1 | #*------------------------------------------------------------------- |
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2 | * EMSO Model Library (EML) Copyright (C) 2004 - 2007 ALSOC. |
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3 | * |
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4 | * This LIBRARY is free software; you can distribute it and/or modify |
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5 | * it under the therms of the ALSOC FREE LICENSE as available at |
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6 | * http://www.enq.ufrgs.br/alsoc. |
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7 | * |
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8 | * EMSO Copyright (C) 2004 - 2007 ALSOC, original code |
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9 | * from http://www.rps.eng.br Copyright (C) 2002-2004. |
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10 | * All rights reserved. |
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11 | * |
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12 | * EMSO is distributed under the therms of the ALSOC LICENSE as |
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13 | * available at http://www.enq.ufrgs.br/alsoc. |
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14 | * |
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15 | *-------------------------------------------------------------------- |
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16 | * FlowSheet with the Model for the index three pendulum |
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17 | * in Cartesian coordinates. |
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18 | *-------------------------------------------------------------------- |
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19 | * Author: Rafael de Pelegrini Soares |
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20 | * $Id: sample_pend.mso 83 2006-12-08 20:29:34Z paula $ |
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21 | *-------------------------------------------------------------------*# |
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22 | |
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23 | using "types.mso"; |
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24 | |
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25 | FlowSheet pend |
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26 | PARAMETERS |
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27 | g as acceleration (Brief = "Gravity acceleration"); |
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28 | L as length (Brief = "Pendulum cable length"); |
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29 | |
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30 | VARIABLES |
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31 | x as length_delta(Brief="Position x"); |
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32 | y as length_delta(Brief="Position y"); |
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33 | w as velocity(Brief = "Velocity for x"); |
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34 | z as velocity(Brief = "Velocity for y"); |
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35 | T as Real(Brief = "Tension on cable",Default=10,Unit="1/s^2"); |
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36 | |
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37 | EQUATIONS |
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38 | "Velocity on x" |
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39 | diff(x)=w; |
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40 | |
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41 | "Velocity on y" |
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42 | diff(y)=z; |
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43 | |
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44 | "Tension on x" |
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45 | diff(w)=T*x; |
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46 | |
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47 | "Tension on y" |
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48 | diff(z)=T*y-g; |
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49 | |
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50 | "Position Constraint" |
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51 | x^2+y^2=L^2; |
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52 | |
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53 | SET |
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54 | g = 9.8 * "m/s^2"; |
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55 | L = 1 * "m"; |
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56 | |
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57 | INITIAL |
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58 | "Initial Position x" |
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59 | x = -1 * "m"; |
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60 | |
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61 | "Initial x Velocity" |
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62 | w = 0 * "m/s"; |
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63 | |
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64 | #"Initial Position y" y = 0 * "m"; |
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65 | #"Initial y Velocity" z = 0 * "m/s"; |
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66 | |
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67 | OPTIONS |
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68 | |
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69 | time = [0:0.1:30]; |
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70 | integration = "index0"; # original, index0 or index1 |
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71 | relativeAccuracy = 1e-8; |
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72 | absoluteAccuracy = 1e-9; |
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73 | indVarAccuracy = 1e-3; |
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74 | LASolver = "dense"; # dense or sparse |
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75 | DAESolver = "dassl"; # mebdf, dasslc, dassl, or sundials |
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76 | end |
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