Aurelien Didier
6 years ago
73 changed files with 33810 additions and 0 deletions
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/QuadcopterModel.mo13 |
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/QuadcopterModel.mo14 |
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/QuadcopterModel.mo15 |
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/QuadcopterModel.mo16 |
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/QuadcopterModel.mo17 |
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/RemoteControl.mo94 |
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/RemoteControl.mo95 |
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/RemoteControl.mo96 |
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/RigidBodyDynamicModel.mo10 |
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/RigidBodyDynamicModel.mo11 |
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/RigidBodyDynamicModel.mo12 |
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/RigidBodyDynamicModel.mo13 |
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/RigidBodyDynamicModel.mo9 |
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/RigidBodyKinematicModel.mo7 |
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/RigidBodyKinematicModel.mo8 |
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/SelectSpeedConsign.mo6 |
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/SimXToProSIVICInterface.mo2 |
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/SpeedErrorModel.mo5 |
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/SpeedErrorModel.mo6 |
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/SpeedErrorModelSAC.mo10 |
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/SpeedErrorModelSAC.mo11 |
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/SpeedErrorModelSAC.mo9 |
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/ComputationAccelerationModel.mo10 |
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/ComputationAccelerationModel.mo11 |
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/ComputationAccelerationModel.mo12 |
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/ComputationAccelerationModel.mo13 |
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/ComputationAccelerationModel.mo14 |
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/ComputationAccelerationModel.mo5 |
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/ComputationAccelerationModel.mo6 |
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/ComputationAccelerationModel.mo7 |
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/ComputationAccelerationModel.mo8 |
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/ComputationAccelerationModel.mo9 |
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/ComputationChangeAngleVelocity.mo2 |
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/ComputeDroneVelocity.mo10 |
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/ComputeDroneVelocity.mo6 |
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/ComputeDroneVelocity.mo7 |
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/ComputeDroneVelocity.mo8 |
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/ComputeDroneVelocity.mo9 |
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/ComputeThrustAndAttitudeConsign.mo12 |
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/ComputeThrustAndAttitudeConsign.mo13 |
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/ComputeThrustAndAttitudeConsign.mo14 |
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/ComputeTotalThrustCA.mo1 |
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/ComputeTotalThrustCA.mo10 |
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/ComputeTotalThrustCA.mo2 |
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/ComputeTotalThrustCA.mo3 |
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/ComputeTotalThrustCA.mo4 |
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/ComputeTotalThrustCA.mo5 |
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/ComputeTotalThrustCA.mo6 |
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/ComputeTotalThrustCA.mo7 |
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/ComputeTotalThrustCA.mo8 |
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/ComputeTotalThrustCA.mo9 |
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/ControlPosition.mo37 |
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/Cosim_Sim_m.mo1 |
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/Cosim_Sim_m.mo2 |
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/drone_feets.bak |
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/drone_feets.mo1 |
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/package.mo60 |
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/package.mo61 |
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/package.mo62 |
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/package.mo63 |
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/package.mo64 |
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/package.mo65 |
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/package.mo66 |
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/package.mo67 |
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/AttitudeControl.mo28 |
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/AttitudeControl.mo29 |
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/package.mo68 |
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/ProSIVICToSimXInterface.mo5 |
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/ProSIVICToSimXInterface.mo6 |
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/ProSIVICToSimXInterfaceTest.mo10 |
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/ProSIVICToSimXInterfaceTest.mo11 |
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/ProSIVICToSimXInterfaceTest.mo9 |
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/QuadcopterModel.mo18 |
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/QuadcopterModel.mo19 |
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/QuadcopterModel.mo20 |
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/RemoteControl.mo97 |
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/SimXToProSIVICInterface.mo12 |
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/SimXToProSIVICInterface.mo13 |
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/XAngularSpeedErrorModel.mo15 |
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/XAngularSpeedErrorModel.mo16 |
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/YAngularSpeedErrorModel.mo14 |
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/ZAngularSpeedErrorModel.mo30 |
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/Step_analysis.mo1 |
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/Step_analysis.mo2 |
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/Step_analysis.mo10 |
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/Step_analysis.mo11 |
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/Step_analysis.mo12 |
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/Step_analysis.mo13 |
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/Step_analysis.mo14 |
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/Step_analysis.mo15 |
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/Step_analysis.mo16 |
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/Step_analysis.mo17 |
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/Step_analysis.mo18 |
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/Step_analysis.mo19 |
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/Step_analysis.mo20 |
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/Step_analysis.mo3 |
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/Step_analysis.mo4 |
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/Step_analysis.mo5 |
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/Step_analysis.mo6 |
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/Step_analysis.mo7 |
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/Step_analysis.mo8 |
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/Step_analysis.mo9 |
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/AttitudeControl.mo30 |
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/ComputeAltitudeConsign.mo2 |
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/ControlRollAngle.mo15 |
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/ControlRollAngle.mo16 |
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/PositionControl.mo29 |
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/ProSIVICToSimXInterfaceTest.mo12 |
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/QuadcopterModel.mo21 |
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/RigidBodyKinematicModel.mo9 |
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/Step_analysis.bak |
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/ComputeAltitudeConsign.mo10 |
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/ComputeAltitudeConsign.mo11 |
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/ComputeAltitudeConsign.mo12 |
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/ComputeAltitudeConsign.mo13 |
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/ComputeAltitudeConsign.mo14 |
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/ComputeAltitudeConsign.mo15 |
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/ComputeAltitudeConsign.mo16 |
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/ComputeAltitudeConsign.mo17 |
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/ComputeAltitudeConsign.mo18 |
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/ComputeAltitudeConsign.mo19 |
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/ComputeAltitudeConsign.mo20 |
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/ComputeAltitudeConsign.mo21 |
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/ComputeAltitudeConsign.mo3 |
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/ComputeAltitudeConsign.mo4 |
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/ComputeAltitudeConsign.mo5 |
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/ComputeAltitudeConsign.mo6 |
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/ComputeAltitudeConsign.mo7 |
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/ComputeAltitudeConsign.mo8 |
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/ComputeAltitudeConsign.mo9 |
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/ComputeMotorRate.mo10 |
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/ComputeMotorRate.mo11 |
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/ComputeMotorRate.mo12 |
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/ComputeMotorRate.mo13 |
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/ComputeMotorRate.mo14 |
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/ComputeMotorRate.mo15 |
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/ComputeMotorRate.mo16 |
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/ComputeMotorRate.mo17 |
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/ComputeMotorRate.mo18 |
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/ComputeMotorRate.mo19 |
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/ComputeMotorRate.mo20 |
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/ComputeMotorRate.mo21 |
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/ComputeMotorRate.mo22 |
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/ComputeMotorRate.mo23 |
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/ComputeMotorRate.mo24 |
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/ComputeMotorRate.mo25 |
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/ComputeMotorRate.mo26 |
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/ComputeMotorRate.mo27 |
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/ComputeMotorRate.mo28 |
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/ComputeMotorRate.mo29 |
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/ComputeMotorRate.mo30 |
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/ComputeMotorRate.mo31 |
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/ComputeMotorRate.mo32 |
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/ComputeMotorRate.mo33 |
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/ComputeMotorRate.mo4 |
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/ComputeMotorRate.mo5 |
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/ComputeMotorRate.mo6 |
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/ComputeMotorRate.mo7 |
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/ComputeMotorRate.mo8 |
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/ComputeMotorRate.mo9 |
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/ComputeThrustAndAttitudeConsign.mo15 |
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/ComputeThrustAndAttitudeConsign.mo16 |
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/ComputeThrustAndAttitudeConsign.mo17 |
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/ComputeThrustAndAttitudeConsign.mo18 |
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/ComputeThrustAndAttitudeConsign.mo19 |
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/ComputeThrustAndAttitudeConsign.mo20 |
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/ComputeTotalThrust.mo5 |
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/ComputeTotalThrustCA.mo11 |
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/ComputeTotalThrustCA.mo12 |
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/ComputeTotalThrustCA.mo13 |
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/ComputeTotalThrustCA.mo14 |
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/ComputeTotalThrustCA.mo15 |
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/ComputeTotalThrustCA.mo16 |
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/ComputeTotalThrustCA.mo17 |
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/ComputeTotalThrustCA.mo18 |
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/ComputeTotalThrustCA.mo19 |
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/ComputeTotalThrustCA.mo20 |
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/ComputeTotalThrustCA.mo21 |
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/ComputeTotalThrustCA.mo22 |
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/ComputeTotalThrustCA.mo23 |
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/ComputeTotalThrustCA.mo24 |
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/ControlDroneNavigation.mo29 |
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/ControlPitchAngle.mo15 |
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/ControlPitchAngle.mo16 |
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/ControlPitchAngle.mo17 |
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/ControlRollAngle.mo17 |
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/ComputationAccelerationModel.mo15 |
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/LowLevelFlightControlSystem.mo123 |
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/LowLevelFlightControlSystem.mo124 |
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/LowLevelFlightControlSystem.mo125 |
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/LowLevelFlightControlSystem.mo126 |
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/LowLevelFlightControlSystem.mo127 |
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/LowLevelFlightControlSystem.mo128 |
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/LowLevelFlightControlSystem.mo129 |
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/LowLevelFlightControlSystem.mo130 |
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/LowLevelFlightControlSystem.mo131 |
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/LowLevelFlightControlSystem.mo132 |
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/LowLevelFlightControlSystem.mo133 |
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/LowLevelFlightControlSystem.mo134 |
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/package.mo69 |
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/package.mo70 |
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/package.mo71 |
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/package.mo72 |
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/package.mo73 |
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/package.mo74 |
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/package.mo75 |
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/package.mo76 |
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/package.mo77 |
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/package.mo78 |
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/package.mo79 |
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/package.mo80 |
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/RemoteControl.mo100 |
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/RemoteControl.mo101 |
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/RemoteControl.mo102 |
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/RemoteControl.mo103 |
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/RemoteControl.mo104 |
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/RemoteControl.mo105 |
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/RemoteControl.mo106 |
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/RemoteControl.mo107 |
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/RemoteControl.mo108 |
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/RemoteControl.mo109 |
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/RemoteControl.mo110 |
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/RemoteControl.mo111 |
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/RemoteControl.mo112 |
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/RemoteControl.mo113 |
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/RemoteControl.mo98 |
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/RemoteControl.mo99 |
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/Step_analysis.mo21 |
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/Step_analysis.mo22 |
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/Step_analysis.mo23 |
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/Step_analysis.mo24 |
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/Step_analysis.mo25 |
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/Step_analysis.mo26 |
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/Step_analysis.mo27 |
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/Step_analysis.mo28 |
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/Step_analysis.mo29 |
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/Step_analysis.mo30 |
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/Step_analysis.mo31 |
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/Step_analysis.mo32 |
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/Step_analysis.mo33 |
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/Step_analysis.mo34 |
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/Step_analysis.mo35 |
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/Step_analysis.mo36 |
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/XAngularSpeedErrorModel.mo17 |
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/CreateMotion.mo4 |
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/CreateMotion.mo5 |
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/CreateMotion.mo6 |
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/CreateMotion.mo7 |
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/AttitudeControl.mo31 |
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/CreateMotion.mo8 |
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/AIDAModelica.ComputeAltitudeConsign_discrete.mo1 |
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/ComputeMotorRate.mo34 |
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/ComputeTotalThrustCA.mo25 |
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/ComputeTotalThrustCA.mo26 |
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/ComputeTotalThrustCA.mo27 |
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/ComputeTotalThrustCA.mo28 |
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/AttitudeControl.mo32 |
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/AttitudeControl.mo33 |
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/AttitudeControl.mo34 |
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/AttitudeControl.mo35 |
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/AttitudeControl.mo36 |
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/AttitudeControl.mo37 |
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/ComputeMotorRate.mo35 |
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/ComputeMotorRate.mo36 |
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/ComputeMotorRate.mo37 |
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/ComputeThrustAndAttitudeConsign.mo21 |
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/ComputeThrustAndAttitudeConsign.mo22 |
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/ComputeThrustAndAttitudeConsign.mo23 |
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/ComputeTotalThrustCA.mo29 |
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/ComputeTotalThrustCA.mo30 |
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/ControlPitchAngle.mo18 |
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/RemoteControl.mo114 |
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/RemoteControl.mo115 |
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/RemoteControl.mo116 |
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/RemoteControl.mo117 |
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/RemoteControl.mo118 |
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/RemoteControl.mo119 |
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/RemoteControl.mo120 |
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/RemoteControl.mo121 |
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/RemoteControl.mo122 |
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/RemoteControl.mo123 |
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/PositionControl.mo37 |
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/SpeedErrorModel.mo19 |
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/RunFlightPlan.mo37 |
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within AIDAModelica; |
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model LowLevelFlightControlSystem "Low level Flight Control System" |
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Modelica.Blocks.Interfaces.RealInput DronePositionConsign[3](quantity = "Mechanics.Translation.Displace", displayUnit = "m") "Desired position input" annotation( |
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Placement(transformation(extent = {{-55, 84}, {-35, 105}}), iconTransformation(extent = {{-160, 64.5}, {-140, 85.5}}))); |
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Modelica.Blocks.Interfaces.RealInput Accelerations[3] "Accelerations in Ground reference" annotation( |
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Placement(visible = true, transformation(extent = {{-135, 35}, {-115, 60}}, rotation = 0), iconTransformation(origin = {95, -125.333}, extent = {{-10, -10.5}, {10, 10.5}}, rotation = 90))); |
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Modelica.Blocks.Interfaces.RealInput AngularSpeed[3](quantity = "Mechanics.Rotation.RotVelocity", displayUnit = "rad/s") "Real angular velocities feedback input" annotation( |
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Placement(transformation(extent = {{20, -71}, {40, -50}}), iconTransformation(origin = {-100, -125}, extent = {{-10, -10.5}, {10, 10.5}}, rotation = 90))); |
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Modelica.Blocks.Interfaces.RealInput Position[3](quantity = "Mechanics.Translation.Displace", displayUnit = "m") "Real position feedback input" annotation( |
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Placement(transformation(extent = {{-71, 75}, {-51, 96}}), iconTransformation(origin = {0, -125}, extent = {{-10, -10.5}, {10, 10.5}}, rotation = 90))); |
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Modelica.Blocks.Interfaces.RealInput YawConsign(quantity = "Mechanics.Rotation.Angle", displayUnit = "rad") "Desired yaw angle input" annotation( |
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Placement(transformation(extent = {{-10, 4}, {10, 25}}), iconTransformation(extent = {{-160, -35.5}, {-140, -14.5}}))); |
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Modelica.Blocks.Interfaces.RealInput Attitude[3](quantity = "Mechanics.Rotation.Angle", displayUnit = "rad") "Real attitude feedback input" annotation( |
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Placement(transformation(extent = {{40, -96}, {60, -75}}), iconTransformation(origin = {-50, -125}, extent = {{-10, -10.5}, {10, 10.5}}, rotation = 90))); |
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Modelica.Blocks.Interfaces.RealInput Speed[3](quantity = "Mechanics.Translation.Velocity", displayUnit = "m/s") "Real velocity feedback input" annotation( |
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Placement(visible = true, transformation(extent = {{-72, 59}, {-52, 80}}, rotation = 0), iconTransformation(origin = {46, -125}, extent = {{-10, -10.5}, {10, 10.5}}, rotation = 90))); |
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Modelica.Blocks.Interfaces.RealOutput ThrottleCommand1 "Command 1 output" annotation( |
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Placement(transformation(extent = {{160, 70}, {180, 90}}), iconTransformation(extent = {{140, 65}, {160, 85}}))); |
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Modelica.Blocks.Interfaces.RealOutput ThrottleCommand2 "Command 2 output" annotation( |
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Placement(transformation(extent = {{160, 50}, {180, 70}}), iconTransformation(extent = {{140, 15}, {160, 35}}))); |
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Modelica.Blocks.Interfaces.RealOutput ThrottleCommand3 "Command 3 output" annotation( |
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Placement(transformation(extent = {{160, 30}, {180, 50}}), iconTransformation(extent = {{140, -35}, {160, -15}}))); |
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Modelica.Blocks.Interfaces.RealOutput ThrottleCommand4 "Command 4 output" annotation( |
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Placement(transformation(extent = {{160, 10}, {180, 30}}), iconTransformation(extent = {{140, -85}, {160, -65}}))); |
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Modelica.Blocks.Interfaces.RealInput RCVerticalSpeedCommand(quantity = "Mechanics.Translation.Velocity", displayUnit = "m/s") "RC vertical speed consign" annotation( |
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Placement(transformation(extent = {{-125, 79}, {-105, 100}}), iconTransformation(origin = {-75, 125}, extent = {{-10, -10.5}, {10, 10.5}}, rotation = -90))); |
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Modelica.Blocks.Interfaces.RealInput RCAttitudeCommands[2](quantity = "Mechanics.Rotation.Angle", displayUnit = "rad") "RC attitude consign" annotation( |
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Placement(transformation(extent = {{-135, 19}, {-115, 40}}), iconTransformation(origin = {-25, 125}, extent = {{-10, -10.5}, {10, 10.5}}, rotation = -90))); |
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Modelica.Blocks.Interfaces.RealInput RCYawCommand(quantity = "Mechanics.Rotation.Angle", displayUnit = "rad") "RC yaw consign" annotation( |
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Placement(transformation(extent = {{-120, -41}, {-100, -20}}), iconTransformation(origin = {25, 125}, extent = {{-10, -10.5}, {10, 10.5}}, rotation = -90))); |
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Modelica.Blocks.Interfaces.BooleanInput SelectedControlMode "Control mode" annotation( |
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Placement(transformation(extent = {{110, -30}, {130, -10}}), iconTransformation(extent = {{-170, -95}, {-130, -55}}))); |
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MotorControl motorControl1 annotation( |
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Placement(transformation(extent = {{115, 75}, {135, 85}}))); |
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MotorControl motorControl2 "Motor Control Model" annotation( |
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Placement(transformation(extent = {{115, 55}, {135, 65}}))); |
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MotorControl motorControl3 annotation( |
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Placement(transformation(extent = {{115, 35}, {135, 45}}))); |
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MotorControl motorControl4 annotation( |
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Placement(transformation(extent = {{115, 15}, {135, 25}}))); |
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AIDAModelica.AllocationControl allocationControl1 annotation( |
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Placement(visible = true, transformation(extent = {{82, 46}, {102, 71}}, rotation = 0))); |
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AIDAModelica.ControlAltitudeEx controlAltitude1 annotation( |
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Placement(visible = true, transformation(extent = {{1, 53}, {21, 73}}, rotation = 0))); |
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AttitudeControl attitudeControl1 annotation( |
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Placement(transformation(extent = {{45, 20}, {65, 40}}))); |
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PositionControl positionControl1 annotation( |
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Placement(transformation(extent = {{-20, 80}, {0, 100}}))); |
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equation |
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connect(allocationControl1.SelectedControlMode, SelectedControlMode) annotation( |
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Line(points = {{82, 51}, {75, 51}, {75, -20}, {120, -20}}, color = {255, 0, 255}, thickness = 0.0625)); |
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connect(allocationControl1.Motor4Rate, motorControl4.MotorKRate) annotation( |
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Line(points = {{102, 51}, {110, 51}, {110, 20}, {115, 20}}, color = {0, 0, 127}, thickness = 0.0625)); |
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connect(allocationControl1.Motor1Rate, motorControl1.MotorKRate) annotation( |
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Line(points = {{102, 66}, {110, 66}, {110, 80}, {115, 80}}, color = {0, 0, 127}, thickness = 0.0625)); |
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connect(allocationControl1.Motor2Rate, motorControl2.MotorKRate) annotation( |
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Line(points = {{102, 61}, {110, 61}, {110, 60}, {115, 60}}, color = {0, 0, 127}, thickness = 0.0625)); |
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connect(allocationControl1.Motor3Rate, motorControl3.MotorKRate) annotation( |
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Line(points = {{102, 56}, {108.5, 56}, {108.5, 40}, {115, 40}}, color = {0, 0, 127}, thickness = 0.0625)); |
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connect(attitudeControl1.MomentumsConsign[:], allocationControl1.MomentumsConsign[:]) annotation( |
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Line(points = {{65, 30}, {75, 30}, {75, 56}, {82, 56}}, color = {0, 0, 127}, thickness = 0.0625)); |
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connect(positionControl1.TotalThrustAP, allocationControl1.TotalThrustAP) annotation( |
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Line(points = {{0, 95}, {75, 95}, {75, 66}, {82, 66}}, color = {0, 0, 127}, thickness = 0.0625)); |
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connect(controlAltitude1.TotalThrustManual, allocationControl1.TotalThrustManual) annotation( |
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Line(points = {{21, 63}, {54.5, 63}, {54.5, 61}, {82, 61}}, color = {0, 0, 127})); |
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connect(attitudeControl1.RCYawCommand, RCYawCommand) annotation( |
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Line(points = {{46, 36}, {-106, 36}, {-106, -30}, {-110, -30}}, color = {0, 0, 127})); |
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connect(controlAltitude1.Acceleration, Accelerations[3]) annotation( |
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Line(points = {{16, 53}, {16, 47.7}, {-125, 47.7}}, color = {0, 0, 127}, thickness = 0.0625)); |
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connect(controlAltitude1.VSpeed, Speed[3]) annotation( |
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Line(points = {{6, 53}, {6, 50}, {-23.3, 50}, {-23.3, 69.7}, {-62, 69.7}}, color = {0, 0, 127})); |
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connect(controlAltitude1.RCVerticalSpeedCommand, RCVerticalSpeedCommand) annotation( |
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Line(points = {{1, 63}, {-110, 63}, {-110, 90}, {-114, 90}}, color = {0, 0, 127})); |
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connect(attitudeControl1.SelectedControlMode, SelectedControlMode) annotation( |
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Line(points = {{60, 20}, {60, 15}, {60, -20}, {115, -20}, {120, -20}}, color = {255, 0, 255}, thickness = 0.0625)); |
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connect(positionControl1.Position[:], Position[:]) annotation( |
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Line(points = {{-20, 90}, {-25, 90}, {-56, 90}, {-56, 85.7}, {-61, 85.7}}, color = {0, 0, 127}, thickness = 0.0625)); |
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connect(positionControl1.Speed[:], Speed[:]) annotation( |
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Line(points = {{-20, 85}, {-25, 85}, {-57, 85}, {-57, 69.7}, {-62, 69.7}}, color = {0, 0, 127}, thickness = 0.0625)); |
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connect(motorControl1.ThrottleCommandK, ThrottleCommand1) annotation( |
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Line(points = {{135, 80}, {140, 80}, {165, 80}, {170, 80}}, color = {0, 0, 127}, thickness = 0.0625)); |
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connect(motorControl2.ThrottleCommandK, ThrottleCommand2) annotation( |
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Line(points = {{135, 60}, {140, 60}, {165, 60}, {170, 60}}, color = {0, 0, 127}, thickness = 0.0625)); |
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connect(motorControl3.ThrottleCommandK, ThrottleCommand3) annotation( |
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Line(points = {{135, 40}, {140, 40}, {165, 40}, {170, 40}}, color = {0, 0, 127}, thickness = 0.0625)); |
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connect(motorControl4.ThrottleCommandK, ThrottleCommand4) annotation( |
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Line(points = {{135, 20}, {140, 20}, {165, 20}, {170, 20}}, color = {0, 0, 127}, thickness = 0.0625)); |
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connect(attitudeControl1.AngularSpeed[:], AngularSpeed[:]) annotation( |
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Line(points = {{50, 20}, {50, 15}, {50, -60.3}, {35, -60.3}, {30, -60.3}}, color = {0, 0, 127}, thickness = 0.0625)); |
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connect(attitudeControl1.Attitude[:], Attitude[:]) annotation( |
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Line(points = {{55, 20}, {55, 15}, {55, -85.3}, {50, -85.3}}, color = {0, 0, 127}, thickness = 0.0625)); |
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connect(attitudeControl1.YawConsign, YawConsign) annotation( |
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Line(points = {{45, 25}, {40, 25}, {5, 25}, {5, 14.7}, {0, 14.7}}, color = {0, 0, 127}, thickness = 0.0625)); |
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connect(positionControl1.DronPositionConsign[:], DronePositionConsign[:]) annotation( |
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Line(points = {{-20, 95}, {-25, 95}, {-40, 95}, {-40, 94.7}, {-45, 94.7}}, color = {0, 0, 127}, thickness = 0.0625)); |
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connect(positionControl1.Attitude[:], Attitude[:]) annotation( |
||||
Line(points = {{-15, 80}, {-15, 75}, {-15, -85.3}, {45, -85.3}, {50, -85.3}}, color = {0, 0, 127}, thickness = 0.0625)); |
||||
connect(positionControl1.AttitudeConsignAP[:], attitudeControl1.AttitudeConsignAP[:]) annotation( |
||||
Line(points = {{0, 85}, {5, 85}, {50, 85}, {50, 45}, {50, 40}}, color = {0, 0, 127}, thickness = 0.0625)); |
||||
connect(RCAttitudeCommands[:], attitudeControl1.AttitudeRCConsign[:]) annotation( |
||||
Line(points = {{-125, 29.7}, {-120, 29.7}, {40, 29.7}, {40, 30}, {45, 30}}, color = {0, 0, 127}, thickness = 0.0625)); |
||||
annotation( |
||||
DronePositionConsign(flags = 2), |
||||
AngularSpeed(flags = 2), |
||||
Position(flags = 2), |
||||
YawConsign(flags = 2), |
||||
Attitude(flags = 2), |
||||
Speed(flags = 2), |
||||
ThrottleCommand1(flags = 2), |
||||
ThrottleCommand2(flags = 2), |
||||
ThrottleCommand3(flags = 2), |
||||
ThrottleCommand4(flags = 2), |
||||
RCVerticalSpeedCommand(flags = 2), |
||||
RCAttitudeCommands(flags = 2), |
||||
RCYawCommand(flags = 2), |
||||
SelectedControlMode(flags = 2), |
||||
motorControl1(MotorKRate(flags = 2), ThrottleCommandK(flags = 2), controlMotor1(DAngVel(flags = 2), ComdKD(flags = 2))), |
||||
motorControl2(MotorKRate(flags = 2), ThrottleCommandK(flags = 2), controlMotor1(DAngVel(flags = 2), ComdKD(flags = 2))), |
||||
motorControl3(MotorKRate(flags = 2), ThrottleCommandK(flags = 2), controlMotor1(DAngVel(flags = 2), ComdKD(flags = 2))), |
||||
motorControl4(MotorKRate(flags = 2), ThrottleCommandK(flags = 2), controlMotor1(DAngVel(flags = 2), ComdKD(flags = 2))), |
||||
allocationControl1(TotalThrustAP(flags = 2), TotalThrustManual(flags = 2), MomentumsConsign(flags = 2), Motor1Rate(flags = 2), Motor2Rate(flags = 2), Motor3Rate(flags = 2), Motor4Rate(flags = 2), SelectedControlMode(flags = 2), computeMotorRate1(TotalThrust(flags = 2), MomentumConsign(flags = 2), Motor1Rate(flags = 2), Motor2Rate(flags = 2), Motor3Rate(flags = 2), Motor4Rate(flags = 2), P4(flags = 2), M4(flags = 2), AngVelVector(flags = 2), TMomVector(flags = 2), ParamCosSin(flags = 2)), SelectTotalThrustConsign(u1(flags = 2), u2(flags = 2), u3(flags = 2), y(flags = 2))), |
||||
controlAltitude1(TotalThrustManual(flags = 2), RCVerticalSpeedCommand(flags = 2), computeTotalThrustCA1(AccelerationConsign(flags = 2), TotalThrustAP(flags = 2), AC(flags = 2)), computeAltitudeConsign1(RCVerticalSpeedCommand(flags = 2), AccelerationConsign(flags = 2), PID1(u(flags = 2), y(flags = 2), P(u(flags = 2), y(flags = 2)), I(u(flags = 2), y(flags = 2)), D(u(flags = 2), y(flags = 2), x(flags = 2)), Gain(u(flags = 2), y(flags = 2)), Add(u1(flags = 2), u2(flags = 2), u3(flags = 2), y(flags = 2))), speedErrorModelSAC1(SpeedConsign(flags = 2), Speed(flags = 2), SpeedError(flags = 2), vzd(flags = 2), vz(flags = 2), ASE(flags = 2)))), |
||||
attitudeControl1(AttitudeConsignAP(flags = 2), AttitudeRCConsign(flags = 2), YawConsign(flags = 2), AngularSpeed(flags = 2), Attitude(flags = 2), MomentumsConsign(flags = 2), RCYawCommand(flags = 2), SelectedControlMode(flags = 2), controlRollAngle1(RollConsign(flags = 2), Roll(flags = 2), AngularSpeedX(flags = 2), MomentumX(flags = 2), xAngularSpeedErrorModel1(RollConsign(flags = 2), Roll(flags = 2), AngularSpeedX(flags = 2), AngularSpeedXError(flags = 2), ephi(flags = 2), wxd(flags = 2)), PID(u(flags = 2), y(flags = 2), P(u(flags = 2), y(flags = 2)), I(u(flags = 2), y(flags = 2)), D(u(flags = 2), y(flags = 2), x(flags = 2)), Gain(u(flags = 2), y(flags = 2)), Add(u1(flags = 2), u2(flags = 2), u3(flags = 2), y(flags = 2)))), controlPitchAngle1(PitchCosign(flags = 2), Pitch(flags = 2), AngularSpeedY(flags = 2), MomentumY(flags = 2), yAngularSpeedErrorModel1(PitchCosign(flags = 2), Pitch(flags = 2), AngularSpeedY(flags = 2), AngularSpeedYError(flags = 2), eteta(flags = 2), wyd(flags = 2)), PID1(u(flags = 2), y(flags = 2), P(u(flags = 2), y(flags = 2)), I(u(flags = 2), y(flags = 2)), D(u(flags = 2), y(flags = 2), x(flags = 2)), Gain(u(flags = 2), y(flags = 2)), Add(u1(flags = 2), u2(flags = 2), u3(flags = 2), y(flags = 2)))), controlYawAngle1(YawConsign(flags = 2), Yaw(flags = 2), AngularSpeedZ(flags = 2), MomentumZ(flags = 2), zAngularSpeedErrorModel1(YawCosign(flags = 2), Yaw(flags = 2), AngularSpeedZ(flags = 2), AngularSpeedZError(flags = 2), eyaw(flags = 2), wzd(flags = 2)), PID2(u(flags = 2), y(flags = 2), P(u(flags = 2), y(flags = 2)), I(u(flags = 2), y(flags = 2)), D(u(flags = 2), y(flags = 2), x(flags = 2)), Gain(u(flags = 2), y(flags = 2)), Add(u1(flags = 2), u2(flags = 2), u3(flags = 2), y(flags = 2)))), SelectRollConsign(u1(flags = 2), u2(flags = 2), u3(flags = 2), y(flags = 2)), SelectPitchConsign(u1(flags = 2), u2(flags = 2), u3(flags = 2), y(flags = 2)), computeYawConsign(u1(flags = 2), u2(flags = 2), y(flags = 2))), |
||||
positionControl1(DronPositionConsign(flags = 2), Position(flags = 2), TotalThrustAP(flags = 2), AttitudeConsignAP(flags = 2), Attitude(flags = 2), Speed(flags = 2), controlPosition1(DronePositionConsign(flags = 2), Position(flags = 2), NavigationSpeedConsign(flags = 2), DHP(flags = 2), HP(flags = 2), DZP(flags = 2), ZP(flags = 2), HNSC(flags = 2), ASC(flags = 2)), controlSpeed1(SpeedConsign(flags = 2), Speed(flags = 2), AccelerationConsign(flags = 2), speedErrorModel1(SpeedConsign(flags = 2), Speed(flags = 2), SpeedError(flags = 2), vhd(flags = 2), vh(flags = 2), vzd(flags = 2), vz(flags = 2), HSE(flags = 2), ASE(flags = 2)), PID(u(flags = 2), y(flags = 2), P(u(flags = 2), y(flags = 2)), I(u(flags = 2), y(flags = 2)), D(u(flags = 2), y(flags = 2), x(flags = 2)), Gain(u(flags = 2), y(flags = 2)), Add(u1(flags = 2), u2(flags = 2), u3(flags = 2), y(flags = 2))), PID2(u(flags = 2), y(flags = 2), P(u(flags = 2), y(flags = 2)), I(u(flags = 2), y(flags = 2)), D(u(flags = 2), y(flags = 2), x(flags = 2)), Gain(u(flags = 2), y(flags = 2)), Add(u1(flags = 2), u2(flags = 2), u3(flags = 2), y(flags = 2))), PID1(u(flags = 2), y(flags = 2), P(u(flags = 2), y(flags = 2)), I(u(flags = 2), y(flags = 2)), D(u(flags = 2), y(flags = 2), x(flags = 2)), Gain(u(flags = 2), y(flags = 2)), Add(u1(flags = 2), u2(flags = 2), u3(flags = 2), y(flags = 2)))), computeThrustAndAttitudeConsign1(AccelerationConsign(flags = 2), Attitude(flags = 2), AttitudeAPConsigns(flags = 2), TotalThrustAP(flags = 2), HAC(flags = 2), Rpsi(flags = 2), Apsi(flags = 2), InvApsi(flags = 2), AAC(flags = 2)), selectSpeedConsign1(NavigationVelocityConsign(flags = 2), VelocityConsign(flags = 2))), |
||||
Icon(coordinateSystem(extent = {{-150, -125}, {150, 125}}, initialScale = 0.1), graphics = {Rectangle(fillColor = {255, 255, 255}, fillPattern = FillPattern.Solid, extent = {{-150, 126.7}, {150, -126.7}}), Text(origin = {0, 18}, extent = {{-88, 26}, {88, -26}}, textString = "%name")}), |
||||
experiment(StopTime = 1, StartTime = 0, Interval = 0.002, MaxInterval = "0.001")); |
||||
end LowLevelFlightControlSystem; |
||||
@ -0,0 +1,514 @@
@@ -0,0 +1,514 @@
|
||||
within AIDAModelica; |
||||
class ModelicaLicense2 "Modelica License 2" |
||||
|
||||
annotation (Documentation(info="<html> |
||||
<head> |
||||
<title>The Modelica License 2</title> |
||||
<style type=\"text/css\"> |
||||
* { font-size: 10pt; font-family: Arial,sans-serif; } |
||||
code { font-size: 9pt; font-family: Courier,monospace;} |
||||
h6 { font-size: 10pt; font-weight: bold; color: green; } |
||||
h5 { font-size: 11pt; font-weight: bold; color: green; } |
||||
h4 { font-size: 13pt; font-weight: bold; color: green; } |
||||
address { font-weight: normal} |
||||
td { solid #000; vertical-align:top; } |
||||
th { solid #000; vertical-align:top; font-weight: bold; } |
||||
table { solid #000; border-collapse: collapse;} |
||||
</style> |
||||
</head> |
||||
<body lang=\"en-US\"> |
||||
<p>All files in this directory and in all subdirectories are released under |
||||
the "Modelica License 2" (if not explicitly noted |
||||
otherwise).</p> |
||||
<p><a href=\"#The_Modelica_License_2-outline\">The Modelica |
||||
License 2</a><br> |
||||
<a href=\"#How_to_Apply_the_Modelica_License_2-outline\">How to Apply the |
||||
Modelica License 2</a><br> |
||||
<a href=\"#Frequently_Asked_Questions-outline\">Frequently Asked |
||||
Questions</a><br></p> |
||||
<hr> |
||||
<h4><a name=\"The_Modelica_License_2-outline\" id= |
||||
\"The_Modelica_License_2-outline\"></a>The Modelica License 2</h4> |
||||
<p><strong>Preamble.</strong> The goal of this license is that Modelica |
||||
related model libraries, software, images, documents, data files etc. can |
||||
be used freely in the original or a modified form, in open source and in |
||||
commercial environments (as long as the license conditions below are |
||||
fulfilled, in particular sections 2c) and 2d). The Original Work is |
||||
provided free of charge and the use is completely at your own risk. |
||||
Developers of free Modelica packages are encouraged to utilize this license |
||||
for their work.</p> |
||||
<p>The Modelica License applies to any Original Work that contains the |
||||
following licensing notice adjacent to the copyright notice(s) for this |
||||
Original Work:</p> |
||||
<p><strong>Licensed by <name of Licensor> under the Modelica |
||||
License 2</strong></p> |
||||
<p><strong>1. Definitions.</strong></p> |
||||
<ol type=\"a\"> |
||||
<li>"License" is this Modelica License.</li> |
||||
<li>"Original Work" is any work of authorship, including |
||||
software, images, documents, data files, that contains the above |
||||
licensing notice or that is packed together with a licensing notice |
||||
referencing it.</li> |
||||
<li>"Licensor" is the provider of the Original Work who has |
||||
placed this licensing notice adjacent to the copyright notice(s) for |
||||
the Original Work. The Original Work is either directly provided by the |
||||
owner of the Original Work, or by a licensee of the owner.</li> |
||||
<li>"Derivative Work" is any modification of the Original |
||||
Work which represents, as a whole, an original work of authorship. For |
||||
the matter of clarity and as examples: |
||||
<ol type=\"a\"> |
||||
<li>Derivative Work shall not include work that remains |
||||
separable from the Original Work, as well as merely extracting |
||||
a part of the Original Work without modifying it.</li> |
||||
<li>Derivative Work shall not include (a) fixing of errors |
||||
and/or (b) adding vendor specific Modelica annotations and/or |
||||
(c) using a subset of the classes of a Modelica package, and/or |
||||
(d) using a different representation, e.g., a binary |
||||
representation.</li> |
||||
<li>Derivative Work shall include classes that are copied from |
||||
the Original Work where declarations, equations or the |
||||
documentation are modified.</li> |
||||
<li>Derivative Work shall include executables to simulate the |
||||
models that are generated by a Modelica translator based on the |
||||
Original Work (of a Modelica package).</li> |
||||
</ol> |
||||
</li> |
||||
<li>"Modified Work" is any modification of the Original |
||||
Work with the following exceptions: (a) fixing of errors and/or (b) |
||||
adding vendor specific Modelica annotations and/or (c) using a subset |
||||
of the classes of a Modelica package, and/or (d) using a different |
||||
representation, e.g., a binary representation.</li> |
||||
<li>"Source Code" means the preferred form of the Original |
||||
Work for making modifications to it and all available documentation |
||||
describing how to modify the Original Work.</li> |
||||
<li>"You" means an individual or a legal entity exercising |
||||
rights under, and complying with all of the terms of, this |
||||
License.</li> |
||||
<li>"Modelica package" means any Modelica library that is |
||||
defined with the |
||||
"<code><strong>package</strong> <Name> ... <strong>end</strong> <Name>;</code>" |
||||
Modelica language element.</li> |
||||
</ol> |
||||
<p><strong>2. Grant of Copyright License.</strong> Licensor grants You a |
||||
worldwide, royalty-free, non-exclusive, sublicensable license, for the |
||||
duration of the copyright, to do the following:</p> |
||||
<ol type=\"a\"> |
||||
<li> |
||||
<p>To reproduce the Original Work in copies, either alone or as |
||||
part of a collection.</p> |
||||
</li> |
||||
<li> |
||||
<p>To create Derivative Works according to Section 1d) of this |
||||
License.</p> |
||||
</li> |
||||
<li> |
||||
<p>To distribute or communicate to the public copies of the |
||||
<u>Original Work</u> or a <u>Derivative Work</u> under <u>this |
||||
License</u>. No fee, neither as a copyright-license fee, nor as a |
||||
selling fee for the copy as such may be charged under this License. |
||||
Furthermore, a verbatim copy of this License must be included in |
||||
any copy of the Original Work or a Derivative Work under this |
||||
License.<br> |
||||
For the matter of clarity, it is permitted A) to distribute or |
||||
communicate such copies as part of a (possible commercial) |
||||
collection where other parts are provided under different licenses |
||||
and a license fee is charged for the other parts only and B) to |
||||
charge for mere printing and shipping costs.</p> |
||||
</li> |
||||
<li> |
||||
<p>To distribute or communicate to the public copies of a |
||||
<u>Derivative Work</u>, alternatively to Section 2c), under |
||||
<u>any other license</u> of your choice, especially also under a |
||||
license for commercial/proprietary software, as long as You comply |
||||
with Sections 3, 4 and 8 below.<br> |
||||
For the matter of clarity, no restrictions regarding fees, either |
||||
as to a copyright-license fee or as to a selling fee for the copy |
||||
as such apply.</p> |
||||
</li> |
||||
<li> |
||||
<p>To perform the Original Work publicly.</p> |
||||
</li> |
||||
<li> |
||||
<p>To display the Original Work publicly.</p> |
||||
</li> |
||||
</ol> |
||||
<p><strong>3. Acceptance.</strong> Any use of the Original Work or a |
||||
Derivative Work, or any action according to either Section 2a) to 2f) |
||||
above constitutes Your acceptance of this License.</p> |
||||
<p><strong>4. Designation of Derivative Works and of Modified |
||||
Works.</strong> The identifying designation of Derivative Work and of |
||||
Modified Work must be different to the corresponding identifying |
||||
designation of the Original Work. This means especially that the |
||||
(root-level) name of a Modelica package under this license must be changed |
||||
if the package is modified (besides fixing of errors, adding vendor |
||||
specific Modelica annotations, using a subset of the classes of a Modelica |
||||
package, or using another representation, e.g. a binary |
||||
representation).</p> |
||||
<p><strong>5. Grant of Patent License.</strong> Licensor grants You a |
||||
worldwide, royalty-free, non-exclusive, sublicensable license, under patent |
||||
claims owned by the Licensor or licensed to the Licensor by the owners of |
||||
the Original Work that are embodied in the Original Work as furnished by |
||||
the Licensor, for the duration of the patents, to make, use, sell, offer |
||||
for sale, have made, and import the Original Work and Derivative Works |
||||
under the conditions as given in Section 2. For the matter of clarity, |
||||
the license regarding Derivative Works covers patent claims to the extent |
||||
as they are embodied in the Original Work only.</p> |
||||
<p><strong>6. Provision of Source Code.</strong> Licensor agrees to provide |
||||
You with a copy of the Source Code of the Original Work but reserves the |
||||
right to decide freely on the manner of how the Original Work is |
||||
provided.<br> |
||||
For the matter of clarity, Licensor |
||||
might provide only a binary representation of the Original Work. In that |
||||
case, You may (a) either reproduce the Source Code from the binary |
||||
representation if this is possible (e.g., by performing a copy of an |
||||
encrypted Modelica package, if encryption allows the copy operation) or (b) |
||||
request the Source Code from the Licensor who will provide it to You.</p> |
||||
<p><strong>7. Exclusions from License Grant.</strong> Neither the names of |
||||
Licensor, nor the names of any contributors to the Original Work, nor any |
||||
of their trademarks or service marks, may be used to endorse or promote |
||||
products derived from this Original Work without express prior permission |
||||
of the Licensor. Except as otherwise expressly stated in this License and |
||||
in particular in Sections 2 and 5, nothing in this License grants any |
||||
license to Licensor's trademarks, copyrights, patents, trade secrets or any |
||||
other intellectual property, and no patent license is granted to make, use, |
||||
sell, offer for sale, have made, or import embodiments of any patent |
||||
claims.<br> |
||||
No license is granted to the trademarks |
||||
of Licensor even if such trademarks are included in the Original Work, |
||||
except as expressly stated in this License. Nothing in this License shall |
||||
be interpreted to prohibit Licensor from licensing under terms different |
||||
from this License any Original Work that Licensor otherwise would have a |
||||
right to license.</p> |
||||
<p><strong>8. Attribution Rights.</strong> You must retain in the Source |
||||
Code of the Original Work and of any Derivative Works that You create, all |
||||
author, copyright, patent, or trademark notices, as well as any descriptive |
||||
text identified therein as an "Attribution Notice". The same |
||||
applies to the licensing notice of this License in the Original Work. For |
||||
the matter of clarity, "author notice" means the notice that |
||||
identifies the original author(s).<br> |
||||
You must cause the Source Code for any |
||||
Derivative Works that You create to carry a prominent Attribution Notice |
||||
reasonably calculated to inform recipients that You have modified the |
||||
Original Work.<br> |
||||
In case the Original Work or Derivative |
||||
Work is not provided in Source Code, the Attribution Notices shall be |
||||
appropriately displayed, e.g., in the documentation of the Derivative |
||||
Work.</p> |
||||
<p><strong>9. Disclaimer of Warranty.<br></strong> <u><strong>The Original |
||||
Work is provided under this License on an "as is" basis and |
||||
without warranty, either express or implied, including, without limitation, |
||||
the warranties of non-infringement, merchantability or fitness for a |
||||
particular purpose. The entire risk as to the quality of the Original Work |
||||
is with You.</strong></u> This disclaimer of warranty constitutes an |
||||
essential part of this License. No license to the Original Work is granted |
||||
by this License except under this disclaimer.</p> |
||||
<p><strong>10. Limitation of Liability.</strong> Under no circumstances and |
||||
under no legal theory, whether in tort (including negligence), contract, or |
||||
otherwise, shall the Licensor, the owner or a licensee of the Original Work |
||||
be liable to anyone for any direct, indirect, general, special, incidental, |
||||
or consequential damages of any character arising as a result of this |
||||
License or the use of the Original Work including, without limitation, |
||||
damages for loss of goodwill, work stoppage, computer failure or |
||||
malfunction, or any and all other commercial damages or losses. This |
||||
limitation of liability shall not apply to the extent applicable law |
||||
prohibits such limitation.</p> |
||||
<p><strong>11. Termination.</strong> This License conditions your rights to |
||||
undertake the activities listed in Section 2 and 5, including your |
||||
right to create Derivative Works based upon the Original Work, and doing so |
||||
without observing these terms and conditions is prohibited by copyright law |
||||
and international treaty. Nothing in this License is intended to affect |
||||
copyright exceptions and limitations. This License shall terminate |
||||
immediately and You may no longer exercise any of the rights granted to You |
||||
by this License upon your failure to observe the conditions of this |
||||
license.</p> |
||||
<p><strong>12. Termination for Patent Action.</strong> This License shall |
||||
terminate automatically and You may no longer exercise any of the rights |
||||
granted to You by this License as of the date You commence an action, |
||||
including a cross-claim or counterclaim, against Licensor, any owners of |
||||
the Original Work or any licensee alleging that the Original Work infringes |
||||
a patent. This termination provision shall not apply for an action alleging |
||||
patent infringement through combinations of the Original Work under |
||||
combination with other software or hardware.</p> |
||||
<p><strong>13. Jurisdiction.</strong> Any action or suit relating to this |
||||
License may be brought only in the courts of a jurisdiction wherein the |
||||
Licensor resides and under the laws of that jurisdiction excluding its |
||||
conflict-of-law provisions. The application of the United Nations |
||||
Convention on Contracts for the International Sale of Goods is expressly |
||||
excluded. Any use of the Original Work outside the scope of this License or |
||||
after its termination shall be subject to the requirements and penalties of |
||||
copyright or patent law in the appropriate jurisdiction. This section shall |
||||
survive the termination of this License.</p> |
||||
<p><strong>14. Attorneys' Fees.</strong> In any action to enforce the terms |
||||
of this License or seeking damages relating thereto, the prevailing party |
||||
shall be entitled to recover its costs and expenses, including, without |
||||
limitation, reasonable attorneys' fees and costs incurred in connection |
||||
with such action, including any appeal of such action. This section shall |
||||
survive the termination of this License.</p> |
||||
<p><strong>15. Miscellaneous.</strong></p> |
||||
<ol type=\"a\"> |
||||
<li>If any provision of this License is held to be unenforceable, such |
||||
provision shall be reformed only to the extent necessary to make it |
||||
enforceable.</li> |
||||
<li>No verbal ancillary agreements have been made. Changes and |
||||
additions to this License must appear in writing to be valid. This also |
||||
applies to changing the clause pertaining to written form.</li> |
||||
<li>You may use the Original Work in all ways not otherwise restricted |
||||
or conditioned by this License or by law, and Licensor promises not to |
||||
interfere with or be responsible for such uses by You.</li> |
||||
</ol> |
||||
<hr> |
||||
<h4><a name=\"How_to_Apply_the_Modelica_License_2-outline\" id= |
||||
\"How_to_Apply_the_Modelica_License_2-outline\"></a> How to Apply the |
||||
Modelica License 2</h4> |
||||
<p>At the top level of your Modelica package and at every important |
||||
subpackage, add the following notices in the info layer of the package:</p> |
||||
<p>Licensed by <Licensor> under the Modelica License 2<br> |
||||
Copyright © <year1>-<year2>, <name of copyright |
||||
holder(s)>.</p> |
||||
<p><em>This Modelica package is <u>free</u> software and the use is |
||||
completely at <u>your own risk</u>; it can be redistributed and/or modified |
||||
under the terms of the Modelica License 2. For license conditions |
||||
(including the disclaimer of warranty) see <a href= |
||||
\"modelica://Modelica.UsersGuide.ModelicaLicense2\">Modelica.UsersGuide.ModelicaLicense2</a> |
||||
or visit <a href= |
||||
\"http://www.modelica.org/licenses/ModelicaLicense2\">http://www.modelica.org/licenses/ModelicaLicense2</a>.</em></p> |
||||
<p>Include a copy of the Modelica License 2 under |
||||
<strong><library>.UsersGuide.ModelicaLicense2</strong> (use <a href= |
||||
\"http://www.modelica.org/licenses/ModelicaLicense2.mo\">http://www.modelica.org/licenses/ModelicaLicense2.mo</a>). |
||||
Furthermore, add the list of authors and contributors under |
||||
<strong><library>.UsersGuide.Contributors</strong> or |
||||
<strong><library>.UsersGuide.Contact</strong>.</p> |
||||
<p>For example, sublibrary Modelica.Blocks of the Modelica Standard Library |
||||
may have the following notices:</p> |
||||
<p>Licensed by Modelica Association under the Modelica License 2<br> |
||||
Copyright © 1998-2008, Modelica Association.</p> |
||||
<p><em>This Modelica package is <u>free</u> software and the use is |
||||
completely at <u>your own risk</u>; it can be redistributed and/or modified |
||||
under the terms of the Modelica License 2. For license conditions |
||||
(including the disclaimer of warranty) see <a href= |
||||
\"modelica://Modelica.UsersGuide.ModelicaLicense2\">Modelica.UsersGuide.ModelicaLicense2</a> |
||||
or visit <a href= |
||||
\"http://www.modelica.org/licenses/ModelicaLicense2\">http://www.modelica.org/licenses/ModelicaLicense2</a>.</em></p> |
||||
<p>For C-source code and documents, add similar notices in the |
||||
corresponding file.</p> |
||||
<p>For images, add a "readme.txt" file to the directories where |
||||
the images are stored and include a similar notice in this file.</p> |
||||
<p>In these cases, save a copy of the Modelica License 2 in one |
||||
directory of the distribution, e.g., <a href= |
||||
\"http://www.modelica.org/licenses/ModelicaLicense2.html\">http://www.modelica.org/licenses/ModelicaLicense2.html</a> |
||||
in directory |
||||
<strong><library>/Resources/Documentation/ModelicaLicense2.html</strong>.</p> |
||||
<hr> |
||||
<h5><a name=\"Frequently_Asked_Questions-outline\" id= |
||||
\"Frequently_Asked_Questions-outline\"></a> Frequently Asked Questions</h5> |
||||
<p>This section contains questions/answer to users and/or distributors of |
||||
Modelica packages and/or documents under Modelica License 2. Note, the |
||||
answers to the questions below are not a legal interpretation of the |
||||
Modelica License 2. In case of a conflict, the language of the license |
||||
shall prevail.</p> |
||||
<h6>Using or Distributing a Modelica <u>Package</u> under the Modelica |
||||
License 2</h6> |
||||
<p><strong>What are the main differences to the previous version of the |
||||
Modelica License?</strong></p> |
||||
<ol> |
||||
<li> |
||||
<p>Modelica License 1 is unclear whether the licensed Modelica |
||||
package can be distributed under a different license. |
||||
Version 2 explicitly allows that "Derivative Work" |
||||
can be distributed under any license of Your choice, see examples |
||||
in Section 1d) as to what qualifies as Derivative Work (so, |
||||
version 2 is clearer).</p> |
||||
</li> |
||||
<li> |
||||
<p>If You modify a Modelica package under Modelica License 2 |
||||
(besides fixing of errors, adding vendor specific Modelica |
||||
annotations, using a subset of the classes of a Modelica package, |
||||
or using another representation, e.g., a binary representation), |
||||
you must rename the root-level name of the package for your |
||||
distribution. In version 1 you could keep the name (so, |
||||
version 2 is more restrictive). The reason of this restriction |
||||
is to reduce the risk that Modelica packages are available that |
||||
have identical names, but different functionality.</p> |
||||
</li> |
||||
<li> |
||||
<p>Modelica License 1 states that "It is not allowed to |
||||
charge a fee for the original version or a modified version of the |
||||
software, besides a reasonable fee for distribution and |
||||
support". Version 2 has a similar intention for all |
||||
Original Work under <u>Modelica License 2</u> (to remain free |
||||
of charge and open source) but states this more clearly as |
||||
"No fee, neither as a copyright-license fee, nor as a selling |
||||
fee for the copy as such may be charged". Contrary to |
||||
version 1, Modelica License 2 has no restrictions on fees |
||||
for Derivative Work that is provided under a different license (so, |
||||
version 2 is clearer and has fewer restrictions).</p> |
||||
</li> |
||||
<li> |
||||
<p>Modelica License 2 introduces several useful provisions for |
||||
the licensee (articles 5, 6, 12), and for the licensor |
||||
(articles 7, 12, 13, 14) that have no counter part in |
||||
version 1.</p> |
||||
</li> |
||||
<li> |
||||
<p>Modelica License 2 can be applied to all type of work, |
||||
including documents, images and data files, contrary to |
||||
version 1 that was dedicated for software only (so, |
||||
version 2 is more general).</p> |
||||
</li> |
||||
</ol> |
||||
<p><strong>Can I distribute a Modelica package (under Modelica |
||||
License 2) as part of my commercial Modelica modeling and simulation |
||||
environment?</strong></p> |
||||
<p>Yes, according to Section 2c). However, you are not allowed to |
||||
charge a fee for this part of your environment. Of course, you can charge |
||||
for your part of the environment.</p> |
||||
<p><strong>Can I distribute a Modelica package (under Modelica |
||||
License 2) under a different license?</strong></p> |
||||
<p>No. The license of an unmodified Modelica package cannot be changed |
||||
according to Sections 2c) and 2d). This means that you cannot |
||||
<u>sell</u> copies of it, any distribution has to be free of charge.</p> |
||||
<p><strong>Can I distribute a Modelica package (under Modelica |
||||
License 2) under a different license when I first encrypt the |
||||
package?</strong></p> |
||||
<p>No. Merely encrypting a package does not qualify for Derivative Work and |
||||
therefore the encrypted package has to stay under Modelica |
||||
License 2.</p> |
||||
<p><strong>Can I distribute a Modelica package (under Modelica |
||||
License 2) under a different license when I first add classes to the |
||||
package?</strong></p> |
||||
<p>No. The package itself remains unmodified, i.e., it is Original Work, |
||||
and therefore the license for this part must remain under Modelica |
||||
License 2. The newly added classes can be, however, under a different |
||||
license.</p> |
||||
<p><strong>Can I copy a class out of a Modelica package (under Modelica |
||||
License 2) and include it</strong> <u><strong>unmodified</strong></u> |
||||
<strong>in a Modelica package under a</strong> |
||||
<u><strong>commercial/proprietary</strong></u> |
||||
<strong>license?</strong></p> |
||||
<p>No, according to article 2c). However, you can include model, |
||||
block, function, package, record and connector classes in your Modelica |
||||
package under <u>Modelica License 2</u>. This means that your Modelica |
||||
package could be under a commercial/proprietary license, but one or more |
||||
classes of it are under Modelica License 2.<br> |
||||
Note, a "type" class (e.g., type Angle = |
||||
Real(unit="rad")) can be copied and included unmodified under a |
||||
commercial/proprietary license (for details, see the next question).</p> |
||||
<p><strong>Can I copy a type class or</strong> <u><strong>part</strong></u> |
||||
<strong>of a model, block, function, record, connector class, out of a |
||||
Modelica package (under Modelica License 2) and include it modified or |
||||
unmodified in a Modelica package under a</strong> |
||||
<u><strong>commercial/proprietary</strong></u> |
||||
<strong>license?</strong></p> |
||||
<p>Yes, according to article 2d), since this will in the end usually |
||||
qualify as Derivative Work. The reasoning is the following: A type class or |
||||
part of another class (e.g., an equation, a declaration, part of a class |
||||
description) cannot be utilized "by its own". In order to make |
||||
this "usable", you have to add additional code in order that |
||||
the class can be utilized. This is therefore usually Derivative Work and |
||||
Derivative Work can be provided under a different license. Note, this only |
||||
holds, if the additional code introduced is sufficient to qualify for |
||||
Derivative Work. Merely, just copying a class and changing, say, one |
||||
character in the documentation of this class would be no Derivative Work |
||||
and therefore the copied code would have to stay under Modelica |
||||
License 2.</p> |
||||
<p><strong>Can I copy a class out of a Modelica package (under Modelica |
||||
License 2) and include it in</strong> <u><strong>modified</strong></u> |
||||
<strong>form in a</strong> <u><strong>commercial/proprietary</strong></u> |
||||
<strong>Modelica package?</strong></p> |
||||
<p>Yes. If the modification can be seen as a "Derivative Work", |
||||
you can place it under your commercial/proprietary license. If the |
||||
modification does not qualify as "Derivative Work" (e.g., bug |
||||
fixes, vendor specific annotations), it must remain under Modelica |
||||
License 2. This means that your Modelica package could be under a |
||||
commercial/proprietary license, but one or more parts of it are under |
||||
Modelica License 2.</p> |
||||
<p><strong>Can I distribute a "save total model" under my |
||||
commercial/proprietary license, even if classes under Modelica |
||||
License 2 are included?</strong></p> |
||||
<p>Your classes of the "save total model" can be distributed |
||||
under your commercial/proprietary license, but the classes under Modelica |
||||
License 2 must remain under Modelica License 2. This means you |
||||
can distribute a "save total model", but some parts might be |
||||
under Modelica License 2.</p> |
||||
<p><strong>Can I distribute a Modelica package (under Modelica |
||||
License 2) in encrypted form?</strong></p> |
||||
<p>Yes. Note, if the encryption does not allow "copying" of |
||||
classes (in to unencrypted Modelica source code), you have to send the |
||||
Modelica source code of this package to your customer, if he/she wishes it, |
||||
according to article 6.</p> |
||||
<p><strong>Can I distribute an executable under my commercial/proprietary |
||||
license, if the model from which the executable is generated uses models |
||||
from a Modelica package under Modelica License 2?</strong></p> |
||||
<p>Yes, according to article 2d), since this is seen as Derivative |
||||
Work. The reasoning is the following: An executable allows the simulation |
||||
of a concrete model, whereas models from a Modelica package (without |
||||
pre-processing, translation, tool run-time library) are not able to be |
||||
simulated without tool support. By the processing of the tool and by its |
||||
run-time libraries, significant new functionality is added (a model can be |
||||
simulated whereas previously it could not be simulated) and functionality |
||||
available in the package is removed (e.g., to build up a new model by |
||||
dragging components of the package is no longer possible with the |
||||
executable).</p> |
||||
<p><strong>Is my modification to a Modelica package (under Modelica |
||||
License 2) a Derivative Work?</strong></p> |
||||
<p>It is not possible to give a general answer to it. To be regarded as |
||||
"an original work of authorship", a derivative work must be |
||||
different enough from the original or must contain a substantial amount of |
||||
new material. Making minor changes or additions of little substance to a |
||||
preexisting work will not qualify the work as a new version for such |
||||
purposes.</p> |
||||
<h6>Using or Distributing a Modelica <u>Document</u> under the Modelica |
||||
License 2</h6> |
||||
<p>This section is devoted especially for the following applications:</p> |
||||
<ol type=\"a\"> |
||||
<li> |
||||
<p>A Modelica tool extracts information out of a Modelica package |
||||
and presents the result in form of a "manual" for this |
||||
package in, e.g., html, doc, or pdf format.</p> |
||||
</li> |
||||
<li> |
||||
<p>The Modelica language specification is a document defining the |
||||
Modelica language. It will be licensed under Modelica |
||||
License 2.</p> |
||||
</li> |
||||
<li> |
||||
<p>Someone writes a book about the Modelica language and/or |
||||
Modelica packages and uses information which is available in the |
||||
Modelica language specification and/or the corresponding Modelica |
||||
package.</p> |
||||
</li> |
||||
</ol> |
||||
<p><strong>Can I sell a manual that was basically derived by extracting |
||||
information automatically from a Modelica package under Modelica |
||||
License 2 (e.g., a "reference guide" of the Modelica |
||||
Standard Library)?</strong></p> |
||||
<p>Yes. Extracting information from a Modelica package, and providing it in |
||||
a human readable, suitable format, like html, doc or pdf format, where the |
||||
content is significantly modified (e.g. tables with interface information |
||||
are constructed from the declarations of the public variables) qualifies as |
||||
Derivative Work and there are no restrictions to charge a fee for |
||||
Derivative Work under alternative 2d).</p> |
||||
<p><strong>Can I copy a text passage out of a Modelica document (under |
||||
Modelica License 2) and use it</strong> |
||||
<u><strong>unmodified</strong></u> <strong>in my document (e.g. the |
||||
Modelica syntax description in the Modelica Specification)?</strong></p> |
||||
<p>Yes. In case you distribute your document, the copied parts are still |
||||
under Modelica License 2 and you are not allowed to charge a license |
||||
fee for this part. You can, of course, charge a fee for the rest of your |
||||
document.</p> |
||||
<p><strong>Can I copy a text passage out of a Modelica document (under |
||||
Modelica License 2) and use it in</strong> |
||||
<u><strong>modified</strong></u> <strong>form in my document?</strong></p> |
||||
<p>Yes, the creation of Derivative Works is allowed. In case the content is |
||||
significantly modified this qualifies as Derivative Work and there are no |
||||
restrictions to charge a fee for Derivative Work under |
||||
alternative 2d).</p> |
||||
<p><strong>Can I sell a printed version of a Modelica document (under |
||||
Modelica License 2), e.g., the Modelica Language |
||||
Specification?</strong></p> |
||||
<p>No, if you are not the copyright-holder, since article 2c) does not |
||||
allow a selling fee for a (in this case physical) copy. However, mere |
||||
printing and shipping costs may be recovered.</p> |
||||
</body> |
||||
</html>")); |
||||
end ModelicaLicense2; |
||||
@ -0,0 +1,134 @@
@@ -0,0 +1,134 @@
|
||||
within AIDAModelica; |
||||
block PID_discrete "PID-controller in additive description form" |
||||
import Modelica.Blocks.Types.InitPID; |
||||
import Modelica.Blocks.Types.Init; |
||||
extends Modelica.Blocks.Interfaces.SISO; |
||||
parameter Real k(unit = "1") = 1 "Gain"; |
||||
parameter SIunits.Time Ti(min = Modelica.Constants.small, start = 0.5) "Time Constant of Integrator"; |
||||
parameter SIunits.Time Td(min = 0, start = 0.1) "Time Constant of Derivative block"; |
||||
parameter Real Nd(min = Modelica.Constants.small) = 10 "The higher Nd, the more ideal the derivative block"; |
||||
parameter Modelica.Blocks.Types.InitPID initType = Modelica.Blocks.Types.InitPID.DoNotUse_InitialIntegratorState "Type of initialization (1: no init, 2: steady state, 3: initial state, 4: initial output)" annotation( |
||||
Evaluate = true, |
||||
Dialog(group = "Initialization")); |
||||
parameter Real xi_start = 0 "Initial or guess value value for integrator output (= integrator state)" annotation( |
||||
Dialog(group = "Initialization")); |
||||
parameter Real xd_start = 0 "Initial or guess value for state of derivative block" annotation( |
||||
Dialog(group = "Initialization")); |
||||
parameter Real y_start = 0 "Initial value of output" annotation( |
||||
Dialog(enable = initType == InitPID.InitialOutput, group = "Initialization")); |
||||
constant SI.Time unitTime = 1 annotation( |
||||
HideResult = true); |
||||
Blocks.Math.Gain P(k = 1) "Proportional part of PID controller" annotation( |
||||
Placement(transformation(extent = {{-60, 60}, {-20, 100}}))); |
||||
Blocks.Continuous.Integrator I(k = unitTime / Ti, y_start = xi_start, initType = if initType == InitPID.SteadyState then Init.SteadyState else if initType == InitPID.InitialState or initType == InitPID.DoNotUse_InitialIntegratorState then Init.InitialState else Init.NoInit) "Integral part of PID controller" annotation( |
||||
Placement(transformation(extent = {{-60, -20}, {-20, 20}}))); |
||||
Blocks.Continuous.Derivative D(k = Td / unitTime, T = max([Td / Nd, 100 * Modelica.Constants.eps]), x_start = xd_start, initType = if initType == InitPID.SteadyState or initType == InitPID.InitialOutput then Init.SteadyState else if initType == InitPID.InitialState then Init.InitialState else Init.NoInit) "Derivative part of PID controller" annotation( |
||||
Placement(transformation(extent = {{-60, -100}, {-20, -60}}))); |
||||
Blocks.Math.Gain Gain(k = k) "Gain of PID controller" annotation( |
||||
Placement(transformation(extent = {{60, -10}, {80, 10}}))); |
||||
Blocks.Math.Add3 Add annotation( |
||||
Placement(transformation(extent = {{20, -10}, {40, 10}}))); |
||||
initial equation |
||||
if initType == InitPID.InitialOutput then |
||||
y = y_start; |
||||
end if; |
||||
equation |
||||
connect(u, P.u) annotation( |
||||
Line(points = {{-120, 0}, {-80, 0}, {-80, 80}, {-64, 80}}, color = {0, 0, 127})); |
||||
connect(u, I.u) annotation( |
||||
Line(points = {{-120, 0}, {-64, 0}}, color = {0, 0, 127})); |
||||
connect(u, D.u) annotation( |
||||
Line(points = {{-120, 0}, {-80, 0}, {-80, -80}, {-64, -80}}, color = {0, 0, 127})); |
||||
connect(P.y, Add.u1) annotation( |
||||
Line(points = {{-18, 80}, {0, 80}, {0, 8}, {18, 8}}, color = {0, 0, 127})); |
||||
connect(I.y, Add.u2) annotation( |
||||
Line(points = {{-18, 0}, {18, 0}}, color = {0, 0, 127})); |
||||
connect(D.y, Add.u3) annotation( |
||||
Line(points = {{-18, -80}, {0, -80}, {0, -8}, {18, -8}}, color = {0, 0, 127})); |
||||
connect(Add.y, Gain.u) annotation( |
||||
Line(points = {{41, 0}, {58, 0}}, color = {0, 0, 127})); |
||||
connect(Gain.y, y) annotation( |
||||
Line(points = {{81, 0}, {110, 0}}, color = {0, 0, 127})); |
||||
annotation( |
||||
defaultComponentName = "PID", |
||||
Icon(coordinateSystem(preserveAspectRatio = true, extent = {{-100.0, -100.0}, {100.0, 100.0}}), graphics = {Line(points = {{-80.0, 78.0}, {-80.0, -90.0}}, color = {192, 192, 192}), Polygon(lineColor = {192, 192, 192}, fillColor = {192, 192, 192}, fillPattern = FillPattern.Solid, points = {{-80.0, 90.0}, {-88.0, 68.0}, {-72.0, 68.0}, {-80.0, 90.0}}), Line(points = {{-90.0, -80.0}, {82.0, -80.0}}, color = {192, 192, 192}), Polygon(lineColor = {192, 192, 192}, fillColor = {192, 192, 192}, fillPattern = FillPattern.Solid, points = {{90.0, -80.0}, {68.0, -72.0}, {68.0, -88.0}, {90.0, -80.0}}), Line(points = {{-80, -80}, {-80, -20}, {60, 80}}, color = {0, 0, 127}), Text(lineColor = {192, 192, 192}, extent = {{-20.0, -60.0}, {80.0, -20.0}}, textString = "PID"), Text(extent = {{-150.0, -150.0}, {150.0, -110.0}}, textString = "Ti=%Ti")}), |
||||
Documentation(info = "<html> |
||||
<p> |
||||
This is the text-book version of a PID-controller. |
||||
For a more practically useful PID-controller, use |
||||
block LimPID. |
||||
</p> |
||||
|
||||
<p> |
||||
The PID block can be initialized in different |
||||
ways controlled by parameter <b>initType</b>. The possible |
||||
values of initType are defined in |
||||
<a href=\"modelica://Modelica.Blocks.Types.InitPID\">Modelica.Blocks.Types.InitPID</a>. |
||||
This type is identical to |
||||
<a href=\"modelica://Modelica.Blocks.Types.Init\">Types.Init</a>, |
||||
with the only exception that the additional option |
||||
<b>DoNotUse_InitialIntegratorState</b> is added for |
||||
backward compatibility reasons (= integrator is initialized with |
||||
InitialState whereas differential part is initialized with |
||||
NoInit which was the initialization in version 2.2 of the Modelica |
||||
standard library). |
||||
</p> |
||||
|
||||
<p> |
||||
Based on the setting of initType, the integrator (I) and derivative (D) |
||||
blocks inside the PID controller are initialized according to the following table: |
||||
</p> |
||||
|
||||
<table border=1 cellspacing=0 cellpadding=2> |
||||
<tr><td valign=\"top\"><b>initType</b></td> |
||||
<td valign=\"top\"><b>I.initType</b></td> |
||||
<td valign=\"top\"><b>D.initType</b></td></tr> |
||||
|
||||
<tr><td valign=\"top\"><b>NoInit</b></td> |
||||
<td valign=\"top\">NoInit</td> |
||||
<td valign=\"top\">NoInit</td></tr> |
||||
|
||||
<tr><td valign=\"top\"><b>SteadyState</b></td> |
||||
<td valign=\"top\">SteadyState</td> |
||||
<td valign=\"top\">SteadyState</td></tr> |
||||
|
||||
<tr><td valign=\"top\"><b>InitialState</b></td> |
||||
<td valign=\"top\">InitialState</td> |
||||
<td valign=\"top\">InitialState</td></tr> |
||||
|
||||
<tr><td valign=\"top\"><b>InitialOutput</b><br> |
||||
and initial equation: y = y_start</td> |
||||
<td valign=\"top\">NoInit</td> |
||||
<td valign=\"top\">SteadyState</td></tr> |
||||
|
||||
<tr><td valign=\"top\"><b>DoNotUse_InitialIntegratorState</b></td> |
||||
<td valign=\"top\">InitialState</td> |
||||
<td valign=\"top\">NoInit</td></tr> |
||||
</table> |
||||
|
||||
<p> |
||||
In many cases, the most useful initial condition is |
||||
<b>SteadyState</b> because initial transients are then no longer |
||||
present. If initType = InitPID.SteadyState, then in some |
||||
cases difficulties might occur. The reason is the |
||||
equation of the integrator: |
||||
</p> |
||||
|
||||
<pre> |
||||
<b>der</b>(y) = k*u; |
||||
</pre> |
||||
|
||||
<p> |
||||
The steady state equation \"der(x)=0\" leads to the condition that the input u to the |
||||
integrator is zero. If the input u is already (directly or indirectly) defined |
||||
by another initial condition, then the initialization problem is <b>singular</b> |
||||
(has none or infinitely many solutions). This situation occurs often |
||||
for mechanical systems, where, e.g., u = desiredSpeed - measuredSpeed and |
||||
since speed is both a state and a derivative, it is natural to |
||||
initialize it with zero. As sketched this is, however, not possible. |
||||
The solution is to not initialize u or the variable that is used |
||||
to compute u by an algebraic equation. |
||||
</p> |
||||
|
||||
</html>")); |
||||
end PID_discrete; |
||||
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||||
WSSModel |
||||
ComputationAngularAccelerationModel |
||||
drone_feets |
||||
RealArrayPassThrough |
||||
AccelerationToSpeed |
||||
AcquirePositioningSignal |
||||
AllocationControl |
||||
AttitudeControl |
||||
AttitudeControl_PID2 |
||||
ComputationAccelerationModel |
||||
ComputationChangeAngleVelocity |
||||
ComputeAltitudeConsign |
||||
ComputeDroneAngularsVelocities |
||||
ComputeDroneAttitude |
||||
ComputeDronePosition |
||||
ComputeDroneVelocity |
||||
ComputeMoments |
||||
ComputeMotorRate |
||||
ComputePositionAndTime |
||||
ComputeThrustAndAttitudeConsign |
||||
ComputeTotalThrust |
||||
ComputeTotalThrustCA |
||||
ComputeTotalThrustMM |
||||
ControlAltitude |
||||
ControlAltitudeEx |
||||
ControlDroneNavigation |
||||
ControlEffectivenessModel |
||||
ControlMotor |
||||
ControlPitchAngle |
||||
ControlPosition |
||||
ControlPositionSAC |
||||
ControlPositionV0 |
||||
ControlRollAngle |
||||
ControlSpeed |
||||
ControlYawAngle |
||||
Cosim_Sim_m |
||||
CreateMotion |
||||
GeneratePositioningSignal |
||||
LowLevelFlightControlSystem |
||||
modele_complet_RC |
||||
MotorControl |
||||
MotorPropellerModel |
||||
PID_2 |
||||
PID_discrete |
||||
PositionControl |
||||
PositionConvector |
||||
ProSIVICToSimXInterface |
||||
ProSIVICToSimXInterfaceTest |
||||
QuadcopterModel |
||||
RemoteControl |
||||
RemoteControlForIntegration |
||||
RigidBodyDynamicModel |
||||
RigidBodyKinematicModel |
||||
RunFlightPlan |
||||
SelectAttitudeConsign |
||||
SelectControlMode |
||||
SelectSpeedConsign |
||||
SelectTotalThrustConsign |
||||
SimXToProSIVICInterface |
||||
SimXToProSIVICInterfaceTest |
||||
SpeedErrorModel |
||||
SpeedErrorModelMM |
||||
SpeedErrorModelSAC |
||||
Step_analysis |
||||
TrajectoryManagement |
||||
XAngularSpeedErrorModel |
||||
YAngularSpeedErrorModel |
||||
YawConsignProducing |
||||
ZAngularSpeedErrorModel |
||||
ModelicaLicense2 |
||||
Loading…
Reference in new issue