Skip to content

Avoid wildcard effect in default unity gains #4660

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
wants to merge 3 commits into
base: master
Choose a base branch
from
Open

Avoid wildcard effect in default unity gains #4660

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
28b5092
Introduce constant for 1 without wildcard effect
henrikt-ma Jun 10, 2025
08e8aec
Avoid wildcard effect by using Modelica.Constants.one instead of 1
henrikt-ma Jun 10, 2025
f33399d
Fix unit errors in PID and LimPID
henrikt-ma Jun 10, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
30 changes: 14 additions & 16 deletions Modelica/Blocks/Continuous.mo
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@ package Continuous "Library of continuous control blocks with internal states"

block Integrator "Output the integral of the input signal with optional reset"
import Modelica.Blocks.Types.Init;
parameter Real k=1 "Integrator gain";
parameter Real k = Modelica.Constants.one "Integrator gain";
parameter Boolean use_reset = false "= true, if reset port enabled"
annotation(Evaluate=true, HideResult=true, choices(checkBox=true));
parameter Boolean use_set = false "= true, if set port enabled and used as reinitialization value when reset"
Expand Down Expand Up @@ -126,7 +126,7 @@ port has a rising edge.

block LimIntegrator "Integrator with limited value of the output and optional reset"
import Modelica.Blocks.Types.Init;
parameter Real k=1 "Integrator gain";
parameter Real k = Modelica.Constants.one "Integrator gain";
parameter Real outMax(start=1) "Upper limit of output";
parameter Real outMin=-outMax "Lower limit of output";
parameter Boolean use_reset = false "= true, if reset port enabled"
Expand Down Expand Up @@ -265,7 +265,7 @@ port has a rising edge.

block Derivative "Approximated derivative block"
import Modelica.Blocks.Types.Init;
parameter Real k=1 "Gains";
parameter Real k = Modelica.Constants.one "Gain";
parameter SI.Time T(min=Modelica.Constants.small) = 0.01
"Time constants (T>0 required; T=0 is ideal derivative block)";
parameter Init initType=Init.NoInit
Expand Down Expand Up @@ -350,7 +350,7 @@ If k=0, the block reduces to y=0.

block FirstOrder "First order transfer function block (= 1 pole)"
import Modelica.Blocks.Types.Init;
parameter Real k=1 "Gain";
parameter Real k = Modelica.Constants.one "Gain";
parameter SI.Time T(start=1) "Time Constant";
parameter Init initType=Init.NoInit
"Type of initialization (1: no init, 2: steady state, 3/4: initial output)" annotation(Evaluate=true,
Expand Down Expand Up @@ -424,7 +424,7 @@ Example:

block SecondOrder "Second order transfer function block (= 2 poles)"
import Modelica.Blocks.Types.Init;
parameter Real k=1 "Gain";
parameter Real k = Modelica.Constants.one "Gain";
parameter Real w(start=1) "Angular frequency";
parameter Real D(start=1) "Damping";
parameter Init initType=Init.NoInit
Expand Down Expand Up @@ -507,7 +507,7 @@ Example:

block PI "Proportional-Integral controller"
import Modelica.Blocks.Types.Init;
parameter Real k=1 "Gain";
parameter Real k = Modelica.Constants.one "Gain";
parameter SI.Time T(start=1,min=Modelica.Constants.small)
"Time Constant (T>0 required)";
parameter Init initType=Init.NoInit
Expand Down Expand Up @@ -602,7 +602,7 @@ This is discussed in the description of package
import Modelica.Blocks.Types.Init;
extends Interfaces.SISO;

parameter Real k=1 "Gain";
parameter Real k = Modelica.Constants.one "Gain";
parameter SI.Time Ti(min=Modelica.Constants.small, start=0.5)
"Time Constant of Integrator";
parameter SI.Time Td(min=0, start=0.1)
Expand All @@ -622,18 +622,17 @@ This is discussed in the description of package
parameter Real y_start=0 "Initial value of output"
annotation(Dialog(enable=initType == Init.InitialOutput, group=
"Initialization"));
constant SI.Time unitTime=1 annotation(HideResult=true);

Blocks.Math.Gain P(k=1) "Proportional part of PID controller"
Blocks.Math.Gain P(k = Modelica.Constants.one) "Proportional part of PID controller"
annotation (Placement(transformation(extent={{-60,60},{-20,100}})));
Blocks.Continuous.Integrator I(k=unitTime/Ti, y_start=xi_start,
Blocks.Continuous.Integrator I(k=1/Ti, y_start=xi_start,
initType=if initType==Init.SteadyState then
Init.SteadyState else
if initType==Init.InitialState then
Init.InitialState else Init.NoInit)
"Integral part of PID controller"
annotation (Placement(transformation(extent={{-60,-20},{-20,20}})));
Blocks.Continuous.Derivative D(k=Td/unitTime, T=max([Td/Nd, 100*Modelica.
Blocks.Continuous.Derivative D(k=Td, T=max([Td/Nd, 100*Modelica.
Constants.eps]), x_start=xd_start,
initType=if initType==Init.SteadyState or
initType==Init.InitialOutput then Init.SteadyState else
Expand Down Expand Up @@ -765,7 +764,7 @@ to compute u by an algebraic equation.
"Control error (set point - measurement)";
parameter .Modelica.Blocks.Types.SimpleController controllerType=
.Modelica.Blocks.Types.SimpleController.PID "Type of controller";
parameter Real k = 1 "Gain of controller, must be non-zero";
parameter Real k = Modelica.Constants.one "Gain of controller, must be non-zero";
parameter SI.Time Ti(min=Modelica.Constants.small)=0.5
"Time constant of Integrator block" annotation (Dialog(enable=
controllerType == .Modelica.Blocks.Types.SimpleController.PI or
Expand Down Expand Up @@ -814,7 +813,6 @@ to compute u by an algebraic equation.
annotation (Evaluate=true, Dialog(group="Initialization"));
parameter Boolean strict=false "= true, if strict limits with noEvent(..)"
annotation (Evaluate=true, choices(checkBox=true), Dialog(tab="Advanced"));
constant SI.Time unitTime=1 annotation (HideResult=true);
Modelica.Blocks.Interfaces.RealInput u_ff if withFeedForward
"Optional connector of feed-forward input signal"
annotation (Placement(
Expand All @@ -826,17 +824,17 @@ to compute u by an algebraic equation.
annotation (Placement(transformation(extent={{-80,40},{-60,60}})));
Modelica.Blocks.Math.Add addD(k1=wd, k2=-1) if with_D
annotation (Placement(transformation(extent={{-80,-10},{-60,10}})));
Modelica.Blocks.Math.Gain P(k=1)
Modelica.Blocks.Math.Gain P(k = Modelica.Constants.one)
annotation (Placement(transformation(extent={{-50,40},{-30,60}})));
Modelica.Blocks.Continuous.Integrator I(
k=unitTime/Ti,
k=1/Ti,
y_start=xi_start,
initType=if initType == Init.SteadyState then Init.SteadyState else if
initType == Init.InitialState
then Init.InitialState else Init.NoInit) if with_I
annotation (Placement(transformation(extent={{-50,-60},{-30,-40}})));
Modelica.Blocks.Continuous.Derivative D(
k=Td/unitTime,
k=Td,
T=max([Td/Nd,1.e-14]),
x_start=xd_start,
initType=if initType == Init.SteadyState or initType == Init.InitialOutput
Expand Down
12 changes: 6 additions & 6 deletions Modelica/Blocks/Math.mo
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -618,7 +618,7 @@ results in the following equations:

block MultiSum "Sum of Reals: y = k[1]*u[1] + k[2]*u[2] + ... + k[n]*u[n]"
extends Modelica.Blocks.Interfaces.PartialRealMISO;
parameter Real k[nu]=fill(1, nu) "Input gains";
parameter Real k[nu]=fill(Modelica.Constants.one, nu) "Input gains";
equation
if size(u, 1) > 0 then
y = k*u;
Expand Down Expand Up @@ -873,8 +873,8 @@ results in the following equations:
block Add "Output the sum of the two inputs"
extends Interfaces.SI2SO;

parameter Real k1=+1 "Gain of input signal 1";
parameter Real k2=+1 "Gain of input signal 2";
parameter Real k1 = +Modelica.Constants.one "Gain of input signal 1";
parameter Real k2 = +Modelica.Constants.one "Gain of input signal 2";

equation
y = k1*u1 + k2*u2;
Expand Down Expand Up @@ -918,9 +918,9 @@ results in the following equations:
block Add3 "Output the sum of the three inputs"
extends Modelica.Blocks.Icons.Block;

parameter Real k1=+1 "Gain of input signal 1";
parameter Real k2=+1 "Gain of input signal 2";
parameter Real k3=+1 "Gain of input signal 3";
parameter Real k1 = +Modelica.Constants.one "Gain of input signal 1";
parameter Real k2 = +Modelica.Constants.one "Gain of input signal 2";
parameter Real k3 = +Modelica.Constants.one "Gain of input signal 3";
Interfaces.RealInput u1 "Connector of Real input signal 1" annotation (
Placement(transformation(extent={{-140,60},{-100,100}})));
Interfaces.RealInput u2 "Connector of Real input signal 2" annotation (
Expand Down
6 changes: 3 additions & 3 deletions Modelica/Blocks/package.mo
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -420,7 +420,7 @@ reached with different precisions. This is summarized in the following table:
Td=0.0001)
annotation (Placement(transformation(extent={{10,-10},{30,10}})));
Modelica.Blocks.Continuous.Integrator positionSmoothed(
k=1,
k = Modelica.Constants.one,
initType=Modelica.Blocks.Types.Init.InitialOutput,
y_start=positionStep.offset)
annotation (Placement(transformation(extent={{50,-10},{70,10}})));
Expand Down Expand Up @@ -460,7 +460,7 @@ A position controlled drive with limited velocity and limited acceleration (i.e.
extends Modelica.Icons.Example;

Continuous.FirstOrder firstOrder1(
k=1,
k = Modelica.Constants.one,
T=0.3,
initType=Modelica.Blocks.Types.Init.SteadyState)
annotation (Placement(transformation(extent={{20,20},{0,40}})));
Expand All @@ -472,7 +472,7 @@ A position controlled drive with limited velocity and limited acceleration (i.e.
Math.InverseBlockConstraints inverseBlockConstraints
annotation (Placement(transformation(extent={{-10,20},{30,40}})));
Continuous.FirstOrder firstOrder2(
k=1,
k = Modelica.Constants.one,
T=0.3,
initType=Modelica.Blocks.Types.Init.SteadyState)
annotation (Placement(transformation(extent={{20,-20},{0,0}})));
Expand Down
1 change: 1 addition & 0 deletions Modelica/Constants.mo
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,7 @@ package Constants
import Modelica.Units.NonSI;

// Mathematical constants
final constant Real one(final unit="1") = 1.0 "The number 1 with unit \"1\“";
final constant Real e(final unit="1") = Modelica.Math.exp(1.0);
final constant Real pi = 2*Modelica.Math.asin(1.0); // 3.14159265358979;
final constant Real D2R(final unit="rad/deg") = pi/180 "Degree to Radian";
Expand Down