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readme.html
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<html>
<head>
<title>BouncingBall</title>
<style>
body {
font-family: Helvetica, Arial, Sans-Serif;
margin: 2em;
}
div.container {
max-width: 750px;
margin: auto;
}
h1, h2 {
border-bottom: 1px solid #eaecef;
padding-bottom: .3em;
}
pre {
background-color: #f6f8fa;
border-radius: 3px;
font-size: 85%;
line-height: 1.45;
overflow: auto;
padding: 16px;
}
table {
border-collapse: collapse;
border-spacing: 0;
}
th, td {
font-size: 0.9em;
border: 1px solid #dfe2e5;
padding: 6px 13px;
}
</style>
</head>
<body>
<div class="container">
<h1>BouncingBall</h1>
<p>The BouncingBall implements the following equation:</p>
<pre><code>der(h) = v
der(v) = g
when h <= 0 then h := 0 and v := -e * v
when v < v_min then h := 0 and v := 0
</code></pre>
<p>with the variables</p>
<table>
<thead>
<tr>
<th align="left">Variable</th>
<th align="right">Start</th>
<th align="left">Unit</th>
<th>Causality</th>
<th>Variability</th>
<th align="left">Description</th>
</tr>
</thead>
<tbody>
<tr>
<td align="left">h</td>
<td align="right">1</td>
<td align="left">m</td>
<td>output</td>
<td>continuous</td>
<td align="left">Position of the ball</td>
</tr>
<tr>
<td align="left">der(h)</td>
<td align="right"></td>
<td align="left">m/s</td>
<td>local</td>
<td>continuous</td>
<td align="left">Derivative of h</td>
</tr>
<tr>
<td align="left">v</td>
<td align="right">0</td>
<td align="left">m/s</td>
<td>output</td>
<td>continuous</td>
<td align="left">Velocity of the ball</td>
</tr>
<tr>
<td align="left">der(v)</td>
<td align="right"></td>
<td align="left">m/s2</td>
<td>local</td>
<td>continuous</td>
<td align="left">Derivative of v</td>
</tr>
<tr>
<td align="left">g</td>
<td align="right">-9.81</td>
<td align="left">m/s2</td>
<td>parameter</td>
<td>fixed</td>
<td align="left">Gravity acting on the ball</td>
</tr>
<tr>
<td align="left">e</td>
<td align="right">0.7</td>
<td align="left"></td>
<td>parameter</td>
<td>tunable</td>
<td align="left">Coefficient of restitution</td>
</tr>
<tr>
<td align="left">v_min</td>
<td align="right">0.1</td>
<td align="left">m/s2</td>
<td>parameter</td>
<td>constant</td>
<td align="left">Velocity below which the ball stops bouncing</td>
</tr>
</tbody>
</table>
<p>The plot shows the <a href="BouncingBall_ref.csv">reference result</a> computed with <a href="https://github.com/modelica/Reference-FMUs/blob/master/examples/simulate_fmi3_me.c">simulate<em>fmi3</em>me.c</a>.</p>
<p><img src="BouncingBall_ref.svg" alt="plot" /></p>
</div>
</body>
</html>