48 lines
1.9 KiB
Plaintext
48 lines
1.9 KiB
Plaintext
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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 ControlPosition "ControlPosition_Modelica.ism"
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Modelica.Blocks.Interfaces.RealOutput Position_command[3] "'output Real' as connector" annotation(Placement(
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transformation(extent={{40,50},{60,70}}),
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iconTransformation(extent={{90,-10},{110,10}})));
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Modelica.Blocks.Interfaces.RealInput Drone_position_consign[3] "'input Real' as connector" annotation(Placement(
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transformation(extent={{-140,40},{-100,80}}),
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iconTransformation(extent={{-120,-70},{-80,-30}})));
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Modelica.Blocks.Interfaces.RealInput Drone_position[3] "'input Real' as connector" annotation(Placement(
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transformation(extent={{-85,-15},{-45,25}}),
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iconTransformation(extent={{-120,30},{-80,70}})));
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Modelica.Blocks.Continuous.LimPID PID[3](
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controllerType=Modelica.Blocks.Types.SimpleController.P,
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k={10,10,10},
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Ti={0.5,0.5,0.5},
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Td={0.1,0.1,0.1},
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yMax={100,100,100},
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initType=Modelica.Blocks.Types.InitPID.SteadyState,
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limitsAtInit={false, false, false},
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y_start={1,58,0}) "P, PI, PD, and PID controller with limited output, anti-windup compensation and setpoint weighting" annotation(Placement(transformation(extent={{-30,50},{-10,70}})));
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equation
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connect(PID.y,Position_command[:]) annotation(Line(
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points={{-9,60},{-4,60},{45,60},{50,60}},
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color={0,0,127},
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thickness=0.0625));
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connect(Drone_position_consign[:],PID.u_s) annotation(Line(
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points={{-120,60},{-115,60},{-37,60},{-32,60}},
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color={0,0,127},
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thickness=0.0625));
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connect(Drone_position[:],PID.u_m) annotation(Line(
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points={{-65,5},{-60,5},{-20,5},{-20,43},{-20,48}},
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color={0,0,127},
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thickness=0.0625));
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annotation(
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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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experiment(
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StopTime=1,
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StartTime=0,
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Interval=0.002,
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MaxInterval="0.001"));
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end ControlPosition;
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