Merge pull request #1933 from ibpsa/issue1926_actuatorTravel

Issue1926 actuator travel

IBPSA/Examples/SimpleHouse.mo

@@ -87,7 +87,7 @@ model SimpleHouse
 
   Fluid.Movers.FlowControlled_m_flow pum(
     redeclare package Medium = MediumWater,
-    use_inputFilter=false,
+    use_riseTime=false,
     m_flow_nominal=mWat_flow_nominal,
     energyDynamics=Modelica.Fluid.Types.Dynamics.SteadyState,
     allowFlowReversal=allowFlowReversal,
@@ -109,7 +109,7 @@ model SimpleHouse
   Fluid.Movers.FlowControlled_dp fan(
     redeclare package Medium = MediumAir,
     dp_nominal=dpAir_nominal,
-    use_inputFilter=false,
+    use_riseTime=false,
     energyDynamics=Modelica.Fluid.Types.Dynamics.SteadyState,
     nominalValuesDefineDefaultPressureCurve=true,
     m_flow_nominal=mAir_flow_nominal,

IBPSA/Examples/Tutorial/SimpleHouse/SimpleHouse4.mo

@@ -31,7 +31,7 @@ model SimpleHouse4 "Heating model"
 
   Fluid.Movers.Preconfigured.FlowControlled_m_flow pum(
     redeclare package Medium = MediumWater,
-    use_inputFilter=false,
+    use_riseTime=false,
     m_flow_nominal=mWat_flow_nominal,
     energyDynamics=Modelica.Fluid.Types.Dynamics.SteadyState,
     allowFlowReversal=false) "Pump"

IBPSA/Examples/Tutorial/SimpleHouse/SimpleHouse6.mo

@@ -19,12 +19,10 @@ model SimpleHouse6 "Free cooling model"
     redeclare package Medium = MediumAir,
     show_T=true,
     dp_nominal=dpAir_nominal,
-    use_inputFilter=false,
+    use_riseTime=false,
     energyDynamics=Modelica.Fluid.Types.Dynamics.SteadyState,
-    m_flow_nominal=mAir_flow_nominal)
-    "Constant head fan" annotation (Placement(transformation(
-        extent={{-10,10},{10,-10}},
-        origin={0,130})));
+    m_flow_nominal=mAir_flow_nominal) "Constant head fan" annotation (Placement(
+        transformation(extent={{-10,10},{10,-10}}, origin={0,130})));
 
   IBPSA.Fluid.HeatExchangers.ConstantEffectiveness hexRec(
     redeclare package Medium1 = MediumAir,

IBPSA/Fluid/Actuators/BaseClasses/ActuatorSignal.mo

@@ -2,22 +2,23 @@ within IBPSA.Fluid.Actuators.BaseClasses;
 model ActuatorSignal
   "Partial model that implements the filtered opening for valves and dampers"
 
-  constant Integer order(min=1) = 2 "Order of filter";
+  parameter Boolean use_strokeTime=true
+    "Set to true to continuously open and close valve using strokeTime"
+    annotation(Dialog(tab="Dynamics", group="Actuator position"));
 
-  parameter Boolean use_inputFilter=true
-    "= true, if opening is filtered with a 2nd order CriticalDamping filter"
-    annotation(Dialog(tab="Dynamics", group="Filtered opening"));
-  parameter Modelica.Units.SI.Time riseTime=120
-    "Rise time of the filter (time to reach 99.6 % of an opening step)"
+  parameter Modelica.Units.SI.Time strokeTime=120
+    "Time needed to fully open or close actuator"
     annotation (Dialog(
       tab="Dynamics",
-      group="Filtered opening",
-      enable=use_inputFilter));
+      group="Actuator position",
+      enable=use_strokeTime));
   parameter Modelica.Blocks.Types.Init init=Modelica.Blocks.Types.Init.InitialOutput
     "Type of initialization (no init/steady state/initial state/initial output)"
-    annotation(Dialog(tab="Dynamics", group="Filtered opening",enable=use_inputFilter));
+    annotation(Dialog(tab="Dynamics", group="Actuator position",
+                      enable=use_strokeTime));
   parameter Real y_start=1 "Initial position of actuator"
-    annotation(Dialog(tab="Dynamics", group="Filtered opening",enable=use_inputFilter));
+    annotation(Dialog(tab="Dynamics", group="Actuator position",
+                      enable=use_strokeTime));
 
   Modelica.Blocks.Interfaces.RealInput y(min=0, max=1)
     "Actuator position (0: closed, 1: open)"
@@ -33,37 +34,36 @@ model ActuatorSignal
     annotation (Placement(transformation(extent={{40,60},{60,80}})));
 
   // Classes used to implement the filtered opening
-protected
-  final parameter Modelica.Units.SI.Frequency fCut=5/(2*Modelica.Constants.pi*
-      riseTime) "Cut-off frequency of filter";
 
+protected
   parameter Boolean casePreInd = false
     "In case of PressureIndependent the model I/O is modified"
     annotation(Evaluate=true);
   Modelica.Blocks.Interfaces.RealOutput y_internal(unit="1")
     "Output connector for internal use (= y_actual if not casePreInd)";
-  Modelica.Blocks.Interfaces.RealOutput y_filtered if use_inputFilter
+  Modelica.Blocks.Interfaces.RealOutput y_filtered if use_strokeTime
     "Filtered valve position in the range 0..1"
     annotation (Placement(transformation(extent={{40,78},{60,98}}),
         iconTransformation(extent={{60,50},{80,70}})));
 
-  IBPSA.Fluid.BaseClasses.ActuatorFilter filter(
-    final n=order,
-    final f=fCut,
-    final normalized=true,
-    final initType=init,
-    final y_start=y_start) if use_inputFilter
-    "Second order filter to approximate actuator opening time, and to improve numerics"
-    annotation (Placement(transformation(extent={{6,81},{20,95}})));
-
+  Modelica.Blocks.Nonlinear.SlewRateLimiter actPos(
+    Rising=1/strokeTime,
+    Falling=-1/strokeTime,
+    Td=0.001*strokeTime,
+    initType=init,
+    y_start=y_start,
+    strict=true) if use_strokeTime "Actuator position"
+    annotation (Placement(transformation(extent={{14,82},{26,94}})));
 equation
-  connect(filter.y, y_filtered)
-    annotation (Line(points={{20.7,88},{50,88}}, color={0,0,127}));
-  if use_inputFilter then
-    connect(y, filter.u) annotation (Line(points={{1.11022e-15,120},{1.11022e-15,
-            88},{4.6,88}}, color={0,0,127}));
-    connect(filter.y, y_internal) annotation (Line(points={{20.7,88},{30,88},{30,
-            70},{50,70}}, color={0,0,127}));
+  connect(actPos.y, y_filtered)
+    annotation (Line(points={{26.6,88},{50,88}},
+                    color={0,0,127}));
+
+  if use_strokeTime then
+  connect(actPos.u, y)
+    annotation (Line(points={{12.8,88},{0,88},{0,120}}, color={0,0,127}));
+
+    connect(y_filtered, y_internal);
   else
     connect(y, y_internal) annotation (Line(
       points={{1.11022e-15,120},{0,120},{0,70},{50,70}},
@@ -72,26 +72,27 @@ equation
   if not casePreInd then
     connect(y_internal, y_actual);
   end if;
+
   annotation (Icon(coordinateSystem(preserveAspectRatio=false, extent={{-100,
             -100},{100,100}}), graphics={
         Line(
           points={{0,48},{0,108}}),
         Line(
           points={{0,70},{40,70}}),
         Rectangle(
-          visible=use_inputFilter,
+          visible=use_strokeTime,
           extent={{-32,40},{34,100}},
           lineColor={0,0,0},
           fillColor={135,135,135},
           fillPattern=FillPattern.Solid),
         Ellipse(
-          visible=use_inputFilter,
+          visible=use_strokeTime,
           extent={{-32,100},{34,40}},
           lineColor={0,0,0},
           fillColor={135,135,135},
           fillPattern=FillPattern.Solid),
         Text(
-          visible=use_inputFilter,
+          visible=use_strokeTime,
           extent={{-20,94},{22,48}},
           textColor={0,0,0},
           fillColor={135,135,135},
@@ -119,6 +120,12 @@ for a description of the filter.
 </html>", revisions="<html>
 <ul>
 <li>
+August 26, 2024, by Michael Wetter:<br/>
+Implemented linear actuator travel dynamics.<br/>
+This is for <a href=\"https://github.com/lbl-srg/modelica-buildings/issues/3965\">Buildings, #3965</a> and
+for <a href=\"https://github.com/ibpsa/modelica-ibpsa/issues/1926\">IBPSA, #1926</a>.
+</li>
+<li>
 June 10, 2021, by Michael Wetter:<br/>
 Changed implementation of the filter and changed the parameter <code>order</code> to a constant
 as most users need not change this value.<br/>

IBPSA/Fluid/Actuators/BaseClasses/PartialThreeWayValve.mo

@@ -1,36 +1,33 @@
 within IBPSA.Fluid.Actuators.BaseClasses;
 partial model PartialThreeWayValve "Partial three way valve"
   extends IBPSA.Fluid.BaseClasses.PartialThreeWayResistance(
-    m_flow_small = m_flow_nominal*1e-4,
-    final mDyn_flow_nominal = m_flow_nominal,
-      redeclare replaceable
-      IBPSA.Fluid.Actuators.BaseClasses.PartialTwoWayValve res1
-        constrainedby IBPSA.Fluid.Actuators.BaseClasses.PartialTwoWayValve(
-          deltaM=deltaM,
-          from_dp=from_dp,
-          final linearized=linearized[1],
-          final homotopyInitialization=homotopyInitialization,
-          final CvData=IBPSA.Fluid.Types.CvTypes.OpPoint,
-          final m_flow_nominal=m_flow_nominal,
-          final dpValve_nominal=dpValve_nominal,
-          final dpFixed_nominal=dpFixed_nominal[1],
-          final use_inputFilter=false,
-          final riseTime=riseTime),
-      redeclare FixedResistances.LosslessPipe res2(
-        m_flow_nominal=m_flow_nominal),
-      redeclare replaceable
-      IBPSA.Fluid.Actuators.BaseClasses.PartialTwoWayValve res3
-        constrainedby IBPSA.Fluid.Actuators.BaseClasses.PartialTwoWayValve(
-          deltaM=deltaM,
-          from_dp=from_dp,
-          final linearized=linearized[2],
-          final homotopyInitialization=homotopyInitialization,
-          final CvData=IBPSA.Fluid.Types.CvTypes.OpPoint,
-          final m_flow_nominal=m_flow_nominal,
-          final dpValve_nominal=dpValve_nominal/fraK^2,
-          final dpFixed_nominal=dpFixed_nominal[2],
-          final use_inputFilter=false,
-          final riseTime=riseTime));
+    m_flow_small=m_flow_nominal*1e-4,
+    final mDyn_flow_nominal=m_flow_nominal,
+    redeclare replaceable IBPSA.Fluid.Actuators.BaseClasses.PartialTwoWayValve res1
+      constrainedby IBPSA.Fluid.Actuators.BaseClasses.PartialTwoWayValve(
+        deltaM=deltaM,
+        from_dp=from_dp,
+        final linearized=linearized[1],
+        final homotopyInitialization=homotopyInitialization,
+        final CvData=IBPSA.Fluid.Types.CvTypes.OpPoint,
+        final m_flow_nominal=m_flow_nominal,
+        final dpValve_nominal=dpValve_nominal,
+        final dpFixed_nominal=dpFixed_nominal[1],
+        final use_strokeTime=false,
+        final strokeTime=strokeTime),
+    redeclare FixedResistances.LosslessPipe res2(m_flow_nominal=m_flow_nominal),
+    redeclare replaceable IBPSA.Fluid.Actuators.BaseClasses.PartialTwoWayValve res3
+      constrainedby IBPSA.Fluid.Actuators.BaseClasses.PartialTwoWayValve(
+        deltaM=deltaM,
+        from_dp=from_dp,
+        final linearized=linearized[2],
+        final homotopyInitialization=homotopyInitialization,
+        final CvData=IBPSA.Fluid.Types.CvTypes.OpPoint,
+        final m_flow_nominal=m_flow_nominal,
+        final dpValve_nominal=dpValve_nominal/fraK^2,
+        final dpFixed_nominal=dpFixed_nominal[2],
+        final use_strokeTime=false,
+        final strokeTime=strokeTime));
     extends IBPSA.Fluid.Actuators.BaseClasses.ActuatorSignal;
     extends IBPSA.Fluid.Actuators.BaseClasses.ValveParameters(
       rhoStd=Medium.density_pTX(101325, 273.15+4, Medium.X_default));
@@ -115,12 +112,12 @@ equation
           fillColor=DynamicSelect({0,0,0}, (1-y)*{255,255,255}),
           fillPattern=FillPattern.Solid),
     Line(
-      visible=use_inputFilter,
+      visible=use_strokeTime,
       points={{-30,40},{30,40}}),
             Line(
       points={{0,40},{0,0}}),
     Line(
-      visible=not use_inputFilter,
+      visible=not use_strokeTime,
       points={{0,100},{0,40}})}),
     Documentation(info="<html>
 <p>

IBPSA/Fluid/Actuators/BaseClasses/PartialTwoWayValve.mo

@@ -47,12 +47,12 @@ initial equation
       fillColor={255,255,255},
       fillPattern=FillPattern.Solid),
     Line(
-      visible=use_inputFilter,
+      visible=use_strokeTime,
       points={{-30,40},{30,40}}),
     Line(
       points={{0,40},{0,0}}),
     Line(
-      visible=not use_inputFilter,
+      visible=not use_strokeTime,
       points={{0,100},{0,40}})}),
 Documentation(info="<html>
 <p>

IBPSA/Fluid/Actuators/Dampers/Examples/Damper.mo

@@ -6,7 +6,7 @@ model Damper
 
   IBPSA.Fluid.Actuators.Dampers.Exponential res(
     redeclare package Medium = Medium,
-    use_inputFilter=false,
+    use_strokeTime=false,
     dpDamper_nominal=10,
     m_flow_nominal=1,
     k1=0.45) "A damper with quadratic relationship between m_flow and dp"
@@ -33,7 +33,7 @@ model Damper
         transformation(extent={{94,-10},{74,10}})));
 
   IBPSA.Fluid.Actuators.Dampers.PressureIndependent preIndDpFixed_nominal(
-    use_inputFilter=false,
+    use_strokeTime=false,
     redeclare package Medium = Medium,
     m_flow_nominal=1,
     dpFixed_nominal=5,
@@ -42,7 +42,7 @@ model Damper
     annotation (Placement(transformation(extent={{0,-90},{20,-70}})));
 
   IBPSA.Fluid.Actuators.Dampers.PressureIndependent preIndFrom_dp(
-    use_inputFilter=false,
+    use_strokeTime=false,
     redeclare package Medium = Medium,
     m_flow_nominal=1,
     dpFixed_nominal=0,
@@ -55,7 +55,7 @@ model Damper
     redeclare package Medium = Medium,
     m_flow_nominal=1,
     dpDamper_nominal=10,
-    use_inputFilter=false)
+    use_strokeTime=false)
     "A damper with a mass flow proportional to the input signal"
     annotation (Placement(transformation(extent={{0,-10},{20,10}})));
 

IBPSA/Fluid/Actuators/Dampers/MixingBox.mo

@@ -121,7 +121,7 @@ model MixingBox "Outside air mixing box with interlocked air dampers"
     final k1=k1,
     final use_constant_density=use_constant_density,
     final allowFlowReversal=allowFlowReversal,
-    final use_inputFilter=false)
+    final use_strokeTime=false)
     "Outdoor air damper"
     annotation (Placement(transformation(extent={{-40,20},{-20,40}})));
   IBPSA.Fluid.Actuators.Dampers.Exponential damExh(
@@ -143,7 +143,7 @@ model MixingBox "Outside air mixing box with interlocked air dampers"
     final k1=k1,
     final use_constant_density=use_constant_density,
     final allowFlowReversal=allowFlowReversal,
-    final use_inputFilter=false)
+    final use_strokeTime=false)
     "Exhaust air damper"
     annotation (Placement(transformation(extent={{-20,-70},{-40,-50}})));
   IBPSA.Fluid.Actuators.Dampers.Exponential damRec(
@@ -165,7 +165,7 @@ model MixingBox "Outside air mixing box with interlocked air dampers"
     final k1=k1,
     final use_constant_density=use_constant_density,
     final allowFlowReversal=allowFlowReversal,
-    final use_inputFilter=false)
+    final use_strokeTime=false)
     "Recirculation air damper"
     annotation (
       Placement(transformation(

IBPSA/Fluid/Actuators/Dampers/Validation/PressureIndependent.mo

@@ -10,7 +10,7 @@ model PressureIndependent
     "Damper nominal mass flow rate";
   IBPSA.Fluid.Actuators.Dampers.Exponential damExp(
     redeclare final package Medium = Medium,
-    use_inputFilter=false,
+    use_strokeTime=false,
     final dpDamper_nominal=dp_nominal,
     final m_flow_nominal=m_flow_nominal)
     "Damper with exponential opening characteristics"
@@ -36,12 +36,12 @@ model PressureIndependent
     redeclare final package Medium = Medium,
     final m_flow_nominal=m_flow_nominal,
     final dpDamper_nominal=dp_nominal,
-    use_inputFilter=false)
+    use_strokeTime=false)
     "Pressure independent damper"
     annotation (Placement(transformation(extent={{0,-10},{20,10}})));
   Exponential damExpPI(
     redeclare final package Medium = Medium,
-    use_inputFilter=false,
+    use_strokeTime=false,
     final dpDamper_nominal=dp_nominal,
     final m_flow_nominal=m_flow_nominal)
     "Damper with exponential opening characteristics"

IBPSA/Fluid/Actuators/Motors/IdealMotor.mo

@@ -84,7 +84,7 @@ The output <code>y</code> is bounded between <code>0</code> and <code>1</code>.
 <p>
 <b>Note:</b> This model can introduce state events which increase the computation time.
 For a more efficient implementation that approximates a motor, set in
-the valve or damper model the parameter <code>use_inputFilter=true</code>
+the valve or damper model the parameter <code>use_strokeTime=true</code>
 instead of using this motor model.
 See also
 <a href=\"modelica://IBPSA.Fluid.Actuators.UsersGuide\">

IBPSA/Fluid/Actuators/Valves/Examples/ThreeWayValves.mo

@@ -8,7 +8,7 @@ model ThreeWayValves "Three way valves with different opening characteristics"
     redeclare package Medium = Medium,
     l={0.05,0.05},
     m_flow_nominal=2,
-    use_inputFilter=false,
+    use_strokeTime=false,
     dpValve_nominal=6000,
     energyDynamics=Modelica.Fluid.Types.Dynamics.FixedInitial)
     "Valve model, linear opening characteristics"
@@ -39,7 +39,7 @@ model ThreeWayValves "Three way valves with different opening characteristics"
     redeclare package Medium = Medium,
     R=10,
     m_flow_nominal=2,
-    use_inputFilter=false,
+    use_strokeTime=false,
     dpValve_nominal=6000,
     energyDynamics=Modelica.Fluid.Types.Dynamics.FixedInitial)
     annotation (Placement(transformation(extent={{0,-10},{20,10}})));
@@ -53,7 +53,7 @@ model ThreeWayValves "Three way valves with different opening characteristics"
   IBPSA.Fluid.Actuators.Valves.ThreeWayTable valTab(
     redeclare package Medium = Medium,
     m_flow_nominal=2,
-    use_inputFilter=false,
+    use_strokeTime=false,
     dpValve_nominal=6000,
     energyDynamics=Modelica.Fluid.Types.Dynamics.FixedInitial,
     flowCharacteristics1=IBPSA.Fluid.Actuators.Valves.Data.Linear(),