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handle units for analysis points #297

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handle units for analysis points #297

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5d3b295
handle units for analysis points
baggepinnen May 27, 2024
35d485e
add test
baggepinnen May 27, 2024
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4 changes: 4 additions & 0 deletions src/Blocks/analysis_points.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,10 @@
h3 ⊻ (0xd29cdc51aa6562d4 % UInt)
end

function ModelingToolkit.get_unit(ap::AnalysisPoint)
ModelingToolkit.unitless

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end

function ap_var(sys)
if hasproperty(sys, :u)
# collect to turn symbolic arrays into arrays of symbols
Expand Down Expand Up @@ -436,7 +440,7 @@
sys = expand_connections(sys, find, replace)

permutation_u = _check_and_sort!(input_name, aps_u, namespace_u, multiplicities_u)
un = ModelingToolkit.renamespace.(namespace_u, u)

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if output_name isa SymOrVec
permutation_y = _check_and_sort!(output_name, aps_y, namespace_y, multiplicities_y)
yn = ModelingToolkit.renamespace.(namespace_y, y) # permutation applied in _check_and_sort
Expand All @@ -450,7 +454,7 @@
for f in [:get_sensitivity, :get_comp_sensitivity, :get_looptransfer, :open_loop]
@eval function $f(sys, ap::AnalysisPoint, args...; kwargs...)
$f(sys, nameof(ap), args...; kwargs...)
end

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end

function ModelingToolkit.linearize(sys, input::AnalysisPoint, output::AnalysisPoint;
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24 changes: 24 additions & 0 deletions test/Blocks/test_analysis_points.jl
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Expand Up @@ -374,3 +374,27 @@ L = CS.ss(matrices...) |> sminreal
matrices, _ = linearize(sys_outer, [:inner_plant_input], [:inner_plant_output])
G = CS.ss(matrices...) |> sminreal
@test tf(G) ≈ tf(CS.feedback(Ps, Cs))

## unit test
@mtkmodel SingleIntegrator begin
@parameters begin
to_mps = 1, [unit = u"m/s"]
end
@variables begin
(x(t) = 0), [unit = u"m", description = "Position"]
control(t), [unit = u"m/s", description = "Control Velocity"]
end
@components begin
uIn = RealInput()
c1 = Blocks.Constant(k = 1)
end
@equations begin
control ~ (uIn.u) * to_mps
D(x) ~ control
connect(c1.output, :test_point, uIn)
end
end
@mtkbuild single_integrator = SingleIntegrator()
prob = ODEProblem(single_integrator, [], (0, 10))
sol = solve(prob, Tsit5())
@test sol(10)[] ≈ 10
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