Redefine models with @component (#153)

* chore(deps): bump MTK to 8.48

* refactor: redefine all components with `@component`

Author: ven-k

Project.toml

@@ -11,7 +11,7 @@ Symbolics = "0c5d862f-8b57-4792-8d23-62f2024744c7"
 
 [compat]
 IfElse = "0.1"
-ModelingToolkit = "8.26"
+ModelingToolkit = "8.48"
 Symbolics = "4.9, 5"
 julia = "1.6"
 

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
@@ -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"))
@@ -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
@@ -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).")

src/Blocks/math.jl

@@ -12,7 +12,7 @@ Output the product of a gain value with the input signal.
   - `input`
   - `output`
 """
-function Gain(k; name)
+@component function Gain(k; name)
     @named siso = SISO()
     @unpack u, y = siso
     pars = @parameters k=k [description = "Gain of Gain $name"]
@@ -36,7 +36,7 @@ Output the product of a gain matrix with the input signal vector.
   - `input`
   - `output`
 """
-function MatrixGain(K::AbstractArray; name)
+@component function MatrixGain(K::AbstractArray; name)
     nout, nin = size(K, 1), size(K, 2)
     @named input = RealInput(; nin = nin)
     @named output = RealOutput(; nout = nout)
@@ -58,7 +58,7 @@ Output the sum of the elements of the input port vector.
   - `input`
   - `output`
 """
-function Sum(n::Int; name)
+@component function Sum(n::Int; name)
     @named input = RealInput(; nin = n)
     @named output = RealOutput()
     eqs = [
@@ -78,7 +78,7 @@ Output difference between reference input (input1) and feedback input (input2).
   - `input2`
   - `output`
 """
-function Feedback(; name)
+@component function Feedback(; name)
     @named input1 = RealInput()
     @named input2 = RealInput()
     @named output = RealOutput()
@@ -104,7 +104,7 @@ Output the sum of the two scalar inputs.
   - `input2`
   - `output`
 """
-function Add(; name, k1 = 1, k2 = 1)
+@component function Add(; name, k1 = 1, k2 = 1)
     @named input1 = RealInput()
     @named input2 = RealInput()
     @named output = RealOutput()
@@ -134,7 +134,7 @@ Output the sum of the three scalar inputs.
   - `input3`
   - `output`
 """
-function Add3(; name, k1 = 1, k2 = 1, k3 = 1)
+@component function Add3(; name, k1 = 1, k2 = 1, k3 = 1)
     @named input1 = RealInput()
     @named input2 = RealInput()
     @named input3 = RealInput()
@@ -159,7 +159,7 @@ Output product of the two inputs.
   - `input2`
   - `output`
 """
-function Product(; name)
+@component function Product(; name)
     @named input1 = RealInput()
     @named input2 = RealInput()
     @named output = RealOutput()
@@ -180,7 +180,7 @@ Output first input divided by second input.
   - `input2`
   - `output`
 """
-function Division(; name)
+@component function Division(; name)
     @named input1 = RealInput()
     @named input2 = RealInput(u_start = 1.0) # denominator can not be zero
     @named output = RealOutput()
@@ -202,7 +202,7 @@ If the given function is not composed of simple core methods (e.g. sin, abs, ...
   - `input`
   - `output`
 """
-function StaticNonLinearity(func; name)
+@component function StaticNonLinearity(func; name)
     @named siso = SISO()
     @unpack u, y = siso
     eqs = [y ~ func(u)]
@@ -218,7 +218,7 @@ Output the absolute value of the input.
 
 See [`StaticNonLinearity`](@ref)
 """
-Abs(; name) = StaticNonLinearity(abs; name)
+@component Abs(; name) = StaticNonLinearity(abs; name)
 
 """
     Sign(;name)
@@ -229,7 +229,7 @@ Output the sign of the input
 
 See [`StaticNonLinearity`](@ref)
 """
-Sign(; name) = StaticNonLinearity(sign; name)
+@component Sign(; name) = StaticNonLinearity(sign; name)
 
 """
     Sqrt(;name)
@@ -240,7 +240,7 @@ Output the square root of the input (input >= 0 required).
 
 See [`StaticNonLinearity`](@ref)
 """
-Sqrt(; name) = StaticNonLinearity(sqrt; name)
+@component Sqrt(; name) = StaticNonLinearity(sqrt; name)
 
 """
     Sin(;name)
@@ -251,7 +251,7 @@ Output the sine of the input.
 
 See [`StaticNonLinearity`](@ref)
 """
-Sin(; name) = StaticNonLinearity(sin; name)
+@component Sin(; name) = StaticNonLinearity(sin; name)
 
 """
     Cos(;name)
@@ -262,7 +262,7 @@ Output the cosine of the input.
 
 See [`StaticNonLinearity`](@ref)
 """
-Cos(; name) = StaticNonLinearity(cos; name)
+@component Cos(; name) = StaticNonLinearity(cos; name)
 
 """
     Tan(;name)
@@ -273,7 +273,7 @@ Output the tangent of the input.
 
 See [`StaticNonLinearity`](@ref)
 """
-Tan(; name) = StaticNonLinearity(tan; name)
+@component Tan(; name) = StaticNonLinearity(tan; name)
 
 """
     Asin(;name)
@@ -284,7 +284,7 @@ Output the arc sine of the input.
 
 See [`StaticNonLinearity`](@ref)
 """
-Asin(; name) = StaticNonLinearity(asin; name)
+@component Asin(; name) = StaticNonLinearity(asin; name)
 
 """
     Acos(;name)
@@ -295,7 +295,7 @@ Output the arc cosine of the input.
 
 See [`StaticNonLinearity`](@ref)
 """
-Acos(; name) = StaticNonLinearity(acos; name)
+@component Acos(; name) = StaticNonLinearity(acos; name)
 
 """
     Atan(;name)
@@ -306,7 +306,7 @@ Output the arc tangent of the input.
 
 See [`StaticNonLinearity`](@ref)
 """
-Atan(; name) = StaticNonLinearity(atan; name)
+@component Atan(; name) = StaticNonLinearity(atan; name)
 
 """
     Atan2(;name)
@@ -319,7 +319,7 @@ Output the arc tangent of the input.
   - `input2`
   - `output`
 """
-function Atan2(; name)
+@component function Atan2(; name)
     @named input1 = RealInput()
     @named input2 = RealInput()
     @named output = RealOutput()
@@ -338,7 +338,7 @@ Output the hyperbolic sine of the input.
 
 See [`StaticNonLinearity`](@ref)
 """
-Sinh(; name) = StaticNonLinearity(sinh; name)
+@component Sinh(; name) = StaticNonLinearity(sinh; name)
 
 """
     Cosh(;name)
@@ -349,7 +349,7 @@ Output the hyperbolic cosine of the input.
 
 See [`StaticNonLinearity`](@ref)
 """
-Cosh(; name) = StaticNonLinearity(cosh; name)
+@component Cosh(; name) = StaticNonLinearity(cosh; name)
 
 """
     Tanh(;name)
@@ -360,7 +360,7 @@ Output the hyperbolic tangent of the input.
 
 See [`StaticNonLinearity`](@ref)
 """
-Tanh(; name) = StaticNonLinearity(tanh; name)
+@component Tanh(; name) = StaticNonLinearity(tanh; name)
 
 """
     Exp(;name)
@@ -371,7 +371,7 @@ Output the exponential (base e) of the input.
 
 See [`StaticNonLinearity`](@ref)
 """
-Exp(; name) = StaticNonLinearity(exp; name)
+@component Exp(; name) = StaticNonLinearity(exp; name)
 
 """
     Log(;name)
@@ -382,7 +382,7 @@ Output the natural (base e) logarithm of the input.
 
 See [`StaticNonLinearity`](@ref)
 """
-Log(; name) = StaticNonLinearity(log; name)
+@component Log(; name) = StaticNonLinearity(log; name)
 
 """
     Log10(;name)
@@ -393,4 +393,4 @@ Output the base 10 logarithm of the input.
 
 See [`StaticNonLinearity`](@ref)
 """
-Log10(; name) = StaticNonLinearity(log10; name)
+@component Log10(; name) = StaticNonLinearity(log10; name)

src/Blocks/nonlinear.jl

@@ -16,7 +16,7 @@ Limit the range of a signal.
   - `input`
   - `output`
 """
-function Limiter(; name, y_max, y_min = y_max > 0 ? -y_max : -Inf)
+@component function Limiter(; name, y_max, y_min = y_max > 0 ? -y_max : -Inf)
     y_max ≥ y_min || throw(ArgumentError("`y_min` must be smaller than `y_max`"))
     @named siso = SISO()
     @unpack u, y = siso
@@ -56,7 +56,7 @@ If the input is within `u_min` ... `u_max`, the output is zero. Outside of this
   - `input`
   - `output`
 """
-function DeadZone(; name, u_max, u_min = -u_max)
+@component function DeadZone(; name, u_max, u_min = -u_max)
     if !ModelingToolkit.isvariable(u_max)
         u_max ≥ u_min || throw(ArgumentError("`u_min` must be smaller than `u_max`"))
     end
@@ -87,7 +87,8 @@ Limits the slew rate of a signal.
   - `input`
   - `output`
 """
-function SlewRateLimiter(; name, rising = 1, falling = -rising, Td = 0.001, y_start = 0.0)
+@component function SlewRateLimiter(; name, rising = 1, falling = -rising, Td = 0.001,
+                                    y_start = 0.0)
     rising ≥ falling || throw(ArgumentError("`rising` must be smaller than `falling`"))
     Td > 0 || throw(ArgumentError("Time constant `Td` must be strictly positive"))
     @named siso = SISO(y_start = y_start)