| 1 | #*--------------------------------------------------------------------- |
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| 2 | * This file is property of the author and cannot be used, copyed |
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| 3 | * or modified without permission. |
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| 4 | * |
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| 5 | * Copyright (C) 2002-2004 the author |
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| 6 | *---------------------------------------------------------------------- |
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| 7 | * Author: Rafael de Pelegrini Soares |
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| 8 | * $Id: sample_pend.mso 1 2006-06-20 17:33:53Z rafael $ |
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| 9 | *---------------------------------------------------------------------- |
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| 10 | * |
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| 11 | * EMSO sample file. |
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| 12 | * |
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| 13 | * FlowSheet with the Model for the index three pendulum |
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| 14 | * in Cartesian coordinates. |
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| 15 | * |
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| 16 | *--------------------------------------------------------------------*# |
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| 17 | |
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| 18 | using "types.mso"; |
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| 19 | |
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| 20 | FlowSheet pend |
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| 21 | PARAMETERS |
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| 22 | g as acceleration (Brief = "Gravity acceleration"); |
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| 23 | L as length (Brief = "Pendulum cable length"); |
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| 24 | |
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| 25 | VARIABLES |
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| 26 | x as length_delta(Brief="Position x"); |
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| 27 | y as length_delta(Brief="Position y"); |
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| 28 | w as velocity(Brief = "Velocity for x"); |
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| 29 | z as velocity(Brief = "Velocity for y"); |
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| 30 | T as Real(Brief = "Tension on cable",Default=10,Unit="1/s^2"); |
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| 31 | |
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| 32 | EQUATIONS |
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| 33 | "Velocity on x" |
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| 34 | diff(x)=w; |
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| 35 | |
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| 36 | "Velocity on y" |
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| 37 | diff(y)=z; |
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| 38 | |
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| 39 | "Tension on x" |
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| 40 | diff(w)=T*x; |
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| 41 | |
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| 42 | "Tension on y" |
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| 43 | diff(z)=T*y-g; |
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| 44 | |
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| 45 | "Position Constraint" |
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| 46 | x^2+y^2=L^2; |
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| 47 | |
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| 48 | SET |
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| 49 | g = 9.8 * "m/s^2"; |
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| 50 | L = 1 * "m"; |
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| 51 | |
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| 52 | INITIAL |
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| 53 | "Initial Position x" |
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| 54 | x = -1 * "m"; |
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| 55 | |
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| 56 | "Initial x Velocity" |
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| 57 | w = 0 * "m/s"; |
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| 58 | |
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| 59 | #"Initial Position y" y = 0 * "m"; |
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| 60 | #"Initial y Velocity" z = 0 * "m/s"; |
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| 61 | |
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| 62 | OPTIONS |
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| 63 | |
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| 64 | time = [0:0.1:30]; |
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| 65 | integration = "index0"; # original, index0 or index1 |
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| 66 | outputLevel = "high"; |
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| 67 | accuracyType = "scalar"; # scalar or vector |
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| 68 | relativeAccuracy = 1e-7; |
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| 69 | absoluteAccuracy = 1e-9; |
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| 70 | indVarAccuracy = 1e-3; |
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| 71 | LASolver = "dense"; # dense or sparse |
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| 72 | DAESolver = "mebdf"; # mebdf, dasslc, dassl, or sundials |
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| 73 | end |
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