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markarenmarkaren
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add mass-spring-damper system
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‎examples/CMakeLists.txt‎

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@@ -7,3 +7,4 @@ add_subdirectory(ExternalSharedLib)
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add_subdirectory(ExternalInterfaceLib)
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add_subdirectory(Identity)
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add_subdirectory(Dahlquist)
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add_subdirectory(mass_spring_damper)

‎examples/mass_spring_damper/CMakeLists.txt‎

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set(MODEL_PATH "${CMAKE_BINARY_DIR}/models/spring_mass_damper")
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generateFMU("mass"
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SOURCES
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"mass.cpp"
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FMI_VERSIONS
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"fmi2;fmi3"
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WITH_SOURCES
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DESTINATION
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"${MODEL_PATH}"
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)
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generateFMU("spring"
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SOURCES
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"spring.cpp"
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FMI_VERSIONS
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"fmi2;fmi3"
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WITH_SOURCES
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DESTINATION
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"${MODEL_PATH}"
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)
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generateFMU("damper"
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SOURCES
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"damper.cpp"
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FMI_VERSIONS
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"fmi2;fmi3"
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WITH_SOURCES
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DESTINATION
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"${MODEL_PATH}"
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)
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configure_file(
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"${CMAKE_CURRENT_SOURCE_DIR}/SystemStructure.ssd.in"
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"${MODEL_PATH}/SystemStructure.ssd"
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@ONLY
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)
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file(COPY "ChartConfig.xml" DESTINATION "${MODEL_PATH}")

‎examples/mass_spring_damper/ChartConfig.xml‎

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<?xml version="1.0" encoding="UTF-8"?>
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<ecos:ChartConfig xmlns:ecos="http://github.com/Ecos-platform/libecos/resources/schema/ChartConfig">
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<ecos:chart>
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<ecos:timeseries title="Spring-Mass-Damper System" label="Position [m]">
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<ecos:series>
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<!-- Mass position -->
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<ecos:component name="mass">
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<ecos:variable name="position"/>
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</ecos:component>
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</ecos:series>
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</ecos:timeseries>
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</ecos:chart>
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</ecos:ChartConfig>

‎examples/mass_spring_damper/SystemStructure.ssd.in‎

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<?xml version="1.0" encoding="UTF-8"?>
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<ssd:SystemStructureDescription name="SpringMassDamperSystem" version="1.0"
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xmlns:ssd="http://ssp-standard.org/SSP1/SystemStructureDescription"
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xmlns:ssc="http://ssp-standard.org/SSP1/SystemStructureCommon"
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xmlns:osp="http://opensimulationplatform.com/SSP/OSPAnnotations">
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<ssd:System name="root">
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<!-- Mass FMU -->
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<ssd:Elements>
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<ssd:Component
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name="mass"
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source="@MODEL_PATH@/fmi3/mass.fmu">
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<ssd:Connectors>
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<ssd:Connector name="position" kind="output">
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<ssc:Real/>
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</ssd:Connector>
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<ssd:Connector name="velocity" kind="output">
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<ssc:Real/>
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</ssd:Connector>
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<ssd:Connector name="force_spring" kind="input">
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<ssc:Real/>
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</ssd:Connector>
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<ssd:Connector name="force_damper" kind="input">
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<ssc:Real/>
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</ssd:Connector>
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<ssd:Connector name="force_external" kind="input">
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<ssc:Real/>
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</ssd:Connector>
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</ssd:Connectors>
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<ssd:ParameterBindings>
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<ssd:ParameterBinding>
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<ssd:ParameterValues>
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<ssv:ParameterSet version="1.0" name="initial_values">
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<ssv:Parameters>
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<ssv:Parameter name="position">
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<ssv:Real value="1.0"/>
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</ssv:Parameter>
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<ssv:Parameter name="mass">
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<ssv:Real value="1.0"/>
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</ssv:Parameter>
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</ssv:Parameters>
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</ssv:ParameterSet>
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</ssd:ParameterValues>
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</ssd:ParameterBinding>
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</ssd:ParameterBindings>
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</ssd:Component>
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<!-- Spring FMU -->
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<ssd:Component
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name="spring"
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source="@MODEL_PATH@/fmi3/spring.fmu">
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<ssd:Connectors>
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<ssd:Connector name="position" kind="input">
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<ssc:Real/>
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</ssd:Connector>
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<ssd:Connector name="force" kind="output">
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<ssc:Real/>
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</ssd:Connector>
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</ssd:Connectors>
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<ssd:ParameterBindings>
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<ssd:ParameterBinding>
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<ssd:ParameterValues>
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<ssv:ParameterSet version="1.0" name="initial_values">
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<ssv:Parameters>
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<ssv:Parameter name="stiffness">
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<ssv:Real value="10"/>
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</ssv:Parameter>
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</ssv:Parameters>
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</ssv:ParameterSet>
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</ssd:ParameterValues>
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</ssd:ParameterBinding>
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</ssd:ParameterBindings>
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</ssd:Component>
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<!-- Damper FMU -->
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<ssd:Component
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name="damper"
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source="@MODEL_PATH@/fmi3/damper.fmu">
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<ssd:Connectors>
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<ssd:Connector name="velocity" kind="input">
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<ssc:Real/>
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</ssd:Connector>
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<ssd:Connector name="force" kind="output">
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<ssc:Real/>
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</ssd:Connector>
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</ssd:Connectors>
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<ssd:ParameterBindings>
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<ssd:ParameterBinding>
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<ssd:ParameterValues>
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<ssv:ParameterSet version="1.0" name="initial_values">
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<ssv:Parameters>
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<ssv:Parameter name="damping">
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<ssv:Real value="1.0"/>
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</ssv:Parameter>
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</ssv:Parameters>
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</ssv:ParameterSet>
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</ssd:ParameterValues>
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</ssd:ParameterBinding>
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</ssd:ParameterBindings>
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</ssd:Component>
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</ssd:Elements>
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<!-- Connections -->
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<ssd:Connections>
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<!-- Mass → Spring -->
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<ssd:Connection
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startElement="mass"
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startConnector="position"
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endElement="spring"
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endConnector="position"/>
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<!-- Mass → Damper -->
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<ssd:Connection
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startElement="mass"
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startConnector="velocity"
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endElement="damper"
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endConnector="velocity"/>
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<!-- Spring → Mass -->
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<ssd:Connection
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startElement="spring"
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startConnector="force"
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endElement="mass"
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endConnector="force_spring"/>
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<!-- Damper → Mass -->
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<ssd:Connection
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startElement="damper"
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startConnector="force"
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endElement="mass"
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endConnector="force_damper"/>
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</ssd:Connections>
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</ssd:System>
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<ssd:DefaultExperiment startTime="0">
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<ssd:Annotations>
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<ssc:Annotation type="com.opensimulationplatform">
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<osp:Algorithm>
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<osp:FixedStepAlgorithm baseStepSize="1e-4"/>
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</osp:Algorithm>
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</ssc:Annotation>
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</ssd:Annotations>
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</ssd:DefaultExperiment>
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</ssd:SystemStructureDescription>

‎examples/mass_spring_damper/damper.cpp‎

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#include <fmu4cpp/fmu_base.hpp>
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using namespace fmu4cpp;
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class Damper : public fmu_base {
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public:
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FMU4CPP_CTOR(Damper) {
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register_real("velocity", &state_.v_)
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.setCausality(causality_t::INPUT)
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.setVariability(variability_t::CONTINUOUS)
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.setDescription("Mass velocity");
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register_real("damping", &state_.c_)
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.setCausality(causality_t::PARAMETER)
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.setVariability(variability_t::FIXED)
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.setDescription("Damping coefficient");
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register_real("force", &state_.F_)
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.setCausality(causality_t::OUTPUT)
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.setVariability(variability_t::CONTINUOUS)
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.setDescription("Damper force");
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register_state(&Damper::state_);
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}
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bool do_step(double) override {
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state_.F_ = -state_.c_ * state_.v_;
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return true;
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}
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private:
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struct State {
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double v_ = 0.0;
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double c_ = 1.0;
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double F_ = 0.0;
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};
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State state_;
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};
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model_info fmu4cpp::get_model_info() {
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model_info info;
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info.modelName = "Damper";
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info.description = "A damper model";
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info.canGetAndSetFMUstate = true;
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info.canSerializeFMUstate = true;
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return info;
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}
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FMU4CPP_INSTANTIATE(Damper);

‎examples/mass_spring_damper/mass.cpp‎

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#include <fmu4cpp/fmu_base.hpp>
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using namespace fmu4cpp;
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class Mass : public fmu_base {
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public:
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FMU4CPP_CTOR(Mass) {
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register_real("position", &state_.x_)
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.setCausality(causality_t::OUTPUT)
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.setVariability(variability_t::CONTINUOUS)
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.setInitial(initial_t::EXACT)
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.setDescription("Mass position");
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register_real("velocity", &state_.v_)
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.setCausality(causality_t::OUTPUT)
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.setVariability(variability_t::CONTINUOUS)
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.setDescription("Mass velocity");
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register_real("mass", &state_.m_)
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.setCausality(causality_t::PARAMETER)
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.setVariability(variability_t::FIXED)
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.setDescription("Mass value");
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register_real("force_spring", &state_.F_spring_)
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.setCausality(causality_t::INPUT)
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.setVariability(variability_t::CONTINUOUS)
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.setDescription("Force from spring");
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register_real("force_damper", &state_.F_damper_)
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.setCausality(causality_t::INPUT)
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.setVariability(variability_t::CONTINUOUS)
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.setDescription("Force from damper");
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register_real("force_external", &state_.F_external_)
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.setCausality(causality_t::INPUT)
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.setVariability(variability_t::CONTINUOUS)
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.setDescription("External applied force");
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register_state(&Mass::state_);
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}
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bool do_step(double dt) override {
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double F = state_.F_spring_ + state_.F_damper_ + state_.F_external_;
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double a = F / state_.m_;
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state_.v_ += a * dt;
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state_.x_ += state_.v_ * dt;
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return true;
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}
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private:
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struct State {
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double x_ = 0.5;
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double v_ = 0.0;
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double m_ = 1.0;
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double F_spring_ = 0.0;
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double F_damper_ = 0.0;
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double F_external_ = 0.0;
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};
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State state_;
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};
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model_info fmu4cpp::get_model_info() {
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model_info info;
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info.modelName = "Mass";
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info.description = "A mass model";
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info.canGetAndSetFMUstate = true;
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info.canSerializeFMUstate = true;
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return info;
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}
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FMU4CPP_INSTANTIATE(Mass);

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