eFMI Testcase: PlantForInversion

EMPHYSIS_TestCases_M04_DrivetrainTorqueControl_PlantModels_PlantForInversion.syq

/*
 * Converted Flat Modelica equation code to SCODE Congra format for:
 *      'EMPHYSIS_TestCases.M04_DrivetrainTorqueControl.PlantModels.PlantForInversion'
 * Generation Date: 2020-12-04T19:14:42.082449900
 */

package PlantForInversion;

@flows(F_Inverted_PlantForInversion)
system sys_PlantForInversion (@ description("(42): public input Real 'M_m';") @ geo(146, 504)
	M_m, M_l_port, @ geo(1140, 554)
	M_l_port_dot, @ geo(1224, 216)
	w_rel_out) {

	/*
	 * variable declaration
	 */

	// (4): public final parameter Boolean 'for_inversion' = true;
	// 'for_inversion' is not used in any equations, just ignore it

	// (5): public parameter Real 'gearRatio' = 10.0;
	// 'gearRatio' is not used in any equations, just ignore it

	// (6): public parameter Real 'J_M'(unit = "kg.m2", quantity = "MomentOfInertia") = 0.01;
	// 'J_M' is not used in any equations, just ignore it

	// (7): public parameter Real 'd_res'(unit = "N.m.s/rad", quantity = "RotationalDampingConstant") = 1.57;
	// 'd_res' is not used in any equations, just ignore it

	// (8): public parameter Real 'k_accCor' = -0.0101615216387814;
	// 'k_accCor' is not used in any equations, just ignore it

	// (9): public parameter Real 'c_res' = 4710.0;
	// 'c_res' is not used in any equations, just ignore it

	// 'inertiaDrivelineIn.flange_a.phi' is aliased by 'inertiaDrivelineIn.phi'

	@description("(11): public Real 'inertiaDrivelineIn.flange_a.tau'(unit = \"N.m\", quantity = \"Torque\");")
	@geo(288, 619)
	var inertiaDrivelineIn_flange_a_tau;

	// 'inertiaDrivelineIn.flange_b.phi' is aliased by 'inertiaDrivelineIn.phi'

	@description("(13): public Real 'inertiaDrivelineIn.flange_b.tau'(unit = \"N.m\", quantity = \"Torque\");")
	@geo(564, 619)
	var inertiaDrivelineIn_flange_b_tau;

	@description("(14): public parameter Real 'inertiaDrivelineIn.J'(start = 1.0, min = 0.0, unit = \"kg.m2\", quantity = \"MomentOfInertia\") = 'J_M';")
	@geo(420, 564)
	param inertiaDrivelineIn_J is >= 0.0 = 0.01;

	// (15): public parameter 'StateSelect' 'inertiaDrivelineIn.stateSelect' = 'StateSelect'.default;
	// 'inertiaDrivelineIn.stateSelect' is not used in any equations, just ignore it

	@description("(16): public Real 'inertiaDrivelineIn.phi'(stateSelect = 'StateSelect'.default, fixed = false, start = 0.0, displayUnit = \"deg\", unit = \"rad\", quantity = \"Angle\");
	(90): 'inertiaDrivelineIn.w' = der('inertiaDrivelineIn.phi')")
	@geo(492, 336)
	var inertiaDrivelineIn_phi ;
	// aliasing:  ['inertiaDrivelineIn.flange_a.phi', 'inertiaDrivelineIn.flange_b.phi', 'relSpeedSensor.flange_a.phi', 'springDamper.flange_a.phi', 'torqueDrive.flange.phi']

	@description("(17): public Real 'inertiaDrivelineIn.w'(stateSelect = 'StateSelect'.default, fixed = false, start = 0.0, unit = \"rad/s\", quantity = \"AngularVelocity\");
	(91): 'inertiaDrivelineIn.a' = der('inertiaDrivelineIn.w')")
	@geo(492, 420)
	var inertiaDrivelineIn_w =  integrate(inertiaDrivelineIn_a);

	@description("(18): public Real 'inertiaDrivelineIn.a'(unit = \"rad/s2\", quantity = \"AngularAcceleration\");")
	@geo(492, 504)
	var inertiaDrivelineIn_a;

	@description("(19): public parameter Real 'springDamper.c'(start = 100000.0, min = 0.0, unit = \"N.m/rad\", quantity = \"RotationalSpringConstant\") = 'c_res';")
	@geo(593, 168)
	param springDamper_c is >= 0.0 = 4710.0;

	@description("(20): public parameter Real 'springDamper.d'(start = 0.0, min = 0.0, unit = \"N.m.s/rad\", quantity = \"RotationalDampingConstant\") = 'd_res';")
	@geo(660, 96)
	param springDamper_d is >= 0.0 = 1.57;

	@description("(21): public parameter Real 'springDamper.phi_rel0'(displayUnit = \"rad\", unit = \"rad\", quantity = \"Angle\") = 0.0;")
	@geo(552, 144)
	param springDamper_phi_rel0 = 0.0;

	@description("(22): public Real 'springDamper.phi_rel'(stateSelect = 'StateSelect'.prefer, nominal = if 'springDamper.phi_nominal' >= 1e-015 then 'springDamper.phi_nominal' else 1.0, fixed = true, start = 0.0, displayUnit = \"deg\", unit = \"rad\", quantity = \"Angle\");
	(98): 'springDamper.w_rel' = der('springDamper.phi_rel')")
	@geo(492, 216)
	var springDamper_phi_rel ;

	@description("(23): public Real 'springDamper.w_rel'(stateSelect = 'StateSelect'.prefer, start = 0.0, unit = \"rad/s\", quantity = \"AngularVelocity\");
	(99): 'springDamper.a_rel' = der('springDamper.w_rel')")
	@geo(492, 84)
	var springDamper_w_rel ;

	// 'springDamper.tau' is aliased by 'springDamper.flange_b.tau'

	// 'springDamper.flange_a.phi' is aliased by 'inertiaDrivelineIn.phi'

	@description("(27): public Real 'springDamper.flange_a.tau'(unit = \"N.m\", quantity = \"Torque\");")
	@geo(660, 504)
	var springDamper_flange_a_tau;

	// 'springDamper.flange_b.phi' is aliased by 'relSpeedSensor.flange_b.phi'

	@description("(29): public Real 'springDamper.flange_b.tau'(unit = \"N.m\", quantity = \"Torque\");")
	@geo(660, 420)
	var springDamper_flange_b_tau;
	// aliasing:  ['springDamper.tau']

	// (30): public parameter Real 'springDamper.phi_nominal'(min = 0.0, displayUnit = "rad", unit = "rad", quantity = "Angle") = 0.0001;
	// 'springDamper.phi_nominal' is not used in any equations, just ignore it

	// (31): public parameter 'StateSelect' 'springDamper.stateSelect' = 'StateSelect'.prefer;
	// 'springDamper.stateSelect' is not used in any equations, just ignore it

	// (32): public parameter Boolean 'springDamper.useHeatPort' = false;
	// 'springDamper.useHeatPort' is not used in any equations, just ignore it
	@description("(34): protected Real 'springDamper.tau_c'(unit = \"N.m\", quantity = \"Torque\");")
	@geo(660, 216)
	var springDamper_tau_c;

	@description("(35): protected Real 'springDamper.tau_d'(unit = \"N.m\", quantity = \"Torque\");")
	@geo(792, 216)
	var springDamper_tau_d;

	// (36): public parameter Boolean 'torqueDrive.useSupport' = false;
	// 'torqueDrive.useSupport' is not used in any equations, just ignore it

	// 'torqueDrive.flange.phi' is aliased by 'inertiaDrivelineIn.phi'

	@description("(38): public Real 'torqueDrive.flange.tau'(unit = \"N.m\", quantity = \"Torque\");")
	@geo(288, 564)
	var torqueDrive_flange_tau;

	// 'torqueDrive.tau' is aliased by 'gear.y'

	@description("(41): public output Real 'M_l';")
	@geo(1116, 504)
	var M_l;
	// aliasing:  ['gainAcc.u', 'loadTorque.flange_a.tau', 'loadTorque.tau']
	// aliasing:  ['gear.u']

	// 'loadTorque.flange_a.phi' is aliased by 'relSpeedSensor.flange_b.phi'

	// 'loadTorque.flange_a.tau' is aliased by 'M_l'

	// 'loadTorque.flange_b.phi' is aliased by 'relSpeedSensor.flange_b.phi'
	// 'loadTorque.tau' is aliased by 'M_l'

	// 'fixed.phi0' is aliased by 'relSpeedSensor.flange_b.phi'

	// 'fixed.flange.phi' is aliased by 'relSpeedSensor.flange_b.phi'
	@description("(51): public output Real 'w_rel';")
	@geo(1116, 216)
	var w_rel;
	// aliasing:  ['relSpeedSensor.w_rel']

	// (52): public parameter Boolean 'torqueDist.useSupport' = false;
	// 'torqueDist.useSupport' is not used in any equations, just ignore it

	// 'torqueDist.flange.phi' is aliased by 'relSpeedSensor.flange_b.phi'

	@description("(54): public Real 'torqueDist.flange.tau'(unit = \"N.m\", quantity = \"Torque\");")
	@geo(833, 420)
	var torqueDist_flange_tau;

	@description("(56): public Real 'torqueDist.tau'(unit = \"N.m\");")
	@geo(900, 468)
	var torqueDist_tau;
	// aliasing:  ['gainAcc.y']

	@description("(57): public parameter Real 'gainAcc.k'(start = 1.0, unit = \"1\") = 'k_accCor';")
	@geo(996, 384)
	param gainAcc_k = -0.0101615216387814;

	// 'gainAcc.u' is aliased by 'M_l'

	// 'gainAcc.y' is aliased by 'torqueDist.tau'

	// 'relSpeedSensor.flange_a.phi' is aliased by 'inertiaDrivelineIn.phi'

	@description("(61): public Real 'relSpeedSensor.flange_a.tau'(unit = \"N.m\", quantity = \"Torque\");")
	@geo(660, 564)
	param relSpeedSensor_flange_a_tau = 0.0;

//bug fix using other alias:	@description("(62): public Real 'relSpeedSensor.flange_b.phi'(displayUnit = \"deg\", unit = \"rad\", quantity = \"Angle\");")
	@description("(62): public Real 'fixed.phi0'(displayUnit = \"deg\", unit = \"rad\", quantity = \"Angle\");")
	@geo(660, 298)
	param fixed_phi0 = 0.0;
//bug fix using other alias:	var relSpeedSensor_flange_b_phi;
	// aliasing:  ['fixed.flange.phi', 'fixed.phi0', 'loadTorque.flange_a.phi', 'loadTorque.flange_b.phi', 'springDamper.flange_b.phi', 'torqueDist.flange.phi']

	@description("(63): public Real 'relSpeedSensor.flange_b.tau'(unit = \"N.m\", quantity = \"Torque\");")
	@geo(833, 619)
	var relSpeedSensor_flange_b_tau;

	@description("(64): public Real 'relSpeedSensor.phi_rel'(displayUnit = \"deg\", unit = \"rad\", quantity = \"Angle\");
	(112): 'relSpeedSensor.w_rel' = der('relSpeedSensor.phi_rel')")
	@geo(1008, 216)
	var relSpeedSensor_phi_rel ;

	// 'relSpeedSensor.w_rel' is aliased by 'w_rel'

	@description("(66): public parameter Real 'gear.k'(start = 1.0, unit = \"1\") = 'gearRatio';")
	@geo(218, 432)
	param gear_k = 10.0;

	// 'gear.u' is aliased by 'M_m'

	@description("(68): public Real 'gear.y';")
	@geo(288, 504)
	var gear_y;

	@geo(660, 471)
	var springDamper_flange_b_tau_dot;
	@geo(660, 267)
	var springDamper_tau_c_dot;
	@geo(792, 267)
	var springDamper_tau_d_dot;
	@geo(828, 674)
	var relSpeedSensor_flange_b_tau_dot;
	@geo(492, 135)
	var springDamper_w_rel_dot;
	@geo(828, 471)
	var torqueDist_flange_tau_dot;
	@geo(900, 519)
	var torqueDist_tau_dot;
	@geo(1008, 555)
	var M_l_dot;

	// aliasing:  ['torqueDrive.tau']


	/*
	 * relation and equation declaration
	 */

	// (71): 'relSpeedSensor.flange_a.phi' = 'springDamper.flange_a.phi'
	// Equation not generated in Congra since it is an alias equation

	// (72): 'relSpeedSensor.flange_a.phi' = 'inertiaDrivelineIn.flange_b.phi'
	// Equation not generated in Congra since it is an alias equation

	// (73): 'torqueDrive.flange.phi' = 'inertiaDrivelineIn.flange_a.phi'
	// Equation not generated in Congra since it is an alias equation

	// (74): 'loadTorque.flange_b.phi' = 'fixed.flange.phi'
	// Equation not generated in Congra since it is an alias equation

	// (75): 'torqueDist.tau' = 'gainAcc.y'
	// Equation not generated in Congra since it is an alias equation

	// (76): 'M_m' = 'gear.u'
	// Equation not generated in Congra since it is an alias equation

	// (77): 'gear.y' = 'torqueDrive.tau'
	// Equation not generated in Congra since it is an alias equation

	// (78): 'M_l' = 'gainAcc.u'
	// Equation not generated in Congra since it is an alias equation

	// (79): 'M_l' = 'loadTorque.tau'
	// Equation not generated in Congra since it is an alias equation

	// (80): 'relSpeedSensor.w_rel' = 'w_rel'
	// Equation not generated in Congra since it is an alias equation

	// (81): 'relSpeedSensor.flange_b.phi' = 'loadTorque.flange_a.phi'
	// Equation not generated in Congra since it is an alias equation

	// (82): 'relSpeedSensor.flange_b.phi' = 'torqueDist.flange.phi'
	// Equation not generated in Congra since it is an alias equation

	// (83): 'relSpeedSensor.flange_b.phi' = 'springDamper.flange_b.phi'
	// Equation not generated in Congra since it is an alias equation

	@description("(84): 'relSpeedSensor.flange_a.tau' + 'springDamper.flange_a.tau' + 'inertiaDrivelineIn.flange_b.tau' = 0.0")
	@geo(564, 564, 30, 30)
	R0(inertiaDrivelineIn_flange_b_tau, in relSpeedSensor_flange_a_tau, springDamper_flange_a_tau) ::= relSpeedSensor_flange_a_tau + springDamper_flange_a_tau + inertiaDrivelineIn_flange_b_tau = 0.0;

	@description("(85): 'torqueDrive.flange.tau' + 'inertiaDrivelineIn.flange_a.tau' = 0.0")
	@geo(216, 619, 30, 30)
	R1(inertiaDrivelineIn_flange_a_tau, torqueDrive_flange_tau) ::= torqueDrive_flange_tau + inertiaDrivelineIn_flange_a_tau = 0.0;

	@description("(87): 'relSpeedSensor.flange_b.tau' + 'torqueDist.flange.tau' + 'loadTorque.flange_a.tau' + 'springDamper.flange_b.tau' = 0.0")
	@geo(744, 504, 30, 30)
	R3(M_l, relSpeedSensor_flange_b_tau, springDamper_flange_b_tau, torqueDist_flange_tau) ::= relSpeedSensor_flange_b_tau + torqueDist_flange_tau + M_l + springDamper_flange_b_tau = 0.0;

	// (88): 'inertiaDrivelineIn.phi' = 'inertiaDrivelineIn.flange_a.phi'
	// Equation not generated in Congra since it is an alias equation

	// (89): 'inertiaDrivelineIn.phi' = 'inertiaDrivelineIn.flange_b.phi'
	// Equation not generated in Congra since it is an alias equation

	// (90): 'inertiaDrivelineIn.w' = der('inertiaDrivelineIn.phi')
	// Equation not generated in Congra since it is an alias equation

	// (91): 'inertiaDrivelineIn.a' = der('inertiaDrivelineIn.w')
	// Equation not generated in Congra since it is an alias equation

	@description("(92): 'inertiaDrivelineIn.J' * 'inertiaDrivelineIn.a' = 'inertiaDrivelineIn.flange_a.tau' + 'inertiaDrivelineIn.flange_b.tau'")
	@geo(420, 619, 30, 30)
	R4(in inertiaDrivelineIn_J, inertiaDrivelineIn_a, inertiaDrivelineIn_flange_a_tau, inertiaDrivelineIn_flange_b_tau) ::= inertiaDrivelineIn_J * inertiaDrivelineIn_a = inertiaDrivelineIn_flange_a_tau + inertiaDrivelineIn_flange_b_tau;

	@description("(93): 'springDamper.tau_c' = 'springDamper.c' * ('springDamper.phi_rel' - 'springDamper.phi_rel0')")
	@geo(564, 216, 30, 30)
	R5(in springDamper_c, springDamper_phi_rel, in springDamper_phi_rel0, springDamper_tau_c) ::= springDamper_tau_c = springDamper_c * (springDamper_phi_rel - springDamper_phi_rel0);

	@description("(94): 'springDamper.tau_d' = 'springDamper.d' * 'springDamper.w_rel'")
	@geo(660, 168, 30, 30)
	R6(in springDamper_d, springDamper_tau_d, springDamper_w_rel) ::= springDamper_tau_d = springDamper_d * springDamper_w_rel;

	@description("(95): 'springDamper.tau' = 'springDamper.tau_c' + 'springDamper.tau_d'")
	@geo(744, 269, 30, 30)
	R7(springDamper_flange_b_tau, springDamper_tau_c, springDamper_tau_d) ::= springDamper_flange_b_tau = springDamper_tau_c + springDamper_tau_d;

	@description("(97): 'springDamper.phi_rel' = 'springDamper.flange_b.phi' - 'springDamper.flange_a.phi'")
	@geo(564, 276, 30, 30)
	R9(inertiaDrivelineIn_phi, in fixed_phi0, springDamper_phi_rel) ::= springDamper_phi_rel = fixed_phi0 - inertiaDrivelineIn_phi;

	// (98): 'springDamper.w_rel' = der('springDamper.phi_rel')
	// Equation not generated in Congra since it is an alias equation

	// (99): 'springDamper.a_rel' = der('springDamper.w_rel')
	// Equation not generated in Congra since it is an alias equation

	// (100): 'springDamper.flange_b.tau' = 'springDamper.tau'
	// Equation not generated in Congra since it is an alias equation

	@description("(101): 'springDamper.flange_a.tau' = -'springDamper.tau'")
	@geo(564, 504, 30, 30)
	R10(springDamper_flange_a_tau, springDamper_flange_b_tau) ::= springDamper_flange_a_tau = -springDamper_flange_b_tau;

	@description("(102): 'torqueDrive.flange.tau' = -'torqueDrive.tau'")
	@geo(218, 564, 30, 30)
	R11(gear_y, torqueDrive_flange_tau) ::= torqueDrive_flange_tau = -gear_y;

	// (104): 'loadTorque.flange_a.phi' = 'loadTorque.flange_b.phi'
	// Equation not generated in Congra since it is an alias equation

	// (105): 'loadTorque.flange_a.tau' = 'loadTorque.tau'
	// Equation not generated in Congra since it is an alias equation
	// (107): 'fixed.flange.phi' = 'fixed.phi0'
	// Equation not generated in Congra since it is an alias equation

	@description("(108): 'torqueDist.flange.tau' = -'torqueDist.tau'")
	@geo(900, 420, 30, 30)
	R14(torqueDist_flange_tau, torqueDist_tau) ::= torqueDist_flange_tau = -torqueDist_tau;

	@description("(110): 'gainAcc.y' = 'gainAcc.k' * 'gainAcc.u'")
	@geo(996, 444, 30, 30)
	R16(M_l, in gainAcc_k, torqueDist_tau) ::= torqueDist_tau = gainAcc_k * M_l;

	@description("(111): 'relSpeedSensor.phi_rel' = 'relSpeedSensor.flange_b.phi' - 'relSpeedSensor.flange_a.phi'")
	@geo(744, 348, 30, 30)
	R17(inertiaDrivelineIn_phi, in fixed_phi0, relSpeedSensor_phi_rel) ::= relSpeedSensor_phi_rel = fixed_phi0 - inertiaDrivelineIn_phi;

	// (112): 'relSpeedSensor.w_rel' = der('relSpeedSensor.phi_rel')
	// Equation not generated in Congra since it is an alias equation
	@description("(114): 0.0 = 'relSpeedSensor.flange_a.tau' + 'relSpeedSensor.flange_b.tau'")
	@geo(744, 619, 30, 30)
	R19(in relSpeedSensor_flange_a_tau, relSpeedSensor_flange_b_tau) ::= 0.0 = relSpeedSensor_flange_a_tau + relSpeedSensor_flange_b_tau;

	@description("(115): 'gear.y' = 'gear.k' * 'gear.u'")
	@geo(218, 504, 30, 30)
	R20(M_m, in gear_k, gear_y) ::= gear_y = gear_k * M_m;
	@geo(1164, 216, 30, 30)

R2(w_rel, w_rel_out) ::= w_rel=w_rel_out;
R8(M_l_port, M_l) ::= M_l = M_l_port;
@geo(744, 398, 30, 30)
	R17_dot(inertiaDrivelineIn_w, w_rel) ::= w_rel = -inertiaDrivelineIn_w;
	@geo(564, 326, 30, 30)
	R9_dot(inertiaDrivelineIn_w, springDamper_w_rel) ::= springDamper_w_rel = -inertiaDrivelineIn_w;
	@geo(744, 314, 30, 30)
	R7_dot(springDamper_flange_b_tau_dot, springDamper_tau_c_dot, springDamper_tau_d_dot) ::= springDamper_flange_b_tau_dot = springDamper_tau_c_dot + springDamper_tau_d_dot;
	@geo(564, 376, 30, 30)
	R9_2dot(inertiaDrivelineIn_a, springDamper_w_rel_dot) ::= springDamper_w_rel_dot = -inertiaDrivelineIn_a;
	@geo(564, 266, 30, 30)
	R5_dot(in springDamper_c, springDamper_w_rel, springDamper_tau_c_dot) ::= springDamper_tau_c_dot = springDamper_c * springDamper_w_rel;
	@geo(660, 218, 30, 30)
	R6_dot(in springDamper_d, springDamper_tau_d_dot, springDamper_w_rel_dot) ::= springDamper_tau_d_dot = springDamper_d * springDamper_w_rel_dot;
	@geo(900, 470, 30, 30)
	R14_dot(torqueDist_flange_tau_dot, torqueDist_tau_dot) ::= torqueDist_flange_tau_dot = -torqueDist_tau_dot;
	@geo(996, 494, 30, 30)
	R16_dot(in gainAcc_k, M_l_dot, torqueDist_tau_dot) ::= torqueDist_tau_dot = gainAcc_k * M_l_dot;
	@geo(744, 554, 30, 30)
	R3_dot(M_l_dot, relSpeedSensor_flange_b_tau_dot, springDamper_flange_b_tau_dot, torqueDist_flange_tau_dot) ::= relSpeedSensor_flange_b_tau_dot + torqueDist_flange_tau_dot + M_l_dot + springDamper_flange_b_tau_dot = 0.0;
	@geo(1080, 555, 30, 30)
	R8_dot(M_l_port_dot, M_l_dot) ::= M_l_dot = M_l_port_dot;
	@geo(744, 669, 30, 30)
	R19_dot(relSpeedSensor_flange_b_tau_dot) ::= 0.0 = relSpeedSensor_flange_b_tau_dot;
	
}

/*
flow F_Forward_PlantForInversion for sys_PlantForInversion {
	inputs: M_m;
	outputs: w_rel_out, M_l_port;
}*/
/*
 * Converted Flat Modelica equation code to SCODE Congra format for:
 *      'EMPHYSIS_TestCases.M04_DrivetrainTorqueControl.PlantModels.PlantForInversion'
 * Generation Date: 2020-12-04T19:14:42.082449900
 */

flow F_Inverted_PlantForInversion for sys_PlantForInversion {
	inputs: M_l_port, M_l_port_dot;
	outputs: w_rel_out, M_m;
}

PlantForInversions.mof

class 'EMPHYSIS_TestCases.M04_DrivetrainTorqueControl.PlantModels.PlantForInversion'
type 'StateSelect' = enumeration(never, avoid, default, prefer, always);

  public final parameter Boolean 'for_inversion' = true;
  public parameter Real 'gearRatio' = 10.0;
  public parameter Real 'J_M'(unit = "kg.m2", quantity = "MomentOfInertia") = 0.01;
  public parameter Real 'd_res'(unit = "N.m.s/rad", quantity = "RotationalDampingConstant") = 1.57;
  public parameter Real 'k_accCor' = -0.0101615216387814;
  public parameter Real 'c_res' = 4710.0;
  public Real 'inertiaDrivelineIn.flange_a.phi'(displayUnit = "deg", unit = "rad", quantity = "Angle");
  public Real 'inertiaDrivelineIn.flange_a.tau'(unit = "N.m", quantity = "Torque");
  public Real 'inertiaDrivelineIn.flange_b.phi'(displayUnit = "deg", unit = "rad", quantity = "Angle");
  public Real 'inertiaDrivelineIn.flange_b.tau'(unit = "N.m", quantity = "Torque");
  public parameter Real 'inertiaDrivelineIn.J'(start = 1.0, min = 0.0, unit = "kg.m2", quantity = "MomentOfInertia") = 'J_M';
  public parameter 'StateSelect' 'inertiaDrivelineIn.stateSelect' = 'StateSelect'.default;
  public Real 'inertiaDrivelineIn.phi'(stateSelect = 'StateSelect'.default, fixed = false, start = 0.0, displayUnit = "deg", unit = "rad", quantity = "Angle");
  public Real 'inertiaDrivelineIn.w'(stateSelect = 'StateSelect'.default, fixed = false, start = 0.0, unit = "rad/s", quantity = "AngularVelocity");
  public Real 'inertiaDrivelineIn.a'(unit = "rad/s2", quantity = "AngularAcceleration");
  public parameter Real 'springDamper.c'(start = 100000.0, min = 0.0, unit = "N.m/rad", quantity = "RotationalSpringConstant") = 'c_res';
  public parameter Real 'springDamper.d'(start = 0.0, min = 0.0, unit = "N.m.s/rad", quantity = "RotationalDampingConstant") = 'd_res';
  public parameter Real 'springDamper.phi_rel0'(displayUnit = "rad", unit = "rad", quantity = "Angle") = 0.0;
  public Real 'springDamper.phi_rel'(stateSelect = 'StateSelect'.prefer, nominal = if 'springDamper.phi_nominal' >= 1e-015 then 'springDamper.phi_nominal' else 1.0, fixed = true, start = 0.0, displayUnit = "deg", unit = "rad", quantity = "Angle");
  public Real 'springDamper.w_rel'(stateSelect = 'StateSelect'.prefer, start = 0.0, unit = "rad/s", quantity = "AngularVelocity");
  public Real 'springDamper.a_rel'(start = 0.0, unit = "rad/s2", quantity = "AngularAcceleration");
  public Real 'springDamper.tau'(unit = "N.m", quantity = "Torque");
  public Real 'springDamper.flange_a.phi'(displayUnit = "deg", unit = "rad", quantity = "Angle");
  public Real 'springDamper.flange_a.tau'(unit = "N.m", quantity = "Torque");
  public Real 'springDamper.flange_b.phi'(displayUnit = "deg", unit = "rad", quantity = "Angle");
  public Real 'springDamper.flange_b.tau'(unit = "N.m", quantity = "Torque");
  public parameter Real 'springDamper.phi_nominal'(min = 0.0, displayUnit = "rad", unit = "rad", quantity = "Angle") = 0.0001;
  public parameter 'StateSelect' 'springDamper.stateSelect' = 'StateSelect'.prefer;
  public parameter Boolean 'springDamper.useHeatPort' = false;
  public Real 'springDamper.lossPower'(unit = "W", quantity = "Power");
  protected Real 'springDamper.tau_c'(unit = "N.m", quantity = "Torque");
  protected Real 'springDamper.tau_d'(unit = "N.m", quantity = "Torque");
  public parameter Boolean 'torqueDrive.useSupport' = false;
  public Real 'torqueDrive.flange.phi'(displayUnit = "deg", unit = "rad", quantity = "Angle");
  public Real 'torqueDrive.flange.tau'(unit = "N.m", quantity = "Torque");
  protected Real 'torqueDrive.phi_support'(displayUnit = "deg", unit = "rad", quantity = "Angle");
  public Real 'torqueDrive.tau'(unit = "N.m");
  public output Real 'M_l';
  public input Real 'M_m';
  public Real 'loadTorque.flange_a.phi'(displayUnit = "deg", unit = "rad", quantity = "Angle");
  public Real 'loadTorque.flange_a.tau'(unit = "N.m", quantity = "Torque");
  public Real 'loadTorque.flange_b.phi'(displayUnit = "deg", unit = "rad", quantity = "Angle");
  public Real 'loadTorque.flange_b.tau'(unit = "N.m", quantity = "Torque");
  public Real 'loadTorque.tau'(unit = "N.m");
  public parameter Real 'fixed.phi0'(displayUnit = "deg", unit = "rad", quantity = "Angle") = 0.0;
  public Real 'fixed.flange.phi'(displayUnit = "deg", unit = "rad", quantity = "Angle");
  public Real 'fixed.flange.tau'(unit = "N.m", quantity = "Torque");
  public output Real 'w_rel';
  public parameter Boolean 'torqueDist.useSupport' = false;
  public Real 'torqueDist.flange.phi'(displayUnit = "deg", unit = "rad", quantity = "Angle");
  public Real 'torqueDist.flange.tau'(unit = "N.m", quantity = "Torque");
  protected Real 'torqueDist.phi_support'(displayUnit = "deg", unit = "rad", quantity = "Angle");
  public Real 'torqueDist.tau'(unit = "N.m");
  public parameter Real 'gainAcc.k'(start = 1.0, unit = "1") = 'k_accCor';
  public Real 'gainAcc.u';
  public Real 'gainAcc.y';
  public Real 'relSpeedSensor.flange_a.phi'(displayUnit = "deg", unit = "rad", quantity = "Angle");
  public Real 'relSpeedSensor.flange_a.tau'(unit = "N.m", quantity = "Torque");
  public Real 'relSpeedSensor.flange_b.phi'(displayUnit = "deg", unit = "rad", quantity = "Angle");
  public Real 'relSpeedSensor.flange_b.tau'(unit = "N.m", quantity = "Torque");
  public Real 'relSpeedSensor.phi_rel'(displayUnit = "deg", unit = "rad", quantity = "Angle");
  public Real 'relSpeedSensor.w_rel'(unit = "rad/s");
  public parameter Real 'gear.k'(start = 1.0, unit = "1") = 'gearRatio';
  public Real 'gear.u';
  public Real 'gear.y';
public
equation
  'relSpeedSensor.flange_a.phi' = 'springDamper.flange_a.phi';
  'relSpeedSensor.flange_a.phi' = 'inertiaDrivelineIn.flange_b.phi';
  'torqueDrive.flange.phi' = 'inertiaDrivelineIn.flange_a.phi';
  'loadTorque.flange_b.phi' = 'fixed.flange.phi';
  'torqueDist.tau' = 'gainAcc.y';
  'M_m' = 'gear.u';
  'gear.y' = 'torqueDrive.tau';
  'M_l' = 'gainAcc.u';
  'M_l' = 'loadTorque.tau';
  'relSpeedSensor.w_rel' = 'w_rel';
  'relSpeedSensor.flange_b.phi' = 'loadTorque.flange_a.phi';
  'relSpeedSensor.flange_b.phi' = 'torqueDist.flange.phi';
  'relSpeedSensor.flange_b.phi' = 'springDamper.flange_b.phi';
  'relSpeedSensor.flange_a.tau' + 'springDamper.flange_a.tau' + 'inertiaDrivelineIn.flange_b.tau' = 0.0;
  'torqueDrive.flange.tau' + 'inertiaDrivelineIn.flange_a.tau' = 0.0;
  'fixed.flange.tau' + 'loadTorque.flange_b.tau' = 0.0;
  'relSpeedSensor.flange_b.tau' + 'torqueDist.flange.tau' + 'loadTorque.flange_a.tau' + 'springDamper.flange_b.tau' = 0.0;
  'inertiaDrivelineIn.phi' = 'inertiaDrivelineIn.flange_a.phi';
  'inertiaDrivelineIn.phi' = 'inertiaDrivelineIn.flange_b.phi';
  'inertiaDrivelineIn.w' = der('inertiaDrivelineIn.phi');
  'inertiaDrivelineIn.a' = der('inertiaDrivelineIn.w');
  'inertiaDrivelineIn.J' * 'inertiaDrivelineIn.a' = 'inertiaDrivelineIn.flange_a.tau' + 'inertiaDrivelineIn.flange_b.tau';
  'springDamper.tau_c' = 'springDamper.c' * ('springDamper.phi_rel' - 'springDamper.phi_rel0');
  'springDamper.tau_d' = 'springDamper.d' * 'springDamper.w_rel';
  'springDamper.tau' = 'springDamper.tau_c' + 'springDamper.tau_d';
  'springDamper.lossPower' = 'springDamper.tau_d' * 'springDamper.w_rel';
  'springDamper.phi_rel' = 'springDamper.flange_b.phi' - 'springDamper.flange_a.phi';
  'springDamper.w_rel' = der('springDamper.phi_rel');
  'springDamper.a_rel' = der('springDamper.w_rel');
  'springDamper.flange_b.tau' = 'springDamper.tau';
  'springDamper.flange_a.tau' = -'springDamper.tau';
  'torqueDrive.flange.tau' = -'torqueDrive.tau';
  'torqueDrive.phi_support' = 0.0;
  'loadTorque.flange_a.phi' = 'loadTorque.flange_b.phi';
  'loadTorque.flange_a.tau' = 'loadTorque.tau';
  0.0 = 'loadTorque.flange_a.tau' + 'loadTorque.flange_b.tau';
  'fixed.flange.phi' = 'fixed.phi0';
  'torqueDist.flange.tau' = -'torqueDist.tau';
  'torqueDist.phi_support' = 0.0;
  'gainAcc.y' = 'gainAcc.k' * 'gainAcc.u';
  'relSpeedSensor.phi_rel' = 'relSpeedSensor.flange_b.phi' - 'relSpeedSensor.flange_a.phi';
  'relSpeedSensor.w_rel' = der('relSpeedSensor.phi_rel');
  0.0 = 'relSpeedSensor.flange_a.tau';
  0.0 = 'relSpeedSensor.flange_a.tau' + 'relSpeedSensor.flange_b.tau';
  'gear.y' = 'gear.k' * 'gear.u';
end 'EMPHYSIS_TestCases.M04_DrivetrainTorqueControl.PlantModels.PlantForInversion';