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within AIDAModelica;
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model YAngularSpeedErrorModel "Y angular speed error calculation model"
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Modelica.Blocks.Interfaces.RealInput PitchCosign(
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quantity="Mechanics.Rotation.Angle",
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displayUnit="rad") "'input Real' as connector" annotation(Placement(
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transformation(extent={{-20,-20},{20,20}}),
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iconTransformation(extent={{-120,30},{-80,70}})));
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Modelica.Blocks.Interfaces.RealInput Pitch(
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quantity="Mechanics.Rotation.Angle",
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displayUnit="rad") "'input Real' as connector" annotation(Placement(
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transformation(extent={{-20,-20},{20,20}}),
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iconTransformation(extent={{-120,-20},{-80,20}})));
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Modelica.Blocks.Interfaces.RealInput AngularSpeedY(
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quantity="Mechanics.Rotation.RotVelocity",
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displayUnit="rad/s") "'input Real' as connector" annotation(Placement(
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transformation(extent={{-20,-20},{20,20}}),
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iconTransformation(extent={{-120,-70},{-80,-30}})));
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Modelica.Blocks.Interfaces.RealOutput AngularSpeedYError(
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quantity="Mechanics.Rotation.RotVelocity",
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displayUnit="rad/s") "'output Real' as connector" annotation(Placement(
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transformation(extent={{-10,-10},{10,10}}),
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iconTransformation(extent={{86.7,-10},{106.7,10}})));
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parameter Real Kwteta=1.5 "Proportional gain Kwteta";
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parameter Boolean RTStepConsign=false "test pour commande de step sur la consigne de vitesse angulaire";
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Real eteta(
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quantity="Mechanics.Rotation.Angle",
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displayUnit="rad") "Teta error";
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Real wyd(
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quantity="Mechanics.Rotation.RotVelocity",
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displayUnit="rad/s") "Desired angular speed Y";
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equation
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// enter your equations here
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eteta = Pitch-PitchCosign;
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if RTStepConsign==true and abs(PitchCosign)>0.001 then
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wyd = Kwteta;
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else
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wyd = -Kwteta*eteta;
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end if;
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AngularSpeedYError = wyd-AngularSpeedY;
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annotation(Icon(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={{-100,100},{100,-100}})}));
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end YAngularSpeedErrorModel;
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