103 lines
4.7 KiB
Plaintext
103 lines
4.7 KiB
Plaintext
|
within Requirements;
|
|||
|
|
|
|||
|
|
model StabilityRequirement
|
|||
|
|
"SR-WIND-02: The UAS shall maintain lateral and yaw stability under wind disturbance and recover within limits"
|
|||
|
|
|
|||
|
|
// ---- System-level parameters (traceable to SR-WIND-02) ----
|
|||
|
|
parameter Real hoverTolerance = 2.5
|
|||
|
|
"Maximum allowed lateral deviation during hover [m]";
|
|||
|
|
parameter Real yawTolerance = 5
|
|||
|
|
"Maximum allowed yaw error [deg]";
|
|||
|
|
parameter Real recoveryBand = 0.5
|
|||
|
|
"Position error band for recovery after disturbance [m]";
|
|||
|
|
parameter Real recoveryTime = 3
|
|||
|
|
"Time to remain within recovery band [s]";
|
|||
|
|
|
|||
|
|
// ---- Inputs from the system ----
|
|||
|
|
Modelica.Blocks.Interfaces.RealInput posX
|
|||
|
|
"Measured X position [m]" annotation(
|
|||
|
|
Placement(transformation(extent={{120,40},{80,80}})));
|
|||
|
|
Modelica.Blocks.Interfaces.RealInput posY
|
|||
|
|
"Measured Y position [m]" annotation(
|
|||
|
|
Placement(transformation(extent={{120,-80},{80,-40}})));
|
|||
|
|
Modelica.Blocks.Interfaces.RealInput yaw
|
|||
|
|
"Measured yaw angle [deg]" annotation(
|
|||
|
|
Placement(transformation(extent={{120,-10},{80,30}})));
|
|||
|
|
Modelica.Blocks.Interfaces.RealInput DronePositionConsign[3]
|
|||
|
|
"Commanded reference position [m]" annotation(
|
|||
|
|
Placement(transformation(extent={{-20,120},{20,80}}, rotation=-90)));
|
|||
|
|
Modelica.Blocks.Interfaces.RealInput yawConsign
|
|||
|
|
"Commanded yaw angle [deg]" annotation(
|
|||
|
|
Placement(transformation(extent={{-60,120},{-20,80}}, rotation=-90)));
|
|||
|
|
|
|||
|
|
// ---- Outputs for monitoring ----
|
|||
|
|
Modelica.Blocks.Interfaces.RealOutput lateralError
|
|||
|
|
"2D lateral position error magnitude [m]" annotation(
|
|||
|
|
Placement(transformation(extent={{-90,50},{-110,70}})));
|
|||
|
|
Modelica.Blocks.Interfaces.RealOutput yawError
|
|||
|
|
"Yaw error magnitude [deg]" annotation(
|
|||
|
|
Placement(transformation(extent={{-90,20},{-110,40}})));
|
|||
|
|
Modelica.Blocks.Interfaces.BooleanOutput withinHoverLimit
|
|||
|
|
"true if lateralError < hoverTolerance" annotation(
|
|||
|
|
Placement(visible = true, transformation(extent = {{-110, -10}, {-90, 10}}, rotation = 0), iconTransformation(origin = {-100, 0}, extent = {{10, -10}, {-10, 10}}, rotation = 0)));
|
|||
|
|
Modelica.Blocks.Interfaces.BooleanOutput withinYawLimit
|
|||
|
|
"true if yawError < yawTolerance" annotation(
|
|||
|
|
Placement(visible = true, transformation(extent = {{-110, -40}, {-90, -20}}, rotation = 0), iconTransformation(origin = {-100, -30}, extent = {{10, -10}, {-10, 10}}, rotation = 0)));
|
|||
|
|
Modelica.Blocks.Interfaces.BooleanOutput recovered
|
|||
|
|
"true if position remains within recoveryBand for recoveryTime" annotation(
|
|||
|
|
Placement(visible = true, transformation(extent = {{-110, -70}, {-90, -50}}, rotation = 0), iconTransformation(origin = {-100, -60}, extent = {{10, -10}, {-10, 10}}, rotation = 0)));
|
|||
|
|
Modelica.Blocks.Interfaces.BooleanOutput pass
|
|||
|
|
"true if all criteria are satisfied" annotation(
|
|||
|
|
Placement(visible = true, transformation(extent = {{-110, -100}, {-90, -80}}, rotation = 0), iconTransformation(origin = {-100, -90}, extent = {{10, -10}, {-10, 10}}, rotation = 0)));
|
|||
|
|
|
|||
|
|
protected
|
|||
|
|
Real t_within(start=0) "Timer for recovery criterion";
|
|||
|
|
equation
|
|||
|
|
// --- Lateral and yaw errors ---
|
|||
|
|
lateralError = sqrt((posX - DronePositionConsign[1])^2 +
|
|||
|
|
(posY - DronePositionConsign[2])^2);
|
|||
|
|
yawError = abs(yaw - yawConsign);
|
|||
|
|
|
|||
|
|
withinHoverLimit = lateralError < hoverTolerance;
|
|||
|
|
withinYawLimit = yawError < yawTolerance;
|
|||
|
|
|
|||
|
|
// --- Recovery logic (after gust disturbance) ---
|
|||
|
|
der(t_within) = if lateralError < recoveryBand then 1 else 0;
|
|||
|
|
|
|||
|
|
// Reset timer whenever the drone leaves the recovery band
|
|||
|
|
when lateralError > recoveryBand then
|
|||
|
|
reinit(t_within, 0);
|
|||
|
|
end when;
|
|||
|
|
|
|||
|
|
recovered = t_within >= recoveryTime;
|
|||
|
|
|
|||
|
|
// --- Overall requirement pass flag ---
|
|||
|
|
//pass = withinHoverLimit and withinYawLimit and recovered;
|
|||
|
|
pass = withinHoverLimit and withinYawLimit;
|
|||
|
|
annotation(
|
|||
|
|
Documentation(info="
|
|||
|
|
<html>
|
|||
|
|
<h4>SR-WIND-02 – Performance in Wind</h4>
|
|||
|
|
<p>
|
|||
|
|
Source: EASA Means of Compliance Light-UAS.2512,
|
|||
|
|
ISO 21384-3 (Clause 10 – Operational limitations).
|
|||
|
|
</p>
|
|||
|
|
<p>
|
|||
|
|
<b>Requirement:</b><br>
|
|||
|
|
Under a steady 8 m/s wind with 12 m/s gusts, the UAS shall:
|
|||
|
|
<ul>
|
|||
|
|
<li>Maintain lateral position error ≤ 1.5 m (95th percentile) during hover.</li>
|
|||
|
|
<li>Maintain yaw pointing error ≤ 5° (95th percentile).</li>
|
|||
|
|
<li>Recover to within 0.5 m position error within 3 s after gust disturbance.</li>
|
|||
|
|
</ul>
|
|||
|
|
</p>
|
|||
|
|
<p>
|
|||
|
|
<b>Simulation Inputs:</b> Connect to AIDA_System position, yaw, and
|
|||
|
|
reference signals.
|
|||
|
|
</p>
|
|||
|
|
</html>"),
|
|||
|
|
uses(Modelica(version="3.2.2")),
|
|||
|
|
Icon(graphics = {Text(extent = {{-100, 100}, {100, -100}}, textString = "SR-WIND-02"), Rectangle(extent = {{-104, -2}, {-104, -2}}), Rectangle(origin = {0, -1}, extent = {{-100, 101}, {100, -99}})}, coordinateSystem(initialScale = 0.1)));
|
|||
|
|
|
|||
|
|
end StabilityRequirement;
|