystem(eqs, t, vars, pars; name, systems)
 end
 
 """
@@ -790,7 +790,7 @@ See [`SpoolValve`](@ref) for more information.
            connect(vBR.port_b, port_r)
            connect(vSA.flange, vBR.flange, mass.flange, flange)]
 
-    ODESystem(eqs, t, vars, pars; name, systems, defaults = [flange.v => 0])
+    ODESystem(eqs, t, vars, pars; name, systems)
 end
 
 """
@@ -861,17 +861,19 @@ Actuator made of two DynamicVolumes connected in opposite direction with body ma
 - `flange`: mechanical translational port
 """
 @component function Actuator(N, add_inertia = true, reversible = false;
-        total_length,
         area_a,
         area_b,
         perimeter_a = 2 * sqrt(area_a * pi),
         perimeter_b = 2 * sqrt(area_b * pi),
+        length_a_int,
+        length_b_int,
         shape_factor_a = 64,
         shape_factor_b = 64,
         head_factor_a = 1,
         head_factor_b = 1,
         m,
         g,
+        x_int = 0,
         minimum_volume_a = 0,
         minimum_volume_b = 0,
         damping_volume_a = minimum_volume_a,
@@ -888,6 +890,9 @@ Actuator made of two DynamicVolumes connected in opposite direction with body ma
         shape_factor_b = shape_factor_b
         head_factor_a = head_factor_a
         head_factor_b = head_factor_b
+        x_int = x_int
+        length_a_int = length_a_int
+        length_b_int = length_b_int
         minimum_volume_a = minimum_volume_a
         minimum_volume_b = minimum_volume_b
         damping_volume_a = damping_volume_a
@@ -899,16 +904,17 @@ Actuator made of two DynamicVolumes connected in opposite direction with body ma
     end
 
     vars = @variables begin
-        x(t) 
+        x(t) = x_int
         dx(t)
     end
 
-#    total_length = length_a_int + length_b_int # Need parameters to define the total length.
+    total_length = length_a_int + length_b_int
 
     #TODO: include effective_length
     systems = @named begin
         vol_a = DynamicVolume(N, add_inertia, reversible; direction = +1,
             area = area_a,
+            x_int = length_a_int,
             x_max = total_length,
             x_min = minimum_volume_a / area_a,
             x_damp = damping_volume_a / area_a,
@@ -920,6 +926,7 @@ Actuator made of two DynamicVolumes connected in opposite direction with body ma
 
         vol_b = DynamicVolume(N, add_inertia, reversible; direction = -1,
             area = area_b,
+            x_int = length_b_int,
             x_max = total_length,
             x_min = minimum_volume_b / area_b,
             x_damp = damping_volume_b / area_b,
@@ -929,16 +936,16 @@ Actuator made of two DynamicVolumes connected in opposite direction with body ma
             Cd,
             Cd_reverse)
         mass = Mass(; m, g)
-        port_a = HydraulicPort(; )
-        port_b = HydraulicPort(; )
+        port_a = HydraulicPort()
+        port_b = HydraulicPort()
         flange = MechanicalPort()
     end
 
     eqs = [connect(vol_a.port, port_a)
-           connect(vol_b.port, port_b)
-           connect(vol_a.flange, vol_b.flange, mass.flange, flange)
-           D(x) ~ dx
-           dx ~ vol_a.flange.v]
+        connect(vol_b.port, port_b)
+        connect(vol_a.flange, vol_b.flange, mass.flange, flange)
+        D(x) ~ dx
+        dx ~ vol_a.flange.v]
 
-    ODESystem(eqs, t, vars, pars; name, systems, defaults = [flange.v => 0])
+    ODESystem(eqs, t, vars, pars; name, systems)
 end

src/Hydraulic/IsothermalCompressible/sources.jl

@@ -8,11 +8,11 @@ Hydraulic mass flow input source
   - `port`: hydraulic port
   - `dm`: real input 
 """
-@component function MassFlow(; name, p_int)
-    pars = @parameters p_int = p_int
+@component function MassFlow(; name)
+    pars = []
 
     systems = @named begin
-        port = HydraulicPort(; p_int)
+        port = HydraulicPort()
         dm = RealInput()
     end
 

src/Mechanical/Translational/components.jl

@@ -38,16 +38,15 @@ Fixes a flange position (velocity = 0)
 end
 
 """
-    Mass(; name, v_0 = 0.0, m, s = nothing, g = nothing)
+    Mass(; name, m, g = 0)
 
 Sliding mass with inertia
 
 # Parameters:
 
   - `m`: [kg] mass of sliding body
-  - `v_0`: [m/s] Initial value of absolute linear velocity of sliding mass (default 0 m/s)
-  - `s`: [m] initial value of absolute position of sliding mass (optional)
-  - `g`: [m/s²] gravity field acting on the mass, positive value acts in the positive direction (optional)
+  - `g = 0`: [m/s^2] [m/s²] gravity field acting on the mass, positive value acts in the positive direction
+  
 
 # States:
 
@@ -58,36 +57,26 @@ Sliding mass with inertia
 
   - `flange`: 1-dim. translational flange
 """
-@component function Mass(; name, v = 0.0, m, s = nothing, g = nothing)
+@component function Mass(; name, m, g = 0)
     pars = @parameters begin
         m = m
+        g = g
     end
-    @named flange = MechanicalPort(; v = v)
+    @named flange = MechanicalPort()
 
     vars = @variables begin
-        v(t) = v
+        s(t)
+        v(t)
         f(t)
     end
 
-    eqs = [flange.v ~ v
-           flange.f ~ f]
-
-    # gravity option
-    if g !== nothing
-        @parameters g = g
-        push!(pars, g)
-        push!(eqs, D(v) ~ f / m + g)
-    else
-        push!(eqs, D(v) ~ f / m)
-    end
-
-    # position option
-    if s !== nothing
-        @variables s(t) = s
-        push!(vars, s)
+    eqs = [
+        flange.v ~ v
+        flange.f ~ f
 
-        push!(eqs, D(s) ~ v)
-    end
+        D(s) ~ v
+        D(v) ~ f / m + g
+        ]
 
     return compose(ODESystem(eqs, t, vars, pars; name = name),
         flange)
@@ -188,8 +177,8 @@ Linear 1D translational damper
     end
 
     @components begin
-        flange_a = MechanicalPort(; v = 0.0)
-        flange_b = MechanicalPort(; v = 0.0)
+        flange_a = MechanicalPort()
+        flange_b = MechanicalPort()
     end
 
     @equations begin