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// CP: 65001
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// SimulationX Version: 3.8.2.45319 x64
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within AIDAModelica;
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model ZAngularSpeedErrorModel "Z angular speed error calculation model"
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Modelica.Blocks.Interfaces.RealInput YawCosign(
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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 Yaw(
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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 AngularSpeedZ(
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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 AngularSpeedZError(
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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 Kwyaw=1.5 "Proportional gain Kwyaw";
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Real eyaw(
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quantity="Mechanics.Rotation.Angle",
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displayUnit="rad") "Yaw error";
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Real wzd(
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quantity="Mechanics.Rotation.RotVelocity",
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displayUnit="rad/s") "Desired angular speed Z";
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equation
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// enter your equations here
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eyaw = YawCosign-Yaw;
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wzd = Kwyaw*eyaw;
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AngularSpeedZError = wzd-AngularSpeedZ;
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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={{-100,96.7},{-100,93.3}}),
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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 ZAngularSpeedErrorModel;
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