From 1fb3559a757614e8bdba687e80fe0fde4a8484d1 Mon Sep 17 00:00:00 2001
From: Raphael Gebhart <raphael.gebhart@dlr.de>
Date: Mon, 14 Oct 2024 17:59:50 +0200
Subject: [PATCH] New version of IntertedCranCrab and Ideas for Step1-3

---
 Tutorial2024/AuxiliaryComponents/CraneCrab.mo |  87 +++++++++++
 .../AuxiliaryComponents/CraneCrab2.mo         |  46 ++++++
 .../AuxiliaryComponents/DryFriction.bak-mo    |   5 -
 .../AuxiliaryComponents/package.order         |   2 +
 .../AuxiliaryComponents/DryFriction.mo        |   5 -
 .../AuxiliaryComponents/ThermalCollector.mo   |   5 -
 .../AuxiliaryComponents/package.bak-mo        |   4 -
 .../AuxiliaryComponents/package.order         |   2 -
 Tutorial2024/StepByStep/Step1_FreeBody2.mo    |  13 ++
 Tutorial2024/StepByStep/Step2_FixedBody2.mo   |  24 ++++
 Tutorial2024/StepByStep/Step3_Pendulum2.mo    |  77 ++++++++++
 .../StepByStep/Step5_ActuatedCraneCrab.bak-mo |  53 -------
 .../StepByStep/Step7_InvertedCraneCrab2.mo    |  30 ++++
 .../StepByStep/Step7_InvertedCraneCrab3.mo    |  40 ++++++
 .../StepByStep/Step9_PositionControl.bak-mo   | 135 ------------------
 Tutorial2024/StepByStep/package.order         |   5 +
 16 files changed, 324 insertions(+), 209 deletions(-)
 create mode 100644 Tutorial2024/AuxiliaryComponents/CraneCrab.mo
 create mode 100644 Tutorial2024/AuxiliaryComponents/CraneCrab2.mo
 delete mode 100644 Tutorial2024/AuxiliaryComponents/DryFriction.bak-mo
 delete mode 100644 Tutorial2024/StepByStep/AuxiliaryComponents/DryFriction.mo
 delete mode 100644 Tutorial2024/StepByStep/AuxiliaryComponents/ThermalCollector.mo
 delete mode 100644 Tutorial2024/StepByStep/AuxiliaryComponents/package.bak-mo
 delete mode 100644 Tutorial2024/StepByStep/AuxiliaryComponents/package.order
 create mode 100644 Tutorial2024/StepByStep/Step1_FreeBody2.mo
 create mode 100644 Tutorial2024/StepByStep/Step2_FixedBody2.mo
 create mode 100644 Tutorial2024/StepByStep/Step3_Pendulum2.mo
 delete mode 100644 Tutorial2024/StepByStep/Step5_ActuatedCraneCrab.bak-mo
 create mode 100644 Tutorial2024/StepByStep/Step7_InvertedCraneCrab2.mo
 create mode 100644 Tutorial2024/StepByStep/Step7_InvertedCraneCrab3.mo
 delete mode 100644 Tutorial2024/StepByStep/Step9_PositionControl.bak-mo

diff --git a/Tutorial2024/AuxiliaryComponents/CraneCrab.mo b/Tutorial2024/AuxiliaryComponents/CraneCrab.mo
new file mode 100644
index 0000000..57cab87
--- /dev/null
+++ b/Tutorial2024/AuxiliaryComponents/CraneCrab.mo
@@ -0,0 +1,87 @@
+within Tutorial2024.AuxiliaryComponents;
+model CraneCrab
+  extends Modelica.Blocks.Icons.Block;
+  Modelica.Mechanics.MultiBody.Parts.Body body(r_CM={0,0,0},
+                                               m=1) annotation (Placement(transformation(extent={{12,12},{32,32}})));
+  Modelica.Mechanics.MultiBody.Parts.Body body1(r_CM={0,0,0},
+                                                m=1) annotation (Placement(transformation(
+        extent={{-10,-10},{10,10}},
+        rotation=270,
+        origin={0,-60})));
+  Modelica.Mechanics.MultiBody.Parts.FixedTranslation fixedTranslation(r={1,0,0}) annotation (Placement(transformation(
+        extent={{-10,-10},{10,10}},
+        rotation=270,
+        origin={0,-26})));
+  Modelica.Mechanics.MultiBody.Parts.Fixed fixed annotation (Placement(transformation(extent={{-64,12},{-44,32}})));
+  Modelica.Mechanics.MultiBody.Joints.Prismatic x(useAxisFlange=true,
+    s(fixed=true),
+    v(fixed=true))                                                    annotation (Placement(transformation(extent={{-30,12},
+            {-10,32}})));
+  Modelica.Mechanics.MultiBody.Joints.Revolute revolute(useAxisFlange=true,
+    phi(fixed=true, start=1.3962634015955),
+    w(fixed=true))                                                                                                  annotation (Placement(transformation(
+        extent={{-10,-10},{10,10}},
+        rotation=270)));
+  Modelica.Mechanics.Rotational.Sensors.AngleSensor angleSensor annotation (Placement(transformation(extent={{30,-10},{
+            50,10}})));
+  Modelica.Mechanics.Translational.Sources.Force force annotation (Placement(transformation(
+        extent={{-10,-10},{10,10}},
+        rotation=0,
+        origin={-40,50})));
+  Modelica.Blocks.Interfaces.RealInput f "Force" annotation (Placement(transformation(extent={{-140,-20},{-100,20}}),
+        iconTransformation(extent={{-140,-20},{-100,20}})));
+  Modelica.Blocks.Interfaces.RealOutput phi "Angle" annotation (Placement(transformation(extent={{100,-10},{120,10}}),
+        iconTransformation(extent={{100,-10},{120,10}})));
+equation
+  connect(fixed.frame_b, x.frame_a) annotation (Line(
+      points={{-44,22},{-30,22}},
+      color={95,95,95},
+      thickness=0.5));
+  connect(x.frame_b, body.frame_a) annotation (Line(
+      points={{-10,22},{12,22}},
+      color={95,95,95},
+      thickness=0.5));
+  connect(body.frame_a, revolute.frame_a) annotation (Line(
+      points={{12,22},{0,22},{0,10}},
+      color={95,95,95},
+      thickness=0.5));
+  connect(revolute.frame_b, fixedTranslation.frame_a) annotation (Line(
+      points={{0,-10},{0,-16}},
+      color={95,95,95},
+      thickness=0.5));
+  connect(fixedTranslation.frame_b, body1.frame_a) annotation (Line(
+      points={{0,-36},{0,-50}},
+      color={95,95,95},
+      thickness=0.5));
+  connect(force.flange, x.axis) annotation (Line(points={{-30,50},{-12,50},{-12,28}},
+                                                                             color={0,127,0}));
+  connect(f, force.f) annotation (Line(points={{-120,0},{-70,0},{-70,50},{-52,50}}, color={0,0,127}));
+  connect(angleSensor.phi, phi) annotation (Line(points={{51,0},{110,0}}, color={0,0,127}));
+  connect(revolute.axis, angleSensor.flange) annotation (Line(points={{10,0},{30,0}}, color={0,0,0}));
+  annotation (Icon(coordinateSystem(preserveAspectRatio=false), graphics={
+        Rectangle(
+          extent={{-44,-18},{46,-62}},
+          lineColor={28,108,200},
+          fillColor={0,0,0},
+          fillPattern=FillPattern.Solid),
+        Line(
+          points={{20,58},{-2,-40}},
+          color={0,0,0},
+          thickness=1),
+        Ellipse(
+          extent={{8,78},{36,48}},
+          lineColor={28,108,200},
+          fillColor={0,0,0},
+          fillPattern=FillPattern.Solid),
+        Line(points={{-72,-66},{78,-66}}, color={0,0,0}),
+        Line(points={{-84,-86},{-56,-70}}, color={0,0,0}),
+        Line(points={{-46,-86},{-18,-70}}, color={0,0,0}),
+        Line(points={{-4,-86},{24,-70}}, color={0,0,0}),
+        Line(points={{38,-86},{66,-70}}, color={0,0,0})}),       Diagram(coordinateSystem(preserveAspectRatio=false)),
+    experiment(__Dymola_NumberOfIntervals=5000, __Dymola_Algorithm="Dassl"),
+    Documentation(info="<html>
+<p>
+Model of an inverse pendulum.
+</p>
+</html>"));
+end CraneCrab;
diff --git a/Tutorial2024/AuxiliaryComponents/CraneCrab2.mo b/Tutorial2024/AuxiliaryComponents/CraneCrab2.mo
new file mode 100644
index 0000000..81c1fb8
--- /dev/null
+++ b/Tutorial2024/AuxiliaryComponents/CraneCrab2.mo
@@ -0,0 +1,46 @@
+within Tutorial2024.AuxiliaryComponents;
+
+model CraneCrab2
+  extends Modelica.Blocks.Icons.Block;
+  PlanarMechanics.Parts.Fixed fixed annotation(
+    Placement(transformation(origin = {-70, 0}, extent = {{-10, -10}, {10, 10}}, rotation = 180)));
+  PlanarMechanics.Parts.Body carriage(I = 0.001, m = 1) annotation(
+    Placement(transformation(origin = {10, 0}, extent = {{0, -10}, {20, 10}})));
+  Modelica.Mechanics.Translational.Sources.Force force(useSupport = false) annotation(
+    Placement(transformation(origin = {-80, 0}, extent = {{20, 30}, {40, 50}}, rotation = -0)));
+  PlanarMechanics.Joints.Prismatic prismatic(r = {1, 0}, useFlange = true) annotation(
+    Placement(transformation(origin = {10, 0}, extent = {{-54, 10}, {-34, -10}})));
+  PlanarMechanics.Parts.FixedTranslation rod(r = {0, 0.5}) annotation(
+    Placement(transformation(origin = {10, 0}, extent = {{-10, -60}, {10, -40}})));
+  PlanarMechanics.Parts.Body pendulum(I = 0.001, m = 0.5) annotation(
+    Placement(transformation(origin = {10, 0}, extent = {{20, -60}, {40, -40}})));
+  Modelica.Mechanics.Rotational.Sensors.AngleSensor angleSensor annotation(
+    Placement(transformation(origin = {10, 0}, extent = {{-4, -40}, {16, -20}})));
+  PlanarMechanics.Joints.Revolute revolute1(useFlange = true, phi(start = 0.1745329251994329, fixed = true), w(start = 0, fixed = true)) annotation(
+    Placement(transformation(origin = {-10, -30}, extent = {{-10, 10}, {10, -10}}, rotation = 270)));
+  Modelica.Blocks.Interfaces.RealInput u annotation(
+    Placement(transformation(origin = {-120, 0}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-120, 0}, extent = {{-20, -20}, {20, 20}})));
+  Modelica.Blocks.Interfaces.RealOutput y annotation(
+    Placement(transformation(origin = {110, 0}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {110, -2}, extent = {{-10, -10}, {10, 10}})));
+equation
+  connect(prismatic.frame_b, carriage.frame_a) annotation(
+    Line(points = {{-24, 0}, {10, 0}}, color = {95, 95, 95}));
+  connect(revolute1.frame_b, rod.frame_a) annotation(
+    Line(points = {{-10, -40}, {-10, -50}, {0, -50}}, color = {95, 95, 95}));
+  connect(fixed.frame, prismatic.frame_a) annotation(
+    Line(points = {{-60, 0}, {-44, 0}}, color = {95, 95, 95}));
+  connect(revolute1.frame_a, carriage.frame_a) annotation(
+    Line(points = {{-10, -20}, {-10, 0}, {10, 0}}, color = {95, 95, 95}));
+  connect(force.flange, prismatic.flange_a) annotation(
+    Line(points = {{-40, 40}, {-34, 40}, {-34, 10}}, color = {0, 127, 0}));
+  connect(revolute1.flange_a, angleSensor.flange) annotation(
+    Line(points = {{0, -30}, {6, -30}}));
+  connect(rod.frame_b, pendulum.frame_a) annotation(
+    Line(points = {{20, -50}, {30, -50}}, color = {95, 95, 95}));
+  connect(u, force.f) annotation(
+    Line(points = {{-120, 0}, {-92, 0}, {-92, 40}, {-62, 40}}, color = {0, 0, 127}));
+  connect(angleSensor.phi, y) annotation(
+    Line(points = {{28, -30}, {60, -30}, {60, 0}, {110, 0}}, color = {0, 0, 127}));
+annotation(
+    Icon(graphics = {Line(points = {{-4, -86}, {24, -70}}), Line(points = {{-46, -86}, {-18, -70}}), Line(points = {{20, 58}, {-2, -40}}), Line(points = {{38, -86}, {66, -70}}), Line(points = {{-72, -66}, {78, -66}}), Rectangle(lineColor = {28, 108, 200}, fillPattern = FillPattern.Solid, extent = {{-44, -18}, {46, -62}}), Line(points = {{-84, -86}, {-56, -70}}), Ellipse(lineColor = {28, 108, 200}, fillPattern = FillPattern.Solid, extent = {{8, 78}, {36, 48}})}));
+end CraneCrab2;
diff --git a/Tutorial2024/AuxiliaryComponents/DryFriction.bak-mo b/Tutorial2024/AuxiliaryComponents/DryFriction.bak-mo
deleted file mode 100644
index 21bb25d..0000000
--- a/Tutorial2024/AuxiliaryComponents/DryFriction.bak-mo
+++ /dev/null
@@ -1,5 +0,0 @@
-within Tutorial2024.AuxiliaryComponents;
-model DryFriction "discrete event dry friction model"
-  annotation (Icon(coordinateSystem(preserveAspectRatio=false)), Diagram(
-        coordinateSystem(preserveAspectRatio=false)));
-end DryFriction;
diff --git a/Tutorial2024/AuxiliaryComponents/package.order b/Tutorial2024/AuxiliaryComponents/package.order
index 2eb8a24..2a66400 100644
--- a/Tutorial2024/AuxiliaryComponents/package.order
+++ b/Tutorial2024/AuxiliaryComponents/package.order
@@ -1,2 +1,4 @@
 IdealDryFriction
 ThermalCollector
+CraneCrab
+CraneCrab2
diff --git a/Tutorial2024/StepByStep/AuxiliaryComponents/DryFriction.mo b/Tutorial2024/StepByStep/AuxiliaryComponents/DryFriction.mo
deleted file mode 100644
index 13d5084..0000000
--- a/Tutorial2024/StepByStep/AuxiliaryComponents/DryFriction.mo
+++ /dev/null
@@ -1,5 +0,0 @@
-within Tutorial2024.StepByStep.AuxiliaryComponents;
-model DryFriction "discrete event dry friction model"
-  annotation (Icon(coordinateSystem(preserveAspectRatio=false)), Diagram(
-        coordinateSystem(preserveAspectRatio=false)));
-end DryFriction;
diff --git a/Tutorial2024/StepByStep/AuxiliaryComponents/ThermalCollector.mo b/Tutorial2024/StepByStep/AuxiliaryComponents/ThermalCollector.mo
deleted file mode 100644
index abafca1..0000000
--- a/Tutorial2024/StepByStep/AuxiliaryComponents/ThermalCollector.mo
+++ /dev/null
@@ -1,5 +0,0 @@
-within Tutorial2024.StepByStep.AuxiliaryComponents;
-model ThermalCollector "collect all loads from a dc machine"
-  annotation (Icon(coordinateSystem(preserveAspectRatio=false)), Diagram(
-        coordinateSystem(preserveAspectRatio=false)));
-end ThermalCollector;
diff --git a/Tutorial2024/StepByStep/AuxiliaryComponents/package.bak-mo b/Tutorial2024/StepByStep/AuxiliaryComponents/package.bak-mo
deleted file mode 100644
index 9ebf966..0000000
--- a/Tutorial2024/StepByStep/AuxiliaryComponents/package.bak-mo
+++ /dev/null
@@ -1,4 +0,0 @@
-within Tutorial2024.StepByStep;
-package AuxiliaryComponents "auxiliary components"
-  extends Modelica.Icons.UtilitiesPackage;
-end AuxiliaryComponents;
diff --git a/Tutorial2024/StepByStep/AuxiliaryComponents/package.order b/Tutorial2024/StepByStep/AuxiliaryComponents/package.order
deleted file mode 100644
index de61c43..0000000
--- a/Tutorial2024/StepByStep/AuxiliaryComponents/package.order
+++ /dev/null
@@ -1,2 +0,0 @@
-DryFriction
-ThermalCollector
diff --git a/Tutorial2024/StepByStep/Step1_FreeBody2.mo b/Tutorial2024/StepByStep/Step1_FreeBody2.mo
new file mode 100644
index 0000000..f5286ea
--- /dev/null
+++ b/Tutorial2024/StepByStep/Step1_FreeBody2.mo
@@ -0,0 +1,13 @@
+within Tutorial2024.StepByStep;
+model Step1_FreeBody2 "free falling body"
+    extends Modelica.Icons.Example;
+
+  inner PlanarMechanics.PlanarWorld planarWorld
+    annotation (Placement(transformation(extent={{-80,-80},{-60,-60}})));
+  PlanarMechanics.Parts.Body body(m=1, I=0.001, r(start = {0, 0}), v(start = {5, 5}))
+    annotation (Placement(transformation(extent={{-8,-10},{12,10}})));
+  annotation (experiment(
+      StopTime=1,
+      __Dymola_NumberOfIntervals=1500,
+      __Dymola_Algorithm="Dassl"));
+end Step1_FreeBody2;
diff --git a/Tutorial2024/StepByStep/Step2_FixedBody2.mo b/Tutorial2024/StepByStep/Step2_FixedBody2.mo
new file mode 100644
index 0000000..a67ff25
--- /dev/null
+++ b/Tutorial2024/StepByStep/Step2_FixedBody2.mo
@@ -0,0 +1,24 @@
+within Tutorial2024.StepByStep;
+model Step2_FixedBody2 "fixated body"
+    extends Modelica.Icons.Example;
+
+  inner PlanarMechanics.PlanarWorld planarWorld
+    annotation (Placement(transformation(extent={{-80,-80},{-60,-60}})));
+  PlanarMechanics.Parts.Body body(m=1, I=0.001, r(start = {0, 0}))
+    annotation (Placement(transformation(extent={{20,-10},{40,10}})));
+  PlanarMechanics.Parts.Fixed fixed annotation (Placement(transformation(
+        extent={{-10,-10},{10,10}},
+        rotation=180,
+        origin={-30,0})));
+  PlanarMechanics.Parts.SpringDamper springDamper(c_y = 10, d_y = 2*sqrt(10)/2)  annotation (
+    Placement(transformation(extent = {{-10, -10}, {10, 10}})));
+equation
+  connect(fixed.frame, springDamper.frame_a) annotation (
+    Line(points = {{-20, 0}, {-10, 0}}, color = {95, 95, 95}));
+  connect(springDamper.frame_b, body.frame_a) annotation (
+    Line(points = {{10, 0}, {20, 0}}, color = {95, 95, 95}));
+  annotation (experiment(
+      StopTime=5,
+      __Dymola_NumberOfIntervals=1500,
+      __Dymola_Algorithm="Dassl"));
+end Step2_FixedBody2;
diff --git a/Tutorial2024/StepByStep/Step3_Pendulum2.mo b/Tutorial2024/StepByStep/Step3_Pendulum2.mo
new file mode 100644
index 0000000..849c064
--- /dev/null
+++ b/Tutorial2024/StepByStep/Step3_Pendulum2.mo
@@ -0,0 +1,77 @@
+within Tutorial2024.StepByStep;
+model Step3_Pendulum2 "Pendulum"
+  extends Modelica.Icons.Example;
+  inner PlanarMechanics.PlanarWorld planarWorld annotation (
+    Placement(transformation(origin = {240, -20}, extent = {{-160, -60}, {-140, -40}})));
+  PlanarMechanics.Parts.Body body(m = 1, I = 0.001) annotation (
+    Placement(transformation(origin = {40, 30}, extent = {{20, -10}, {40, 10}})));
+  PlanarMechanics.Parts.Fixed fixed annotation (
+    Placement(transformation(origin = {-50, 30}, extent = {{-10, -10}, {10, 10}}, rotation = 180)));
+  PlanarMechanics.Parts.FixedTranslation rod(r = {2, 0}) annotation (
+    Placement(transformation(origin = {10, 30}, extent = {{-10, -10}, {10, 10}})));
+  PlanarMechanics.Joints.Revolute revolute(phi(start = 0, fixed = true)) annotation (
+    Placement(transformation(origin = {10, 30}, extent = {{-40, -10}, {-20, 10}})));
+  PlanarMechanics.Parts.Fixed fixed1 annotation (
+    Placement(transformation(origin = {-50, 70}, extent = {{-10, -10}, {10, 10}}, rotation = 180)));
+  PlanarMechanics.Joints.Revolute revolute1 annotation (
+    Placement(transformation(origin = {10, 70}, extent = {{-40, -10}, {-20, 10}})));
+  PlanarMechanics.Parts.FixedTranslation fixedTranslation(r = {1, 0}) annotation (
+    Placement(transformation(origin = {10, 70}, extent = {{-10, -10}, {10, 10}})));
+  PlanarMechanics.Parts.Body body1(I = 0.001, m = 1) annotation (
+    Placement(transformation(origin = {12, 70}, extent = {{20, -10}, {40, 10}})));
+  PlanarMechanics.Joints.Prismatic prismatic1(r = {0, -1}, useFlange = false) annotation (
+    Placement(transformation(origin = {-36, 4}, extent = {{-10, -10}, {10, 10}}, rotation = -90)));
+  Modelica.Mechanics.Translational.Components.Spring spring(c = 100) annotation (
+    Placement(transformation(origin = {-10, -40}, extent = {{-10, -10}, {10, 10}})));
+  PlanarMechanics.Joints.Prismatic prismatic(useFlange = true, r = {1, 0}) annotation (
+    Placement(transformation(origin = {-10, -10}, extent = {{-10, -10}, {10, 10}})));
+  PlanarMechanics.Joints.Revolute revolute2(phi(fixed = false)) annotation (
+    Placement(transformation(origin = {0, 30}, extent = {{20, -50}, {40, -30}})));
+  PlanarMechanics.Parts.Spring spring1(c_x = 100, c_y = 1e-9, c_phi = 1e-9) annotation (
+    Placement(transformation(origin = {20, 60}, extent = {{-40, -160}, {-20, -140}})));
+  PlanarMechanics.Parts.Body body2(m = 1, I = 0.001) annotation (
+    Placement(transformation(origin = {20, -70}, extent = {{20, -10}, {40, 10}})));
+  PlanarMechanics.Parts.Fixed fixed2 annotation (
+    Placement(transformation(origin = {-70, -70}, extent = {{-10, -10}, {10, 10}}, rotation = 180)));
+  PlanarMechanics.Parts.FixedTranslation rod1(r = {2, 0}) annotation (
+    Placement(transformation(origin = {10, 40}, extent = {{-30, -120}, {-10, -100}})));
+  PlanarMechanics.Joints.Revolute revolute3(phi(start = 0, fixed = true)) annotation (
+    Placement(transformation(origin = {10, 40}, extent = {{-60, -120}, {-40, -100}})));
+equation
+  connect(rod.frame_b, body.frame_a) annotation (
+    Line(points = {{20, 30}, {60, 30}}, color = {95, 95, 95}));
+  connect(fixed.frame, revolute.frame_a) annotation (
+    Line(points = {{-40, 30}, {-30, 30}}, color = {95, 95, 95}));
+  connect(revolute.frame_b, rod.frame_a) annotation (
+    Line(points = {{-10, 30}, {0, 30}}, color = {95, 95, 95}));
+  connect(fixed1.frame, revolute1.frame_a) annotation (
+    Line(points = {{-40, 70}, {-30, 70}}, color = {95, 95, 95}));
+  connect(fixedTranslation.frame_b, body1.frame_a) annotation (
+    Line(points = {{20, 70}, {32, 70}}, color = {95, 95, 95}));
+  connect(revolute1.frame_b, fixedTranslation.frame_a) annotation (
+    Line(points = {{-10, 70}, {0, 70}}, color = {95, 95, 95}));
+  connect(fixed.frame, prismatic1.frame_a) annotation (
+    Line(points = {{-40, 30}, {-36, 30}, {-36, 14}}, color = {95, 95, 95}));
+  connect(prismatic1.frame_b, prismatic.frame_a) annotation (
+    Line(points = {{-36, -6}, {-35.5, -6}, {-35.5, -4}, {-37, -4}, {-37, -10}, {-20, -10}}, color = {95, 95, 95}));
+  connect(prismatic.support, spring.flange_a) annotation (
+    Line(points = {{-16, -20}, {-16, -30}, {-20, -30}, {-20, -40}}, color = {0, 127, 0}));
+  connect(prismatic.flange_a, spring.flange_b) annotation (
+    Line(points = {{-10, -20}, {0, -20}, {0, -40}}, color = {0, 127, 0}));
+  connect(prismatic.frame_b, revolute2.frame_a) annotation (
+    Line(points = {{0, -10}, {20, -10}}, color = {95, 95, 95}));
+  connect(revolute2.frame_b, body.frame_a) annotation (
+    Line(points = {{40, -10}, {54, -10}, {54, 30}, {60, 30}}, color = {95, 95, 95}));
+  connect(rod1.frame_b, body2.frame_a) annotation (
+    Line(points = {{0, -70}, {40, -70}}, color = {95, 95, 95}));
+  connect(fixed2.frame, revolute3.frame_a) annotation (
+    Line(points = {{-60, -70}, {-50, -70}}, color = {95, 95, 95}));
+  connect(revolute3.frame_b, rod1.frame_a) annotation (
+    Line(points = {{-30, -70}, {-20, -70}}, color = {95, 95, 95}));
+  connect(spring1.frame_b, body2.frame_a) annotation (
+    Line(points = {{0, -90}, {20, -90}, {20, -70}, {40, -70}}, color = {95, 95, 95}));
+  connect(fixed2.frame, spring1.frame_a) annotation (
+    Line(points = {{-60, -70}, {-60, -90}, {-20, -90}}, color = {95, 95, 95}));
+  annotation (
+    experiment(StopTime = 5, Tolerance = 1e-09, __Dymola_Algorithm = "Dassl"));
+end Step3_Pendulum2;
diff --git a/Tutorial2024/StepByStep/Step5_ActuatedCraneCrab.bak-mo b/Tutorial2024/StepByStep/Step5_ActuatedCraneCrab.bak-mo
deleted file mode 100644
index 9015e49..0000000
--- a/Tutorial2024/StepByStep/Step5_ActuatedCraneCrab.bak-mo
+++ /dev/null
@@ -1,53 +0,0 @@
-within Tutorial2024.StepByStep;
-model Step5_ActuatedCraneCrab "Actuated Crane Crab"
-    extends Modelica.Icons.Example;
-
-  inner PlanarMechanics.PlanarWorld planarWorld
-    annotation (Placement(transformation(extent={{-80,-80},{-60,-60}})));
-  PlanarMechanics.Parts.Body carriage(m=1, I=0.001)
-    annotation (Placement(transformation(extent={{20,-10},{40,10}})));
-  PlanarMechanics.Parts.Fixed fixed annotation (Placement(transformation(
-        extent={{-10,-10},{10,10}},
-        rotation=180,
-        origin={-60,0})));
-  PlanarMechanics.Parts.Body pendulum(m=0.5, I=0.001)
-    annotation (Placement(transformation(extent={{40,-60},{60,-40}})));
-  PlanarMechanics.Parts.FixedTranslation rod(r={0.5,0})
-    annotation (Placement(transformation(extent={{10,-60},{30,-40}})));
-  PlanarMechanics.Joints.Revolute revolute1
-    annotation (Placement(transformation(extent={{-10,-10},{10,10}},
-        rotation=270,
-        origin={0,-30})));
-  PlanarMechanics.Joints.Prismatic prismatic(useFlange=true, r={1,0})
-    annotation (Placement(transformation(extent={{-34,10},{-14,-10}})));
-  Modelica.Mechanics.Translational.Sources.ConstantForce constantForce(
-      f_constant=2)
-    annotation (Placement(transformation(extent={{-60,20},{-40,40}})));
-equation
-  connect(rod.frame_b, pendulum.frame_a) annotation (Line(
-      points={{30,-50},{40,-50}},
-      color={95,95,95},
-      thickness=0.5));
-  connect(revolute1.frame_b, rod.frame_a) annotation (Line(
-      points={{0,-40},{0,-50},{10,-50}},
-      color={95,95,95},
-      thickness=0.5));
-  connect(revolute1.frame_a, carriage.frame_a) annotation (Line(
-      points={{0,-20},{0,0},{20,0}},
-      color={95,95,95},
-      thickness=0.5));
-  connect(fixed.frame, prismatic.frame_a) annotation (Line(
-      points={{-50,0},{-34,0}},
-      color={95,95,95},
-      thickness=0.5));
-  connect(prismatic.frame_b, carriage.frame_a) annotation (Line(
-      points={{-14,0},{20,0}},
-      color={95,95,95},
-      thickness=0.5));
-  connect(constantForce.flange, prismatic.flange_a)
-    annotation (Line(points={{-40,30},{-24,30},{-24,10}}, color={0,127,0}));
-  annotation (experiment(
-      StopTime=5,
-      __Dymola_NumberOfIntervals=1500,
-      __Dymola_Algorithm="Dassl"));
-end Step5_ActuatedCraneCrab;
diff --git a/Tutorial2024/StepByStep/Step7_InvertedCraneCrab2.mo b/Tutorial2024/StepByStep/Step7_InvertedCraneCrab2.mo
new file mode 100644
index 0000000..a3fdf96
--- /dev/null
+++ b/Tutorial2024/StepByStep/Step7_InvertedCraneCrab2.mo
@@ -0,0 +1,30 @@
+within Tutorial2024.StepByStep;
+model Step7_InvertedCraneCrab2
+  extends Modelica.Icons.Example;
+  inner Modelica.Mechanics.MultiBody.World world annotation (Placement(transformation(extent={{-88,-80},{-68,-60}})));
+  Modelica.Blocks.Continuous.SecondOrder secondOrder(w=10, D=1)
+                                                          annotation (Placement(transformation(origin = {8, 0}, extent = {{-80, -10}, {-60, 10}})));
+  Modelica.Blocks.Sources.RealExpression angle(y=90) annotation (Placement(transformation(origin = {10, 0}, extent = {{-110, -10}, {-90, 10}})));
+  AuxiliaryComponents.CraneCrab craneCrab1 annotation (Placement(transformation(origin = {-6, 0}, extent = {{18, -10}, {-2, 10}})));
+  Modelica.Blocks.Math.InverseBlockConstraints inverseBlockConstraints
+    annotation (Placement(transformation(origin = {-6, 0}, extent = {{-12, -10}, {28, 10}})));
+  Modelica.Blocks.Math.UnitConversions.From_deg from_deg
+    annotation (Placement(transformation(origin = {6, 0}, extent = {{-50, -10}, {-30, 10}})));
+  AuxiliaryComponents.CraneCrab craneCrab(revolute(w(fixed=true)))
+    annotation (Placement(transformation(origin = {-20, 0}, extent = {{60, -10}, {80, 10}})));
+equation
+  connect(inverseBlockConstraints.u2, craneCrab1.phi) annotation (Line(points={{-14, 0},{-9,0}}, color={0,0,127}));
+  connect(craneCrab1.f, inverseBlockConstraints.y2) annotation (Line(points={{14,0},{19, 0}}, color={0,0,127}));
+  connect(angle.y, secondOrder.u) annotation (Line(points={{-79,0},{-74,0}}, color={0,0,127}));
+  connect(secondOrder.y, from_deg.u) annotation (Line(points={{-51,0},{-46,0}}, color={0,0,127}));
+  connect(from_deg.y, inverseBlockConstraints.u1) annotation (Line(points={{-23,0},{-20, 0}},
+                                                                                          color={0,0,127}));
+  connect(inverseBlockConstraints.y1, craneCrab.f) annotation (Line(points={{23, 0},{38,0}}, color={0,0,127}));
+  annotation (Icon(coordinateSystem(preserveAspectRatio=false)), Diagram(coordinateSystem(preserveAspectRatio=false)),
+    experiment(__Dymola_NumberOfIntervals=5000, __Dymola_Algorithm="Dassl"),
+    Documentation(info="<html>
+<p>
+Example from Dirk's lecture. It does not make sense tho.
+</p>
+</html>"));
+end Step7_InvertedCraneCrab2;
diff --git a/Tutorial2024/StepByStep/Step7_InvertedCraneCrab3.mo b/Tutorial2024/StepByStep/Step7_InvertedCraneCrab3.mo
new file mode 100644
index 0000000..19bd8bd
--- /dev/null
+++ b/Tutorial2024/StepByStep/Step7_InvertedCraneCrab3.mo
@@ -0,0 +1,40 @@
+within Tutorial2024.StepByStep;
+model Step7_InvertedCraneCrab3
+  extends Modelica.Icons.Example;
+  inner Modelica.Mechanics.MultiBody.World world annotation (
+    Placement(transformation(extent = {{-88, -80}, {-68, -60}})));
+  Modelica.Blocks.Continuous.SecondOrder secondOrder(w = 10, D = 1) annotation (
+    Placement(transformation(extent = {{-80, -10}, {-60, 10}})));
+  Modelica.Blocks.Sources.RealExpression angle(y = 0) annotation (
+    Placement(transformation(extent = {{-110, -10}, {-90, 10}})));
+  Modelica.Blocks.Math.InverseBlockConstraints inverseBlockConstraints annotation (
+    Placement(transformation(origin = {-8, 0}, extent = {{-12, -10}, {28, 10}})));
+  Modelica.Blocks.Math.UnitConversions.From_deg from_deg annotation (
+    Placement(transformation(extent = {{-50, -10}, {-30, 10}})));
+  AuxiliaryComponents.CraneCrab2 craneCrab1 annotation (
+    Placement(transformation( extent = {{10, -10}, {-10, 10}}, rotation = -0)));
+  AuxiliaryComponents.CraneCrab2 craneCrab annotation (
+    Placement(transformation(origin = {50, 0}, extent = {{-10, -10}, {10, 10}})));
+equation
+  connect(secondOrder.y, from_deg.u) annotation (
+    Line(points = {{-59, 0}, {-52, 0}}, color = {0, 0, 127}));
+  connect(from_deg.y, inverseBlockConstraints.u1) annotation (
+    Line(points = {{-29, 0}, {-22, 0}}, color = {0, 0, 127}));
+  connect(inverseBlockConstraints.u2, craneCrab1.y) annotation (
+    Line(points = {{-16, 0}, {-11, 0}}, color = {0, 0, 127}));
+  connect(inverseBlockConstraints.y2, craneCrab1.u) annotation (
+    Line(points = {{17, 0}, {12, 0}}, color = {0, 0, 127}));
+  connect(inverseBlockConstraints.y1, craneCrab.u) annotation (
+    Line(points = {{21, 0}, {38, 0}}, color = {0, 0, 127}));
+  connect(angle.y, secondOrder.u) annotation (
+    Line(points = {{-88, 0}, {-82, 0}}, color = {0, 0, 127}));
+  annotation (
+    Icon(coordinateSystem(preserveAspectRatio = false)),
+    Diagram(coordinateSystem(preserveAspectRatio = false)),
+    experiment(__Dymola_NumberOfIntervals = 5000, __Dymola_Algorithm = "Dassl"),
+    Documentation(info = "<html>
+<p>
+Example from Dirk's lecture. It does not make sense tho.
+</p>
+</html>"));
+end Step7_InvertedCraneCrab3;
diff --git a/Tutorial2024/StepByStep/Step9_PositionControl.bak-mo b/Tutorial2024/StepByStep/Step9_PositionControl.bak-mo
deleted file mode 100644
index 4b4525b..0000000
--- a/Tutorial2024/StepByStep/Step9_PositionControl.bak-mo
+++ /dev/null
@@ -1,135 +0,0 @@
-within Tutorial2024.StepByStep;
-model Step9_PositionControl
-  "Electrically Actuated Crane Crab with Angle Control"
-    extends Modelica.Icons.Example;
-
-  inner PlanarMechanics.PlanarWorld planarWorld
-    annotation (Placement(transformation(extent={{-122,-80},{-102,-60}})));
-  PlanarMechanics.Parts.Body carriage(m=1, I=0.001)
-    annotation (Placement(transformation(extent={{-22,-30},{-2,-10}})));
-  PlanarMechanics.Parts.Fixed fixed annotation (Placement(transformation(
-        extent={{-10,-10},{10,10}},
-        rotation=180,
-        origin={-102,-20})));
-  PlanarMechanics.Parts.Body pendulum(m=0.5, I=0.001)
-    annotation (Placement(transformation(extent={{12,-80},{32,-60}})));
-  PlanarMechanics.Parts.FixedTranslation rod(r={0,0.5})
-    annotation (Placement(transformation(extent={{-32,-80},{-12,-60}})));
-  PlanarMechanics.Joints.Revolute revolute1(useFlange=true, phi(start=
-          0.26179938779915, fixed=true))
-    annotation (Placement(transformation(extent={{-10,10},{10,-10}},
-        rotation=270,
-        origin={-42,-50})));
-  PlanarMechanics.Joints.Prismatic prismatic(useFlange=true, r={1,0})
-    annotation (Placement(transformation(extent={{-62,-10},{-42,-30}})));
-  Modelica.Electrical.Machines.BasicMachines.DCMachines.DC_PermanentMagnet dcpm(
-    Jr=0,
-    VaNominal=12,
-    useThermalPort=false,
-    Ra=0.05,
-    alpha20a(displayUnit="1/K") = 0,
-    La=0.0015,
-    useSupport=false,
-    Js=0,
-    TaOperational=293.15,
-    IaNominal=1,
-    wNominal(displayUnit="rad/s") = 100,
-    TaNominal=293.15,
-    TaRef=293.15)
-    annotation (Placement(transformation(extent={{-102,10},{-82,30}})));
-  Modelica.Electrical.Analog.Basic.Ground ground
-    annotation (Placement(transformation(extent={{-130,10},{-110,30}})));
-  Modelica.Mechanics.Translational.Components.IdealGearR2T idealGearR2T(ratio=100)
-    annotation (Placement(transformation(extent={{-82,10},{-62,30}})));
-  Modelica.Mechanics.Rotational.Sensors.AngleSensor angleSensor
-    annotation (Placement(transformation(extent={{-22,-60},{-2,-40}})));
-  Modelica.Electrical.Analog.Sources.SignalCurrent signalCurrent
-    annotation (Placement(transformation(extent={{-112,40},{-92,60}})));
-  Modelica.Blocks.Continuous.PID PID_phi(
-    k=-5,
-    Ti=1e10,
-    Td=0.2) annotation (Placement(transformation(
-        extent={{10,-10},{-10,10}},
-        rotation=0,
-        origin={106,84})));
-  Modelica.Blocks.Continuous.PID PID_s(
-    k=1,
-    Ti=1e10,
-    Td=0.8) annotation (Placement(transformation(
-        extent={{10,10},{-10,-10}},
-        rotation=180,
-        origin={70,20})));
-  Modelica.Blocks.Math.Feedback feedback
-    annotation (Placement(transformation(extent={{18,30},{38,10}})));
-  Modelica.Blocks.Math.Add add annotation (Placement(transformation(
-        extent={{-10,-10},{10,10}},
-        rotation=180,
-        origin={-40,78})));
-  Modelica.Mechanics.Translational.Sensors.PositionSensor positionSensor
-    annotation (Placement(transformation(extent={{-40,10},{-20,30}})));
-  Modelica.Blocks.Sources.Ramp ramp(
-    height=1,
-    duration=1,
-    offset=0,
-    startTime=7)
-    annotation (Placement(transformation(extent={{-26,40},{-6,60}})));
-equation
-  connect(rod.frame_b, pendulum.frame_a) annotation (Line(
-      points={{-12,-70},{12,-70}},
-      color={95,95,95},
-      thickness=0.5));
-  connect(revolute1.frame_b, rod.frame_a) annotation (Line(
-      points={{-42,-60},{-42,-70},{-32,-70}},
-      color={95,95,95},
-      thickness=0.5));
-  connect(revolute1.frame_a, carriage.frame_a) annotation (Line(
-      points={{-42,-40},{-42,-20},{-22,-20}},
-      color={95,95,95},
-      thickness=0.5));
-  connect(fixed.frame, prismatic.frame_a) annotation (Line(
-      points={{-92,-20},{-62,-20}},
-      color={95,95,95},
-      thickness=0.5));
-  connect(prismatic.frame_b, carriage.frame_a) annotation (Line(
-      points={{-42,-20},{-22,-20}},
-      color={95,95,95},
-      thickness=0.5));
-  connect(ground.p, dcpm.pin_an)
-    annotation (Line(points={{-120,30},{-98,30}},color={0,0,255}));
-  connect(revolute1.frame_a, prismatic.frame_b) annotation (Line(
-      points={{-42,-40},{-42,-20}},
-      color={95,95,95},
-      thickness=0.5));
-  connect(dcpm.flange, idealGearR2T.flangeR)
-    annotation (Line(points={{-82,20},{-82,20}}, color={0,0,0}));
-  connect(idealGearR2T.flangeT, prismatic.flange_a) annotation (Line(points={{-62,20},
-          {-52,20},{-52,-10}},         color={0,127,0}));
-  connect(ground.p, signalCurrent.p)
-    annotation (Line(points={{-120,30},{-120,50},{-112,50}}, color={0,0,255}));
-  connect(signalCurrent.n, dcpm.pin_ap)
-    annotation (Line(points={{-92,50},{-86,50},{-86,30}}, color={0,0,255}));
-  connect(angleSensor.flange, revolute1.flange_a)
-    annotation (Line(points={{-22,-50},{-32,-50}}, color={0,0,0}));
-  connect(angleSensor.phi, PID_phi.u) annotation (Line(points={{-1,-50},{128,
-          -50},{128,84},{118,84}}, color={0,0,127}));
-  connect(add.u2, PID_phi.y)
-    annotation (Line(points={{-28,84},{95,84}}, color={0,0,127}));
-  connect(add.u1, PID_s.y) annotation (Line(points={{-28,72},{90,72},{90,20},{
-          81,20}}, color={0,0,127}));
-  connect(add.y, signalCurrent.i)
-    annotation (Line(points={{-51,78},{-102,78},{-102,62}}, color={0,0,127}));
-  connect(idealGearR2T.flangeT, positionSensor.flange)
-    annotation (Line(points={{-62,20},{-40,20}}, color={0,127,0}));
-  connect(PID_s.u, feedback.y)
-    annotation (Line(points={{58,20},{37,20}}, color={0,0,127}));
-  connect(positionSensor.s, feedback.u1)
-    annotation (Line(points={{-19,20},{20,20}}, color={0,0,127}));
-  connect(ramp.y, feedback.u2)
-    annotation (Line(points={{-5,50},{28,50},{28,28}}, color={0,0,127}));
-  annotation (experiment(
-      StopTime=5,
-      __Dymola_NumberOfIntervals=1500,
-      __Dymola_Algorithm="Dassl"),
-    Diagram(coordinateSystem(extent={{-140,-100},{140,100}})),
-    Icon(coordinateSystem(extent={{-140,-100},{140,100}})));
-end Step9_PositionControl;
diff --git a/Tutorial2024/StepByStep/package.order b/Tutorial2024/StepByStep/package.order
index 5358c95..bbdba38 100644
--- a/Tutorial2024/StepByStep/package.order
+++ b/Tutorial2024/StepByStep/package.order
@@ -1,10 +1,15 @@
 Step1_FreeBody
+Step1_FreeBody2
 Step2_FixedBody
+Step2_FixedBody2
 Step3_Pendulum
+Step3_Pendulum2
 Step4_DoublePendulum
 Step5_CraneCrab
 Step6_ActuatedCraneCrab
 Step7_InvertedCraneCrab
+Step7_InvertedCraneCrab2
+Step7_InvertedCraneCrab3
 Step8_ElectricCraneCrab
 Step9_AngleControl
 Step10_PositionControl