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advanced_usage.hmf
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<?xml version="1.0" encoding="UTF-8"?>
<hopsanmodelfile hmfversion="0.4" hopsanguiversion="0.6.x_r6835" hopsancoreversion="0.6.x_r6836">
<requirements/>
<info>
<author>Fluid & Mechatronic Systems (Flumes)</author>
<email>robert.braun@liu.se</email>
<affiliation>Linköping University</affiliation>
<description>This example model consists of a simple position servo controlled by a proportional feedback. A step signal is used as input. Analyzing step responses can give important information about the dynamic behaviour of a system.</description>
</info>
<system typename="Subsystem" name="advanced_usage">
<simulationtime stop="5" timestep="0.001" start="-1" inherit_timestep="true"/>
<simulationlogsettings numsamples="2048" starttime="0"/>
<parameters/>
<aliases/>
<hopsangui>
<pose x="0" y="0" flipped="false" a="0"/>
<nametext position="0" visible="0"/>
<animation flowspeed="100"/>
<viewport x="2363.72" y="2587.13" zoom="0.991447"/>
<ports hidden="1"/>
<names hidden="1"/>
<graphics type="user"/>
<scriptfile path=""/>
<hopsanobjectappearance version="0.3">
<modelobject typename="Subsystem" displayname="advanced_usage">
<icons>
<icon path="subsystemDefault.svg" type="defaultmissing"/>
</icons>
<ports/>
<animation flowspeed="100"/>
</modelobject>
</hopsanobjectappearance>
<optimization>
<settings>
<iterations>100</iterations>
<nsearchp>4</nsearchp>
<refcoeff>1.3</refcoeff>
<randfac>0.1</randfac>
<forgfac>0.3</forgfac>
<functol>1e-05</functol>
<partol>0.0001</partol>
<plot>true</plot>
<savecsv>false</savecsv>
<logpar>false</logpar>
</settings>
<parameters>
<parameter>
<minmax>0 0.1</minmax>
</parameter>
<parameter>
<minmax>0 0.01</minmax>
</parameter>
</parameters>
<objectives>
<objective>
<functionname>Absolute Average Difference</functionname>
<weight>10</weight>
<norm>1</norm>
<exp>2</exp>
<plotvariables/>
</objective>
<objective>
<functionname>Overshoot</functionname>
<weight>1</weight>
<norm>1</norm>
<exp>2</exp>
<plotvariables/>
<data>
<parameter>0.7</parameter>
</data>
</objective>
</objectives>
</optimization>
<senstivitityanalysis>
<settings>
<iterations>100</iterations>
<distribution>uniform</distribution>
</settings>
<parameters/>
<plotvariables/>
</senstivitityanalysis>
</hopsangui>
<objects>
<component typename="HydraulicTankC" name="Tank_C">
<parameters>
<parameter unit="m^3/s" value="0" type="double" name="P1#Flow"/>
<parameter unit="K" value="0" type="double" name="P1#Temperature"/>
<parameter unit="Pa" value="0" type="double" name="P1#WaveVariable"/>
<parameter unit="?" value="0" type="double" name="P1#CharImpedance"/>
<parameter unit="?" value="0" type="double" name="P1#HeatFlow"/>
<parameter unit="Pa" value="100000" type="double" name="p"/>
</parameters>
<ports>
<port nodetype="NodeHydraulic" name="P1"/>
</ports>
<hopsangui>
<pose x="2727.229132" y="2529.192906" flipped="false" a="0"/>
<nametext position="0" visible="0"/>
<animation flowspeed="100"/>
<hopsanobjectappearance version="0.3">
<modelobject typename="HydraulicTankC" displayname="Tank_C">
<ports/>
</modelobject>
</hopsanobjectappearance>
</hopsangui>
</component>
<component typename="SignalPulse" name="Pulse_1">
<parameters>
<parameter unit="-" value="0" type="double" name="y_0#Value"/>
<parameter unit="-" value="0.0001" type="double" name="y_A#Value"/>
<parameter unit="-" value="1" type="double" name="t_start#Value"/>
<parameter unit="-" value="3" type="double" name="t_end#Value"/>
</parameters>
<ports>
<port nodetype="NodeSignal" name="out"/>
</ports>
<hopsangui>
<pose x="2558.091708" y="2500.192906" flipped="false" a="0"/>
<nametext position="0" visible="0"/>
<animation flowspeed="100"/>
<hopsanobjectappearance version="0.3">
<modelobject typename="SignalPulse" displayname="Pulse_1">
<ports/>
</modelobject>
</hopsanobjectappearance>
</hopsangui>
</component>
<component typename="HydraulicCylinderC" name="Cylinder1">
<parameters>
<parameter unit="m^3/s" value="0" type="double" name="P1#Flow"/>
<parameter unit="Pa" value="100000" type="double" name="P1#Pressure"/>
<parameter unit="K" value="0" type="double" name="P1#Temperature"/>
<parameter unit="Pa" value="100000" type="double" name="P1#WaveVariable"/>
<parameter unit="?" value="0" type="double" name="P1#CharImpedance"/>
<parameter unit="?" value="0" type="double" name="P1#HeatFlow"/>
<parameter unit="m^3/s" value="0" type="double" name="P2#Flow"/>
<parameter unit="Pa" value="100000" type="double" name="P2#Pressure"/>
<parameter unit="K" value="0" type="double" name="P2#Temperature"/>
<parameter unit="Pa" value="100000" type="double" name="P2#WaveVariable"/>
<parameter unit="?" value="0" type="double" name="P2#CharImpedance"/>
<parameter unit="?" value="0" type="double" name="P2#HeatFlow"/>
<parameter unit="m/s" value="0" type="double" name="P3#Velocity"/>
<parameter unit="N" value="0" type="double" name="P3#Force"/>
<parameter unit="m" value="0" type="double" name="P3#Position"/>
<parameter unit="N" value="0" type="double" name="P3#WaveVariable"/>
<parameter unit="N s/m" value="0" type="double" name="P3#CharImpedance"/>
<parameter unit="kg" value="1" type="double" name="P3#EquivalentMass"/>
<parameter unit="-" value="0.001" type="double" name="A_1#Value"/>
<parameter unit="-" value="0.001" type="double" name="A_2#Value"/>
<parameter unit="-" value="1" type="double" name="s_l#Value"/>
<parameter unit="-" value="0.0003" type="double" name="V_1#Value"/>
<parameter unit="-" value="0.0003" type="double" name="V_2#Value"/>
<parameter unit="-" value="1000" type="double" name="B_p#Value"/>
<parameter unit="-" value="1e+009" type="double" name="Beta_e#Value"/>
<parameter unit="-" value="1e-011" type="double" name="c_leak#Value"/>
</parameters>
<ports>
<port nodetype="NodeHydraulic" name="P1"/>
<port nodetype="NodeHydraulic" name="P2"/>
<port nodetype="NodeMechanic" name="P3"/>
</ports>
<hopsangui>
<pose x="2369.384413" y="2397.192906" flipped="false" a="0"/>
<nametext position="0" visible="0"/>
<animation flowspeed="100">
<movable>
<start x="1.500000" y="1.500000" a="0.000000"/>
<movement x="0.000000" y="0.000000" a="0.000000"/>
</movable>
<movable>
<start x="11.000000" y="1.500000" a="0.000000"/>
<movement x="77.000000" y="0.000000" a="0.000000"/>
</movable>
<movable>
<start x="0.000000" y="0.000000" a="0.000000"/>
<movement x="77.500000" y="0.000000" a="0.000000"/>
</movable>
</animation>
<hopsanobjectappearance version="0.3">
<modelobject typename="HydraulicCylinderC" displayname="Cylinder1">
<ports/>
</modelobject>
</hopsanobjectappearance>
</hopsangui>
</component>
<component typename="HydraulicCylinderC" name="Cylinder2">
<parameters>
<parameter unit="m^3/s" value="0" type="double" name="P1#Flow"/>
<parameter unit="Pa" value="100000" type="double" name="P1#Pressure"/>
<parameter unit="K" value="0" type="double" name="P1#Temperature"/>
<parameter unit="Pa" value="100000" type="double" name="P1#WaveVariable"/>
<parameter unit="?" value="0" type="double" name="P1#CharImpedance"/>
<parameter unit="?" value="0" type="double" name="P1#HeatFlow"/>
<parameter unit="m^3/s" value="0" type="double" name="P2#Flow"/>
<parameter unit="Pa" value="100000" type="double" name="P2#Pressure"/>
<parameter unit="K" value="0" type="double" name="P2#Temperature"/>
<parameter unit="Pa" value="100000" type="double" name="P2#WaveVariable"/>
<parameter unit="?" value="0" type="double" name="P2#CharImpedance"/>
<parameter unit="?" value="0" type="double" name="P2#HeatFlow"/>
<parameter unit="m/s" value="0" type="double" name="P3#Velocity"/>
<parameter unit="N" value="0" type="double" name="P3#Force"/>
<parameter unit="m" value="0" type="double" name="P3#Position"/>
<parameter unit="N" value="0" type="double" name="P3#WaveVariable"/>
<parameter unit="N s/m" value="0" type="double" name="P3#CharImpedance"/>
<parameter unit="kg" value="1" type="double" name="P3#EquivalentMass"/>
<parameter unit="-" value="0.001" type="double" name="A_1#Value"/>
<parameter unit="-" value="0.001" type="double" name="A_2#Value"/>
<parameter unit="-" value="1" type="double" name="s_l#Value"/>
<parameter unit="-" value="0.0003" type="double" name="V_1#Value"/>
<parameter unit="-" value="0.0003" type="double" name="V_2#Value"/>
<parameter unit="-" value="1000" type="double" name="B_p#Value"/>
<parameter unit="-" value="1e+009" type="double" name="Beta_e#Value"/>
<parameter unit="-" value="1e-011" type="double" name="c_leak#Value"/>
</parameters>
<ports>
<port nodetype="NodeHydraulic" name="P1"/>
<port nodetype="NodeHydraulic" name="P2"/>
<port nodetype="NodeMechanic" name="P3"/>
</ports>
<hopsangui>
<pose x="2732.229132" y="2397.192906" flipped="false" a="0"/>
<nametext position="0" visible="0"/>
<animation flowspeed="100">
<movable>
<start x="1.500000" y="1.500000" a="0.000000"/>
<movement x="0.000000" y="0.000000" a="0.000000"/>
</movable>
<movable>
<start x="11.000000" y="1.500000" a="0.000000"/>
<movement x="77.000000" y="0.000000" a="0.000000"/>
</movable>
<movable>
<start x="0.000000" y="0.000000" a="0.000000"/>
<movement x="77.500000" y="0.000000" a="0.000000"/>
</movable>
</animation>
<hopsanobjectappearance version="0.3">
<modelobject typename="HydraulicCylinderC" displayname="Cylinder2">
<ports/>
</modelobject>
</hopsanobjectappearance>
</hopsangui>
</component>
<component typename="SignalPulse" name="Pulse">
<parameters>
<parameter unit="-" value="0" type="double" name="y_0#Value"/>
<parameter unit="-" value="0.0001" type="double" name="y_A#Value"/>
<parameter unit="-" value="1" type="double" name="t_start#Value"/>
<parameter unit="-" value="2" type="double" name="t_end#Value"/>
</parameters>
<ports>
<port nodetype="NodeSignal" name="out"/>
</ports>
<hopsangui>
<pose x="2197.47" y="2500.19" flipped="false" a="0"/>
<nametext position="0" visible="0"/>
<animation flowspeed="100"/>
<hopsanobjectappearance version="0.3">
<modelobject typename="SignalPulse" displayname="Pulse">
<ports/>
</modelobject>
</hopsanobjectappearance>
</hopsangui>
</component>
<component typename="HydraulicTankC" name="Tank_C_1">
<parameters>
<parameter unit="m^3/s" value="0" type="double" name="P1#Flow"/>
<parameter unit="K" value="0" type="double" name="P1#Temperature"/>
<parameter unit="Pa" value="0" type="double" name="P1#WaveVariable"/>
<parameter unit="?" value="0" type="double" name="P1#CharImpedance"/>
<parameter unit="?" value="0" type="double" name="P1#HeatFlow"/>
<parameter unit="Pa" value="100000" type="double" name="p"/>
</parameters>
<ports>
<port nodetype="NodeHydraulic" name="P1"/>
</ports>
<hopsangui>
<pose x="2703.252773" y="2747.091362" flipped="false" a="0"/>
<nametext position="0" visible="0"/>
<animation flowspeed="100"/>
<hopsanobjectappearance version="0.3">
<modelobject typename="HydraulicTankC" displayname="Tank_C_1">
<ports/>
</modelobject>
</hopsanobjectappearance>
</hopsangui>
</component>
<component typename="HydraulicTankC" name="Tank_C_2">
<parameters>
<parameter unit="m^3/s" value="0" type="double" name="P1#Flow"/>
<parameter unit="K" value="0" type="double" name="P1#Temperature"/>
<parameter unit="Pa" value="0" type="double" name="P1#WaveVariable"/>
<parameter unit="?" value="0" type="double" name="P1#CharImpedance"/>
<parameter unit="?" value="0" type="double" name="P1#HeatFlow"/>
<parameter unit="Pa" value="100000" type="double" name="p"/>
</parameters>
<ports>
<port nodetype="NodeHydraulic" name="P1"/>
</ports>
<hopsangui>
<pose x="2417.571352" y="2750" flipped="false" a="0"/>
<nametext position="0" visible="0"/>
<animation flowspeed="100"/>
<hopsanobjectappearance version="0.3">
<modelobject typename="HydraulicTankC" displayname="Tank_C_2">
<ports/>
</modelobject>
</hopsanobjectappearance>
</hopsangui>
</component>
<component typename="HydraulicTankC" name="Tank_C_3">
<parameters>
<parameter unit="m^3/s" value="0" type="double" name="P1#Flow"/>
<parameter unit="K" value="0" type="double" name="P1#Temperature"/>
<parameter unit="Pa" value="0" type="double" name="P1#WaveVariable"/>
<parameter unit="?" value="0" type="double" name="P1#CharImpedance"/>
<parameter unit="?" value="0" type="double" name="P1#HeatFlow"/>
<parameter unit="Pa" value="100000" type="double" name="p"/>
</parameters>
<ports>
<port nodetype="NodeHydraulic" name="P1"/>
</ports>
<hopsangui>
<pose x="2364.384413" y="2529.192906" flipped="false" a="0"/>
<nametext position="0" visible="0"/>
<animation flowspeed="100"/>
<hopsanobjectappearance version="0.3">
<modelobject typename="HydraulicTankC" displayname="Tank_C_3">
<ports/>
</modelobject>
</hopsanobjectappearance>
</hopsangui>
</component>
<component typename="HydraulicPressureReliefValve" name="Pressure_Relief_Valve">
<parameters>
<parameter unit="-" value="0" type="double" name="xv#Value"/>
<parameter unit="-" value="3e7" type="double" name="p_max#Value"/>
<parameter unit="-" value="0.001" type="double" name="tao#Value"/>
<parameter unit="-" value="0" type="double" name="p_h#Value"/>
<parameter unit="(m^3/s)/Pa" value="1e-008" type="double" name="k_cs"/>
<parameter unit="(m^3/s)/Pa" value="1e-008" type="double" name="k_cf"/>
<parameter unit="m^3/s" value="0.01" type="double" name="q_nom"/>
</parameters>
<ports>
<port nodetype="NodeHydraulic" name="P1"/>
<port nodetype="NodeHydraulic" name="P2"/>
<port nodetype="NodeSignal" name="xv"/>
</ports>
<hopsangui>
<pose x="2705.251973" y="2666.091362" flipped="false" a="0"/>
<nametext position="0" visible="0"/>
<animation flowspeed="100">
<movable>
<start x="0.000000" y="0.000000" a="0.000000"/>
<movement x="-5000000.000000" y="0.000000" a="0.000000"/>
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