Merge branch 'main' into fb/msl_translational

Author: baggepinnen

.github/dependabot.yml

@@ -0,0 +1,7 @@
+# https://docs.github.com/github/administering-a-repository/configuration-options-for-dependency-updates
+version: 2
+updates:
+  - package-ecosystem: "github-actions"
+    directory: "/" # Location of package manifests
+    schedule:
+      interval: "weekly"

.github/workflows/CI.yml

@@ -17,11 +17,11 @@ jobs:
           - '1'
           - '1.6'
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
       - uses: julia-actions/setup-julia@v1
         with:
           version: ${{ matrix.version }}
-      - uses: actions/cache@v1
+      - uses: actions/cache@v3
         env:
           cache-name: cache-artifacts
         with:
@@ -34,6 +34,6 @@ jobs:
       - uses: julia-actions/julia-buildpkg@v1
       - uses: julia-actions/julia-runtest@v1
       - uses: julia-actions/julia-processcoverage@v1
-      - uses: codecov/codecov-action@v1
+      - uses: codecov/codecov-action@v3
         with:
           file: lcov.info

.github/workflows/Documentation.yml

@@ -11,7 +11,7 @@ jobs:
   build:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
       - uses: julia-actions/setup-julia@latest
         with:
           version: '1'
@@ -23,6 +23,6 @@ jobs:
           DOCUMENTER_KEY: ${{ secrets.DOCUMENTER_KEY }} # For authentication with SSH deploy key
         run: julia --project=docs/ --code-coverage=user docs/make.jl
       - uses: julia-actions/julia-processcoverage@v1
-      - uses: codecov/codecov-action@v1
+      - uses: codecov/codecov-action@v3
         with:
           file: lcov.info

.github/workflows/FormatCheck.yml

@@ -21,7 +21,7 @@ jobs:
         with:
           version: ${{ matrix.julia-version }}
 
-      - uses: actions/checkout@v1
+      - uses: actions/checkout@v3
       - name: Install JuliaFormatter and format
         # This will use the latest version by default but you can set the version like so:
         #

Project.toml

@@ -1,7 +1,7 @@
 name = "ModelingToolkitStandardLibrary"
 uuid = "16a59e39-deab-5bd0-87e4-056b12336739"
 authors = ["Chris Rackauckas and Julia Computing"]
-version = "1.11.0"
+version = "1.13.0"
 
 [deps]
 IfElse = "615f187c-cbe4-4ef1-ba3b-2fcf58d6d173"
@@ -11,7 +11,7 @@ Symbolics = "0c5d862f-8b57-4792-8d23-62f2024744c7"
 
 [compat]
 IfElse = "0.1"
-ModelingToolkit = "8.26"
+ModelingToolkit = "8.50"
 Symbolics = "4.9, 5"
 julia = "1.6"
 

src/Blocks/Blocks.jl

@@ -16,7 +16,8 @@ export Abs, Sign, Sqrt, Sin, Cos, Tan, Asin, Acos, Atan, Atan2, Sinh, Cosh, Tanh
 export Log, Log10
 include("math.jl")
 
-export Constant, Sine, Cosine, ContinuousClock, Ramp, Step, ExpSine, Square, Triangular
+export Constant, TimeVaryingFunction, Sine, Cosine, ContinuousClock, Ramp, Step, ExpSine,
+       Square, Triangular
 include("sources.jl")
 
 export Limiter, DeadZone, SlewRateLimiter

src/Blocks/continuous.jl

@@ -13,7 +13,7 @@ Outputs `y = ∫k*u dt`, corresponding to the transfer function `1/s`.
   - `k`: Gain of integrator
   - `x_start`: Initial value of integrator
 """
-function Integrator(; name, k = 1, x_start = 0.0)
+@component function Integrator(; name, k = 1, x_start = 0.0)
     @named siso = SISO()
     @unpack u, y = siso
     sts = @variables x(t)=x_start [description = "State of Integrator $name"]
@@ -51,7 +51,7 @@ A smaller `T` leads to a more ideal approximation of the derivative.
   - `input`
   - `output`
 """
-function Derivative(; name, k = 1, T, x_start = 0.0)
+@component function Derivative(; name, k = 1, T, x_start = 0.0)
     T > 0 || throw(ArgumentError("Time constant `T` has to be strictly positive"))
     @named siso = SISO()
     @unpack u, y = siso
@@ -97,7 +97,7 @@ sT + 1 - k
 
 See also [`SecondOrder`](@ref)
 """
-function FirstOrder(; name, k = 1, T, x_start = 0.0, lowpass = true)
+@component function FirstOrder(; name, k = 1, T, x_start = 0.0, lowpass = true)
     T > 0 || throw(ArgumentError("Time constant `T` has to be strictly positive"))
     @named siso = SISO()
     @unpack u, y = siso
@@ -138,7 +138,7 @@ Critical damping corresponds to `d=1`, which yields the fastest step response wi
   - `input`
   - `output`
 """
-function SecondOrder(; name, k = 1, w, d, x_start = 0.0, xd_start = 0.0)
+@component function SecondOrder(; name, k = 1, w, d, x_start = 0.0, xd_start = 0.0)
     @named siso = SISO()
     @unpack u, y = siso
     @variables x(t)=x_start [description = "State of SecondOrder filter $name"]
@@ -170,7 +170,7 @@ Textbook version of a PI-controller without actuator saturation and anti-windup
 
 See also [`LimPI`](@ref)
 """
-function PI(; name, k = 1, T, x_start = 0.0)
+@component function PI(; name, k = 1, T, x_start = 0.0)
     T > 0 || throw(ArgumentError("Time constant `T` has to be strictly positive"))
     @named err_input = RealInput() # control error
     @named ctr_output = RealOutput() # control signal
@@ -209,7 +209,8 @@ Text-book version of a PID-controller without actuator saturation and anti-windu
 
 See also [`LimPID`](@ref)
 """
-function PID(; name, k = 1, Ti = false, Td = false, Nd = 10, xi_start = 0, xd_start = 0)
+@component function PID(; name, k = 1, Ti = false, Td = false, Nd = 10, xi_start = 0,
+                        xd_start = 0)
     with_I = !isequal(Ti, false)
     with_D = !isequal(Td, false)
     @named err_input = RealInput() # control error
@@ -228,7 +229,7 @@ function PID(; name, k = 1, Ti = false, Td = false, Nd = 10, xi_start = 0, xd_st
         @named Izero = Constant(k = 0)
     end
     if with_D
-        @named der = Derivative(k = 1 / Td, T = 1 / Nd, x_start = xd_start)
+        @named der = Derivative(k = Td, T = 1 / Nd, x_start = xd_start)
     else
         @named Dzero = Constant(k = 0)
     end
@@ -280,7 +281,7 @@ Text-book version of a PI-controller with actuator saturation and anti-windup me
   - `err_input`
   - `ctr_output`
 """
-function LimPI(; name, k = 1, T, u_max, u_min = -u_max, Ta, x_start = 0.0)
+@component function LimPI(; name, k = 1, T, u_max, u_min = -u_max, Ta, x_start = 0.0)
     Ta > 0 || throw(ArgumentError("Time constant `Ta` has to be strictly positive"))
     T > 0 || throw(ArgumentError("Time constant `T` has to be strictly positive"))
     u_max ≥ u_min || throw(ArgumentError("u_min must be smaller than u_max"))
@@ -318,7 +319,7 @@ Proportional-Integral-Derivative (PID) controller with output saturation, set-po
 The equation for the control signal is roughly
 
 ```
-k(ep + 1/Ti * ∫e + 1/Td * d/dt(ed))
+k(ep + 1/Ti * ∫e + Td * d/dt(ed))
 e = u_r - u_y
 ep = wp*u_r - u_y
 ed = wd*u_r - u_y
@@ -343,14 +344,14 @@ where the transfer function for the derivative includes additional filtering, se
   - `measurement`
   - `ctr_output`
 """
-function LimPID(; name, k = 1, Ti = false, Td = false, wp = 1, wd = 1,
-                Ni = Ti == 0 ? Inf : √(max(Td / Ti, 1e-6)),
-                Nd = 10,
-                u_max = Inf,
-                u_min = u_max > 0 ? -u_max : -Inf,
-                gains = false,
-                xi_start = 0.0,
-                xd_start = 0.0)
+@component function LimPID(; name, k = 1, Ti = false, Td = false, wp = 1, wd = 1,
+                           Ni = Ti == 0 ? Inf : √(max(Td / Ti, 1e-6)),
+                           Nd = 10,
+                           u_max = Inf,
+                           u_min = u_max > 0 ? -u_max : -Inf,
+                           gains = false,
+                           xi_start = 0.0,
+                           xd_start = 0.0)
     with_I = !isequal(Ti, false)
     with_D = !isequal(Td, false)
     with_AWM = Ni != Inf
@@ -389,7 +390,7 @@ function LimPID(; name, k = 1, Ti = false, Td = false, wp = 1, wd = 1,
         @named Izero = Constant(k = 0)
     end
     if with_D
-        @named der = Derivative(k = 1 / Td, T = 1 / Nd, x_start = xd_start)
+        @named der = Derivative(k = Td, T = 1 / Nd, x_start = xd_start)
         @named addD = Add(k1 = wd, k2 = -1)
     else
         @named Dzero = Constant(k = 0)
@@ -478,8 +479,8 @@ y &= h(x, u)
 
 linearized around the operating point `x₀, u₀`, we have `y0, u0 = h(x₀, u₀), u₀`.
 """
-function StateSpace(; A, B, C, D = nothing, x_start = zeros(size(A, 1)), name,
-                    u0 = zeros(size(B, 2)), y0 = zeros(size(C, 1)))
+@component function StateSpace(; A, B, C, D = nothing, x_start = zeros(size(A, 1)), name,
+                               u0 = zeros(size(B, 2)), y0 = zeros(size(C, 1)))
     nx, nu, ny = size(A, 1), size(B, 2), size(C, 1)
     size(A, 2) == nx || error("`A` has to be a square matrix.")
     size(B, 1) == nx || error("`B` has to be of dimension ($nx x $nu).")