AIDASimulation/SimulationModels/AIDAModelica/ComputeDroneVelocity.mo

within AIDAModelica;

model ComputeDroneVelocity "[SimuD3 DM] Compute drone velocity"
  // CP: 65001
  // SimulationX Version: 3.8.2.45319 x64
  Modelica.Blocks.Interfaces.RealInput TotalThrust(quantity = "Mechanics.Translation.Force", displayUnit = "N") "'input Real' as connector" annotation(
    Placement(transformation(extent = {{-75, 25}, {-35, 65}}), iconTransformation(extent = {{-120, 5}, {-80, 45}})));
  Modelica.Blocks.Interfaces.RealOutput Accelerations[3] "Accelerations" annotation(
    Placement(transformation(extent = {{70, -40}, {90, -20}}), iconTransformation(extent = {{90, -35}, {110, -15}})));
  Modelica.Blocks.Interfaces.RealInput Attitude[3](quantity = "Mechanics.Rotation.Angle", displayUnit = "rad") "'input Real' as connector" annotation(
    Placement(transformation(extent = {{-75, -10}, {-35, 30}}), iconTransformation(origin = {0, 50}, extent = {{-20, -20}, {20, 20}}, rotation = -90)));
  Modelica.Blocks.Interfaces.RealOutput DroneVelocity[3](quantity = "Mechanics.Translation.Velocity", displayUnit = "m/s") "'output Real' as connector" annotation(
    Placement(transformation(extent = {{120, 20}, {140, 40}}), iconTransformation(extent = {{90, 15}, {110, 35}})));
  Modelica.Blocks.Interfaces.RealInput ExternalForce[3] annotation(
    Placement(transformation(extent = {{-75, -40}, {-35, 0}}), iconTransformation(extent = {{-120, -45}, {-80, -5}})));
  ComputationAccelerationModel computationAccelerationModel1 annotation(
    Placement(transformation(extent = {{5, 20}, {20, 35}})));
  Modelica.Blocks.Continuous.Integrator integrator4 annotation(
    Placement(transformation(extent = {{70, -10}, {90, 10}})));
  Modelica.Blocks.Continuous.Integrator integrator5 annotation(
    Placement(transformation(extent = {{70, 20}, {90, 40}})));
  Modelica.Blocks.Continuous.Integrator integrator6 annotation(
    Placement(transformation(extent = {{70, 50}, {90, 70}})));
equation
  connect(computationAccelerationModel1.Attitude[:], Attitude) annotation(
    Line(points = {{10, 35}, {10, 40}, {-20, 40}, {-20, 10}, {-50, 10}, {-55, 10}}, color = {0, 0, 127}, thickness = 0.0625));
  connect(computationAccelerationModel1.TotalThrust, TotalThrust) annotation(
    Line(points = {{5, 30}, {0, 30}, {-50, 30}, {-50, 45}, {-55, 45}}, color = {0, 0, 127}, thickness = 0.0625));
  connect(integrator6.u, computationAccelerationModel1.DroneAcceleration[1]) annotation(
    Line(points = {{68, 60}, {63, 60}, {24.7, 60}, {24.7, 27.3}, {19.7, 27.3}}, color = {0, 0, 127}, thickness = 0.0625));
  connect(integrator5.u, computationAccelerationModel1.DroneAcceleration[2]) annotation(
    Line(points = {{68, 30}, {63, 30}, {24.7, 30}, {24.7, 27.3}, {19.7, 27.3}}, color = {0, 0, 127}, thickness = 0.0625));
  connect(integrator4.u, computationAccelerationModel1.DroneAcceleration[3]) annotation(
    Line(points = {{68, 0}, {63, 0}, {24.7, 0}, {24.7, 27.7}, {19.7, 27.7}}, color = {0, 0, 127}, thickness = 0.0625));
  connect(integrator6.y, DroneVelocity[1]) annotation(
    Line(points = {{91, 60}, {96, 60}, {125, 60}, {125, 30}, {130, 30}}, color = {0, 0, 127}, thickness = 0.0625));
  connect(integrator5.y, DroneVelocity[2]) annotation(
    Line(points = {{91, 30}, {96, 30}, {125, 30}, {130, 30}}, color = {0, 0, 127}, thickness = 0.0625));
  connect(integrator4.y, DroneVelocity[3]) annotation(
    Line(points = {{91, 0}, {96, 0}, {125, 0}, {125, 30}, {130, 30}}, color = {0, 0, 127}, thickness = 0.0625));
  connect(computationAccelerationModel1.ExternalForce[:], ExternalForce[:]) annotation(
    Line(points = {{5, 25}, {0, 25}, {-1, -20}, {-50, -20}, {-55, -20}}, color = {0, 0, 127}, thickness = 0.0625),
    AutoRoute = false);
  connect(computationAccelerationModel1.DroneAcceleration[:], Accelerations[:]) annotation(
    Line(points = {{19.7, 27.3}, {24.7, 27.3}, {25, -30}, {75, -30}, {80, -30}}, color = {0, 0, 127}, thickness = 0.0625),
    AutoRoute = false);
  annotation(
    TotalThrust(flags = 2),
    Attitude(flags = 2),
    DroneVelocity(flags = 2),
    computationAccelerationModel1(TotalThrust(flags = 2), Attitude(flags = 2), DroneAcceleration(flags = 2), ExternalForce(flags = 2)),
    integrator4(u(flags = 2), y(flags = 2)),
    integrator5(u(flags = 2), y(flags = 2)),
    integrator6(u(flags = 2), y(flags = 2)),
    Icon(coordinateSystem(extent = {{-100, -50}, {100, 50}}, initialScale = 0.1), graphics = {Rectangle(fillColor = {255, 255, 255}, fillPattern = FillPattern.Solid, extent = {{-100, 53.3}, {103.3, -53.3}}), Text(origin = {-5, -3}, extent = {{-15, 5}, {15, -5}}, textString = "%name")}),
    experiment(StopTime = 1, StartTime = 0, Interval = 0.002, MaxInterval = "0.001"));
end ComputeDroneVelocity;