63 lines
2.8 KiB
Plaintext
63 lines
2.8 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 TrajectoryManagement "TrajectoryManagement.ism"
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Modelica.Blocks.Interfaces.RealOutput Drone_coordinates[3] "'output Real' as connector" annotation(Placement(
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transformation(extent={{55,0},{75,20}}),
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iconTransformation(extent={{90,-10},{110,10}})));
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Modelica.Blocks.Interfaces.RealInput Position_Command[3] "'input Real' as connector" annotation(Placement(
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transformation(extent={{-150,-10},{-110,30}}),
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iconTransformation(extent={{-120,30},{-80,70}})));
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parameter Real y0[*](
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quantity="Basics.Real",
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displayUnit="-")=0 "Initial Value (integral1)";
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Modelica.Blocks.Continuous.LimIntegrator limIntegrator1(
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outMax=1000,
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y_start=y_start1) "Integrator with limited value of the output" annotation(Placement(transformation(extent={{-45,0},{-25,20}})));
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Modelica.Blocks.Continuous.LimIntegrator limIntegrator2(
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outMax=1000,
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y_start=y_start2) "Integrator with limited value of the output" annotation(Placement(transformation(extent={{-45,-35},{-25,-15}})));
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Modelica.Blocks.Continuous.LimIntegrator limIntegrator3(
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outMax=1000,
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y_start=y_start3) annotation(Placement(transformation(extent={{-45,-65},{-25,-45}})));
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parameter Real y_start1(displayUnit="-")=1 "Initial or guess value of output (must be in the limits outMin .. outMax) (limIntegrator1)";
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parameter Real y_start2(displayUnit="-")=58 "Initial or guess value of output (must be in the limits outMin .. outMax) (limIntegrator2)";
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parameter Real y_start3(displayUnit="-")=0 "Initial or guess value of output (must be in the limits outMin .. outMax) (limIntegrator3)";
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equation
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connect(Position_Command[1],limIntegrator1.u) annotation(Line(
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points={{-130,10},{-125,10},{-52,10},{-47,10}},
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color={0,0,127},
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thickness=0.0625));
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connect(Position_Command[2],limIntegrator2.u) annotation(Line(
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points={{-130,10},{-125,10},{-52,10},{-52,-25},{-47,-25}},
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color={0,0,127},
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thickness=0.0625));
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connect(Position_Command[3],limIntegrator3.u) annotation(Line(
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points={{-130,10},{-125,10},{-52,10},{-52,-55},{-47,-55}},
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color={0,0,127},
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thickness=0.0625));
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connect(limIntegrator1.y,Drone_coordinates[1]) annotation(Line(
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points={{-24,10},{-19,10},{60,10},{65,10}},
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color={0,0,127},
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thickness=0.0625));
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connect(limIntegrator2.y,Drone_coordinates[2]) annotation(Line(
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points={{-24,-25},{-19,-25},{60,-25},{60,10},{65,10}},
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color={0,0,127},
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thickness=0.0625));
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connect(limIntegrator3.y,Drone_coordinates[3]) annotation(Line(
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points={{-24,-55},{-19,-55},{60,-55},{60,10},{65,10}},
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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,-103.3}})}),
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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 TrajectoryManagement;
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