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93 lines
2.9 KiB
Plaintext
93 lines
2.9 KiB
Plaintext
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// CP: 65001
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// SimulationX Version: 3.8.2.45319 x64
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within AIDAModelica;
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model ControlAltitude "[SF2.4] Control altitude"
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Modelica.Blocks.Interfaces.RealOutput TotalThrustManual(
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quantity="Mechanics.Translation.Force",
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displayUnit="N") "Desired total thrust autopilot mode output" annotation(Placement(
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transformation(extent={{20,20},{40,40}}),
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iconTransformation(
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origin={100,0},
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extent={{-10,-10},{10,10}})));
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Modelica.Blocks.Interfaces.RealInput VSpeed(
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quantity="Mechanics.Translation.Velocity",
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displayUnit="m/s") "Real drone speed feedback" annotation(Placement(
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transformation(extent={{-105,-5},{-65,35}}),
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iconTransformation(extent={{-120,30},{-80,70}})));
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Modelica.Blocks.Interfaces.RealInput RCVerticalSpeedCommand(
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quantity="Mechanics.Translation.Velocity",
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displayUnit="m/s") "'input Real' as connector" annotation(Placement(
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transformation(extent={{-105,25},{-65,65}}),
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iconTransformation(
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origin={-100,-50},
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extent={{-20,-20},{20,20}})));
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ComputeTotalThrustCA computeTotalThrustCA1 annotation(Placement(transformation(extent={{-10,20},{10,40}})));
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ComputeAltitudeConsign computeAltitudeConsign1 annotation(Placement(transformation(extent={{-55,20},{-35,40}})));
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equation
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connect(computeAltitudeConsign1.VSpeed,VSpeed) annotation(Line(
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points={{-54,26},{-76,26},{-76,16},{-84,16}},
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color={0,0,127}));
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connect(computeTotalThrustCA1.AccelerationConsign,computeAltitudeConsign1.AccelerationConsign) annotation(Line(
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points={{-10,30},{-15,30},{-30,30},{-35,30}},
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color={0,0,127},
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thickness=0.0625));
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connect(computeAltitudeConsign1.RCVerticalSpeedCommand,RCVerticalSpeedCommand) annotation(Line(
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points={{-55,35},{-60,35},{-80,35},{-80,45},{-85,45}},
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color={0,0,127},
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thickness=0.0625));
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connect(computeTotalThrustCA1.TotalThrustAP,TotalThrustManual) annotation(Line(
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points={{10,30},{15,30},{25,30},{30,30}},
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color={0,0,127},
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thickness=0.0625));
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annotation(
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Speed(flags=2),
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TotalThrustManual(flags=2),
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RCVerticalSpeedCommand(flags=2),
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computeTotalThrustCA1(
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AccelerationConsign(flags=2),
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TotalThrustAP(flags=2),
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AC(flags=2)),
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computeAltitudeConsign1(
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RCVerticalSpeedCommand(flags=2),
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AccelerationConsign(flags=2),
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PID1(
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u(flags=2),
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y(flags=2),
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P(
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u(flags=2),
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y(flags=2)),
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I(
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u(flags=2),
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y(flags=2)),
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D(
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u(flags=2),
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y(flags=2),
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x(flags=2)),
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Gain(
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u(flags=2),
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y(flags=2)),
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Add(
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u1(flags=2),
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u2(flags=2),
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u3(flags=2),
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y(flags=2))),
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speedErrorModelSAC1(
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SpeedConsign(flags=2),
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Speed(flags=2),
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SpeedError(flags=2),
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vzd(flags=2),
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vz(flags=2),
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ASE(flags=2))),
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Icon(graphics={
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Rectangle(
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fillColor={255,255,255},
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fillPattern=FillPattern.Solid,
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extent={{-100,100},{100,-100}})}),
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experiment(
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StopTime=1,
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StartTime=0,
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Interval=0.002,
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MaxInterval="0.001"));
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end ControlAltitude;
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