AIDASimulation/SimulationModels/AIDAModelica/RemoteControl.mo

within AIDAModelica;
// CP: 65001
// SimulationX Version: 3.8.2.45319 x64

model RemoteControl "RemoteControl"
	Real VerticalSpeedCommand_i(start=0) "commande interne non filtree";
	Modelica.Blocks.Interfaces.RealOutput VerticalSpeedCommand(
		quantity="Mechanics.Translation.Velocity",
		displayUnit="m/s") "'output Real' as connector" annotation(Placement(
		transformation(extent={{12,28},{32,48}}),
		iconTransformation(
			origin={-75,-100},
			extent={{-10,-10},{10,10}},
			rotation=-90)));
	Real RollCommand_i(start=0) "commande interne non filtree";
	Modelica.Blocks.Interfaces.RealOutput RollCommand(
		quantity="Mechanics.Rotation.Angle",
		displayUnit="rad") "'output Real' as connector" annotation(Placement(
		transformation(extent={{56,8},{76,28}}),
		iconTransformation(
			origin={-25,-100},
			extent={{-10,-10},{10,10}},
			rotation=-90)));
	Real PitchCommand_i(start=0) "commande interne non filtree";
	Modelica.Blocks.Interfaces.RealOutput PitchCommand(
		quantity="Mechanics.Rotation.Angle",
		displayUnit="rad") "'output Real' as connector" annotation(Placement(
		transformation(extent={{-38,-46},{-18,-26}}),
		iconTransformation(
			origin={25,-100},
			extent={{-10,-10},{10,10}},
			rotation=-90)));
	Real YawCommand_i(start=0) "commande interne non filtree";
	Modelica.Blocks.Interfaces.RealOutput YawCommand(
		quantity="Mechanics.Rotation.Angle",
		displayUnit="rad") "'output Real' as connector" annotation(Placement(
		transformation(extent={{18,-52},{38,-32}}),
		iconTransformation(
			origin={75,-100},
			extent={{-10,-10},{10,10}},
			rotation=-90)));
	Modelica.Blocks.Interfaces.BooleanOutput ControlMode "'output Boolean' as connector" annotation(Placement(
		transformation(extent={{-10,-10},{10,10}}),
		iconTransformation(
			origin={-125,-50},
			extent={{-10,-10},{10,10}},
			rotation=180)));
	Modelica.Blocks.Interfaces.BooleanOutput IndicatorYawConsign "'output Boolean' as connector" annotation(Placement(
		transformation(
			origin={-45,45},
			extent={{-17,-17},{17,17}}),
		iconTransformation(
			origin={-125,0},
			extent={{-10,-10},{10,10}},
			rotation=-180)));
	parameter Real VS_cmd=0.5;
	parameter Real[2] VS_cmd_t={3, 5} "Instants de démarrage et fin du step";
	parameter Real Pitch_cmd=0.03;
	parameter Real[2] Pitch_cmd_t={1, 4} "Instants de démarrage et fin du step, après stabilisation verticale";
	parameter Real Yaw_cmd=0.5;
	parameter Real[2] Yaw_cmd_t={6, 8} "Instants de démarrage et fin du step";
	parameter Real Roll_cmd=0.2 "Amplitude step ";
	parameter Real Roll_cmd_t[2]={1, 100} "Instants de démarrage et fin du step";
	parameter Real Tcst=0.1 "constante de temps pour filter les sorties du remote ctl";
	Boolean Auto_Ctl_Enabled(start=true);
	parameter Real Auto_Ctl_t=0.1 "Instant de déclenchement du mode auto";
	initial equation
		PitchCommand = 0;
		RollCommand = 0;
		YawCommand = 0;
		VerticalSpeedCommand = 0;
		PitchCommand_i = 0;
		RollCommand_i = 0;
		YawCommand_i = 0;
		VerticalSpeedCommand_i = 0;
		ControlMode = false;
		IndicatorYawConsign = false;
		Auto_Ctl_Enabled=true;
	algorithm
		
        when time > Auto_Ctl_t and Auto_Ctl_Enabled==true then
    		ControlMode:=true;
  		end when;
		
		when time > VS_cmd_t[1] then
		    VerticalSpeedCommand_i := VS_cmd;
		    ControlMode:=false;
		    Auto_Ctl_Enabled:=false;
		 end when;
		  when time > VS_cmd_t[2] then
		    VerticalSpeedCommand_i := 0;
		  end when;
		  when time > VS_cmd_t[2]+ Pitch_cmd_t[1] then
		    PitchCommand_i := Pitch_cmd;
		    ControlMode:=false;
		  end when;
		  when time > VS_cmd_t[2]+ Pitch_cmd_t[2] then
		    PitchCommand_i := 0;
		  end when;
		  when time > VS_cmd_t[2]+ Roll_cmd_t[1] then
		    RollCommand_i := Roll_cmd;
		    ControlMode:=false;
		  end when;
		  when time > VS_cmd_t[2]+ Roll_cmd_t[2] then
		    RollCommand_i := 0;
		  end when;
		//Yaw command
		  when time > VS_cmd_t[2]+ Yaw_cmd_t[1] then
		    YawCommand_i := Yaw_cmd;
		    ControlMode:=false;
		    IndicatorYawConsign:=true;
		  end when;
		//IndicatorYawConsign := true;
		  when time > VS_cmd_t[2]+ Yaw_cmd_t[2] then
		    YawCommand_i := 0;
		  end when;
		//IndicatorYawConsign := false;
		/*if time>Yaw_cmd_t[2] then
				 
				  int_yaw := 0;
				  IndicatorYawConsign := false;
				  
				elseif time>Yaw_cmd_t[1] then
				 
				  int_yaw := DYaw_cmd;
				  IndicatorYawConsign := true;
				  
				else
				  
				  int_yaw := 0;
				  IndicatorYawConsign := false;
				  
				end if;*/
	equation
		  // remote control filter with Tcst time constant
		  der(VerticalSpeedCommand) = (VerticalSpeedCommand_i - VerticalSpeedCommand) / Tcst;
		  der(RollCommand) = (RollCommand_i - RollCommand) / Tcst;
		  der(PitchCommand) = (PitchCommand_i - PitchCommand) / Tcst;
		  der(YawCommand) = (YawCommand_i - YawCommand) / Tcst;
		/* initial code of Andrii VAKULKO, destined to be used with manual button included in the SimulationX interface
						if VSCommand1 > 0 then
							VerticalSpeedCommand = -1;
						elseif VSCommand2 > 0 then
							VerticalSpeedCommand = -0.8;
						elseif VSCommand3 > 0 then
							VerticalSpeedCommand = -0.6;
						elseif VSCommand4 > 0 then
							VerticalSpeedCommand = -0.4;
						elseif VSCommand5 > 0 then
							VerticalSpeedCommand = -0.2;
						elseif VSCommand6 > 0 then
							VerticalSpeedCommand = 0.2;
						elseif VSCommand7 > 0 then
							VerticalSpeedCommand = 0.4;
						elseif VSCommand8 > 0 then
							VerticalSpeedCommand = 0.6;
						elseif VSCommand9 > 0 then
							VerticalSpeedCommand = 0.8;
						elseif VSCommand10 > 0 then
							VerticalSpeedCommand = 1;
						else
							VerticalSpeedCommand = 0;
						end if;
						
						if YCommandP > 0 then
							der(YawCommand) = 0.01;
							//IndicatorYawConsign = true;
						elseif YCommandM > 0 then
							der(YawCommand) = -0.01;
							//IndicatorYawConsign = true;
						else
							YawCommand = 0;
							//IndicatorYawConsign = false;
						end if;
						
						if RCommandP > 0 then
							RollCommand = 0.0261799; //15 deg
						elseif RCommandM > 0 then
							RollCommand = -0.0261799;
						else
							RollCommand = 0;
						end if;
						
						if PCommandP > 0 then
							PitchCommand = 0.0261799;
						elseif PCommandM > 0 then
							PitchCommand = -0.0261799;
						else
							PitchCommand = 0;
						end if;*/
	annotation(
		VerticalSpeedCommand(flags=2),
		RollCommand(flags=2),
		PitchCommand(flags=2),
		YawCommand(flags=2),
		ControlMode(flags=2),
		IndicatorYawConsign(flags=2),
		Icon(
			coordinateSystem(extent={{-125,-100},{125,100}}),
			graphics={
				Rectangle(
					fillColor={255,255,255},
					fillPattern=FillPattern.Solid,
					extent={{-123.3,100},{123.3,-100}}),
				Text(
					textString="%name",
					fillPattern=FillPattern.None,
					extent={{-86,20},{86,-20}},
					origin={-2,6})}),
		experiment(
			StopTime=10,
			StartTime=0,
			Interval=0.02,
			MaxInterval="0.001"));
end RemoteControl;