fix test

Author: ValentinKaisermayer

test/Electrical/dc_motor.jl

@@ -41,14 +41,30 @@ using ModelingToolkit, OrdinaryDiffEq, Test
 
     @named model = ODESystem(connections, t, systems=[ground, voltage_step, source, R1, L1, emf, fixed, load, load_step, inertia, friction])
     sys = structural_simplify(model)
-    prob = ODAEProblem(sys, Pair[], (0, 6.0))
-    sol = solve(prob, Rodas4())
 
+    @test_broken prob = ODAEProblem(sys, Pair[], (0, 6.0))
+    @test_skip begin
+        sol = solve(prob, Rodas4())
+        @test sol.retcode == :Success
+        # EMF equations
+        @test -0.5 .* sol[emf.i] == sol[emf.flange.tau]
+        @test sol[emf.v] == 0.5 .* sol[emf.w]
+        # test steady-state values
+        dc_gain = [f/(k^2 + f*R) k/(k^2 + f*R); k/(k^2 + f*R) -R/(k^2+f*R)]
+        idx_t = findfirst(sol.t .> 2.5)
+        @test sol[inertia.w][idx_t] ≈ (dc_gain*[V_step; 0])[2]
+        @test sol[emf.i][idx_t] ≈ (dc_gain*[V_step; 0])[1]
+        idx_t = findfirst(sol.t .> 5.5)
+        @test sol[inertia.w][idx_t] ≈ (dc_gain*[V_step; -tau_L_step])[2]
+        @test sol[emf.i][idx_t] ≈ (dc_gain*[V_step; -tau_L_step])[1]
+    end
+
+    prob = DAEProblem(sys, D.(states(sys)) .=> 0.0, Pair[], (0, 6.0))
+    sol = solve(prob, DFBDF())
     @test sol.retcode == :Success
     # EMF equations
     @test -0.5 .* sol[emf.i] == sol[emf.flange.tau]
     @test sol[emf.v] == 0.5 .* sol[emf.w]
-
     # test steady-state values
     dc_gain = [f/(k^2 + f*R) k/(k^2 + f*R); k/(k^2 + f*R) -R/(k^2+f*R)]
     idx_t = findfirst(sol.t .> 2.5)
@@ -57,7 +73,7 @@ using ModelingToolkit, OrdinaryDiffEq, Test
     idx_t = findfirst(sol.t .> 5.5)
     @test sol[inertia.w][idx_t] ≈ (dc_gain*[V_step; -tau_L_step])[2]
     @test sol[emf.i][idx_t] ≈ (dc_gain*[V_step; -tau_L_step])[1]
-
+    
     # p1 = Plots.plot(sol, vars=[inertia.w], ylabel="Angular Vel. in rad/s", label="")
     # p2 = Plots.plot(sol, vars=[emf.i], ylabel="Current in A", label="")
     # Plots.plot(p1, p2, layout=(2,1))
@@ -100,8 +116,8 @@ end
 
     @named model = ODESystem(connections, t, systems=[ground, voltage_step, source, R1, L1, emf, fixed, load, load_step, inertia, friction, speed_sensor])
     sys = structural_simplify(model)
-    @test_broken prob = ODAEProblem(sys, Pair[], (0, 6.0)) # KeyError: key 17 not found
 
+    @test_broken prob = ODAEProblem(sys, Pair[], (0, 6.0)) # KeyError: key 17 not found
     @test_skip begin
         sol = solve(prob, Rodas4())
 
@@ -122,6 +138,25 @@ end
         # 
         @test sol[inertia.w] == sol[speed_sensor.w]
     end
+
+    prob = DAEProblem(sys, D.(states(sys)) .=> 0.0, Pair[], (0, 6.0))
+    sol = solve(prob, DFBDF())
+
+    @test sol.retcode == :Success
+    # EMF equations
+    @test -0.5 .* sol[emf.i] == sol[emf.flange.tau]
+    @test sol[emf.v] == 0.5 .* sol[emf.w]
+    # test steady-state values
+    dc_gain = [f/(k^2 + f*R) k/(k^2 + f*R); k/(k^2 + f*R) -R/(k^2+f*R)]
+    idx_t = findfirst(sol.t .> 2.5)
+    @test sol[inertia.w][idx_t] ≈ (dc_gain*[V_step; 0])[2]
+    @test sol[emf.i][idx_t] ≈ (dc_gain*[V_step; 0])[1]
+    idx_t = findfirst(sol.t .> 5.5)
+    @test sol[inertia.w][idx_t] ≈ (dc_gain*[V_step; -tau_L_step])[2]
+    @test sol[emf.i][idx_t] ≈ (dc_gain*[V_step; -tau_L_step])[1]
+    # 
+    @test sol[inertia.w] == sol[speed_sensor.w]
+    
 end
 
 @testset "DC-motor with PI controller" begin
@@ -160,17 +195,23 @@ end
 
     @named model = ODESystem(connections, t, systems=[ground, ref, pi_controller, feedback, source, R1, L1, emf, fixed, load, load_step, inertia, friction, speed_sensor, fixed2])
     sys = structural_simplify(model)
-    prob = ODAEProblem(sys, Pair[], (0, 6.0))
-   
+
+    @test_broken prob = ODAEProblem(sys, Pair[], (0, 6.0))
     @test_skip begin
         sol = solve(prob, Rodas4())
-
         @test sol.retcode == :Success
         @test -0.5 .* sol[emf.i] == sol[emf.flange.tau]
         @test sol[emf.v] == 0.5 .* sol[emf.w]
         @test sol[speed_sensor.w_rel.u][end] == 1 # zero control error
     end
 
+    prob = DAEProblem(sys, D.(states(sys)) .=> 0.0, Pair[], (0, 6.0))
+    sol = solve(prob, DFBDF())
+    @test sol.retcode == :Success
+    @test -0.5 .* sol[emf.i] == sol[emf.flange.tau]
+    @test sol[emf.v] == 0.5 .* sol[emf.w]
+    @test sol[speed_sensor.w_rel.u][end] == 1 # zero control error
+
     # p1 = Plots.plot(sol, vars=[inertia.w], ylabel="Angular Vel. in rad/s", label="")
     # p2 = Plots.plot(sol, vars=[emf.i], ylabel="Current in A", label="")
     # Plots.plot(p1, p2, layout=(2,1))