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within AIDAModelica;
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model ControlAltitudeEx "[SF2.4] Control altitude Ex"
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// CP: 65001
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// SimulationX Version: 3.8.2.45319 x64
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Modelica.Blocks.Interfaces.RealOutput TotalThrustManual(quantity = "Mechanics.Translation.Force", displayUnit = "N") "Desired total thrust autopilot mode output" annotation(
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Placement(transformation(extent = {{80, -20}, {100, 0}}), iconTransformation(origin = {100, 0}, extent = {{-10, -10}, {10, 10}})));
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Modelica.Blocks.Interfaces.RealInput VSpeed(quantity = "Mechanics.Translation.Velocity", displayUnit = "m/s") "Real drone speed feedback" annotation(
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Placement(transformation(extent = {{-145, -15}, {-105, 25}}), iconTransformation(origin = {-50, -100}, extent = {{-20, -20}, {20, 20}}, rotation = 90)));
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Modelica.Blocks.Interfaces.RealInput RCVerticalSpeedCommand(quantity = "Mechanics.Translation.Velocity", displayUnit = "m/s") "'input Real' as connector" annotation(
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Placement(transformation(extent = {{-145, 35}, {-105, 75}}), iconTransformation(origin = {-100, 0}, extent = {{-20, -20}, {20, 20}})));
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Modelica.Blocks.Interfaces.RealInput Acceleration(quantity = "Acceleration", displayUnit = "m/s²") "To prevent PID derivation of speed" annotation(
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Placement(transformation(extent = {{-125, -75}, {-85, -35}}), iconTransformation(origin = {50, -100}, extent = {{-20, -20}, {20, 20}}, rotation = 90)));
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ComputeTotalThrustCA computeTotalThrustCA1 annotation(
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Placement(transformation(extent = {{25, -20}, {45, 0}})));
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AIDAModelica.ComputeAltitudeConsign computeAltitudeConsign1 annotation(
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Placement(visible = true, transformation(extent = {{-11, 28}, {9, 48}}, rotation = 0)));
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PID_2 pID_2 annotation(
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Placement(transformation(extent = {{-15, -20}, {5, 0}})));
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equation
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connect(computeAltitudeConsign1.VSpeed, VSpeed) annotation(
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Line(points = {{-11, 33}, {-120, 33}, {-120, 5}, {-125, 5}}, color = {0, 0, 127}));
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connect(computeAltitudeConsign1.RCVerticalSpeedCommand, RCVerticalSpeedCommand) annotation(
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Line(points = {{-11, 43}, {-120, 43}, {-120, 55}, {-125, 55}}, color = {0, 0, 127}, thickness = 0.0625));
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connect(computeTotalThrustCA1.TotalThrustAP, TotalThrustManual) annotation(
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Line(points = {{45, -10}, {50, -10}, {85, -10}, {90, -10}}, color = {0, 0, 127}, thickness = 0.0625));
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connect(RCVerticalSpeedCommand, pID_2.Consign) annotation(
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Line(points = {{-125, 55}, {-120, 55}, {-20, 55}, {-20, -10}, {-15, -10}}, color = {0, 0, 127}, thickness = 0.0625));
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connect(VSpeed, pID_2.u) annotation(
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Line(points = {{-125, 5}, {-120, 5}, {-120, -25}, {-10, -25}, {-10, -20}}, color = {0, 0, 127}, thickness = 0.0625));
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connect(Acceleration, pID_2.du) annotation(
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Line(points = {{-105, -55}, {-100, -55}, {0, -55}, {0, -25}, {0, -20}}, color = {0, 0, 127}, thickness = 0.0625));
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connect(pID_2.y, computeTotalThrustCA1.AccelerationConsign) annotation(
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Line(points = {{6, -10}, {11, -10}, {20, -10}, {25, -10}}, color = {0, 0, 127}, 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(AccelerationConsign(flags = 2), TotalThrustAP(flags = 2), AC(flags = 2)),
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computeAltitudeConsign1(RCVerticalSpeedCommand(flags = 2), AccelerationConsign(flags = 2), PID1(u(flags = 2), y(flags = 2), P(u(flags = 2), y(flags = 2)), I(u(flags = 2), y(flags = 2)), D(u(flags = 2), y(flags = 2), x(flags = 2)), Gain(u(flags = 2), y(flags = 2)), Add(u1(flags = 2), u2(flags = 2), u3(flags = 2), y(flags = 2))), speedErrorModelSAC1(SpeedConsign(flags = 2), Speed(flags = 2), SpeedError(flags = 2), vzd(flags = 2), vz(flags = 2), ASE(flags = 2))),
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Icon(graphics = {Rectangle(fillColor = {255, 255, 255}, fillPattern = FillPattern.Solid, extent = {{-100, 100}, {100, -100}}), Text(origin = {0, 3}, extent = {{-40, 13}, {40, -13}}, textString = "Control Altitude")}, coordinateSystem(initialScale = 0.1)),
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experiment(StopTime = 1, StartTime = 0, Interval = 0.002, MaxInterval = "0.001"),
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Diagram(graphics = {Text(origin = {26, 54}, extent = {{-8, 4}, {72, -26}}, textString = "Initial solution, with no acceleration as input"), Text(origin = {32, 27}, extent = {{-10, -3}, {76, 23}}, textString = "Need for speed derivation, bad choice in cosimulation")}));
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end ControlAltitudeEx;
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