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diff --git a/testsuite/vests/vhdl-ams/ashenden/compliant/AMS_CS2_Mixed_Tech/tb_CS2_Mech_Domain.vhd b/testsuite/vests/vhdl-ams/ashenden/compliant/AMS_CS2_Mixed_Tech/tb_CS2_Mech_Domain.vhd new file mode 100644 index 000000000..a8eca951f --- /dev/null +++ b/testsuite/vests/vhdl-ams/ashenden/compliant/AMS_CS2_Mixed_Tech/tb_CS2_Mech_Domain.vhd @@ -0,0 +1,812 @@ + +-- Copyright (C) 2002 Morgan Kaufmann Publishers, Inc + +-- This file is part of VESTs (Vhdl tESTs). + +-- VESTs is free software; you can redistribute it and/or modify it +-- under the terms of the GNU General Public License as published by the +-- Free Software Foundation; either version 2 of the License, or (at +-- your option) any later version. + +-- VESTs is distributed in the hope that it will be useful, but WITHOUT +-- ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +-- FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +-- for more details. + +-- You should have received a copy of the GNU General Public License +-- along with VESTs; if not, write to the Free Software Foundation, +-- Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + +library IEEE; +library IEEE_proposed; +use IEEE_proposed.electrical_systems.all; +use IEEE_proposed.mechanical_systems.all; + +entity sum2_e is + generic (k1, k2: real := 1.0); -- Gain multipliers + port ( terminal in1, in2: electrical; + terminal output: electrical); +end entity sum2_e; + +architecture simple of sum2_e is + QUANTITY vin1 ACROSS in1 TO ELECTRICAL_REF; + QUANTITY vin2 ACROSS in2 TO ELECTRICAL_REF; + QUANTITY vout ACROSS iout THROUGH output TO ELECTRICAL_REF; + +begin + vout == k1*vin1 + k2*vin2; +end architecture simple; +-- + +library IEEE; +use IEEE.MATH_REAL.all; +library IEEE_proposed; +use IEEE_proposed.ELECTRICAL_SYSTEMS.all; + +entity gain_e is + generic ( + k: REAL := 1.0); -- Gain multiplier + port ( terminal input : electrical; + terminal output: electrical); +end entity gain_e; + +architecture simple of gain_e is + + QUANTITY vin ACROSS input TO ELECTRICAL_REF; + QUANTITY vout ACROSS iout THROUGH output TO ELECTRICAL_REF; + +begin + vout == k*vin; +end architecture simple; +-- + +------------------------------------------------------------------------------- +-- Lead-Lag Filter +-- +-- Transfer Function: +-- +-- (s + w1) +-- H(s) = k * ---------- +-- (s + w2) +-- +-- DC Gain = k*w1/w2 +------------------------------------------------------------------------------- + +library IEEE_proposed; +use IEEE_proposed.electrical_systems.all; +library IEEE; +use ieee.math_real.all; + +entity lead_lag_e is + generic ( + k: real := 1.0; -- Gain multiplier + f1: real := 10.0; -- First break frequency (zero) + f2: real := 100.0); -- Second break frequency (pole) + port ( terminal input: electrical; + terminal output: electrical); +end entity lead_lag_e; + +architecture simple of lead_lag_e is + QUANTITY vin ACROSS input TO ELECTRICAL_REF; + QUANTITY vout ACROSS iout THROUGH output TO ELECTRICAL_REF; + + quantity vin_temp : real; + constant w1 : real := f1*math_2_pi; + constant w2 : real := f2*math_2_pi; + constant num : real_vector := (w1, 1.0); + constant den : real_vector := (w2, 1.0); +begin + vin_temp == vin; + vout == k*vin_temp'ltf(num, den); +end architecture simple; + +------------------------------------------------------------------------------- +-- S-Domain Limiter Model +-- +------------------------------------------------------------------------------- + +library IEEE_proposed; use IEEE_proposed.electrical_systems.all; +entity limiter_2_e is + generic ( + limit_high : real := 4.8; -- upper limit + limit_low : real := -4.8); -- lower limit + port ( + terminal input: electrical; + terminal output: electrical); +end entity limiter_2_e; + +architecture simple of limiter_2_e is + QUANTITY vin ACROSS input TO ELECTRICAL_REF; + QUANTITY vout ACROSS iout THROUGH output TO ELECTRICAL_REF; + constant slope : real := 1.0e-4; +begin + if vin > limit_high use -- Upper limit exceeded, so limit input signal + vout == limit_high + slope*(vin - limit_high); + elsif vin < limit_low use -- Lower limit exceeded, so limit input signal + vout == limit_low + slope*(vin - limit_low); + else -- No limit exceeded, so pass input signal as is + vout == vin; + end use; + break on vin'above(limit_high), vin'above(limit_low); +end architecture simple; + +-- + +library IEEE; +use IEEE.std_logic_1164.all; +use IEEE.std_logic_arith.all; + +library IEEE_proposed; +use IEEE_proposed.electrical_systems.all; +use IEEE_proposed.mechanical_systems.all; + +entity rudder_servo is + port( + terminal servo_in : electrical; + terminal pos_fb : electrical; + terminal servo_out : electrical + ); +end rudder_servo; + +architecture rudder_servo of rudder_servo is + -- Component declarations + -- Signal declarations + terminal error : electrical; + terminal limit_in : electrical; + terminal ll_in : electrical; + terminal summer_fb : electrical; +begin + -- Signal assignments + -- Component instances + summer : entity work.sum2_e(simple) + port map( + in1 => servo_in, + in2 => summer_fb, + output => error + ); + forward_gain : entity work.gain_e(simple) + generic map( + k => 100.0 + ) + port map( + input => error, + output => ll_in + ); + lead_lag : entity work.lead_lag_e(simple) + generic map( + f2 => 2000.0, + f1 => 5.0, + k => 400.0 + ) + port map( + input => ll_in, + output => limit_in + ); + fb_gain : entity work.gain_e(simple) + generic map( + k => -4.57 + ) + port map( + input => pos_fb, + output => summer_fb + ); + XCMP21 : entity work.limiter_2_e(simple) + generic map( + limit_high => 4.8, + limit_low => -4.8 + ) + port map( + input => limit_in, + output => servo_out + ); +end rudder_servo; +-- + +------------------------------------------------------------------------------- +-- Copyright (c) 2001 Mentor Graphics Corporation +-- +-- This model is a component of the Mentor Graphics VHDL-AMS educational open +-- source model library, and is covered by this license agreement. This model, +-- including any updates, modifications, revisions, copies, and documentation +-- are copyrighted works of Mentor Graphics. USE OF THIS MODEL INDICATES YOUR +-- COMPLETE AND UNCONDITIONAL ACCEPTANCE OF THE TERMS AND CONDITIONS SET FORTH +-- IN THIS LICENSE AGREEMENT. Mentor Graphics grants you a non-exclusive +-- license to use, reproduce, modify and distribute this model, provided that: +-- (a) no fee or other consideration is charged for any distribution except +-- compilations distributed in accordance with Section (d) of this license +-- agreement; (b) the comment text embedded in this model is included verbatim +-- in each copy of this model made or distributed by you, whether or not such +-- version is modified; (c) any modified version must include a conspicuous +-- notice that this model has been modified and the date of modification; and +-- (d) any compilations sold by you that include this model must include a +-- conspicuous notice that this model is available from Mentor Graphics in its +-- original form at no charge. +-- +-- THIS MODEL IS LICENSED TO YOU "AS IS" AND WITH NO WARRANTIES, EXPRESS OR +-- IMPLIED. MENTOR GRAPHICS SPECIFICALLY DISCLAIMS ALL IMPLIED WARRANTIES OF +-- MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE. MENTOR GRAPHICS SHALL +-- HAVE NO RESPONSIBILITY FOR ANY DAMAGES WHATSOEVER. +------------------------------------------------------------------------------- +-- File : gear_rv_r.vhd +-- Author : Mentor Graphics +-- Created : 2001/10/10 +-- Last update: 2001/10/10 +------------------------------------------------------------------------------- +-- Description: Gear Model (ROTATIONAL_V/ROTATIONAL domains) +------------------------------------------------------------------------------- +-- Revisions : +-- Date Version Author Description +-- 2001/10/10 1.0 Mentor Graphics Created +------------------------------------------------------------------------------- + +-- Use proposed IEEE natures and packages +library IEEE_proposed; +use IEEE_proposed.mechanical_systems.all; + +entity gear_rv_r is + + generic( + ratio : real := 1.0); -- Gear ratio (Revs of shaft2 for 1 rev of shaft1) + -- Note: can be negative, if shaft polarity changes + + port ( terminal rotv1 : rotational_v; + terminal rot2 : rotational); + +end entity gear_rv_r; + +------------------------------------------------------------------------------- +-- Ideal Architecture +------------------------------------------------------------------------------- +architecture ideal of gear_rv_r is + + quantity w1 across torq_vel through rotv1 to rotational_v_ref; + quantity theta across torq_ang through rot2 to rotational_ref; + +begin + + theta == ratio*w1'integ; + torq_vel == -1.0*torq_ang*ratio; + +end architecture ideal; + +------------------------------------------------------------------------------- +-- Copyright (c) 2001 Mentor Graphics Corporation +------------------------------------------------------------------------------- +------------------------------------------------------------------------------- +-- Rotational to Electrical Converter +-- +------------------------------------------------------------------------------- + +-- Use IEEE_proposed instead of disciplines +library IEEE; +use ieee.math_real.all; +library IEEE_proposed; +use IEEE_proposed.mechanical_systems.all; +use IEEE_proposed.electrical_systems.all; + +entity rot2v is + + generic ( + k : real := 1.0); -- optional gain + + port ( + terminal input : rotational; -- input terminal + terminal output : electrical); -- output terminal + +end entity rot2v ; + +architecture bhv of rot2v is +quantity rot_in across input to rotational_ref; -- Converter's input branch +quantity v_out across out_i through output to electrical_ref;-- Converter's output branch + + begin -- bhv + v_out == k*rot_in; +end bhv; +-- + +------------------------------------------------------------------------------- +-- Control Horn for Rudder Control (mechanical implementation) +-- +-- Transfer Function: +-- +-- tran = R*sin(rot) +-- +-- Where pos = output translational position, +-- R = horn radius, +-- theta = input rotational angle +------------------------------------------------------------------------------- + +-- Use IEEE_proposed instead of disciplines +library IEEE; +use ieee.math_real.all; +library IEEE_proposed; +use IEEE_proposed.mechanical_systems.all; + +entity horn_r2t is + + generic ( + R : real := 1.0); -- horn radius + + port ( + terminal theta : ROTATIONAL; -- input angular position port + terminal pos : TRANSLATIONAL); -- output translational position port + +end entity horn_r2t; + +architecture bhv of horn_r2t is + + QUANTITY rot across rot_tq through theta TO ROTATIONAL_REF; + QUANTITY tran across tran_frc through pos TO TRANSLATIONAL_REF; + + begin -- bhv + tran == R*sin(rot); -- Convert angle in to translational out + tran_frc == -rot_tq/R; -- Convert torque in to force out +end bhv; +-- + +------------------------------------------------------------------------------- +-- Control Horn for Rudder Control (mechanical implementation) +-- +-- Transfer Function: +-- +-- theta = arcsin(pos/R) +-- +-- Where pos = input translational position, +-- R = horn radius, +-- theta = output rotational angle +------------------------------------------------------------------------------- + +-- Use IEEE_proposed instead of disciplines +library IEEE; +use ieee.math_real.all; +library IEEE_proposed; +use IEEE_proposed.mechanical_systems.all; + +entity horn_t2r is + + generic ( + R : real := 1.0); -- Rudder horn radius + + port ( + terminal pos : translational; -- input translational position port + terminal theta : rotational); -- output angular position port + +end entity horn_t2r ; + +architecture bhv of horn_t2r is + + QUANTITY tran across tran_frc through pos TO TRANSLATIONAL_REF; + QUANTITY rot across rot_tq through theta TO ROTATIONAL_REF; + + begin -- bhv + rot == arcsin(tran/R); -- Convert translational to angle + rot_tq == -tran_frc*R; -- Convert force to torque + +end bhv; +-- +------------------------------------------------------------------------------- +-- Copyright (c) 2001 Mentor Graphics Corporation +-- +-- This model is a component of the Mentor Graphics VHDL-AMS educational open +-- source model library, and is covered by this license agreement. This model, +-- including any updates, modifications, revisions, copies, and documentation +-- are copyrighted works of Mentor Graphics. USE OF THIS MODEL INDICATES YOUR +-- COMPLETE AND UNCONDITIONAL ACCEPTANCE OF THE TERMS AND CONDITIONS SET FORTH +-- IN THIS LICENSE AGREEMENT. Mentor Graphics grants you a non-exclusive +-- license to use, reproduce, modify and distribute this model, provided that: +-- (a) no fee or other consideration is charged for any distribution except +-- compilations distributed in accordance with Section (d) of this license +-- agreement; (b) the comment text embedded in this model is included verbatim +-- in each copy of this model made or distributed by you, whether or not such +-- version is modified; (c) any modified version must include a conspicuous +-- notice that this model has been modified and the date of modification; and +-- (d) any compilations sold by you that include this model must include a +-- conspicuous notice that this model is available from Mentor Graphics in its +-- original form at no charge. +-- +-- THIS MODEL IS LICENSED TO YOU "AS IS" AND WITH NO WARRANTIES, EXPRESS OR +-- IMPLIED. MENTOR GRAPHICS SPECIFICALLY DISCLAIMS ALL IMPLIED WARRANTIES OF +-- MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE. MENTOR GRAPHICS SHALL +-- HAVE NO RESPONSIBILITY FOR ANY DAMAGES WHATSOEVER. +------------------------------------------------------------------------------- +-- File : DC_Motor.vhd +-- Author : Mentor Graphics +-- Created : 2001/06/16 +-- Last update: 2001/06/16 +------------------------------------------------------------------------------- +-- Description: Basic DC Motor +------------------------------------------------------------------------------- +-- Revisions : +-- Date Version Author Description +-- 2001/06/16 1.0 Mentor Graphics Created +------------------------------------------------------------------------------- + +-- Use proposed IEEE natures and packages +library IEEE_proposed; +use IEEE_proposed.mechanical_systems.all; +use IEEE_proposed.electrical_systems.all; + +entity DC_Motor is + + generic ( + r_wind : resistance; -- Motor winding resistance [Ohm] + kt : real; -- Torque coefficient [N*m/Amp] + l : inductance; -- Winding inductance [Henrys] + d : real; -- Damping coefficient [N*m/(rad/sec)] + j : mmoment_i); -- Moment of inertia [kg*meter**2] + + port (terminal p1, p2 : electrical; + terminal shaft_rotv : rotational_v); + +end entity DC_Motor; + +------------------------------------------------------------------------------- +-- Basic Architecture +-- Motor equations: V = Kt*W + I*Rwind + L*dI/dt +-- T = -Kt*I + D*W + J*dW/dt +------------------------------------------------------------------------------- +architecture basic of DC_Motor is + + quantity v across i through p1 to p2; + quantity w across torq through shaft_rotv to rotational_v_ref; + +begin + + torq == -1.0*kt*i + d*w + j*w'dot; + v == kt*w + i*r_wind + l*i'dot; + +end architecture basic; + +------------------------------------------------------------------------------- +-- Copyright (c) 2001 Mentor Graphics Corporation +------------------------------------------------------------------------------- +-- + +------------------------------------------------------------------------------- +-- Copyright (c) 2001 Mentor Graphics Corporation +-- +-- This model is a component of the Mentor Graphics VHDL-AMS educational open +-- source model library, and is covered by this license agreement. This model, +-- including any updates, modifications, revisions, copies, and documentation +-- are copyrighted works of Mentor Graphics. USE OF THIS MODEL INDICATES YOUR +-- COMPLETE AND UNCONDITIONAL ACCEPTANCE OF THE TERMS AND CONDITIONS SET FORTH +-- IN THIS LICENSE AGREEMENT. Mentor Graphics grants you a non-exclusive +-- license to use, reproduce, modify and distribute this model, provided that: +-- (a) no fee or other consideration is charged for any distribution except +-- compilations distributed in accordance with Section (d) of this license +-- agreement; (b) the comment text embedded in this model is included verbatim +-- in each copy of this model made or distributed by you, whether or not such +-- version is modified; (c) any modified version must include a conspicuous +-- notice that this model has been modified and the date of modification; and +-- (d) any compilations sold by you that include this model must include a +-- conspicuous notice that this model is available from Mentor Graphics in its +-- original form at no charge. +-- +-- THIS MODEL IS LICENSED TO YOU "AS IS" AND WITH NO WARRANTIES, EXPRESS OR +-- IMPLIED. MENTOR GRAPHICS SPECIFICALLY DISCLAIMS ALL IMPLIED WARRANTIES OF +-- MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE. MENTOR GRAPHICS SHALL +-- HAVE NO RESPONSIBILITY FOR ANY DAMAGES WHATSOEVER. +------------------------------------------------------------------------------- +-- File : stop_r.vhd +-- Author : Mentor Graphics +-- Created : 2001/10/10 +-- Last update: 2001/10/10 +------------------------------------------------------------------------------- +-- Description: Mechanical Hard Stop (ROTATIONAL domain) +------------------------------------------------------------------------------- +-- Revisions : +-- Date Version Author Description +-- 2001/06/16 1.0 Mentor Graphics Created +------------------------------------------------------------------------------- + +-- library IEEE; +-- use IEEE.MATH_REAL.all; + +-- Use proposed IEEE natures and packages +library IEEE_proposed; +use IEEE_proposed.MECHANICAL_SYSTEMS.all; + + +entity stop_r is + + generic ( + k_stop : real; +-- ang_max : angle; +-- ang_min : angle := 0.0; + ang_max : real; + ang_min : real := 0.0; + damp_stop : real := 0.000000001 + ); + + port ( terminal ang1, ang2 : rotational); + +end entity stop_r; + +architecture ideal of stop_r is + + quantity velocity : velocity; + quantity ang across trq through ang1 to ang2; + +begin + + velocity == ang'dot; + + if ang > ang_max use + trq == k_stop * (ang - ang_max) + (damp_stop * velocity); + elsif ang > ang_min use + trq == 0.0; + else + trq == k_stop * (ang - ang_min) + (damp_stop * velocity); + end use; + +break on ang'above(ang_min), ang'above(ang_max); + +end architecture ideal; + +------------------------------------------------------------------------------- +-- Copyright (c) 2001 Mentor Graphics Corporation +------------------------------------------------------------------------------- +-- + +library IEEE; +use IEEE.std_logic_arith.all; +library IEEE_proposed; +use IEEE_proposed.mechanical_systems.all; + +entity tran_linkage is +port +( + terminal p1, p2 : translational +); + +begin + +end tran_linkage; + +architecture a1 of tran_linkage is + + QUANTITY pos_1 across frc_1 through p1 TO translational_ref; + QUANTITY pos_2 across frc_2 through p2 TO translational_ref; + +begin + + pos_2 == pos_1; -- Pass position + frc_2 == -frc_1; -- Pass force + +end; +-- + +------------------------------------------------------------------------------- +-- Rudder Model (Rotational Spring) +-- +-- Transfer Function: +-- +-- torq = -k*(theta - theta_0) +-- +-- Where theta = input rotational angle, +-- torq = output rotational angle, +-- theta_0 = reference angle +------------------------------------------------------------------------------- + +-- Use IEEE_proposed instead of disciplines +library IEEE; +use ieee.math_real.all; +library IEEE_proposed; +use IEEE_proposed.mechanical_systems.all; + +entity rudder is + + generic ( + k : real := 1.0; -- Spring constant + theta_0 : real := 0.0); + + port ( + terminal rot : rotational); -- input rotational angle + +end entity rudder; + +architecture bhv of rudder is + + QUANTITY theta across torq through rot TO ROTATIONAL_REF; + + begin -- bhv + + torq == k*(theta - theta_0); -- Convert force to torque + +end bhv; +-- + +------------------------------------------------------------------------------- +-- Copyright (c) 2001 Mentor Graphics Corporation +-- +-- This model is a component of the Mentor Graphics VHDL-AMS educational open +-- source model library, and is covered by this license agreement. This model, +-- including any updates, modifications, revisions, copies, and documentation +-- are copyrighted works of Mentor Graphics. USE OF THIS MODEL INDICATES YOUR +-- COMPLETE AND UNCONDITIONAL ACCEPTANCE OF THE TERMS AND CONDITIONS SET FORTH +-- IN THIS LICENSE AGREEMENT. Mentor Graphics grants you a non-exclusive +-- license to use, reproduce, modify and distribute this model, provided that: +-- (a) no fee or other consideration is charged for any distribution except +-- compilations distributed in accordance with Section (d) of this license +-- agreement; (b) the comment text embedded in this model is included verbatim +-- in each copy of this model made or distributed by you, whether or not such +-- version is modified; (c) any modified version must include a conspicuous +-- notice that this model has been modified and the date of modification; and +-- (d) any compilations sold by you that include this model must include a +-- conspicuous notice that this model is available from Mentor Graphics in its +-- original form at no charge. +-- +-- THIS MODEL IS LICENSED TO YOU "AS IS" AND WITH NO WARRANTIES, EXPRESS OR +-- IMPLIED. MENTOR GRAPHICS SPECIFICALLY DISCLAIMS ALL IMPLIED WARRANTIES OF +-- MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE. MENTOR GRAPHICS SHALL +-- HAVE NO RESPONSIBILITY FOR ANY DAMAGES WHATSOEVER. +------------------------------------------------------------------------------- +-- File : v_sine.vhd +-- Author : Mentor Graphics +-- Created : 2001/06/16 +-- Last update: 2001/07/03 +------------------------------------------------------------------------------- +-- Description: Electrical sinusoidal voltage source +-- Includes frequency domain settings +------------------------------------------------------------------------------- +-- Revisions : +-- Date Version Author Description +-- 2001/06/16 1.0 Mentor Graphics Created +-- 2001/07/03 1.1 Mentor Graphics Changed generics from real to +-- voltage. +------------------------------------------------------------------------------- + +library IEEE; +use IEEE.MATH_REAL.all; +-- Use proposed IEEE natures and packages +library IEEE_proposed; +use IEEE_proposed.ELECTRICAL_SYSTEMS.all; + +entity v_sine is + + generic ( + freq : real; -- frequency [Hertz] + amplitude : voltage; -- amplitude [Volts] + phase : real := 0.0; -- initial phase [Degrees] + offset : voltage := 0.0; -- DC value [Volts] + df : real := 0.0; -- damping factor [1/second] + ac_mag : voltage := 1.0; -- AC magnitude [Volts] + ac_phase : real := 0.0); -- AC phase [Degrees] + + port ( + terminal pos, neg : electrical); + +end entity v_sine; + +------------------------------------------------------------------------------- +-- Ideal Architecture +------------------------------------------------------------------------------- +architecture ideal of v_sine is +-- Declare Branch Quantities + quantity v across i through pos to neg; +-- Declare Quantity for Phase in radians (calculated below) + quantity phase_rad : real; +-- Declare Quantity in frequency domain for AC analysis + quantity ac_spec : real spectrum ac_mag, math_2_pi*ac_phase/360.0; + +begin +-- Convert phase to radians + phase_rad == math_2_pi *(freq * NOW + phase / 360.0); + + if domain = quiescent_domain or domain = time_domain use + v == offset + amplitude * sin(phase_rad) * EXP(-NOW * df); + else + v == ac_spec; -- used for Frequency (AC) analysis + end use; + +end architecture ideal; + +------------------------------------------------------------------------------- +-- Copyright (c) 2001 Mentor Graphics Corporation +------------------------------------------------------------------------------- +-- +library IEEE; +use IEEE.std_logic_1164.all; +use IEEE.std_logic_arith.all; + +library IEEE_proposed; +use IEEE_proposed.electrical_systems.all; +use IEEE_proposed.mechanical_systems.all; + +entity TB_CS2_Mech_Domain is +end TB_CS2_Mech_Domain; + +architecture TB_CS2_Mech_Domain of TB_CS2_Mech_Domain is + -- Component declarations + -- Signal declarations + terminal gear_out : rotational; + terminal link_in : translational; + terminal link_out : translational; + terminal mot_in : electrical; + terminal mot_out : rotational_v; + terminal pos_fb_v : electrical; + terminal rudder : rotational; + terminal src_in : electrical; +begin + -- Signal assignments + -- Component instances + rudder_servo1 : entity work.rudder_servo + port map( + servo_out => mot_in, + servo_in => src_in, + pos_fb => pos_fb_v + ); + gear3 : entity work.gear_rv_r(ideal) + generic map( + ratio => 0.01 + ) + port map( + rotv1 => mot_out, + rot2 => gear_out + ); + r2v : entity work.rot2v(bhv) + generic map( + k => 1.0 + ) + port map( + output => pos_fb_v, + input => gear_out + ); + r2t : entity work.horn_r2t(bhv) + port map( + theta => gear_out, + pos => link_in + ); + t2r : entity work.horn_t2r(bhv) + port map( + theta => rudder, + pos => link_out + ); + motor1 : entity work.DC_Motor(basic) + generic map( + j => 168.0e-9, + d => 5.63e-6, + l => 2.03e-3, + kt => 3.43e-3, + r_wind => 2.2 + ) + port map( + p1 => mot_in, + p2 => ELECTRICAL_REF, + shaft_rotv => mot_out + ); + stop1 : entity work.stop_r(ideal) + generic map( + ang_min => -1.05, + ang_max => 1.05, + k_stop => 1.0e6, + damp_stop => 1.0e2 + ) + port map( + ang1 => gear_out, + ang2 => ROTATIONAL_REF + ); + XCMP35 : entity work.tran_linkage(a1) + port map( + p2 => link_out, + p1 => link_in + ); + XCMP36 : entity work.rudder(bhv) + generic map( + k => 0.2 + ) + port map( + rot => rudder + ); + v6 : entity work.v_sine(ideal) + generic map( + freq => 1.0, + amplitude => 4.8 + ) + port map( + pos => src_in, + neg => ELECTRICAL_REF + ); +end TB_CS2_Mech_Domain; +-- + |