refactor: Blocks/nonlinear.jl

Author: ven-k

src/Blocks/nonlinear.jl

@@ -2,7 +2,7 @@ _clamp(u, u_min, u_max) = max(min(u, u_max), u_min)
 _dead_zone(u, u_min, u_max) = ifelse(u > u_max, u - u_max, ifelse(u < u_min, u - u_min, 0))
 
 """
-    Limiter(;name, y_max, y_min=y_max > 0 ? -y_max : -Inf)
+    Limiter(;name, y_max, y_min = y_max > 0 ? -y_max : -Inf)
 
 Limit the range of a signal.
 
@@ -30,7 +30,7 @@ Limit the range of a signal.
 end
 
 """
-    DeadZone(; name, u_max, u_min=-u_max)
+    DeadZone(; name, u_max, u_min = -u_max)
 
 The DeadZone block defines a region of zero output.
 If the input is within `u_min` ... `u_max`, the output is zero. Outside of this zone, the output is a linear function of the input with a slope of 1.
@@ -56,50 +56,57 @@ If the input is within `u_min` ... `u_max`, the output is zero. Outside of this
   - `input`
   - `output`
 """
-@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`"))
+@mtkmodel DeadZone begin
+    @parameters begin
+        u_max, [description = "Upper limit of dead zone of DeadZone"]
+        u_min = -u_max, [description = "Lower limit of dead zone of DeadZone"]
+    end
+    begin
+        if !ModelingToolkit.isvariable(u_max)
+            u_max ≥ u_min || throw(ArgumentError("`u_min` must be smaller than `u_max`"))
+        end
+    end
+
+    @extend u, y = siso = SISO()
+
+    @equations begin
+        y ~ _dead_zone(u, u_min, u_max)
     end
-    @named siso = SISO()
-    @unpack u, y = siso
-    pars = @parameters u_max=u_max [
-        description = "Upper limit of dead zone of DeadZone $name",
-    ] u_min=u_min [description = "Lower limit of dead zone of DeadZone $name"]
-    eqs = [
-        y ~ _dead_zone(u, u_min, u_max),
-    ]
-    extend(ODESystem(eqs, t, [], pars; name = name), siso)
 end
 
 """
-    SlewRateLimiter(;name, rising=1, falling=-rising, Td=0.001, y_start=0.0)
+    SlewRateLimiter(; name, y_start, rising = 1.0, falling = -rising, Td = 0.001)
 
 Limits the slew rate of a signal.
+Initial value of state `Y` can be set with `int.y`
 
 # Parameters:
 
   - `rising`: Maximum rising slew rate
   - `falling`: Maximum falling slew rate
   - `Td`: [s] Derivative time constant
+  - `y_start`: Initial value of `y` state of SISO
 
 # Connectors:
 
   - `input`
   - `output`
 """
-@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)
-    @unpack u, y = siso
-    pars = @parameters rising=rising [
-        description = "Maximum rising slew rate of SlewRateLimiter $name",
-    ] falling=falling [description = "Maximum falling slew rate of SlewRateLimiter $name"] Td=Td [
-        description = "Derivative time constant of SlewRateLimiter $name",
-    ]
-    eqs = [
-        D(y) ~ max(min((u - y) / Td, rising), falling),
-    ]
-    extend(ODESystem(eqs, t, [], pars; name = name), siso)
+@mtkmodel SlewRateLimiter begin
+    @parameters begin
+        rising = 1.0, [description = "Maximum rising slew rate of SlewRateLimiter"]
+        falling = -rising, [description = "Derivative time constant of SlewRateLimiter"]
+        Td = 0.001, [description = "Derivative time constant"]
+        y_start
+    end
+    begin
+        getdefault(rising) ≥ getdefault(falling) ||
+            throw(ArgumentError("`rising` must be smaller than `falling`"))
+        getdefault(Td) > 0 ||
+            throw(ArgumentError("Time constant `Td` must be strictly positive"))
+    end
+    @extend u, y = siso = SISO(y_start = y_start)
+    @equations begin
+        D(y) ~ max(min((u - y) / Td, rising), falling)
+    end
 end