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within AIDAModelica;
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// CP: 65001
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// SimulationX Version: 3.8.2.45319 x64
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model ComputeMotorRate "[SF2.5] Compute thrust"
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import Modelica.Math;
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Modelica.Blocks.Interfaces.RealInput TotalThrust(
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quantity="Mechanics.Translation.Force",
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displayUnit="N") "Desired total thrust " annotation(Placement(
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transformation(extent={{-20,-20},{20,20}}),
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iconTransformation(extent={{-120,55},{-80,95}})));
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Modelica.Blocks.Interfaces.RealInput MomentumConsign[3](
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quantity="Mechanics.Rotation.Torque",
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displayUnit="Nm") "Desired momentums consign" annotation(Placement(
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transformation(extent={{-20,-20},{20,20}}),
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iconTransformation(extent={{-120,-95},{-80,-55}})));
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Modelica.Blocks.Interfaces.RealOutput Motor1Rate(
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quantity="Mechanics.Rotation.RotVelocity",
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displayUnit="rpm") "Desired angular speed of 1 motor" annotation(Placement(
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transformation(extent={{-10,-10},{10,10}}),
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iconTransformation(extent={{90,65},{110,85}})));
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Modelica.Blocks.Interfaces.RealOutput Motor2Rate(
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quantity="Mechanics.Rotation.RotVelocity",
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displayUnit="rpm") "Desired angular speed of 2 motor" annotation(Placement(
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transformation(extent={{-10,-10},{10,10}}),
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iconTransformation(extent={{90,15},{110,35}})));
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Modelica.Blocks.Interfaces.RealOutput Motor3Rate(
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quantity="Mechanics.Rotation.RotVelocity",
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displayUnit="rpm") "Desired angular speed of 3 motor " annotation(Placement(
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transformation(extent={{-10,-10},{10,10}}),
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iconTransformation(extent={{90,-35},{110,-15}})));
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Modelica.Blocks.Interfaces.RealOutput Motor4Rate(
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quantity="Mechanics.Rotation.RotVelocity",
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displayUnit="rpm") "Desired angular speed of 4 motor" annotation(Placement(
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transformation(extent={{-10,-10},{10,10}}),
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iconTransformation(extent={{90,-85},{110,-65}})));
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Real M4[4,4] "Control effectiveness model matrix M";
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parameter Real d(
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quantity="Basics.Length",
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displayUnit="m")=0.33 "Parameter d";
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parameter Real cT(
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quantity="Mechanics.Translation.Force",
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displayUnit="N")=3.438e-7 "Parameter cT";
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parameter Real coef_cT(
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quantity="Mechanics.Rotation.RotVelocity",
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displayUnit="rpm")=0.10471975511965977 "coefficient cT";
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parameter Real cM(
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quantity="Mechanics.Rotation.Torque",
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displayUnit="Nm")=5.7e-9 "Parameter cM";
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parameter Real coef_cM(
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quantity="Mechanics.Rotation.RotVelocity",
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displayUnit="rpm")=0.10471975511965977 "coefficient cM";
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Real AngVelVector[4](
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quantity="Mechanics.Rotation.RotVelocity",
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displayUnit="rpm") "Vector of desired angular velocities";
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Real TMomVector[4] "Totat thust and moments vector";
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Real ParamCosSin "Parameter Cos Sin 45";
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equation
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// enter your equations here
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ParamCosSin = sqrt(2) / 2;
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TMomVector = {TotalThrust, MomentumConsign[1], MomentumConsign[2], MomentumConsign[3]};
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M4 = {{cT / coef_cT ^ 2, cT / coef_cT ^ 2, cT / coef_cT ^ 2, cT / coef_cT ^ 2}, {d * (cT / coef_cT ^ 2) * ParamCosSin, -d * (cT / coef_cT ^ 2) * ParamCosSin, -d * (cT / coef_cT ^ 2) * ParamCosSin, d * (cT / coef_cT ^ 2) * ParamCosSin}, {d * (cT / coef_cT ^ 2) * ParamCosSin, d * (cT / coef_cT ^ 2) * ParamCosSin, -d * (cT / coef_cT ^ 2) * ParamCosSin, -d * (cT / coef_cT ^ 2) * ParamCosSin}, {cM / coef_cM ^ 2, -cM / coef_cM ^ 2, cM / coef_cM ^ 2, -cM / coef_cM ^ 2}};
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M4*AngVelVector = TMomVector;
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Motor1Rate = sqrt(abs(AngVelVector[1]));
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Motor2Rate = sqrt(abs(AngVelVector[2]));
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Motor3Rate = sqrt(abs(AngVelVector[3]));
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Motor4Rate = sqrt(abs(AngVelVector[4]));
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annotation(Icon(
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coordinateSystem(extent={{-100,-125},{100,125}}),
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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={{-100,126.7},{103.3,-126.7}}),
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Text(
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textString="%name",
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fillPattern=FillPattern.None,
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extent={{-39,15},{39,-15}},
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origin={-9,5})}));
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end ComputeMotorRate;
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