APMonitor
| File:APMonitor logo.jpg | |
| File:APMonitor online.png APMonitor Web-based Interface | |
| Developer(s) | APMonitor |
|---|---|
| Stable release | v0.1.0
|
| Operating system | Cross-platform |
| Type | Technical computing |
| License | Proprietary |
| Website | APMonitor product page |
APMonitor, or "Advanced Process Monitor", is a modeling language for differential and algebraic (DAE) equations. It is used for describing and solving representations of physical systems in the form of implicit DAE models. APMonitor is suited for large-scale problems and allows solutions of dynamic simulation, moving horizon estimation, and nonlinear control. APMonitor does not solve the problems directly, but calls appropriate external solvers.
Example Models in APMonitor Language
Direct Current (DC) Motor
Model motor
Parameters
! motor parameters (dc motor)
v = 36 ! input voltage to the motor (volts)
rm = 0.1 ! motor resistance (ohm)
lm = 0.01 ! motor inductance (henrys)
kb = 6.5e-4 ! back emf constant (volt-sec/rad)
kt = 0.1 ! torque constant (N-m/a)
jm = 1.0e-4 ! rotor inertia (kg m^2)
bm = 1.0e-5 ! mechanical damping (linear model of friction: bm * dth)
! load parameters
jl = 1000*jm ! load inertia (1000 times the rotor)
bl = 1.0e-3 ! load damping (friction)
k = 1.0e2 ! spring constant for motor shaft to load
b = 0.1 ! spring damping for motor shaft to load
End Parameters
Variables
i = 0 ! motor electrical current (amps)
dth_m = 0 ! rotor angular velocity sometimes called omega (radians/sec)
th_m = 0 ! rotor angle, theta (radians)
dth_l = 0 ! wheel angular velocity (rad/sec)
th_l = 0 ! wheel angle (radians)
End Variables
Equations
lm*$i - v = -rm*i - kb *$th_m
jm*$dth_m = kt*i - (bm+b)*$th_m - k*th_m + b *$th_l + k*th_l
jl*$dth_l = b *$th_m + k*th_m - (b+bl)*$th_l - k*th_l
dth_m = $th_m
dth_l = $th_l
End Equations
End Model
See also
External links
- APMonitor home page
- APMonitor documentation
- Online solution engine with IPOPT
- Comparison of popular modeling language syntax