metadata(components): adds units and descriptions to Rotational components

Author: ven-k

src/Mechanical/Rotational/components.jl

@@ -16,7 +16,7 @@ Flange fixed in housing at a given angle.
         flange = Flange()
     end
     @parameters begin
-        phi0 = 0.0, [description = "Fixed offset angle of flange"]
+        phi0 = 0.0, [description = "Fixed offset angle of flange", unit = u"rad"]
     end
     @equations begin
         flange.phi ~ phi0
@@ -45,7 +45,7 @@ end
 """
 @mtkmodel Inertia begin
     @parameters begin
-        J, [description = "Moment of inertia"]
+        J, [description = "Moment of inertia", unit = u"kg*m^2"]
     end
     @components begin
         flange_a = Flange()
@@ -55,9 +55,9 @@ end
         @symcheck J > 0 || throw(ArgumentError("Expected `J` to be positive"))
     end
     @variables begin
-        phi(t) = 0.0, [description = "Absolute rotation angle"]
-        w(t) = 0.0, [description = "Absolute angular velocity"]
-        a(t) = 0.0, [description = "Absolute angular acceleration"]
+        phi(t) = 0.0, [description = "Absolute rotation angle", unit = u"rad"]
+        w(t) = 0.0, [description = "Absolute angular velocity", unit = u"rad*s^-1"]
+        a(t) = 0.0, [description = "Absolute angular acceleration", rad = u"rad*s^-2"]
     end
     @equations begin
         phi ~ flange_a.phi
@@ -94,8 +94,8 @@ Linear 1D rotational spring
         @symcheck c > 0 || throw(ArgumentError("Expected `c` to be positive"))
     end
     @parameters begin
-        c, [description = "Spring constant"]
-        phi_rel0 = 0.0, [description = "Unstretched spring angle"]
+        c, [description = "Spring constant", unit = u"N*m*rad^-1"]
+        phi_rel0 = 0.0, [description = "Unstretched spring angle", unit = u"rad"]
     end
     @equations begin
         tau ~ c * (phi_rel - phi_rel0)
@@ -129,7 +129,7 @@ Linear 1D rotational damper
         @symcheck d > 0 || throw(ArgumentError("Expected `d` to be positive"))
     end
     @parameters begin
-        d, [description = "Damping constant"]
+        d, [description = "Damping constant", unit = u"N*m*s*rad^-1"]
     end
     @equations begin
         tau ~ d * w_rel
@@ -159,10 +159,10 @@ Linear 1D rotational spring and damper
   - `phi_rel0`: [`rad`] Unstretched spring angle
 """
 @mtkmodel SpringDamper begin
-    @extend phi_rel, w_rel, tau = partial_comp = PartialCompliantWithRelativeStates()
+    @extend phi_rel, w_rel, a_rel, tau = partial_comp = PartialCompliantWithRelativeStates()
     @variables begin
-        tau_c(t), [description = "Spring torque"]
-        tau_d(t), [description = "Damper torque"]
+        tau_c(t), [description = "Spring torque", unit = u"N*m"]
+        tau_d(t), [description = "Damper torque", unit = u"N*m"]
     end
     @parameters begin
         d, [description = "Damping constant"]
@@ -206,8 +206,14 @@ This element characterizes any type of gear box which is fixed in the ground and
         ratio, [description = "Transmission ratio"]
     end
     @variables begin
-        phi_a(t) = 0.0, [description = "Relative angle between shaft a and the support"]
-        phi_b(t) = 0.0, [description = "Relative angle between shaft b and the support"]
+        function phi_a(t)
+            0.0,
+            [description = "Relative angle between shaft a and the support", unit = u"rad"]
+        end
+        function phi_b(t)
+            0.0,
+            [description = "Relative angle between shaft b and the support", unit = u"rad"]
+        end
     end
     @equations begin
         phi_a ~ flange_a.phi - phi_support
@@ -245,14 +251,13 @@ Friction model: "Armstrong, B. and C.C. de Wit, Friction Modeling and Compensati
   - `tau_brk`: [`N⋅m`] Breakaway friction torque
 """
 @mtkmodel RotationalFriction begin
-    @extend w_rel, tau = partial_comp = PartialCompliantWithRelativeStates()
+    @extend phi_rel, w_rel, a_rel, tau = partial_comp = PartialCompliantWithRelativeStates()
     @parameters begin
-        f, [description = "Viscous friction coefficient"]
-        tau_c, [description = "Coulomb friction torque"]
-        w_brk, [description = "Breakaway friction velocity"]
-        tau_brk, [description = "Breakaway friction torque"]
+        f, [description = "Viscous friction coefficient", unit = u"N*m*s/rad"]
+        tau_c, [description = "Coulomb friction torque", unit = u"N*m"]
+        w_brk, [description = "Breakaway friction velocity", unit = u"rad*s^-1"]
+        tau_brk, [description = "Breakaway friction torque", unit = "N*m"]
     end
-
     begin
         str_scale = sqrt(2 * exp(1)) * (tau_brk - tau_c)
         w_st = w_brk * sqrt(2)

src/Mechanical/Rotational/sensors.jl

@@ -72,7 +72,7 @@ Ideal sensor to measure the relative angular velocity
 
   - `flange_a`: [Flange](@ref) Flange of shaft from which sensor information shall be measured
   - `flange_b`: [Flange](@ref) Flange of shaft from which sensor information shall be measured
-  - `w`: [RealOutput](@ref) Absolute angular velocity of flange
+  - `w_rel`: [RealOutput](@ref) Relative angular velocity
 """
 @mtkmodel RelSpeedSensor begin
     @components begin
@@ -81,7 +81,7 @@ Ideal sensor to measure the relative angular velocity
         w_rel = RealOutput()
     end
     @variables begin
-        phi_rel(t) = 0.0
+        phi_rel(t) = 0.0, [description = "Relative rotation angle", units = u"rad"]
     end
     @equations begin
         0 ~ flange_a.tau + flange_b.tau

src/Mechanical/Rotational/sources.jl

@@ -4,7 +4,8 @@
     @variables begin
         phi(t),
         [
-            description = "Angle of flange with respect to support (= flange.phi - support.phi)"
+            description = "Angle of flange with respect to support (= flange.phi - support.phi)",
+            unit = u"rad"
         ]
     end
     @equations begin
@@ -63,14 +64,22 @@ Constant torque source
     @parameters begin
         tau_constant,
         [
-            description = "Constant torque (if negative, torque is acting as load in positive direction of rotation)"
+            description = "Constant torque (if negative, torque is acting as load in positive direction of rotation)",
+            unit = u"N*m",
         ]
     end
     @extend flange, phi = partial_element = PartialTorque(; use_support = false)
     @variables begin
-        tau(t), [description = "Accelerating torque acting at flange (= -flange.tau)"]
+        tau(t),
+        [
+            description = "Accelerating torque acting at flange (= -flange.tau)",
+            unit = u"N*m",
+        ]
         w(t),
-        [description = "Angular velocity of flange with respect to support (= der(phi))"]
+        [
+            description = "Angular velocity of flange with respect to support",
+            unit = u"rad*s^-1",
+        ]
     end
     @equations begin
         w ~ D(phi)
@@ -103,15 +112,24 @@ Forced movement of a flange according to a reference angular velocity signal
     @named partial_element = PartialElementaryOneFlangeAndSupport2(use_support = use_support)
     @unpack flange, phi_support = partial_element
     @named w_ref = RealInput()
-    @variables phi(t)=0.0 w(t)=0.0 a(t)=0.0
+    @variables begin
+        function phi(t)
+            0.0, [description = "Angle of flange with respect to support", unit = u"rad"]
+        end
+        w(t) = 0.0, [description = "Angular velocity", unit = u"rad*s^-1"]
+        a(t) = 0.0, [description = "Angular acceleration", unit = u"rad*s^-2"]
+    end
     eqs = [phi ~ flange.phi - phi_support
            D(phi) ~ w]
     if exact
         pars = []
         push!(eqs, w ~ w_ref.u)
         push!(eqs, a ~ 0)
     else
-        pars = @parameters tau_filt = tau_filt
+        pars = @parameters tau_filt=tau_filt [
+            description = "Time constant of low-pass filter",
+            unit = u"rad*s^-1",
+        ]
         push!(eqs, D(w) ~ a)
         push!(eqs, a ~ (w_ref.u - w) * tau_filt)
     end

src/Mechanical/Rotational/utils.jl

@@ -1,6 +1,6 @@
 @connector Flange begin
-    phi(t), [description = "Rotation angle of flange"]
-    tau(t), [connect = Flow, description = "Cut torque in flange"]
+    phi(t), [description = "Rotation angle of flange", unit = u"rad"]
+    tau(t), [connect = Flow, description = "Cut torque in flange", unit = u"N*m"]
 end
 
 Base.@doc """
@@ -14,8 +14,8 @@ Base.@doc """
 """ Flange
 
 @connector Support begin
-    phi(t), [description = "Rotation angle of flange"]
-    tau(t), [connect = Flow, description = "Cut torque in flange"]
+    phi(t), [description = "Rotation angle of flange", unit = u"rad"]
+    tau(t), [connect = Flow, description = "Cut torque in flange", unit = u"N*m"]
 end
 
 # Base.@doc """
@@ -71,8 +71,10 @@ Partial model for the compliant connection of two rotational 1-dim. shaft flange
         flange_b = Flange()
     end
     @variables begin
-        phi_rel(t) = 0.0, [description = "Relative rotation angle between flanges"]
-        tau(t) = 0.0, [description = "Torque between flanges"]
+        function phi_rel(t)
+            0.0, [description = "Relative rotation angle between flanges", units = u"rad"]
+        end
+        tau(t) = 0.0, [description = "Torque between flanges", u"N*m"]
     end
     @equations begin
         phi_rel ~ flange_b.phi - flange_a.phi
@@ -104,10 +106,21 @@ Partial model for the compliant connection of two rotational 1-dim. shaft flange
         flange_b = Flange()
     end
     @variables begin
-        phi_rel(t) = 0.0, [description = "Relative rotation angle between flanges"]
-        w_rel(t) = 0.0, [description = "Relative angular velocity between flanges"]
-        a_rel(t) = 0.0, [description = "Relative angular acceleration between flanges"]
-        tau(t) = 0.0, [description = "Torque between flanges"]
+        function phi_rel(t)
+            0.0, [description = "Relative rotation angle between flanges", unit = u"rad"]
+        end
+        function w_rel(t)
+            0.0,
+            [description = "Relative angular velocity between flanges", unit = u"rad*s^-1"]
+        end
+        function a_rel(t)
+            0.0,
+            [
+                description = "Relative angular acceleration between flanges",
+                unit = u"rad*s^-2",
+            ]
+        end
+        tau(t) = 0.0, [description = "Torque between flanges", unit = u"N*m"]
     end
     @equations begin
         phi_rel ~ flange_b.phi - flange_a.phi
@@ -138,7 +151,10 @@ Partial model for a component with one rotational 1-dim. shaft flange and a supp
 @component function PartialElementaryOneFlangeAndSupport2(; name, use_support = false)
     @named flange = Flange()
     sys = [flange]
-    @variables phi_support(t)=0.0 [description = "Absolute angle of support flange"]
+    @variables phi_support(t)=0.0 [
+        description = "Absolute angle of support flange",
+        unit = u"rad",
+    ]
     if use_support
         @named support = Support()
         eqs = [support.phi ~ phi_support
@@ -173,7 +189,10 @@ Partial model for a component with two rotational 1-dim. shaft flanges and a sup
     @named flange_a = Flange()
     @named flange_b = Flange()
     sys = [flange_a, flange_b]
-    @variables phi_support(t)=0.0 [description = "Absolute angle of support flange"]
+    @variables phi_support(t)=0.0 [
+        description = "Absolute angle of support flange",
+        unit = u"rad",
+    ]
     if use_support
         @named support = Support()
         eqs = [support.phi ~ phi_support