mirror of
http://172.16.200.102/AIDA/AIDASimulation.git
synced 2025-12-13 20:03:58 +01:00
97 lines
3.2 KiB
Plaintext
97 lines
3.2 KiB
Plaintext
|
within AIDAModelica;
|
||
|
|
model ControlYawAngle "[SF2.3.5] Control yaw angle"
|
||
|
|
Modelica.Blocks.Interfaces.RealInput YawConsign(
|
||
|
|
quantity="Mechanics.Rotation.Angle",
|
||
|
|
displayUnit="rad") "Desired momentum at axe Z" annotation(Placement(
|
||
|
|
transformation(extent={{-135,30},{-95,70}}),
|
||
|
|
iconTransformation(extent={{-120,30},{-80,70}})));
|
||
|
|
Modelica.Blocks.Interfaces.RealInput Yaw(
|
||
|
|
quantity="Mechanics.Rotation.Angle",
|
||
|
|
displayUnit="rad") "'input Real' as connector" annotation(Placement(
|
||
|
|
transformation(extent={{-135,0},{-95,40}}),
|
||
|
|
iconTransformation(extent={{-120,-20},{-80,20}})));
|
||
|
|
Modelica.Blocks.Interfaces.RealInput AngularSpeedZ(
|
||
|
|
quantity="Mechanics.Rotation.RotVelocity",
|
||
|
|
displayUnit="rad/s") "'input Real' as connector" annotation(Placement(
|
||
|
|
transformation(extent={{-135,-30},{-95,10}}),
|
||
|
|
iconTransformation(extent={{-120,-70},{-80,-30}})));
|
||
|
|
Modelica.Blocks.Interfaces.RealOutput MomentumZ(
|
||
|
|
quantity="Mechanics.Rotation.Torque",
|
||
|
|
displayUnit="Nm") "'output Real' as connector" annotation(Placement(
|
||
|
|
transformation(extent={{30,10},{50,30}}),
|
||
|
|
iconTransformation(extent={{86.7,-10},{106.7,10}})));
|
||
|
|
ZAngularSpeedErrorModel zAngularSpeedErrorModel1 "Z angular speed error calculation model" annotation(Placement(transformation(extent={{-55,10},{-35,30}})));
|
||
|
|
Modelica.Blocks.Continuous.PID PID2(
|
||
|
|
k=0.1,
|
||
|
|
Ti=2,
|
||
|
|
Td=0.1,
|
||
|
|
initType=Modelica.Blocks.Types.InitPID.InitialState,
|
||
|
|
Add(
|
||
|
|
k1=-1,
|
||
|
|
k2=-1,
|
||
|
|
k3=-1)) "PID-controller in additive description form" annotation(Placement(transformation(extent={{-10,10},{10,30}})));
|
||
|
|
equation
|
||
|
|
connect(PID2.y,MomentumZ) annotation(Line(
|
||
|
|
points={{11,20},{16,20},{35,20},{40,20}},
|
||
|
|
color={0,0,127},
|
||
|
|
thickness=0.0625));
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
connect(zAngularSpeedErrorModel1.YawCosign,YawConsign) annotation(Line(
|
||
|
|
points={{-55,25},{-60,25},{-110,25},{-110,50},{-115,50}},
|
||
|
|
color={0,0,127},
|
||
|
|
thickness=0.0625));
|
||
|
|
connect(zAngularSpeedErrorModel1.Yaw,Yaw) annotation(Line(
|
||
|
|
points={{-55,20},{-60,20},{-110,20},{-115,20}},
|
||
|
|
color={0,0,127},
|
||
|
|
thickness=0.0625));
|
||
|
|
connect(zAngularSpeedErrorModel1.AngularSpeedZ,AngularSpeedZ) annotation(Line(
|
||
|
|
points={{-55,15},{-60,15},{-110,15},{-110,-10},{-115,-10}},
|
||
|
|
color={0,0,127},
|
||
|
|
thickness=0.0625));
|
||
|
|
connect(PID2.u,zAngularSpeedErrorModel1.AngularSpeedZError) annotation(Line(
|
||
|
|
points={{-12,20},{-17,20},{-30.3,20},{-35.3,20}},
|
||
|
|
color={0,0,127},
|
||
|
|
thickness=0.0625));
|
||
|
|
annotation(
|
||
|
|
YawConsign(flags=2),
|
||
|
|
Yaw(flags=2),
|
||
|
|
AngularSpeedZ(flags=2),
|
||
|
|
MomentumZ(flags=2),
|
||
|
|
zAngularSpeedErrorModel1(
|
||
|
|
YawCosign(flags=2),
|
||
|
|
Yaw(flags=2),
|
||
|
|
AngularSpeedZ(flags=2),
|
||
|
|
AngularSpeedZError(flags=2),
|
||
|
|
eyaw(flags=2),
|
||
|
|
wzd(flags=2)),
|
||
|
|
PID2(
|
||
|
|
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))),
|
||
|
|
Icon(graphics = {Rectangle(fillColor = {255, 255, 255}, fillPattern = FillPattern.Solid, extent = {{-100, 100}, {100, -103.3}}), Text(origin = {-4, 0}, extent = {{-16, 8}, {16, -8}}, textString = "%name")}, coordinateSystem(initialScale = 0.1)),
|
||
|
|
experiment(
|
||
|
|
StopTime=1,
|
||
|
|
StartTime=0,
|
||
|
|
Interval=0.002,
|
||
|
|
MaxInterval="0.001"));
|
||
|
|
end ControlYawAngle;
|