Modelica.UsersGuide.ReleaseNotes Modelica.UsersGuide.ReleaseNotes



This section summarizes the changes that have been performed on the Modelica standard library. Furthermore, it is explained here how the versions are managed with the subversion management systems. This is especially important for maintenance (bug-fix) releases where the main version number is not changed.

Package Content

NameDescription
Modelica.UsersGuide.ReleaseNotes.VersionManagement VersionManagement Version Management
Modelica.UsersGuide.ReleaseNotes.Version_3_1 Version_3_1 Version 3.1 (August 14, 2009)
Modelica.UsersGuide.ReleaseNotes.Version_3_0_1 Version_3_0_1 Version 3.0.1 (Jan.27, 2009)
Modelica.UsersGuide.ReleaseNotes.Version_3_0 Version_3_0 Version 3.0 (Feb., 2008)
Modelica.UsersGuide.ReleaseNotes.Version_2_2_2 Version_2_2_2 Version 2.2.2 (Aug. 31, 2007)
Modelica.UsersGuide.ReleaseNotes.Version_2_2_1 Version_2_2_1 Version 2.2.1 (March 24, 2006)
Modelica.UsersGuide.ReleaseNotes.Version_2_2 Version_2_2 Version 2.2 (April 6, 2005)
Modelica.UsersGuide.ReleaseNotes.Version_2_1 Version_2_1 Version 2.1 (Nov. 11, 2004)
Modelica.UsersGuide.ReleaseNotes.Version_1_6 Version_1_6 Version 1.6 (June 21, 2004)
Modelica.UsersGuide.ReleaseNotes.Version_1_5 Version_1_5 Version 1.5 (Dec. 16, 2002)
Modelica.UsersGuide.ReleaseNotes.Version_1_4 Version_1_4 Version 1.4 (June 28, 2001)


Modelica.UsersGuide.ReleaseNotes.VersionManagement Modelica.UsersGuide.ReleaseNotes.VersionManagement


Maintenance of the Modelica Standard Library is performed with three branches on the subversion server of the Modelica Association (https://svn.modelica.org/projects/Modelica):

Released branch

Example: "/tags/v3.0.1/Modelica"

This branch contains the released Modelica versions (e.g., version 3.0.1), where all available test cases and compatibility checks with other Modelica libraries have been performed on the respective release. This version is usually shipped with a Modelica modeling and simulation environment and utilized by a Modelica user.

Development branch

Example: "/trunk/Modelica"

This branch contains the actual development version, i.e., all bug fixes and new features based on the last Modelica release. New features should have been tested before including them. However, the exhaustive tests for a new version are (usually) not performed. This version is usually only be used by the developers of the Modelica Standard Library and is not utilized by Modelica users.

Maintenance branch

Example: "/branches/maintenance/3.0.1/Modelica"

This branch contains the released Modelica version (e.g., version 3.0.1) where all bug fixes since this release date are included (up to a new release, when becoming available; i.e., after a new release, the previous maintenance versions are no longer changed). These bug fixes might be not yet tested with all test cases or with other Modelica libraries. The goal is that a vendor may take this version at any time for a new release of its software, in order to incorporate the latest bug fixes, without changing the version number of the Modelica Standard Library.

Incorporation of bug fixes (subversion "commit") shall be performed in the following way:

A valid "commit" to the maintenance branch may contain one or more of the following changes.




Modelica.UsersGuide.ReleaseNotes.Version_3_1 Modelica.UsersGuide.ReleaseNotes.Version_3_1



Version 3.1 is backward compatible to version 3.0 and 3.0.1, i.e., models developed with version 3.0 or 3.0.1 will work without any changes also with version 3.1.

Version 3.1 is slightly based on the Modelica Specification 3.1. It uses the following new language elements (compared to Modelica Specification 3.0):

The following new libraries have been added:

Modelica.Fluid Components to model 1-dim. thermo-fluid flow in networks of vessels, pipes, fluid machines, valves and fittings. All media from the Modelica.Media library can be used (so incompressible or compressible, single or multiple substance, one or two phase medium). The library is using the stream-concept from Modelica Specification 3.1.
Modelica.Magnetic.FluxTubes Components to model magnetic devices based on the magnetic flux tubes concepts. Especially to model electro-magnetic actuators. Nonlinear shape, force, leackage, and Material models. Material data for steel, electric sheet, pure iron, Cobalt iron, Nickel iron, NdFeB, Sm2Co17, and more.
ModelicaServices New top level package that shall contain functions and models to be used in the Modelica Standard Library that requires a tool specific implementation. ModelicaServices is then used in the Modelica package. In this first version, the 3-dim. animation with model Modelica.Mechanics.MultiBody.Visualizers.Advanced.Shape was moved to ModelicaServices. Tool vendors can now provide their own implementation of the animation.


The following new components have been added to existing libraries:

Modelica.
versionBuild
versionDate
dateModified
revisionId
New annotations from Modelica 3.1 for version handling added.
Modelica.UsersGuide.ReleaseNotes.
VersionManagement Copied from info layer of previous ReleaseNotes (to make it more visible) and adapted it to the new possibilities in Modelica Specification 3.1.
Modelica.Blocks.Math.
RectangularToPolar
PolarToRectangular
New blocks to convert between rectangular and polar form of space phasors.
Modelica.Blocks.Routing.
Replicator New block to replicate an input signal to many output signals.
Modelica.Electrical.Analog.Examples.
AmplifierWithOpAmpDetailed
HeatingResistor
CompareTransformers
OvervoltageProtection
ControlledSwitchWithArc
SwitchWithArc
ThyristorBehaviourTest
New examples to demonstrate the usage of new components.
Modelica.Electrical.Analog.Basic.
OpAmpDetailed
TranslationalEMF
M_Transformer
New detailed model of an operational amplifier.
New electromotoric force from electrical energy into mechanical translattional energy.
Generic transformer with choosable number of inductors
Modelica.Electrical.Analog.Ideal.
OpenerWithArc
CloserWithArc
ControlledOpenerWithArc
ControlledCloserWithArc
New switches with simple arc model.
Modelica.Electrical.Analog.Interfaces.
ConditionalHeatPort New partial model to add a conditional HeatPort to an electrical component.
Modelica.Electrical.Analog.Lines.
M_Oline New multiple line model, both the number of lines and the number of segmants choosable.
Modelica.Electrical.Analog.Semiconductors.
ZDiode
Thyristor
Zener Diode with 3 working areas and simple thyristor model.
Modelica.Electrical.MultiPhase.Ideal.
OpenerWithArc
CloserWithArc
New switches with simple arc model (as in Modelica.Electrical.Analog.Ideal.
Modelica.Mechanics.MultiBody.Examples.Elementary.
RollingWheel
RollingWheelSetDriving
RollingWheelSetPulling
New examples to demonstrate the usage of new components.
Modelica.Mechanics.MultiBody.Joints.
RollingWheel
RollingWheelSet
New joints (no mass, no inertia) that describe an ideal rolling wheel and a ideal rolling wheel set consisting of two wheels rolling on the plane z=0.
Modelica.Mechanics.MultiBody.Parts.
RollingWheel
RollingWheelSet
New ideal rolling wheel and ideal rolling wheel set consisting of two wheels rolling on the plane z=0.
Modelica.Mechanics.MultiBody.Visualizers.
Ground New model to visualize the ground (box at z=0).
Modelica.Mechanics.Rotational.Interfaces.
PartialElementaryOneFlangeAndSupport2
PartialElementaryTwoFlangesAndSupport2
New partial model with one and two flanges and the support flange with a much simpler implementation as previously.
Modelica.Mechanics.Translational.Interfaces.
PartialElementaryOneFlangeAndSupport2
PartialElementaryTwoFlangesAndSupport2
New partial model with one and two flanges and the support flange with a much simpler implementation as previously.
Modelica.Media.IdealGases.Common.MixtureGasNasa.
setSmoothState Return thermodynamic state so that it smoothly approximates: if x > 0 then state_a else state_b.
Modelica.Utilities.Internal.
PartialModelicaServices New package containing the interface description of models and functions that require a tool dependent implementation (currently only "Shape" for 3-dim. animation, but will be extended in the future)
Modelica.Thermal.HeatTransfer.Components.
ThermalCollector New auxiliary model to collect the heat flows from m heatports to a single heatport; useful for multiphase resistors (with heatports) as a junction of the m heatports.
Modelica.Icons.
VariantLibrary
BaseClassLibrary
ObsoleteModel
New icons (VariantLibrary and BaseClassLibrary have been moved from Modelica_Fluid.Icons to this place).
Modelica.SIunits.
ElectricalForceConstant New type added (#190).
Modelica.SIunits.Conversions.
from_Hz
to_Hz
New functions to convert between frequency [Hz] and angular velocity [1/s]. (#156)


The following existing components have been improved in a backward compatible way:

Modelica.
Blocks
Mechanics
StateGraph
Provided missing parameter values for examples (these parameters had only start values)
Modelica.Electrical.Analog.Basic
Resistor, Conductor, VariableResistor, VariableConductor Conditional heatport added for coupling to thermal network.
Modelica.Electrical.Analog.Ideal
Thyristors, Switches, IdealDiode Conditional heatport added for coupling to thermal network.
Modelica.Electrical.Analog.Semiconductors
Diode, ZDiode, PMOS, NMOS, NPN, PNP Conditional heatport added for coupling to thermal network.
Modelica.Electrical.MultiPhase.Basic
Resistor, Conductor, VariableResistor, VariableConductor Conditional heatport added for coupling to thermal network (as in Modelica.Electrical.Analog).
Modelica.Electrical.MultiPhase.Ideal
Thyristors, Switches, IdealDiode Conditional heatport added for coupling to thermal network (as in Modelica.Electrical.Analog).
Modelica.Mechanics.MultiBody.Visualizers.Advanced.
Shape New implementation by inheriting from ModelicaServices. This allows a tool vendor to provide its own implementation of Shape.
Modelica.StateGraph.
Examples Introduced "StateGraphRoot" on the top level of all example models.
Modelica.StateGraph.Interfaces.
StateGraphRoot
PartialCompositeStep
CompositeStepState
Replaced the wrong Modelica code "flow output Real xxx" by "Real dummy; flow Real xxx;". As a side effect, several "blocks" had to be changed to "models".
PartialStep Changed model by packing the protected outer connecter in to a model. Otherwise, there might be differences in the sign of the flow variable in Modelica 3.0 and 3.1.
Modelica.Utilities.Examples.
expression Changed local variable "operator" to "opString" since "operator" is a reserved keyword in Modelica 3.1


The following critical errors have been fixed (i.e. errors that can lead to wrong simulation results):

Mechanics.Translational.Components
ElastoGap The ElastoGap component was changed in a non backwards compatible way. This was fixed in the versionBuild=3 version of Modelica Standard Library 3.1 (see also Ticket #203).


The following uncritical errors have been fixed (i.e. errors that do not lead to wrong simulation results, but, e.g., units are wrong or errors in documentation):

Modelica.
Many models Removed wrong usages of annotations fillColor and fillPattern in text annotations (#155, #185).
Modelica.Electrical.Machines
All machine models The conditional heatports of the instantiated resistors (which are new in Modelica.Electrical.Analog and Modelica.Electrical.MultiPhase) are finally switched off until a thermal connector design for machines is implemented.
Modelica.Media.Air.MoistAir
saturationPressureLiquid
sublimationPressureIce
saturationPressure
For these three functions, an error in the derivative annotation was corrected. However, the effect of this bug was minor, as a Modelica tool was allowed to compute derivatives automatically via the smoothOrder annotation.
Modelica.Math.Matrices.
eigenValues Wrong documentation corrected (#162)



Modelica.UsersGuide.ReleaseNotes.Version_3_0_1 Modelica.UsersGuide.ReleaseNotes.Version_3_0_1



This Modelica package is provided under the Modelica License 2 and no longer under Modelica License 1.1. There are the following reasons why the Modelica Association changes from Modelica License 1.1 to this new license text (note, the text below is not a legal interpretation of the Modelica License 2. In case of a conflict, the language of the license shall prevail):

  1. The rights of licensor and licensee are much more clearly defined. For example: We hope that this compromise between open source contributors, commercial Modelica environments and Modelica users will motivate even more people to provide their Modelica packages freely under the Modelica License 2.

  2. There are several new provisions that shall make law suites against licensors and licensees more unlikely (so the small risk is further reduced).


The following new components have been added to existing libraries:

Electrical.Analog.Basic.
M_Transformer Transformer, with the possibility to choose the number of inductors. The inductances and the coupled inductances can be chosen arbitrarily.
Electrical.Analog.Lines.
M_OLine Segmented line model that enables the use of multiple lines, that means, the number of segments and the number of single lines can be chosen by the user. The model allows to investigate phenomena at multiple lines like mutual magnetic or capacitive influence.
Mechanics.Translational.Components.Examples.
Brake Demonstrates the usage of the translational brake component.
Media.Interfaces.PartialMedium.
ThermoStates Enumeration type for independent variables to identify the independent variables of the medium (pT, ph, phX, pTX, dTX).
An implementation of this enumeration is provided for every medium. (This is useful for fluid libraries that do not use the PartialMedium.BaseProperties model).
setSmoothState Function that returns the thermodynamic state which smoothly approximates: if x > 0 then state_a else state_b.
(This is useful for pressure drop components in fluid libraries where the upstream density and/or viscosity has to be computed and these properties should be smooth a zero mass flow rate)
An implementation of this function is provided for every medium.
Media.Common.
smoothStep Approximation of a general step, such that the characteristic is continuous and differentiable.
Media.UsersGuide.
Future Short description of goals and changes of upcoming release of Modelica.Media.
Media.Media.Air.MoistAir.
isentropicExponent Implemented Missing Function from interface.
isentropicEnthalpyApproximation Implemented function that approximates the isentropic enthalpy change. This is only correct as long as there is no liquid in the stream.


The following existing components have been changed (in a backward compatible way):

Mechanics.Rotational.Interfaces.
PartialFriction Improvement of friction model so that in certain situations the number of iterations is much smaller.
Mechanics.Translational.Components.Examples.
Friction Added a third variant, where friction is modelled with the SupportFriction component.
Mechanics.Translational.Components.
MassWithStopAndFriction Improvement of friction model so that in certain situations the number of iterations is much smaller.
Mechanics.Translational.Interfaces.
PartialFriction Improvement of friction model so that in certain situations the number of iterations is much smaller.
Media.Examples.
SimpleLiquidWater
IdealGasH20
WaterIF97
MixtureGases
MoistAir
Added equations to test the new setSmoothState(..) functions including the analytic derivatives of these functions.
Media.Interfaces.PartialLinearFluid.
setState_pTX
setState_phX
setState_psX
setState_dTX
Rewritten function in one statement so that it is usually inlined.
Media.Interfaces.PartialLinearFluid.
consistent use of reference_d instead of density(state Change was done to achieve consistency with analytic inverse functions.
Media.Air.MoistAir.
T_phX Interval of nonlinear solver to compute T from p,h,X changed from 200..6000 to 240 ..400 K.


The following critical errors have been fixed (i.e. errors that can lead to wrong simulation results):

Mechanics.MultiBody.Forces
WorldTorque Parameter "ResolveInFrame" was not propagated and therefore always the default (resolved in world frame) was used, independently of the setting of this parameter.
WorldForceAndTorque Parameter "ResolveInFrame" was not propagated and therefore always the default (resolved in world frame) was used, independently of the setting of this parameter.
Furthermore, internally WorldTorque was used instead of Internal.BasicWorldTorque and therefore the visualization of worldTorque was performed twice.
Mechanics.MultiBody.Sensors
AbsoluteSensor Velocity, acceleration and angular acceleration were computed by differentiating in the resolveInFrame frame. This has been corrected, by first transforming the vectors in to the world frame, differentiating here and then transforming into resolveInFrame. The parameter in the Advanced menue resolveInFrameAfterDifferentiation is then superfluous and was removed .
AbsoluteVelocity The velocity was computed by differentiating in the resolveInFrame frame. This has been corrected, by first transforming the velocity in to the world frame, differentiating here and then transforming into resolveInFrame
RelativeSensor If resolveInFrame <> frame_resolve and resolveInFrameAfterDifferentiation = frame_resolve, a translation error occured, since frame_resolve was not enabled in this situation. This has been corrected.
RelativeVelocity The velocity has have been computed by differentiating in the resolveInFrame frame. This has been corrected, by first transforming the relative position in to frame_a, differentiating here and then transforming into resolveInFrame
TransformRelativeVector The transformation was wrong, since the parameters frame_r_in and frame_r_out have not been propagated to the submodel that performs the transformation. This has been corrected.
Mechanics.Translational.Components.
SupportFriction
Brake
The sign of the friction force was wrong and therefore friction accelerated instead of decelerated. This was fixed.
SupportFriction The component was only correct for fixed support. This was corrected.
Media.Interfaces.
PartialSimpleMedium
PartialSimpleIdealGasMedium
BaseProperties.p was not defined as preferred state and BaseProperties.T was always defined as preferred state. This has been fixed by Defining p,T as preferred state if parameter preferredMediumState = true. This error had the effect that mass m is selected as state instead of p and if default initialization is used then m=0 could give not the expected behavior. This means, simulation is not wrong but the numerics is not as good and if a model relies on default initial values, the result could be not as expected.


The following uncritical errors have been fixed (i.e. errors that do not lead to wrong simulation results, but, e.g., units are wrong or errors in documentation):

Blocks.Math.
InverseBlockConstraint Changed annotation preserveAspectRatio from true to false.
Blocks.Sources.
RealExpression
IntegerExpression
BooleanExpression
Changed annotation preserveAspectRatio from true to false.
Electrical.Analog.Basic.
SaturatingInductor Replaced non-standard "arctan" by "atan" function.
Modelica.Electrical.Digital.
UsersGuide Removed empty documentation placeholders and added the missing release comment for version 1.0.7
Modelica.Mechanics.Translational.Components.
MassWithStopAndFriction Changed usage of reinit(..), in order that it appears only once for one variable according to the language specification (if a tool could simulate the model, there is no difference).
Media.Interfaces.PartialSimpleMedium
pressure
temperature
density
specificEnthalpy
Missing functions added.



Modelica.UsersGuide.ReleaseNotes.Version_3_0 Modelica.UsersGuide.ReleaseNotes.Version_3_0


Version 3.0 is not backward compatible to previous versions. A conversion script is provided to transform models and libraries of previous versions to the new version. Therefore, conversion should be automatic.

The following changes are present for the whole library:


The following new components have been added to existing libraries (note, the names in paranthesis are the new sublibrary names that are introduced in version 3.0):

Blocks.Examples.
InverseModel Demonstrates the construction of an inverse model.
Blocks.Math.
InverseBlockConstraints Construct inverse model by requiring that two inputs and two outputs are identical (replaces the previously, unbalanced, TwoInputs and TwoOutputs blocks).
Electrical.Machines.Utilities
TransformerData A record that calculates required impedances (parameters) from nominal data of transformers.
Mechanics.MultiBody.Examples.Rotational3DEffects
GyroscopicEffects
ActuatedDrive
MovingActuatedDrive
GearConstraint
New examples to demonstrate the usage of the Rotational library in combination with multi-body components.
Mechanics.MultiBody.Sensors
AbsolutePosition
AbsoluteVelocity
AbsoluteAngles
AbsoluteAngularVelocity
RelativePosition
RelativeVelocity
RelativeAngles
RelativeAngularVelocity
New sensors to measure one vector.
TransformAbsoluteVector
TransformRelativeVector
Transform absolute and/or relative vector into another frame.
Mechanics.Rotational.(Components)
Disc Right flange is rotated by a fixed angle with respect to left flange
IdealRollingWheel Simple 1-dim. model of an ideal rolling wheel without inertia
Mechanics.Translational.Sensors
RelPositionSensor
RelSpeedSensor
RelAccSensor
PowerSensor
Relative position sensor, i.e. distance between two flanges
Relative speed sensor
Relative acceleration sensor
Ideal power sensor
Mechanics.Translational(.Components)
SupportFriction
Brake
InitializeFlange
Model of friction due to support
Model of a brake, base on Coulomb friction
Initializes a flange with pre-defined postion, speed and acceleration .
Mechanics.Translational(.Sources)
Force2
LinearSpeedDependentForce
QuadraticSpeedDependentForce
ConstantForce
ConstantSpeed
ForceStep
Force acting on 2 flanges
Force linearly dependent on flange speed
Force quadratic dependent on flange speed
Constant force source
Constant speed source
Force step


The following existing components have been changed in a non-backward compatible way (the conversion script transforms models and libraries of previous versions to the new version. Therefore, conversion should be automatic):

Blocks.Continuous.
CriticalDamping New parameter "normalized" to define whether filter is provided in normalized or non-normalized form. Default is "normalized = true". The previous implementation was a non-normalized filter. The conversion script automatically introduces the modifier "normalized=false" for existing models.
Blocks.Interfaces.
RealInput
RealOutput
Removed "SignalType", since extending from a replaceable class and this is not allowed in Modelica 3.
The conversion script removes modifiers to SignalType.
RealSignal
IntegerSignal
BooleanSignal
Moved to library ObsoleteModelica3, since these connectors are no longer allowed in Modelica 3
(prefixes input and/or output are required).
Blocks.Interfaces.Adaptors.
AdaptorReal
AdaptorBoolean
AdaptorInteger
Moved to library ObsoleteModelica3, since the models are not "balanced". These are completely obsolete adaptors
between the Real, Boolean, Integer signal connectors of version 1.6 and version ≥ 2.1 of the Modelica Standard Library.
Blocks.Math.
ConvertAllUnits Moved to library ObsoleteModelica3, since extending from a replaceable class and this is not allowed in Modelica 3.
It would be possible to rewrite this model to use a replaceable component. However, the information about the conversion
cannot be visualized in the icon in this case.
Blocks.Math.UnitConversions.
TwoInputs
TwoOutputs
Moved to library ObsoleteModelica3, since the models are not "balanced". A new component
"InverseBlockConstraints" is provided instead that has the same feature, but is "balanced".
Electrical.Analog.Baisc.
HeatingResistor The heatPort has to be connected; otherwise the component Resistor (without heatPort) has to be used.
cardinality() is only used to check whether the heatPort is connected.
Electrical.MultiPhase.Examples.
Changed the instance names of components used in the examples to more up-to-date style.
Electrical.Machines.
Moved package Machines.Examples.Utilities to Machines.Utilities
Removed all nonSIunits; especially in DCMachines
parameter NonSIunits.AngularVelocity_rpm rpmNominal was replaced by
parameter SIunits.AngularVelocity wNominal
Changed the following component variable and parameter names to be more concise:
Removed suffix "DamperCage" from all synchronous induction machines since the user can choose whether the damper cage is present or not.
RotorAngle ... RotorDisplacementAngle
J_Rotor ... Jr
Rr ........ Rrd (damper of synchronous induction machines)
Lrsigma ... Lrsigmad (damper of synchronous induction machines)
phi_mechanical ... phiMechanical
w_mechanical ..... wMechanical
rpm_mechanical ... rpmMechanical
tau_electrical ... tauElectrical
tau_shaft ........ tauShaft
TurnsRatio ....... turnsRatio (AIMS)
VsNom ............ VsNominal (AIMS)
Vr_Lr ............ VrLockedRotor (AIMS)
DamperCage ....... useDamperCage (synchronous induction machines)
V0 ............... VsOpenCicuit (SMPM)
Ie0 .............. IeOpenCicuit (SMEE)
Interfaces. Moved as much code as possible from specific machine models to partials to reduce redundant code.
Interfaces.Adapter Removed to avoid cardinality; instead, the following solution has been implemented:
Sensors.RotorDisplacementAngle
Interfaces.PartialBasicMachine
Introduced parameter Boolean useSupport=false "enable / disable (=fixed stator) support"
The rotational support connector is only present with useSupport = true;
otherwise the stator is fixed internally.
Electrical.Machines.Examples.
Changed the names of the examples to more meaninglful names.
Changed the instance names of components used in the examples to more up-to-date style.
SMEE_Generator Initialization of smee.phiMechanical with fixed=true
Mechanics.MultiBody.
World Changed default value of parameter driveTrainMechanics3D from false to true.
3-dim. effects in Rotor1D, Mounting1D and BevelGear1D are therefore taken
into account by default (previously this was only the case, if world.driveTrainMechanics3D was explicitly set).
Mechanics.MultiBody.Forces.
FrameForce
FrameTorque
FrameForceAndTorque
Models removed, since functionality now available via Force, Torque, ForceAndTorque
WorldForce
WorldTorque
WorldForceAndTorque
Force
Torque
ForceAndTorque
Connector frame_resolve is optionally enabled via parameter resolveInFrame
. Forces and torques and be resolved in all meaningful frames defined by enumeration resolveInFrame.
Mechanics.MultiBody.Frames.
length
normalize
Removed functions, since available also in Modelica.Math.Vectors
The conversion script changes the references correspondingly.
Mechanics.MultiBody.Joints.
Prismatic
ActuatedPrismatic
Revolute
ActuatedRevolute
Cylindrical
Universal
Planar
Spherical
FreeMotion
Changed initialization, by replacing initial value parameters with start/fixed attributes.
When start/fixed attributes are properly supported in the parameter menu by a Modelica tool,
the initialization is considerably simplified for the user and the implementation is much simpler.
Replaced parameter "enforceStates" by the more general built-in enumeration stateSelect=StateSelection.xxx.
The conversion script automatically transforms from the "old" to the "new" forms.
Revolute
ActuatedRevolute
Parameter "planarCutJoint" in the "Advanced" menu of "Revolute" and of "ActuatedRevolute" removed.
A new joint "RevolutePlanarLoopConstraint" introduced that defines the constraints of a revolute joint
as cut-joint in a planar loop. This change was needed in order that the revolute joint can be properly used
in advanced model checking.
ActuatedRevolute joint removed. Flange connectors of Revolute joint
can be enabled with parameter useAxisFlange.
Prismatic
ActuatedPrismatic
ActuatedPrismatic joint removed. Flange connectors of Prismatic joint
can be enabled with parameter useAxisFlange.
Assemblies Assembly joint implementation slightly changed, so that annotation "structurallyIncomplete"
could be removed (all Assembly joint models are now "balanced").
Mechanics.MultiBody.Joints.Internal
RevoluteWithLengthConstraint
PrismaticWithLengthConstraint
These joints should not be used by a user of the MultiBody library. They are only provided to built-up the MultiBody.Joints.Assemblies.JointXYZ joints. These two joints have been changed in a slightly not backward compatible way, in order that the usage in the Assemblies.JointXYZ joints results in balanced models (no conversion is provided for this change since the user should not have used these joints and the conversion would be too complicated): In releases before version 3.0 of the Modelica Standard Library, it was possible to activate the torque/force projection equation (= cut-torque/-force projected to the rotation/translation axis must be identical to the drive torque/force of flange axis) via parameter axisTorqueBalance. This is no longer possible, since otherwise this model would not be "balanced" (= same number of unknowns as equations). Instead, when using this model in version 3.0 and later versions, the torque/force projection equation must be provided in the Advanced menu of joints Joints.SphericalSpherical and Joints.UniversalSpherical via the new parameter "constraintResidue".
Mechanics.MultiBody.Parts.
BodyBox
BodyCylinder
Changed unit of parameter density from g/cm3 to the SI unit kg/m3 in order to allow stricter unit checking.
The conversion script multiplies previous density values with 1000.
Body
BodyShape
BodyBox
BodyCylinder
PointMass Rotor1D
Changed initialization, by replacing initial value parameters with start/fixed attributes.
When start/fixed attributes are properly supported in the parameter menu by a Modelica tool,
the initialization is considerably simplified for the user and the implementation is much simpler.
The conversion script automatically transforms from the "old" to the "new" form of initialization.
Mechanics.MultiBody.Sensors.
AbsoluteSensor
RelativeSensor
CutForceAndTorque
New design of sensor components: Via Boolean parameters
signal connectors for the respective vectors are enabled/disabled.
It is not possible to automatically convert models to this new design.
Instead, references in existing models are changed to ObsoleteModelice3.
This means that these models must be manually adapted.
CutForce
CutTorque
Slightly new design. The force and/or torque component can be resolved in world, frame_a, or frame_resolved.
Existing models are automatically converted.
Mechanics.Rotational.
Moved components to structured sub-packages (Sources, Components)
Inertia
SpringDamper
RelativeStates
Changed initialization, by replacing initial value parameters with start/fixed attributes.
When start/fixed attributes are properly supported in the parameter menu by a Modelica tool,
the initialization is considerably simplified for the user and the implementation is much simpler.
Parameter "stateSelection" in "Inertia" and "SpringDamper" replaced by the built-in enumeration
stateSelect=StateSelection.xxx. Introduced the "stateSelect" enumeration in "RelativeStates".
The conversion script automatically transforms from the "old" to the "new" forms.
LossyGear
GearBox
Renamed gear ratio parameter "i" to "ratio", in order to have a consistent naming convention.
Existing models are automatically converted.
SpringDamper
ElastoBacklash
Clutch
OneWayClutch
Relative quantities (phi_rel, w_rel) are used as states, if possible (due to StateSelect.prefer).
In most cases, relative states in drive trains are better suited as absolute states.
This change might give changes in the selected states of existing models.
This might give rise to problems if, e.g., the initialization was not completely defined in a user model,
since the default initialization heuristic may give different initial values.
Mechanics.Translational.
Moved components to structured sub-packages (Sources, Components)
Adaptions corresponding to Rotational
Stop Renamed to Components.MassWithStopAndFriction to be more concise.
MassWithStopAndFriction is not available with a support connector,
since the reaction force can't be modeled in a meaningful way due to reinit of velocity v.
Until a sound implementation of a hard stop is available, the old model may be used.
Media.
constant nX
constant nXi
constant reference_X
BaseProperties
The package constant nX = nS, now always, even for single species media. This also allows to define mixtures with only 1 element. The package constant nXi=if fixedX then 0 else if reducedX or nS==1 then nS - 1 else nS. This required that all BaseProperties for single species media get an additional equation to define the composition X as {1.0} (or reference_X, which is {1.0} for single species). This will also mean that all user defined single species media need to be updated by that equation.
SIunits.
CelsiusTemperature Removed, since no SI unit. The conversion script changes references to SIunits.Conversions.NonSIunits.Temperature_degC
ThermodynamicTemperature
TemperatureDifference
Added annotation "__Dymola_absoluteValue=true/false" in order that unit checking is possible
(the unit checker needs to know for a unit that has an offset, whether it is used as absolute or as a relative number)
SIunits.Conversions.NonSIunits.
Temperature_degC
Temperature_degF
Temperature_degRk
Added annotation "__Dymola_absoluteValue=true" in order that unit checking is possible
(the unit checker needs to know for a unit that has an offset, whether it is used as absolute or as a relative number)
StateGraph.Examples.
ControlledTanks The connectors of the ControlledTanks did not fulfill the new restrictions of Modelica 3. This has been fixed.
Utilities Replacing inflow, outflow by connectors inflow1, inflow2, outflow1, outflow2 with appropriate input/output prefixes in order to fufill the restrictions of Modelica 3 to arrive at balanced models. No conversion is provided, since too difficult and since the non-backward compatible change is in an example.
Thermal.FluidHeatFlow.Sensors.

pSensor
TSensor
dpSensor
dTSensor
m_flowSensor
V_flowSensor
H_flowSensor
renamed to:
PressureSensor
TemperatureSensor
RelPressureSensor
RelTemperatureSensor
MassFlowSensor
VolumeFlowSensor
EnthalpyFlowSensor
Thermal.FluidHeatFlow.Sources.
Ambient
PrescribedAmbient
available as one combined component Ambient
Boolean parameters usePressureInput and useTemperatureInput decide whether pressure and/or temperature are constant or prescribed
ConstantVolumeFlow
PrescribedVolumeFlow
available as one combined component VolumeFlow
Boolean parameter useVolumeFlowInput decides whether volume flow is constant or prescribed
ConstantPressureIncrease
PrescribedPressureIncrease
available as one combined component PressureIncrease
Boolean parameter usePressureIncreaseInput decides whether pressure increase is constant or prescribed
Thermal.FluidHeatFlow.Examples.
Changed the instance names of components used in the examples to more up-to-date style.
Thermal.HeatTransfer.(Components)
HeatCapacitor Initialization changed: SteadyStateStart removed. Instead start/fixed values for T and der_T
(initial temperature and its derivative).


HeatCapacitor
ThermalConductor
ThermalConvection
BodyRadiation

TemperatureSensor
RelTemperatureSensor
HeatFlowSensor

FixedTemperature
PrescribedTemperature
FixedHeatFlow
PrescribedHeatFlow
Moved components to sub-packages:

Components.HeatCapacitor
Components.ThermalConductor
Components.ThermalConvection
Components.BodyRadiation

Sensors.TemperatureSensor
Sensors.RelTemperatureSensor
Sensors.HeatFlowSensor

Sources.FixedTemperature
Sources.PrescribedTemperature
Sources.FixedHeatFlow
Sources.PrescribedHeatFlow
Thermal.FluidHeatFlow.Examples.
Changed the instance names of components used in the examples to more up-to-date style.


The following existing components have been improved in a backward compatible way:

Modelica.* Parameter declarations, input and output function arguments without description strings improved
by providing meaningful description texts.
Modelica.Blocks.Continuous.
TransferFunction Internal scaling of the controller canonical states introduced in order to enlarge the range of transfer functions where the default relative tolerance of the simulator is sufficient.
Butterworth
CriticalDamping
Documentation improved and plots of the filter characteristics added.
Electrical.Analog.Basic.
EMF New parameter "useSupport" to optionally enable a support connector.
Icons.
TranslationalSensor
RotationalSensor
Removed drawing from the diagram layer (kept drawing only in icon layer),
in order that this icon can be used in situations where components are dragged in the diagram layer.
Math.Vectors.
normalize Implementation changed, so that the result is awalys continuous
(previously, this was not the case for small vectors: normalize(eps,eps)).
Mechanics.MultiBody.
Renamed non-standard keywords defineBranch, defineRoot, definePotentialRoot, isRooted to the standard names:
Connections.branch/.root/.potentialRoot/.isRooted.
Frames Added annotation "Inline=true" to all one-line functions (which should be all inlined).
Mechanics.MultiBody.Parts.
Mounting1D
Rotor1D
BevelGear1D
Changed implementation so that no longer modifiers for connector variables are used,
because this violates the restrictions on "balanced models" of Modelica 3.
Mechanics.Rotational.
InitializeFlange Changed implementation so that counting unknowns and equations is possible without actual values of parameters.
Thermal.FluidHeatFlow.Interfaces.Partials.
TwoPort Introduced parameter Real tapT(final min=0, final max=1)=1
that defines the temperature of the heatPort betwen inlet and outlet.
StateGraph.
InitialStep
InitialStepWithSignal
Step
StepWithSignal
Changed implementation so that no longer modifiers for output variables are used,
because this violates the restrictions on "balanced models" of Modelica 3.


The following critical errors have been fixed (i.e. errors that can lead to wrong simulation results):

Electrical.Analog.Examples.
CauerLowPassSC Wrong calculation of Capacitor1 both in Rn and Rp corrected (C=clock/R instead of C=clock*R)
Mechanics.MultiBody.Parts.
Rotor1D The 3D reaction torque was not completely correct and gave in some situations a wrong result. This bug should not influence the movement of a multi-body system, but only the constraint torques are sometimes not correct.
Mechanics.Rotational.
ElastoBacklash If the damping torque was too large, the reaction torque could "pull" which is unphysical. The component was newly written by limiting the damping torque in such a case so that "pulling" torques can no longer occur. Furthermore, during initialization the characteristics is made continuous to reduce numerical errors. The relative angle and relative angular velocities are used as states, if possible (StateSelect.prefer), since relative quantities lead usually to better behavior.
Position
Speed
Accelerate
Move
The movement of the flange was wrongly defined as absolute; this is corrected as relative to connector support.
For Accelerate, it was necessary to rename RealInput a to a_ref, as well as the start values phi_start to phi.start and w_start to w.start. The conversion script performs the necessary conversion of existing models automatically.
Media.Interfaces.
PartialSimpleIdealGasMedium Inconsisteny in reference temperature corrected. This may give different results for functions:
specificEnthalpy, specificInternalEnergy, specificGibbsEnergy, specificHelmholtzEnergy.
Media.Air.
specificEntropy Small bug in entropy computation of ideal gas mixtures corrected.
Media.IdealGases.Common.MixtureGasNasa
specificEntropy Small bug in entropy computation of ideal gas mixtures corrected.


The following uncritical errors have been fixed (i.e. errors that do not lead to wrong simulation results, but, e.g., units are wrong or errors in documentation):

Blocks.Tables.
CombiTable2D Documentation improved.
Electrica.Digital.Gates
AndGate
NandGate
OrGate
NorGate
XorGate
XnorGate
The number of inputs was not correctly propagated to the included base model.
This gave a translation error, if the number of inputs was changed (and not the default used).
Electrica.Digital.Sources
Pulse Model differently implemented, so that warning message about "cannot properly initialize" is gone.
Mechanics.Rotational.
BearingFriction
Clutch
OneWayClutch
Brake
Gear
Declaration of table parameter changed from table[:,:] to table[:,2].
Modelica.Mechanics.MultiBody.Examples.Loops.Utilities.
GasForce Unit of variable "press" corrected (from Pa to bar)
StateGraph.Examples.
SimpleFriction The internal parameter k is defined and calculated with the appropriate unit.
Thermal.FluidHeatFlow.Interfaces.Partials.
SimpleFriction The internal parameter k is defined and calculated with the appropriate unit.



Modelica.UsersGuide.ReleaseNotes.Version_2_2_2 Modelica.UsersGuide.ReleaseNotes.Version_2_2_2


Version 2.2.2 is backward compatible to version 2.2.1 and 2.2 with the following exceptions:

An overview of the differences between version 2.2.2 and the previous version 2.2.1 is given below. The exact differences (but without differences in the documentation) are available here. This comparison file was generated automatically with Dymolas ModelManagement.compare function.

In this version, no new libraries have been added. The documentation of the whole library was improved. Especially, the documentation is now also available as one pdf file.


The following new components have been added to existing libraries:

Blocks.Logical.
TerminateSimulation Terminate a simulation by a given condition.
Blocks.Routing.
RealPassThrough
IntegerPassThrough
BooleanPassThrough
Pass a signal from input to output (useful in combination with a bus due to restrictions of expandable connectors).
Blocks.Sources.
KinematicPTP2 Directly gives q,qd,qdd as output (and not just qdd as KinematicPTP).
Electrical.Machines.Examples.
TransformerTestbench Transformer Testbench
Rectifier6pulse 6-pulse rectifier with 1 transformer
Rectifier12pulse 12-pulse rectifier with 2 transformers
AIMC_Steinmetz Asynchronous induction machine squirrel cage with Steinmetz connection
Electrical.Machines.BasicMachines.Components.
BasicAIM Partial model for asynchronous induction machine
BasicSM Partial model for synchronous induction machine
PartialAirGap Partial airgap model
BasicDCMachine Partial model for DC machine
PartialAirGapDC Partial airgap model of a DC machine
BasicTransformer Partial model of threephase transformer
PartialCore Partial model of transformer core with 3 windings
IdealCore Ideal transformer with 3 windings
Electrical.Machines.BasicMachines.
Transformers Sub-Library for technical 3phase transformers
Electrical.Machines.Interfaces.
Adapter Adapter to model housing of electrical machine
Math.
Vectors New library of functions operating on vectors
atan3 Four quadrant inverse tangens (select solution that is closest to given angle y0)
asinh Inverse of sinh (area hyperbolic sine)
acosh Inverse of cosh (area hyperbolic cosine)
Math.Vectors
isEqual Determine if two Real vectors are numerically identical
norm Return the p-norm of a vector
length Return length of a vector (better as norm(), if further symbolic processing is performed)
normalize Return normalized vector such that length = 1 and prevent zero-division for zero vector
reverse Reverse vector elements (e.g. v[1] becomes last element)
sort Sort elements of vector in ascending or descending order
Math.Matrices
solve2 Solve real system of linear equations A*X=B with a B matrix (Gaussian elemination with partial pivoting)
LU_solve2 Solve real system of linear equations P*L*U*X=B with a B matrix and an LU decomposition (from LU(..))
Mechanics.Rotational.
InitializeFlange Initialize a flange according to given signals (useful if initialization signals are provided by a signal bus).
Media.Interfaces.PartialMedium.
density_pTX Return density from p, T, and X or Xi
Media.Interfaces.PartialTwoPhaseMedium.
BaseProperties Base properties (p, d, T, h, u, R, MM, x) of a two phase medium
molarMass Return the molar mass of the medium
saturationPressure_sat Return saturation pressure
saturationTemperature_sat Return saturation temperature
saturationTemperature_derp_sat Return derivative of saturation temperature w.r.t. pressure
setState_px Return thermodynamic state from pressure and vapour quality
setState_Tx Return thermodynamic state from temperature and vapour quality
vapourQuality Return vapour quality
Media.Interfaces.
PartialLinearFluid Generic pure liquid model with constant cp, compressibility and thermal expansion coefficients
Media.Air.MoistAir.
massFraction_pTphi Return the steam mass fraction from relative humidity and T
saturationTemperature Return saturation temperature from (partial) pressure via numerical inversion of function saturationPressure
enthalpyOfWater Return specific enthalpy of water (solid/liquid) near atmospheric pressure from temperature
enthalpyOfWater_der Return derivative of enthalpyOfWater()" function
PsychrometricData Model to generate plot data for psychrometric chart
Media.CompressibleLiquids.
New sub-library for simple compressible liquid models
LinearColdWater Cold water model with linear compressibility
LinerWater_pT_Ambient Liquid, linear compressibility water model at 1.01325 bar and 25 degree Celsius
SIunits.
TemperatureDifference Type for temperature difference


The following existing components have been improved:

Blocks.Examples.
BusUsage Example changed from the "old" to the "new" bus concept with expandable connectors.
Blocks.Discrete.
ZeroOrderHold Sample output ySample moved from "protected" to "public" section with new attributes (start=0, fixed=true).
TransferFunction Discrete state x with new attributes (each start=0, each fixed=0).
Electrical.
Analog
MultiPhase
Improved some icons.
Electrical.Digital.Interfaces.
MISO Removed "algorithm" from this partial block.
Electrical.Digital.Delay.
DelayParams Removed "algorithm" from this partial block.
Electrical.Digital.Delay.
DelayParams Removed "algorithm" from this partial block.
TransportDelay If delay time is zero, an infinitely small delay is introduced via pre(x) (previously "x" was used).
Electrical.Digital.Sources.
Clock
Step
Changed if-conditions from "xxx < time" to "time >= xxx" (according to the Modelica specification, in the second case a time event should be triggered, i.e., this change leads potentially to a faster simulation).
Electrical.Digital.Converters.
BooleanToLogic
LogicToBoolean
RealToLogic
LogicToReal
Changed from "algorithm" to "equation" section to allow better symbolic preprocessing
Electrical.
Machines Slightly improved documentation, typos in documentation corrected
Electrical.Machines.Examples.
AIMS_start Changed QuadraticLoadTorque1(TorqueDirection=true) to QuadraticLoadTorque1(TorqueDirection=false) since more realistic
Electrical.Machines.Interfaces.
PartialBasicMachine Introduced support flange to model the reaction torque to the housing
Electrical.Machines.Sensors.
Rotorangle Introduced support flange to model the reaction torque to the housing
Mechanics.MultiBody.Examples.Elementary.
PointMassesWithGravity Added two point masses connected by a line force to demonstrate additionally how this works. Connections of point masses with 3D-elements are demonstrated in the new example PointMassesWithGravity (there is the difficulty that the orientation is not defined in a PointMass object and therefore some special handling is needed in case of a connection with 3D-elements, where the orientation of the point mass is not determined by these elements.
Mechanics.MultiBody.Examples.Systems.
RobotR3 Changed from the "old" to the "new" bus concept with expandable connectors. Replaced the non-standard Modelica function "constrain()" by standard Modelica components. As a result, the non-standard function constrain() is no longer used in the Modelica Standard Library.
Mechanics.MultiBody.Frames.Orientation.
equalityConstraint Use a better residual for the equalityConstraint function. As a result, the non-linear equation system of a kinematic loop is formulated in a better way (the range where the desired result is a unique solution of the non-linear system of equations becomes much larger).
Mechanics.MultiBody.
Visualizers. Removed (misleading) annotation "structurallyIncomplete" in the models of this sub-library
Mechanics.Rotational.
Examples For all models in this sub-library:
  • Included a housing object in all examples to compute all support torques.
  • Replaced initialization by modifiers via the initialization menu parameters of Inertia components.
  • Removed "encapsulated" and unnecessary "import".
  • Included "StopTime" in the annotations.
Mechanics.Rotational.Interfaces.
FrictionBase Introduced "fixed=true" for Boolean variables startForward, startBackward, mode.
Mechanics.Translational.Interfaces.
FrictionBase Introduced "fixed=true" for Boolean variables startForward, startBackward, mode.
Media.UsersGuide.MediumUsage.
TwoPhase Improved documentation and demonstrating the newly introduced functions
Media.Examples.
WaterIF97 Provided (missing) units for variables V, dV, H_flow_ext, m, U.
Media.Interfaces.
PartialMedium Final modifiers are removed from nX and nXi, to allow customized medium models such as mixtures of refrigerants with oil, etc.
PartialCondensingGases Included attributes "min=1, max=2" for input argument FixedPhase for functions setDewState and setBubbleState (in order to guarantee that input arguments are correct).
Media.Interfaces.PartialMedium.
BaseProperties New Boolean parameter "standardOrderComponents". If true, last element vector X is computed from 1-sum(Xi) (= default) otherwise, no equation is provided for it in PartialMedium.
IsentropicExponent "max" value changed from 1.7 to 500000
setState_pTX
setState_phX
setState_psX
setState_dTX
specificEnthalpy_pTX
temperature_phX
density_phX
temperature_psX
density_psX
specificEnthalpy_psX
Introduced defaut value "reference_X" for input argument "X".
Media.Interfaces.PartialSimpleMedium.
setState_pTX
setState_phX
setState_psX
setState_dTX
Introduced defaut value "reference_X" for input argument "X".
Media.Interfaces.PartialSimpleIdealGasMedium.
setState_pTX
setState_phX
setState_psX
setState_dTX
Introduced defaut value "reference_X" for input argument "X".
Media.Air.MoistAir.
setState_pTX
setState_phX
setState_dTX
Introduced defaut value "reference_X" for input argument "X".
Media.IdealGases.Common.SingleGasNasa.
setState_pTX
setState_phX
setState_psX
setState_dTX
Introduced defaut value "reference_X" for input argument "X".
Media.IdealGases.Common.MixtureGasNasa.
setState_pTX
setState_phX
setState_psX
setState_dTX
h_TX
Introduced defaut value "reference_X" for input argument "X".
Media.Common.
IF97PhaseBoundaryProperties
gibbsToBridgmansTables
Introduced unit for variables vt, vp.
SaturationProperties Introduced unit for variable dpT.
BridgmansTables Introduced unit for dfs, dgs.
Media.Common.ThermoFluidSpecial.
gibbsToProps_ph
gibbsToProps_ph
gibbsToBoundaryProps
gibbsToProps_dT
gibbsToProps_pT
Introduced unit for variables vt, vp.
TwoPhaseToProps_ph Introduced unit for variables dht, dhd, detph.
Media.
MoistAir Documentation of moist air model significantly improved.
Media.MoistAir.
enthalpyOfVaporization Replaced by linear correlation since simpler and more accurate in the entire region.
Media.Water.IF97_Utilities.BaseIF97.Regions.
drhovl_dp Introduced unit for variable dd_dp.
Thermal.
FluidHeatFlow Introduced new parameter tapT (0..1) to define the temperature of the HeatPort as linear combination of the flowPort_a (tapT=0) and flowPort_b (tapT=1) temperatures.


The following critical errors have been fixed (i.e. errors that can lead to wrong simulation results):

Electrical.Machines.BasicMachines.Components.
ElectricalExcitation Excitation voltage ve is calculated as "spacePhasor_r.v_[1]*TurnsRatio*3/2" instead of "spacePhasor_r.v_[1]*TurnsRatio
Mechanics.MultiBody.Parts.
FixedRotation Bug corrected that the torque balance was wrong in the following cases (since vector r was not transformed from frame_a to frame_b; note this special case occurs very seldomly in practice):
  • frame_b is in the spanning tree closer to the root (usually this is frame_a).
  • vector r from frame_a to frame_b is not zero.
PointMass If a PointMass model is connected so that no equations are present to compute its orientation object, the orientation was arbitrarily set to a unit rotation. In some cases this can lead to a wrong overall model, depending on how the PointMass model is used. For this reason, such cases lead now to an error (via an assert(..)) with an explanation how to fix this.
Media.Interfaces.PartialPureSubstance.
pressure_dT
specificEnthalpy_dT
Changed wrong call from "setState_pTX" to "setState_dTX"
Media.Interfaces.PartialTwoPhaseMedium.
pressure_dT
specificEnthalpy_dT
Changed wrong call from "setState_pTX" to "setState_dTX"
Media.Common.ThermoFluidSpecial.
gibbsToProps_dT
helmholtzToProps_ph
helmholtzToProps_pT
helmholtzToProps_dT
Bugs in equations corrected
Media.Common.
helmholtzToBridgmansTables
helmholtzToExtraDerivs
Bugs in equations corrected
Media.IdealGases.Common.SingleGasNasa.
density_derp_T Bug in equation of partial derivative corrected
Media.Water.IF97_Utilities.
BaseIF97.Inverses.dtofps3
isentropicExponent_props_ph
isentropicExponent_props_pT
isentropicExponent_props_dT
Bugs in equations corrected
Media.Air.MoistAir.
h_pTX Bug in setState_phX due to wrong vector size in h_pTX corrected. Furthermore, syntactical errors corrected:
  • In function massFractionpTphi an equation sign is used in an algorithm.
  • Two consecutive semicolons removed
Media.Water.
waterConstants Bug in equation of criticalMolarVolume corrected.
Media.Water.IF97_Utilities.BaseIF97.Regions.
region_ph
region_ps
Bug in region determination corrected.
boilingcurve_p
dewcurve_p
Bug in equation of plim corrected.


The following uncritical errors have been fixed (i.e. errors that do not lead to wrong simulation results, but, e.g., units are wrong or errors in documentation):

Blocks.
Examples Corrected typos in description texts of bus example models.
Blocks.Continuous.
LimIntegrator removed incorrect smooth(0,..) because expression might be discontinuous.
Blocks.Math.UnitConversions.
block_To_kWh
block_From_kWh
Corrected unit from "kWh" to (syntactically correct) "kW.h".
Electrical.Analog.Examples.
HeatingNPN_OrGate Included start values, so that initialization is successful
Electrical.Analog.Lines.
OLine Corrected unit from "Siemens/m" to "S/m".
TLine2 Changed wrong type of parameter NL (normalized length) from SIunits.Length to Real.
Electrical.Digital.Delay.
TransportDelay Syntax error corrected (":=" in equation section is converted by Dymola silently to "=").
Electrical.Digital
Converters Syntax error corrected (":=" in equation section is converted by Dymola silently to "=").
Electrical.MultiPhase.Basic.
Conductor Changed wrong type of parameter G from SIunits.Resistance to SIunits.Conductance.
Electrical.MultiPhase.Interfaces.
Plug
Made used "pin" connectors non-graphical (otherwise, there are difficulties to connect to Plug).
Electrical.MultiPhase.Sources.
SineCurrent Changed wrong type of parameter offset from SIunits.Voltage to SIunits.Current.
Mechanics.MultiBody.Examples.Loops.
EngineV6 Corrected wrong crankAngleOffset of some cylinders and improved the example.
Mechanics.MultiBody.Examples.Loops.Utilities.
GasForce Wrong units corrected: "SIunitsPosition x,y" to "Real x,y"; "SIunits.Pressure press" to "SIunits.Conversions.NonSIunits.Pressure_bar"
GasForce2 Wrong unit corrected: "SIunits.Position x" to "Real x".
EngineV6_analytic Corrected wrong crankAngleOffset of some cylinders.
Mechanics.MultiBody.Interfaces.
PartialLineForce Corrected wrong unit: "SIunits.Position eRod_a" to "Real eRod_a";
FlangeWithBearingAdaptor If includeBearingConnector = false, connector "fr" + "ame" was not removed. As long as the connecting element to "frame" determines the non-flow variables, this is fine. In the corrected version, "frame" is conditionally removed in this case.
Mechanics.MultiBody.Forces.
ForceAndTorque Corrected wrong unit: "SIunits.Force t_b_0" to "SIunits.Torque t_b_0".
LineForceWithTwoMasses Corrected wrong unit: "SIunits.Position e_rel_0" to "Real e_rel_0".
Mechanics.MultiBody.Frames.
axisRotation Corrected wrong unit: "SIunits.Angle der_angle" to "SIunits.AngularVelocity der_angle".
Mechanics.MultiBody.Joints.Assemblies.
JointUSP
JointSSP
Corrected wrong unit: "SIunits.Position aux" to "Real"
Mechanics.MultiBody.Sensors.
AbsoluteSensor Corrected wrong units: "SIunits.Acceleration angles" to "SIunits.Angle angles" and "SIunits.Velocity w_abs_0" to "SIunits.AngularVelocity w_abs_0"
RelativeSensor Corrected wrong units: "SIunits.Acceleration angles" to "SIunits.Angle angles"
Distance Corrected wrong units: "SIunits.Length L2" to "SIunits.Area L2" and SIunits.Length s_small2" to "SIunits.Area s_small2"
Mechanics.MultiBody.Visualizers.Advanced.
Shape Changed "MultiBody.Types.Color color" to "Real color[3]", since "Types.Color" is "Integer color[3]" and there have been backward compatibility problems with models using "color" before it was changed to "Types.Color".
Mechanics.Rotational.Interfaces.
FrictionBase Rewrote equations with new variables "unitAngularAcceleration" and "unitTorque" in order that the equations are correct with respect to units (previously, variable "s" can be both a torque and an angular acceleration and this lead to unit incompatibilities)
Mechanics.Rotational.
OneWayClutch
LossyGear
Rewrote equations with new variables "unitAngularAcceleration" and "unitTorque" in order that the equations are correct with respect to units (previously, variable "s" can be both a torque and an angular acceleration and this lead to unit incompatibilities)
Mechanics.Translational.Interfaces.
FrictionBase Rewrote equations with new variables "unitAngularAcceleration" and "unitTorque" in order that the equations are correct with respect to units (previously, variable "s" can be both a torque and an angular acceleration and this lead to unit incompatibilities)
Mechanics.Translational.
Speed Corrected unit of v_ref from SIunits.Position to SIunits.Velocity
Media.Examples.Tests.Components.
PartialTestModel
PartialTestModel2
Corrected unit of h_start from "SIunits.Density" to "SIunits.SpecificEnthalpy"
Media.Examples.SolveOneNonlinearEquation.
Inverse_sh_T InverseIncompressible_sh_T
Inverse_sh_TX
Rewrote equations so that dimensional (unit) analysis is correct"
Media.Incompressible.Examples.
TestGlycol Rewrote equations so that dimensional (unit) analysis is correct"
Media.Interfaces.PartialTwoPhaseMedium.
dBubbleDensity_dPressure
dDewDensity_dPressure
Changed wrong type of ddldp from "DerDensityByEnthalpy" to "DerDensityByPressure".
Media.Common.ThermoFluidSpecial.
ThermoProperties Changed wrong units: "SIunits.DerEnergyByPressure dupT" to "Real dupT" and "SIunits.DerEnergyByDensity dudT" to "Real dudT"
ThermoProperties_ph Changed wrong unit from "SIunits.DerEnergyByPressure duph" to "Real duph"
ThermoProperties_pT Changed wrong unit from "SIunits.DerEnergyByPressure dupT" to "Real dupT"
ThermoProperties_dT Changed wrong unit from "SIunits.DerEnergyByDensity dudT" to "Real dudT"
Media.IdealGases.Common.SingleGasNasa.
cp_Tlow_der Changed wrong unit from "SIunits.Temperature dT" to "Real dT".
Media.Water.IF97_Utilities.BaseIF97.Basic.
p1_hs
h2ab_s
p2a_hs
p2b_hs
p2c_hs
h3ab_p
T3a_ph
T3b_ph
v3a_ph
v3b_ph
T3a_ps
T3b_ps
v3a_ps
v3b_ps
Changed wrong unit of variables h/hstar, s, sstar from "SIunits.Enthalpy" to "SIunits.SpecificEnthalpy", "SIunits.SpecificEntropy", "SIunits.SpecificEntropy
Media.Water.IF97_Utilities.BaseIF97.Transport.
cond_dTp Changed wrong unit of TREL, rhoREL, lambdaREL from "SIunits.Temperature", "SIunit.Density", "SIunits.ThermalConductivity" to "Real".
Media.Water.IF97_Utilities.BaseIF97.Inverses.
tofps5
tofpst5
Changed wrong unit of pros from "SIunits.SpecificEnthalpy" to "SIunits.SpecificEntropy".
Media.Water.IF97_Utilities.
waterBaseProp_ph Improved calculation at the limits of the validity.
Thermal.
FluidHeatFlow
HeatTransfer
Corrected wrong unit "SIunits.Temperature" of difference temperature variables with "SIunits.TemperatureDifference".



Modelica.UsersGuide.ReleaseNotes.Version_2_2_1 Modelica.UsersGuide.ReleaseNotes.Version_2_2_1



Version 2.2.1 is backward compatible to version 2.2.

In this version, no new libraries have been added. The following major improvements have been made:

The following new components have been added to existing libraries:

Modelica.Blocks.Examples.
PID_Controller Example to demonstrate the usage of the Blocks.Continuous.LimPID block.
Modelica.Blocks.Math.
UnitConversions.* New package that provides blocks for unit conversions. UnitConversions.ConvertAllBlocks allows to select all available conversions from a menu.
Modelica.Electrical.Machines.BasicMachines.SynchronousInductionMachines.
SM_ElectricalExcitedDamperCage Electrical excited synchronous induction machine with damper cage
Modelica.Electrical.Machines.BasicMachines.Components.
ElectricalExcitation Electrical excitation for electrical excited synchronous induction machines
DamperCage Unsymmetrical damper cage for electrical excited synchronous induction machines. At least the user has to specify the dampers resistance and stray inductance in d-axis; if he omits the parameters of the q-axis, the same values as for the d.axis are used, assuming a symmetrical damper.
Modelica.Electrical.Machines.Examples.
SMEE_Gen Test example 7: ElectricalExcitedSynchronousInductionMachine as Generator
Utilities.TerminalBox Terminal box for three-phase induction machines to choose either star (wye) ? or delta ? connection
Modelica.Math.Matrices.
equalityLeastSquares Solve a linear equality constrained least squares problem:
min|A*x-a|^2 subject to B*x=b
Modelica.Mechanics.MultiBody.
Parts.PointMass Point mass, i.e., body where inertia tensor is neglected.
Interfaces.FlangeWithBearing Connector consisting of 1-dim. rotational flange and its 3-dim. bearing frame.
Interfaces.FlangeWithBearingAdaptor Adaptor to allow direct connections to the sub-connectors of FlangeWithBearing.
Types.SpecularCoefficient New type to define a specular coefficient.
Types.ShapeExtra New type to define the extra data for visual shape objects and to have a central place for the documentation of this data.
Modelica.Mechanics.MultiBody.Examples.Elementary
PointGravityWithPointMasses Example of two point masses in a central gravity field.
Modelica.Mechanics.Rotational.
UsersGuide A User's Guide has been added by using the documentation previously present in the package documentation of Rotational.
Sensors.PowerSensor New component to measure the energy flow between two connectors of the Rotational library.
Modelica.Mechanics.Translational.
Speed New component to move a translational flange according to a reference speed
Modelica.Media.Interfaces.PartialMedium.
specificEnthalpy_pTX New function to compute specific enthalpy from pressure, temperature and mass fractions.
temperature_phX New function to compute temperature from pressure, specific enthalpy, and mass fractions.
Modelica.Icons.
SignalBus Icon for signal bus
SignalSubBus Icon for signal sub-bus
Modelica.SIunits.
UsersGuide A User's Guide has been added that describes unit handling.
Resistance
Conductance
Attribute 'min=0' removed from these types.
Modelica.Thermal.FluidHeatFlow.
Components.Valve Simple controlled valve with either linear or exponential characteristic.
Sources. IdealPump Simple ideal pump (resp. fan) dependent on the shaft?s speed; pressure increase versus volume flow is defined as a linear function. Torque * Speed = Pressure invrease * Volume flow (without losses).
Examples.PumpAndValve Test example for valves.
Examples.PumpDropOut Drop out of 1 pump to test behavior of semiLinear.
Examples.ParallelPumpDropOut Drop out of 2 parallel pumps to test behavior of semiLinear.
Examples.OneMass Cooling of 1 hot mass to test behavior of semiLinear.
Examples.TwoMass Cooling of 2 hot masses to test behavior of semiLinear.

The following components have been improved:

Modelica.
UsersGuide User's Guide and package description of Modelica Standard Library improved.
Modelica.Blocks.Interfaces.
RealInput
BooleanInput
IntegerInput
When dragging one of these connectors the width and height is a factor of 2 larger as a standard icon. Previously, these connectors have been dragged and then manually enlarged by a factor of 2 in the Modelica standard library.
Modelica.Blocks.
Continuous.* Initialization options added to all blocks (NoInit, SteadyState, InitialState, InitialOutput). New parameter limitsAtInit to switch off the limits of LimIntegrator or LimPID during initialization
Continuous.LimPID Option to select P, PI, PD, PID controller. Documentation significantly improved.
Nonlinear.Limiter
Nonlinear.VariableLimiter
Nonlinear.Deadzone
New parameter limitsAtInit/deadZoneAtInit to switch off the limits or the dead zone during initialization
Modelica.Electrical.Analog.
Sources Icon improved (+/- added to voltage sources, arrow added to current sources).
Modelica.Electrical.Analog.Semiconductors.
Diode smooth() operator included to improve numerics.
Modelica.Electrical.Machines.BasicMachines.SynchronousInductionMachines.
SM_PermanentMagnetDamperCage
SM_ElectricalExcitedDamperCage
SM_ReluctanceRotorDamperCage
The user can choose "DamperCage = false" (default: true) to remove all equations for the damper cage from the model.
Modelica.Electrical.Machines.BasicMachines.AsynchronousInductionMachines.
AIM_SlipRing Easier parameterization: if the user selects "useTrunsRatio = false" (default: true, this is the same behavior as before), parameter TurnsRatio is calculated internally from Nominal stator voltage and Locked-rotor voltage.
Modelica.Math.Matrices.
leastSquares The A matrix in the least squares problem might be rank deficient. Previously, it was required that A has full rank.
Modelica.Mechanics.MultiBody.
all models
  • All components with animation information have a new variable specularCoefficient to define the reflection of ambient light. The default value is world.defaultSpecularCoefficient which has a default of 0.7. By changing world.defaultSpecularCoefficient, the specularCoefficient of all components is changed that are not explicitly set differently. Since specularCoefficient is a variable (and no parameter), it can be changed during simulation. Since annotation(Dialog) is set, this variable still appears in the parameter menus.
    Previously, a constant specularCoefficient of 0.7 was used for all components.
  • Variable color of all components is no longer a parameter but an input variable. Also all parameters in package Visualizers, with the exception of shapeType are no longer parameters but defined as input variables with annotation(Dialog). As a result, all these variables appear still in parameter menus, but they can be changed during simulation (e.g., color might be used to display the temperature of a part).
  • All menus have been changed to follow the Modelica 2.2 annotations "Dialog, group, tab, enable" (previously, a non-standard Dymola definition for menus was used). Also, the "enable" annotation is used in all menus to disable input fields if the input would be ignored.
  • All visual shapes are now defined with conditional declarations (to remove them, if animation is switched off). Previously, these (protected) objects have been defined by arrays with dimension 0 or 1.
Frames.resolveRelative The derivative of this function added as function and defined via an annotation. In certain situations, tools had previously difficulties to differentiate the inlined function automatically.
Forces.* The scaling factors N_to_m and Nm_to_m have no longer a default value of 1000 but a default value of world.defaultN_to_m (=1000) and world.defaultNm_to_m (=1000). This allows to change the scaling factors for all forces and torques in the world object.
Interfaces.Frame.a
Interfaces.Frame.b
Interfaces.Frame_resolve
The Frame connectors are now centered around the origin to ease the usage. The shape was changed, such that the icon is a factor of 1.6 larger as a standard icon (previously, the icon had a standard size when dragged and then the icon was manually enlarged by a factor of 1.5 in the y-direction in the MultiBody library; the height of 16 allows easy positioning on the standard grid size of 2). The double line width of the border in icon and diagram layer was changed to a single line width and when making a connection the connection line is dark grey and no longer black which looks better.
Joints.Assemblies.* When dragging an assembly joint, the icon is a factor of 2 larger as a standard icon. Icon texts and connectors have a standard size in this enlarged icon (and are not a factor of 2 larger as previously).
Types.* All types have a corresponding icon now to visualize the content in the package browser (previously, the types did not have an icon).
Modelica.Mechanics.Rotational.
Inertia Initialization and state selection added.
SpringDamper Initialization and state selection added.
Move New implementation based solely on Modelica 2.2 language (previously, the Dymola specific constrain(..) function was used).
Modelica.Mechanics.Translational.
Move New implementation based solely on Modelica 2.2 language (previously, the Dymola specific constrain(..) function was used).
Modelica.Thermal.FluidHeatFlow.Interfaces.Partials.
SimpleFriction Calculates friction losses from pressure drop and volume flow.
Modelica.Thermal.FluidHeatFlow.Components.
IsolatedPipe
HeatedPipe
Added geodetic height as a source of pressure change; feeds friction losses as calculated by simple friction to the energy balance of the medium.
Modelica.Media.Interfaces.PartialMedium.FluidConstants.
HCRIT0Critical specifc enthalpy of the fundamental equation (base formulation of the fluid medium model).
SCRIT0Critical specifc entropy of the fundamental equation (base formulation of the fluid medium model).
deltahEnthalpy offset (default: 0) between the specific enthalpy of the fluid model and the user-visible specific enthalpy in the model: deltah = h_model - h_fundamentalEquation.
deltasEntropy offset (default: 0) between the specific entropy of the fluid model and the user-visible specific entropy in the model: deltas = s_model - s_fundamentalEquation.
T_defaultDefault value for temperature of medium (for initialization)
h_defaultDefault value for specific enthalpy of medium (for initialization)
p_defaultDefault value for pressure of medium (for initialization)
X_defaultDefault value for mass fractions of medium (for initialization)

The following errors have been fixed:

Modelica.Blocks.Tables.
CombiTable1D
CombiTable1Ds
CombiTable2D
Parameter "tableOnFile" determines now whether a table is read from file or used from parameter "table". Previously, if "fileName" was not "NoName", a table was always read from file "fileName", independently of the setting of "tableOnFile". This has been corrected.
Furthermore, the initialization of a table is now performed in a when-clause and no longer in a parameter declaration, because some tools evaluate the parameter declaration in some situation more than once and then the table is unnecessarily read several times (and occupies also more memory).
Modelica.Blocks.Sources.
CombiTimeTable Same bug fix/improvement as for the tables from Modelica.Blocks.Tables as outlined above.
Modelica.Electrical.Analog.Semiconductors.
PMOS
NMOS
HeatingPMOS
HeatingNMOS
The Drain-Source-Resistance RDS had actually a resistance of RDS/v, with v=Beta*(W+dW)/(L+dL). The correct formula is without the divison by "v". This has now been corrected.
This bug fix should not have an essential effect in most applications. In the default case (Beta=1e-5), the Drain-Source-Resistance was a factor of 1e5 too large and had in the default case the wrong value 1e12, although it should have the value 1e7. The effect was that this resistance had practically no effect.
Modelica.Media.IdealGases.Common.SingleGasNasa.
dynamicViscosityLowPressure Viscosity and thermal conductivity (which needs viscosity as input) were computed wrong for polar gases and gas mixtures (i.e. if dipole moment not 0.0). This has been fixed in version 2.2.1.
Modelica.Utilities.Streams.
readLine Depending on the C-implementation, the stream was not correctly closed. This has been corrected by adding a "Streams.close(..)" after reading the file content.



Modelica.UsersGuide.ReleaseNotes.Version_2_2 Modelica.UsersGuide.ReleaseNotes.Version_2_2



Version 2.2 is backward compatible to version 2.1.

The following new libraries have been added:

Modelica.Media Property models of liquids and gases, especially
  • 1241 detailed gas models,
  • moist air,
  • high precision water model (according to IAPWS/IF97 standard),
  • incompressible media defined by tables (cp(T), rho(t), eta(T), etc. are defined by tables).
The user can conveniently define mixtures of gases between the 1241 gas models. The models are designed to work well in dynamic simulations. They are based on a new standard interface for media with single and multiple substances and one or multiple phases with the following features:
  • The independent variables of a medium model do not influence the definition of a fluid connector port or how the balance equations have to be implemented.
    Used independent variables: "p,T", "p,T,X", "p,h", "d,T".
  • Optional variables, e.g., dynamic viscosity, are only computed if needed.
  • The medium models are implemented with regards to efficient dynamic simulation.
Modelica.Thermal.FluidHeatFlow Simple components for 1-dim., incompressible thermo-fluid flow to model coolant flows, e.g., of electrical machines. Components can be connected arbitrarily together (= ideal mixing at connection points) and fluid may reverse direction of flow.

The following changes have been performed in the Modelica.Mechanics.MultiBody library:




Modelica.UsersGuide.ReleaseNotes.Version_2_1 Modelica.UsersGuide.ReleaseNotes.Version_2_1



This is a major change with respect to previous versions of the Modelica Standard Library, because many new libraries and components are included and because the input/output blocks (Modelica.Blocks) have been considerably simplified:

The discussed changes of Modelica.Blocks are not backward compatible. A script to automatically convert models to this new version is provided. There might be rare cases, where this script does not convert. In this case models have to be manually converted. In any case you should make a back-up copy of your model before automatic conversion is performed.

The following new libraries have been added:

Modelica.Electrical.Digital Digital electrical components based on 2-,3-,4-, and 9-valued logic
according to the VHDL standard
Modelica.Electrical.Machines Asynchronous, synchronous and DC motor and generator models
Modelica.Math.Matrices Functions operatinng on matrices such as solve() (A*x=b), leastSquares(),
norm(), LU(), QR(), eigenValues(), singularValues(), exp(), ...
Modelica.StateGraph Modeling of discrete event and reactive systems in a convenient way using
hierarchical state machines and Modelica as action language.
It is based on JGraphChart and Grafcet and has a similar modeling power as
StateCharts. It avoids deficiences of usually used action languages.
This library makes the ModelicaAdditions.PetriNets library obsolet.
Modelica.Utilities.Files Functions to operate on files and directories (copy, move, remove files etc.)
Modelica.Utilities.Streams Read from files and write to files (print, readLine, readFile, error, ...)
Modelica.Utilities.Strings Operations on strings (substring, find, replace, sort, scanToken, ...)
Modelica.Utilities.System Get/set current directory, get/set environment variable, execute shell command, etc.

The following existing libraries outside of the Modelica standard library have been improved and added as new libraries (models using the previous libraries are automatically converted to the new sublibraries inside package Modelica):

Modelica.Blocks.Discrete Discrete input/output blocks with fixed sample period
(from ModelicaAdditions.Blocks.Discrete)
Modelica.Blocks.Logical Logical components with Boolean input and output signals
(from ModelicaAdditions.Blocks.Logical)
Modelica.Blocks.Nonlinear Discontinuous or non-differentiable algebraic control blocks such as variable limiter,
fixed, variable and Pade delay etc. (from ModelicaAdditions.Blocks.Nonlinear)
Modelica.Blocks.Routing Blocks to combine and extract signals, such as multiplexer
(from ModelicaAdditions.Blocks.Multiplexer)
Modelica.Blocks.Tables One and two-dimensional interpolation in tables. CombiTimeTable is available
in Modelica.Blocks.Sources (from ModelicaAdditions.Tables)
Modelica.Mechanics.MultiBody Components to model the movement of 3-dimensional mechanical systems. Contains
body, joint, force and sensor components, analytic handling of kinematic loops,
force elements with mass, series/parallel connection of 3D force elements etc.
(from MultiBody 1.0 where the new signal connectors are used;
makes the ModelicaAdditions.MultiBody library obsolet)

As a result, the ModelicaAdditions library is obsolet, because all components are either included in the Modelica library or are replaced by much more powerful libraries (MultiBody, StateGraph).

The following new components have been added to existing libraries.

Modelica.Blocks.Logical.
Pre y = pre(u): Breaks algebraic loops by an infinitesimal small
time delay (event iteration continues until u = pre(u))
Edge y = edge(u): Output y is true, if the input u has a rising edge
FallingEdge y = edge(not u): Output y is true, if the input u has a falling edge
Change y = change(u): Output y is true, if the input u has a rising or falling edge
GreaterEqual Output y is true, if input u1 is greater or equal as input u2
Less Output y is true, if input u1 is less as input u2
LessEqual Output y is true, if input u1 is less or equal as input u2
Timer Timer measuring the time from the time instant where the
Boolean input became true
Modelica.Blocks.Math.
BooleanToReal Convert Boolean to Real signal
BooleanToInteger Convert Boolean to Integer signal
RealToBoolean Convert Real to Boolean signal
IntegerToBoolean Convert Integer to Boolean signal
Modelica.Blocks.Sources.
RealExpression Set output signal to a time varying Real expression
IntegerExpression Set output signal to a time varying Integer expression
BooleanExpression Set output signal to a time varying Boolean expression
BooleanTable Generate a Boolean output signal based on a vector of time instants
Modelica.Mechanics.MultiBody.
Frames.from_T2 Return orientation object R from transformation matrix T and its derivative der(T)
Modelica.Mechanics.Rotational.
LinearSpeedDependentTorque Linear dependency of torque versus speed (acts as load torque)
QuadraticSpeedDependentTorque Quadratic dependency of torque versus speed (acts as load torque)
ConstantTorque Constant torque, not dependent on speed (acts as load torque)
ConstantSpeed Constant speed, not dependent on torque (acts as load torque)
TorqueStep Constant torque, not dependent on speed (acts as load torque)

The following bugs have been corrected:

Modelica.Mechanics.MultiBody.Forces.
LineForceWithMass
Spring
If mass of the line force or spring component is not zero, the
mass was (implicitly) treated as "mass*mass" instead of as "mass"
Modelica.Mechanics.Rotational.
Speed If parameter exact=false, the filter was wrong
(position was filtered and not the speed input signal)

Other changes:




Modelica.UsersGuide.ReleaseNotes.Version_1_6 Modelica.UsersGuide.ReleaseNotes.Version_1_6



Added 1 new library (Electrical.MultiPhase), 17 new components, improved 3 existing components in the Modelica.Electrical library and improved 3 types in the Modelica.SIunits library. Furthermore, this User's Guide has been started. The improvements in more detail:

New components

Modelica.Electrical.Analog.Basic.
SaturatingInductor Simple model of an inductor with saturation
VariableResistor Ideal linear electrical resistor with variable resistance
VariableConductor Ideal linear electrical conductor with variable conductance
VariableCapacitor Ideal linear electrical capacitor with variable capacitance
VariableInductor Ideal linear electrical inductor with variable inductance
Modelica.Electrical.Analog.Semiconductors.
HeadingDiode Simple diode with heating port
HeadingNMOS Simple MOS Transistor with heating port
HeadingPMOS Simple PMOS Transistor with heating port
HeadingNPN Simple NPN BJT according to Ebers-Moll with heating port
HeadingPNP Simple PNP BJT according to Ebers-Moll with heating port
Modelica.Electrical.MultiPhase
A new library for multi-phase electrical circuits

New examples

The following new examples have been added to Modelica.Electrical.Analog.Examples:

CharacteristicThyristors, CharacteristicIdealDiodes, HeatingNPN_OrGate, HeatingMOSInverter, HeatingRectifier, Rectifier, ShowSaturatingInductor ShowVariableResistor

Improved existing components

In the library Modelica.Electrical.Analog.Ideal, a knee voltage has been introduced for the components IdealThyristor, IdealGTOThyristor, IdealDiode in order that the approximation of these ideal elements is improved with not much computational effort.

In the Modelica.SIunits library, the following changes have been made:

Inductance min=0 removed
SelfInductance min=0 added
ThermodynamicTemperature min=0 added



Modelica.UsersGuide.ReleaseNotes.Version_1_5 Modelica.UsersGuide.ReleaseNotes.Version_1_5



Added 55 new components. In particular, added new package Thermal.HeatTransfer for modeling of lumped heat transfer, added model LossyGear in Mechanics.Rotational to model gear efficiency and bearing friction according to a new theory in a robust way, added 10 new models in Electrical.Analog and added several other new models and improved existing models.

New components

Modelica.Blocks.
Continuous.DerDerivative of input (= analytic differentations)
ExamplesDemonstration examples of the components of this package
Nonlinear.VariableLimiterLimit the range of a signal with variable limits
Modelica.Blocks.Interfaces.
RealPortReal port (both input/output possible)
IntegerPortInteger port (both input/output possible)
BooleanPortBoolean port (both input/output possible)
SIMOSingle Input Multiple Output continuous control block
IntegerBlockIconBasic graphical layout of Integer block
IntegerMOMultiple Integer Output continuous control block
IntegerSignalSourceBase class for continuous Integer signal source
IntegerMIBooleanMOsMultiple Integer Input Multiple Boolean Output continuous control block with same number of inputs and outputs
BooleanMIMOsMultiple Input Multiple Output continuous control block with same number of inputs and outputs of boolean type
BusAdaptorsComponents to send signals to the bus or receive signals from the bus
Modelica.Blocks.Math.
RealToIntegerConvert real to integer signals
IntegerToRealConvert integer to real signals
MaxPass through the largest signal
MinPass through the smallest signal
EdgeIndicates rising edge of boolean signal
BooleanChangeIndicates boolean signal changing
IntegerChangeIndicates integer signal changing
Modelica.Blocks.Sources.
IntegerConstantGenerate constant signals of type Integer
IntegerStepGenerate step signals of type Integer
Modelica.Electrical.Analog.Basic.
HeatingResistorTemperature dependent electrical resistor
OpAmpSimple nonideal model of an OpAmp with limitation
Modelica.Electrical.Analog.Ideal.
IdealCommutingSwitchIdeal commuting switch
IdealIntermediateSwitchIdeal intermediate switch
ControlledIdealCommutingSwitchControlled ideal commuting switch
ControlledIdealIntermediateSwitchControlled ideal intermediate switch
IdealOpAmpLimitedIdeal operational amplifier with limitation
IdealOpeningSwitchIdeal opener
IdealClosingSwitchIdeal closer
ControlledIdealOpeningSwitchControlled ideal opener
ControlledIdealClosingSwitchControlled ideal closer
Modelica.Electrical.Analog.Lines.
TLine1Lossless transmission line (Z0, TD)
TLine2Lossless transmission line (Z0, F, NL)
TLine2Lossless transmission line (Z0, F)
Modelica.Icons.
FunctionIcon for a function
RecordIcon for a record
EnumerationIcon for an enumeration
Modelica.Math.
tempInterpol2temporary routine for vectorized linear interpolation (will be removed)
Modelica.Mechanics.Rotational.
Examples.LossyGearDemo1Example to show that gear efficiency may lead to stuck motion
Examples.LossyGearDemo2Example to show combination of LossyGear and BearingFriction
LossyGearGear with mesh efficiency and bearing friction (stuck/rolling possible)
Gear2Realistic model of a gearbox (based on LossyGear)
Modelica.SIunits.
ConversionsConversion functions to/from non SI units and type definitions of non SI units
EnergyFlowRateSame definition as Power
EnthalpyFlowRateReal (final quantity="EnthalpyFlowRate", final unit="W")
Modelica.
Thermal.HeatTransfer1-dimensional heat transfer with lumped elements
ModelicaAdditions.Blocks.Discrete.
TriggeredSamplerTriggered sampling of continuous signals
TriggeredMaxCompute maximum, absolute value of continuous signal at trigger instants
ModelicaAdditions.Blocks.Logical.Interfaces.
BooleanMIRealMOsMultiple Boolean Input Multiple Real Output continuous control block with same number of inputs and outputs
RealMIBooleanMOsMultiple Real Input Multiple Boolean Output continuous control block with same number of inputs and outputs
ModelicaAdditions.Blocks.Logical.
TriggeredTrapezoidTriggered trapezoid generator
HysteresisTransform Real to Boolean with Hysteresis
OnOffControllerOn-off controller
CompareTrue, if signal of inPort1 is larger than signal of inPort2
ZeroCrossingTrigger zero crossing of input signal
ModelicaAdditions.
Blocks.Multiplexer.ExtractorExtract scalar signal out of signal vector dependent on IntegerRealInput index
Tables.CombiTable1DsTable look-up in one dimension (matrix/file) with only single input

Package-specific Changes

Class-specific Changes

Modelica.SIunits

Removed final from quantity attribute for Mass and MassFlowRate.

Modelica.Blocks.Math.Sum

Implemented avoiding algorithm section, which would lead to expensive function calls.

Modelica.Blocks.Sources.Step

block Step "Generate step signals of type Real"
        parameter Real height[:]={1} "Heights of steps";
 // parameter Real offset[:]={0} "Offsets of output signals";
// parameter SIunits.Time startTime[:]={0} "Output = offset for time < startTime";
// extends Interfaces.MO          (final nout=max([size(height, 1); size(offset, 1); size(startTime, 1)]));
        extends Interfaces.SignalSource(final nout=max([size(height, 1); size(offset, 1); size(startTime, 1)]));

Modelica.Blocks.Sources.Exponentials

Replaced usage of built-in function exp by Modelica.Math.exp.

Modelica.Blocks.Sources.TimeTable

Interface definition changed from

    parameter Real table[:, :]=[0, 0; 1, 1; 2, 4] "Table matrix (time = first column)";

to

    parameter Real table[:, 2]=[0, 0; 1, 1; 2, 4] "Table matrix (time = first column)";

Did the same for subfunction getInterpolationCoefficients.

Bug in getInterpolationCoefficients for startTime <> 0 fixed:

        ...
                end if;
          end if;
          // Take into account startTime "a*(time - startTime) + b"
          b := b - a*startTime;
        end getInterpolationCoefficients;

Modelica.Blocks.Sources.BooleanStep

block BooleanStep "Generate step signals of type Boolean"
        parameter SIunits.Time startTime[:]={0} "Time instants of steps";
        parameter Boolean startValue[size(startTime, 1)]=fill(false, size(startTime, 1)) "Output before startTime";
        extends Interfaces.BooleanSignalSource(final nout=size(startTime, 1));
equation
        for i in 1:nout loop
//   outPort.signal[i] = time >= startTime[i];
          outPort.signal[i] = if time >= startTime[i] then not startValue[i] else startValue[i];
        end for;
end BooleanStep;

Modelica.Electrical.Analog

Corrected table of values and default for Beta by dividing them by 1000 (consistent with the values used in the NAND-example model):

Corrected parameter defaults, unit and description for TrapezoidCurrent. This makes the parameters consistent with their use in the model. Models specifying parameter values are not changed. Models not specifying parameter values did not generate trapezoids previously.

Icon layer background changed from transparent to white:

Basic.Transformer: Replaced invalid escape characters '\ ' and '\[newline]' in documentation by '|'.

Modelica.Mechanics.Rotational

Removed arrows and names documentation from flanges in diagram layer

Modelica.Mechanics.Rotational.Interfaces.FrictionBase

Modelica.Mechanics.Rotational.Position

Replaced reinit by initial equation

Modelica.Mechanics.Rotational.RelativeStates

Bug corrected by using modifier stateSelect = StateSelect.prefer as implementation

Modelica.Mechanics.Translational.Interfaces.flange_b

Attribute fillColor=7 added to Rectangle on Icon layer, i.e. it is now filled with white and not transparent any more.

Modelica.Mechanics.Translational.Position

Replaced reinit by initial equation

Modelica.Mechanics.Translational.RelativeStates

Bug corrected by using modifier stateSelect = StateSelect.prefer as implementation

Modelica.Mechanics.Translational.Stop

Use stateSelect = StateSelect.prefer.

Modelica.Mechanics.Translational.Examples.PreLoad

Improved documentation and coordinate system used for example.

ModelicaAdditions.Blocks.Nonlinear.PadeDelay

Replaced reinit by initial equation

ModelicaAdditions.HeatFlow1D.Interfaces

Definition of connectors Surface_a and Surface_b:
flow SIunits.HeatFlux q; changed to flow SIunits.HeatFlowRate q;

MultiBody.Parts.InertialSystem

Icon corrected.




Modelica.UsersGuide.ReleaseNotes.Version_1_4 Modelica.UsersGuide.ReleaseNotes.Version_1_4





Version 1.4.1beta1 (February 12, 2001)

Adapted to Modelica 1.4


Version 1.3.2beta2 (June 20, 2000)


Version 1.3.1 (Dec. 13, 1999)

First official release of the library.