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test: lossy gear #241

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31 changes: 31 additions & 0 deletions test/Mechanical/rotational.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -228,6 +228,37 @@ end
# Plots.scatter(sol[friction.w], sol[friction.tau], label="")
end

@testset "lossy gear" begin
@mtkmodel LossyGear begin
@components begin
drive = Blocks.Sine(frequency=1, amplitude=10)
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RN, this throws error. Splitting it to using Blocks: Sine and then drive = Sine(frequency=1, amplitude=10) should work now.

load = Ramp(duration=2, height=5, offset=-10)
torque1 = Torque(use_support=true)
torque2 = Torque(use_support=true)
inertia1 = Inertia(J=1)
inertia2 = Inertia(J=1.5)
gear = IdealGear(ratio=2, use_support=true)
fixed = Fixed()
end
@equations begin
connect(drive.output, torque1.tau)
connect(torque1.flange, inertia1.flange_a)
connect(inertia1.flange_b, gear.flange_a)
connect(gear.flange_b, inertia2.flange_a)
connect(inertia2.flange_b, torque2.flange)
connect(torque2.tau, load.output)
connect(torque1.support, fixed.flange)
connect(gear.support, fixed.flange)
connect(torque2.support, fixed.flange)
end
end
@mtkbuild model = LossyGear()
tspan = (0.0, 10.0)
prob = ODEProblem(model, ModelingToolkit.missing_variable_defaults(model), tspan)
sol = solve(prob, Rosenbrock23());
@test ModelingToolkit.SciMLBase.successful_retcode(sol)
end

@testset "sensors" begin
@named fixed = Fixed()
@named inertia1 = Inertia(J = 2) # this one is fixed
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