102 lines
3.3 KiB
Plaintext
102 lines
3.3 KiB
Plaintext
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// CP: 65001
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// SimulationX Version: 3.8.4.46141 x64
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within ;
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model Modelica_drone_system "Modelica_drone_system"
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AIDAModelica.RunFlightPlan runFlightPlan1 annotation(Placement(transformation(
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origin={-50,-44},
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extent={{-10,-10},{10,10}})));
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AIDAModelica.ControlPosition controlPosition1 annotation(Placement(transformation(
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origin={44,-24},
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extent={{-10,-10},{10,10}})));
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AIDAModelica.AcquirePositioningSignal acquirePositioningSignal1 annotation(Placement(transformation(
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origin={-36,8},
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extent={{-10,-10},{10,10}})));
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AIDAModelica.ComputePositionAndTime computePositionAndTime1 annotation(Placement(transformation(
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origin={-4,4},
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extent={{-10,-10},{10,10}})));
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AIDAModelica.GeneratePositioningSignal generatePositioningSignal1 annotation(Placement(transformation(
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origin={-70,8},
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extent={{-10,-10},{10,10}})));
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AIDAModelica.TrajectoryManagement trajectoryManagement1 annotation(Placement(transformation(
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origin={-130,10},
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extent={{-10,-10},{10,10}})));
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equation
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connect(controlPosition1.Position_command,trajectoryManagement1.Position_Command) annotation(Line(
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points={{54,-24.3},{59,-24.3},{59,-5},{-145,-5},{-145,14.3},{-140,
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14.3}},
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color={0,0,127}));
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connect(trajectoryManagement1.Drone_coordinates,generatePositioningSignal1.Drone_coordinates) annotation(Line(
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points={{-120,9.699999999999999},{-115,9.699999999999999},{-85,9.699999999999999},{-85,7.3},{-80,7.3}},
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color={0,0,127}));
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connect(generatePositioningSignal1.Positioning_signal,acquirePositioningSignal1.Positioning_signal) annotation(Line(
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points={{-60,7.7},{-55,7.7},{-51,7.7},{-51,7.3},{-46,7.3}},
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color={0,0,127}));
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connect(runFlightPlan1.Drone_Position_Consign,controlPosition1.Drone_position_consign) annotation(Line(
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points={{-40,-44.3},{-35,-44.3},{29,-44.3},{29,-29.7},{34,-29.7}},
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color={0,0,127}));
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connect(computePositionAndTime1.Drone_position,controlPosition1.Drone_position) annotation(Line(
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points={{6,8.699999999999999},{11,8.699999999999999},{29,8.699999999999999},{29,-19.7},{34,-19.7}},
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color={0,0,127}));
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connect(acquirePositioningSignal1.Measured_positioning_signal,computePositionAndTime1.Measured_positioning_signal) annotation(Line(
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points={{-26,7.7},{-21,7.7},{-19,7.7},{-19,8.300000000000001},{-14,8.300000000000001}},
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color={0,0,127}));
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annotation(
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__iti_controlPosition1(
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Position_command(flags=2),
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Drone_position_consign(flags=2),
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Drone_position(flags=2),
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PID(
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u_s(flags=2),
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u_m(flags=2),
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y(flags=2),
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controlError(flags=2),
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addP(
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u1(flags=2),
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u2(flags=2),
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y(flags=2)),
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addD(
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u1(flags=2),
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u2(flags=2),
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y(flags=2)),
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P(
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u(flags=2),
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y(flags=2)),
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I(
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u(flags=2),
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y(flags=2)),
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D(
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u(flags=2),
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y(flags=2),
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x(flags=2)),
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gainPID(
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u(flags=2),
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y(flags=2)),
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addPID(
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u1(flags=2),
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u2(flags=2),
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u3(flags=2),
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y(flags=2)),
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addI(
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u1(flags=2),
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u2(flags=2),
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u3(flags=2),
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y(flags=2)),
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addSat(
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u1(flags=2),
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u2(flags=2),
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y(flags=2)),
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gainTrack(
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u(flags=2),
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y(flags=2)),
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limiter(
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u(flags=2),
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y(flags=2)),
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Dzero(y(flags=2)),
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Izero(y(flags=2)))),
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experiment(
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StopTime=60,
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StartTime=0,
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Interval=0.12,
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__iti_MaxInterval="0.001"));
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end Modelica_drone_system;
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