diff --git a/SimulationModels/AIDAModel-integrationProSivic_reference.mo b/SimulationModels/AIDAModel-integrationProSivic_reference.mo new file mode 100644 index 0000000..6cb521b --- /dev/null +++ b/SimulationModels/AIDAModel-integrationProSivic_reference.mo @@ -0,0 +1,91 @@ +model AIDA_System "AIDAModel-integrationProSivic_reference.isx" +AIDAModelica.QuadcopterModel quadcopterModel1( + rigidBodyKinematicModel1( + computeDronePosition1( + integrator10(initType = Modelica.Blocks.Types.Init.SteadyState, y_start = -0.29), + integrator11(initType = Modelica.Blocks.Types.Init.InitialOutput), + integrator12(initType = Modelica.Blocks.Types.Init.InitialOutput))), + rigidBodyDynamicModel1( + computeDroneVelocity1( + integrator4(initType = Modelica.Blocks.Types.Init.SteadyState)))) annotation( + Placement(visible = true, transformation(extent = {{29, -8}, {49, 17}}, rotation = 0))); + +AIDAModelica.LowLevelFlightControlSystem lowLevelFlightControlSystem1( + controlAltitude1(computeAltitudeConsign1( + PID1(k = 30, Ti = 1, Td = 0.1, Nd = 10, initType=Modelica.Blocks.Types.InitPID.InitialOutput)), + pID_2(k = 25, Ti = 0.5, Td = 0.08, initType=Modelica.Blocks.Types.InitPID.InitialOutput)), + attitudeControl1(Test_CstMomentumActiv = false, Test_open_loop = {false, false, false}, + controlRollAngle1(xAngularSpeedErrorModel1(Kwphi = 1.5), + PID(k = 0.07, Ti = 30, Td = 0.02, Nd = 0.1,initType=Modelica.Blocks.Types.InitPID.InitialOutput, + Add(k1 = 1, k2 = 1, k3 = 1))), + controlPitchAngle1(yAngularSpeedErrorModel1(Kwteta = 1.5, RTStepConsign = false), + PID1(k = 0.07, Ti = 30, Td = 0.02, Nd = 0.1,initType=Modelica.Blocks.Types.InitPID.InitialOutput, + Add(k1 = 1, k2 = 1, k3 = 1))), + controlYawAngle1(zAngularSpeedErrorModel1(Kwyaw = 2), + PID2(k = 0.04, Ti = 20, Td = 0.5, Nd = 2.5,initType=Modelica.Blocks.Types.InitPID.InitialOutput, + Add(k1 = 1, k2 = 1, k3 = 1)))), + + positionControl1( + controlSpeed1( + PID(k = 0.8, Ti = 1,initType=Modelica.Blocks.Types.InitPID.InitialOutput), + PID2(k = 0.8, Ti = 1,initType=Modelica.Blocks.Types.InitPID.InitialOutput), + PID1(k = 30, Ti = 1, Td=0.1,initType=Modelica.Blocks.Types.InitPID.InitialOutput)))) annotation( + Placement(visible = true, transformation(extent = {{-37, -6}, {-12, 19}}, rotation = 0))); + AIDAModelica.ControlDroneNavigation controlDroneNavigation1 annotation( + Placement(visible = true, transformation(extent = {{-79, -3}, {-59, 17}}, rotation = 0))); + AIDAModelica.RemoteControl remoteControl1( + VS_cmd=-0.5, + VS_cmd_t={0.1,5}, + Pitch_cmd=0.02, + Pitch_cmd_t={6,12}, + Yaw_cmd_t={15,19}, + Roll_cmd=0.02, + Roll_cmd_t={3,9}, + Auto_Ctl_t=0.2) annotation( + Placement(visible = true, transformation(extent = {{-57, 49}, {-32, 69}}, rotation = 0))); +equation + connect(lowLevelFlightControlSystem1.AngularSpeed, quadcopterModel1.AngularVelocities) annotation( + Line(points = {{-33, -6}, {-33, -30}, {81.1667, -30}, {81.1667, 12}, {49.1667, 12}}, color = {0, 0, 127})); + connect(lowLevelFlightControlSystem1.Attitude, quadcopterModel1.Attitude) annotation( + Line(points = {{-29, -6}, {-29, -26}, {69.3333, -26}, {69.3333, 8}, {49.3333, 8}}, color = {0, 0, 127})); + connect(lowLevelFlightControlSystem1.Position, quadcopterModel1.Position) annotation( + Line(points = {{-24.5, -6}, {-24.5, -22}, {61.5, -22}, {61.5, 4}, {49.5, 4}}, color = {0, 0, 127})); + connect(lowLevelFlightControlSystem1.Speed, quadcopterModel1.Speed) annotation( + Line(points = {{-21, -6}, {-17.6667, -6}, {-17.6667, -18}, {57.3333, -18}, {57.3333, 0}, {49.3333, 0}}, color = {0, 0, 127})); + connect(lowLevelFlightControlSystem1.Accelerations, quadcopterModel1.Accelerations) annotation( + Line(points = {{-17, -6}, {-13.8333, -6}, {-13.8333, -16.0333}, {54.9167, -16.0333}, {54.9167, -4.0333}, {48.4167, -4.0333}}, color = {0, 0, 127})); + connect(quadcopterModel1.ThrottleCommand1, lowLevelFlightControlSystem1.ThrottleCommand1) annotation( + Line(points = {{29, 10.75}, {1, 10.75}, {1, 14}, {-12, 14}}, color = {0, 0, 127}, thickness = 0.015625)); + connect(lowLevelFlightControlSystem1.ThrottleCommand2, quadcopterModel1.ThrottleCommand2) annotation( + Line(points = {{-12, 9}, {8.5, 9}, {8.5, 7}, {29, 7}}, color = {0, 0, 127}, thickness = 0.015625)); + connect(quadcopterModel1.ThrottleCommand3, lowLevelFlightControlSystem1.ThrottleCommand3) annotation( + Line(points = {{29, 2.41667}, {12.5, 2.41667}, {12.5, 4}, {-12, 4}}, color = {0, 0, 127}, thickness = 0.015625)); + connect(lowLevelFlightControlSystem1.ThrottleCommand4, quadcopterModel1.ThrottleCommand4) annotation( + Line(points = {{-12, -1}, {26, -1}, {26, -2}, {29, -2}}, color = {0, 0, 127}, thickness = 0.015625)); + connect(quadcopterModel1.Speed[:], lowLevelFlightControlSystem1.Speed[:]) annotation( + Line); + connect(controlDroneNavigation1.YawConsign, lowLevelFlightControlSystem1.YawConsign) annotation( + Line(points = {{-59, 7}, {-34, 7}, {-34, 4}, {-37, 4}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(controlDroneNavigation1.DronPositionConsign[:], lowLevelFlightControlSystem1.DronePositionConsign[:]) annotation( + Line(points = {{-59, 12}, {-48, 12}, {-48, 14}, {-37, 14}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(lowLevelFlightControlSystem1.SelectedControlMode, controlDroneNavigation1.SelectedControlMode) annotation( + Line(points = {{-37, -1}, {-54, -1}, {-54, 2}, {-59, 2}}, color = {255, 0, 255}, thickness = 0.0625)); + connect(lowLevelFlightControlSystem1.RCVerticalSpeedCommand, remoteControl1.VerticalSpeedCommand) annotation( + Line(points = {{-31, 19}, {-52.75, 19}, {-52.75, 49}}, color = {0, 0, 127})); + connect(lowLevelFlightControlSystem1.RCYawCommand, remoteControl1.YawCommand) annotation( + Line(points = {{-22, 19}, {-36.4167, 19}, {-36.4167, 51}, {-35.4167, 51}, {-35.4167, 49}, {-36.4167, 49}}, color = {0, 0, 127})); + connect(remoteControl1.RollCommand, lowLevelFlightControlSystem1.RCAttitudeCommands[1]) annotation( + Line(points = {{-47, 49}, {-47, 22}, {-27, 22}, {-27, 19}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(remoteControl1.PitchCommand, lowLevelFlightControlSystem1.RCAttitudeCommands[2]) annotation( + Line(points = {{-42, 49}, {-42, 22}, {-27, 22}, {-27, 19}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(remoteControl1.IndicatorYawConsign, controlDroneNavigation1.IndicatorYawConsign) annotation( + Line(points = {{-57, 59}, {-94, 59}, {-94, 6}, {-80, 6}, {-80, 8}, {-78, 8}, {-78, 8}, {-78, 8}}, color = {255, 0, 255})); + connect(remoteControl1.ControlMode, controlDroneNavigation1.APEngagement) annotation( + Line(points = {{-57, 54}, {-84, 54}, {-84, 12}, {-79, 12}}, color = {255, 0, 255}, thickness = 0.015625)); + connect(controlDroneNavigation1.Yaw, quadcopterModel1.Attitude[3]) annotation( + Line(points = {{-79, 2}, {-87, 2}, {-87, -36}, {91, -36}, {91, 8}, {49, 8}, {49, 8}, {49, 8}, {49, 8}}, color = {0, 0, 127})); + annotation( + Icon(coordinateSystem(grid = {3, 2})), + experiment(StartTime = 0, StopTime = 30, Tolerance = 1e-06, Interval = 0.002), + __OpenModelica_simulationFlags(jacobian = "coloredNumerical", s = "dassl", lv = "LOG_STATS")); +end AIDA_System; diff --git a/SimulationModels/AIDAModelica/.gitignore b/SimulationModels/AIDAModelica/.gitignore new file mode 100644 index 0000000..61e4f72 --- /dev/null +++ b/SimulationModels/AIDAModelica/.gitignore @@ -0,0 +1,284 @@ +/QuadcopterModel.mo13 +/QuadcopterModel.mo14 +/QuadcopterModel.mo15 +/QuadcopterModel.mo16 +/QuadcopterModel.mo17 +/RemoteControl.mo94 +/RemoteControl.mo95 +/RemoteControl.mo96 +/RigidBodyDynamicModel.mo10 +/RigidBodyDynamicModel.mo11 +/RigidBodyDynamicModel.mo12 +/RigidBodyDynamicModel.mo13 +/RigidBodyDynamicModel.mo9 +/RigidBodyKinematicModel.mo7 +/RigidBodyKinematicModel.mo8 +/SelectSpeedConsign.mo6 +/SimXToProSIVICInterface.mo2 +/SpeedErrorModel.mo5 +/SpeedErrorModel.mo6 +/SpeedErrorModelSAC.mo10 +/SpeedErrorModelSAC.mo11 +/SpeedErrorModelSAC.mo9 +/ComputationAccelerationModel.mo10 +/ComputationAccelerationModel.mo11 +/ComputationAccelerationModel.mo12 +/ComputationAccelerationModel.mo13 +/ComputationAccelerationModel.mo14 +/ComputationAccelerationModel.mo5 +/ComputationAccelerationModel.mo6 +/ComputationAccelerationModel.mo7 +/ComputationAccelerationModel.mo8 +/ComputationAccelerationModel.mo9 +/ComputationChangeAngleVelocity.mo2 +/ComputeDroneVelocity.mo10 +/ComputeDroneVelocity.mo6 +/ComputeDroneVelocity.mo7 +/ComputeDroneVelocity.mo8 +/ComputeDroneVelocity.mo9 +/ComputeThrustAndAttitudeConsign.mo12 +/ComputeThrustAndAttitudeConsign.mo13 +/ComputeThrustAndAttitudeConsign.mo14 +/ComputeTotalThrustCA.mo1 +/ComputeTotalThrustCA.mo10 +/ComputeTotalThrustCA.mo2 +/ComputeTotalThrustCA.mo3 +/ComputeTotalThrustCA.mo4 +/ComputeTotalThrustCA.mo5 +/ComputeTotalThrustCA.mo6 +/ComputeTotalThrustCA.mo7 +/ComputeTotalThrustCA.mo8 +/ComputeTotalThrustCA.mo9 +/ControlPosition.mo37 +/Cosim_Sim_m.mo1 +/Cosim_Sim_m.mo2 +/drone_feets.bak +/drone_feets.mo1 +/package.mo60 +/package.mo61 +/package.mo62 +/package.mo63 +/package.mo64 +/package.mo65 +/package.mo66 +/package.mo67 +/AttitudeControl.mo28 +/AttitudeControl.mo29 +/package.mo68 +/ProSIVICToSimXInterface.mo5 +/ProSIVICToSimXInterface.mo6 +/ProSIVICToSimXInterfaceTest.mo10 +/ProSIVICToSimXInterfaceTest.mo11 +/ProSIVICToSimXInterfaceTest.mo9 +/QuadcopterModel.mo18 +/QuadcopterModel.mo19 +/QuadcopterModel.mo20 +/RemoteControl.mo97 +/SimXToProSIVICInterface.mo12 +/SimXToProSIVICInterface.mo13 +/XAngularSpeedErrorModel.mo15 +/XAngularSpeedErrorModel.mo16 +/YAngularSpeedErrorModel.mo14 +/ZAngularSpeedErrorModel.mo30 +/Step_analysis.mo1 +/Step_analysis.mo2 +/Step_analysis.mo10 +/Step_analysis.mo11 +/Step_analysis.mo12 +/Step_analysis.mo13 +/Step_analysis.mo14 +/Step_analysis.mo15 +/Step_analysis.mo16 +/Step_analysis.mo17 +/Step_analysis.mo18 +/Step_analysis.mo19 +/Step_analysis.mo20 +/Step_analysis.mo3 +/Step_analysis.mo4 +/Step_analysis.mo5 +/Step_analysis.mo6 +/Step_analysis.mo7 +/Step_analysis.mo8 +/Step_analysis.mo9 +/AttitudeControl.mo30 +/ComputeAltitudeConsign.mo2 +/ControlRollAngle.mo15 +/ControlRollAngle.mo16 +/PositionControl.mo29 +/ProSIVICToSimXInterfaceTest.mo12 +/QuadcopterModel.mo21 +/RigidBodyKinematicModel.mo9 +/Step_analysis.bak +/ComputeAltitudeConsign.mo10 +/ComputeAltitudeConsign.mo11 +/ComputeAltitudeConsign.mo12 +/ComputeAltitudeConsign.mo13 +/ComputeAltitudeConsign.mo14 +/ComputeAltitudeConsign.mo15 +/ComputeAltitudeConsign.mo16 +/ComputeAltitudeConsign.mo17 +/ComputeAltitudeConsign.mo18 +/ComputeAltitudeConsign.mo19 +/ComputeAltitudeConsign.mo20 +/ComputeAltitudeConsign.mo21 +/ComputeAltitudeConsign.mo3 +/ComputeAltitudeConsign.mo4 +/ComputeAltitudeConsign.mo5 +/ComputeAltitudeConsign.mo6 +/ComputeAltitudeConsign.mo7 +/ComputeAltitudeConsign.mo8 +/ComputeAltitudeConsign.mo9 +/ComputeMotorRate.mo10 +/ComputeMotorRate.mo11 +/ComputeMotorRate.mo12 +/ComputeMotorRate.mo13 +/ComputeMotorRate.mo14 +/ComputeMotorRate.mo15 +/ComputeMotorRate.mo16 +/ComputeMotorRate.mo17 +/ComputeMotorRate.mo18 +/ComputeMotorRate.mo19 +/ComputeMotorRate.mo20 +/ComputeMotorRate.mo21 +/ComputeMotorRate.mo22 +/ComputeMotorRate.mo23 +/ComputeMotorRate.mo24 +/ComputeMotorRate.mo25 +/ComputeMotorRate.mo26 +/ComputeMotorRate.mo27 +/ComputeMotorRate.mo28 +/ComputeMotorRate.mo29 +/ComputeMotorRate.mo30 +/ComputeMotorRate.mo31 +/ComputeMotorRate.mo32 +/ComputeMotorRate.mo33 +/ComputeMotorRate.mo4 +/ComputeMotorRate.mo5 +/ComputeMotorRate.mo6 +/ComputeMotorRate.mo7 +/ComputeMotorRate.mo8 +/ComputeMotorRate.mo9 +/ComputeThrustAndAttitudeConsign.mo15 +/ComputeThrustAndAttitudeConsign.mo16 +/ComputeThrustAndAttitudeConsign.mo17 +/ComputeThrustAndAttitudeConsign.mo18 +/ComputeThrustAndAttitudeConsign.mo19 +/ComputeThrustAndAttitudeConsign.mo20 +/ComputeTotalThrust.mo5 +/ComputeTotalThrustCA.mo11 +/ComputeTotalThrustCA.mo12 +/ComputeTotalThrustCA.mo13 +/ComputeTotalThrustCA.mo14 +/ComputeTotalThrustCA.mo15 +/ComputeTotalThrustCA.mo16 +/ComputeTotalThrustCA.mo17 +/ComputeTotalThrustCA.mo18 +/ComputeTotalThrustCA.mo19 +/ComputeTotalThrustCA.mo20 +/ComputeTotalThrustCA.mo21 +/ComputeTotalThrustCA.mo22 +/ComputeTotalThrustCA.mo23 +/ComputeTotalThrustCA.mo24 +/ControlDroneNavigation.mo29 +/ControlPitchAngle.mo15 +/ControlPitchAngle.mo16 +/ControlPitchAngle.mo17 +/ControlRollAngle.mo17 +/ComputationAccelerationModel.mo15 +/LowLevelFlightControlSystem.mo123 +/LowLevelFlightControlSystem.mo124 +/LowLevelFlightControlSystem.mo125 +/LowLevelFlightControlSystem.mo126 +/LowLevelFlightControlSystem.mo127 +/LowLevelFlightControlSystem.mo128 +/LowLevelFlightControlSystem.mo129 +/LowLevelFlightControlSystem.mo130 +/LowLevelFlightControlSystem.mo131 +/LowLevelFlightControlSystem.mo132 +/LowLevelFlightControlSystem.mo133 +/LowLevelFlightControlSystem.mo134 +/package.mo69 +/package.mo70 +/package.mo71 +/package.mo72 +/package.mo73 +/package.mo74 +/package.mo75 +/package.mo76 +/package.mo77 +/package.mo78 +/package.mo79 +/package.mo80 +/RemoteControl.mo100 +/RemoteControl.mo101 +/RemoteControl.mo102 +/RemoteControl.mo103 +/RemoteControl.mo104 +/RemoteControl.mo105 +/RemoteControl.mo106 +/RemoteControl.mo107 +/RemoteControl.mo108 +/RemoteControl.mo109 +/RemoteControl.mo110 +/RemoteControl.mo111 +/RemoteControl.mo112 +/RemoteControl.mo113 +/RemoteControl.mo98 +/RemoteControl.mo99 +/Step_analysis.mo21 +/Step_analysis.mo22 +/Step_analysis.mo23 +/Step_analysis.mo24 +/Step_analysis.mo25 +/Step_analysis.mo26 +/Step_analysis.mo27 +/Step_analysis.mo28 +/Step_analysis.mo29 +/Step_analysis.mo30 +/Step_analysis.mo31 +/Step_analysis.mo32 +/Step_analysis.mo33 +/Step_analysis.mo34 +/Step_analysis.mo35 +/Step_analysis.mo36 +/XAngularSpeedErrorModel.mo17 +/CreateMotion.mo4 +/CreateMotion.mo5 +/CreateMotion.mo6 +/CreateMotion.mo7 +/AttitudeControl.mo31 +/CreateMotion.mo8 +/AIDAModelica.ComputeAltitudeConsign_discrete.mo1 +/ComputeMotorRate.mo34 +/ComputeTotalThrustCA.mo25 +/ComputeTotalThrustCA.mo26 +/ComputeTotalThrustCA.mo27 +/ComputeTotalThrustCA.mo28 +/AttitudeControl.mo32 +/AttitudeControl.mo33 +/AttitudeControl.mo34 +/AttitudeControl.mo35 +/AttitudeControl.mo36 +/AttitudeControl.mo37 +/ComputeMotorRate.mo35 +/ComputeMotorRate.mo36 +/ComputeMotorRate.mo37 +/ComputeThrustAndAttitudeConsign.mo21 +/ComputeThrustAndAttitudeConsign.mo22 +/ComputeThrustAndAttitudeConsign.mo23 +/ComputeTotalThrustCA.mo29 +/ComputeTotalThrustCA.mo30 +/ControlPitchAngle.mo18 +/RemoteControl.mo114 +/RemoteControl.mo115 +/RemoteControl.mo116 +/RemoteControl.mo117 +/RemoteControl.mo118 +/RemoteControl.mo119 +/RemoteControl.mo120 +/RemoteControl.mo121 +/RemoteControl.mo122 +/RemoteControl.mo123 +/PositionControl.mo37 +/SpeedErrorModel.mo19 +/RunFlightPlan.mo37 diff --git a/SimulationModels/AIDAModelica/AIDAModelica.mo_old b/SimulationModels/AIDAModelica/AIDAModelica.mo_old new file mode 100644 index 0000000..8b60efa --- /dev/null +++ b/SimulationModels/AIDAModelica/AIDAModelica.mo_old @@ -0,0 +1,4 @@ +within; +package AIDAModelica "AIDA Modelica Libraries" + annotation(dateModified="2018-04-03 09:30:06Z"); +end AIDAModelica; diff --git a/SimulationModels/AIDAModelica/AccelerationToSpeed.mo b/SimulationModels/AIDAModelica/AccelerationToSpeed.mo new file mode 100644 index 0000000..c501f96 --- /dev/null +++ b/SimulationModels/AIDAModelica/AccelerationToSpeed.mo @@ -0,0 +1,61 @@ +// CP: 65001 +// SimulationX Version: 3.8.2.45319 x64 +within AIDAModelica; +model AccelerationToSpeed "Acceleration to speed convector" + Modelica.Blocks.Interfaces.RealInput Acceleration[3]( + quantity="Mechanics.Translation.Accel", + displayUnit="m/s²") "'input Real' as connector" annotation(Placement( + transformation(extent={{-120,10},{-80,50}}), + iconTransformation( + origin={0,-100}, + extent={{-20,-20},{20,20}}, + rotation=90))); + Modelica.Blocks.Interfaces.RealOutput Speed[3]( + quantity="Mechanics.Translation.Velocity", + displayUnit="m/s") "'output Real' as connector" annotation(Placement( + transformation(extent={{-5,20},{15,40}}), + iconTransformation( + origin={0,100}, + extent={{-10,-10},{10,10}}, + rotation=90))); + Modelica.Blocks.Continuous.Integrator integrator1 annotation(Placement(transformation(extent={{-60,50},{-40,70}}))); + Modelica.Blocks.Continuous.Integrator integrator2 annotation(Placement(transformation(extent={{-60,20},{-40,40}}))); + Modelica.Blocks.Continuous.Integrator integrator3 annotation(Placement(transformation(extent={{-60,-10},{-40,10}}))); + equation + connect(integrator1.u,Acceleration[1]) annotation(Line( + points={{-62,60},{-67,60},{-95,60},{-95,30},{-100,30}}, + color={0,0,127}, + thickness=0.0625)); + connect(integrator2.u,Acceleration[2]) annotation(Line( + points={{-62,30},{-67,30},{-95,30},{-100,30}}, + color={0,0,127}, + thickness=0.0625)); + connect(integrator3.u,Acceleration[3]) annotation(Line( + points={{-62,0},{-67,0},{-95,0},{-95,30},{-100,30}}, + color={0,0,127}, + thickness=0.0625)); + connect(integrator1.y,Speed[1]) annotation(Line( + points={{-39,60},{-34,60},{0,60},{0,30},{5,30}}, + color={0,0,127}, + thickness=0.0625)); + connect(integrator2.y,Speed[2]) annotation(Line( + points={{-39,30},{-34,30},{0,30},{5,30}}, + color={0,0,127}, + thickness=0.0625)); + connect(integrator3.y,Speed[3]) annotation(Line( + points={{-39,0},{-34,0},{0,0},{0,30},{5,30}}, + color={0,0,127}, + thickness=0.0625)); + annotation( + Acceleration(flags=2), + Speed(flags=2), + Icon(graphics={ + Rectangle( + fillColor={255,255,255}, + fillPattern=FillPattern.Solid, + extent={{-100,100},{100,-100}})}), + experiment( + StopTime=1, + StartTime=0, + Interval=0.001)); +end AccelerationToSpeed; diff --git a/SimulationModels/AIDAModelica/AcquirePositioningSignal.mo b/SimulationModels/AIDAModelica/AcquirePositioningSignal.mo new file mode 100644 index 0000000..4f0548a --- /dev/null +++ b/SimulationModels/AIDAModelica/AcquirePositioningSignal.mo @@ -0,0 +1,232 @@ +// CP: 65001 +// SimulationX Version: 3.8.2.45319 x64 +within AIDAModelica; +model AcquirePositioningSignal "Acquire Positioning Signal" + Modelica.Blocks.Interfaces.RealOutput Measured_positioning_signal[4] "'output Real' as connector" annotation(Placement( + transformation(extent={{-10,-10},{10,10}}), + iconTransformation(extent={{90,-10},{110,10}}))); + Modelica.Blocks.Interfaces.RealInput Positioning_signal[4] "'input Real' as connector" annotation(Placement( + transformation(extent={{-20,-20},{20,20}}), + iconTransformation(extent={{-120,-20},{-80,20}}))); + equation + // enter your equations here + Measured_positioning_signal = Positioning_signal; + annotation(Icon(graphics={ + Rectangle( + fillColor={255,255,255}, + fillPattern=FillPattern.Solid, + extent={{-100,100},{100,-100}}), + Bitmap( + imageSource="iVBORw0KGgoAAAANSUhEUgAAAgAAAAIACAYAAAD0eNT6AAAAAXNSR0IArs4c6QAAAARnQU1BAACx +jwv8YQUAAAAJcEhZcwAACxIAAAsSAdLdfvwAAC5nSURBVHhe7d0JuLbluPDxp95mUokkiSapZN6m +aE75KBRCSpRp2+xjbzvbvDOEShHb3CYZolSmsu1ChWRokFJpEM21m1Sa+77/+S6ft2Wda73PWusZ 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+j8LtyE4AkmqKrX7XgZl1vH2QnQQk1fQumFmBlsXvkZ0IJNVyLpaBmRVpa2QnA0m1bA4zK9ZXkZ0Q +JNXwJZhZwR6CG5CdGCR123V4MMysaK9DdnKQ1G17wcwKFxt+/BTZCUJSN50EN/sxs96j4doAUg3x +zn+sB2JmtrB3IztZSOqWt8PM7G8tjbOQnTAkdcMZWApmZpN6CmIv8OzEIand7saTYGaWdhCyk4ek +djsAZmbTtgIuRnYCkdROF2J5mJnN2LbITiKS2mkrmJn11aHITiSS2uW/YGbWdw/E1chOKJLa4Uqs +DDOzWfUSZCcVSe2wM8zM5tRRyE4skprtCJiZzbnVcC2yE4ykZorbdw+Cmdm82gXZSUZSM3np38wG +1jeRnWgkNcvXYWY2sLwVIDWfl/7NbCj5VoDUbDvBzGwoHYnsxCNpvA6HmdnQejCuQXYCkjQeV2FV +mJkNtRcjOwlJGo8XwMxsJMUiI9mJSNJofRVmZiMrnjSOy47ZCUnSaFyB2LfDzGyk7YDspCRpNLaH +mdlYiq1GsxOTpOH6NMzMxtaKuBjZCUrScFyA+8HMbKw9C/cgO1FJGqy78XSYmTWiA5CdrCQN1r4w +M2tMy+IsZCcsSYNxOpaGmVmjehzuQHbikjQ/t2NjmJk1srchO3lJmp+3wMyssS2JnyI7gUmamxMR +x5aZWaNbFzcjO5FJmp0b8QiYmbWiVyE7mUmanV1hZtaq3DBImp+vwMysda2CPyE7sUma2R/wAJiZ +tbIt4CqB0uzEan/PgJlZq/swspOcpNx7YWbW+mLlsl8hO9FJmuwULICZWSd6FG5BdsKTNOHPWAdm +Zp3qNchOepIm7A4zs052NLITn1Td4TAz62wPxKXIToBSVZdgZZiZdbrNEK85ZSdCqZq78HSYmZVo +H2QnQ6mat8PMrEzxmtNJyE6IUhXHw13+zKxca+J/kZ0Ypa67GqvDzKxkOyA7OUpddi+2g5lZ6Q5G +dpKUuuoAmJmVb1mcjuxEKXXNLxDLY5uZGcVSwTcjO2FKXXETXOrXzOzv2g3ZSVPqipfCzMySvojs +xCm13WdgZmbTtALORnYCldrqDCwHMzOboQ3h1sHqitjid32YmVkf+TyAuuIlMDOzWXQIshOq1Baf +hJmZzbLlcRayE6vUdKch1rgwM7M5tAFcH0BtcyN839/MbJ69HNlJVmqqnWFmZgPos8hOtFLTfBxm +Zjag4l5q3FPNTrhSU5yKZWBmZgNsbVyP7MQrjdu1eDjMzGwIPRexl3p2ApbG5R5sCzMzG2IfQHYS +lsblPTAzsyG3JI5HdiKWRu04LAEzMxtBD8alyE7I0qhcggfCzMxG2NNxJ7ITszRst+PJMDOzMfRm +ZCdnadheDzMzG2OHIztBS8NyGMzMbMzdD79FdqKWBu0MxEZVZmbWgNZDbMCSnbClQbkOsSCVmZk1 +qOfBRYI0LLHYz3YwM7MG9l5kJ29pvt4JMzNraLEgy/eQncCluToGLvZjZtbwVsaFyE7k0mydhwfA +zMxa0Ca4FdkJXerXzdgQZmbWol6K7KQu9WtnmJlZCzsA2YldWpx9YWZmLW0BfoDsBC9NJx4kjV0n +zcysxa0CHwpUv87HSjAzsw60MeKBruyEL/1/N+HRMDOzDvVCuFKgphNzYweYmVkHex+yk7/0HpiZ +WUeL1dy+g+wDQHUdDVf6MzPreLGq2znIPghUT2wlfX+YmVmB1kVs7Zp9IKiOa+H2vmZmxdoKdyH7 +YFD33YnNYWZmBfsnZB8O6r7XwczMCvdZZB8Q6q7/hJmZFW9pnITsg0Ld80MsBTMzs96D8AdkHxjq +jlgS+oEwMzP7W5vA5YK7K5b53QhmZmZTiqVg70H2AaL2uhvbw8zMbNr+DdmHiNrrzTAzM1ts/4Xs +g0Tt82mYmZn1VbwZcCKyDxS1xwnwiX8zM5tVqyKeGs8+WNR852MVmJmZzboNcSOyDxg11/VYH2Zm +ZnNuG7hnQHvEGv9bwMzMbN69BtmHjZpnD5iZmQ2sA5B94Kg5PggzM7OBtiSORvbBo/H7BpaAmZnZ +wFsBv0L2AaTx+TmWg5mZ2dB6KP6E7INIoxebOK0GMzOzoRcbB8XmMtkHkkbnBrjBj5mZjbRt4euB +4xOv+20JMzOzkbcnsg8nDd/uMDMzG1v7IvuA0vDsAzMzs7EWr559FdkHlQbvSzAzM2tEy8DdA4fv +h4ixNjMza0wr4xxkH1yav7PwAJiZmTWutXAFsg8wzd2lWBNmZmaN7fH4M7IPMs1ebMf8GJiZmTW+ +WCMg3lPPPtDUvzuwFczMzFpTvKeefaipP/fiZTAzM2tdb0P24abFewvMzMxa28eRfcBpegfBzMys +1S2JI5B90Gmqw+G+/mZm1omWxY+RfeBpkRPgQj9mZtapYhGbM5B98KnXOw0rwszMrHOtjouRfQBW +diFWg5mZWWdbD1ch+yCs6EqsCzMzs84XqwXehOwDsZJY5S/GwszMrEyb4zZkH4wVxN89xsDMzKxc +L8DdyD4gu+wu7AgzM7Oy7YnsQ7KrYonfPWBmZla+tyP7sOwil/g1MzO7T7H8bfaB2SX7wczMzO5T +LH97KLIPzi74PMzMzCxpAY5C9gHaZl9H7IlgZmZm0xRr4R+L7IO0jb6DpWFmZmaLaTn8N7IP1Db5 +Ltzcx8zMbBbFDoLfQ/bB2gbHwA9/MzOzORSXzuP+efYB22RfxlIwMzOzORYPz30U2QdtE+2PeKPB +zMzMBtA/IpbQzT50m+AO7AUzMzMbcM/E5cg+gMfpUjwdZmZmNqQehKORfRCPw5FYFWZmZjaCXoJx +Xg2In/p3gpmZmY24+2Mf3ITsQ3oYbsS7sQLMzMxsjK2Cd+BPyD60B+ESvBUrwczMzBpUvDK4LT6H +QdweiMv8n8XWcC1/MzOzlrQBXokDEcvy/gZX4lbc81fxv+OfnYlYtz/+3d2wPsysk/V6/w8NTtrN +uryBtgAAAABJRU5ErkJggg==", + extent={{-100,-100},{100,100}})})); +end AcquirePositioningSignal; diff --git a/SimulationModels/AIDAModelica/AllocationControl.mo b/SimulationModels/AIDAModelica/AllocationControl.mo new file mode 100644 index 0000000..68d7e46 --- /dev/null +++ b/SimulationModels/AIDAModelica/AllocationControl.mo @@ -0,0 +1,58 @@ +within AIDAModelica; + +model AllocationControl "Allocation Coltrol Model" + // CP: 65001 + // SimulationX Version: 3.8.2.45319 x64 + Modelica.Blocks.Interfaces.RealInput TotalThrustAP(quantity = "Mechanics.Translation.Force", displayUnit = "N") "'input Real' as connector" annotation( + Placement(transformation(extent = {{-95, 40}, {-55, 80}}), iconTransformation(extent = {{-120, 55}, {-80, 95}}))); + Modelica.Blocks.Interfaces.RealInput TotalThrustManual(quantity = "Mechanics.Translation.Force", displayUnit = "N") "'input Real' as connector" annotation( + Placement(transformation(extent = {{-95, 0}, {-55, 40}}), iconTransformation(extent = {{-120, 5}, {-80, 45}}))); + Modelica.Blocks.Interfaces.RealInput MomentumsConsign[3](quantity = "Mechanics.Rotation.Torque", displayUnit = "Nm") "'input Real' as connector" annotation( + Placement(transformation(extent = {{-50, -15}, {-10, 25}}), iconTransformation(extent = {{-120, -45}, {-80, -5}}))); + Modelica.Blocks.Interfaces.RealOutput Motor1Rate(quantity = "Mechanics.Rotation.RotVelocity", displayUnit = "rpm") "'output Real' as connector" annotation( + Placement(transformation(extent = {{35, 45}, {55, 65}}), iconTransformation(extent = {{90, 65}, {110, 85}}))); + Modelica.Blocks.Interfaces.RealOutput Motor2Rate(quantity = "Mechanics.Rotation.RotVelocity", displayUnit = "rpm") "'output Real' as connector" annotation( + Placement(transformation(extent = {{35, 30}, {55, 50}}), iconTransformation(extent = {{90, 15}, {110, 35}}))); + Modelica.Blocks.Interfaces.RealOutput Motor3Rate(quantity = "Mechanics.Rotation.RotVelocity", displayUnit = "rpm") "'output Real' as connector" annotation( + Placement(transformation(extent = {{35, 10}, {55, 30}}), iconTransformation(extent = {{90, -35}, {110, -15}}))); + Modelica.Blocks.Interfaces.RealOutput Motor4Rate(quantity = "Mechanics.Rotation.RotVelocity", displayUnit = "rpm") "'output Real' as connector" annotation( + Placement(transformation(extent = {{35, -5}, {55, 15}}), iconTransformation(extent = {{90, -85}, {110, -65}}))); + Modelica.Blocks.Interfaces.BooleanInput SelectedControlMode "'input Boolean' as connector" annotation( + Placement(transformation(extent = {{-115, 20}, {-75, 60}}), iconTransformation(extent = {{-120, -95}, {-80, -55}}))); + AIDAModelica.ComputeMotorRate computeMotorRate1 annotation( + Placement(visible = true, transformation(extent = {{-5, 20}, {15, 45}}, rotation = 0))); + Modelica.Blocks.Logical.Switch SelectTotalThrustConsign annotation( + Placement(transformation(extent = {{-50, 30}, {-30, 50}}))); +equation + connect(SelectTotalThrustConsign.y, computeMotorRate1.TotalThrust) annotation( + Line(points = {{-29, 40}, {-5, 40}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(computeMotorRate1.Motor4Rate, Motor4Rate) annotation( + Line(points = {{15, 25}, {40, 25}, {40, 5}, {45, 5}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(computeMotorRate1.Motor3Rate, Motor3Rate) annotation( + Line(points = {{15, 30}, {40, 30}, {40, 20}, {45, 20}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(computeMotorRate1.Motor2Rate, Motor2Rate) annotation( + Line(points = {{15, 35}, {40, 35}, {40, 40}, {45, 40}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(computeMotorRate1.Motor1Rate, Motor1Rate) annotation( + Line(points = {{15, 40}, {40, 40}, {40, 55}, {45, 55}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(computeMotorRate1.MomentumConsign[:], MomentumsConsign[:]) annotation( + Line(points = {{-5, 25}, {-25, 25}, {-25, 5}, {-30, 5}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(SelectTotalThrustConsign.u1, TotalThrustAP) annotation( + Line(points = {{-52, 48}, {-57, 48}, {-70, 48}, {-70, 60}, {-75, 60}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(SelectTotalThrustConsign.u2, SelectedControlMode) annotation( + Line(points = {{-52, 40}, {-57, 40}, {-90, 40}, {-95, 40}}, color = {255, 0, 255}, thickness = 0.0625)); + connect(SelectTotalThrustConsign.u3, TotalThrustManual) annotation( + Line(points = {{-52, 32}, {-57, 32}, {-70, 32}, {-70, 20}, {-75, 20}}, color = {0, 0, 127}, thickness = 0.0625)); + annotation( + 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)), + Icon(coordinateSystem(extent = {{-100, -125}, {100, 125}}, initialScale = 0.1), graphics = {Rectangle(fillColor = {255, 255, 255}, fillPattern = FillPattern.Solid, extent = {{-100, 126.7}, {100, -126.7}}), Text(origin = {-57, 21}, extent = {{-11, 5}, {105, -39}}, textString = "AllocationControl")}), + experiment(StopTime = 1, StartTime = 0, Interval = 0.002, MaxInterval = "0.001")); +end AllocationControl; diff --git a/SimulationModels/AIDAModelica/AttitudeControl.mo b/SimulationModels/AIDAModelica/AttitudeControl.mo new file mode 100644 index 0000000..0f3fab5 --- /dev/null +++ b/SimulationModels/AIDAModelica/AttitudeControl.mo @@ -0,0 +1,94 @@ +within AIDAModelica; + +model AttitudeControl "Attitude Control Model" + // CP: 65001 + // SimulationX Version: 3.8.2.45319 x64 + parameter Boolean Test_CstMomentumActiv = false; + parameter Boolean Test_open_loop[3] = {false, false, false} "parameter"; + parameter Real Test_CstMomentumValues[3] = {0.0, 0.0, 0.0}; + Modelica.Blocks.Interfaces.RealInput AttitudeConsignAP[2](quantity = "Mechanics.Rotation.Angle", displayUnit = "rad") "Desired phi and teta angles input" annotation( + Placement(visible = true, transformation(extent = {{-166, 23}, {-126, 63}}, rotation = 0), iconTransformation(origin = {-50, 100}, extent = {{-20, -20}, {20, 20}}, rotation = 270))); + Modelica.Blocks.Interfaces.RealInput AttitudeRCConsign[2](quantity = "Mechanics.Rotation.Angle", displayUnit = "rad") "Desired phi and teta angles input sac" annotation( + Placement(visible = true,transformation(extent = {{-163, -45}, {-123, -5}}, rotation = 0), iconTransformation(extent = {{-120, -20}, {-80, 20}}, rotation = 0))); + Modelica.Blocks.Interfaces.RealInput YawConsign(quantity = "Mechanics.Rotation.Angle", displayUnit = "rad") "Desired yaw angle input" annotation( + Placement(transformation(extent = {{-80, -70}, {-40, -30}}), iconTransformation(extent = {{-120, -70}, {-80, -30}}))); + Modelica.Blocks.Interfaces.RealInput AngularSpeed[3](quantity = "Mechanics.Rotation.RotVelocity", displayUnit = "rad/s") "Real angular velocities feedback input" annotation( + Placement(transformation(extent = {{-89.7, 58}, {-49.7, 98}}), iconTransformation(origin = {-50, -100}, extent = {{-20, -20}, {20, 20}}, rotation = 90))); + Modelica.Blocks.Interfaces.RealInput Attitude[3](quantity = "Mechanics.Rotation.Angle", displayUnit = "rad") "Real attitude feedback input" annotation( + Placement(transformation(extent = {{-40, 45}, {0, 85}}), iconTransformation(origin = {0, -100}, extent = {{-20, -20}, {20, 20}}, rotation = 90))); + Modelica.Blocks.Interfaces.RealOutput MomentumsConsign[3](quantity = "Mechanics.Rotation.Torque", displayUnit = "Nm") "Desired moments output" annotation( + Placement(transformation(extent = {{90, -15}, {110, 5}}), iconTransformation(extent = {{90, -10}, {110, 10}}))); + Modelica.Blocks.Interfaces.RealInput RCYawCommand(quantity = "Mechanics.Rotation.Angle", displayUnit = "rad") "RC yaw angle input" annotation( + Placement(transformation(extent = {{-80, -100}, {-40, -60}}), iconTransformation(origin = {-100, 50}, extent = {{-20, -20}, {20, 20}}))); + Modelica.Blocks.Interfaces.BooleanInput SelectedControlMode "'input Boolean' as connector" annotation( + Placement(visible = true, transformation(extent = {{-164, -11}, {-124, 29}}, rotation = 0), iconTransformation(origin = {50, -100}, extent = {{-20, -20}, {20, 20}}, rotation = -270))); + AIDAModelica.ControlRollAngle controlRollAngle1(xAngularSpeedErrorModel1(Kwphi = 3), PID(k = 0.09, Ti = 1.5, Td = 0.03, Add(k1 = 1, k2 = 1, k3 = 1))) annotation( + Placement(visible = true, transformation(extent = {{49, -8}, {69, 12}}, rotation = 0))); + AIDAModelica.ControlPitchAngle controlPitchAngle1(yAngularSpeedErrorModel1(Kwteta = 1.5), PID1(Add(k1 = 1, k2 = 1, k3 = 1))) annotation( + Placement(visible = true, transformation(extent = {{49, 20}, {69, 40}}, rotation = 0))); + AIDAModelica.ControlYawAngle controlYawAngle1(PID2(k = 0.05, Ti = 2, Td = 0.03, Add(k1 = 1, k2 = 1, k3 = 1))) annotation( + Placement(visible = true, transformation(extent = {{48, -37}, {68, -17}}, rotation = 0))); + Modelica.Blocks.Logical.Switch SelectRollConsign annotation( + Placement(visible = true, transformation(extent = {{-56, -20}, {-36, 0}}, rotation = 0))); + Modelica.Blocks.Logical.Switch SelectPitchConsign annotation( + Placement(visible = true, transformation(extent = {{-56, 17}, {-36, 37}}, rotation = 0))); + Modelica.Blocks.Math.Add computeYawConsign annotation( + Placement(transformation(extent = {{-35, -75}, {-15, -55}}))); +equation + connect(SelectRollConsign.u1, AttitudeConsignAP[1]) annotation( + Line(points = {{-58, -2}, {-106, -2}, {-106, 43}, {-146, 43}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(SelectRollConsign.u2, SelectedControlMode) annotation( + Line(points = {{-58, -10}, {-78, -10}, {-78, 9}, {-144, 9}}, color = {255, 0, 255}, thickness = 0.0625)); + connect(SelectRollConsign.u3, AttitudeRCConsign[1]) annotation( + Line(points = {{-58, -18}, {-94, -18}, {-94, -25}, {-143, -25}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(controlRollAngle1.RollConsign, SelectRollConsign.y) annotation( + Line(points = {{49, 7}, {8, 7}, {8, -10}, {-35, -10}}, color = {0, 0, 127})); + connect(SelectPitchConsign.u1, AttitudeConsignAP[2]) annotation( + Line(points = {{-58, 35}, {-106, 35}, {-106, 43}, {-146, 43}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(SelectPitchConsign.u2, SelectedControlMode) annotation( + Line(points = {{-58, 27}, {-78, 27}, {-78, 9}, {-144, 9}}, color = {255, 0, 255}, thickness = 0.0625)); + connect(SelectPitchConsign.u3, AttitudeRCConsign[2]) annotation( + Line(points = {{-58, 19}, {-94, 19}, {-94, -25}, {-143, -25}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(controlPitchAngle1.PitchCosign, SelectPitchConsign.y) annotation( + Line(points = {{49, 35}, {22, 35}, {22, 27}, {-35, 27}}, color = {0, 0, 127})); + connect(controlYawAngle1.YawConsign, computeYawConsign.y) annotation( + Line(points = {{48, -22}, {-9, -22}, {-9, -65}, {-14, -65}}, color = {0, 0, 127})); +// la sortie est soit celle caclulée par le contrôleur soit fixée selon la valeur du paramètre Test_CstMomentumActiv et Test_CstMomentumValues + MomentumsConsign[3] = if Test_CstMomentumActiv then Test_CstMomentumValues[3] else controlYawAngle1.MomentumZ; + MomentumsConsign[2] = if Test_CstMomentumActiv then Test_CstMomentumValues[2] else controlPitchAngle1.MomentumY; + MomentumsConsign[1] = if Test_CstMomentumActiv then Test_CstMomentumValues[1] else controlRollAngle1.MomentumX; + controlRollAngle1.AngularSpeedX = if Test_open_loop[1] then 0 else AngularSpeed[1] annotation( + Line(points = {{36, 18}, {-25, 18}, {-25, 35}, {-30, 35}}, color = {0, 0, 127}, thickness = 0.0625)); + controlRollAngle1.Roll = if Test_open_loop[1] then 0 else Attitude[1] annotation( + Line(points = {{36, 23}, {4, 23}, {4, 36}, {-4, 36}}, color = {0, 0, 127})); + controlYawAngle1.AngularSpeedZ = if Test_open_loop[3] then 0 else AngularSpeed[3] annotation( + Line(points = {{36, -34}, {-25, -34}, {-25, 35}, {-30, 35}}, color = {0, 0, 127}, thickness = 0.0625)); + controlYawAngle1.Yaw = if Test_open_loop[3] then 0 else Attitude[3] annotation( + Line(points = {{36, -29}, {2, -29}, {2, 36}, {-4, 36}}, color = {0, 0, 127})); + controlPitchAngle1.AngularSpeedY = if Test_open_loop[2] then 0 else AngularSpeed[2] annotation( + Line(points = {{36, -8}, {-25, -8}, {-25, 35}, {-30, 35}}, color = {0, 0, 127}, thickness = 0.0625)); + controlPitchAngle1.Pitch = if Test_open_loop[2] then 0 else Attitude[2] annotation( + Line(points = {{36, -3}, {2, -3}, {2, 36}, {-4, 36}}, color = {0, 0, 127})); + connect(computeYawConsign.u2, RCYawCommand) annotation( + Line(points = {{-37, -71}, {-42, -71}, {-55, -71}, {-55, -80}, {-60, -80}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(computeYawConsign.u1, YawConsign) annotation( + Line(points = {{-37, -59}, {-42, -59}, {-55, -59}, {-55, -50}, {-60, -50}}, color = {0, 0, 127}, thickness = 0.0625)); + annotation( + 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)), + Icon(graphics = {Rectangle(fillColor = {255, 255, 255}, fillPattern = FillPattern.Solid, extent = {{-100, 100}, {100, -100}}), Text(textString = "Control Attitude", fillPattern = FillPattern.None, extent = {{-29, 11}, {29, -11}}, origin = {1, 3})}), + experiment(StopTime = 30, StartTime = 0, Interval = 0.002, Tolerance = 1e-06), + __OpenModelica_simulationFlags(jacobian = "coloredNumerical", s = "dassl", lv = "LOG_STATS")); +end AttitudeControl; diff --git a/SimulationModels/AIDAModelica/AttitudeControl_PID2.mo b/SimulationModels/AIDAModelica/AttitudeControl_PID2.mo new file mode 100644 index 0000000..b23c42b --- /dev/null +++ b/SimulationModels/AIDAModelica/AttitudeControl_PID2.mo @@ -0,0 +1,151 @@ +// CP: 65001 +// SimulationX Version: 3.8.2.45319 x64 +within AIDAModelica; +model AttitudeControl_PID2 "Attitude Control Model_PID2" + parameter Real k=1; + parameter Real Ti=10000; + parameter Real Td=0.0001; + Modelica.Blocks.Interfaces.RealInput AttitudeConsignAP[2]( + quantity="Mechanics.Rotation.Angle", + displayUnit="rad") "Desired phi and teta angles input" annotation(Placement( + transformation(extent={{-115,5},{-75,45}}), + iconTransformation( + origin={-50,100}, + extent={{-20,-20},{20,20}}, + rotation=270))); + Modelica.Blocks.Interfaces.RealInput AttitudeRCConsign[2]( + quantity="Mechanics.Rotation.Angle", + displayUnit="rad") "Desired phi and teta angles input sac" annotation(Placement( + transformation(extent={{-115,-55},{-75,-15}}), + iconTransformation(extent={{-120,-20},{-80,20}}))); + Modelica.Blocks.Interfaces.RealInput YawConsign( + quantity="Mechanics.Rotation.Angle", + displayUnit="rad") "Desired yaw angle input" annotation(Placement( + transformation(extent={{-80,-70},{-40,-30}}), + iconTransformation(extent={{-120,-70},{-80,-30}}))); + Modelica.Blocks.Interfaces.RealInput AngularSpeed[3]( + quantity="Mechanics.Rotation.RotVelocity", + displayUnit="rad/s") "Real angular velocities feedback input" annotation(Placement( + transformation(extent={{-50,15},{-10,55}}), + iconTransformation( + origin={-50,-100}, + extent={{-20,-20},{20,20}}, + rotation=90))); + Modelica.Blocks.Interfaces.RealInput Attitude[3]( + quantity="Mechanics.Rotation.Angle", + displayUnit="rad") "Real attitude feedback input" annotation(Placement( + transformation(extent={{-25,15},{15,55}}), + iconTransformation( + origin={0,-100}, + extent={{-20,-20},{20,20}}, + rotation=90))); + Modelica.Blocks.Interfaces.RealOutput MomentumsConsign[3]( + quantity="Mechanics.Rotation.Torque", + displayUnit="Nm") "Desired moments output" annotation(Placement( + transformation(extent={{90,-15},{110,5}}), + iconTransformation(extent={{90,-10},{110,10}}))); + Modelica.Blocks.Interfaces.RealInput RCYawCommand( + quantity="Mechanics.Rotation.Angle", + displayUnit="rad") "RC yaw angle input" annotation(Placement( + transformation(extent={{-80,-100},{-40,-60}}), + iconTransformation( + origin={-100,50}, + extent={{-20,-20},{20,20}}))); + Modelica.Blocks.Interfaces.BooleanInput SelectedControlMode "'input Boolean' as connector" annotation(Placement( + transformation(extent={{-115,-25},{-75,15}}), + iconTransformation( + origin={50,-100}, + extent={{-20,-20},{20,20}}, + rotation=-270))); + PID_2 controlRollAngle1( + k=k, + Ti=Ti, + Td=Td) annotation(Placement(transformation(extent={{38,13},{58,33}}))); + PID_2 controlPitchAngle1( + k=k, + Ti=Ti, + Td=Td) annotation(Placement(transformation(extent={{48,-15},{68,5}}))); + PID_2 controlYawAngle1( + k=k, + Ti=Ti, + Td=Td) annotation(Placement(transformation(extent={{58,-39},{78,-19}}))); + Modelica.Blocks.Logical.Switch SelectRollConsign annotation(Placement(transformation(extent={{-60,0},{-40,20}}))); + Modelica.Blocks.Logical.Switch SelectPitchConsign annotation(Placement(transformation(extent={{-60,-30},{-40,-10}}))); + Modelica.Blocks.Math.Add add1 annotation(Placement(transformation(extent={{-35,-75},{-15,-55}}))); + equation + connect(add1.y, controlYawAngle1.Consign) annotation( + Line(points = {{-14, -65}, {55, -65}, {55, -27}, {59, -27}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(controlYawAngle1.y, MomentumsConsign[3]) annotation( + Line(points = {{79, -29}, {95, -29}, {95, -5}, {100, -5}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(controlYawAngle1.du, AngularSpeed[3]) annotation( + Line(points = {{59, -33}, {-25, -33}, {-25, 35}, {-30, 35}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(controlYawAngle1.u, Attitude[3]) annotation( + Line(points = {{58, -23}, {0, -23}, {0, 35}, {-5, 35}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(SelectRollConsign.y, controlRollAngle1.Consign) annotation( + Line(points = {{-39, 10}, {15, 10}, {15, 25}, {39, 25}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(controlRollAngle1.y, MomentumsConsign[1]) annotation( + Line(points = {{59, 23}, {95, 23}, {95, -5}, {100, -5}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(controlRollAngle1.du, AngularSpeed[1]) annotation( + Line(points = {{39, 19}, {-25, 19}, {-25, 35}, {-30, 35}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(controlRollAngle1.u, Attitude[1]) annotation( + Line(points = {{38, 29}, {0, 29}, {0, 35}, {-5, 35}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(SelectPitchConsign.y, controlPitchAngle1.Consign) annotation( + Line(points = {{-39, -20}, {35, -20}, {35, -3}, {49, -3}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(controlPitchAngle1.y, MomentumsConsign[2]) annotation( + Line(points = {{69, -5}, {100, -5}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(controlPitchAngle1.du, AngularSpeed[2]) annotation( + Line(points = {{49, -9}, {-25, -9}, {-25, 35}, {-30, 35}}, color = {0, 0, 127}, thickness = 0.0625)); + //controlPitchAngle1.u=0; en boucle ouverte : Ki=100 s-1, tau=0.1s + connect(controlPitchAngle1.u, Attitude[2]) annotation( + + Line(points = {{48, 1}, {0, 1}, {0, 35}, {-5, 35}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(SelectRollConsign.u3, AttitudeRCConsign[1]) annotation( + Line(points = {{-62, 2}, {-67, 2}, {-90, 2}, {-90, -35}, {-95, -35}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(SelectRollConsign.u2, SelectedControlMode) annotation( + Line(points = {{-62, 10}, {-67, 10}, {-90, 10}, {-90, -5}, {-95, -5}}, color = {255, 0, 255}, thickness = 0.0625)); + connect(SelectRollConsign.u1, AttitudeConsignAP[1]) annotation( + Line(points = {{-62, 18}, {-67, 18}, {-90, 18}, {-90, 25}, {-95, 25}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(SelectPitchConsign.u3, AttitudeRCConsign[2]) annotation( + Line(points = {{-62, -28}, {-67, -28}, {-90, -28}, {-90, -35}, {-95, -35}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(SelectPitchConsign.u2, SelectedControlMode) annotation( + Line(points = {{-62, -20}, {-67, -20}, {-90, -20}, {-90, -5}, {-95, -5}}, color = {255, 0, 255}, thickness = 0.0625)); + connect(SelectPitchConsign.u1, AttitudeConsignAP[2]) annotation( + Line(points = {{-62, -12}, {-67, -12}, {-90, -12}, {-90, 25}, {-95, 25}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(add1.u1, YawConsign) annotation( + Line(points = {{-37, -59}, {-42, -59}, {-55, -59}, {-55, -50}, {-60, -50}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(add1.u2, RCYawCommand) annotation( + Line(points = {{-37, -71}, {-42, -71}, {-55, -71}, {-55, -80}, {-60, -80}}, color = {0, 0, 127}, thickness = 0.0625)); + annotation( + AttitudeConsignAP(flags=2), + AttitudeRCConsign(flags=2), + YawConsign(flags=2), + AngularSpeed(flags=2), + Attitude(flags=2), + MomentumsConsign(flags=2), + RCYawCommand(flags=2), + SelectedControlMode(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)), + add1( + u1(flags=2), + u2(flags=2), + y(flags=2)), + Icon(graphics={ + Rectangle( + fillColor={255,255,255}, + fillPattern=FillPattern.Solid, + extent={{-100,100},{100,-100}})}), + experiment( + StopTime=1, + StartTime=0, + Interval=0.002, + MaxInterval="0.001")); +end AttitudeControl_PID2; diff --git a/SimulationModels/AIDAModelica/ComputationAccelerationModel.mo b/SimulationModels/AIDAModelica/ComputationAccelerationModel.mo new file mode 100644 index 0000000..9db43d7 --- /dev/null +++ b/SimulationModels/AIDAModelica/ComputationAccelerationModel.mo @@ -0,0 +1,35 @@ +within AIDAModelica; + +model ComputationAccelerationModel "Computation Acceleration Model" + // CP: 65001 + // SimulationX Version: 3.8.2.45319 x64 + Modelica.Blocks.Interfaces.RealInput TotalThrust(quantity = "Mechanics.Rotation.Torque", displayUnit = "Nm") "'input Real' as connector" annotation( + Placement(transformation(extent = {{-75, 15}, {-35, 55}}), iconTransformation(extent = {{-95, 5}, {-55, 45}}))); + Modelica.Blocks.Interfaces.RealInput Attitude[3](quantity = "Mechanics.Rotation.Angle", displayUnit = "rad") "'input Real' as connector" annotation( + Placement(transformation(extent = {{-75, 55}, {-35, 95}}), iconTransformation(origin = {-25, 75}, extent = {{-20, -20}, {20, 20}}))); + Modelica.Blocks.Interfaces.RealOutput DroneAcceleration[3](quantity = "Mechanics.Translation.Accel", displayUnit = "m/s²") "'output Real' as connector" annotation( + Placement(transformation(extent = {{65, -15}, {85, 5}}), iconTransformation(extent = {{61.7, -10}, {81.7, 10}}))); + Modelica.Blocks.Interfaces.RealInput ExternalForce[3] "'input Real' as connector" annotation( + Placement(transformation(extent = {{-60, -40}, {-20, 0}}), iconTransformation(extent = {{-95, -45}, {-55, -5}}))); + parameter Real m(quantity = "Basics.Mass", displayUnit = "kg") = 1.8 "Quadcopter mass"; + parameter Real g(quantity = "Mechanics.Translation.Accel", displayUnit = "m/s²") = 9.8 "Parameter g"; + parameter Real e3[3] = {0, 0, 1} "Unit vector"; + Real Reb[3, 3] "From the ABCF to the EFCF rotation matrix"; + Real Rz[3, 3] "Z rotation matrix"; + Real Ry[3, 3] "Y rotation matrix"; + Real Rx[3, 3] "X rotation matrix"; +equation +// enter your equations here + Rz = {{cos(Attitude[3]), sin(Attitude[3]), 0}, {-sin(Attitude[3]), cos(Attitude[3]), 0}, {0, 0, 1}}; + Ry = {{cos(Attitude[2]), 0, -sin(Attitude[2])}, {0, 1, 0}, {sin(Attitude[2]), 0, cos(Attitude[2])}}; + Rx = {{1, 0, 0}, {0, cos(Attitude[1]), sin(Attitude[1])}, {0, -sin(Attitude[1]), cos(Attitude[1])}}; + Reb = transpose(Rz) * transpose(Ry) * transpose(Rx); + DroneAcceleration = g * e3 - TotalThrust / m * Reb * e3 + ExternalForce / m; + annotation( + TotalThrust(flags = 2), + Attitude(flags = 2), + DroneAcceleration(flags = 2), + ExternalForce(flags = 2), + Icon(coordinateSystem(extent = {{-75, -75}, {75, 75}}, initialScale = 0.1), graphics = {Rectangle(fillColor = {255, 255, 255}, fillPattern = FillPattern.Solid, extent = {{-76.7, 76.7}, {80, -76.7}}), Text(origin = {-6, 4}, extent = {{-12, 6}, {12, -6}}, textString = "%name")}), + experiment(StopTime = 1, StartTime = 0, Interval = 0.002, MaxInterval = "0.001")); +end ComputationAccelerationModel; diff --git a/SimulationModels/AIDAModelica/ComputationChangeAngleVelocity.mo b/SimulationModels/AIDAModelica/ComputationChangeAngleVelocity.mo new file mode 100644 index 0000000..9c5673a --- /dev/null +++ b/SimulationModels/AIDAModelica/ComputationChangeAngleVelocity.mo @@ -0,0 +1,27 @@ +within AIDAModelica; + +model ComputationChangeAngleVelocity "Computation ChangeAngle Velocity" + // CP: 65001 + // SimulationX Version: 3.8.2.45319 x64 + Modelica.Blocks.Interfaces.RealInput DronAngularVelocities[3](quantity = "Mechanics.Rotation.RotVelocity", displayUnit = "rad/s") "'input Real' as connector" annotation( + Placement(transformation(extent = {{-20, -20}, {20, 20}}), iconTransformation(extent = {{-95, 5}, {-55, 45}}))); + Modelica.Blocks.Interfaces.RealInput Attitude[3](quantity = "Mechanics.Rotation.Angle", displayUnit = "rad") "'input Real' as connector" annotation( + Placement(transformation(extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-75, -25}, extent = {{-20, -20}, {20, 20}}))); + Modelica.Blocks.Interfaces.RealOutput ChangeAngleVelocity[3](quantity = "Mechanics.Rotation.RotVelocity", displayUnit = "rad/s") "'output Real' as connector" annotation( + Placement(transformation(extent = {{-10, -10}, {10, 10}}), iconTransformation(extent = {{61.7, -10}, {81.7, 10}}))); + Real W[3, 3] "Matrix W"; +equation +// enter your equations here + W[1, 1] = 1; + W[1, 2] = tan(Attitude[2]) * sin(Attitude[1]); + W[1, 3] = tan(Attitude[2]) * cos(Attitude[1]); + W[2, 1] = 0; + W[2, 2] = cos(Attitude[1]); + W[2, 3] = -sin(Attitude[1]); + W[3, 1] = 0; + W[3, 2] = sin(Attitude[1]) / cos(Attitude[2]); + W[3, 3] = cos(Attitude[1]) * cos(Attitude[2]); + ChangeAngleVelocity = W * DronAngularVelocities; + annotation( + Icon(coordinateSystem(extent = {{-75, -75}, {75, 75}}, initialScale = 0.1), graphics = {Rectangle(fillColor = {255, 255, 255}, fillPattern = FillPattern.Solid, extent = {{-80, 76.7}, {76.7, -76.7}}), Text(origin = {-5, 1}, extent = {{-19, 7}, {19, -7}}, textString = "%name")})); +end ComputationChangeAngleVelocity; diff --git a/SimulationModels/AIDAModelica/ComputeAltitudeConsign.mo b/SimulationModels/AIDAModelica/ComputeAltitudeConsign.mo new file mode 100644 index 0000000..29c40b2 --- /dev/null +++ b/SimulationModels/AIDAModelica/ComputeAltitudeConsign.mo @@ -0,0 +1,40 @@ +within AIDAModelica; + +model ComputeAltitudeConsign "[SF2.4.1] Compute altitude consign" + // CP: 65001 + // SimulationX Version: 3.8.2.45319 x64 + Modelica.Blocks.Interfaces.RealInput RCVerticalSpeedCommand(quantity = "Mechanics.Translation.Velocity", displayUnit = "m/s") "RC vertical speed consign" annotation( + Placement(transformation(extent = {{-150, 25}, {-110, 65}}), iconTransformation(extent = {{-120, 30}, {-80, 70}}))); + Modelica.Blocks.Interfaces.RealInput VSpeed(quantity = "Mechanics.Translation.Velocity", displayUnit = "m/s") "Real drone speed feedback" annotation( + Placement(transformation(extent = {{-150, -35}, {-110, 5}}), iconTransformation(extent = {{-120, -70}, {-80, -30}}))); + Modelica.Blocks.Interfaces.RealOutput AccelerationConsign(quantity = "Mechanics.Translation.Accel", displayUnit = "m/s²") "Drone acceleration consign " annotation( + Placement(transformation(extent = {{65, 25}, {85, 45}}), iconTransformation(extent = {{90, -10}, {110, 10}}))); + Modelica.Blocks.Continuous.PID PID1(k = 250, Ti = 1.5, Td = 0.02, initType = Modelica.Blocks.Types.InitPID.NoInit) annotation( + Placement(transformation(extent = {{15, 25}, {35, 45}}))); + AIDAModelica.SpeedErrorModelSAC speedErrorModelSAC1 annotation( + Placement(transformation(extent = {{-55, 30}, {-35, 50}}))); +equation + connect(speedErrorModelSAC1.SpeedError, PID1.u) annotation( + Line(points = {{-35, 40}, {-30, 40}, {8, 40}, {8, 35}, {13, 35}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(RCVerticalSpeedCommand, speedErrorModelSAC1.SpeedConsign) annotation( + Line(points = {{-130, 45}, {-125, 45}, {-60, 45}, {-60, 40}, {-55, 40}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(VSpeed, speedErrorModelSAC1.Speed) annotation( + Line(points = {{-130, -15}, {-125, -15}, {-45, -15}, {-45, 25}, {-45, 30}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(PID1.y, AccelerationConsign) annotation( + Line(points = {{36, 35}, {41, 35}, {70, 35}, {75, 35}}, color = {0, 0, 127}, thickness = 0.0625)); + annotation( + Speed(flags = 2), + 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)), + Icon(graphics = {Rectangle(fillColor = {255, 255, 255}, fillPattern = FillPattern.Solid, extent = {{-100, 100}, {100, -100}})}), + experiment(StopTime = 1, StartTime = 0, Interval = 0.002, MaxInterval = "0.001"), + Speed(flags = 2), + 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)), + Icon(graphics = {Rectangle(fillColor = {255, 255, 255}, fillPattern = FillPattern.Solid, extent = {{-100, 100}, {100, -100}}), Text(origin = {-1, 4}, extent = {{-35, 10}, {35, -10}}, textString = "%name")}, coordinateSystem(initialScale = 0.1)), + experiment(StopTime = 1, StartTime = 0, Interval = 0.002, MaxInterval = "0.001")); +end ComputeAltitudeConsign; diff --git a/SimulationModels/AIDAModelica/ComputeDroneAngularsVelocities.mo b/SimulationModels/AIDAModelica/ComputeDroneAngularsVelocities.mo new file mode 100644 index 0000000..8542551 --- /dev/null +++ b/SimulationModels/AIDAModelica/ComputeDroneAngularsVelocities.mo @@ -0,0 +1,41 @@ +within AIDAModelica; + +model ComputeDroneAngularsVelocities "[SimuD4 DM] Compute drone angulars velocities" + // CP: 65001 + // SimulationX Version: 3.8.2.45319 + Modelica.Blocks.Interfaces.RealInput Moments[3](quantity = "Mechanics.Rotation.Torque", displayUnit = "Nm") "'input Real' as connector" annotation( + Placement(transformation(extent = {{-120, 20}, {-80, 60}}), iconTransformation(extent = {{-95, -20}, {-55, 20}}))); + Modelica.Blocks.Interfaces.RealOutput DroneAngularVelocities[3](quantity = "Mechanics.Translation.Velocity", displayUnit = "m/s") "'output Real' as connector" annotation( + Placement(transformation(extent = {{90, 30}, {110, 50}}), iconTransformation(extent = {{61.7, -10}, {81.7, 10}}))); + ComputationAngularAccelerationModel computationAngularAccelerationModel1 annotation( + Placement(transformation(extent = {{-40, 35}, {-25, 45}}))); + Modelica.Blocks.Continuous.Integrator integrator1 annotation( + Placement(transformation(extent = {{40, 60}, {60, 80}}))); + Modelica.Blocks.Continuous.Integrator integrator2 annotation( + Placement(transformation(extent = {{40, 30}, {60, 50}}))); + Modelica.Blocks.Continuous.Integrator integrator3 annotation( + Placement(transformation(extent = {{40, 0}, {60, 20}}))); +equation + connect(computationAngularAccelerationModel1.Moments[:], Moments[:]) annotation( + Line(points = {{-40, 40}, {-45, 40}, {-95, 40}, {-100, 40}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(integrator1.u, computationAngularAccelerationModel1.DroneAngularAcceleration[1]) annotation( + Line(points = {{38, 70}, {33, 70}, {-20.3, 70}, {-20.3, 40}, {-25.3, 40}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(integrator2.u, computationAngularAccelerationModel1.DroneAngularAcceleration[2]) annotation( + Line(points = {{38, 40}, {33, 40}, {-20.3, 40}, {-25.3, 40}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(integrator3.u, computationAngularAccelerationModel1.DroneAngularAcceleration[3]) annotation( + Line(points = {{38, 10}, {33, 10}, {-20.3, 10}, {-20.3, 40.3}, {-25.3, 40.3}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(integrator1.y, DroneAngularVelocities[1]) annotation( + Line(points = {{61, 70}, {66, 70}, {95, 70}, {95, 40}, {100, 40}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(integrator2.y, DroneAngularVelocities[2]) annotation( + Line(points = {{61, 40}, {66, 40}, {95, 40}, {100, 40}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(integrator3.y, DroneAngularVelocities[3]) annotation( + Line(points = {{61, 10}, {66, 10}, {95, 10}, {95, 40}, {100, 40}}, color = {0, 0, 127}, thickness = 0.0625)); + annotation( + Moments(flags = 2), + DroneAngularVelocities(flags = 2), + integrator1(u(flags = 2), y(flags = 2)), + integrator2(u(flags = 2), y(flags = 2)), + integrator3(u(flags = 2), y(flags = 2)), + Icon(coordinateSystem(extent = {{-75, -50}, {75, 50}}, initialScale = 0.1), graphics = {Rectangle(fillColor = {255, 255, 255}, fillPattern = FillPattern.Solid, extent = {{-76.7, 50}, {76.7, -50}}), Text(origin = {-13, 4}, extent = {{-13, 4}, {13, -4}}, textString = "%name")}), + experiment(StopTime = 1, StartTime = 0, Interval = 0.001)); +end ComputeDroneAngularsVelocities; diff --git a/SimulationModels/AIDAModelica/ComputeDroneAttitude.mo b/SimulationModels/AIDAModelica/ComputeDroneAttitude.mo new file mode 100644 index 0000000..8b3fff8 --- /dev/null +++ b/SimulationModels/AIDAModelica/ComputeDroneAttitude.mo @@ -0,0 +1,47 @@ +within AIDAModelica; + +model ComputeDroneAttitude "[SimuD6 KM] Compute drone attitude" + // CP: 65001 + // SimulationX Version: 3.8.2.45319 x64 + Modelica.Blocks.Interfaces.RealInput DroneAngularVelocities[3](quantity = "Mechanics.Rotation.RotVelocity", displayUnit = "rad/s") "'input Real' as connector" annotation( + Placement(transformation(extent = {{-135, 5}, {-95, 45}}), iconTransformation(extent = {{-95, -20}, {-55, 20}}))); + Modelica.Blocks.Interfaces.RealInput AttitudeFB[3](quantity = "Mechanics.Rotation.Angle", displayUnit = "rad") "'input Real' as connector" annotation( + Placement(transformation(extent = {{-135, -25}, {-95, 15}}), iconTransformation(origin = {-25, -50}, extent = {{-20, -20}, {20, 20}}, rotation = -270))); + Modelica.Blocks.Interfaces.RealOutput Attitude[3](quantity = "Mechanics.Rotation.Angle", displayUnit = "rad") "'output Real' as connector" annotation( + Placement(transformation(extent = {{75, 5}, {95, 25}}), iconTransformation(extent = {{61.7, -10}, {81.7, 10}}))); + ComputationChangeAngleVelocity computationChangeAngleVelocity1 annotation( + Placement(transformation(extent = {{-60, 10}, {-45, 25}}))); + Modelica.Blocks.Continuous.Integrator integrator7 annotation( + Placement(transformation(extent = {{10, 35}, {30, 55}}))); + Modelica.Blocks.Continuous.Integrator integrator8 annotation( + Placement(transformation(extent = {{10, 5}, {30, 25}}))); + Modelica.Blocks.Continuous.Integrator integrator9 annotation( + Placement(transformation(extent = {{10, -25}, {30, -5}}))); +equation + connect(computationChangeAngleVelocity1.DronAngularVelocities[:], DroneAngularVelocities[:]) annotation( + Line(points = {{-60, 20}, {-65, 20}, {-110, 20}, {-110, 25}, {-115, 25}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(integrator7.u, computationChangeAngleVelocity1.ChangeAngleVelocity[1]) annotation( + Line(points = {{8, 45}, {3, 45}, {-40.3, 45}, {-40.3, 17.3}, {-45.3, 17.3}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(integrator8.u, computationChangeAngleVelocity1.ChangeAngleVelocity[2]) annotation( + Line(points = {{8, 15}, {3, 15}, {-40.3, 15}, {-40.3, 17.3}, {-45.3, 17.3}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(integrator9.u, computationChangeAngleVelocity1.ChangeAngleVelocity[3]) annotation( + Line(points = {{8, -15}, {3, -15}, {-40.3, -15}, {-40.3, 17.7}, {-45.3, 17.7}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(integrator7.y, Attitude[1]) annotation( + Line(points = {{31, 45}, {36, 45}, {80, 45}, {80, 15}, {85, 15}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(integrator8.y, Attitude[2]) annotation( + Line(points = {{31, 15}, {36, 15}, {80, 15}, {85, 15}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(integrator9.y, Attitude[3]) annotation( + Line(points = {{31, -15}, {36, -15}, {80, -15}, {80, 15}, {85, 15}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(computationChangeAngleVelocity1.Attitude[:], AttitudeFB[:]) annotation( + Line(points = {{-60, 15}, {-65, 15}, {-110, 15}, {-110, -5}, {-115, -5}}, color = {0, 0, 127}, thickness = 0.0625)); + annotation( + DroneAngularVelocities(flags = 2), + AttitudeFB(flags = 2), + Attitude(flags = 2), + computationChangeAngleVelocity1(DronAngularVelocities(flags = 2), Attitude(flags = 2), ChangeAngleVelocity(flags = 2), W(flags = 2)), + integrator7(u(flags = 2), y(flags = 2)), + integrator8(u(flags = 2), y(flags = 2)), + integrator9(u(flags = 2), y(flags = 2)), + Icon(coordinateSystem(extent = {{-75, -50}, {75, 50}}, initialScale = 0.1), graphics = {Rectangle(fillColor = {255, 255, 255}, fillPattern = FillPattern.Solid, extent = {{-76.7, 50}, {76.7, -50}}), Text(origin = {-3, 3}, extent = {{-13, 5}, {13, -5}}, textString = "%name")}), + experiment(StopTime = 1, StartTime = 0, Interval = 0.002, MaxInterval = "0.001")); +end ComputeDroneAttitude; diff --git a/SimulationModels/AIDAModelica/ComputeDronePosition.mo b/SimulationModels/AIDAModelica/ComputeDronePosition.mo new file mode 100644 index 0000000..e08fa0c --- /dev/null +++ b/SimulationModels/AIDAModelica/ComputeDronePosition.mo @@ -0,0 +1,37 @@ +within AIDAModelica; + +model ComputeDronePosition "[SimuD5 KM] Compute drone position" + // CP: 65001 + // SimulationX Version: 3.8.2.45319 x64 + Modelica.Blocks.Interfaces.RealInput DronVelocity[3](quantity = "Mechanics.Translation.Velocity", displayUnit = "m/s") "'input Real' as connector" annotation( + Placement(transformation(extent = {{-125, -15}, {-85, 25}}), iconTransformation(extent = {{-95, -20}, {-55, 20}}))); + Modelica.Blocks.Interfaces.RealOutput Position[3](quantity = "Mechanics.Translation.Displace", displayUnit = "m") "'output Real' as connector" annotation( + Placement(transformation(extent = {{50, -5}, {70, 15}}), iconTransformation(extent = {{61.7, -10}, {81.7, 10}}))); + Modelica.Blocks.Continuous.Integrator integrator10(y_start = -0.5) annotation( + Placement(transformation(extent = {{-20, -35}, {0, -15}}))); + Modelica.Blocks.Continuous.Integrator integrator11(y_start = 39) annotation( + Placement(transformation(extent = {{-20, -5}, {0, 15}}))); + Modelica.Blocks.Continuous.Integrator integrator12 annotation( + Placement(transformation(extent = {{-20, 25}, {0, 45}}))); +equation + connect(integrator12.u, DronVelocity[1]) annotation( + Line(points = {{-22, 35}, {-27, 35}, {-100, 35}, {-100, 5}, {-105, 5}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(integrator11.u, DronVelocity[2]) annotation( + Line(points = {{-22, 5}, {-27, 5}, {-100, 5}, {-105, 5}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(integrator10.u, DronVelocity[3]) annotation( + Line(points = {{-22, -25}, {-27, -25}, {-100, -25}, {-100, 5}, {-105, 5}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(integrator12.y, Position[1]) annotation( + Line(points = {{1, 35}, {6, 35}, {55, 35}, {55, 5}, {60, 5}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(integrator11.y, Position[2]) annotation( + Line(points = {{1, 5}, {6, 5}, {55, 5}, {60, 5}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(integrator10.y, Position[3]) annotation( + Line(points = {{1, -25}, {6, -25}, {55, -25}, {55, 5}, {60, 5}}, color = {0, 0, 127}, thickness = 0.0625)); + annotation( + DronVelocity(flags = 2), + Position(flags = 2), + integrator10(u(flags = 2), y(flags = 2)), + integrator11(u(flags = 2), y(flags = 2)), + integrator12(u(flags = 2), y(flags = 2)), + Icon(coordinateSystem(extent = {{-75, -50}, {75, 50}}, initialScale = 0.1), graphics = {Rectangle(fillColor = {255, 255, 255}, fillPattern = FillPattern.Solid, extent = {{-76.7, 50}, {76.7, -50}}), Text(origin = {-5, 1}, extent = {{-11, 5}, {11, -5}}, textString = "%name")}), + experiment(StopTime = 1, StartTime = 0, Interval = 0.001)); +end ComputeDronePosition; diff --git a/SimulationModels/AIDAModelica/ComputeDroneVelocity.mo b/SimulationModels/AIDAModelica/ComputeDroneVelocity.mo new file mode 100644 index 0000000..f818cc1 --- /dev/null +++ b/SimulationModels/AIDAModelica/ComputeDroneVelocity.mo @@ -0,0 +1,57 @@ +within AIDAModelica; + +model ComputeDroneVelocity "[SimuD3 DM] Compute drone velocity" + // CP: 65001 + // SimulationX Version: 3.8.2.45319 x64 + Modelica.Blocks.Interfaces.RealInput TotalThrust(quantity = "Mechanics.Translation.Force", displayUnit = "N") "'input Real' as connector" annotation( + Placement(transformation(extent = {{-75, 25}, {-35, 65}}), iconTransformation(extent = {{-120, 5}, {-80, 45}}))); + Modelica.Blocks.Interfaces.RealOutput Accelerations[3] "Accelerations" annotation( + Placement(transformation(extent = {{70, -40}, {90, -20}}), iconTransformation(extent = {{90, -35}, {110, -15}}))); + Modelica.Blocks.Interfaces.RealInput Attitude[3](quantity = "Mechanics.Rotation.Angle", displayUnit = "rad") "'input Real' as connector" annotation( + Placement(transformation(extent = {{-75, -10}, {-35, 30}}), iconTransformation(origin = {0, 50}, extent = {{-20, -20}, {20, 20}}, rotation = -90))); + Modelica.Blocks.Interfaces.RealOutput DroneVelocity[3](quantity = "Mechanics.Translation.Velocity", displayUnit = "m/s") "'output Real' as connector" annotation( + Placement(transformation(extent = {{120, 20}, {140, 40}}), iconTransformation(extent = {{90, 15}, {110, 35}}))); + Modelica.Blocks.Interfaces.RealInput ExternalForce[3] annotation( + Placement(transformation(extent = {{-75, -40}, {-35, 0}}), iconTransformation(extent = {{-120, -45}, {-80, -5}}))); + ComputationAccelerationModel computationAccelerationModel1 annotation( + Placement(transformation(extent = {{5, 20}, {20, 35}}))); + Modelica.Blocks.Continuous.Integrator integrator4 annotation( + Placement(transformation(extent = {{70, -10}, {90, 10}}))); + Modelica.Blocks.Continuous.Integrator integrator5 annotation( + Placement(transformation(extent = {{70, 20}, {90, 40}}))); + Modelica.Blocks.Continuous.Integrator integrator6 annotation( + Placement(transformation(extent = {{70, 50}, {90, 70}}))); +equation + connect(computationAccelerationModel1.Attitude[:], Attitude) annotation( + Line(points = {{10, 35}, {10, 40}, {-20, 40}, {-20, 10}, {-50, 10}, {-55, 10}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(computationAccelerationModel1.TotalThrust, TotalThrust) annotation( + Line(points = {{5, 30}, {0, 30}, {-50, 30}, {-50, 45}, {-55, 45}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(integrator6.u, computationAccelerationModel1.DroneAcceleration[1]) annotation( + Line(points = {{68, 60}, {63, 60}, {24.7, 60}, {24.7, 27.3}, {19.7, 27.3}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(integrator5.u, computationAccelerationModel1.DroneAcceleration[2]) annotation( + Line(points = {{68, 30}, {63, 30}, {24.7, 30}, {24.7, 27.3}, {19.7, 27.3}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(integrator4.u, computationAccelerationModel1.DroneAcceleration[3]) annotation( + Line(points = {{68, 0}, {63, 0}, {24.7, 0}, {24.7, 27.7}, {19.7, 27.7}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(integrator6.y, DroneVelocity[1]) annotation( + Line(points = {{91, 60}, {96, 60}, {125, 60}, {125, 30}, {130, 30}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(integrator5.y, DroneVelocity[2]) annotation( + Line(points = {{91, 30}, {96, 30}, {125, 30}, {130, 30}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(integrator4.y, DroneVelocity[3]) annotation( + Line(points = {{91, 0}, {96, 0}, {125, 0}, {125, 30}, {130, 30}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(computationAccelerationModel1.ExternalForce[:], ExternalForce[:]) annotation( + Line(points = {{5, 25}, {0, 25}, {-1, -20}, {-50, -20}, {-55, -20}}, color = {0, 0, 127}, thickness = 0.0625), + AutoRoute = false); + connect(computationAccelerationModel1.DroneAcceleration[:], Accelerations[:]) annotation( + Line(points = {{19.7, 27.3}, {24.7, 27.3}, {25, -30}, {75, -30}, {80, -30}}, color = {0, 0, 127}, thickness = 0.0625), + AutoRoute = false); + annotation( + TotalThrust(flags = 2), + Attitude(flags = 2), + DroneVelocity(flags = 2), + computationAccelerationModel1(TotalThrust(flags = 2), Attitude(flags = 2), DroneAcceleration(flags = 2), ExternalForce(flags = 2)), + integrator4(u(flags = 2), y(flags = 2)), + integrator5(u(flags = 2), y(flags = 2)), + integrator6(u(flags = 2), y(flags = 2)), + Icon(coordinateSystem(extent = {{-100, -50}, {100, 50}}, initialScale = 0.1), graphics = {Rectangle(fillColor = {255, 255, 255}, fillPattern = FillPattern.Solid, extent = {{-100, 53.3}, {103.3, -53.3}}), Text(origin = {-5, -3}, extent = {{-15, 5}, {15, -5}}, textString = "%name")}), + experiment(StopTime = 1, StartTime = 0, Interval = 0.002, MaxInterval = "0.001")); +end ComputeDroneVelocity; diff --git a/SimulationModels/AIDAModelica/ComputeMoments.mo b/SimulationModels/AIDAModelica/ComputeMoments.mo new file mode 100644 index 0000000..ff9489f --- /dev/null +++ b/SimulationModels/AIDAModelica/ComputeMoments.mo @@ -0,0 +1,28 @@ +within AIDAModelica; + +model ComputeMoments "[SimuD2 CEM] Compute moments" + // CP: 65001 + // SimulationX Version: 3.8.2.45319 x64 + Modelica.Blocks.Interfaces.RealInput Motor1AngularVelocity(quantity = "Mechanics.Rotation.RotVelocity", displayUnit = "rpm") "'input Real' as connector" annotation( + Placement(transformation(extent = {{-20, -20}, {20, 20}}), iconTransformation(extent = {{-95, 55}, {-55, 95}}))); + Modelica.Blocks.Interfaces.RealInput Motor2AngularVelocity(quantity = "Mechanics.Rotation.RotVelocity", displayUnit = "rpm") "'input Real' as connector" annotation( + Placement(transformation(extent = {{-20, -20}, {20, 20}}), iconTransformation(extent = {{-95, 5}, {-55, 45}}))); + Modelica.Blocks.Interfaces.RealInput Motor3AngularVelocity(quantity = "Mechanics.Rotation.RotVelocity", displayUnit = "rpm") "'input Real' as connector" annotation( + Placement(transformation(extent = {{-20, -20}, {20, 20}}), iconTransformation(extent = {{-95, -45}, {-55, -5}}))); + Modelica.Blocks.Interfaces.RealInput Motor4AngularVelocity(quantity = "Mechanics.Rotation.RotVelocity", displayUnit = "rpm") "'input Real' as connector" annotation( + Placement(transformation(extent = {{-20, -20}, {20, 20}}), iconTransformation(extent = {{-95, -95}, {-55, -55}}))); + Modelica.Blocks.Interfaces.RealOutput Moments[3](quantity = "Mechanics.Rotation.Torque", displayUnit = "Nm") "'output Real' as connector" annotation( + Placement(transformation(extent = {{-10, -10}, {10, 10}}), iconTransformation(extent = {{65, -35}, {85, -15}}))); + parameter Real d(quantity = "Basics.Length", displayUnit = "m") = 0.33 "Distance from body centre mass to motor centre mass"; + parameter Real cT(quantity = "Mechanics.Translation.Force", displayUnit = "N") = 3.438e-7 "Parameter cT"; + parameter Real coef_cT(quantity = "Mechanics.Rotation.RotVelocity", displayUnit = "rpm") = 0.10471975511965977 "Parameter"; + parameter Real cM(quantity = "Mechanics.Rotation.Torque", displayUnit = "Nm") = 5.7e-9 "Parameter cM"; + parameter Real coef_cM(quantity = "Mechanics.Rotation.RotVelocity", displayUnit = "rpm") = 0.10471975511965977 "Parameter"; +equation +// enter your equations here + Moments[1] = d * (cT / coef_cT ^ 2) * (sqrt(2) / 2) * (Motor1AngularVelocity ^ 2 - Motor2AngularVelocity ^ 2 - Motor3AngularVelocity ^ 2 + Motor4AngularVelocity ^ 2); + Moments[2] = d * (cT / coef_cT ^ 2) * (sqrt(2) / 2) * (Motor1AngularVelocity ^ 2 + Motor2AngularVelocity ^ 2 - Motor3AngularVelocity ^ 2 - Motor4AngularVelocity ^ 2); + Moments[3] = cM / coef_cM ^ 2 * (Motor1AngularVelocity ^ 2 - Motor2AngularVelocity ^ 2 + Motor3AngularVelocity ^ 2 - Motor4AngularVelocity ^ 2); + annotation( + Icon(coordinateSystem(extent = {{-75, -125}, {75, 125}}, initialScale = 0.1), graphics = {Rectangle(fillColor = {255, 255, 255}, fillPattern = FillPattern.Solid, extent = {{-76.7, 126.7}, {73.3, -126.7}}), Text(origin = {-6, -6}, extent = {{-16, 8}, {16, -8}}, textString = "%name")})); +end ComputeMoments; diff --git a/SimulationModels/AIDAModelica/ComputeMotorRate.mo b/SimulationModels/AIDAModelica/ComputeMotorRate.mo new file mode 100644 index 0000000..06d6e53 --- /dev/null +++ b/SimulationModels/AIDAModelica/ComputeMotorRate.mo @@ -0,0 +1,79 @@ +within AIDAModelica; +// CP: 65001 +// SimulationX Version: 3.8.2.45319 x64 +model ComputeMotorRate "[SF2.5] Compute thrust" + import Modelica.Math; + Modelica.Blocks.Interfaces.RealInput TotalThrust( + quantity="Mechanics.Translation.Force", + displayUnit="N") "Desired total thrust " annotation(Placement( + transformation(extent={{-20,-20},{20,20}}), + iconTransformation(extent={{-120,55},{-80,95}}))); + Modelica.Blocks.Interfaces.RealInput MomentumConsign[3]( + quantity="Mechanics.Rotation.Torque", + displayUnit="Nm") "Desired momentums consign" annotation(Placement( + transformation(extent={{-20,-20},{20,20}}), + iconTransformation(extent={{-120,-95},{-80,-55}}))); + Modelica.Blocks.Interfaces.RealOutput Motor1Rate( + quantity="Mechanics.Rotation.RotVelocity", + displayUnit="rpm") "Desired angular speed of 1 motor" annotation(Placement( + transformation(extent={{-10,-10},{10,10}}), + iconTransformation(extent={{90,65},{110,85}}))); + Modelica.Blocks.Interfaces.RealOutput Motor2Rate( + quantity="Mechanics.Rotation.RotVelocity", + displayUnit="rpm") "Desired angular speed of 2 motor" annotation(Placement( + transformation(extent={{-10,-10},{10,10}}), + iconTransformation(extent={{90,15},{110,35}}))); + Modelica.Blocks.Interfaces.RealOutput Motor3Rate( + quantity="Mechanics.Rotation.RotVelocity", + displayUnit="rpm") "Desired angular speed of 3 motor " annotation(Placement( + transformation(extent={{-10,-10},{10,10}}), + iconTransformation(extent={{90,-35},{110,-15}}))); + Modelica.Blocks.Interfaces.RealOutput Motor4Rate( + quantity="Mechanics.Rotation.RotVelocity", + displayUnit="rpm") "Desired angular speed of 4 motor" annotation(Placement( + transformation(extent={{-10,-10},{10,10}}), + iconTransformation(extent={{90,-85},{110,-65}}))); + Real M4[4,4] "Control effectiveness model matrix M"; + parameter Real d( + quantity="Basics.Length", + displayUnit="m")=0.33 "Parameter d"; + parameter Real cT( + quantity="Mechanics.Translation.Force", + displayUnit="N")=3.438e-7 "Parameter cT"; + parameter Real coef_cT( + quantity="Mechanics.Rotation.RotVelocity", + displayUnit="rpm")=0.10471975511965977 "coefficient cT"; + parameter Real cM( + quantity="Mechanics.Rotation.Torque", + displayUnit="Nm")=5.7e-9 "Parameter cM"; + parameter Real coef_cM( + quantity="Mechanics.Rotation.RotVelocity", + displayUnit="rpm")=0.10471975511965977 "coefficient cM"; + Real AngVelVector[4]( + quantity="Mechanics.Rotation.RotVelocity", + displayUnit="rpm") "Vector of desired angular velocities"; + Real TMomVector[4] "Totat thust and moments vector"; + Real ParamCosSin "Parameter Cos Sin 45"; + equation + // enter your equations here + ParamCosSin = sqrt(2) / 2; + TMomVector = {TotalThrust, MomentumConsign[1], MomentumConsign[2], MomentumConsign[3]}; + M4 = {{cT / coef_cT ^ 2, cT / coef_cT ^ 2, cT / coef_cT ^ 2, cT / coef_cT ^ 2}, {d * (cT / coef_cT ^ 2) * ParamCosSin, -d * (cT / coef_cT ^ 2) * ParamCosSin, -d * (cT / coef_cT ^ 2) * ParamCosSin, d * (cT / coef_cT ^ 2) * ParamCosSin}, {d * (cT / coef_cT ^ 2) * ParamCosSin, d * (cT / coef_cT ^ 2) * ParamCosSin, -d * (cT / coef_cT ^ 2) * ParamCosSin, -d * (cT / coef_cT ^ 2) * ParamCosSin}, {cM / coef_cM ^ 2, -cM / coef_cM ^ 2, cM / coef_cM ^ 2, -cM / coef_cM ^ 2}}; + M4*AngVelVector = TMomVector; + Motor1Rate = sqrt(abs(AngVelVector[1])); + Motor2Rate = sqrt(abs(AngVelVector[2])); + Motor3Rate = sqrt(abs(AngVelVector[3])); + Motor4Rate = sqrt(abs(AngVelVector[4])); + annotation(Icon( + coordinateSystem(extent={{-100,-125},{100,125}}), + graphics={ + Rectangle( + fillColor={255,255,255}, + fillPattern=FillPattern.Solid, + extent={{-100,126.7},{103.3,-126.7}}), + Text( + textString="%name", + fillPattern=FillPattern.None, + extent={{-39,15},{39,-15}}, + origin={-9,5})})); +end ComputeMotorRate; diff --git a/SimulationModels/AIDAModelica/ComputePositionAndTime.mo b/SimulationModels/AIDAModelica/ComputePositionAndTime.mo new file mode 100644 index 0000000..67f70b0 --- /dev/null +++ b/SimulationModels/AIDAModelica/ComputePositionAndTime.mo @@ -0,0 +1,235 @@ +// CP: 65001 +// SimulationX Version: 3.8.2.45319 x64 +within AIDAModelica; +model ComputePositionAndTime "Compute drone position and time " + Modelica.Blocks.Interfaces.RealOutput Drone_position[3]( + quantity="Basics.Length", + displayUnit="mm") "'output Real' as connector" annotation(Placement( + transformation(extent={{-10,-10},{10,10}}), + iconTransformation(extent={{90,40},{110,60}}))); + Modelica.Blocks.Interfaces.RealOutput Time( + quantity="Basics.Time", + displayUnit="s") "'output Real' as connector" annotation(Placement( + transformation(extent={{-10,-10},{10,10}}), + iconTransformation(extent={{90,-10},{110,10}}))); + Modelica.Blocks.Interfaces.RealInput Measured_positioning_signal[4] "'input Real' as connector" annotation(Placement( + transformation(extent={{-20,-20},{20,20}}), + iconTransformation(extent={{-120,30},{-80,70}}))); + algorithm + equation + // enter your equations here + Drone_position[1] = Measured_positioning_signal[1]; + Drone_position[2] = Measured_positioning_signal[2]; + Drone_position[3] = Measured_positioning_signal[3]; + Time = Measured_positioning_signal[4]; + annotation(Icon(graphics={ + Rectangle( + fillColor={255,255,255}, + fillPattern=FillPattern.Solid, + extent={{-100,100},{100,-100}}), + Bitmap( + imageSource="iVBORw0KGgoAAAANSUhEUgAAAP8AAADFCAYAAACb6SQBAAAABGdBTUEAALGPC/xhBQAAFlBJREFU +eF7tnX+MZtVZx++GWItJNeGfjWvspk1r1JSldlsrASVkK6S7m8AGcCWbbegCBYSydqmRVatBNwht 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+MpLJVZ0vZmJOFSPhpKT3vZgIwfvQ0TVj1lU9opgJbWfBfrIkRUUIKdXNoVaqUY9oH4RFEgnnx1tj +heJ0/Ao1OsIXFyHELBFijeWpTgcWM+Q3v3z5chIcZXJzi8OaY6SKCMG7zmvLnjx5onhih7AvQzCz +kcB/xLNLqokQciTZbhnLkSPexKPBSom9mXUPeaASuzvS6qaqCIGux9bFzmV4vlSb2Cbs2/aGsriP +zI5HoLoIofSMiGmv2Bbsz6z7dM2OIMQmRAgl94hLU+uMurAqSS0ELx1S8KYZEUJJr+nS2H8orlgW +9uZe6YysanqmKRFCLSFiFIKqYDg/XGMOXLHuQaz13KO2OREC6/y1oGoJIwdVYswD+Zg5Cr57Tsxo +UoRAjIiDOKwLXsqYGXvfb7RGrAPmmvV87HqzIgSWGLQVsC56SWNmLJnQe1RyNonueV/YtAhneMpZ +F760UV+GN08B/zhy7vdZtfRKFyKEmg6bS8ObSpKBlqphePd9WVrPRd3diBBItM11FFusMTvygJAj +5zo52hDO1nOIqSsRAt61Eu0yQo2AM6dI0RRI+0ebXCIk1a1nuhPhTI1UtxBjYLD8onqj11mSz83q +Y7bUWFyu5WjvqWvdihAobakdxthjzJLPnz+fBiGd4VpdOvG5cDzxOfm8lwF1KhhYfscO+hwtMNmb +907XIgSWpyXaKnobe9t5P1nLwcPMRu4sZyyE7rVZeocmwPPznn2GjiBA6F6EMyyXepgV14xBXTL1 +yiNojpc49DN7lK5x9vxRypjgMCKc6XFWnI1UvRJLVc9z+0JPKiLGmtL+kqXy0eK0hxMh4J1sIdMm +1nJ6V1kCW++ZYiypQ2D2ZH9pvdaaHbnS5ZAinMEJUjMRPNZYVueA/Z/1fqlGQnbo7MTP7w1ZhIq8 +Nw4twpkel6g5Bp71Pl4WO3vze9yfS8cQKxmuwQgpgkOIEIh55czY8Dbv8/By93v1emiMILpLhhHh +DOGAXsToOSBzlRDNxuuLOIYT4QzLIMpfrAHVink6aHJ/16PE7GowrAhnGOi4vVObDeUwMoK8yJ1v +qzMi4xlehDPsGXmat1Sl4Zlzmrsms2SiwdGQCC8gtQonQ454WogRWvEkV3gC673bWW0kwg1m93mN +dDjvninMVNb7eNhRg+ilkAh3wKGj5CriVS0V/M+R1J2jlKjnivZWkAgDYblKzC1nmCNX+z4+u+ee +Vx5RHyTCBJghESRLR68lK8vfnLDETvUE812PVMVQG4nQEbyZOEBiZ8lSDWzZH4YmuDOD8rDROY/+ +SIQZYbBTTc6yba18iOp1BneNwl5m8TUvMH/Pfo/4HzO+yIdEWBiEyWxCEXJLeZLM4jwIJLjSnM// +A4dnvJ/1vZrtAAAAAElFTkSuQmCC", + extent={{-0.3,-83.5},{79.7,-10.2}})})); +end ComputePositionAndTime; diff --git a/SimulationModels/AIDAModelica/ComputeThrustAndAttitudeConsign.mo b/SimulationModels/AIDAModelica/ComputeThrustAndAttitudeConsign.mo new file mode 100644 index 0000000..d3912b1 --- /dev/null +++ b/SimulationModels/AIDAModelica/ComputeThrustAndAttitudeConsign.mo @@ -0,0 +1,61 @@ +// CP: 65001 +// SimulationX Version: 3.8.2.45319 x64 +within AIDAModelica; +model ComputeThrustAndAttitudeConsign "[SF2.1.4] Compute thrust and attitude consign" + import Modelica.Math; + Modelica.Blocks.Interfaces.RealInput AccelerationConsign[3]( + quantity="Mechanics.Translation.Accel", + displayUnit="m/s²") "Acceleration consign" annotation(Placement( + transformation(extent={{-20,-20},{20,20}}), + iconTransformation(extent={{-120,30},{-80,70}}))); + Modelica.Blocks.Interfaces.RealInput Attitude[3]( + quantity="Mechanics.Rotation.Angle", + displayUnit="rad") "Real drone attitude feedback " annotation(Placement( + transformation(extent={{-20,-20},{20,20}}), + iconTransformation(extent={{-120,-70},{-80,-30}}))); + Modelica.Blocks.Interfaces.RealOutput AttitudeAPConsigns[2]( + quantity="Mechanics.Rotation.Angle", + displayUnit="rad") "Desired drone attitude autopilot mode consign" annotation(Placement( + transformation(extent={{-10,-10},{10,10}}), + iconTransformation(extent={{86.7,40},{106.7,60}}))); + Modelica.Blocks.Interfaces.RealOutput TotalThrustAP( + quantity="Mechanics.Translation.Force", + displayUnit="N") "Total thrust autopilot mode" annotation(Placement( + transformation(extent={{-10,-10},{10,10}}), + iconTransformation(extent={{90,-60},{110,-40}}))); + Real HAC[2]( + quantity="Mechanics.Translation.Velocity", + displayUnit="m/s") "Horizontal acceleration consign"; + Real Rpsi[2,2] "Rpsi matrix"; + Real Apsi[2,2] "Apsi martix"; + Real InvApsi[2,2] "Inverse Apsi matrix"; + parameter Real ConstMatr[2,2]={{0, -1}, {1, 0}} "Constant Matrix"; + parameter Real g( + quantity="Mechanics.Translation.Accel", + displayUnit="m/s²")=9.8 "Parameter g"; + parameter Real m( + quantity="Basics.Mass", + displayUnit="kg")=1.8 "Parameter m"; + Real AAC( + quantity="Mechanics.Translation.Velocity", + displayUnit="m/s") "Altitude autopilot consign"; + equation + // enter your equations here + HAC = {AccelerationConsign[1], AccelerationConsign[2]}; + Rpsi = {{cos(Attitude[3]), -sin(Attitude[3])}, {sin(Attitude[3]), cos(Attitude[3])}}; + Apsi = Rpsi * ConstMatr; + InvApsi = Modelica.Math.Matrices.inv(Apsi); + AttitudeAPConsigns = 1 / g * InvApsi * HAC; + AAC = AccelerationConsign[3]; + TotalThrustAP = if AAC < 0 then -m * AAC else 0; + annotation(Icon(graphics={ + Rectangle( + fillColor={255,255,255}, + fillPattern=FillPattern.Solid, + extent={{-100,100},{100,-100}}), + Text( + textString="%name", + fillPattern=FillPattern.None, + extent={{-31,10},{31,-10}}, + origin={-3,4})})); +end ComputeThrustAndAttitudeConsign; diff --git a/SimulationModels/AIDAModelica/ComputeTotalThrust.mo b/SimulationModels/AIDAModelica/ComputeTotalThrust.mo new file mode 100644 index 0000000..31f966e --- /dev/null +++ b/SimulationModels/AIDAModelica/ComputeTotalThrust.mo @@ -0,0 +1,23 @@ +within AIDAModelica; + +model ComputeTotalThrust "[SimuD1 CEM] Compute total thrust" + // CP: 65001 + // SimulationX Version: 3.8.2.45319 x64 + Modelica.Blocks.Interfaces.RealInput Motor1AngularVelocity(quantity = "Mechanics.Rotation.RotVelocity", displayUnit = "rpm") "'input Real' as connector" annotation( + Placement(transformation(extent = {{-20, -20}, {20, 20}}), iconTransformation(extent = {{-95, 55}, {-55, 95}}))); + Modelica.Blocks.Interfaces.RealInput Motor2AngularVelocity(quantity = "Mechanics.Rotation.RotVelocity", displayUnit = "rpm") "'input Real' as connector" annotation( + Placement(transformation(extent = {{-20, -20}, {20, 20}}), iconTransformation(extent = {{-95, 5}, {-55, 45}}))); + Modelica.Blocks.Interfaces.RealInput Motor3AngularVelocity(quantity = "Mechanics.Rotation.RotVelocity", displayUnit = "rpm") "'input Real' as connector" annotation( + Placement(transformation(extent = {{-20, -20}, {20, 20}}), iconTransformation(extent = {{-95, -45}, {-55, -5}}))); + Modelica.Blocks.Interfaces.RealInput Motor4AngularVelocity(quantity = "Mechanics.Rotation.RotVelocity", displayUnit = "rpm") "'input Real' as connector" annotation( + Placement(transformation(extent = {{-20, -20}, {20, 20}}), iconTransformation(extent = {{-95, -95}, {-55, -55}}))); + Modelica.Blocks.Interfaces.RealOutput TotalThrust(quantity = "Mechanics.Translation.Force", displayUnit = "N") "'output Real' as connector" annotation( + Placement(transformation(extent = {{-10, -10}, {10, 10}}), iconTransformation(extent = {{65, 15}, {85, 35}}))); + parameter Real cT(quantity = "Mechanics.Translation.Force", displayUnit = "N") = 3.438e-7 "parameter cT"; + parameter Real coef_cT(quantity = "Mechanics.Rotation.RotVelocity", displayUnit = "rpm") = 0.10471975511965977 "parameter"; +equation +// enter your equations here + TotalThrust = cT / coef_cT ^ 2 * (Motor1AngularVelocity ^ 2 + Motor2AngularVelocity ^ 2 + Motor3AngularVelocity ^ 2 + Motor4AngularVelocity ^ 2); + annotation( + Icon(coordinateSystem(extent = {{-75, -125}, {75, 125}}, initialScale = 0.1), graphics = {Rectangle(fillColor = {255, 255, 255}, fillPattern = FillPattern.Solid, extent = {{-76.7, 126.7}, {76.7, -126.7}}), Text(origin = {-2, -3}, extent = {{-12, 9}, {12, -9}}, textString = "%name")})); +end ComputeTotalThrust; diff --git a/SimulationModels/AIDAModelica/ComputeTotalThrustCA.mo b/SimulationModels/AIDAModelica/ComputeTotalThrustCA.mo new file mode 100644 index 0000000..b423570 --- /dev/null +++ b/SimulationModels/AIDAModelica/ComputeTotalThrustCA.mo @@ -0,0 +1,57 @@ +// CP: 65001 +// SimulationX Version: 3.8.2.45319 x64 +within AIDAModelica; +model ComputeTotalThrustCA "[SF2.4.2] Compute total thrust" + Modelica.Blocks.Interfaces.RealInput AccelerationConsign( + quantity="Mechanics.Translation.Accel", + displayUnit="m/s²") "Acceleration consign" annotation(Placement( + transformation(extent={{-20,-20},{20,20}}), + iconTransformation(extent={{-120,-20},{-80,20}}))); + Modelica.Blocks.Interfaces.RealOutput TotalThrustAP( + quantity="Mechanics.Translation.Force", + displayUnit="N") "Total thrust autopilot mode" annotation(Placement( + transformation(extent={{-10,-10},{10,10}}), + iconTransformation(extent={{90,-10},{110,10}}))); + parameter Real m( + quantity="Basics.Mass", + displayUnit="kg")=1.8 "Parameter m"; + Real AC( + quantity="Mechanics.Translation.Velocity", + displayUnit="m/s") "Altitude consign"; + parameter Real N=-1 "Acceleration linear threshold"; + equation + // enter your equations here + AC = AccelerationConsign; + + //TotalThrustAP =if AC<0 then -m*AC else 0; + //to prevent loss of attitude control due to a nul thrust + TotalThrustAP =if AC + * { 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;} + + + +

All files in this directory and in all subdirectories are released under + the "Modelica License 2" (if not explicitly noted + otherwise).

+

The Modelica + License 2
+ How to Apply the + Modelica License 2
+ Frequently Asked + Questions

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The Modelica License 2

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How to Apply the + Modelica License 2

+

At the top level of your Modelica package and at every important + subpackage, add the following notices in the info layer of the package:

+

Licensed by <Licensor> under the Modelica License 2
+ Copyright © <year1>-<year2>, <name of copyright + holder(s)>.

+

This Modelica package is free software and the use is + completely at your own risk; it can be redistributed and/or modified + under the terms of the Modelica License 2. For license conditions + (including the disclaimer of warranty) see Modelica.UsersGuide.ModelicaLicense2 + or visit http://www.modelica.org/licenses/ModelicaLicense2.

+

Include a copy of the Modelica License 2 under + <library>.UsersGuide.ModelicaLicense2 (use http://www.modelica.org/licenses/ModelicaLicense2.mo). + Furthermore, add the list of authors and contributors under + <library>.UsersGuide.Contributors or + <library>.UsersGuide.Contact.

+

For example, sublibrary Modelica.Blocks of the Modelica Standard Library + may have the following notices:

+

Licensed by Modelica Association under the Modelica License 2
+ Copyright © 1998-2008, Modelica Association.

+

This Modelica package is free software and the use is + completely at your own risk; it can be redistributed and/or modified + under the terms of the Modelica License 2. For license conditions + (including the disclaimer of warranty) see Modelica.UsersGuide.ModelicaLicense2 + or visit http://www.modelica.org/licenses/ModelicaLicense2.

+

For C-source code and documents, add similar notices in the + corresponding file.

+

For images, add a "readme.txt" file to the directories where + the images are stored and include a similar notice in this file.

+

In these cases, save a copy of the Modelica License 2 in one + directory of the distribution, e.g., http://www.modelica.org/licenses/ModelicaLicense2.html + in directory + <library>/Resources/Documentation/ModelicaLicense2.html.

+
+
Frequently Asked Questions
+

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.

+
Using or Distributing a Modelica Package under the Modelica + License 2
+

What are the main differences to the previous version of the + Modelica License?

+
    +
  1. +

    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).

    +
    2. +
  2. +

    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.

    +
    3. +
  3. +

    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 Modelica License 2 (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).

    +
    4. +
  4. +

    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.

    +
    5. +
  5. +

    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).

    +
    6. +
+

Can I distribute a Modelica package (under Modelica + License 2) as part of my commercial Modelica modeling and simulation + environment?

+

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.

+

Can I distribute a Modelica package (under Modelica + License 2) under a different license?

+

No. The license of an unmodified Modelica package cannot be changed + according to Sections 2c) and 2d). This means that you cannot + sell copies of it, any distribution has to be free of charge.

+

Can I distribute a Modelica package (under Modelica + License 2) under a different license when I first encrypt the + package?

+

No. Merely encrypting a package does not qualify for Derivative Work and + therefore the encrypted package has to stay under Modelica + License 2.

+

Can I distribute a Modelica package (under Modelica + License 2) under a different license when I first add classes to the + package?

+

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.

+

Can I copy a class out of a Modelica package (under Modelica + License 2) and include it unmodified + in a Modelica package under a + commercial/proprietary + license?

+

No, according to article 2c). However, you can include model, + block, function, package, record and connector classes in your Modelica + package under Modelica License 2. 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.
+ 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).

+

Can I copy a type class or part + 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 + commercial/proprietary + license?

+

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.

+

Can I copy a class out of a Modelica package (under Modelica + License 2) and include it in modified + form in a commercial/proprietary + Modelica package?

+

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.

+

Can I distribute a "save total model" under my + commercial/proprietary license, even if classes under Modelica + License 2 are included?

+

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.

+

Can I distribute a Modelica package (under Modelica + License 2) in encrypted form?

+

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.

+

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?

+

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).

+

Is my modification to a Modelica package (under Modelica + License 2) a Derivative Work?

+

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.

+
Using or Distributing a Modelica Document under the Modelica + License 2
+

This section is devoted especially for the following applications:

+
    +
  1. +

    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.

    +
    2. +
  2. +

    The Modelica language specification is a document defining the + Modelica language. It will be licensed under Modelica + License 2.

    +
    3. +
  3. +

    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.

    +
    4. +
+

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)?

+

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).

+

Can I copy a text passage out of a Modelica document (under + Modelica License 2) and use it + unmodified in my document (e.g. the + Modelica syntax description in the Modelica Specification)?

+

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.

+

Can I copy a text passage out of a Modelica document (under + Modelica License 2) and use it in + modified form in my document?

+

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).

+

Can I sell a printed version of a Modelica document (under + Modelica License 2), e.g., the Modelica Language + Specification?

+

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.

+ +")); +end ModelicaLicense2; diff --git a/SimulationModels/AIDAModelica/MotorControl.mo b/SimulationModels/AIDAModelica/MotorControl.mo new file mode 100644 index 0000000..1780293 --- /dev/null +++ b/SimulationModels/AIDAModelica/MotorControl.mo @@ -0,0 +1,22 @@ +within AIDAModelica; + +model MotorControl "Motor Control Model" + // CP: 65001 + // SimulationX Version: 3.8.2.45319 + Modelica.Blocks.Interfaces.RealInput MotorKRate(quantity = "Mechanics.Rotation.RotVelocity", displayUnit = "rpm") "Desired angular velocity of k-th motor" annotation( + Placement(transformation(extent = {{-65, -40}, {-25, 0}}), iconTransformation(origin = {-100, 0}, extent = {{-20, -20}, {20, 20}}))); + Modelica.Blocks.Interfaces.RealOutput ThrottleCommandK(quantity = "Basics.Unitless", displayUnit = "-") "K-th command output" annotation( + Placement(transformation(extent = {{60, -30}, {80, -10}}), iconTransformation(extent = {{90, -10}, {110, 10}}))); + ControlMotor controlMotor1 annotation( + Placement(transformation(extent = {{10, -30}, {30, -10}}))); +equation + connect(controlMotor1.ComdKD, ThrottleCommandK) annotation( + Line(points = {{30, -20}, {35, -20}, {65, -20}, {70, -20}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(controlMotor1.DAngVel, MotorKRate) annotation( + Line(points = {{10, -20}, {5, -20}, {-40, -20}, {-45, -20}}, color = {0, 0, 127}, thickness = 0.0625)); + annotation( + MotorKRate(flags = 2), + ThrottleCommandK(flags = 2), + Icon(coordinateSystem(extent = {{-100, -50}, {100, 50}}, initialScale = 0.1), graphics = {Rectangle(fillColor = {255, 255, 255}, fillPattern = FillPattern.Solid, extent = {{-100, 50}, {103.3, -50}}), Text(origin = {-3, 0}, extent = {{-31, 8}, {31, -8}}, textString = "%name")}), + experiment(StopTime = 1, StartTime = 0, Interval = 0.002, MaxInterval = "0.001")); +end MotorControl; diff --git a/SimulationModels/AIDAModelica/MotorPropellerModel.mo b/SimulationModels/AIDAModelica/MotorPropellerModel.mo new file mode 100644 index 0000000..56049f3 --- /dev/null +++ b/SimulationModels/AIDAModelica/MotorPropellerModel.mo @@ -0,0 +1,23 @@ +within AIDAModelica; + +model MotorPropellerModel "Motor-Propeller model" + // CP: 65001 + // SimulationX Version: 3.8.2.45319 x64 + Modelica.Blocks.Interfaces.RealInput ThrottleCommandK "K-th command input" annotation( + Placement(transformation(extent = {{-140, 40}, {-100, 80}}), iconTransformation(extent = {{-120, -20}, {-80, 20}}))); + Modelica.Blocks.Interfaces.RealOutput MotorKAngularVelocity(quantity = "Mechanics.Rotation.RotVelocity", displayUnit = "rpm") "Angular velocity of the k-th motor-propeller system" annotation( + Placement(transformation(extent = {{-35, 50}, {-15, 70}}), iconTransformation(extent = {{90, -10}, {110, 10}}))); + CreateMotion createMotion1 annotation( + Placement(transformation(extent = {{-75, 55}, {-55, 65}}))); +equation + connect(createMotion1.ThrottleCommandK, ThrottleCommandK) annotation( + Line(points = {{-75, 60}, {-80, 60}, {-115, 60}, {-120, 60}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(createMotion1.MotorKAngularVelocity, MotorKAngularVelocity) annotation( + Line(points = {{-55.3, 60}, {-50.3, 60}, {-30, 60}, {-25, 60}}, color = {0, 0, 127}, thickness = 0.0625)); + annotation( + ThrottleCommandK(flags = 2), + MotorKAngularVelocity(flags = 2), + createMotion1(ThrottleCommandK(flags = 2), MotorKAngularVelocity(flags = 2), W(u(flags = 2), y(flags = 2)), wSSModel1(CmdKIn(flags = 2), WSSOut(flags = 2))), + Icon(coordinateSystem(extent = {{-100, -125}, {100, 125}}, initialScale = 0.1), graphics = {Rectangle(fillColor = {255, 255, 255}, fillPattern = FillPattern.Solid, extent = {{-99.9, 49.9}, {100, -50}}), Text(origin = {-5, 2}, extent = {{-33, 12}, {33, -12}}, textString = "%name")}), + experiment(StopTime = 1, StartTime = 0, Interval = 0.002, MaxInterval = "0.001")); +end MotorPropellerModel; diff --git a/SimulationModels/AIDAModelica/PID_2.mo b/SimulationModels/AIDAModelica/PID_2.mo new file mode 100644 index 0000000..b5cae58 --- /dev/null +++ b/SimulationModels/AIDAModelica/PID_2.mo @@ -0,0 +1,120 @@ +// CP: 65001 +// SimulationX Version: 3.8.2.45319 x64 +//Licensed by 2000-2019 Modelica Association & al. under the Modelica License 2 +//Copyright © 2000-2019, Modelica Association & al. +within AIDAModelica; +model PID_2 "PID_2" + import Modelica.Blocks.Types.InitPID; + import Modelica.Blocks.Types.Init; + import Modelica.Blocks; + Modelica.Blocks.Interfaces.RealInput u "'input Real' as connector" annotation(Placement( + transformation( + origin={-126,86}, + extent={{-14,-14},{14,14}}), + iconTransformation( + origin={-50,-100}, + extent={{-20,-20},{20,20}}, + rotation=90))); + Modelica.Blocks.Interfaces.RealInput du "'input Real' as connector" annotation(Placement( + transformation( + origin={-116,-82}, + extent={{-14,-14},{14,14}}), + iconTransformation( + origin={50,-100}, + extent={{-20,-20},{20,20}}, + rotation=90))); + Blocks.Interfaces.RealOutput y annotation(Placement( + transformation( + origin={110,0}, + extent={{-10,-10},{10,10}}), + iconTransformation( + origin={110,0}, + extent={{-10,-10},{10,10}}))); + Modelica.Blocks.Interfaces.RealInput Consign "'input Real' as connector" annotation(Placement( + transformation( + origin={-126,30}, + extent={{-12,-12},{12,12}}), + iconTransformation( + origin={-100,0}, + extent={{-20,-20},{20,20}}))); + parameter Real k(unit="1")=1 "Gain"; + parameter Real Ti( + min=Modelica.Constants.small, + start=0.5) "Time Constant of Integrator"; + parameter Real Td( + min=0, + start=0.1) "Time Constant of Derivative block"; + parameter Blocks.Types.InitPID initType=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( + group="Initialization", + enable=initType==InitPID.InitialOutput)); + constant Real unitTime=1 annotation(HideResult=true); + Modelica.Blocks.Math.Gain P(k=1) "Proportional part of PID controller" annotation(Placement(transformation( + origin={-28,68}, + extent={{-10,-10},{10,10}}))); + Modelica.Blocks.Math.Gain D(k=Td) "Derivative part of PID controller, with derivate received at input du" annotation(Placement(transformation( + origin={-27,-41}, + extent={{-9,-9},{9,9}}))); + Modelica.Blocks.Continuous.Integrator I( + k=unitTime / Ti, + initType=if initType == InitPID.SteadyState then Init.SteadyState else if initType == InitPID.InitialState or initType == InitPID.DoNotUse_InitialIntegratorState then Init.InitialState else Init.NoInit, + y_start=xi_start) "Integral part of PID controller" annotation(Placement(transformation( + origin={-28,30}, + extent={{-10,-10},{10,10}}))); + 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}}))); + Modelica.Blocks.Math.Feedback feedback1 annotation(Placement(transformation( + origin={-68,30}, + extent={{-14,14},{14,-14}}))); + Modelica.Blocks.Math.Feedback feedback2 annotation(Placement(transformation( + origin={-64,-42}, + extent={{-10,-10},{10,10}}))); + Modelica.Blocks.Continuous.Derivative derivative1 annotation(Placement(transformation( + origin={-90,-42}, + extent={{-10,-10},{10,10}}))); + initial equation + if initType == InitPID.InitialOutput then + y = y_start; + end if; + equation + connect(derivative1.y, feedback2.u1) annotation( + Line(points = {{-79, -42}, {-79, -44}, {-72, -44}, {-72, -42}}, color = {0, 0, 127})); + connect(Consign, derivative1.u) annotation( + Line(points = {{-126, 30}, {-102, 30}, {-102, -42}}, color = {0, 0, 127})); + connect(du, feedback2.u2) annotation( + Line(points = {{-116, -82}, {-64, -82}, {-64, -50}}, color = {0, 0, 127})); + connect(feedback2.y,D.u) annotation(Line( + points={{-55,-42},{-50,-42},{-42.7,-42},{-42.7,-41},{-37.7,-41}}, + color={0,0,127})); + connect(D.y, Add.u3) annotation( + Line(points = {{-17, -41}, {0, -41}, {0, -8}, {18, -8}}, color = {0, 0, 127})); + connect(Consign,feedback1.u1) annotation(Line( + points={{-126,30},{-121,30},{-84.3,30},{-79.3,30}}, + color={0,0,127})); + connect(u,feedback1.u2) annotation(Line( + points={{-126,86},{-121,86},{-68,86},{-68,46.3},{-68,41.3}}, + color={0,0,127})); + connect(feedback1.y,P.u) annotation(Line( + points={{-55.3,30},{-50.3,30},{-45,30},{-45,68},{-40,68}}, + color={0,0,127})); + connect(I.u,feedback1.y) annotation(Line( + points={{-40,30},{-45,30},{-50.3,30},{-55.3,30}}, + color={0,0,127})); + connect(I.y, Add.u2) annotation( + Line(points = {{-17, 30}, {-0.5, 30}, {-0.5, 0}, {18, 0}}, color = {0, 0, 127})); + connect(P.y, Add.u1) annotation( + Line(points = {{-17, 68}, {0, 68}, {0, 8}, {18, 8}}, color = {0, 0, 127})); + connect(y,Gain.y) annotation(Line( + points={{110,0},{105,0},{86,0},{81,0}}, + color={0,0,127})); + connect(Add.y, Gain.u) annotation( + Line(points = {{41, 0}, {58, 0}}, color = {0, 0, 127})); + annotation(experiment( + StopTime=1, + StartTime=0, + Interval=0.001)); +end PID_2; diff --git a/SimulationModels/AIDAModelica/PID_discrete.mo b/SimulationModels/AIDAModelica/PID_discrete.mo new file mode 100644 index 0000000..d7c97ce --- /dev/null +++ b/SimulationModels/AIDAModelica/PID_discrete.mo @@ -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 = " +

+This is the text-book version of a PID-controller. +For a more practically useful PID-controller, use +block LimPID. +

+ +

+The PID block can be initialized in different +ways controlled by parameter initType. The possible +values of initType are defined in +Modelica.Blocks.Types.InitPID. +This type is identical to +Types.Init, +with the only exception that the additional option +DoNotUse_InitialIntegratorState 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). +

+ +

+Based on the setting of initType, the integrator (I) and derivative (D) +blocks inside the PID controller are initialized according to the following table: +

+ + + + + + + + + + + + + + + + + + + + + + + + + +
initTypeI.initTypeD.initType
NoInitNoInitNoInit
SteadyStateSteadyStateSteadyState
InitialStateInitialStateInitialState
InitialOutput
+ and initial equation: y = y_start		NoInitSteadyState
DoNotUse_InitialIntegratorStateInitialStateNoInit
+ +

+In many cases, the most useful initial condition is +SteadyState 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: +

+ +
+   der(y) = k*u;
+
+ +

+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 singular +(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. +

+ +")); +end PID_discrete; diff --git a/SimulationModels/AIDAModelica/PositionControl.mo b/SimulationModels/AIDAModelica/PositionControl.mo new file mode 100644 index 0000000..ffa7da4 --- /dev/null +++ b/SimulationModels/AIDAModelica/PositionControl.mo @@ -0,0 +1,201 @@ +// CP: 65001 +// SimulationX Version: 3.8.2.45319 x64 +within AIDAModelica; +model PositionControl "Position Control Model" + Modelica.Blocks.Interfaces.RealInput DronPositionConsign[3]( + quantity="Mechanics.Translation.Displace", + displayUnit="m") "Desired drone position consign" annotation(Placement( + transformation(extent={{-163,56},{-123,96}}), + iconTransformation(extent={{-120,30},{-80,70}}))); + Modelica.Blocks.Interfaces.RealInput Position[3]( + quantity="Mechanics.Translation.Displace", + displayUnit="m") "Real drone position feedback" annotation(Placement( + transformation(extent={{-125,15},{-85,55}}), + iconTransformation(extent={{-120,-20},{-80,20}}))); + Modelica.Blocks.Interfaces.RealOutput TotalThrustAP( + quantity="Mechanics.Translation.Force", + displayUnit="N") "Desired total thrust autopilot mode output" annotation(Placement( + transformation( + origin={71,29}, + extent={{-16,-16},{16,16}}), + iconTransformation( + origin={100,50}, + extent={{-10,-10},{10,10}}))); + Modelica.Blocks.Interfaces.RealOutput AttitudeConsignAP[2]( + quantity="Mechanics.Rotation.Angle", + displayUnit="rad") "Desired attitude autopilot mode consign" annotation(Placement( + transformation( + origin={81,61}, + extent={{-16,-16},{16,16}}), + iconTransformation( + origin={100,-50}, + extent={{-10,-10},{10,10}}))); + Modelica.Blocks.Interfaces.RealInput Attitude[3]( + quantity="Mechanics.Rotation.Angle", + displayUnit="rad") "Real drone attitude feedback" annotation(Placement( + transformation(extent={{-15,-25},{25,15}}), + iconTransformation( + origin={-50,-100}, + extent={{-20,-20},{20,20}}, + rotation=90))); + Modelica.Blocks.Interfaces.RealInput Speed[3]( + quantity="Mechanics.Translation.Velocity", + displayUnit="m/s") "Real drone speed feedback" annotation(Placement( + transformation(extent={{-60,-25},{-20,15}}), + iconTransformation(extent={{-120,-70},{-80,-30}}))); + ControlPosition controlPosition1 annotation(Placement(transformation(extent={{-75,60},{-55,80}}))); + ControlSpeed controlSpeed1 annotation(Placement(transformation(extent={{-5,55},{15,75}}))); + ComputeThrustAndAttitudeConsign computeThrustAndAttitudeConsign1 annotation(Placement(transformation(extent={{25,50},{45,70}}))); + SelectSpeedConsign selectSpeedConsign1 annotation(Placement(transformation(extent={{-45,65},{-25,75}}))); + equation + connect(computeThrustAndAttitudeConsign1.AttitudeAPConsigns,AttitudeConsignAP) annotation(Line( + points={{44.7,64.7},{49.7,64.7},{76,64.7},{76,61},{81,61}}, + color={0,0,127}, + thickness=0.0625)); + connect(computeThrustAndAttitudeConsign1.TotalThrustAP, TotalThrustAP) annotation( + Line(points = {{45, 55}, {60, 55}, {60, 29}, {71, 29}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(controlPosition1.DronePositionConsign,DronPositionConsign) annotation(Line( + points={{-75,69.3},{-80,69.3},{-138,69.3},{-138,76},{-143,76}}, + color={0,0,127}, + thickness=0.0625)); + connect(selectSpeedConsign1.NavigationVelocityConsign,controlPosition1.NavigationSpeedConsign) annotation(Line( + points={{-45,69.3},{-50,69.3},{-50,70.3},{-55,70.3}}, + color={0,0,127}, + thickness=0.0625)); + connect(controlSpeed1.SpeedConsign,selectSpeedConsign1.VelocityConsign) annotation(Line( + points={{-5,69.3},{-10,69.3},{-20,69.3},{-20,69.7},{-25,69.7}}, + color={0,0,127}, + thickness=0.0625)); + connect(controlPosition1.Position,Position) annotation(Line( + points={{-66,60},{-66,55},{-66,35},{-100,35},{-105,35}}, + color={0,0,127}, + thickness=0.0625)); + connect(controlSpeed1.Speed,Speed) annotation(Line( + points={{-5,59.3},{-10,59.3},{-35,59.3},{-35,-5},{-40,-5}}, + color={0,0,127}, + thickness=0.0625)); + connect(computeThrustAndAttitudeConsign1.AccelerationConsign,controlSpeed1.AccelerationConsign) annotation(Line( + points={{25,64.3},{20,64.3},{20,64.7},{15,64.7}}, + color={0,0,127}, + thickness=0.0625)); + connect(computeThrustAndAttitudeConsign1.Attitude,Attitude) annotation(Line( + points={{25,54.3},{20,54.3},{10,54.3},{10,-5},{5,-5}}, + color={0,0,127}, + thickness=0.0625)); + annotation( + 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)), + 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(graphics={ + Rectangle( + fillColor={255,255,255}, + fillPattern=FillPattern.Solid, + extent={{-100,100},{100,-100}}), + Text( + textString="%name", + fillPattern=FillPattern.None, + extent={{5,-7},{105,-31}}, + origin={-57,21})}), + experiment( + StopTime=1, + StartTime=0, + Interval=0.002, + MaxInterval="0.001")); +end PositionControl; diff --git a/SimulationModels/AIDAModelica/PositionConvector.mo b/SimulationModels/AIDAModelica/PositionConvector.mo new file mode 100644 index 0000000..5f9c302 --- /dev/null +++ b/SimulationModels/AIDAModelica/PositionConvector.mo @@ -0,0 +1,64 @@ +// CP: 65001 +// SimulationX Version: 3.8.2.45319 x64 +within AIDAModelica; +model PositionConvector "PositionConvector" + Modelica.Blocks.Interfaces.RealInput Latitude( + quantity="Mechanics.Rotation.Angle", + displayUnit="deg") "'input Real' as connector" annotation(Placement( + transformation(extent={{-20,-20},{20,20}}), + iconTransformation( + origin={-50,-100}, + extent={{-20,-20},{20,20}}, + rotation=90))); + Modelica.Blocks.Interfaces.RealInput Longitude( + quantity="Mechanics.Rotation.Angle", + displayUnit="deg") "'input Real' as connector" annotation(Placement( + transformation(extent={{-20,-20},{20,20}}), + iconTransformation( + origin={50,-100}, + extent={{-20,-20},{20,20}}, + rotation=90))); + Modelica.Blocks.Interfaces.RealOutput XCoordinate( + quantity="Mechanics.Translation.Displace", + displayUnit="m") "'output Real' as connector" annotation(Placement( + transformation(extent={{-10,-10},{10,10}}), + iconTransformation( + origin={-50,100}, + extent={{-10,-10},{10,10}}, + rotation=90))); + Modelica.Blocks.Interfaces.RealOutput YCoordinate( + quantity="Mechanics.Translation.Displace", + displayUnit="m") "'output Real' as connector" annotation(Placement( + transformation(extent={{-10,-10},{10,10}}), + iconTransformation( + origin={50,100}, + extent={{-10,-10},{10,10}}, + rotation=90))); + parameter Real a( + quantity="Basics.Length", + displayUnit="m")=6378137 "Radius semi-major axis"; + parameter Real e2=0.00669437999 "First numerical eccentricity of the elipsoid"; + parameter Real pi=3.14159265359 "Parameter pi"; + Real Lat( + quantity="Mechanics.Rotation.Angle", + displayUnit="rad") "Latitude"; + Real Lon( + quantity="Mechanics.Rotation.Angle", + displayUnit="rad") "Longitude"; + Real R( + quantity="Basics.Length", + displayUnit="m") "The prime vertical radius of curvature"; + parameter Real h=0 "Height above the elipsoide"; + equation + // enter your equations here + Lat = Latitude*(pi/180); + Lon = Longitude*(pi/180); + R = a/sqrt(1-e2*((1-cos(2*Lat))/2)); + XCoordinate = (R+h)*cos(Lat)*cos(Lon); + YCoordinate = -1*((R+h)*cos(Lat)*sin(Lon)); + annotation(Icon(graphics={ + Rectangle( + fillColor={255,255,255}, + fillPattern=FillPattern.Solid, + extent={{-100,100},{100,-100}})})); +end PositionConvector; diff --git a/SimulationModels/AIDAModelica/ProSIVICToSimXInterface.mo b/SimulationModels/AIDAModelica/ProSIVICToSimXInterface.mo new file mode 100644 index 0000000..911a994 --- /dev/null +++ b/SimulationModels/AIDAModelica/ProSIVICToSimXInterface.mo @@ -0,0 +1,234 @@ +// CP: 65001 +// SimulationX Version: 3.8.2.45319 x64 +within AIDAModelica; +model ProSIVICToSimXInterface "Pro-SIVIC to Simulation X Interface" + Modelica.Blocks.Interfaces.RealInput roll( + quantity="Mechanics.Rotation.Angle", + displayUnit="rad") "IMU roll" annotation(Placement( + transformation(extent={{-140,15},{-100,55}}), + iconTransformation( + origin={-275,-100}, + extent={{-20,-20},{20,20}}, + rotation=90))); + Modelica.Blocks.Interfaces.RealInput pitch( + quantity="Mechanics.Rotation.Angle", + displayUnit="rad") "IMU pitch" annotation(Placement( + transformation(extent={{-105,15},{-65,55}}), + iconTransformation( + origin={-175,-100}, + extent={{-20,-20},{20,20}}, + rotation=90))); + Modelica.Blocks.Interfaces.RealInput yaw( + quantity="Mechanics.Rotation.Angle", + displayUnit="rad") "IMU yaw" annotation(Placement( + transformation(extent={{-135,-10},{-95,30}}), + iconTransformation( + origin={-225,-100}, + extent={{-20,-20},{20,20}}, + rotation=90))); + Modelica.Blocks.Interfaces.RealInput rollRate( + quantity="Mechanics.Rotation.RotVelocity", + displayUnit="rad/s") "IMU roll rate" annotation(Placement( + transformation(extent={{-70,15},{-30,55}}), + iconTransformation( + origin={-125,-100}, + extent={{-20,-20},{20,20}}, + rotation=90))); + Modelica.Blocks.Interfaces.RealInput pitchRate( + quantity="Mechanics.Rotation.RotVelocity", + displayUnit="rad/s") "IMU pitch rate" annotation(Placement( + transformation(extent={{-35,15},{5,55}}), + iconTransformation( + origin={-75,-100}, + extent={{-20,-20},{20,20}}, + rotation=90))); + Modelica.Blocks.Interfaces.RealInput yawRate( + quantity="Mechanics.Rotation.RotVelocity", + displayUnit="rad/s") "IMU yaw rate" annotation(Placement( + transformation(extent={{-65,-10},{-25,30}}), + iconTransformation( + origin={-25,-100}, + extent={{-20,-20},{20,20}}, + rotation=90))); + Modelica.Blocks.Interfaces.RealInput accelerationX( + quantity="Mechanics.Translation.Accel", + displayUnit="m/s²") "IMU acceleration X" annotation(Placement( + transformation(extent={{5,-15},{45,25}}), + iconTransformation( + origin={25,-100}, + extent={{-20,-20},{20,20}}, + rotation=90))); + Modelica.Blocks.Interfaces.RealInput accelerationY( + quantity="Mechanics.Translation.Accel", + displayUnit="m/s²") "IMU acceleration Y" annotation(Placement( + transformation(extent={{35,-15},{75,25}}), + iconTransformation( + origin={75,-100}, + extent={{-20,-20},{20,20}}, + rotation=90))); + Modelica.Blocks.Interfaces.RealInput accelerationZ( + quantity="Mechanics.Translation.Accel", + displayUnit="m/s²") "IMU acceleration Z" annotation(Placement( + transformation(extent={{15,-40},{55,0}}), + iconTransformation( + origin={125,-100}, + extent={{-20,-20},{20,20}}, + rotation=90))); + Modelica.Blocks.Interfaces.RealInput accurateLatitude( + quantity="Geometry.Angle", + displayUnit="deg") "GPS accurate latitude" annotation(Placement( + transformation(extent={{70,-15},{110,25}}), + iconTransformation( + origin={175,-100}, + extent={{-20,-20},{20,20}}, + rotation=90))); + Modelica.Blocks.Interfaces.RealInput accurateLongitude( + quantity="Geometry.Angle", + displayUnit="deg") "GPS accurate longitude" annotation(Placement( + transformation(extent={{100,-40},{140,0}}), + iconTransformation( + origin={225,-100}, + extent={{-20,-20},{20,20}}, + rotation=90))); + Modelica.Blocks.Interfaces.RealInput distance( + quantity="Geometry.Length", + displayUnit="m") "Lidar distance" annotation(Placement( + transformation(extent={{110,-15},{150,25}}), + iconTransformation( + origin={275,-100}, + extent={{-20,-20},{20,20}}, + rotation=90))); + Modelica.Blocks.Interfaces.RealOutput Attitude[3]( + quantity="Mechanics.Rotation.Angle", + displayUnit="rad") "'output Real' as connector" annotation(Placement( + transformation(extent={{-80,70},{-60,90}}), + iconTransformation( + origin={-225,100}, + extent={{-10,-10},{10,10}}, + rotation=90))); + Modelica.Blocks.Interfaces.RealOutput AngularVelocities[3]( + quantity="Mechanics.Rotation.RotVelocity", + displayUnit="rad/s") "'output Real' as connector" annotation(Placement( + transformation(extent={{-10,70},{10,90}}), + iconTransformation( + origin={-75,100}, + extent={{-10,-10},{10,10}}, + rotation=90))); + Modelica.Blocks.Interfaces.RealOutput Speed[3]( + quantity="Mechanics.Translation.Velocity", + displayUnit="m/s") "'output Real' as connector" annotation(Placement( + transformation(extent={{50,70},{70,90}}), + iconTransformation( + origin={225,100}, + extent={{-10,-10},{10,10}}, + rotation=90))); + Modelica.Blocks.Interfaces.RealOutput Position[3]( + quantity="Mechanics.Translation.Displace", + displayUnit="m") "'output Real' as connector" annotation(Placement( + transformation(extent={{150,70},{170,90}}), + iconTransformation( + origin={75,100}, + extent={{-10,-10},{10,10}}, + rotation=90))); + AccelerationToSpeed accelerationToSpeed1 annotation(Placement(transformation(extent={{40,30},{60,50}}))); + PositionConvector positionConvector1 annotation(Placement(transformation(extent={{110,30},{130,50}}))); + equation + connect(roll,Attitude[1]) annotation( + Line( + points={{-120,35},{-115,35},{-100,35},{-100,80},{-70,80}}, + color={0,0,127}, + thickness=0.0625)); + connect(pitch,Attitude[2]) annotation( + Line( + points={{-85,35},{-80,35},{-90,35},{-90,80},{-70,80}}, + color={0,0,127}, + thickness=0.0625)); + connect(yaw,Attitude[3]) annotation( + Line( + points={{-115,10},{-110,10},{-95,10},{-95,80},{-70,80}}, + color={0,0,127}, + thickness=0.0625)); + connect(rollRate,AngularVelocities[1]) annotation( + Line( + points={{-50,35},{-45,35},{-30,35},{-30,80},{0,80}}, + color={0,0,127}, + thickness=0.0625)); + connect(pitchRate,AngularVelocities[2]) annotation( + Line( + points={{-15,35},{-10,35},{-20,35},{-20,80},{0,80}}, + color={0,0,127}, + thickness=0.0625)); + connect(yawRate,AngularVelocities[3]) annotation( + Line( + points={{-45,10},{-40,10},{-25,10},{-25,80},{0,80}}, + color={0,0,127}, + thickness=0.0625)); + connect(accelerationToSpeed1.Speed[:],Speed[:]) annotation(Line( + points={{50,50},{50,55},{50,80},{55,80},{60,80}}, + color={0,0,127}, + thickness=0.0625)); + connect(accelerationX,accelerationToSpeed1.Acceleration[1]) annotation(Line( + points={{25,5},{30,5},{49.3,5},{49.3,25},{49.3,30}}, + color={0,0,127}, + thickness=0.0625)); + connect(accelerationY,accelerationToSpeed1.Acceleration[2]) annotation(Line( + points={{55,5},{50,5},{50,25},{50,30}}, + color={0,0,127}, + thickness=0.0625)); + connect(accelerationZ,accelerationToSpeed1.Acceleration[3]) annotation(Line( + points={{35,-20},{40,-20},{50.3,-20},{50.3,25},{50.3,30}}, + color={0,0,127}, + thickness=0.0625)); + connect(accurateLatitude,positionConvector1.Latitude) annotation(Line( + points={{90,5},{95,5},{115,5},{115,25},{115,30}}, + color={0,0,127}, + thickness=0.0625)); + connect(accurateLongitude,positionConvector1.Longitude) annotation(Line( + points={{120,-20},{125,-20},{125,25},{125,30}}, + color={0,0,127}, + thickness=0.0625)); + connect(positionConvector1.XCoordinate,Position[1]) annotation(Line( + points={{115,50},{115,55},{115,80},{155,80},{160,80}}, + color={0,0,127}, + thickness=0.0625)); + connect(positionConvector1.YCoordinate,Position[2]) annotation(Line( + points={{125,50},{125,55},{125,80},{155,80},{160,80}}, + color={0,0,127}, + thickness=0.0625)); + connect(distance,Position[3]) annotation( + Line( + points={{130,5},{150,5},{150,42.3},{150,80},{160,80}}, + color={0,0,127}, + thickness=0.0625)); + annotation( + roll(flags=2), + pitch(flags=2), + yaw(flags=2), + rollRate(flags=2), + pitchRate(flags=2), + yawRate(flags=2), + accelerationX(flags=2), + accelerationY(flags=2), + accelerationZ(flags=2), + accurateLatitude(flags=2), + accurateLongitude(flags=2), + distance(flags=2), + Attitude(flags=2), + AngularVelocities(flags=2), + Speed(flags=2), + Position(flags=2), + accelerationToSpeed1( + Acceleration(flags=2), + Speed(flags=2)), + Icon( + coordinateSystem(extent={{-325,-100},{325,100}}), + graphics={ + Rectangle( + fillColor={255,255,255}, + fillPattern=FillPattern.Solid, + extent={{-326,100},{326.7,-100}})}), + experiment( + StopTime=1, + StartTime=0, + Interval=0.001)); +end ProSIVICToSimXInterface; diff --git a/SimulationModels/AIDAModelica/ProSIVICToSimXInterfaceTest.mo b/SimulationModels/AIDAModelica/ProSIVICToSimXInterfaceTest.mo new file mode 100644 index 0000000..a3b4966 --- /dev/null +++ b/SimulationModels/AIDAModelica/ProSIVICToSimXInterfaceTest.mo @@ -0,0 +1,183 @@ +// CP: 65001 +// SimulationX Version: 3.8.2.45319 x64 +within AIDAModelica; +model ProSIVICToSimXInterfaceTest "Pro-SIVIC to Simulation X Interface Test" + Modelica.Blocks.Interfaces.RealInput roll( + quantity="Mechanics.Rotation.Angle", + displayUnit="rad") "IMU roll" annotation(Placement( + transformation(extent={{-140,15},{-100,55}}), + iconTransformation( + origin={-275,-100}, + extent={{-20,-20},{20,20}}, + rotation=90))); + Modelica.Blocks.Interfaces.RealInput pitch( + quantity="Mechanics.Rotation.Angle", + displayUnit="rad") "IMU pitch" annotation(Placement( + transformation(extent={{-105,15},{-65,55}}), + iconTransformation( + origin={-225,-100}, + extent={{-20,-20},{20,20}}, + rotation=90))); + Modelica.Blocks.Interfaces.RealInput yaw( + quantity="Mechanics.Rotation.Angle", + displayUnit="rad") "IMU yaw" annotation(Placement( + transformation(extent={{-135,-10},{-95,30}}), + iconTransformation( + origin={-175,-100}, + extent={{-20,-20},{20,20}}, + rotation=90))); + Modelica.Blocks.Interfaces.RealInput rollRate( + quantity="Mechanics.Rotation.RotVelocity", + displayUnit="rad/s") "IMU roll rate" annotation(Placement( + transformation(extent={{-70,15},{-30,55}}), + iconTransformation( + origin={-125,-100}, + extent={{-20,-20},{20,20}}, + rotation=90))); + Modelica.Blocks.Interfaces.RealInput pitchRate( + quantity="Mechanics.Rotation.RotVelocity", + displayUnit="rad/s") "IMU pitch rate" annotation(Placement( + transformation(extent={{-35,15},{5,55}}), + iconTransformation( + origin={-75,-100}, + extent={{-20,-20},{20,20}}, + rotation=90))); + Modelica.Blocks.Interfaces.RealInput yawRate( + quantity="Mechanics.Rotation.RotVelocity", + displayUnit="rad/s") "IMU yaw rate" annotation(Placement( + transformation(extent={{-65,-10},{-25,30}}), + iconTransformation( + origin={-25,-100}, + extent={{-20,-20},{20,20}}, + rotation=90))); + Modelica.Blocks.Interfaces.RealInput SpeedX( + quantity="Mechanics.Translation.Accel", + displayUnit="m/s²") "IMU acceleration X" annotation(Placement( + transformation(extent={{0,15},{40,55}}), + iconTransformation( + origin={25,-100}, + extent={{-20,-20},{20,20}}, + rotation=90))); + Modelica.Blocks.Interfaces.RealInput SpeedY( + quantity="Mechanics.Translation.Accel", + displayUnit="m/s²") "IMU acceleration Y" annotation(Placement( + transformation(extent={{30,15},{70,55}}), + iconTransformation( + origin={75,-100}, + extent={{-20,-20},{20,20}}, + rotation=90))); + Modelica.Blocks.Interfaces.RealInput SpeedZ( + quantity="Mechanics.Translation.Accel", + displayUnit="m/s²") "IMU acceleration Z" annotation(Placement( + transformation(extent={{5,-10},{45,30}}), + iconTransformation( + origin={125,-100}, + extent={{-20,-20},{20,20}}, + rotation=90))); + Modelica.Blocks.Interfaces.RealInput X( + quantity="Geometry.Angle", + displayUnit="deg") "GPS accurate latitude" annotation(Placement( + transformation(extent={{65,15},{105,55}}), + iconTransformation( + origin={175,-100}, + extent={{-20,-20},{20,20}}, + rotation=90))); + Modelica.Blocks.Interfaces.RealInput Y( + quantity="Geometry.Angle", + displayUnit="deg") "GPS accurate longitude" annotation(Placement( + transformation(extent={{75,-10},{115,30}}), + iconTransformation( + origin={225,-100}, + extent={{-20,-20},{20,20}}, + rotation=90))); + Modelica.Blocks.Interfaces.RealInput Z( + quantity="Geometry.Length", + displayUnit="m") "Lidar distance" annotation(Placement( + transformation(extent={{100,15},{140,55}}), + iconTransformation( + origin={275,-100}, + extent={{-20,-20},{20,20}}, + rotation=90))); + Modelica.Blocks.Interfaces.RealOutput Attitude[3]( + quantity="Mechanics.Rotation.Angle", + displayUnit="rad") "'output Real' as connector" annotation(Placement( + transformation(extent={{-80,70},{-60,90}}), + iconTransformation( + origin={-225,100}, + extent={{-10,-10},{10,10}}, + rotation=90))); + Modelica.Blocks.Interfaces.RealOutput AngularVelocities[3]( + quantity="Mechanics.Rotation.RotVelocity", + displayUnit="rad/s") "'output Real' as connector" annotation(Placement( + transformation(extent={{-10,70},{10,90}}), + iconTransformation( + origin={-75,100}, + extent={{-10,-10},{10,10}}, + rotation=90))); + Modelica.Blocks.Interfaces.RealOutput Speed[3]( + quantity="Mechanics.Translation.Velocity", + displayUnit="m/s") "'output Real' as connector" annotation(Placement( + transformation(extent={{50,70},{70,90}}), + iconTransformation( + origin={225,100}, + extent={{-10,-10},{10,10}}, + rotation=90))); + Modelica.Blocks.Interfaces.RealOutput Position[3]( + quantity="Mechanics.Translation.Displace", + displayUnit="m") "'output Real' as connector" annotation(Placement( + transformation(extent={{150,70},{170,90}}), + iconTransformation( + origin={75,100}, + extent={{-10,-10},{10,10}}, + rotation=90))); + parameter Real Longitude0 "Long repère AIDA"; + parameter Real Latitude0 "Lat repère AIDA"; + parameter Real Rt=6378.137 "Rayon terre en m"; + constant Real Pi=3.14159 "Pi"; + parameter Real K; + Real Xn; + Real Yw; + initial equation + Latitude0=X; + Longitude0=Y; + K=Rt*Pi/180; + equation + // enter your equations here + Attitude = {roll,-1*pitch,-1*yaw}; + AngularVelocities = {rollRate,-1*pitchRate,-1*yawRate}; + + //convertion lat/long + Xn=(X-Latitude0)*K; + Yw=cos(X*Pi/180)*(Longitude0-Y)*K; + Position = {Xn,-Yw,-1*Z}; + Speed = {K*SpeedX,K*SpeedY*cos(X*Pi/180),-1*SpeedZ}; + annotation( + roll(flags=2), + pitch(flags=2), + yaw(flags=2), + rollRate(flags=2), + pitchRate(flags=2), + yawRate(flags=2), + SpeedX(flags=2), + SpeedY(flags=2), + SpeedZ(flags=2), + X(flags=2), + Y(flags=2), + Z(flags=2), + Attitude(flags=2), + AngularVelocities(flags=2), + Speed(flags=2), + Position(flags=2), + Icon( + coordinateSystem(extent={{-325,-100},{325,100}}), + graphics={ + Rectangle( + fillColor={255,255,255}, + fillPattern=FillPattern.Solid, + extent={{-326,100},{326.7,-100}})}), + experiment( + StopTime=1, + StartTime=0, + Interval=0.002, + MaxInterval="0.001")); +end ProSIVICToSimXInterfaceTest; diff --git a/SimulationModels/AIDAModelica/QuadcopterModel.mo b/SimulationModels/AIDAModelica/QuadcopterModel.mo new file mode 100644 index 0000000..cf2c47f --- /dev/null +++ b/SimulationModels/AIDAModelica/QuadcopterModel.mo @@ -0,0 +1,1930 @@ +// CP: 65001 +// SimulationX Version: 3.8.2.45319 x64 +within AIDAModelica; +model QuadcopterModel "Quadcopter model" + Modelica.Blocks.Interfaces.RealInput ThrottleCommand1 "Throttle command 1" annotation(Placement( + transformation(extent={{-135,35},{-95,75}}), + iconTransformation(extent={{-120,55},{-80,95}}))); + Modelica.Blocks.Interfaces.RealOutput Accelerations[3] "Accelerations" annotation(Placement( + transformation(extent={{20,-25},{40,-5}}), + iconTransformation(extent={{90,-110},{110,-90}}))); + Modelica.Blocks.Interfaces.RealInput ThrottleCommand2 "Throttle command 2" annotation(Placement( + transformation(extent={{-135,10},{-95,50}}), + iconTransformation(extent={{-120,5},{-80,45}}))); + Modelica.Blocks.Interfaces.RealInput ThrottleCommand3 "Throttle command 2" annotation(Placement( + transformation(extent={{-135,-15},{-95,25}}), + iconTransformation(extent={{-120,-45},{-80,-5}}))); + Modelica.Blocks.Interfaces.RealInput ThrottleCommand4 "Throttle command 4" annotation(Placement( + transformation(extent={{-135,-40},{-95,0}}), + iconTransformation(extent={{-120,-95},{-80,-55}}))); + Modelica.Blocks.Interfaces.RealOutput AngularVelocities[3]( + quantity="Mechanics.Rotation.RotVelocity", + displayUnit="rad/s") "Angular velocities" annotation(Placement( + transformation(extent={{40,25},{60,45}}), + iconTransformation(extent={{90,90},{110,110}}))); + Modelica.Blocks.Interfaces.RealOutput Attitude[3]( + quantity="Mechanics.Rotation.Angle", + displayUnit="rad") "Attitude" annotation(Placement( + transformation(extent={{105,35},{125,55}}), + iconTransformation(extent={{90,40},{110,60}}))); + Modelica.Blocks.Interfaces.RealOutput Position[3]( + quantity="Mechanics.Translation.Displace", + displayUnit="m") "Position" annotation(Placement( + transformation(extent={{105,-20},{125,0}}), + iconTransformation(extent={{90,-10},{110,10}}))); + Modelica.Blocks.Interfaces.RealOutput Speed[3]( + quantity="Mechanics.Translation.Velocity", + displayUnit="m/s") "Speed" annotation(Placement( + transformation(extent={{40,-10},{60,10}}), + iconTransformation(extent={{90,-60},{110,-40}}))); + RigidBodyKinematicModel rigidBodyKinematicModel1 annotation(Placement(transformation(extent={{65,5},{85,25}}))); + MotorPropellerModel motorPropellerModel1(createMotion1(W(y_start=0))) annotation(Placement(transformation(extent={{-90,40},{-70,65}}))); + MotorPropellerModel motorPropellerModel2(createMotion1(W(y_start=0))) annotation(Placement(transformation(extent={{-90,15},{-70,40}}))); + MotorPropellerModel motorPropellerModel3(createMotion1(W(y_start=0))) annotation(Placement(transformation(extent={{-90,-10},{-70,15}}))); + MotorPropellerModel motorPropellerModel4(createMotion1(W(y_start=0))) annotation(Placement(transformation(extent={{-90,-35},{-70,-10}}))); + RigidBodyDynamicModel rigidBodyDynamicModel1 annotation(Placement(transformation(extent={{-10,5},{10,25}}))); + ControlEffectivenessModel controlEffectivenessModel1 annotation(Placement(transformation(extent={{-45,5},{-25,30}}))); + drone_feets drone_feets1 annotation(Placement(transformation(extent={{60,-45},{40,-25}}))); + Modelica.Blocks.Sources.Constant Fx(k=0) annotation(Placement(transformation(extent={{-40,-35},{-20,-15}}))); + Modelica.Blocks.Sources.Constant Fy(k=0) annotation(Placement(transformation(extent={{-40,-65},{-20,-45}}))); + initial equation + der(Position[1])=0; + der(Position[2])=0; + der(Position[3])=0; + equation + connect(rigidBodyKinematicModel1.Attitude[:],Attitude[:]) annotation(Line( + points={{85,20},{90,20},{110,20},{110,45},{115,45}}, + color={0,0,127}, + thickness=0.0625)); + connect(rigidBodyKinematicModel1.Position[:],Position[:]) annotation(Line( + points={{85,10},{90,10},{110,10},{110,-10},{115,-10}}, + color={0,0,127}, + thickness=0.0625)); + connect(rigidBodyKinematicModel1.Attitude[:],rigidBodyKinematicModel1.AttitudeFB[:]) annotation(Line( + points={{85,20},{90,20},{90,35},{70,35},{70,25}}, + color={0,0,127}, + thickness=0.0625)); + connect(motorPropellerModel4.ThrottleCommandK,ThrottleCommand4) annotation(Line( + points={{-90,-22.7},{-95,-22.7},{-110,-22.7},{-110,-20},{-115,-20}}, + color={0,0,127}, + thickness=0.0625)); + connect(motorPropellerModel3.ThrottleCommandK,ThrottleCommand3) annotation(Line( + points={{-90,2.3},{-95,2.3},{-110,2.3},{-110,5},{-115,5}}, + color={0,0,127}, + thickness=0.0625)); + connect(motorPropellerModel2.ThrottleCommandK,ThrottleCommand2) annotation(Line( + points={{-90,27.3},{-95,27.3},{-110,27.3},{-110,30},{-115,30}}, + color={0,0,127}, + thickness=0.0625)); + connect(motorPropellerModel1.ThrottleCommandK,ThrottleCommand1) annotation(Line( + points={{-90,52.3},{-95,52.3},{-110,52.3},{-110,55},{-115,55}}, + color={0,0,127}, + thickness=0.0625)); + connect(rigidBodyDynamicModel1.DroneAngularVelocities[:],AngularVelocities[:]) annotation(Line( + points={{10,20},{15,20},{45,20},{45,35},{50,35}}, + color={0,0,127}, + thickness=0.0625)); + connect(rigidBodyDynamicModel1.DroneVelocity[:],Speed[:]) annotation(Line( + points={{10,15},{15,15},{45,15},{45,0},{50,0}}, + color={0,0,127}, + thickness=0.0625)); + connect(rigidBodyKinematicModel1.DroneAngularVelocities[:],rigidBodyDynamicModel1.DroneAngularVelocities[:]) annotation(Line( + points={{65,20},{60,20},{15,20},{10,20}}, + color={0,0,127}, + thickness=0.0625)); + connect(rigidBodyKinematicModel1.Velocity[:],rigidBodyDynamicModel1.DroneVelocity[:]) annotation(Line( + points={{65,10},{60,10},{15,10},{15,15},{10,15}}, + color={0,0,127}, + thickness=0.0625)); + connect(rigidBodyDynamicModel1.Attitude[:],rigidBodyKinematicModel1.Attitude[:]) annotation(Line( + points={{0,25},{0,30},{90,30},{90,20},{85,20}}, + color={0,0,127}, + thickness=0.0625)); + connect(controlEffectivenessModel1.TotalThrust,rigidBodyDynamicModel1.TotalThrust) annotation(Line( + points={{-25,25},{-20,25},{-15,25},{-15,20},{-10,20}}, + color={0,0,127}, + thickness=0.0625)); + connect(controlEffectivenessModel1.Moments[:],rigidBodyDynamicModel1.Moments[:]) annotation(Line( + points={{-25,10},{-20,10},{-15,10},{-10,10}}, + color={0,0,127}, + thickness=0.0625)); + connect(controlEffectivenessModel1.Motor1AngularVelocity,motorPropellerModel1.MotorKAngularVelocity) annotation(Line( + points={{-45,25},{-50,25},{-65,25},{-65,52.3},{-70,52.3}}, + color={0,0,127}, + thickness=0.0625)); + connect(controlEffectivenessModel1.Motor2AngularVelocity,motorPropellerModel2.MotorKAngularVelocity) annotation(Line( + points={{-45,20},{-50,20},{-65,20},{-65,27.3},{-70,27.3}}, + color={0,0,127}, + thickness=0.0625)); + connect(controlEffectivenessModel1.Motor3AngularVelocity,motorPropellerModel3.MotorKAngularVelocity) annotation(Line( + points={{-45,15},{-50,15},{-65,15},{-65,2.3},{-70,2.3}}, + color={0,0,127}, + thickness=0.0625)); + connect(controlEffectivenessModel1.Motor4AngularVelocity,motorPropellerModel4.MotorKAngularVelocity) annotation(Line( + points={{-45,10},{-50,10},{-65,10},{-65,-22.7},{-70,-22.7}}, + color={0,0,127}, + thickness=0.0625)); + connect(rigidBodyKinematicModel1.Position[3],drone_feets1.Position) annotation(Line( + points={{85,10.3},{90,10.3},{90,-35},{65,-35},{60,-35}}, + color={0,0,127}, + thickness=0.0625)); + connect(drone_feets1.Force,rigidBodyDynamicModel1.ExternalForce[3]) annotation(Line( + points={{40,-35},{35,-35},{0.3,-35},{0.3,0},{0.3,5}}, + color={0,0,127}, + thickness=0.0625)); + + + connect(Fx.y,rigidBodyDynamicModel1.ExternalForce[1]) annotation(Line( + points={{-19,-25},{-14,-25},{-0.7,-25},{-0.7,0},{-0.7,5}}, + color={0,0,127}, + thickness=0.0625)); + connect(Fy.y,rigidBodyDynamicModel1.ExternalForce[2]) annotation(Line( + points={{-19,-55},{-14,-55},{0,-55},{0,0},{0,5}}, + color={0,0,127}, + thickness=0.0625)); + connect(rigidBodyDynamicModel1.Accelerations[:],Accelerations[:]) annotation(Line( + points={{10,10},{15,10},{25,10},{25,-15},{30,-15}}, + color={0,0,127}, + thickness=0.0625)); + annotation( + ThrottleCommand1(flags=2), + ThrottleCommand2(flags=2), + ThrottleCommand3(flags=2), + ThrottleCommand4(flags=2), + AngularVelocities(flags=2), + Attitude(flags=2), + Position(flags=2), + Speed(flags=2), + rigidBodyKinematicModel1( + DroneAngularVelocities(flags=2), + Velocity(flags=2), + AttitudeFB(flags=2), + Attitude(flags=2), + Position(flags=2), + computeDronePosition1( + DronVelocity(flags=2), + Position(flags=2), + integrator10( + u(flags=2), + y(flags=2)), + integrator11( + u(flags=2), + y(flags=2)), + integrator12( + u(flags=2), + y(flags=2))), + computeDroneAttitude1( + DroneAngularVelocities(flags=2), + AttitudeFB(flags=2), + Attitude(flags=2), + computationChangeAngleVelocity1( + DronAngularVelocities(flags=2), + Attitude(flags=2), + ChangeAngleVelocity(flags=2), + W(flags=2)), + integrator7( + u(flags=2), + y(flags=2)), + integrator8( + u(flags=2), + y(flags=2)), + integrator9( + u(flags=2), + y(flags=2)))), + motorPropellerModel1( + ThrottleCommandK(flags=2), + MotorKAngularVelocity(flags=2), + createMotion1( + ThrottleCommandK(flags=2), + MotorKAngularVelocity(flags=2), + W( + u(flags=2), + y(flags=2)), + wSSModel1( + CmdKIn(flags=2), + WSSOut(flags=2)))), + motorPropellerModel2( + ThrottleCommandK(flags=2), + MotorKAngularVelocity(flags=2), + createMotion1( + ThrottleCommandK(flags=2), + MotorKAngularVelocity(flags=2), + W( + u(flags=2), + y(flags=2)), + wSSModel1( + CmdKIn(flags=2), + WSSOut(flags=2)))), + motorPropellerModel3( + ThrottleCommandK(flags=2), + MotorKAngularVelocity(flags=2), + createMotion1( + ThrottleCommandK(flags=2), + MotorKAngularVelocity(flags=2), + W( + u(flags=2), + y(flags=2)), + wSSModel1( + CmdKIn(flags=2), + WSSOut(flags=2)))), + motorPropellerModel4( + ThrottleCommandK(flags=2), + MotorKAngularVelocity(flags=2), + createMotion1( + ThrottleCommandK(flags=2), + MotorKAngularVelocity(flags=2), + W( + u(flags=2), + y(flags=2)), + wSSModel1( + CmdKIn(flags=2), + WSSOut(flags=2)))), + rigidBodyDynamicModel1( + Moments(flags=2), + TotalThrust(flags=2), + Attitude(flags=2), + DroneAngularVelocities(flags=2), + DroneVelocity(flags=2), + ExternalForce(flags=2), + computeDroneVelocity1( + TotalThrust(flags=2), + Attitude(flags=2), + DroneVelocity(flags=2), + ExternalForce(flags=2), + computationAccelerationModel1( + TotalThrust(flags=2), + Attitude(flags=2), + DroneAcceleration(flags=2), + ExternalForce(flags=2), + Reb(flags=2), + Rz(flags=2), + Ry(flags=2), + Rx(flags=2)), + integrator4( + u(flags=2), + y(flags=2)), + integrator5( + u(flags=2), + y(flags=2)), + integrator6( + u(flags=2), + y(flags=2))), + computeDroneAngularsVelocities1( + Moments(flags=2), + DroneAngularVelocities(flags=2), + computationAngularAccelerationModel1( + Moments(flags=2), + DroneAngularAcceleration(flags=2), + invJ(flags=2)), + integrator1( + u(flags=2), + y(flags=2)), + integrator2( + u(flags=2), + y(flags=2)), + integrator3( + u(flags=2), + y(flags=2)))), + controlEffectivenessModel1( + Motor1AngularVelocity(flags=2), + Motor2AngularVelocity(flags=2), + Motor3AngularVelocity(flags=2), + Motor4AngularVelocity(flags=2), + TotalThrust(flags=2), + Moments(flags=2), + computeMoments1( + Motor1AngularVelocity(flags=2), + Motor2AngularVelocity(flags=2), + Motor3AngularVelocity(flags=2), + Motor4AngularVelocity(flags=2), + Moments(flags=2)), + computeTotalThrust1( + Motor1AngularVelocity(flags=2), + Motor2AngularVelocity(flags=2), + Motor3AngularVelocity(flags=2), + Motor4AngularVelocity(flags=2), + TotalThrust(flags=2))), + drone_feets1( + Position(flags=2), + Force(flags=2)), + Fx(y(flags=2)), + Fy(y(flags=2)), + Icon( + coordinateSystem(extent={{-100,-150},{100,150}}), + graphics={ + Bitmap( + imageSource="iVBORw0KGgoAAAANSUhEUgAAADwAAAA8CAYAAAA6/NlyAAAABGdBTUEAALGPC/xhBQAAAAlwSFlz +AAAOvAAADrwBlbxySQAAACVJREFUaEPtwTEBAAAAwqD1T+1nCiAAAAAAAAAAAAAAAAAAgKsBOHwA +AQdXZHsAAAAASUVORK5CYII=", + extent={{-100,-100},{100,100}}), + Bitmap( + 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+RQy6du0aPPbYY2kPP/xw8hNPPNHjtddes/aJJpPJZDKZTKeaBHQXb9269bEvvvhiuexgNBxGG6BI +9zp4C8mW9p5Fb3gbgcjly5cHc+bMCSZMmBAMHjw46N69e/Dkk08GnTt3Djp06BC0atXqSNu2bdfq +czctt/aJJpPJZDKZTKeaBHSXCPg6CvCWffnllylh6ItlhJpXrlzpRlqh/SEdeIcNgCTL+bPPPgs+ +/vhj1x1Ojx49gi5dugSPPPJI0Lp166Bly5bBfffd95Pmp3Xt2rXliy++aO0TTSaTyWQymU41bdiw +4ZKtW7emgyLhZCwWJGKEmvEY0t3NlClTgsWLFwcrVqxw8IgXkY61p02b5jrXpiucl156KWjfvn3Q +vHnzNMFh6r333pt21113Hapfv/7mFi1a9HnyySfL9uzZ8w+RwzGZTCaTyWQynSr64osvLpI9lJyc +PE+wuFfzqRFLywgaCT9PmjTJgeD48eOD6dOnBzNnznTg+OGHHwajR492fSU+99xzQdu2bQPgsG7d +uj/XqVNntwBx5z333LOpSZMmH7Rp06Z5p06dLoocislkMplMJpPpVJKA8E8CxDqaDhUUrtT0K0Hj +Li37SfOHo4ERSGSeTOZ+/foFffv2DQYOHJje9U3Pnj2D559/PhAA4kUMBIhBtWrVvq1evXpS1apV +x95+++2DBYo9ZS3vv//+Ar169fp95FBMJpPJZDKZTKeSyHzesmXLtQLAuwWFLwgC+2s6SqA4XcC4 +QdMfI8DovIzAogdFvIZ0oP3yyy87MPzXv/7lMpppiwgkCgYBxb133333vNatW3dr06ZNzRYtWhR/ +6KGHCjz++ONXCDLPiRyGyWQymUwmk+lU1Lhx435L9rMgMP/OnTuLCAgrChxbCBJf37p16xR9Xqvp +DtleQaKDxk8//TTND8UHLA4YMMAZ87K0QYMGpQ0ePPiQbPOwYcPe6NmzZ6VWrVqdG9mlyWQymUwm +k+l0FF5Gkly2bNlSSlDYTHD4kqYjZdM1v1bTHRMnTtzbr1+/wwLF1DfffNPbUX3+uW/fvrv79Omz +U9PNsg8030LrWltEk8lkMplMpjNFQRD8NgKM+QWHtwgSWwCNspGTJk2aLjBc9/rrr38l2yEY3CFI +3CSbKxur7wZr2lPTlpoW7Natm3kTTSaTyWQymc5EMVY0fS7Onz/fQeOHH36Il/AlWYJAcFDfvn0H +ar6n5h/WtLqmxRMSEgoMGjTI2iKaTCaTyWQynS0CGj/66KNLBIT5BYFF33zzzZsxwHDEiBFX0eYx +sqrJZDKZTCaTyWQymUwmk8lkMplMJpPJZDKZTCaTyWQymUwmk8lkMplMJpPJZDKZTCZTPPVf//X/ +B9LbQ9NJoGs0AAAAAElFTkSuQmCC", + extent={{-100,-52.6},{100,52.6}})}), + experiment( + StopTime=1, + StartTime=0, + Interval=0.002, + MaxInterval="0.001")); +end QuadcopterModel; diff --git a/SimulationModels/AIDAModelica/RemoteControl.mo b/SimulationModels/AIDAModelica/RemoteControl.mo new file mode 100644 index 0000000..39cd3bd --- /dev/null +++ b/SimulationModels/AIDAModelica/RemoteControl.mo @@ -0,0 +1,215 @@ +within AIDAModelica; +// CP: 65001 +// SimulationX Version: 3.8.2.45319 x64 + +model RemoteControl "RemoteControl" + Real VerticalSpeedCommand_i(start=0) "commande interne non filtree"; + Modelica.Blocks.Interfaces.RealOutput VerticalSpeedCommand( + quantity="Mechanics.Translation.Velocity", + displayUnit="m/s") "'output Real' as connector" annotation(Placement( + transformation(extent={{12,28},{32,48}}), + iconTransformation( + origin={-75,-100}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + Real RollCommand_i(start=0) "commande interne non filtree"; + Modelica.Blocks.Interfaces.RealOutput RollCommand( + quantity="Mechanics.Rotation.Angle", + displayUnit="rad") "'output Real' as connector" annotation(Placement( + transformation(extent={{56,8},{76,28}}), + iconTransformation( + origin={-25,-100}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + Real PitchCommand_i(start=0) "commande interne non filtree"; + Modelica.Blocks.Interfaces.RealOutput PitchCommand( + quantity="Mechanics.Rotation.Angle", + displayUnit="rad") "'output Real' as connector" annotation(Placement( + transformation(extent={{-38,-46},{-18,-26}}), + iconTransformation( + origin={25,-100}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + Real YawCommand_i(start=0) "commande interne non filtree"; + Modelica.Blocks.Interfaces.RealOutput YawCommand( + quantity="Mechanics.Rotation.Angle", + displayUnit="rad") "'output Real' as connector" annotation(Placement( + transformation(extent={{18,-52},{38,-32}}), + iconTransformation( + origin={75,-100}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + Modelica.Blocks.Interfaces.BooleanOutput ControlMode "'output Boolean' as connector" annotation(Placement( + transformation(extent={{-10,-10},{10,10}}), + iconTransformation( + origin={-125,-50}, + extent={{-10,-10},{10,10}}, + rotation=180))); + Modelica.Blocks.Interfaces.BooleanOutput IndicatorYawConsign "'output Boolean' as connector" annotation(Placement( + transformation( + origin={-45,45}, + extent={{-17,-17},{17,17}}), + iconTransformation( + origin={-125,0}, + extent={{-10,-10},{10,10}}, + rotation=-180))); + parameter Real VS_cmd=0.5; + parameter Real[2] VS_cmd_t={3, 5} "Instants de démarrage et fin du step"; + parameter Real Pitch_cmd=0.03; + parameter Real[2] Pitch_cmd_t={1, 4} "Instants de démarrage et fin du step, après stabilisation verticale"; + parameter Real Yaw_cmd=0.5; + parameter Real[2] Yaw_cmd_t={6, 8} "Instants de démarrage et fin du step"; + parameter Real Roll_cmd=0.2 "Amplitude step "; + parameter Real Roll_cmd_t[2]={1, 100} "Instants de démarrage et fin du step"; + parameter Real Tcst=0.1 "constante de temps pour filter les sorties du remote ctl"; + Boolean Auto_Ctl_Enabled(start=true); + parameter Real Auto_Ctl_t=0.1 "Instant de déclenchement du mode auto"; + initial equation + PitchCommand = 0; + RollCommand = 0; + YawCommand = 0; + VerticalSpeedCommand = 0; + PitchCommand_i = 0; + RollCommand_i = 0; + YawCommand_i = 0; + VerticalSpeedCommand_i = 0; + ControlMode = false; + IndicatorYawConsign = false; + Auto_Ctl_Enabled=true; + algorithm + + when time > Auto_Ctl_t and Auto_Ctl_Enabled==true then + ControlMode:=true; + end when; + + when time > VS_cmd_t[1] then + VerticalSpeedCommand_i := VS_cmd; + ControlMode:=false; + Auto_Ctl_Enabled:=false; + end when; + when time > VS_cmd_t[2] then + VerticalSpeedCommand_i := 0; + end when; + when time > VS_cmd_t[2]+ Pitch_cmd_t[1] then + PitchCommand_i := Pitch_cmd; + ControlMode:=false; + end when; + when time > VS_cmd_t[2]+ Pitch_cmd_t[2] then + PitchCommand_i := 0; + end when; + when time > VS_cmd_t[2]+ Roll_cmd_t[1] then + RollCommand_i := Roll_cmd; + ControlMode:=false; + end when; + when time > VS_cmd_t[2]+ Roll_cmd_t[2] then + RollCommand_i := 0; + end when; + //Yaw command + when time > VS_cmd_t[2]+ Yaw_cmd_t[1] then + YawCommand_i := Yaw_cmd; + ControlMode:=false; + IndicatorYawConsign:=true; + end when; + //IndicatorYawConsign := true; + when time > VS_cmd_t[2]+ Yaw_cmd_t[2] then + YawCommand_i := 0; + end when; + //IndicatorYawConsign := false; + /*if time>Yaw_cmd_t[2] then + + int_yaw := 0; + IndicatorYawConsign := false; + + elseif time>Yaw_cmd_t[1] then + + int_yaw := DYaw_cmd; + IndicatorYawConsign := true; + + else + + int_yaw := 0; + IndicatorYawConsign := false; + + end if;*/ + equation + // remote control filter with Tcst time constant + der(VerticalSpeedCommand) = (VerticalSpeedCommand_i - VerticalSpeedCommand) / Tcst; + der(RollCommand) = (RollCommand_i - RollCommand) / Tcst; + der(PitchCommand) = (PitchCommand_i - PitchCommand) / Tcst; + der(YawCommand) = (YawCommand_i - YawCommand) / Tcst; + /* initial code of Andrii VAKULKO, destined to be used with manual button included in the SimulationX interface + if VSCommand1 > 0 then + VerticalSpeedCommand = -1; + elseif VSCommand2 > 0 then + VerticalSpeedCommand = -0.8; + elseif VSCommand3 > 0 then + VerticalSpeedCommand = -0.6; + elseif VSCommand4 > 0 then + VerticalSpeedCommand = -0.4; + elseif VSCommand5 > 0 then + VerticalSpeedCommand = -0.2; + elseif VSCommand6 > 0 then + VerticalSpeedCommand = 0.2; + elseif VSCommand7 > 0 then + VerticalSpeedCommand = 0.4; + elseif VSCommand8 > 0 then + VerticalSpeedCommand = 0.6; + elseif VSCommand9 > 0 then + VerticalSpeedCommand = 0.8; + elseif VSCommand10 > 0 then + VerticalSpeedCommand = 1; + else + VerticalSpeedCommand = 0; + end if; + + if YCommandP > 0 then + der(YawCommand) = 0.01; + //IndicatorYawConsign = true; + elseif YCommandM > 0 then + der(YawCommand) = -0.01; + //IndicatorYawConsign = true; + else + YawCommand = 0; + //IndicatorYawConsign = false; + end if; + + if RCommandP > 0 then + RollCommand = 0.0261799; //15 deg + elseif RCommandM > 0 then + RollCommand = -0.0261799; + else + RollCommand = 0; + end if; + + if PCommandP > 0 then + PitchCommand = 0.0261799; + elseif PCommandM > 0 then + PitchCommand = -0.0261799; + else + PitchCommand = 0; + end if;*/ + annotation( + VerticalSpeedCommand(flags=2), + RollCommand(flags=2), + PitchCommand(flags=2), + YawCommand(flags=2), + ControlMode(flags=2), + IndicatorYawConsign(flags=2), + Icon( + coordinateSystem(extent={{-125,-100},{125,100}}), + graphics={ + Rectangle( + fillColor={255,255,255}, + fillPattern=FillPattern.Solid, + extent={{-123.3,100},{123.3,-100}}), + Text( + textString="%name", + fillPattern=FillPattern.None, + extent={{-86,20},{86,-20}}, + origin={-2,6})}), + experiment( + StopTime=10, + StartTime=0, + Interval=0.02, + MaxInterval="0.001")); +end RemoteControl; diff --git a/SimulationModels/AIDAModelica/RemoteControlForIntegration.mo b/SimulationModels/AIDAModelica/RemoteControlForIntegration.mo new file mode 100644 index 0000000..2237b57 --- /dev/null +++ b/SimulationModels/AIDAModelica/RemoteControlForIntegration.mo @@ -0,0 +1,184 @@ +// CP: 65001 +// SimulationX Version: 3.8.2.45319 x64 +within AIDAModelica; +model RemoteControlForIntegration "Remote Control For Integration" + Modelica.Blocks.Interfaces.RealOutput VerticalSpeedCommand( + quantity="Mechanics.Translation.Velocity", + displayUnit="m/s") "'output Real' as connector" annotation(Placement( + transformation(extent={{-10,65},{10,85}}), + iconTransformation( + origin={-75,-100}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + Modelica.Blocks.Interfaces.RealOutput RollCommand( + quantity="Mechanics.Rotation.Angle", + displayUnit="rad") "'output Real' as connector" annotation(Placement( + transformation(extent={{-10,35},{10,55}}), + iconTransformation( + origin={-25,-100}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + Modelica.Blocks.Interfaces.RealOutput PitchCommand( + quantity="Mechanics.Rotation.Angle", + displayUnit="rad") "'output Real' as connector" annotation(Placement( + transformation(extent={{-10,5},{10,25}}), + iconTransformation( + origin={25,-100}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + Modelica.Blocks.Interfaces.RealOutput YawCommand( + quantity="Mechanics.Rotation.Angle", + displayUnit="rad") "'output Real' as connector" annotation(Placement( + transformation(extent={{-9.699999999999999,-24.7},{10.3,-4.7}}), + iconTransformation( + origin={75,-100}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + Modelica.Blocks.Interfaces.BooleanOutput ControlMode "'output Boolean' as connector" annotation(Placement( + transformation(extent={{-10,-65},{10,-45}}), + iconTransformation( + origin={-125,-50}, + extent={{-10,-10},{10,10}}, + rotation=180))); + Modelica.Blocks.Interfaces.BooleanOutput IndicatorYawConsign "'output Boolean' as connector" annotation(Placement( + transformation(extent={{-10,-50},{10,-30}}), + iconTransformation( + origin={-125,0}, + extent={{-10,-10},{10,10}}, + rotation=-180))); + Modelica.Blocks.Tables.CombiTable1Ds VerticalSpeedCommandCurve( + table={{0,0},{8.517197272438,0},{8.517197272439,-0.6},{20.94728806169,-0.6},{20.94873106169,0},{121.801046301399,0},{121.802489301399,0},{129.0944818387,0},{129.0959258387,0},{134.215124194368,0},{134.216567194368,0},{134.628815476324,0},{134.630258476324,0},{138.533727217968,0},{138.535170217968,0},{245.054,0}}, + smoothness=Modelica.Blocks.Types.Smoothness.LinearSegments) annotation(Placement(transformation(extent={{-40,65},{-20,85}}))); + RunFlightPlan.TimeSource timeSource1 annotation(Placement(transformation(extent={{-95,45},{-75,65}}))); + Modelica.Blocks.Tables.CombiTable1Ds RollCommandCurve( + table={{0,0},{25.786492253237,0},{25.787935253237,0},{32.204791441651,0},{32.206234441651,0},{32.79902904655,0},{32.800616390534,0},{37.687626723901,0},{37.689069723901,0},{39.778866585705,0},{39.780309585705,0},{44.391515243107,0},{44.392958243107,0},{64.219238055642,0},{64.220681055642,0},{65.533297453724,0},{65.534849785025,0},{69.167337517444,0},{69.168780517444,0},{71.233189315965,0},{71.234632315965,0},{91.730954881384,0},{91.732397881384,0},{92.176860934385,0},{92.177950148563,0},{94.097230193319,0},{94.098673193319,0},{94.54309811646,0},{94.544187128709,0},{99.301664560029,0},{99.303107560029,0},{99.93640873338,0},{99.93785173338,0},{174.525661337499,0},{174.527104337499,0},{183.942664820241,0},{183.944107820241,0},{184.868730074659,0},{184.870173074659,0},{191.639185376725,0},{191.640628376725,0},{192.552594341689,0},{192.554037341689,0},{193.161855687393,0},{193.162941723513,0},{194.102624172672,0},{194.104067172672,0},{196.058768109232,0},{196.060211109232,0},{197.235529291973,0},{197.236972291973,0},{198.205941202781,0},{198.207384202781,0},{200.86348599772,0},{200.86492899772,0},{201.473218912813,0},{201.474306538157,0},{202.648655689236,0},{202.650098689236,0},{203.258139206362,0},{203.25922614281,0},{218.761788196219,0},{218.763231196219,0},{218.97331230055,0},{218.974959657084,0},{245.054,0}}, + smoothness=Modelica.Blocks.Types.Smoothness.LinearSegments) annotation(Placement(transformation(extent={{-40,35},{-20,55}}))); + Modelica.Blocks.Tables.CombiTable1Ds PitchCommandCurve( + table={{0,0},{48.094293681429,0},{48.095736681429,0},{54.591834225423,0},{54.593277225423,0},{55.513370691687,0},{55.514813691687,0},{61.182904112935,0},{61.184347112935,0},{72.633378124442,0},{72.634821124442,0},{75.836703739009,0},{75.838146739009,0},{76.190291946595,0},{76.191899584097,0},{83.746287567012,0},{83.747730567012,0},{86.669911803152,0},{86.671354803152,0},{89.874386081548,0},{89.875829081548,0},{101.945717413619,0},{101.947160413619,0},{103.004541167946,0},{103.005984167946,0},{103.504697052053,0},{103.505784233044,0},{108.546832048665,0},{108.548275048665,0},{110.016958010245,0},{110.018524511934,0},{111.926708452288,0},{111.928151452288,0},{114.939234058818,0},{114.940677058818,0},{116.125168170284,0},{116.126611170284,0},{147.483847367729,0},{147.485290367729,0},{153.311386368157,0},{153.312829368157,0},{154.803428193241,0},{154.804871193241,0},{159.76161430756,0},{159.76305730756,0},{162.187547920928,0},{162.188990920928,0},{163.20323940764,0},{163.204323638944,0},{164.809861537178,0},{164.811304537178,0},{165.419382090795,0},{165.420469212077,0},{169.085130283014,0},{169.086573283014,0},{169.438735267897,0},{169.440342125828,0},{170.306359413346,0},{170.307802413346,0},{170.420024802715,0},{170.421519033579,0},{205.811730926797,0},{205.813173926797,0},{206.312227312983,0},{206.313315922167,0},{236.060403881501,0},{236.061846881501,0},{236.560902101512,0},{236.561990711112,0},{245.054,0}}, + smoothness=Modelica.Blocks.Types.Smoothness.LinearSegments) annotation(Placement(transformation(extent={{-40,5},{-20,25}}))); + Modelica.Blocks.Tables.CombiTable1Ds YawCommandCurve( + table={{0,0},{245.054,0}}, + smoothness=Modelica.Blocks.Types.Smoothness.LinearSegments) annotation(Placement(transformation(extent={{-40,-25},{-20,-5}}))); + equation + // enter your equations here + + ControlMode = true; + IndicatorYawConsign = false; + + /*if VSCommand1 > 0 then + VerticalSpeedCommand = -1; + elseif VSCommand2 > 0 then + VerticalSpeedCommand = -0.8; + elseif VSCommand3 > 0 then + VerticalSpeedCommand = -0.6; + elseif VSCommand4 > 0 then + VerticalSpeedCommand = -0.4; + elseif VSCommand5 > 0 then + VerticalSpeedCommand = -0.2; + elseif VSCommand6 > 0 then + VerticalSpeedCommand = 0.2; + elseif VSCommand7 > 0 then + VerticalSpeedCommand = 0.4; + elseif VSCommand8 > 0 then + VerticalSpeedCommand = 0.6; + elseif VSCommand9 > 0 then + VerticalSpeedCommand = 0.8; + elseif VSCommand10 > 0 then + VerticalSpeedCommand = 1; + else + VerticalSpeedCommand = 0; + end if; + + if YCommandP > 0 then + der(YawCommand) = 0.01; + IndicatorYawConsign = true; + elseif YCommandM > 0 then + der(YawCommand) = -0.01; + IndicatorYawConsign = true; + else + YawCommand = 0; + IndicatorYawConsign = false; + end if; + + if RCommandP > 0 then + RollCommand = 0.0261799; //15 deg + elseif RCommandM > 0 then + RollCommand = -0.0261799; + else + RollCommand = 0; + end if; + + if PCommandP > 0 then + PitchCommand = 0.0261799; + elseif PCommandM > 0 then + PitchCommand = -0.0261799; + else + PitchCommand = 0; + end if;*/ + equation + connect(VerticalSpeedCommandCurve.u,timeSource1.TimeOutput) annotation(Line( + points={{-42,75},{-47,75},{-70,75},{-70,55},{-75,55}}, + color={0,0,127}, + thickness=0.0625)); + + connect(RollCommandCurve.u,timeSource1.TimeOutput) annotation(Line( + points={{-42,45},{-47,45},{-70,45},{-70,55},{-75,55}}, + color={0,0,127}, + thickness=0.0625)); + connect(PitchCommandCurve.u,timeSource1.TimeOutput) annotation(Line( + points={{-42,15},{-47,15},{-70,15},{-70,55},{-75,55}}, + color={0,0,127}, + thickness=0.0625)); + connect(YawCommandCurve.u,timeSource1.TimeOutput) annotation(Line( + points={{-42,-15},{-47,-15},{-70,-15},{-70,55},{-75,55}}, + color={0,0,127}, + thickness=0.0625)); + connect(VerticalSpeedCommandCurve.y[1],VerticalSpeedCommand) annotation(Line( + points={{-19,75},{-14,75},{-5,75},{0,75}}, + color={0,0,127}, + thickness=0.0625)); + connect(RollCommandCurve.y[1],RollCommand) annotation(Line( + points={{-19,45},{-14,45},{-5,45},{0,45}}, + color={0,0,127}, + thickness=0.0625)); + connect(PitchCommandCurve.y[1],PitchCommand) annotation(Line( + points={{-19,15},{-14,15},{-5,15},{0,15}}, + color={0,0,127}, + thickness=0.0625)); + connect(YawCommandCurve.y[1],YawCommand) annotation(Line( + points={{-19,-15},{-14,-15},{-4.7,-15},{-4.7,-14.7},{0.3,-14.7}}, + color={0,0,127}, + thickness=0.0625)); + annotation( + VerticalSpeedCommand(flags=2), + RollCommand(flags=2), + PitchCommand(flags=2), + YawCommand(flags=2), + ControlMode(flags=2), + IndicatorYawConsign(flags=2), + VerticalSpeedCommandCurve( + u(flags=2), + y(flags=2)), + timeSource1(TimeOutput(flags=2)), + RollCommandCurve( + u(flags=2), + y(flags=2)), + PitchCommandCurve( + u(flags=2), + y(flags=2)), + YawCommandCurve( + u(flags=2), + y(flags=2)), + Icon( + coordinateSystem(extent={{-125,-100},{125,100}}), + graphics={ + Rectangle( + fillColor={255,255,255}, + fillPattern=FillPattern.Solid, + extent={{-123.3,100},{123.3,-100}})}), + experiment( + StopTime=1, + StartTime=0, + Interval=0.002, + MaxInterval="0.001")); +end RemoteControlForIntegration; diff --git a/SimulationModels/AIDAModelica/RigidBodyDynamicModel.mo b/SimulationModels/AIDAModelica/RigidBodyDynamicModel.mo new file mode 100644 index 0000000..c54cc1b --- /dev/null +++ b/SimulationModels/AIDAModelica/RigidBodyDynamicModel.mo @@ -0,0 +1,53 @@ +within AIDAModelica; + +model RigidBodyDynamicModel "Rigid body dynamic model" + // CP: 65001 + // SimulationX Version: 3.8.2.45319 x64 + Modelica.Blocks.Interfaces.RealInput Moments[3](quantity = "Mechanics.Rotation.Torque", displayUnit = "Nm") "Moments" annotation( + Placement(transformation(extent = {{-75, 55}, {-35, 95}}), iconTransformation(extent = {{-120, -70}, {-80, -30}}))); + Modelica.Blocks.Interfaces.RealInput TotalThrust(quantity = "Mechanics.Translation.Force", displayUnit = "N") "Total Thrust" annotation( + Placement(transformation(extent = {{-75, -15}, {-35, 25}}), iconTransformation(extent = {{-120, 30}, {-80, 70}}))); + Modelica.Blocks.Interfaces.RealInput Attitude[3](quantity = "Mechanics.Rotation.Angle", displayUnit = "rad") "Attitude input" annotation( + Placement(transformation(extent = {{-75, 25}, {-35, 65}}), iconTransformation(origin = {0, 100}, extent = {{-20, -20}, {20, 20}}, rotation = -90))); + Modelica.Blocks.Interfaces.RealOutput DroneAngularVelocities[3](quantity = "Mechanics.Rotation.RotAccel", displayUnit = "rad/s²") "Drone angular velocities" annotation( + Placement(transformation(extent = {{0, 50}, {20, 70}}), iconTransformation(extent = {{90, 40}, {110, 60}}))); + Modelica.Blocks.Interfaces.RealOutput DroneVelocity[3](quantity = "Mechanics.Translation.Accel", displayUnit = "m/s²") "Drone velocity" annotation( + Placement(transformation(extent = {{70, 20}, {90, 40}}), iconTransformation(extent = {{90, -10}, {110, 10}}))); + Modelica.Blocks.Interfaces.RealInput ExternalForce[3] annotation( + Placement(transformation(extent = {{-75, -50.7}, {-35, -10.7}}), iconTransformation(extent = {{-20, -120}, {20, -80}}))); + Modelica.Blocks.Interfaces.RealOutput Accelerations[3] "'output Real' as connector" annotation( + Placement(transformation(extent = {{65, 5}, {85, 25}}), iconTransformation(extent = {{90, -60}, {110, -40}}))); + ComputeDroneVelocity computeDroneVelocity1 annotation( + Placement(transformation(extent = {{-20, 10}, {0, 35}}))); + ComputeDroneAngularsVelocities computeDroneAngularsVelocities1 annotation( + Placement(transformation(extent = {{-30, 70}, {-15, 80}}))); +equation +// enter your equations here +equation + connect(computeDroneVelocity1.Attitude, Attitude[:]) annotation( + Line(points = {{-9.333328247070313, 35}, {-15, 35}, {-50, 35}, {-50, 45}, {-55, 45}}, color = {0, 0, 127}, thickness = 0.0625), + AutoRoute = false); + connect(computeDroneVelocity1.TotalThrust, TotalThrust) annotation( + Line(points = {{-20, 28.7}, {-25, 28.7}, {-50, 28.7}, {-50, 5}, {-55, 5}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(computeDroneAngularsVelocities1.Moments[:], Moments[:]) annotation( + Line(points = {{-30, 75}, {-35, 75}, {-50, 75}, {-55, 75}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(computeDroneAngularsVelocities1.DroneAngularVelocities[:], DroneAngularVelocities[:]) annotation( + Line(points = {{-15.3, 75}, {-10.3, 75}, {5, 75}, {5, 60}, {10, 60}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(computeDroneVelocity1.DroneVelocity[:], DroneVelocity[:]) annotation( + Line(points = {{0, 28.7}, {5, 28.7}, {75, 28.7}, {75, 30}, {80, 30}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(ExternalForce[:], computeDroneVelocity1.ExternalForce[:]) annotation( + Line(points = {{-55, -30.7}, {-50, -30.7}, {-25, -30.7}, {-25, 16.3}, {-20, 16.3}})); + connect(computeDroneVelocity1.Accelerations[:], Accelerations[:]) annotation( + Line(points = {{0, 16.3}, {5, 16.3}, {70, 16.3}, {70, 15}, {75, 15}}, color = {0, 0, 127}, thickness = 0.0625)); + annotation( + Moments(flags = 2), + TotalThrust(flags = 2), + Attitude(flags = 2), + DroneAngularVelocities(flags = 2), + DroneVelocity(flags = 2), + ExternalForce(flags = 2), + computeDroneVelocity1(TotalThrust(flags = 2), Attitude(flags = 2), DroneVelocity(flags = 2), ExternalForce(flags = 2), computationAccelerationModel1(TotalThrust(flags = 2), Attitude(flags = 2), DroneAcceleration(flags = 2), ExternalForce(flags = 2), Reb(flags = 2), Rz(flags = 2), Ry(flags = 2), Rx(flags = 2)), integrator4(u(flags = 2), y(flags = 2)), integrator5(u(flags = 2), y(flags = 2)), integrator6(u(flags = 2), y(flags = 2))), + computeDroneAngularsVelocities1(Moments(flags = 2), DroneAngularVelocities(flags = 2), computationAngularAccelerationModel1(Moments(flags = 2), DroneAngularAcceleration(flags = 2), invJ(flags = 2)), integrator1(u(flags = 2), y(flags = 2)), integrator2(u(flags = 2), y(flags = 2)), integrator3(u(flags = 2), y(flags = 2))), + Icon(graphics = {Rectangle(fillColor = {255, 255, 255}, fillPattern = FillPattern.Solid, extent = {{-100, 100}, {103.3, -100}}), Text(origin = {-3, 10}, extent = {{-23, 10}, {23, -10}}, textString = "%name")}, coordinateSystem(initialScale = 0.1)), + experiment(StopTime = 1, StartTime = 0, Interval = 0.002, MaxInterval = "0.001")); +end RigidBodyDynamicModel; diff --git a/SimulationModels/AIDAModelica/RigidBodyKinematicModel.mo b/SimulationModels/AIDAModelica/RigidBodyKinematicModel.mo new file mode 100644 index 0000000..1fe40cb --- /dev/null +++ b/SimulationModels/AIDAModelica/RigidBodyKinematicModel.mo @@ -0,0 +1,41 @@ +within AIDAModelica; + +model RigidBodyKinematicModel "Rigid body kinematic model" + // CP: 65001 + // SimulationX Version: 3.8.2.45319 x64 + Modelica.Blocks.Interfaces.RealInput DroneAngularVelocities[3](quantity = "Mechanics.Rotation.RotVelocity", displayUnit = "rad/s") "Angulars velocities" annotation( + Placement(transformation(extent = {{-120, 50}, {-80, 90}}), iconTransformation(extent = {{-120, 30}, {-80, 70}}))); + Modelica.Blocks.Interfaces.RealInput Velocity[3](quantity = "Mechanics.Translation.Velocity", displayUnit = "m/s") "Velocity" annotation( + Placement(transformation(extent = {{-120, -20}, {-80, 20}}), iconTransformation(extent = {{-120, -70}, {-80, -30}}))); + Modelica.Blocks.Interfaces.RealInput AttitudeFB[3] "Drone attitude feedback" annotation( + Placement(transformation(extent = {{-120, 25}, {-80, 65}}), iconTransformation(origin = {-50, 100}, extent = {{-20, -20}, {20, 20}}, rotation = -90))); + Modelica.Blocks.Interfaces.RealOutput Attitude[3](quantity = "Mechanics.Rotation.RotVelocity", displayUnit = "rad/s", start = {0, 0, 0}) "Attitude derivated" annotation( + Placement(transformation(extent = {{-45, 50}, {-25, 70}}), iconTransformation(extent = {{90, 40}, {110, 60}}))); + Modelica.Blocks.Interfaces.RealOutput Position[3](quantity = "Mechanics.Translation.Displace", displayUnit = "m", start = {0, 0, 0}) "Position derivated" annotation( + Placement(transformation(extent = {{-45, -15}, {-25, 5}}), iconTransformation(extent = {{90, -60}, {110, -40}}))); + ComputeDronePosition computeDronePosition1(integrator10(initType = Modelica.Blocks.Types.Init.NoInit, y_start = -0.04)) annotation( + Placement(transformation(extent = {{-70, -5}, {-55, 5}}))); + ComputeDroneAttitude computeDroneAttitude1 annotation( + Placement(transformation(extent = {{-75, 65}, {-60, 75}}))); +equation + connect(computeDroneAttitude1.AttitudeFB[:], AttitudeFB[:]) annotation( + Line(points = {{-70, 65}, {-70, 60}, {-70, 45}, {-95, 45}, {-100, 45}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(computeDroneAttitude1.Attitude[:], Attitude[:]) annotation( + Line(points = {{-60.3, 70}, {-55.3, 70}, {-40, 70}, {-40, 60}, {-35, 60}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(computeDronePosition1.DronVelocity[:], Velocity[:]) annotation( + Line(points = {{-70, 0}, {-75, 0}, {-95, 0}, {-100, 0}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(computeDronePosition1.Position[:], Position[:]) annotation( + Line(points = {{-55.3, 0}, {-50.3, 0}, {-40, 0}, {-40, -5}, {-35, -5}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(computeDroneAttitude1.DroneAngularVelocities[:], DroneAngularVelocities[:]) annotation( + Line(points = {{-75, 70}, {-80, 70}, {-95, 70}, {-100, 70}}, color = {0, 0, 127}, thickness = 0.0625)); + annotation( + DroneAngularVelocities(flags = 2), + Velocity(flags = 2), + AttitudeFB(flags = 2), + Attitude(flags = 2), + Position(flags = 2), + computeDronePosition1(DronVelocity(flags = 2), Position(flags = 2), integrator10(u(flags = 2), y(flags = 2)), integrator11(u(flags = 2), y(flags = 2)), integrator12(u(flags = 2), y(flags = 2))), + computeDroneAttitude1(DroneAngularVelocities(flags = 2), AttitudeFB(flags = 2), Attitude(flags = 2), computationChangeAngleVelocity1(DronAngularVelocities(flags = 2), Attitude(flags = 2), ChangeAngleVelocity(flags = 2), W(flags = 2)), integrator7(u(flags = 2), y(flags = 2)), integrator8(u(flags = 2), y(flags = 2)), integrator9(u(flags = 2), y(flags = 2))), + Icon(graphics = {Rectangle(fillColor = {255, 255, 255}, fillPattern = FillPattern.Solid, extent = {{-100, 100}, {100, -100}}), Text(origin = {-7, 1}, extent = {{-19, 11}, {19, -11}}, textString = "%name")}, coordinateSystem(initialScale = 0.1)), + experiment(StopTime = 1, StartTime = 0, Interval = 0.002, MaxInterval = "0.001")); +end RigidBodyKinematicModel; diff --git a/SimulationModels/AIDAModelica/RunFlightPlan.mo b/SimulationModels/AIDAModelica/RunFlightPlan.mo new file mode 100644 index 0000000..27fea43 --- /dev/null +++ b/SimulationModels/AIDAModelica/RunFlightPlan.mo @@ -0,0 +1,2011 @@ +// CP: 65001 +// SimulationX Version: 3.8.2.45319 x64 +within AIDAModelica; +model RunFlightPlan "[SF4.2] Run flight plan" + Modelica.Blocks.Interfaces.RealOutput DronPositionConsign[3]( + start={1,58,0}, + quantity="Mechanics.Translation.Displace", + displayUnit="m") "Desired position coodinates output" annotation(Placement( + transformation(extent={{125,25},{145,45}}), + iconTransformation(extent={{90,40},{110,60}}))); + Modelica.Blocks.Interfaces.RealOutput YawConsign( + quantity="Mechanics.Rotation.Angle", + displayUnit="rad") "Desired yaw angle output" annotation(Placement( + transformation(extent={{90,-45},{110,-25}}), + iconTransformation(extent={{90,-60},{110,-40}}))); + Modelica.Blocks.Tables.CombiTable1Ds X_coordinate_map( + table={{0,0},{3.95384,0},{12.65,3},{26.1708,3},{29.3772,2},{29.3773,2},{32.7636,2},{33.5104,1},{34.1016,0},{35.5877,-1},{38.0295,-3},{44.9129,-4},{62.7945,0},{65.5294,0},{69.3402,-4},{71.9731,-7.5},{78.8666,-18},{82.4187,-20},{89.1419,-27},{92.7745,-27},{95.2915,-28},{97.7324,-25},{99.4749,-22},{101.631,-19},{107.028,-10},{109.937,-5},{113.18,0},{119.224,0},{138.974,0},{141.268,-3},{151.174,-6},{159.359,-6},{162.991,-1},{167.264,6},{182.254,6},{185.205,10},{187.795,14},{190.16,18},{192.55,22},{195.004,26},{199.804,26},{210.306,26},{217.053,18},{224.184,8},{237.757,8},{245.054,0}}, + smoothness=Modelica.Blocks.Types.Smoothness.LinearSegments) annotation(Placement(transformation(extent={{40,65},{60,85}}))); + TimeSource timeSource1 "Time Source" annotation(Placement(transformation(extent={{-25,25},{-5,45}}))); + Modelica.Blocks.Tables.CombiTable1Ds Y_coordinate_map( + table={{0,39},{3.95384,35},{12.65,31},{26.1708,31},{29.3772,29},{29.3773,29},{32.7636,31},{33.5104,31},{34.1016,31},{35.5877,29},{38.0295,31},{44.9129,29},{62.7945,27},{65.5294,23},{69.3402,19},{71.9731,17},{78.8666,12},{82.4187,7},{89.1419,-2},{92.7745,-8},{95.2915,-12},{97.7324,-12},{99.4749,-12},{101.631,-10},{107.028,-8},{109.937,-8},{113.18,-8},{119.224,0},{138.974,-10},{141.268,-10},{151.174,-24},{159.359,-38},{162.991,-40},{167.264,-40},{182.254,-20},{185.205,-18},{187.795,-16},{190.16,-16},{192.55,-17},{195.004,-18},{199.804,-12},{210.306,6},{217.053,8},{224.184,14},{237.757,35},{245.054,39}}, + smoothness=Modelica.Blocks.Types.Smoothness.LinearSegments) "Table look-up in one dimension (matrix/file) with one input and n outputs" annotation(Placement(transformation(extent={{40,25},{60,45}}))); + Modelica.Blocks.Tables.CombiTable1Ds Z_coordinate_map( + table={{0,-0.5},{3.95384,-4},{12.65,-4},{26.1708,-2.5},{29.3772,-2.5},{29.3773,-2.5},{32.7636,-2.5},{33.5104,-2.5},{34.1016,-2.5},{35.5877,-2.5},{38.0295,-2.5},{44.9129,-4},{62.7945,-8},{65.5294,-9},{69.3402,-7},{71.9731,-5},{78.8666,-5},{82.4187,-7},{89.1419,-8},{92.7745,-8},{95.2915,-7},{97.7324,-7},{99.4749,-7},{101.631,-7},{107.028,-7},{109.937,-7},{113.18,-9},{119.224,-11},{138.974,-11},{141.268,-11},{151.174,-11},{159.359,-11},{162.991,-11},{167.264,-11},{182.254,-11},{185.205,-11},{187.795,-11},{190.16,-11},{192.55,-11},{195.004,-11},{199.804,-11},{210.306,-11},{217.053,-6},{224.184,-4},{230.97050000000002,-4},{250,-4}}, + smoothness=Modelica.Blocks.Types.Smoothness.LinearSegments) annotation(Placement(transformation(extent={{40,-15},{60,5}}))); + Modelica.Blocks.Tables.CombiTable1Ds YawAngle( + table={{0,0},{3.95384,0},{12.65,-0.523599},{26.1708,-0.523599},{29.3772,-0.523599},{29.3773,-0.523599},{32.7636,-0.523599},{33.5104,0},{34.1016,0.174533},{35.5877,0.349066},{38.0295,0.349066},{44.9129,1.309},{62.7945,0},{65.5294,0},{69.3402,0},{71.9731,0},{78.8666,0},{82.4187,0},{89.1419,0},{92.7745,0},{95.2915,-3.14159},{97.7324,-3.14159},{99.4749,-3.14159},{101.631,-3.14159},{107.028,-3.14159},{109.937,-3.14159},{113.18,0},{119.224,0},{138.974,0},{141.268,0},{151.174,-3.14159},{159.359,-3.14159},{162.991,-3.14159},{167.264,-3.14159},{182.254,-3.14159},{185.205,-3.14159},{187.795,-3.14159},{190.16,-3.14159},{192.55,-3.14159},{195.004,-3.14159},{199.804,0},{210.306,0},{217.053,0},{224.184,0},{237.757,0},{245.054,0}}, + smoothness=Modelica.Blocks.Types.Smoothness.LinearSegments) annotation(Placement(transformation(extent={{40,-45},{60,-25}}))); + model TimeSource "Time Source" + Modelica.Blocks.Interfaces.RealOutput TimeOutput "'output Real' as connector" annotation(Placement( + transformation(extent={{-10,-10},{10,10}}), + iconTransformation(extent={{90,-10},{110,10}}))); + equation + // enter your equations here + TimeOutput = time; + annotation(Icon(graphics={ + Rectangle( + fillColor={255,255,255}, + fillPattern=FillPattern.Solid, + extent={{-96.7,96.7},{96.7,-96.7}}), + Bitmap( + imageSource="iVBORw0KGgoAAAANSUhEUgAAAOEAAADhCAYAAAA+s9J6AAAABGdBTUEAALGPC/xhBQAAFZ5JREFU +eF7tna2THUUXh6+OQrImIgoTnUKiolA4LOv4A6hVOFQMEoPEYHAoHFWpQkVFoDBRCAxVFIW4L8+8 +mWX25szc6e7TX9O/p+oUIdm9HzP9m+4+X306i+74559/zn/++ef5jz/+OP/++++T8f/8vegPibAB +/vrrr/OrV6/OP/744/nbb789f/XVV+dPP/30/PTp0/P7779/Pp1OUfbo0aPpNT7++OPz559/fv76 +66+n1//hhx/OL1++nMQr6iMRFmKevX7++efzN998c/7yyy/Pz58/N8VT2t57773zZ599NokUgb55 +80azakEkwkwwu/3yyy+T4JiFbm5uTAG0bMzGCPOnn37ScjcjEqETDFJEx1KylRnO2z766KPp+7Fs +Zj8qfJAIE2BP9f33308zHUs6a+Ae2T755JNppnz9+vX577//fntVRCgSYSC//fbbtMRkAFoDc1T7 +8MMPp1ny119/1bI1EIlwBzgqEN5Rl5nexrL1xYsXkyBrw0MTaxmJcAUcKzgk8BpaA022z3hwERap 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+Nw4twpkel6g5Bp71Pl4WO3vze9yfS8cQKxmuwQgpgkOIEIh55czY8Dbv8/By93v1emiMILpLhhHh +DOGAXsToOSBzlRDNxuuLOIYT4QzLIMpfrAHVink6aHJ/16PE7GowrAhnGOi4vVObDeUwMoK8yJ1v +qzMi4xlehDPsGXmat1Sl4Zlzmrsms2SiwdGQCC8gtQonQ454WogRWvEkV3gC673bWW0kwg1m93mN +dDjvninMVNb7eNhRg+ilkAh3wKGj5CriVS0V/M+R1J2jlKjnivZWkAgDYblKzC1nmCNX+z4+u+ee +Vx5RHyTCBJghESRLR68lK8vfnLDETvUE812PVMVQG4nQEbyZOEBiZ8lSDWzZH4YmuDOD8rDROY/+ +SIQZYbBTTc6yba18iOp1BneNwl5m8TUvMH/Pfo/4HzO+yIdEWBiEyWxCEXJLeZLM4jwIJLjSnM// +A4dnvJ/1vZrtAAAAAElFTkSuQmCC", + extent={{-100,-100},{100,100}})})); + end TimeSource; + equation + connect(Y_coordinate_map.u,timeSource1.TimeOutput) annotation(Line( + points={{38,35},{33,35},{0,35},{-5,35}}, + color={0,0,127}, + thickness=0.0625)); + connect(Z_coordinate_map.u,timeSource1.TimeOutput) annotation(Line( + points={{38,-5},{33,-5},{0,-5},{0,35},{-5,35}}, + color={0,0,127}, + thickness=0.0625)); + connect(X_coordinate_map.u,timeSource1.TimeOutput) annotation(Line( + points={{38,75},{33,75},{0,75},{0,35},{-5,35}}, + color={0,0,127}, + thickness=0.0625)); + connect(YawAngle.u,timeSource1.TimeOutput) annotation(Line( + points={{38,-35},{33,-35},{0,-35},{0,35},{-5,35}}, + color={0,0,127}, + thickness=0.0625)); + + + + + + connect(YawAngle.y[1],YawConsign) annotation(Line( + points={{61,-35},{66,-35},{95,-35},{100,-35}}, + color={0,0,127}, + thickness=0.0625)); + + + + connect(X_coordinate_map.y[1],DronPositionConsign[1]) annotation(Line( + points={{61,75},{66,75},{130,75},{130,35},{135,35}}, + color={0,0,127}, + thickness=0.0625)); + connect(Y_coordinate_map.y[1],DronPositionConsign[2]) annotation(Line( + points={{61,35},{66,35},{130,35},{135,35}}, + color={0,0,127}, + thickness=0.0625)); + connect(Z_coordinate_map.y[1],DronPositionConsign[3]) annotation(Line( + points={{61,-5},{66,-5},{130,-5},{130,35},{135,35}}, + color={0,0,127}, + thickness=0.0625)); + annotation( + DronPositionConsign(flags=2), + YawConsign(flags=2), + X_coordinate_map( + u(flags=2), + y(flags=2)), + timeSource1(TimeOutput(flags=2)), + Y_coordinate_map( + u(flags=2), + y(flags=2)), + Z_coordinate_map( + u(flags=2), + y(flags=2)), + YawAngle( + u(flags=2), + y(flags=2)), + Icon(graphics={ + Rectangle( + fillColor={255,255,255}, + fillPattern=FillPattern.Solid, + extent={{-100,103.3},{100,-103.3}}), + Bitmap( + imageSource="iVBORw0KGgoAAAANSUhEUgAAAM8AAAFFCAYAAABL3blVAAAABGdBTUEAALGPC/xhBQAAAAlwSFlz +AAAScQAAEnEB89x6jgAA/7JJREFUeF7M/X2sX1eZ7wn6/5m6l6p7+0pX91YV7wWpkArBOI7jOI7j +2MfnHL+/xHYcx3GM4ziO8Vscx2VSKWNSqdx0KjeTm0mn03SaTtO5TIbJZCKGZhBCiKlBCCGEEIMQ +YmiEUAkhhBiEELrSmu/n+13P3vscH+qWNK1W//Fo7732ennWWt/v8zxr7f3bv2Vnzpxpp06daufO +nWuXLl1qzzzzTHv99c+0r3/96+3HP/5x+9WvftV+85vf6Pjr9pOf/Lh96Utfas8++2y7ePFiO3/+ +gsqdbxcuXPQ1dSHUxb3zFyTnz/uaNk4iJ08pz7n22GOPtzfffFP1/qL94Affb0899ZTL1v1pXciZ +U7pGXNeZduLECeezDr2NkgsXLvne0CblXGcEnc+fVz7JedetNpWHuqj7+PGT7dTJ5EOf42rrxEl0 +U96zlE2/uXfuzHnVGTl/jjG56PGIXLCMuqFnyp6ib67ngsue62W5Pn/+kso95mPOL2l8q0/p/0np 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+amwZf67FEDkWVXnaKUOIHqOrUPii72qTduCffrlWMi6dUTblh75KHhgNy8y8dXvx8dX21z852R55 +4ANtTXLm2Y1lSf0ycB2rf8YNj8P3rhl3eEKOVXa8X4j7pX94TTmMOzyG/1o8SmYSuTKOyIB+6hr9 +DsRvrtMm/HabV7nR/zt1+9K/AFpL49PTM+3/D8i/C3OsoLzjAAAAAElFTkSuQmCC", + extent={{-63.7,-100},{63.7,100}})}), + experiment( + StopTime=1, + StartTime=0, + Interval=0.002, + MaxInterval="0.001")); +end RunFlightPlan; diff --git a/SimulationModels/AIDAModelica/SelectAttitudeConsign.mo b/SimulationModels/AIDAModelica/SelectAttitudeConsign.mo new file mode 100644 index 0000000..880ad0d --- /dev/null +++ b/SimulationModels/AIDAModelica/SelectAttitudeConsign.mo @@ -0,0 +1,37 @@ +// CP: 65001 +// SimulationX Version: 3.8.2.45319 x64 +within AIDAModelica; +model SelectAttitudeConsign "[SF2.3.2] Select attitude consign" + Modelica.Blocks.Interfaces.RealInput AttitudeAPConsign[2]( + quantity="Mechanics.Rotation.Angle", + displayUnit="rad") "Attitude autopilot mode consign" annotation(Placement( + transformation(extent={{-85,10},{-45,50}}), + iconTransformation(extent={{-120,30},{-80,70}}))); + Modelica.Blocks.Interfaces.RealInput AttitudeSACConsign[2]( + quantity="Mechanics.Rotation.Angle", + displayUnit="rad") "Attitude SAC mode consign" annotation(Placement( + transformation(extent={{-20,-20},{20,20}}), + iconTransformation(extent={{-120,-70},{-80,-30}}))); + Modelica.Blocks.Interfaces.RealOutput AttitudeConsign[2]( + quantity="Mechanics.Rotation.Angle", + displayUnit="rad") "Drone attitude consign" annotation(Placement( + transformation(extent={{-10,20},{10,40}}), + iconTransformation(extent={{90,-10},{110,10}}))); + equation + connect(AttitudeAPConsign[:],AttitudeConsign) annotation(Line( + points={{-65,30},{-60,30},{-5,30},{0,30}}, + color={0,0,127}, + thickness=0.0625)); + annotation( + AttitudeAPConsign(flags=2), + AttitudeConsign(flags=2), + Icon(graphics={ + Rectangle( + fillColor={255,255,255}, + fillPattern=FillPattern.Solid, + extent={{-100,100},{100,-100}})}), + experiment( + StopTime=1, + StartTime=0, + Interval=0.001)); +end SelectAttitudeConsign; diff --git a/SimulationModels/AIDAModelica/SelectControlMode.mo b/SimulationModels/AIDAModelica/SelectControlMode.mo new file mode 100644 index 0000000..4a60cdb --- /dev/null +++ b/SimulationModels/AIDAModelica/SelectControlMode.mo @@ -0,0 +1,152 @@ +within AIDAModelica; +model SelectControlMode "[SF4.3] Select control mode" + Modelica.Blocks.Interfaces.BooleanOutput SelectedControlMode "0 == AP, 1 == SAC" annotation(Placement( + visible = true,transformation(origin = {53, -15}, extent = {{-21, -21}, {21, 21}}, rotation = 0), + iconTransformation(extent = {{90, -10}, {110, 10}}, rotation = 0))); + Modelica.Blocks.Interfaces.BooleanInput APEngagement "0 ==AP, 1 == SAC" annotation(Placement( + visible = true,transformation(extent = {{-96, -38}, {-56, 2}}, rotation = 0), + iconTransformation(extent = {{-120, -20}, {-80, 20}}, rotation = 0))); + type Main_StateT = enumeration( + InActive "InActive(1)", + InitialState2 "InitialState2(2)", + WaitingForDeploy "WaitingForDeploy(3)", + APControlMode "APControlMode(4)", + SACControlMode "SACControlMode(5)"); + Main_StateT Main_State(start=Main_StateT.InitialState2) "Main_State"; + protected + type TransT = enumeration( + InActive "InActive(1)", + Main_Transition3 "Main_Transition3(2)", + Main_Transition4 "Main_Transition4(3)", + Main_Transition6 "Main_Transition6(4)", + Main_Transition5 "Main_Transition5(5)", + Main_Transition2 "Main_Transition2(6)"); + type StateT = enumeration( + InActive "InActive(1)", + Main_InitialState2 "Main_InitialState2(2)", + Main_WaitingForDeploy "Main_WaitingForDeploy(3)", + Main_APControlMode "Main_APControlMode(4)", + Main_SACControlMode "Main_SACControlMode(5)"); + //Main_StateT Onto_Main_State(start=Main_StateT.WaitingForDeploy) "Onto_Main_State"; + TransT Last_Trans(start=TransT.InActive) "Last_Trans" annotation(HideResult=false); + StateT Last_State(start=StateT.InActive) "Last_State" annotation(HideResult=false); + algorithm + // State Chart Algorithm + + + // /////////////////////////////////////////////////////////////////////////// + // Copyright (C) 2008-2010 by Fraunhofer-Gesellschaft. All rights reserved. + // Fraunhofer Institute for Integrated Circuits, Design Automation Division + // Fraunhofer Statechartcompiler 20100219 +// CompilerFlags: SimulationX, - +// Generation time: 14/08/2018 14:46:30 +// /////////////////////////////////////////////////////////////////////////// +// Event Generation Block +// Entry Activity Blocks +// Entry Activity Block of Main_ + when (Main_State == Main_StateT.APControlMode) then + SelectedControlMode:=true; + elsewhen (Main_State == Main_StateT.SACControlMode) then + SelectedControlMode:=false; + end when; + // Transition Blocks + // Transition Block of Main_ + when ( pre(Main_State) == Main_StateT.WaitingForDeploy ) and ( APEngagement==true ) then + Main_State := Main_StateT.APControlMode; + Last_Trans := TransT.Main_Transition3; + Last_State := StateT.Main_WaitingForDeploy; + elsewhen ( pre(Main_State) == Main_StateT.WaitingForDeploy ) and ( APEngagement == false ) then + Main_State := Main_StateT.SACControlMode; + Last_Trans := TransT.Main_Transition4; + Last_State := StateT.Main_WaitingForDeploy; + elsewhen ( pre(Main_State) == Main_StateT.APControlMode ) and ( APEngagement==false ) then + Main_State := Main_StateT.SACControlMode; + Last_Trans := TransT.Main_Transition6; + Last_State := StateT.Main_APControlMode; + elsewhen ( pre(Main_State) == Main_StateT.SACControlMode ) and ( APEngagement==true ) then + Main_State := Main_StateT.APControlMode; + Last_Trans := TransT.Main_Transition5; + Last_State := StateT.Main_SACControlMode; + elsewhen initial() then + Main_State := Main_StateT.WaitingForDeploy; + SelectedControlMode:=false; + Last_Trans := TransT.Main_Transition2; + Last_State := StateT.Main_InitialState2; + end when; + // End of Statechart + annotation( + viewinfo( + 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+ statechartsymbols={"Main_StateT","Main_State","TransT","StateT","Onto_Main_State","Last_Trans","Last_State"}, + typename="TypeInfo"), + Icon(graphics={ + Rectangle( + fillColor={255,255,255}, + fillPattern=FillPattern.Solid, + extent={{-100,100},{100,-100}})}), + Diagram(graphics={ + Ellipse( + lineColor=DynamicSelect({0,0,0},if Last_State==StateT.Main_InitialState2 then{255,0,0}else{0,0,0}), + fillColor=DynamicSelect({0,0,0},if Main_State==Main_StateT.InitialState2 then{255,128,128}else{0,0,0}), + fillPattern=FillPattern.Solid, + extent={{-30,90},{-26,86}}), + Rectangle( + radius=4, + lineColor=DynamicSelect({0,0,0},if Last_State==StateT.Main_WaitingForDeploy then{255,0,0}else{0,0,0}), + fillColor=DynamicSelect({255,255,255},if Main_State==Main_StateT.WaitingForDeploy then{255,128,128}else{255,255,255}), + fillPattern=FillPattern.Solid, + extent={{-45,76},{-10,55}}), + Text( + textString="WaitingForDeploy", + fillPattern=FillPattern.Solid, + extent={{-45,74},{-10,68}}), + Line( + points={{-45,66},{-10,66}}, + color=DynamicSelect({0,0,0},if Last_State==StateT.Main_WaitingForDeploy then{255,0,0}else{0,0,0})), + Rectangle( + radius=4, + lineColor=DynamicSelect({0,0,0},if Last_State==StateT.Main_APControlMode then{255,0,0}else{0,0,0}), + fillColor=DynamicSelect({255,255,255},if Main_State==Main_StateT.APControlMode then{255,128,128}else{255,255,255}), + fillPattern=FillPattern.Solid, + extent={{6,41},{41,14}}), + Text( + textString="APControlMode", + fillPattern=FillPattern.Solid, + extent={{6,39},{41,33}}), + Line( + points={{6,31},{41,31}}, + color=DynamicSelect({0,0,0},if Last_State==StateT.Main_APControlMode then{255,0,0}else{0,0,0})), + Rectangle( + radius=4, + lineColor=DynamicSelect({0,0,0},if Last_State==StateT.Main_SACControlMode then{255,0,0}else{0,0,0}), + fillColor=DynamicSelect({255,255,255},if Main_State==Main_StateT.SACControlMode then{255,128,128}else{255,255,255}), + fillPattern=FillPattern.Solid, + extent={{-85,42},{-50,13}}), + Text( + textString="SACControlMode", + fillPattern=FillPattern.Solid, + extent={{-85,40},{-50,34}}), + Line( + points={{-85,32},{-50,32}}, + color=DynamicSelect({0,0,0},if Last_State==StateT.Main_SACControlMode then{255,0,0}else{0,0,0})), + Line( + points={{-28,86},{-28,82},{-28,80},{-28,76}}, + color=DynamicSelect({0,0,0},if Last_Trans==TransT.Main_Transition2 then{255,0,0}else{0,0,0}), + arrow={Arrow.None,Arrow.Filled}), + Line( + points={{-10,64},{14,64},{14,41}}, + color=DynamicSelect({0,0,0},if Last_Trans==TransT.Main_Transition3 then{255,0,0}else{0,0,0}), + arrow={Arrow.None,Arrow.Filled}), + Line( + points={{-45,63},{-70,63},{-70,42}}, + color=DynamicSelect({0,0,0},if Last_Trans==TransT.Main_Transition4 then{255,0,0}else{0,0,0}), + arrow={Arrow.None,Arrow.Filled}), + Line( + points={{6,20},{-50,20}}, + color=DynamicSelect({0,0,0},if Last_Trans==TransT.Main_Transition6 then{255,0,0}else{0,0,0}), + arrow={Arrow.None,Arrow.Filled}), + Line( + points={{-50,32},{-13,32},{6,32}}, + color=DynamicSelect({0,0,0},if Last_Trans==TransT.Main_Transition5 then{255,0,0}else{0,0,0}), + arrow={Arrow.None,Arrow.Filled})})); +end SelectControlMode; diff --git a/SimulationModels/AIDAModelica/SelectSpeedConsign.mo b/SimulationModels/AIDAModelica/SelectSpeedConsign.mo new file mode 100644 index 0000000..2e8218d --- /dev/null +++ b/SimulationModels/AIDAModelica/SelectSpeedConsign.mo @@ -0,0 +1,37 @@ +// CP: 65001 +// SimulationX Version: 3.8.2.45319 x64 +within AIDAModelica; +model SelectSpeedConsign "[SF2.1.2] Select speed consign" + Modelica.Blocks.Interfaces.RealInput NavigationVelocityConsign[3]( + quantity="Mechanics.Translation.Velocity", + displayUnit="m/s") "Autopilot velocity consign " annotation(Placement( + transformation(extent={{-130,15},{-90,55}}), + iconTransformation(extent={{-120,-20},{-80,20}}))); + Modelica.Blocks.Interfaces.RealOutput VelocityConsign[3]( + quantity="Mechanics.Translation.Velocity", + displayUnit="m/s") "Choosed velocity consign" annotation(Placement( + transformation(extent={{-45,25},{-25,45}}), + iconTransformation(extent={{90,-10},{110,10}}))); + equation + connect(NavigationVelocityConsign[:],VelocityConsign[:]) annotation(Line( + points={{-110,35},{-105,35},{-40,35},{-35,35}}, + color={0,0,127}, + thickness=0.0625)); + annotation( + NavigationVelocityConsign(flags=2), + VelocityConsign(flags=2), + Icon( + coordinateSystem(extent={{-100,-50},{100,50}}), + graphics={ + Rectangle( + fillColor={255,255,255}, + fillPattern=FillPattern.Solid, + extent={{-99.5,50},{100.5,-50}}), + Line(points={{-33.3,13.3},{16.7,13.3}}), + Line(points={{-33.1,-3.4},{16.9,-3.4}})}), + experiment( + StopTime=1, + StartTime=0, + Interval=0.002, + MaxInterval="0.001")); +end SelectSpeedConsign; diff --git a/SimulationModels/AIDAModelica/SelectTotalThrustConsign.mo b/SimulationModels/AIDAModelica/SelectTotalThrustConsign.mo new file mode 100644 index 0000000..929fc74 --- /dev/null +++ b/SimulationModels/AIDAModelica/SelectTotalThrustConsign.mo @@ -0,0 +1,35 @@ +// CP: 65001 +// SimulationX Version: 3.8.2.45319 x64 +within AIDAModelica; +model SelectTotalThrustConsign "[SF2.4.3] Select total thrust consign" + Modelica.Blocks.Interfaces.RealInput TotalThrustAP( + quantity="Mechanics.Translation.Force", + displayUnit="N") "Total thrust autopilot mode" annotation(Placement( + transformation(extent={{-110,30},{-70,70}}), + iconTransformation(extent={{-120,30},{-80,70}}))); + Modelica.Blocks.Interfaces.RealInput TotalThrustSAC "Total thrust SAC mode" annotation(Placement( + transformation(extent={{-20,-20},{20,20}}), + iconTransformation(extent={{-120,-70},{-80,-30}}))); + Modelica.Blocks.Interfaces.RealOutput TotalThrust( + quantity="Mechanics.Translation.Force", + displayUnit="N") "Total thrust" annotation(Placement( + transformation(extent={{-30,40},{-10,60}}), + iconTransformation(extent={{90,-10},{110,10}}))); + equation + connect(TotalThrustAP,TotalThrust) annotation(Line( + points={{-90,50},{-85,50},{-25,50},{-20,50}}, + color={0,0,127}, + thickness=0.0625)); + annotation( + TotalThrustAP(flags=2), + TotalThrust(flags=2), + Icon(graphics={ + Rectangle( + fillColor={255,255,255}, + fillPattern=FillPattern.Solid, + extent={{-100,100},{100,-100}})}), + experiment( + StopTime=1, + StartTime=0, + Interval=0.001)); +end SelectTotalThrustConsign; diff --git a/SimulationModels/AIDAModelica/SimXToProSIVICInterface.mo b/SimulationModels/AIDAModelica/SimXToProSIVICInterface.mo new file mode 100644 index 0000000..069e566 --- /dev/null +++ b/SimulationModels/AIDAModelica/SimXToProSIVICInterface.mo @@ -0,0 +1,99 @@ +// CP: 65001 +// SimulationX Version: 3.8.2.45319 x64 +within AIDAModelica; +model SimXToProSIVICInterface "Simulation X to ProSIVIC Interface" + Modelica.Blocks.Interfaces.RealInput Position[3]( + quantity="Mechanics.Translation.Displace", + displayUnit="m") "'input Real' as connector" annotation(Placement( + transformation(extent={{-80,60},{-40,100}}), + iconTransformation( + origin={-75,100}, + extent={{-20,-20},{20,20}}, + rotation=-90))); + Modelica.Blocks.Interfaces.RealInput Attitude[3]( + quantity="Mechanics.Rotation.Angle", + displayUnit="rad") "'input Real' as connector" annotation(Placement( + transformation(extent={{20,60},{60,100}}), + iconTransformation( + origin={75,100}, + extent={{-20,-20},{20,20}}, + rotation=-90))); + Modelica.Blocks.Interfaces.RealOutput translation_x( + quantity="Mechanics.Translation.Displace", + displayUnit="m") "Tracking translation x" annotation(Placement( + transformation(extent={{-95,30},{-75,50}}), + iconTransformation( + origin={-125,-100}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + Modelica.Blocks.Interfaces.RealOutput translation_y( + quantity="Mechanics.Translation.Displace", + displayUnit="m") "Tracking translation y" annotation(Placement( + transformation(extent={{-70,30},{-50,50}}), + iconTransformation( + origin={-75,-100}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + Modelica.Blocks.Interfaces.RealOutput translation_z( + quantity="Mechanics.Translation.Displace", + displayUnit="m") "Tracking translation z" annotation(Placement( + transformation(extent={{-30,30},{-10,50}}), + iconTransformation( + origin={-25,-100}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + Modelica.Blocks.Interfaces.RealOutput rotation_xi( + quantity="Mechanics.Rotation.Angle", + displayUnit="rad") "Tracking rotation xi " annotation(Placement( + transformation(extent={{10,30},{30,50}}), + iconTransformation( + origin={125,-100}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + Modelica.Blocks.Interfaces.RealOutput rotation_theta( + quantity="Mechanics.Rotation.Angle", + displayUnit="rad") "Tracking rotation theta" annotation(Placement( + transformation(extent={{40,30},{60,50}}), + iconTransformation( + origin={75,-100}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + Modelica.Blocks.Interfaces.RealOutput rotation_phi( + quantity="Mechanics.Rotation.Angle", + displayUnit="rad") "Tracking rotation phi" annotation(Placement( + transformation(extent={{70,30},{90,50}}), + iconTransformation( + origin={25,-100}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + equation + // enter your equations here + translation_x = Position[1]; + translation_y = -1*Position[2]; + translation_z = -1*Position[3]; + + rotation_phi = Attitude[1]; + rotation_theta = -1*Attitude[2]; + rotation_xi = -1*Attitude[3]; + annotation( + Position(flags=2), + Attitude(flags=2), + translation_x(flags=2), + translation_y(flags=2), + translation_z(flags=2), + rotation_xi(flags=2), + rotation_theta(flags=2), + rotation_phi(flags=2), + Icon( + coordinateSystem(extent={{-175,-100},{175,100}}), + graphics={ + Rectangle( + fillColor={255,255,255}, + fillPattern=FillPattern.Solid, + extent={{-173.3,100},{173.3,-100}})}), + experiment( + StopTime=1, + StartTime=0, + Interval=0.002, + MaxInterval="0.001")); +end SimXToProSIVICInterface; diff --git a/SimulationModels/AIDAModelica/SimXToProSIVICInterfaceTest.mo b/SimulationModels/AIDAModelica/SimXToProSIVICInterfaceTest.mo new file mode 100644 index 0000000..21b6148 --- /dev/null +++ b/SimulationModels/AIDAModelica/SimXToProSIVICInterfaceTest.mo @@ -0,0 +1,171 @@ +// CP: 65001 +// SimulationX Version: 3.8.2.45319 x64 +within AIDAModelica; +model SimXToProSIVICInterfaceTest "Simulation X to ProSIVIC Interface Test" + Modelica.Blocks.Interfaces.RealInput Position[3]( + quantity="Mechanics.Translation.Displace", + displayUnit="m") "'input Real' as connector" annotation(Placement( + transformation(extent={{-80,60},{-40,100}}), + iconTransformation( + origin={-75,100}, + extent={{-20,-20},{20,20}}, + rotation=-90))); + Modelica.Blocks.Interfaces.RealInput Attitude[3]( + quantity="Mechanics.Rotation.Angle", + displayUnit="rad") "'input Real' as connector" annotation(Placement( + transformation(extent={{20,60},{60,100}}), + iconTransformation( + origin={75,100}, + extent={{-20,-20},{20,20}}, + rotation=-90))); + Modelica.Blocks.Interfaces.RealInput Speed[3]( + quantity="Mechanics.Translation.Velocity", + displayUnit="m/s") "'input Real' as connector" annotation(Placement( + transformation(extent={{-20,-20},{20,20}}), + iconTransformation( + origin={-275,100}, + extent={{-20,-20},{20,20}}, + rotation=-90))); + Modelica.Blocks.Interfaces.RealInput AngularSpeed[3]( + quantity="Mechanics.Rotation.RotVelocity", + displayUnit="rad/s") "'input Real' as connector" annotation(Placement( + transformation(extent={{-20,-20},{20,20}}), + iconTransformation( + origin={275,100}, + extent={{-20,-20},{20,20}}, + rotation=-90))); + Modelica.Blocks.Interfaces.RealOutput translation_x( + quantity="Mechanics.Translation.Displace", + displayUnit="m") "Tracking translation x" annotation(Placement( + transformation(extent={{-95,30},{-75,50}}), + iconTransformation( + origin={-125,-100}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + Modelica.Blocks.Interfaces.RealOutput translation_y( + quantity="Mechanics.Translation.Displace", + displayUnit="m") "Tracking translation y" annotation(Placement( + transformation(extent={{-70,30},{-50,50}}), + iconTransformation( + origin={-75,-100}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + Modelica.Blocks.Interfaces.RealOutput translation_z( + quantity="Mechanics.Translation.Displace", + displayUnit="m") "Tracking translation z" annotation(Placement( + transformation(extent={{-30,30},{-10,50}}), + iconTransformation( + origin={-25,-100}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + Modelica.Blocks.Interfaces.RealOutput rotation_xi( + quantity="Mechanics.Rotation.Angle", + displayUnit="rad") "Tracking rotation xi " annotation(Placement( + transformation(extent={{10,30},{30,50}}), + iconTransformation( + origin={125,-100}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + Modelica.Blocks.Interfaces.RealOutput rotation_theta( + quantity="Mechanics.Rotation.Angle", + displayUnit="rad") "Tracking rotation theta" annotation(Placement( + transformation(extent={{40,30},{60,50}}), + iconTransformation( + origin={75,-100}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + Modelica.Blocks.Interfaces.RealOutput rotation_phi( + quantity="Mechanics.Rotation.Angle", + displayUnit="rad") "Tracking rotation phi" annotation(Placement( + transformation(extent={{70,30},{90,50}}), + iconTransformation( + origin={25,-100}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + Modelica.Blocks.Interfaces.RealOutput rollRate( + quantity="Mechanics.Rotation.RotVelocity", + displayUnit="rad/s") "'output Real' as connector" annotation(Placement( + transformation(extent={{-10,-10},{10,10}}), + iconTransformation( + origin={175,-100}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + Modelica.Blocks.Interfaces.RealOutput pitchRate( + quantity="Mechanics.Rotation.RotVelocity", + displayUnit="rad/s") "'output Real' as connector" annotation(Placement( + transformation(extent={{-10,-10},{10,10}}), + iconTransformation( + origin={225,-100}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + Modelica.Blocks.Interfaces.RealOutput yawRate( + quantity="Mechanics.Rotation.RotVelocity", + displayUnit="rad/s") "'output Real' as connector" annotation(Placement( + transformation(extent={{-10,-10},{10,10}}), + iconTransformation( + origin={275,-100}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + Modelica.Blocks.Interfaces.RealOutput SpeedX( + quantity="Mechanics.Translation.Displace", + displayUnit="m") "'output Real' as connector" annotation(Placement( + transformation(extent={{-10,-10},{10,10}}), + iconTransformation( + origin={-275,-100}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + Modelica.Blocks.Interfaces.RealOutput SpeedY( + quantity="Mechanics.Translation.Displace", + displayUnit="m") "'output Real' as connector" annotation(Placement( + transformation(extent={{-10,-10},{10,10}}), + iconTransformation( + origin={-225,-100}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + Modelica.Blocks.Interfaces.RealOutput SpeedZ( + quantity="Mechanics.Translation.Displace", + displayUnit="m") "'output Real' as connector" annotation(Placement( + transformation(extent={{-10,-10},{10,10}}), + iconTransformation( + origin={-175,-100}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + equation + // enter your equations here + translation_x = Position[1]; + translation_y = -1*Position[2]; + translation_z = -1*Position[3]; + + rotation_phi = Attitude[1]; + rotation_theta = -1*Attitude[2]; + rotation_xi = -1*Attitude[3]; + + rollRate = AngularSpeed[1]; + pitchRate = -1*AngularSpeed[2]; + yawRate = -1*AngularSpeed[3]; + + SpeedX = Speed[1]; + SpeedY = -1*Speed[2]; + SpeedZ = -1*Speed[3]; + annotation( + Position(flags=2), + Attitude(flags=2), + translation_x(flags=2), + translation_y(flags=2), + translation_z(flags=2), + rotation_xi(flags=2), + rotation_theta(flags=2), + rotation_phi(flags=2), + Icon( + coordinateSystem(extent={{-325,-100},{325,100}}), + graphics={ + Rectangle( + fillColor={255,255,255}, + fillPattern=FillPattern.Solid, + extent={{-323.2,100},{326.7,-100}})}), + experiment( + StopTime=1, + StartTime=0, + Interval=0.002, + MaxInterval="0.001")); +end SimXToProSIVICInterfaceTest; diff --git a/SimulationModels/AIDAModelica/SpeedErrorModel.mo b/SimulationModels/AIDAModelica/SpeedErrorModel.mo new file mode 100644 index 0000000..54adf72 --- /dev/null +++ b/SimulationModels/AIDAModelica/SpeedErrorModel.mo @@ -0,0 +1,53 @@ +// CP: 65001 +// SimulationX Version: 3.8.2.45319 x64 +within AIDAModelica; +model SpeedErrorModel "Speed error calculate model" + Modelica.Blocks.Interfaces.RealInput SpeedConsign[3]( + quantity="Mechanics.Translation.Velocity", + displayUnit="m/s") "'input Real' as connector" annotation(Placement( + transformation(extent={{-20,-20},{20,20}}), + iconTransformation(extent={{-120,-20},{-80,20}}))); + Modelica.Blocks.Interfaces.RealInput Speed[3]( + quantity="Mechanics.Translation.Velocity", + displayUnit="m/s") "'input Real' as connector" annotation(Placement( + transformation(extent={{-20,-20},{20,20}}), + iconTransformation( + origin={0,-100}, + extent={{-20,-20},{20,20}}, + rotation=90))); + Modelica.Blocks.Interfaces.RealOutput SpeedError[3]( + quantity="Mechanics.Translation.Velocity", + displayUnit="m/s") "'output Real' as connector" annotation(Placement( + transformation(extent={{-10,-10},{10,10}}), + iconTransformation(extent={{85,-15},{115,15}}))); + equation + // enter your equations here + /*vh = {Speed[1],Speed[2]}; + vhd = {SpeedConsign[1],SpeedConsign[2]}; + HSE = vhd-vh; + vz = Speed[3]; + vzd = SpeedConsign[3]; + ASE = vzd-vz; + SpeedError = {HSE[1],HSE[2],ASE};*/ + SpeedError = SpeedConsign - Speed; + annotation(Icon(graphics={ + Rectangle( + fillColor={255,255,255}, + fillPattern=FillPattern.Solid, + extent={{-99.8,99.7},{100.2,-103.6}}), + Ellipse( + fillColor={255,255,255}, + fillPattern=FillPattern.Solid, + extent={{-43.3,39.9},{43.4,-40.1}}), + Text( + textString="+", + fillPattern=FillPattern.None, + extent={{-46.6,13.2},{-9.9,-16.8}}), + Text( + textString="-", + fillPattern=FillPattern.None, + extent={{-20,-13.4},{16.7,-43.4}}), + Line(points={{-43.3,-0.1},{-100,-0.1}}), + Line(points={{90,0},{43.3,0}}), + Line(points={{0,-93.3},{0,-40}})})); +end SpeedErrorModel; diff --git a/SimulationModels/AIDAModelica/SpeedErrorModelMM.mo b/SimulationModels/AIDAModelica/SpeedErrorModelMM.mo new file mode 100644 index 0000000..d5cea83 --- /dev/null +++ b/SimulationModels/AIDAModelica/SpeedErrorModelMM.mo @@ -0,0 +1,40 @@ +// CP: 65001 +// SimulationX Version: 3.8.2.45319 x64 +within AIDAModelica; +model SpeedErrorModelMM "Speed error calculate model Manual mode" + Modelica.Blocks.Interfaces.RealInput SpeedConsign( + quantity="Mechanics.Translation.Velocity", + displayUnit="m/s") "'input Real' as connector" annotation(Placement( + transformation(extent={{-20,-20},{20,20}}), + iconTransformation(extent={{-120,30},{-80,70}}))); + Modelica.Blocks.Interfaces.RealInput Speed( + quantity="Mechanics.Translation.Velocity", + displayUnit="m/s") "'input Real' as connector" annotation(Placement( + transformation(extent={{-20,-20},{20,20}}), + iconTransformation(extent={{-120,-70},{-80,-30}}))); + Modelica.Blocks.Interfaces.RealOutput SpeedError( + quantity="Mechanics.Translation.Velocity", + displayUnit="m/s") "'output Real' as connector" annotation(Placement( + transformation(extent={{-10,-10},{10,10}}), + iconTransformation(extent={{90,-10},{110,10}}))); + Real vzd( + quantity="Mechanics.Translation.Velocity", + displayUnit="m/s") "Desired altitude speed"; + Real vz( + quantity="Mechanics.Translation.Velocity", + displayUnit="m/s") "Real altitude speed"; + Real ASE( + quantity="Mechanics.Translation.Velocity", + displayUnit="m/s") "Altitude speed error"; + equation + // enter your equations here + vz = Speed; + vzd = SpeedConsign; + ASE = vz-vzd; + SpeedError = ASE; + annotation(Icon(graphics={ + Rectangle( + fillColor={255,255,255}, + fillPattern=FillPattern.Solid, + extent={{-100,100},{100,-103.3}})})); +end SpeedErrorModelMM; diff --git a/SimulationModels/AIDAModelica/SpeedErrorModelSAC.mo b/SimulationModels/AIDAModelica/SpeedErrorModelSAC.mo new file mode 100644 index 0000000..dc3fe54 --- /dev/null +++ b/SimulationModels/AIDAModelica/SpeedErrorModelSAC.mo @@ -0,0 +1,61 @@ +// CP: 65001 +// SimulationX Version: 3.8.2.45319 x64 +within AIDAModelica; +model SpeedErrorModelSAC "Speed error calculate model SAC" + Modelica.Blocks.Interfaces.RealInput SpeedConsign( + quantity="Mechanics.Translation.Velocity", + displayUnit="m/s") "'input Real' as connector" annotation(Placement( + transformation(extent={{-20,-20},{20,20}}), + iconTransformation(extent={{-120,-20},{-80,20}}))); + Modelica.Blocks.Interfaces.RealInput Speed( + quantity="Mechanics.Translation.Velocity", + displayUnit="m/s") "'input Real' as connector" annotation(Placement( + transformation(extent={{-20,-20},{20,20}}), + iconTransformation( + origin={0,-100}, + extent={{-20,-20},{20,20}}, + rotation=90))); + Modelica.Blocks.Interfaces.RealOutput SpeedError( + quantity="Mechanics.Translation.Velocity", + displayUnit="m/s") "'output Real' as connector" annotation(Placement( + transformation(extent={{-10,-10},{10,10}}), + iconTransformation(extent={{90,-10},{110,10}}))); + Real vzd( + quantity="Mechanics.Translation.Velocity", + displayUnit="m/s") "Desired altitude speed"; + Real vz( + quantity="Mechanics.Translation.Velocity", + displayUnit="m/s") "Real altitude speed"; + Real ASE( + quantity="Mechanics.Translation.Velocity", + displayUnit="m/s") "Altitude speed error"; + equation + // enter your equations here + vz = Speed; + vzd = SpeedConsign; + ASE = vzd-vz; + SpeedError = ASE; + annotation( + Icon(graphics={ + Rectangle( + fillColor={255,255,255}, + fillPattern=FillPattern.Solid, + extent={{-100,100},{100,-103.3}}), + Ellipse( + fillColor={255,255,255}, + fillPattern=FillPattern.Solid, + extent={{-53.3,40},{40,-40}}), + Text( + textString="+", + fillPattern=FillPattern.None, + extent={{-46.7,10},{-13.3,-16.7}}), + Text( + textString="-", + fillPattern=FillPattern.None, + extent={{-26.7,-16.7},{10,-40}})}), + experiment( + StopTime=1, + StartTime=0, + Interval=0.002, + MaxInterval="0.001")); +end SpeedErrorModelSAC; diff --git a/SimulationModels/AIDAModelica/Step_analysis.mo b/SimulationModels/AIDAModelica/Step_analysis.mo new file mode 100644 index 0000000..ae11c44 --- /dev/null +++ b/SimulationModels/AIDAModelica/Step_analysis.mo @@ -0,0 +1,177 @@ +// CP: 65001 +// SimulationX Version: 3.8.2.45319 x64 +within AIDAModelica; +model Step_analysis "Step_analysis.mo" + Modelica.Blocks.Interfaces.RealInput Consign "'input Real' as connector" annotation(Placement( + transformation(extent={{-105,40},{-65,80}}), + iconTransformation(extent={{-120,30},{-80,70}}))); + Modelica.Blocks.Interfaces.RealInput State "'input Real' as connector" annotation(Placement( + transformation(extent={{-105,-15},{-65,25}}), + iconTransformation(extent={{-120,-70},{-80,-30}}))); + Modelica.Blocks.Interfaces.RealOutput Stabilized(start=0) "'output Real' as connector" annotation(Placement( + transformation(extent={{65,35},{85,55}}), + iconTransformation(extent={{80,30},{120,70}}))); + Modelica.Blocks.Interfaces.BooleanOutput Success(start=false) "'output Boolean' as connector" annotation(Placement( + transformation(extent={{64.7,2.3},{84.7,22.3}}), + iconTransformation(extent={{80,-70},{120,-30}}))); + parameter Boolean Desactivate(start=false); + parameter Real Precision(start=0.05); + parameter Real Trigger(start=0.1); + parameter Real Nb_Osc(start=3.0)=1.5; + Boolean Step_Activ(fixed=false); + Real Step_Size(start=0); + Real Step_Start(start=0); + Real Maximum_Overshot(start=0); + Real Semi_Period(start=0); + Real Last_Osc(start=0); + parameter Real period_cst(start=0.2); + Real Prev_Consign(start=0); + Boolean Inside(start=false); + Real Top[2](start={0,0}); + Real Prev_Top[2](start={0,0}); + Real First(start=0); + Real x(start=0); + Real DerS; + parameter Real T(start=100*Modelica.Constants.eps) "time constant for input State derivation"; + algorithm + if Desactivate then + + Step_Start:=0; + Step_Size:=0; + First:=0; + Inside:=false; + Success:=false; + Maximum_Overshot:=0; + Semi_Period:=0; + Prev_Top:={0,0}; + Top:={0,0}; + Stabilized:=0; + + else + + + //détection d'un step de consign + if not Step_Activ then + + when abs(Consign-Prev_Consign) > Trigger then + + Step_Activ:=true; + Step_Start:=time; + Step_Size:=Consign-Prev_Consign; + + end when; + + Prev_Consign:=Consign; + + elseif Step_Activ then + + //il faut surveiller que la consign ne varie plus + /*if abs(Consign-Prev_Consign) > Trigger then + + Step_Start:=time; + Step_Size:=Consign-Prev_Consign; + First:=0; + Inside:=false; + Success:=false; + Maximum_Overshot:=0; + Semi_Period:=0; + Prev_Top:={0,0}; + Top:={0,0}; + Stabilized:=0; + + end if ;*/ + + //Détermination du temps de réponse pour un réponse non oscillatoire + when abs(State-Consign) < Precision*abs(Step_Size) then + First:=time-Step_Start; + Stabilized:=First; + Inside:=true; + elsewhen abs(State-Consign) >= Precision*abs(Step_Size) then + Inside:=false; + Success:=false; + end when; + + //si on est à la consigne au bout de N période, la réponse est Inside + when time-(First+Step_Start)>Semi_Period*Nb_Osc and Inside and Semi_Period>0 then + Success:=true; + end when; + + //calcul de la semi-période d'oscillation, si on est passé une fois autour de la consign (First>0) + when not Success and abs(DerS)0 then //si success, la réponse est stabilisée : on ne calcule plus la période + //premier passage + if Last_Osc==0 then + Maximum_Overshot:= (State - Consign)/Step_Size; + + //deuxième passage + elseif Last_Osc<>0 and Semi_Period==0 then + Semi_Period:=2*(time-Last_Osc); + + //troisième passage et plus + elseif Last_Osc<>0 then + Semi_Period:=(1-period_cst)*Semi_Period+2*period_cst*(time-Last_Osc); + end if; + Last_Osc:=time; + //enregistrement des sommets successifs + if (State-Consign)*sign(Step_Size)>0 then + Prev_Top:=Top; + Top[1]:=time-Step_Start; + Top[2]:=State-Consign; + end if; + // estimation par interpolation du temps de réponse : en prenant le dernier instant ou on passe sous le seuil, le résultat est discontinu car dépend de la localisation extact de la dernière oscillation + if Stabilized==First and Inside and Prev_Top[1]>0 and State-Consign>0 then + Stabilized:=Top[1]+(Precision*Step_Size-Top[2])*(Top[1]-Prev_Top[1])/(Top[2]-Prev_Top[2]); + end if; + + end when; + + end if; + end if; + initial equation + x=0; + equation + //calcul de la dérivée de l'entrée State (sinon ne fonctionne pas en FMU, car on ne peux avoir un bloc dérivé directement sur une entrée : Error type DerOfInput) + if Desactivate then + DerS=0; + else + der(x)=(State-x)/T; + DerS=(State-x)/T; + end if; + annotation( + Diagram(graphics={ + Line( + points={{-50,5},{-35,5},{-25,70},{-20,45},{-15,55},{-10, + 50},{-5,50},{40,50}}, + smooth=Smooth.Bezier), + Line(points={{40,55},{-60,55}}), + Line(points={{40,45},{-60,45}}), + Text( + textString="x % of target", + fillPattern=FillPattern.Solid, + extent={{-5,30},{35,20}}), + Line(points={{-20,55},{-20,5}}), + Line(points={{-40,15},{-40,5}}), + Text( + textString="Time to reach", + fillPattern=FillPattern.Solid, + extent={{-15,35},{35,25}}), + Line( + points={{-50,5},{-35,5},{-25,70},{-20,45},{-15,55},{-10, + 50},{-5,50},{40,50}}, + smooth=Smooth.Bezier), + Line(points={{40,55},{-60,55}}), + Line(points={{40,45},{-60,45}}), + Text( + textString="x % of target", + fillPattern=FillPattern.Solid, + extent={{-5,30},{35,20}}), + Line(points={{-20,55},{-20,5}}), + Line(points={{-40,15},{-40,5}}), + Text( + textString="Time to reach", + fillPattern=FillPattern.Solid, + extent={{-15,35},{35,25}})}), + experiment( + StopTime=1, + StartTime=0, + Interval=0.001)); +end Step_analysis; diff --git a/SimulationModels/AIDAModelica/TrajectoryManagement.bak b/SimulationModels/AIDAModelica/TrajectoryManagement.bak new file mode 100644 index 0000000..3d61267 --- /dev/null +++ b/SimulationModels/AIDAModelica/TrajectoryManagement.bak @@ -0,0 +1,1846 @@ +// CP: 65001 +// SimulationX Version: 3.8.2.45319 x64 +model TrajectoryManagement "TrajectoryManagement.ism" + Modelica.Blocks.Interfaces.RealOutput Drone_coordinates[3] "'output Real' as connector" annotation(Placement( + transformation(extent={{55,0},{75,20}}), + iconTransformation(extent={{90,-10},{110,10}}))); + Modelica.Blocks.Interfaces.RealInput Position_Command[3] "'input Real' as connector" annotation(Placement( + transformation(extent={{-150,-10},{-110,30}}), + iconTransformation(extent={{-120,30},{-80,70}}))); + _iti_startparam Real y0[*]( + quantity="Basics.Real", + displayUnit="-")=0 "Initial Value (integral1)"; + Modelica.Blocks.Continuous.LimIntegrator limIntegrator1(outMax=1000) annotation(Placement(transformation(extent={{-45,0},{-25,20}}))); + extends SimModel( + dtMax=0.001, + dtProtMin=(tStop-tStart)/500); + equation + connect(Position_Command[:],limIntegrator1.u) annotation(Line( + points={{-130,10},{-125,10},{-52,10},{-47,10}}, + color={0,0,127}, + thickness=0.0625)); + connect(limIntegrator1.y,Drone_coordinates[:]) annotation(Line( + points={{-24,10},{-19,10},{60,10},{65,10}}, + color={0,0,127}, + thickness=0.0625)); + annotation( + viewinfo[0]( + simViewInfos[0]( + runtimeClass="CSimView", + tabGroup=0, + tabFrame=0, + tabAlignment=0, + typename="ModelViewInfo"), + typename="ModelInfo"), + Icon(graphics={ + Rectangle( + fillColor={255,255,255}, + fillPattern=FillPattern.Solid, + extent={{-100,100},{100,-103.3}}), + Bitmap( + imageSource="iVBORw0KGgoAAAANSUhEUgAAAM8AAAFFCAYAAABL3blVAAAABGdBTUEAALGPC/xhBQAAAAlwSFlz +AAAScQAAEnEB89x6jgAA/7JJREFUeF7M/X2sX1eZ7wn6/5m6l6p7+0pX91YV7wWpkArBOI7jOI7j 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+ISAD7hW5XdE4f2XcHMfL1DkrdZCdUb9HWeR57OhSe/rJrfbXPz7ZnnxsT48+KmMwi9/efwAQcA46 +zFeNLBcBKN+8o8+hTPVV/BXfHDH4tJO2LGfpCyKN9X/rMIBob2iHOsinbDB2jTzhoVKw6JAjvws4 +XCseqozLIUuVMXgYaACUuc8AHgwSQRB5QDLMxDvBXDFIXTM6E/CUYEqx0Lhg/FxCYOWY+gHQOHiu +VWyMKcZavHkyx78vVwqVuQD1YpRM+okeAc+idwZvbhxo952daFefXmo/+O6x9vQTy+3IlpQpA2DC +nvxWghsDUAlunIq3EizlSujxWrwDJMBq/sL5SNldITWuAkhdK5nSPteqv/SRdvmdcaYMbacsZQZD +KKq+IsMhiqbO0FZdNw8FoP4bHaHztdVZOZ7V9oPvHVP0WWrnTk96nujoQ/vSSfUZG8r18JoomuhT +c8DwTx8BUWwhvwf5Ft8lG+tXsohceA65pGt8iL3GkT4pH/vGXlO/0lXaRF81h6GvouqTNooP5MvR +4+G3+vebpDRWjDOIDBZBqAEGJeAAICIL5Zx3uhyCSl3a4DxCGowuDEgBquO0wH0RgQQgRazqv0DE +eQ1iYH4wPo7FG/OO5aVVAWS5RyCMTYNHuBi0jghnbVXRZX25nfAzHZZdV9uzzyy186f2tNXFO9rc +zH5FEfhOnmuluB+UNJaOdeMo4lqBhTFjEAUizlfXmHQGPDUG6jEmxka78Fftc71kEB1sV2i17VS1 +X6dc2hoModpDPxhNybjKloyrXLVD/9xDn448In5THwfLJ6qOHJ5rT11cV/Q50S4+ulvRBxn08Uk+ +28co3UkH6Te/M58sj88Yhn6xjzji2FfZU8ZSIBuAD6H3RTlQVjUx8IAkAKJsTS84Ilt2uOCouVfy +LxqXJ20XX7RXQWBEGuuuKgxROBWDtAhfgpOhF3hqQ6QHprLk31wrAFXHUDHDde9KMOjSB56Ma7TF +7yrHTgWUgPFWG1AZD8cCT65BnFOeclCMmpVDzgHP4c319uADW+3ZK4fbs1e32iMPrSrqAEA8pEgR +c54HYD36MH4rpxusr8GL+CzlDf2rrKLXwuK4RwwP8BPPPDgBZFDKqw2JMSZW0OItuV9jv04G7m+Q +LwR/tFXtUZb2RnKVfpAP7Zaeqr0qV2UBi1MxG3cZkfSrue7K8lQ7d2ahfe87h9v3XqzoAz+D3qHi +rc6xF9pABsWbgSPZ84iC9J/UnwzH82ecrWyDOrRTMiga7wvw4ETzPI1FgYo29DlEHwjgZBNAZEz9 +neRQ/VCmpgoBJeNCpwIPFShUlShUDSK4vLMvA5exY4wck751ryBiHoTHgOhsEE4JDg8w6flO1cOY +EBAP9VxHZf2/gcQDwOEcqrYYXHmIapt7GGd9X4x8eBR1BKg5Ush5PiF7sD1wjn9ku9z+5PtH2tMX +j7ajx/IPuzJOGbfBQ5sSovtM3/TrlTIdrWwLcLvQ3Yb65+3amptEAQEMbddCSsk59wdAFNFuGTD3 +qx+OdR7wlIxLwfBU/EZOBrXKpL84LcoZHH0MlKcs7RTfBpf4Bjz0EwDlOosqW5vT7YnH1trf/PRU +e+KROzRnhM84iBrXtUTd8v78RhYhjJyFpGHenN0iQxSi3Rp/tVe/PQZFH9J30nju0U9NA+gXKhlx +TiSCSg7wTDvIdjR+rjF294kMh10HgIdrBg8Fi8q4rSTCIBMwERHGBmojGAOPvROTtazAwYzrygjj +wdO+Q7IEk6VQlMRgEKgEpvYBD6tjZSgB0GBUpWQMucrYszO/AkAo22NgcAxenlbHRYHn2JGDSjEW +2h99Z7W9cGVWnnN/W12dUKTIOG3gHh+RI167FES/+Xd9XGcs13rugMxjArye72V88BEAcZ56GAUy +onzkcC2Iws+1SoV2OudI2QEQiX5FVaZ0xXn4yBjos5xDyhXv6TsET0PEJPqcPb3Qvv/dI/7vcqeP +75Oc4XnIPmin2oOiayJM5sclC+tKzoWdJnnQmjGEj9gk5+PjZixuV+d1nRSe1I1z2gY42x7k97Yg ++i9wQfzmOm0721J5yLs+GD+2zMKEX2VgnLQzm7SthJKBijF70TRmj2PwRPhO0yQkBFyDSLkht+Z3 +gBOhB7lqB2MaeeaAx6FZ9fLSUUCSCXuEwu+KOKEYWAwhKdpIqIRTBk5EU5pJlFxenmn3nVtX1NEk +98UjBtGRrUm1wWdmA4ByBvBE+/AeWURpgIcPKNYkl7FmnEP/NcakjRkfY4Mio1wbV9Yg+zgi2slY +amwZf67FEDkWVXnaKUOIHqOrUPii72qTduCffrlWMi6dUTblh75KHhgNy8y8dXvx8dX21z852R55 +4ANtTXLm2Y1lSf0ycB2rf8YNj8P3rhl3eEKOVXa8X4j7pX94TTmMOzyG/1o8SmYSuTKOyIB+6hr9 +DsRvrtMm/HabV7nR/zt1+9K/AFpL49PTM+3/D8i/C3OsoLzjAAAAAElFTkSuQmCC", + extent={{-63.7,-100},{63.7,100}})}), + experiment( + StopTime=1, + StartTime=0, + Interval=0.002, + MaxInterval="0.001")); +end TrajectoryManagement; diff --git a/SimulationModels/AIDAModelica/TrajectoryManagement.ism b/SimulationModels/AIDAModelica/TrajectoryManagement.ism new file mode 100644 index 0000000..9d533ab --- /dev/null +++ b/SimulationModels/AIDAModelica/TrajectoryManagement.ism @@ -0,0 +1,5285 @@ +// CP: 65001 +// SimulationX Version: 3.8.2.45319 x64 +model TrajectoryManagement "TrajectoryManagement.ism" + ImportedTypes.Modelica.Blocks.Interfaces.RealOutput Drone_coordinates[3] "'output Real' as connector" annotation(Placement( + transformation(extent={{55,0},{75,20}}), + iconTransformation(extent={{90,-10},{110,10}}))); + ImportedTypes.Modelica.Blocks.Interfaces.RealInput Position_Command[3] "'input Real' as connector" annotation(Placement( + transformation(extent={{-150,-10},{-110,30}}), + iconTransformation(extent={{-120,30},{-80,70}}))); + _iti_startparam Real y0[*]( + quantity="Basics.Real", + displayUnit="-")=0 "Initial Value (integral1)"; + Modelica.Blocks.Continuous.LimIntegrator limIntegrator1(outMax=1000) annotation(Placement(transformation(extent={{-45,0},{-25,20}}))); + extends SimModel( + dtMax=0.001, + dtProtMin=(tStop-tStart)/500); + package ImportedTypes + package Modelica + extends Modelica.Icons.Package; + package Blocks + import SI = ImportedTypes.Modelica.SIunits; + extends Modelica.Icons.Package; + package Interfaces + import ImportedTypes.Modelica.SIunits; + extends Modelica.Icons.InterfacesPackage; + connector RealInput = input Real "'input Real' as connector" annotation( + defaultComponentName="u", + Icon( + graphics={ + Polygon( + lineColor={0,0,127}, + fillColor={0,0,127}, + fillPattern=FillPattern.Solid, + points={{-100.0,100.0},{100.0,0.0},{-100.0,-100.0}})}, + coordinateSystem( + extent={{-100.0,-100.0},{100.0,100.0}}, + preserveAspectRatio=true, + initialScale=0.2)), + Diagram( + coordinateSystem( + preserveAspectRatio=true, + initialScale=0.2, + extent={{-100.0,-100.0},{100.0,100.0}}), + graphics={ + Polygon( + lineColor={0,0,127}, + fillColor={0,0,127}, + fillPattern=FillPattern.Solid, + points={{0.0,50.0},{100.0,0.0},{0.0,-50.0},{0.0,50.0}}), + Text( + lineColor={0,0,127}, + extent={{-10.0,60.0},{-10.0,85.0}}, + textString="%name")}), + Documentation(info=" +

+Connector with one input signal of type Real. +

+")); + connector RealOutput = output Real "'output Real' as connector" annotation( + defaultComponentName="y", + Icon( + coordinateSystem( + preserveAspectRatio=true, + extent={{-100.0,-100.0},{100.0,100.0}}, + initialScale=0.1), + graphics={ + Polygon( + lineColor={0,0,127}, + fillColor={255,255,255}, + fillPattern=FillPattern.Solid, + points={{-100.0,100.0},{100.0,0.0},{-100.0,-100.0}})}), + Diagram( + coordinateSystem( + preserveAspectRatio=true, + extent={{-100.0,-100.0},{100.0,100.0}}, + initialScale=0.1), + graphics={ + Polygon( + lineColor={0,0,127}, + fillColor={255,255,255}, + fillPattern=FillPattern.Solid, + points={{-100.0,50.0},{0.0,0.0},{-100.0,-50.0}}), + Text( + lineColor={0,0,127}, + extent={{30.0,60.0},{30.0,110.0}}, + textString="%name")}), + Documentation(info=" +

+Connector with one output signal of type Real. +

+")); + annotation(Documentation( + info=" +

+This package contains interface definitions for +continuous input/output blocks with Real, +Integer and Boolean signals. Furthermore, it contains +partial models for continuous and discrete blocks. +

+ +", + revisions=" + +")); + end Interfaces; + package Icons + extends Modelica.Icons.IconsPackage; + partial block Block "Basic graphical layout of input/output block" + annotation( + Icon( + coordinateSystem( + preserveAspectRatio=true, + extent={{-100,-100},{ + 100,100}}), + graphics={Rectangle( + extent={{-100,-100},{100,100}}, + lineColor={0,0,127}, + fillColor={255,255,255}, + fillPattern=FillPattern.Solid), Text( + extent={{-150,150},{150,110}}, + textString="%name", + lineColor={0,0,255})}), + Documentation(info=" +

+Block that has only the basic icon for an input/output +block (no declarations, no equations). Most blocks +of package Modelica.Blocks inherit directly or indirectly +from this block. +

+")); + end Block; + end Icons; + annotation( + dateModified="2017-09-12 08:29:24Z", + Icon(graphics={ + Rectangle( + fillColor={255,255,255}, + fillPattern=FillPattern.None, + extent={{-30,-20.1488},{30,20.1488}}, + origin={0,35.1488}), + Rectangle( + fillColor={255,255,255}, + fillPattern=FillPattern.None, + extent={{-30,-20.1488},{30,20.1488}}, + origin={0,-34.8512}), + Line( + points={{21.25,-35},{-13.75,-35},{-13.75,35},{6.25,35}}, + origin={-51.25,0}), + Polygon( + points={{10,0},{-5,5},{-5,-5}}, + pattern=LinePattern.None, + fillPattern=FillPattern.Solid, + origin={-40,35}), + Line( + points={{-21.25,35},{13.75,35},{13.75,-35},{-6.25,-35}}, + origin={51.25,0}), + Polygon( + points={{-10,0},{5,5},{5,-5}}, + pattern=LinePattern.None, + fillPattern=FillPattern.Solid, + origin={40,-35})}), + Documentation( + info=" +

+This library contains input/output blocks to build up block diagrams. +

+ +
+
Main Author: +
Martin Otter
+ Deutsches Zentrum für Luft und Raumfahrt e. V. (DLR)
+ Oberpfaffenhofen
+ Postfach 1116
+ D-82230 Wessling
+ email: Martin.Otter@dlr.de
+
+

+Copyright © 1998-2015, Modelica Association and DLR. +

+

+This Modelica package is free software and the use is completely at your own risk; it can be redistributed and/or modified under the terms of the Modelica License 2. For license conditions (including the disclaimer of warranty) see Modelica.UsersGuide.ModelicaLicense2 or visit https://www.modelica.org/licenses/ModelicaLicense2. +

+", + revisions=" + +")); + end Blocks; + package SIunits "Library of type and unit definitions based on SI units according to ISO 31-1992" + extends Modelica.Icons.Package; + package UsersGuide "User's Guide of SIunits Library" + extends Modelica.Icons.Information; + class HowToUseSIunits "How to use SIunits" + extends Modelica.Icons.Information; + annotation( + DocumentationClass=true, + Documentation(info=" +

+When implementing a Modelica model, every variable needs to +be declared. Physical variables should be declared with a unit. +The basic approach in Modelica is that the unit attribute of +a variable is the unit in which the equations are written, +for example: +

+ +
   model MassOnGround
+     parameter Real m(quantity=\"Mass\", unit=\"kg\") \"Mass\";
+     parameter Real f(quantity=\"Force\", unit=\"N\") \"Driving force\";
+     Real s(unit=\"m\") \"Position of mass\";
+     Real v(unit=\"m/s\") \"Velocity of mass\";
+   equation
+     der(s) = v;
+     m*der(v) = f;
+   end MassOnGround;
+
+ +

+This means that the equations in the equation section are only correct +for the specified units. A different issue is the user interface, i.e., +in which unit the variable is presented to the user in graphical +user interfaces, both for input (e.g., parameter menu), as well as +for output (e.g., in the plot window). Preferably, the Modelica tool +should provide a list of units from which the user can select, e.g., +\"m\", \"cm\", \"km\", \"inch\" for quantity \"Length\". When storing the value in +the model as a Modelica modifier, it has to be converted to the unit defined +in the declaration. Additionally, the unit used in the graphical +user interface has to be stored. In order to have a standardized way +of doing this, Modelica provides the following three attributes +for a variable of type Real: +

+ + + +

+Note, a unit, such as \"N.m\", is not sufficient to define uniquely the +physical quantity, since, e.g., \"N.m\" might be either \"torque\" or +\"energy\". The \"quantity\" attribute might therefore be used by a tool +to select the corresponding menu from which the user can select +a unit for the corresponding variable. +

+ +

+For example, after providing a value for \"m\" and \"f\" in a parameter +menu of an instance of MassOnGround, a tool might generate the following code: +

+ +
+   MassOnGround myObject(m(displayUnit=\"g\")=2, f=3);
+
+ +

+The meaning is that in the equations a value of \"2\" is used +and that in the graphical user interface a value of \"2000\" should be used, +together with the unit \"g\" from the unit set \"Mass\" (= the quantity name). +Note, according to the Modelica specification +a tool might ignore the \"displayUnit\" attribute. +

+ +

+In order to help the Modelica model developer, the Modelica.SIunits +library provides about 450 predefined type names, +together with values for the attributes quantity, unit and sometimes +displayUnit and min. The unit is always selected as SI-unit according to the +ISO standard. The type and the quantity names are the +quantity names used in the ISO standard. \"quantity\" and \"unit\" are defined +as \"final\" in order that they cannot be modified. Attributes \"displayUnit\" +and \"min\" can, however, be changed in a model via a modification. The example above, +might therefore be alternatively also defined as: +

+ +
   model MassOnGround
+     parameter Modelica.SIunits.Mass  m \"Mass\";
+     parameter Modelica.SIunits.Force f \"Driving force\";
+     ...
+   end MassOnGround;
+
+ +

+or in a short hand notation as +

+ +
+   model MassOnGround
+     import SI = Modelica.SIunits;
+     parameter SI.Mass  m \"Mass\";
+     parameter SI.Force f \"Driving force\";
+     ...
+   end MassOnGround;
+
+ +

+For some often +used Non SI-units (like hour), some additional type definitions are +present as Modelica.SIunits.Conversions.NonSIunits. If this is not sufficient, +the user has to define its own types or use the attributes directly +in the declaration as in the example at the beginning. +

+ +

+Complex units are also included in Modelica.SIunits. A complex unit is declared as: +

+
+  model QuasiStationaryMachine
+    parameter Modelica.SIunits.ComplexPower SNominal = Complex(10000,4400)
+       \"Nominal complex power\";
+   ...
+   end QuasiStationaryMachine;
+
+")); + end HowToUseSIunits; + class Conventions "Conventions" + extends Modelica.Icons.Information; + annotation( + DocumentationClass=true, + Documentation(info=" +

The following conventions are used in package SIunits:

+ +")); + end Conventions; + class Literature "Literature" + extends Modelica.Icons.References; + annotation(Documentation(info=" +

This package is based on the following references +

+ +
+
ISO 31-1992:
+
General principles concerning + quantities, units and symbols.
 
+ +
ISO 1000-1992:
+
SI units and recommendations for the use + of their multiples and of certain other units.
 
+ +
Cardarelli F.:
+
Scientific Unit Conversion - A Practical + Guide to Metrication. Springer 1997.
+
+ +")); + end Literature; + class Contact "Contact" + extends Modelica.Icons.Contact; + annotation(Documentation(info=" +
+
Main Author: +
Martin Otter
+ Deutsches Zentrum für Luft und Raumfahrt e.V. (DLR)
+ Institut für Robotik und Mechatronik
+ Abteilung für Entwurfsorientierte Regelungstechnik
+ Postfach 1116
+ D-82230 Wessling
+ Germany
+ email: Martin.Otter@dlr.de
+
+ +

Acknowledgements:

+ +")); + end Contact; + annotation( + DocumentationClass=true, + Documentation(info=" +

+Library SIunits is a free Modelica package providing +predefined types, such as Mass, +Length, Time, based on the international standard +on units.

+ +")); + end UsersGuide; + package Icons "Icons for SIunits" + extends Modelica.Icons.IconsPackage; + partial function Conversion "Base icon for conversion functions" + annotation(Icon( + coordinateSystem( + preserveAspectRatio=true, + extent={{-100, + -100},{100,100}}), + graphics={ + Rectangle( + extent={{-100,100},{100,-100}}, + lineColor={191,0,0}, + fillColor={255,255,255}, + fillPattern=FillPattern.Solid), + Line(points={{-90,0},{30,0}}, color={191,0,0}), + Polygon( + points={{90,0},{30,20},{30,-20},{90,0}}, + lineColor={191,0,0}, + fillColor={191,0,0}, + fillPattern=FillPattern.Solid), + Text( + extent={{-115,155},{115,105}}, + textString="%name", + lineColor={0,0,255})})); + end Conversion; + end Icons; + package Conversions "Conversion functions to/from non SI units and type definitions of non SI units" + extends Modelica.Icons.Package; + package NonSIunits "Type definitions of non SI units" + extends Modelica.Icons.Package; + type Temperature_degC = Real( + final quantity="ThermodynamicTemperature", + final unit="degC") "Absolute temperature in degree Celsius (for relative temperature use SIunits.TemperatureDifference)" annotation(absoluteValue=true); + type Temperature_degF = Real( + final quantity="ThermodynamicTemperature", + final unit="degF") "Absolute temperature in degree Fahrenheit (for relative temperature use SIunits.TemperatureDifference)" annotation(absoluteValue=true); + type Temperature_degRk = Real( + final quantity="ThermodynamicTemperature", + final unit="degRk") "Absolute temperature in degree Rankine (for relative temperature use SIunits.TemperatureDifference)" annotation(absoluteValue=true); + type Angle_deg = Real( + final quantity="Angle", + final unit="deg") "Angle in degree"; + type AngularVelocity_rpm = Real( + final quantity="AngularVelocity", + final unit="rpm") "Angular velocity in revolutions per minute. Alias unit names that are outside of the SI system: rpm, r/min, rev/min"; + type Velocity_kmh = Real( + final quantity="Velocity", + final unit="km/h") "Velocity in kilometers per hour"; + type Time_day = Real( + final quantity="Time", + final unit="d") "Time in days"; + type Time_hour = Real( + final quantity="Time", + final unit="h") "Time in hours"; + type Time_minute = Real( + final quantity="Time", + final unit="min") "Time in minutes"; + type Volume_litre = Real( + final quantity="Volume", + final unit="l") "Volume in litres"; + type ElectricCharge_Ah = Real( + final quantity="ElectricCharge", + final unit="A.h") "Electric charge in Ampere hours"; + type Energy_Wh = Real( + final quantity="Energy", + final unit="W.h") "Energy in Watt hours"; + type Energy_kWh = Real( + final quantity="Energy", + final unit="kW.h") "Energy in kilo watt hours"; + type Pressure_bar = Real( + final quantity="Pressure", + final unit="bar") "Absolute pressure in bar"; + type MassFlowRate_gps = Real( + final quantity="MassFlowRate", + final unit="g/s") "Mass flow rate in gram per second"; + type FirstOrderTemperaturCoefficient = Real( + final quantity="FirstOrderTemperatureCoefficient", + final unit="Ohm/degC") "First Order Temperature Coefficient" annotation(absoluteValue=true); + type SecondOrderTemperaturCoefficient = Real( + final quantity="SecondOrderTemperatureCoefficient", + final unit="Ohm/degC2") "Second Order Temperature Coefficient" annotation(absoluteValue=true); + type Area_cm = Real( + final quantity="Area", + final unit="cm2") "Area in cm"; + type PerArea_cm = Real( + final quantity="PerArea", + final unit="1/cm2") "Per Area in cm"; + type Area_cmPerVoltageSecond = Real( + final quantity="AreaPerVoltageSecond", + final unit="cm2/(V.s)") "Area in cm per voltage second"; + annotation( + Documentation(info=" +

+This package provides predefined types, such as Angle_deg (angle in +degree), AngularVelocity_rpm (angular velocity in revolutions per +minute) or Temperature_degF (temperature in degree Fahrenheit), +which are in common use but are not part of the international standard on +units according to ISO 31-1992 \"General principles concerning quantities, +units and symbols\" and ISO 1000-1992 \"SI units and recommendations for +the use of their multiples and of certain other units\".

+

If possible, the types in this package should not be used. Use instead +types of package Modelica.SIunits. For more information on units, see also +the book of Francois Cardarelli Scientific Unit Conversion - A +Practical Guide to Metrication (Springer 1997).

+

Some units, such as Temperature_degC/Temp_C are both defined in +Modelica.SIunits and in Modelica.Conversions.NonSIunits. The reason is that these +definitions have been placed erroneously in Modelica.SIunits although they +are not SIunits. For backward compatibility, these type definitions are +still kept in Modelica.SIunits.

+"), + Icon( + coordinateSystem(extent={{-100,-100},{100,100}}), + graphics={ + Text( + origin={15.0,51.8518}, + extent={{-105.0,-86.8518},{75.0,-16.8518}}, + lineColor={0,0,0}, + textString="[km/h]")})); + end NonSIunits; + function to_unit1 "Change the unit of a Real number to unit=\"1\"" + extends Modelica.SIunits.Icons.Conversion; + input Real r "Real number"; + output Real result(unit="1") "Real number r with unit=\"1\""; + algorithm + result := r; + annotation( + Inline=true, + Documentation(info=" +

Syntax

+
+SIunits.Conversions.to_unit1(r);
+
+

Description

+

+The function call \"Conversions.to_unit1(r)\" returns r with unit=\"1\". + +

Example

+
+  Modelica.SIunits.Velocity v = {3,2,1};
+  Real direction[3](unit=\"1\") = to_unit1(v);   // Automatically vectorized call of to_unit1
+
+"), + Icon( + coordinateSystem( + preserveAspectRatio=false, + extent={{-100,-100},{100, + 100}}), + graphics={Text( + extent={{-90,86},{32,50}}, + lineColor={0,0,0}, + textString="any", + horizontalAlignment=TextAlignment.Left), Text( + extent={{-36,-52},{86,-88}}, + lineColor={0,0,0}, + horizontalAlignment=TextAlignment.Right, + textString="1")})); + end to_unit1; + function to_degC "Convert from Kelvin to degCelsius" + extends Modelica.SIunits.Icons.Conversion; + input Temperature Kelvin "Kelvin value"; + output NonSIunits.Temperature_degC Celsius "Celsius value"; + algorithm + Celsius := Kelvin + Modelica.Constants.T_zero; + annotation( + Inline=true, + Icon( + coordinateSystem( + preserveAspectRatio=true, + extent={{-100, + -100},{100,100}}), + graphics={Text( + extent={{-20,100},{-100,20}}, + lineColor={0,0,0}, + textString="K"), Text( + extent={{100,-20},{20,-100}}, + lineColor={0,0,0}, + textString="degC")})); + end to_degC; + function from_degC "Convert from degCelsius to Kelvin" + extends Modelica.SIunits.Icons.Conversion; + input NonSIunits.Temperature_degC Celsius "Celsius value"; + output Temperature Kelvin "Kelvin value"; + algorithm + Kelvin := Celsius - Modelica.Constants.T_zero; + annotation( + Inline=true, + Icon( + coordinateSystem( + preserveAspectRatio=true, + extent={{-100, + -100},{100,100}}), + graphics={Text( + extent={{-20,100},{-100,20}}, + lineColor={0,0,0}, + textString="degC"), Text( + extent={{100,-20},{20,-100}}, + lineColor={0,0,0}, + textString="K")})); + end from_degC; + function to_degF "Convert from Kelvin to degFahrenheit" + extends Modelica.SIunits.Icons.Conversion; + input Temperature Kelvin "Kelvin value"; + output NonSIunits.Temperature_degF Fahrenheit "Fahrenheit value"; + algorithm + Fahrenheit := (Kelvin + Modelica.Constants.T_zero)*(9/5) + 32; + annotation( + Inline=true, + Icon( + coordinateSystem( + preserveAspectRatio=true, + extent={{-100, + -100},{100,100}}), + graphics={Text( + extent={{-20,100},{-100,20}}, + lineColor={0,0,0}, + textString="K"), Text( + extent={{100,-20},{20,-100}}, + lineColor={0,0,0}, + textString="degF")})); + end to_degF; + function from_degF "Convert from degFahrenheit to Kelvin" + extends Modelica.SIunits.Icons.Conversion; + input NonSIunits.Temperature_degF Fahrenheit "Fahrenheit value"; + output Temperature Kelvin "Kelvin value"; + algorithm + Kelvin := (Fahrenheit - 32)*(5/9) - Modelica.Constants.T_zero; + annotation( + Inline=true, + Icon( + coordinateSystem( + preserveAspectRatio=true, + extent={{-100, + -100},{100,100}}), + graphics={Text( + extent={{-20,100},{-100,20}}, + lineColor={0,0,0}, + textString="degF"), Text( + extent={{100,-20},{20,-100}}, + lineColor={0,0,0}, + textString="K"), Text( + extent={{-20,100},{-100,20}}, + lineColor={0,0,0}, + textString="degF")})); + end from_degF; + function to_degRk "Convert from Kelvin to degRankine" + extends Modelica.SIunits.Icons.Conversion; + input Temperature Kelvin "Kelvin value"; + output NonSIunits.Temperature_degRk Rankine "Rankine value"; + algorithm + Rankine := (9/5)*Kelvin; + annotation( + Inline=true, + Icon( + coordinateSystem( + preserveAspectRatio=true, + extent={{-100, + -100},{100,100}}), + graphics={Text( + extent={{-20,100},{-100,20}}, + lineColor={0,0,0}, + textString="K"), Text( + extent={{100,-32},{-18,-100}}, + lineColor={0,0,0}, + textString="degRk")})); + end to_degRk; + function from_degRk "Convert from degRankine to Kelvin" + extends Modelica.SIunits.Icons.Conversion; + input NonSIunits.Temperature_degRk Rankine "Rankine value"; + output Temperature Kelvin "Kelvin value"; + algorithm + Kelvin := (5/9)*Rankine; + annotation( + Inline=true, + Icon( + coordinateSystem( + preserveAspectRatio=true, + extent={{-100, + -100},{100,100}}), + graphics={Text( + extent={{-8,100},{-100,42}}, + lineColor={0,0,0}, + textString="degRk"), Text( + extent={{100,-20},{20,-100}}, + lineColor={0,0,0}, + textString="K")})); + end from_degRk; + function to_deg "Convert from radian to degree" + extends Modelica.SIunits.Icons.Conversion; + input Angle radian "radian value"; + output NonSIunits.Angle_deg degree "degree value"; + algorithm + degree := (180.0/Modelica.Constants.pi)*radian; + annotation( + Inline=true, + Icon( + coordinateSystem( + preserveAspectRatio=true, + extent={{-100, + -100},{100,100}}), + graphics={Text( + extent={{10,100},{-100,46}}, + lineColor={0,0,0}, + textString="rad"), Text( + extent={{100,-44},{-10,-100}}, + lineColor={0,0,0}, + textString="deg")})); + end to_deg; + function from_deg "Convert from degree to radian" + extends Modelica.SIunits.Icons.Conversion; + input NonSIunits.Angle_deg degree "degree value"; + output Angle radian "radian value"; + algorithm + radian := (Modelica.Constants.pi/180.0)*degree; + annotation( + Inline=true, + Icon( + coordinateSystem( + preserveAspectRatio=true, + extent={{-100, + -100},{100,100}}), + graphics={Text( + extent={{4,100},{-102,46}}, + lineColor={0,0,0}, + textString="deg"), Text( + extent={{100,-32},{-18,-100}}, + lineColor={0,0,0}, + textString="rad")})); + end from_deg; + function to_rpm "Convert from radian per second to revolutions per minute" + extends Modelica.SIunits.Icons.Conversion; + input AngularVelocity rs "radian per second value"; + output NonSIunits.AngularVelocity_rpm rpm "revolutions per minute value"; + algorithm + rpm := (30/Modelica.Constants.pi)*rs; + annotation( + Inline=true, + Icon( + coordinateSystem( + preserveAspectRatio=true, + extent={{-100, + -100},{100,100}}), + graphics={Text( + extent={{30,100},{-100,50}}, + lineColor={0,0,0}, + textString="rad/s"), Text( + extent={{100,-52},{-40,-98}}, + lineColor={0,0,0}, + textString="rpm")})); + end to_rpm; + function from_rpm "Convert from revolutions per minute to radian per second" + extends Modelica.SIunits.Icons.Conversion; + input NonSIunits.AngularVelocity_rpm rpm "revolutions per minute value"; + output AngularVelocity rs "radian per second value"; + algorithm + rs := (Modelica.Constants.pi/30)*rpm; + annotation( + Inline=true, + Icon( + coordinateSystem( + preserveAspectRatio=true, + extent={{-100, + -100},{100,100}}), + graphics={Text( + extent={{14,100},{-102,56}}, + lineColor={0,0,0}, + textString="rpm"), Text( + extent={{100,-56},{-32,-102}}, + lineColor={0,0,0}, + textString="rad/s")})); + end from_rpm; + function to_kmh "Convert from metre per second to kilometre per hour" + extends Modelica.SIunits.Icons.Conversion; + input Velocity ms "metre per second value"; + output NonSIunits.Velocity_kmh kmh "kilometre per hour value"; + algorithm + kmh := 3.6*ms; + annotation( + Inline=true, + Icon( + coordinateSystem( + preserveAspectRatio=true, + extent={{-100, + -100},{100,100}}), + graphics={Text( + extent={{8,100},{-100,58}}, + lineColor={0,0,0}, + textString="m/s"), Text( + extent={{100,-56},{-16,-100}}, + lineColor={0,0,0}, + textString="km/h")})); + end to_kmh; + function from_kmh "Convert from kilometre per hour to metre per second" + extends Modelica.SIunits.Icons.Conversion; + input NonSIunits.Velocity_kmh kmh "kilometre per hour value"; + output Velocity ms "metre per second value"; + algorithm + ms := kmh/3.6; + annotation( + Inline=true, + Icon( + coordinateSystem( + preserveAspectRatio=true, + extent={{-100, + -100},{100,100}}), + graphics={Text( + extent={{10,100},{-100,56}}, + lineColor={0,0,0}, + textString="km/h"), Text( + extent={{100,-50},{-20,-100}}, + lineColor={0,0,0}, + textString="m/s")})); + end from_kmh; + function to_day "Convert from second to day" + extends Modelica.SIunits.Icons.Conversion; + input Time s "second value"; + output NonSIunits.Time_day day "day value"; + algorithm + day := s/86400; + annotation( + Inline=true, + Icon( + coordinateSystem( + preserveAspectRatio=true, + extent={{-100, + -100},{100,100}}), + graphics={Text( + extent={{-6,100},{-100,48}}, + lineColor={0,0,0}, + textString="s"), Text( + extent={{100,-48},{-10,-98}}, + lineColor={0,0,0}, + textString="day")})); + end to_day; + function from_day "Convert from day to second" + extends Modelica.SIunits.Icons.Conversion; + input NonSIunits.Time_day day "day value"; + output Time s "second value"; + algorithm + s := 86400*day; + annotation( + Inline=true, + Icon( + coordinateSystem( + preserveAspectRatio=true, + extent={{-100, + -100},{100,100}}), + graphics={Text( + extent={{10,100},{-100,52}}, + lineColor={0,0,0}, + textString="day"), Text( + extent={{100,-54},{20,-100}}, + lineColor={0,0,0}, + textString="s")})); + end from_day; + function to_hour "Convert from second to hour" + extends Modelica.SIunits.Icons.Conversion; + input Time s "second value"; + output NonSIunits.Time_hour hour "hour value"; + algorithm + hour := s/3600; + annotation( + Inline=true, + Icon( + coordinateSystem( + preserveAspectRatio=true, + extent={{-100, + -100},{100,100}}), + graphics={Text( + extent={{12,100},{-100,50}}, + lineColor={0,0,0}, + textString="s"), Text( + extent={{100,-56},{-20,-100}}, + lineColor={0,0,0}, + textString="hour")})); + end to_hour; + function from_hour "Convert from hour to second" + extends Modelica.SIunits.Icons.Conversion; + input NonSIunits.Time_hour hour "hour value"; + output Time s "second value"; + algorithm + s := 3600*hour; + annotation( + Inline=true, + Icon( + coordinateSystem( + preserveAspectRatio=true, + extent={{-100, + -100},{100,100}}), + graphics={Text( + extent={{12,100},{-100,58}}, + lineColor={0,0,0}, + textString="hour"), Text( + extent={{100,-50},{16,-100}}, + lineColor={0,0,0}, + textString="s")})); + end from_hour; + function to_minute "Convert from second to minute" + extends Modelica.SIunits.Icons.Conversion; + input Time s "second value"; + output NonSIunits.Time_minute minute "minute value"; + algorithm + minute := s/60; + annotation( + Inline=true, + Icon( + coordinateSystem( + preserveAspectRatio=true, + extent={{-100, + -100},{100,100}}), + graphics={Text( + extent={{-26,100},{-100,52}}, + lineColor={0,0,0}, + textString="s"), Text( + extent={{100,-54},{-20,-100}}, + lineColor={0,0,0}, + textString="min")})); + end to_minute; + function from_minute "Convert from minute to second" + extends Modelica.SIunits.Icons.Conversion; + input NonSIunits.Time_minute minute "minute value"; + output Time s "second value"; + algorithm + s := 60*minute; + annotation( + Inline=true, + Icon( + coordinateSystem( + preserveAspectRatio=true, + extent={{-100, + -100},{100,100}}), + graphics={Text( + extent={{26,100},{-100,48}}, + lineColor={0,0,0}, + textString="min"), Text( + extent={{100,-46},{0,-100}}, + lineColor={0,0,0}, + textString="s")})); + end from_minute; + function to_litre "Convert from cubic metre to litre" + extends Modelica.SIunits.Icons.Conversion; + input Volume m3 "cubic metre value"; + output NonSIunits.Volume_litre litre "litre value"; + algorithm + litre := 1000*m3; + annotation( + Inline=true, + Icon( + coordinateSystem( + preserveAspectRatio=true, + extent={{-100, + -100},{100,100}}), + graphics={Text( + extent={{100,-56},{0,-100}}, + lineColor={0,0,0}, + textString="litre"), Text( + extent={{6,100},{-100,56}}, + lineColor={0,0,0}, + textString="m3")})); + end to_litre; + function from_litre "Convert from litre to cubic metre" + extends Modelica.SIunits.Icons.Conversion; + input NonSIunits.Volume_litre litre "litre value"; + output Volume m3 "cubic metre value"; + algorithm + m3 := litre/1000; + annotation( + Inline=true, + Icon( + coordinateSystem( + preserveAspectRatio=true, + extent={{-100, + -100},{100,100}}), + graphics={Text( + extent={{-4,100},{-100,62}}, + lineColor={0,0,0}, + textString="litre"), Text( + extent={{100,-56},{-6,-100}}, + lineColor={0,0,0}, + textString="m3")})); + end from_litre; + function from_Ah "Convert from Ampere hours to Coulomb" + extends Modelica.SIunits.Icons.Conversion; + input Modelica.SIunits.Conversions.NonSIunits.ElectricCharge_Ah AmpereHour "Ampere hours"; + output Modelica.SIunits.ElectricCharge Coulomb "Coulomb"; + algorithm + Coulomb := AmpereHour * 3600; + annotation(Icon(graphics={ Text( + extent={{-2,100},{-100,48}}, + lineColor={0,0,0}, + textString="Ah"), Text( + extent={{100,-46},{0,-100}}, + lineColor={0,0,0}, + textString="C")})); + end from_Ah; + function to_Ah "Convert from Coulomb to Ampere hours" + extends Modelica.SIunits.Icons.Conversion; + input Modelica.SIunits.ElectricCharge Coulomb "Coulomb"; + output Modelica.SIunits.Conversions.NonSIunits.ElectricCharge_Ah AmpereHour "Ampere hours"; + algorithm + AmpereHour := Coulomb/3600; + annotation(Icon(graphics={ Text( + extent={{-18,100},{-100,48}}, + lineColor={0,0,0}, + textString="C"), Text( + extent={{100,-48},{2,-100}}, + lineColor={0,0,0}, + textString="Ah")})); + end to_Ah; + function from_Wh "Convert from Watt hour to Joule" + extends Modelica.SIunits.Icons.Conversion; + input NonSIunits.Energy_Wh WattHour "Watt hour"; + output Modelica.SIunits.Energy Joule "Joule"; + algorithm + Joule := WattHour * 3600; + annotation(Icon(graphics={ Text( + extent={{-20,100},{-100,54}}, + lineColor={0,0,0}, + textString="Wh"), Text( + extent={{100,-38},{4,-100}}, + lineColor={0,0,0}, + textString="J")})); + end from_Wh; + function to_Wh "Convert from Joule to Watt hour" + extends Modelica.SIunits.Icons.Conversion; + input Modelica.SIunits.Energy Joule "Joule"; + output NonSIunits.Energy_Wh WattHour "Watt hour"; + algorithm + WattHour := Joule/3600; + annotation(Icon(graphics={ Text( + extent={{-30,100},{-100,48}}, + lineColor={0,0,0}, + textString="J"), Text( + extent={{100,-46},{-14,-100}}, + lineColor={0,0,0}, + textString="Wh")})); + end to_Wh; + function to_kWh "Convert from Joule to kilo Watt hour" + extends Modelica.SIunits.Icons.Conversion; + input Energy J "Joule value"; + output NonSIunits.Energy_kWh kWh "kWh value"; + algorithm + kWh := J/3.6e6; + annotation( + Inline=true, + Icon( + coordinateSystem( + preserveAspectRatio=true, + extent={{-100, + -100},{100,100}}), + graphics={Text( + extent={{-20,100},{-100,54}}, + lineColor={0,0,0}, + textString="J"), Text( + extent={{100,-50},{-10,-100}}, + lineColor={0,0,0}, + textString="kWh")})); + end to_kWh; + function from_kWh "Convert from kilo Watt hour to Joule" + extends Modelica.SIunits.Icons.Conversion; + input NonSIunits.Energy_kWh kWh "kWh value"; + output Energy J "Joule value"; + algorithm + J := 3.6e6*kWh; + annotation( + Inline=true, + Icon( + coordinateSystem( + preserveAspectRatio=true, + extent={{-100, + -100},{100,100}}), + graphics={Text( + extent={{12,100},{-100,52}}, + lineColor={0,0,0}, + textString="kWh"), Text( + extent={{100,-44},{12,-100}}, + lineColor={0,0,0}, + textString="J")})); + end from_kWh; + function to_bar "Convert from Pascal to bar" + extends Modelica.SIunits.Icons.Conversion; + input Pressure Pa "Pascal value"; + output NonSIunits.Pressure_bar bar "bar value"; + algorithm + bar := Pa/1e5; + annotation( + Inline=true, + Icon( + coordinateSystem( + preserveAspectRatio=true, + extent={{-100, + -100},{100,100}}), + graphics={Text( + extent={{-12,100},{-100,56}}, + lineColor={0,0,0}, + textString="Pa"), Text( + extent={{98,-52},{-4,-100}}, + lineColor={0,0,0}, + textString="bar")})); + end to_bar; + function from_bar "Convert from bar to Pascal" + extends Modelica.SIunits.Icons.Conversion; + input NonSIunits.Pressure_bar bar "bar value"; + output Pressure Pa "Pascal value"; + algorithm + Pa := 1e5*bar; + annotation( + Inline=true, + Icon( + coordinateSystem( + preserveAspectRatio=true, + extent={{-100, + -100},{100,100}}), + graphics={Text( + extent={{100,-56},{12,-100}}, + lineColor={0,0,0}, + textString="Pa"), Text( + extent={{2,100},{-100,52}}, + lineColor={0,0,0}, + textString="bar")})); + end from_bar; + function to_gps "Convert from kilogram per second to gram per second" + extends Modelica.SIunits.Icons.Conversion; + input MassFlowRate kgps "kg/s value"; + output NonSIunits.MassFlowRate_gps gps "g/s value"; + algorithm + gps := 1000*kgps; + annotation( + Inline=true, + Icon( + coordinateSystem( + preserveAspectRatio=true, + extent={{-100, + -100},{100,100}}), + graphics={Text( + extent={{-12,100},{-100,60}}, + lineColor={0,0,0}, + textString="kg/s"), Text( + extent={{100,-46},{-6,-100}}, + lineColor={0,0,0}, + textString="g/s")})); + end to_gps; + function from_gps "Convert from gram per second to kilogram per second" + extends Modelica.SIunits.Icons.Conversion; + input NonSIunits.MassFlowRate_gps gps "g/s value"; + output MassFlowRate kgps "kg/s value"; + algorithm + kgps := gps/1000; + annotation( + Inline=true, + Icon( + coordinateSystem( + preserveAspectRatio=true, + extent={{-100, + -100},{100,100}}), + graphics={Text( + extent={{-8,100},{-100,54}}, + lineColor={0,0,0}, + textString="g/s"), Text( + extent={{100,-44},{-10,-100}}, + lineColor={0,0,0}, + textString="kg/s")})); + end from_gps; + function from_Hz "Convert from Hz to rad/s" + extends Modelica.SIunits.Icons.Conversion; + input SIunits.Frequency f "frequency"; + output SIunits.AngularVelocity w "angular velocity"; + algorithm + w := 2*Modelica.Constants.pi*f; + annotation( + Inline=true, + Icon(graphics={ + Text( + extent={{2,100},{-100,52}}, + lineColor={0,0,0}, + textString="Hz"), Text( + extent={{100,-56},{12,-100}}, + lineColor={0,0,0}, + textString="1/s")})); + end from_Hz; + function to_Hz "Convert from rad/s to Hz" + extends Modelica.SIunits.Icons.Conversion; + input SIunits.AngularVelocity w "angular velocity"; + output SIunits.Frequency f "frequency"; + algorithm + f := w/(2*Modelica.Constants.pi); + annotation( + Inline=true, + Icon(graphics={ + Text( + extent={{100,-52},{-2,-100}}, + lineColor={0,0,0}, + textString="Hz"), Text( + extent={{-12,100},{-100,56}}, + lineColor={0,0,0}, + textString="1/s")})); + end to_Hz; + function to_cm2 "Convert from square metre to square centimetre" + extends Modelica.SIunits.Icons.Conversion; + input Area m2 "square metre value"; + output NonSIunits.Area_cm cm2 "square centimetre value"; + algorithm + cm2 := 10000*m2; + annotation( + Inline=true, + Icon( + coordinateSystem( + preserveAspectRatio=true, + extent={{-100, + -100},{100,100}}), + graphics={Text( + extent={{-20,100},{-100,58}}, + lineColor={0,0,0}, + textString="m/s"), Text( + extent={{100,-50},{-18,-100}}, + lineColor={0,0,0}, + textString="cm2")})); + end to_cm2; + function from_cm2 "Convert from square centimetre to square metre" + extends Modelica.SIunits.Icons.Conversion; + input NonSIunits.Area_cm cm2 "square centimetre value"; + output Area m2 "square metre value"; + algorithm + m2 := 0.0001*cm2; + annotation( + Inline=true, + Icon( + coordinateSystem( + preserveAspectRatio=true, + extent={{-100, + -100},{100,100}}), + graphics={Text( + extent={{2,100},{-100,58}}, + lineColor={0,0,0}, + textString="cm2"), Text( + extent={{100,-50},{-16,-98}}, + lineColor={0,0,0}, + textString="m/s")})); + end from_cm2; + partial function ConversionIcon "This icon will be removed in future Modelica versions." + extends Modelica.Icons.ObsoleteModel; + annotation( + Icon( + coordinateSystem( + preserveAspectRatio=true, + extent={{-100, + -100},{100,100}}), + graphics={ + Rectangle( + extent={{-100,100},{100,-100}}, + lineColor={191,0,0}, + fillColor={255,255,255}, + fillPattern=FillPattern.Solid), + Line(points={{-90,0},{30,0}}, color={191,0,0}), + Polygon( + points={{90,0},{30,20},{30,-20},{90,0}}, + lineColor={191,0,0}, + fillColor={191,0,0}, + fillPattern=FillPattern.Solid), + Text( + extent={{-115,155},{115,105}}, + textString="%name", + lineColor={0,0,255})}), + Documentation(info=" +

+This icon of a conversion symbol will be removed in future versions of the library. Instead the icon Modelica.SIunits.Icons.Conversion shall be used. +

+")); + end ConversionIcon; + annotation(Documentation(info=" +

This package provides conversion functions from the non SI Units +defined in package Modelica.SIunits.Conversions.NonSIunits to the +corresponding SI Units defined in package Modelica.SIunits and vice +versa. It is recommended to use these functions in the following +way (note, that all functions have one Real input and one Real output +argument):

+
+  import SI = Modelica.SIunits;
+  import Modelica.SIunits.Conversions.*;
+     ...
+  parameter SI.Temperature     T   = from_degC(25);   // convert 25 degree Celsius to Kelvin
+  parameter SI.Angle           phi = from_deg(180);   // convert 180 degree to radian
+  parameter SI.AngularVelocity w   = from_rpm(3600);  // convert 3600 revolutions per minutes
+                                                      // to radian per seconds
+
+ +")); + end Conversions; + type Angle = Real( + final quantity="Angle", + final unit="rad", + displayUnit="deg"); + type SolidAngle = Real( + final quantity="SolidAngle", + final unit="sr"); + type Length = Real( + final quantity="Length", + final unit="m"); + type PathLength = Length; + type Position = Length; + type Distance = Length(min=0); + type Breadth = Length(min=0); + type Height = Length(min=0); + type Thickness = Length(min=0); + type Radius = Length(min=0); + type Diameter = Length(min=0); + type Area = Real( + final quantity="Area", + final unit="m2"); + type Volume = Real( + final quantity="Volume", + final unit="m3"); + type Time = Real( + final quantity="Time", + final unit="s"); + type Duration = Time; + type AngularVelocity = Real( + final quantity="AngularVelocity", + final unit="rad/s"); + type AngularAcceleration = Real( + final quantity="AngularAcceleration", + final unit="rad/s2"); + type Velocity = Real( + final quantity="Velocity", + final unit="m/s"); + type Acceleration = Real( + final quantity="Acceleration", + final unit="m/s2"); + type Period = Real( + final quantity="Time", + final unit="s"); + type Frequency = Real( + final quantity="Frequency", + final unit="Hz"); + type AngularFrequency = Real( + final quantity="AngularFrequency", + final unit="rad/s"); + type Wavelength = Real( + final quantity="Wavelength", + final unit="m"); + type Wavelenght = Wavelength; + type WaveNumber = Real( + final quantity="WaveNumber", + final unit="m-1"); + type CircularWaveNumber = Real( + final quantity="CircularWaveNumber", + final unit="rad/m"); + type AmplitudeLevelDifference = Real( + final quantity="AmplitudeLevelDifference", + final unit="dB"); + type PowerLevelDifference = Real( + final quantity="PowerLevelDifference", + final unit="dB"); + type DampingCoefficient = Real( + final quantity="DampingCoefficient", + final unit="s-1"); + type LogarithmicDecrement = Real( + final quantity="LogarithmicDecrement", + final unit="1/S"); + type AttenuationCoefficient = Real( + final quantity="AttenuationCoefficient", + final unit="m-1"); + type PhaseCoefficient = Real( + final quantity="PhaseCoefficient", + final unit="m-1"); + type PropagationCoefficient = Real( + final quantity="PropagationCoefficient", + final unit="m-1"); + type Damping = DampingCoefficient; + type Mass = Real( + quantity="Mass", + final unit="kg", + min=0); + type Density = Real( + final quantity="Density", + final unit="kg/m3", + displayUnit="g/cm3", + min=0.0); + type RelativeDensity = Real( + final quantity="RelativeDensity", + final unit="1", + min=0.0); + type SpecificVolume = Real( + final quantity="SpecificVolume", + final unit="m3/kg", + min=0.0); + type LinearDensity = Real( + final quantity="LinearDensity", + final unit="kg/m", + min=0); + type SurfaceDensity = Real( + final quantity="SurfaceDensity", + final unit="kg/m2", + min=0); + type Momentum = Real( + final quantity="Momentum", + final unit="kg.m/s"); + type Impulse = Real( + final quantity="Impulse", + final unit="N.s"); + type AngularMomentum = Real( + final quantity="AngularMomentum", + final unit="kg.m2/s"); + type AngularImpulse = Real( + final quantity="AngularImpulse", + final unit="N.m.s"); + type MomentOfInertia = Real( + final quantity="MomentOfInertia", + final unit="kg.m2"); + type Inertia = MomentOfInertia; + type Force = Real( + final quantity="Force", + final unit="N"); + type TranslationalSpringConstant = Real( + final quantity="TranslationalSpringConstant", + final unit="N/m"); + type TranslationalDampingConstant = Real( + final quantity="TranslationalDampingConstant", + final unit="N.s/m"); + type Weight = Force; + type Torque = Real( + final quantity="Torque", + final unit="N.m"); + type ElectricalTorqueConstant = Real( + final quantity="ElectricalTorqueConstant", + final unit="N.m/A"); + type MomentOfForce = Torque; + type ImpulseFlowRate = Real( + final quantity="ImpulseFlowRate", + final unit="N"); + type AngularImpulseFlowRate = Real( + final quantity="AngularImpulseFlowRate", + final unit="N.m"); + type RotationalSpringConstant = Real( + final quantity="RotationalSpringConstant", + final unit="N.m/rad"); + type RotationalDampingConstant = Real( + final quantity="RotationalDampingConstant", + final unit="N.m.s/rad"); + type Pressure = Real( + final quantity="Pressure", + final unit="Pa", + displayUnit="bar"); + type AbsolutePressure = Pressure( + min=0.0, + nominal=1e5); + type PressureDifference = Pressure; + type BulkModulus = AbsolutePressure; + type Stress = Real(final unit="Pa"); + type NormalStress = Stress; + type ShearStress = Stress; + type Strain = Real( + final quantity="Strain", + final unit="1"); + type LinearStrain = Strain; + type ShearStrain = Strain; + type VolumeStrain = Real( + final quantity="VolumeStrain", + final unit="1"); + type PoissonNumber = Real( + final quantity="PoissonNumber", + final unit="1"); + type ModulusOfElasticity = Stress; + type ShearModulus = Stress; + type SecondMomentOfArea = Real( + final quantity="SecondMomentOfArea", + final unit="m4"); + type SecondPolarMomentOfArea = SecondMomentOfArea; + type SectionModulus = Real( + final quantity="SectionModulus", + final unit="m3"); + type CoefficientOfFriction = Real( + final quantity="CoefficientOfFriction", + final unit="1"); + type DynamicViscosity = Real( + final quantity="DynamicViscosity", + final unit="Pa.s", + min=0); + type KinematicViscosity = Real( + final quantity="KinematicViscosity", + final unit="m2/s", + min=0); + type SurfaceTension = Real( + final quantity="SurfaceTension", + final unit="N/m"); + type Work = Real( + final quantity="Work", + final unit="J"); + type Energy = Real( + final quantity="Energy", + final unit="J"); + type EnergyDensity = Real( + final quantity="EnergyDensity", + final unit="J/m3"); + type PotentialEnergy = Energy; + type KineticEnergy = Energy; + type Power = Real( + final quantity="Power", + final unit="W"); + type EnergyFlowRate = Power; + type EnthalpyFlowRate = Real( + final quantity="EnthalpyFlowRate", + final unit="W"); + type Efficiency = Real( + final quantity="Efficiency", + final unit="1", + min=0); + type MassFlowRate = Real( + quantity="MassFlowRate", + final unit="kg/s"); + type VolumeFlowRate = Real( + final quantity="VolumeFlowRate", + final unit="m3/s"); + type MomentumFlux = Real( + final quantity="MomentumFlux", + final unit="N"); + type AngularMomentumFlux = Real( + final quantity="AngularMomentumFlux", + final unit="N.m"); + type ThermodynamicTemperature = Real( + final quantity="ThermodynamicTemperature", + final unit="K", + min=0.0, + start=288.15, + nominal=300, + displayUnit="degC") "Absolute temperature (use type TemperatureDifference for relative temperatures)" annotation(absoluteValue=true); + type Temp_K = ThermodynamicTemperature; + type Temperature = ThermodynamicTemperature; + type TemperatureDifference = Real( + final quantity="ThermodynamicTemperature", + final unit="K") annotation(absoluteValue=false); + type Temp_C = SIunits.Conversions.NonSIunits.Temperature_degC; + type TemperatureSlope = Real( + final quantity="TemperatureSlope", + final unit="K/s"); + type LinearTemperatureCoefficient = Real( + final quantity="LinearTemperatureCoefficient", + final unit="1/K"); + type QuadraticTemperatureCoefficient = Real( + final quantity="QuadraticTemperatureCoefficient", + final unit="1/K2"); + type LinearExpansionCoefficient = Real( + final quantity="LinearExpansionCoefficient", + final unit="1/K"); + type CubicExpansionCoefficient = Real( + final quantity="CubicExpansionCoefficient", + final unit="1/K"); + type RelativePressureCoefficient = Real( + final quantity="RelativePressureCoefficient", + final unit="1/K"); + type PressureCoefficient = Real( + final quantity="PressureCoefficient", + final unit="Pa/K"); + type Compressibility = Real( + final quantity="Compressibility", + final unit="1/Pa"); + type IsothermalCompressibility = Compressibility; + type IsentropicCompressibility = Compressibility; + type Heat = Real( + final quantity="Energy", + final unit="J"); + type HeatFlowRate = Real( + final quantity="Power", + final unit="W"); + type HeatFlux = Real( + final quantity="HeatFlux", + final unit="W/m2"); + type DensityOfHeatFlowRate = Real( + final quantity="DensityOfHeatFlowRate", + final unit="W/m2"); + type ThermalConductivity = Real( + final quantity="ThermalConductivity", + final unit="W/(m.K)"); + type CoefficientOfHeatTransfer = Real( + final quantity="CoefficientOfHeatTransfer", + final unit="W/(m2.K)"); + type SurfaceCoefficientOfHeatTransfer = CoefficientOfHeatTransfer; + type ThermalInsulance = Real( + final quantity="ThermalInsulance", + final unit="m2.K/W"); + type ThermalResistance = Real( + final quantity="ThermalResistance", + final unit="K/W"); + type ThermalConductance = Real( + final quantity="ThermalConductance", + final unit="W/K"); + type ThermalDiffusivity = Real( + final quantity="ThermalDiffusivity", + final unit="m2/s"); + type HeatCapacity = Real( + final quantity="HeatCapacity", + final unit="J/K"); + type SpecificHeatCapacity = Real( + final quantity="SpecificHeatCapacity", + final unit="J/(kg.K)"); + type SpecificHeatCapacityAtConstantPressure = SpecificHeatCapacity; + type SpecificHeatCapacityAtConstantVolume = SpecificHeatCapacity; + type SpecificHeatCapacityAtSaturation = SpecificHeatCapacity; + type RatioOfSpecificHeatCapacities = Real( + final quantity="RatioOfSpecificHeatCapacities", + final unit="1"); + type IsentropicExponent = Real( + final quantity="IsentropicExponent", + final unit="1"); + type Entropy = Real( + final quantity="Entropy", + final unit="J/K"); + type EntropyFlowRate = Real( + final quantity="EntropyFlowRate", + final unit="J/(K.s)"); + type SpecificEntropy = Real( + final quantity="SpecificEntropy", + final unit="J/(kg.K)"); + type InternalEnergy = Heat; + type Enthalpy = Heat; + type HelmholtzFreeEnergy = Heat; + type GibbsFreeEnergy = Heat; + type SpecificEnergy = Real( + final quantity="SpecificEnergy", + final unit="J/kg"); + type SpecificInternalEnergy = SpecificEnergy; + type SpecificEnthalpy = SpecificEnergy; + type SpecificHelmholtzFreeEnergy = SpecificEnergy; + type SpecificGibbsFreeEnergy = SpecificEnergy; + type MassieuFunction = Real( + final quantity="MassieuFunction", + final unit="J/K"); + type PlanckFunction = Real( + final quantity="PlanckFunction", + final unit="J/K"); + type DerDensityByEnthalpy = Real(final unit="kg.s2/m5"); + type DerDensityByPressure = Real(final unit="s2/m2"); + type DerDensityByTemperature = Real(final unit="kg/(m3.K)"); + type DerEnthalpyByPressure = Real(final unit="J.m.s2/kg2"); + type DerEnergyByDensity = Real(final unit="J.m3/kg"); + type DerEnergyByPressure = Real(final unit="J.m.s2/kg"); + type DerPressureByDensity = Real(final unit="Pa.m3/kg"); + type DerPressureByTemperature = Real(final unit="Pa/K"); + type ElectricCurrent = Real( + final quantity="ElectricCurrent", + final unit="A"); + type Current = ElectricCurrent; + type CurrentSlope = Real( + final quantity="CurrentSlope", + final unit="A/s"); + type ElectricCharge = Real( + final quantity="ElectricCharge", + final unit="C"); + type Charge = ElectricCharge; + type VolumeDensityOfCharge = Real( + final quantity="VolumeDensityOfCharge", + final unit="C/m3", + min=0); + type SurfaceDensityOfCharge = Real( + final quantity="SurfaceDensityOfCharge", + final unit="C/m2", + min=0); + type ElectricFieldStrength = Real( + final quantity="ElectricFieldStrength", + final unit="V/m"); + type ElectricPotential = Real( + final quantity="ElectricPotential", + final unit="V"); + type Voltage = ElectricPotential; + type PotentialDifference = ElectricPotential; + type ElectromotiveForce = ElectricPotential; + type VoltageSecond = Real( + final quantity="VoltageSecond", + final unit="V.s") "Voltage second"; + type VoltageSlope = Real( + final quantity="VoltageSlope", + final unit="V/s"); + type ElectricFluxDensity = Real( + final quantity="ElectricFluxDensity", + final unit="C/m2"); + type ElectricFlux = Real( + final quantity="ElectricFlux", + final unit="C"); + type Capacitance = Real( + final quantity="Capacitance", + final unit="F", + min=0); + type CapacitancePerArea = Real( + final quantity="CapacitancePerArea", + final unit="F/m2") "Capacitance per area"; + type Permittivity = Real( + final quantity="Permittivity", + final unit="F/m", + min=0); + type PermittivityOfVacuum = Permittivity; + type RelativePermittivity = Real( + final quantity="RelativePermittivity", + final unit="1"); + type ElectricSusceptibility = Real( + final quantity="ElectricSusceptibility", + final unit="1"); + type ElectricPolarization = Real( + final quantity="ElectricPolarization", + final unit="C/m2"); + type Electrization = Real( + final quantity="Electrization", + final unit="V/m"); + type ElectricDipoleMoment = Real( + final quantity="ElectricDipoleMoment", + final unit="C.m"); + type CurrentDensity = Real( + final quantity="CurrentDensity", + final unit="A/m2"); + type LinearCurrentDensity = Real( + final quantity="LinearCurrentDensity", + final unit="A/m"); + type MagneticFieldStrength = Real( + final quantity="MagneticFieldStrength", + final unit="A/m"); + type MagneticPotential = Real( + final quantity="MagneticPotential", + final unit="A"); + type MagneticPotentialDifference = Real( + final quantity="MagneticPotential", + final unit="A"); + type MagnetomotiveForce = Real( + final quantity="MagnetomotiveForce", + final unit="A"); + type CurrentLinkage = Real( + final quantity="CurrentLinkage", + final unit="A"); + type MagneticFluxDensity = Real( + final quantity="MagneticFluxDensity", + final unit="T"); + type MagneticFlux = Real( + final quantity="MagneticFlux", + final unit="Wb"); + type MagneticVectorPotential = Real( + final quantity="MagneticVectorPotential", + final unit="Wb/m"); + type Inductance = Real( + final quantity="Inductance", + final unit="H"); + type SelfInductance = Inductance(min=0); + type MutualInductance = Inductance; + type CouplingCoefficient = Real( + final quantity="CouplingCoefficient", + final unit="1"); + type LeakageCoefficient = Real( + final quantity="LeakageCoefficient", + final unit="1"); + type Permeability = Real( + final quantity="Permeability", + final unit="H/m"); + type PermeabilityOfVacuum = Permeability; + type RelativePermeability = Real( + final quantity="RelativePermeability", + final unit="1"); + type MagneticSusceptibility = Real( + final quantity="MagneticSusceptibility", + final unit="1"); + type ElectromagneticMoment = Real( + final quantity="ElectromagneticMoment", + final unit="A.m2"); + type MagneticDipoleMoment = Real( + final quantity="MagneticDipoleMoment", + final unit="Wb.m"); + type Magnetization = Real( + final quantity="Magnetization", + final unit="A/m"); + type MagneticPolarization = Real( + final quantity="MagneticPolarization", + final unit="T"); + type ElectromagneticEnergyDensity = Real( + final quantity="EnergyDensity", + final unit="J/m3"); + type PoyntingVector = Real( + final quantity="PoyntingVector", + final unit="W/m2"); + type Resistance = Real( + final quantity="Resistance", + final unit="Ohm"); + type Resistivity = Real( + final quantity="Resistivity", + final unit="Ohm.m"); + type Conductivity = Real( + final quantity="Conductivity", + final unit="S/m"); + type Reluctance = Real( + final quantity="Reluctance", + final unit="H-1"); + type Permeance = Real( + final quantity="Permeance", + final unit="H"); + type PhaseDifference = Real( + final quantity="Angle", + final unit="rad", + displayUnit="deg"); + type Impedance = Resistance; + type ModulusOfImpedance = Resistance; + type Reactance = Resistance; + type QualityFactor = Real( + final quantity="QualityFactor", + final unit="1"); + type LossAngle = Real( + final quantity="Angle", + final unit="rad", + displayUnit="deg"); + type Conductance = Real( + final quantity="Conductance", + final unit="S"); + type Admittance = Conductance; + type ModulusOfAdmittance = Conductance; + type Susceptance = Conductance; + type InstantaneousPower = Real( + final quantity="Power", + final unit="W"); + type ActivePower = Real( + final quantity="Power", + final unit="W"); + type ApparentPower = Real( + final quantity="Power", + final unit="VA"); + type ReactivePower = Real( + final quantity="Power", + final unit="var"); + type PowerFactor = Real( + final quantity="PowerFactor", + final unit="1"); + type Transconductance = Real( + final quantity="Transconductance", + final unit="A/V2"); + type InversePotential = Real( + final quantity="InversePotential", + final unit="1/V"); + type ElectricalForceConstant = Real( + final quantity="ElectricalForceConstant", + final unit="N/A"); + type RadiantEnergy = Real( + final quantity="Energy", + final unit="J"); + type RadiantEnergyDensity = Real( + final quantity="EnergyDensity", + final unit="J/m3"); + type SpectralRadiantEnergyDensity = Real( + final quantity="SpectralRadiantEnergyDensity", + final unit="J/m4"); + type RadiantPower = Real( + final quantity="Power", + final unit="W"); + type RadiantEnergyFluenceRate = Real( + final quantity="RadiantEnergyFluenceRate", + final unit="W/m2"); + type RadiantIntensity = Real( + final quantity="RadiantIntensity", + final unit="W/sr"); + type Radiance = Real( + final quantity="Radiance", + final unit="W/(sr.m2)"); + type RadiantExtiance = Real( + final quantity="RadiantExtiance", + final unit="W/m2"); + type Irradiance = Real( + final quantity="Irradiance", + final unit="W/m2"); + type Emissivity = Real( + final quantity="Emissivity", + final unit="1"); + type SpectralEmissivity = Real( + final quantity="SpectralEmissivity", + final unit="1"); + type DirectionalSpectralEmissivity = Real( + final quantity="DirectionalSpectralEmissivity", + final unit="1"); + type LuminousIntensity = Real( + final quantity="LuminousIntensity", + final unit="cd"); + type LuminousFlux = Real( + final quantity="LuminousFlux", + final unit="lm"); + type QuantityOfLight = Real( + final quantity="QuantityOfLight", + final unit="lm.s"); + type Luminance = Real( + final quantity="Luminance", + final unit="cd/m2"); + type LuminousExitance = Real( + final quantity="LuminousExitance", + final unit="lm/m2"); + type Illuminance = Real( + final quantity="Illuminance", + final unit="lx"); + type LightExposure = Real( + final quantity="LightExposure", + final unit="lx.s"); + type LuminousEfficacy = Real( + final quantity="LuminousEfficacy", + final unit="lm/W"); + type SpectralLuminousEfficacy = Real( + final quantity="SpectralLuminousEfficacy", + final unit="lm/W"); + type LuminousEfficiency = Real( + final quantity="LuminousEfficiency", + final unit="1"); + type SpectralLuminousEfficiency = Real( + final quantity="SpectralLuminousEfficiency", + final unit="1"); + type CIESpectralTristimulusValues = Real( + final quantity="CIESpectralTristimulusValues", + final unit="1"); + type ChromaticityCoordinates = Real( + final quantity="CromaticityCoordinates", + final unit="1"); + type SpectralAbsorptionFactor = Real( + final quantity="SpectralAbsorptionFactor", + final unit="1"); + type SpectralReflectionFactor = Real( + final quantity="SpectralReflectionFactor", + final unit="1"); + type SpectralTransmissionFactor = Real( + final quantity="SpectralTransmissionFactor", + final unit="1"); + type SpectralRadianceFactor = Real( + final quantity="SpectralRadianceFactor", + final unit="1"); + type LinearAttenuationCoefficient = Real( + final quantity="AttenuationCoefficient", + final unit="m-1"); + type LinearAbsorptionCoefficient = Real( + final quantity="LinearAbsorptionCoefficient", + final unit="m-1"); + type MolarAbsorptionCoefficient = Real( + final quantity="MolarAbsorptionCoefficient", + final unit="m2/mol"); + type RefractiveIndex = Real( + final quantity="RefractiveIndex", + final unit="1"); + type StaticPressure = AbsolutePressure; + type SoundPressure = StaticPressure; + type SoundParticleDisplacement = Real( + final quantity="Length", + final unit="m"); + type SoundParticleVelocity = Real( + final quantity="Velocity", + final unit="m/s"); + type SoundParticleAcceleration = Real( + final quantity="Acceleration", + final unit="m/s2"); + type VelocityOfSound = Real( + final quantity="Velocity", + final unit="m/s"); + type SoundEnergyDensity = Real( + final quantity="EnergyDensity", + final unit="J/m3"); + type SoundPower = Real( + final quantity="Power", + final unit="W"); + type SoundIntensity = Real( + final quantity="SoundIntensity", + final unit="W/m2"); + type AcousticImpedance = Real( + final quantity="AcousticImpedance", + final unit="Pa.s/m3"); + type SpecificAcousticImpedance = Real( + final quantity="SpecificAcousticImpedance", + final unit="Pa.s/m"); + type MechanicalImpedance = Real( + final quantity="MechanicalImpedance", + final unit="N.s/m"); + type SoundPressureLevel = Real( + final quantity="SoundPressureLevel", + final unit="dB"); + type SoundPowerLevel = Real( + final quantity="SoundPowerLevel", + final unit="dB"); + type DissipationCoefficient = Real( + final quantity="DissipationCoefficient", + final unit="1"); + type ReflectionCoefficient = Real( + final quantity="ReflectionCoefficient", + final unit="1"); + type TransmissionCoefficient = Real( + final quantity="TransmissionCoefficient", + final unit="1"); + type AcousticAbsorptionCoefficient = Real( + final quantity="AcousticAbsorptionCoefficient", + final unit="1"); + type SoundReductionIndex = Real( + final quantity="SoundReductionIndex", + final unit="dB"); + type EquivalentAbsorptionArea = Real( + final quantity="Area", + final unit="m2"); + type ReverberationTime = Real( + final quantity="Time", + final unit="s"); + type LoudnessLevel = Real( + final quantity="LoudnessLevel", + final unit="phon"); + type Loudness = Real( + final quantity="Loudness", + final unit="sone"); + type LoundnessLevel = Real( + final quantity="LoundnessLevel", + final unit="phon") "Obsolete type, use LoudnessLevel instead!"; + type Loundness = Real( + final quantity="Loundness", + final unit="sone") "Obsolete type, use Loudness instead!"; + type RelativeAtomicMass = Real( + final quantity="RelativeAtomicMass", + final unit="1"); + type RelativeMolecularMass = Real( + final quantity="RelativeMolecularMass", + final unit="1"); + type NumberOfMolecules = Real( + final quantity="NumberOfMolecules", + final unit="1"); + type AmountOfSubstance = Real( + final quantity="AmountOfSubstance", + final unit="mol", + min=0); + type MolarMass = Real( + final quantity="MolarMass", + final unit="kg/mol", + min=0); + type MolarVolume = Real( + final quantity="MolarVolume", + final unit="m3/mol", + min=0); + type MolarDensity = Real( + final quantity="MolarDensity", + unit="mol/m3"); + type MolarEnergy = Real( + final quantity="MolarEnergy", + final unit="J/mol", + nominal=2e4); + type MolarInternalEnergy = MolarEnergy; + type MolarHeatCapacity = Real( + final quantity="MolarHeatCapacity", + final unit="J/(mol.K)"); + type MolarEntropy = Real( + final quantity="MolarEntropy", + final unit="J/(mol.K)"); + type MolarEnthalpy = MolarEnergy; + type MolarFlowRate = Real( + final quantity="MolarFlowRate", + final unit="mol/s"); + type NumberDensityOfMolecules = Real( + final quantity="NumberDensityOfMolecules", + final unit="m-3"); + type MolecularConcentration = Real( + final quantity="MolecularConcentration", + final unit="m-3"); + type MassConcentration = Real( + final quantity="MassConcentration", + final unit="kg/m3"); + type MassFraction = Real( + final quantity="MassFraction", + final unit="1", + min=0, + max=1); + type Concentration = Real( + final quantity="Concentration", + final unit="mol/m3"); + type VolumeFraction = Real( + final quantity="VolumeFraction", + final unit="1"); + type MoleFraction = Real( + final quantity="MoleFraction", + final unit="1", + min=0, + max=1); + type ChemicalPotential = Real( + final quantity="ChemicalPotential", + final unit="J/mol"); + type AbsoluteActivity = Real( + final quantity="AbsoluteActivity", + final unit="1"); + type PartialPressure = AbsolutePressure; + type Fugacity = Real( + final quantity="Fugacity", + final unit="Pa"); + type StandardAbsoluteActivity = Real( + final quantity="StandardAbsoluteActivity", + final unit="1"); + type ActivityCoefficient = Real( + final quantity="ActivityCoefficient", + final unit="1"); + type ActivityOfSolute = Real( + final quantity="ActivityOfSolute", + final unit="1"); + type ActivityCoefficientOfSolute = Real( + final quantity="ActivityCoefficientOfSolute", + final unit="1"); + type StandardAbsoluteActivityOfSolute = Real( + final quantity="StandardAbsoluteActivityOfSolute", + final unit="1"); + type ActivityOfSolvent = Real( + final quantity="ActivityOfSolvent", + final unit="1"); + type OsmoticCoefficientOfSolvent = Real( + final quantity="OsmoticCoefficientOfSolvent", + final unit="1"); + type StandardAbsoluteActivityOfSolvent = Real( + final quantity="StandardAbsoluteActivityOfSolvent", + final unit="1"); + type OsmoticPressure = Real( + final quantity="Pressure", + final unit="Pa", + displayUnit="bar", + min=0); + type StoichiometricNumber = Real( + final quantity="StoichiometricNumber", + final unit="1"); + type Affinity = Real( + final quantity="Affinity", + final unit="J/mol"); + type MassOfMolecule = Real( + final quantity="Mass", + final unit="kg"); + type ElectricDipoleMomentOfMolecule = Real( + final quantity="ElectricDipoleMomentOfMolecule", + final unit="C.m"); + type ElectricPolarizabilityOfAMolecule = Real( + final quantity="ElectricPolarizabilityOfAMolecule", + final unit="C.m2/V"); + type MicrocanonicalPartitionFunction = Real( + final quantity="MicrocanonicalPartitionFunction", + final unit="1"); + type CanonicalPartitionFunction = Real( + final quantity="CanonicalPartitionFunction", + final unit="1"); + type GrandCanonicalPartitionFunction = Real( + final quantity="GrandCanonicalPartitionFunction", + final unit="1"); + type MolecularPartitionFunction = Real( + final quantity="MolecularPartitionFunction", + final unit="1"); + type StatisticalWeight = Real( + final quantity="StatisticalWeight", + final unit="1"); + type MeanFreePath = Length; + type DiffusionCoefficient = Real( + final quantity="DiffusionCoefficient", + final unit="m2/s"); + type ThermalDiffusionRatio = Real( + final quantity="ThermalDiffusionRatio", + final unit="1"); + type ThermalDiffusionFactor = Real( + final quantity="ThermalDiffusionFactor", + final unit="1"); + type ThermalDiffusionCoefficient = Real( + final quantity="ThermalDiffusionCoefficient", + final unit="m2/s"); + type ElementaryCharge = Real( + final quantity="ElementaryCharge", + final unit="C"); + type ChargeNumberOfIon = Real( + final quantity="ChargeNumberOfIon", + final unit="1"); + type FaradayConstant = Real( + final quantity="FaradayConstant", + final unit="C/mol"); + type IonicStrength = Real( + final quantity="IonicStrength", + final unit="mol/kg"); + type DegreeOfDissociation = Real( + final quantity="DegreeOfDissociation", + final unit="1"); + type ElectrolyticConductivity = Real( + final quantity="ElectrolyticConductivity", + final unit="S/m"); + type MolarConductivity = Real( + final quantity="MolarConductivity", + final unit="S.m2/mol"); + type TransportNumberOfIonic = Real( + final quantity="TransportNumberOfIonic", + final unit="1"); + type ProtonNumber = Real( + final quantity="ProtonNumber", + final unit="1"); + type NeutronNumber = Real( + final quantity="NeutronNumber", + final unit="1"); + type NucleonNumber = Real( + final quantity="NucleonNumber", + final unit="1"); + type AtomicMassConstant = Real( + final quantity="Mass", + final unit="kg"); + type MassOfElectron = Real( + final quantity="Mass", + final unit="kg"); + type MassOfProton = Real( + final quantity="Mass", + final unit="kg"); + type MassOfNeutron = Real( + final quantity="Mass", + final unit="kg"); + type HartreeEnergy = Real( + final quantity="Energy", + final unit="J"); + type MagneticMomentOfParticle = Real( + final quantity="MagneticMomentOfParticle", + final unit="A.m2"); + type BohrMagneton = MagneticMomentOfParticle; + type NuclearMagneton = MagneticMomentOfParticle; + type GyromagneticCoefficient = Real( + final quantity="GyromagneticCoefficient", + final unit="A.m2/(J.s)"); + type GFactorOfAtom = Real( + final quantity="GFactorOfAtom", + final unit="1"); + type GFactorOfNucleus = Real( + final quantity="GFactorOfNucleus", + final unit="1"); + type LarmorAngularFrequency = Real( + final quantity="AngularFrequency", + final unit="s-1"); + type NuclearPrecessionAngularFrequency = Real( + final quantity="AngularFrequency", + final unit="s-1"); + type CyclotronAngularFrequency = Real( + final quantity="AngularFrequency", + final unit="s-1"); + type NuclearQuadrupoleMoment = Real( + final quantity="NuclearQuadrupoleMoment", + final unit="m2"); + type NuclearRadius = Real( + final quantity="Length", + final unit="m"); + type ElectronRadius = Real( + final quantity="Length", + final unit="m"); + type ComptonWavelength = Real( + final quantity="Length", + final unit="m"); + type MassExcess = Real( + final quantity="Mass", + final unit="kg"); + type MassDefect = Real( + final quantity="Mass", + final unit="kg"); + type RelativeMassExcess = Real( + final quantity="RelativeMassExcess", + final unit="1"); + type RelativeMassDefect = Real( + final quantity="RelativeMassDefect", + final unit="1"); + type PackingFraction = Real( + final quantity="PackingFraction", + final unit="1"); + type BindingFraction = Real( + final quantity="BindingFraction", + final unit="1"); + type MeanLife = Real( + final quantity="Time", + final unit="s"); + type LevelWidth = Real( + final quantity="LevelWidth", + final unit="J"); + type Activity = Real( + final quantity="Activity", + final unit="Bq"); + type SpecificActivity = Real( + final quantity="SpecificActivity", + final unit="Bq/kg"); + type DecayConstant = Real( + final quantity="DecayConstant", + final unit="s-1"); + type HalfLife = Real( + final quantity="Time", + final unit="s"); + type AlphaDisintegrationEnergy = Real( + final quantity="Energy", + final unit="J"); + type MaximumBetaParticleEnergy = Real( + final quantity="Energy", + final unit="J"); + type BetaDisintegrationEnergy = Real( + final quantity="Energy", + final unit="J"); + type ReactionEnergy = Real( + final quantity="Energy", + final unit="J"); + type ResonanceEnergy = Real( + final quantity="Energy", + final unit="J"); + type CrossSection = Real( + final quantity="Area", + final unit="m2"); + type TotalCrossSection = Real( + final quantity="Area", + final unit="m2"); + type AngularCrossSection = Real( + final quantity="AngularCrossSection", + final unit="m2/sr"); + type SpectralCrossSection = Real( + final quantity="SpectralCrossSection", + final unit="m2/J"); + type SpectralAngularCrossSection = Real( + final quantity="SpectralAngularCrossSection", + final unit="m2/(sr.J)"); + type MacroscopicCrossSection = Real( + final quantity="MacroscopicCrossSection", + final unit="m-1"); + type TotalMacroscopicCrossSection = Real( + final quantity="TotalMacroscopicCrossSection", + final unit="m-1"); + type ParticleFluence = Real( + final quantity="ParticleFluence", + final unit="m-2"); + type ParticleFluenceRate = Real( + final quantity="ParticleFluenceRate", + final unit="s-1.m2"); + type EnergyFluence = Real( + final quantity="EnergyFluence", + final unit="J/m2"); + type EnergyFluenceRate = Real( + final quantity="EnergyFluenceRate", + final unit="W/m2"); + type CurrentDensityOfParticles = Real( + final quantity="CurrentDensityOfParticles", + final unit="m-2.s-1"); + type MassAttenuationCoefficient = Real( + final quantity="MassAttenuationCoefficient", + final unit="m2/kg"); + type MolarAttenuationCoefficient = Real( + final quantity="MolarAttenuationCoefficient", + final unit="m2/mol"); + type AtomicAttenuationCoefficient = Real( + final quantity="AtomicAttenuationCoefficient", + final unit="m2"); + type HalfThickness = Real( + final quantity="Length", + final unit="m"); + type TotalLinearStoppingPower = Real( + final quantity="TotalLinearStoppingPower", + final unit="J/m"); + type TotalAtomicStoppingPower = Real( + final quantity="TotalAtomicStoppingPower", + final unit="J.m2"); + type TotalMassStoppingPower = Real( + final quantity="TotalMassStoppingPower", + final unit="J.m2/kg"); + type MeanLinearRange = Real( + final quantity="Length", + final unit="m"); + type MeanMassRange = Real( + final quantity="MeanMassRange", + final unit="kg/m2"); + type LinearIonization = Real( + final quantity="LinearIonization", + final unit="m-1"); + type TotalIonization = Real( + final quantity="TotalIonization", + final unit="1"); + type Mobility = Real( + final quantity="Mobility", + final unit="m2/(V.s)"); + type IonNumberDensity = Real( + final quantity="IonNumberDensity", + final unit="m-3"); + type RecombinationCoefficient = Real( + final quantity="RecombinationCoefficient", + final unit="m3/s"); + type NeutronNumberDensity = Real( + final quantity="NeutronNumberDensity", + final unit="m-3"); + type NeutronSpeed = Real( + final quantity="Velocity", + final unit="m/s"); + type NeutronFluenceRate = Real( + final quantity="NeutronFluenceRate", + final unit="s-1.m-2"); + type TotalNeutronSourceDensity = Real( + final quantity="TotalNeutronSourceDesity", + final unit="s-1.m-3"); + type SlowingDownDensity = Real( + final quantity="SlowingDownDensity", + final unit="s-1.m-3"); + type ResonanceEscapeProbability = Real( + final quantity="ResonanceEscapeProbability", + final unit="1"); + type Lethargy = Real( + final quantity="Lethargy", + final unit="1"); + type SlowingDownArea = Real( + final quantity="Area", + final unit="m2"); + type DiffusionArea = Real( + final quantity="Area", + final unit="m2"); + type MigrationArea = Real( + final quantity="Area", + final unit="m2"); + type SlowingDownLength = Real( + final quantity="SLength", + final unit="m"); + type DiffusionLength = Length; + type MigrationLength = Length; + type NeutronYieldPerFission = Real( + final quantity="NeutronYieldPerFission", + final unit="1"); + type NeutronYieldPerAbsorption = Real( + final quantity="NeutronYieldPerAbsorption", + final unit="1"); + type FastFissionFactor = Real( + final quantity="FastFissionFactor", + final unit="1"); + type ThermalUtilizationFactor = Real( + final quantity="ThermalUtilizationFactor", + final unit="1"); + type NonLeakageProbability = Real( + final quantity="NonLeakageProbability", + final unit="1"); + type Reactivity = Real( + final quantity="Reactivity", + final unit="1"); + type ReactorTimeConstant = Real( + final quantity="Time", + final unit="s"); + type EnergyImparted = Real( + final quantity="Energy", + final unit="J"); + type MeanEnergyImparted = Real( + final quantity="Energy", + final unit="J"); + type SpecificEnergyImparted = Real( + final quantity="SpecificEnergy", + final unit="Gy"); + type AbsorbedDose = Real( + final quantity="AbsorbedDose", + final unit="Gy"); + type DoseEquivalent = Real( + final quantity="DoseEquivalent", + final unit="Sv"); + type AbsorbedDoseRate = Real( + final quantity="AbsorbedDoseRate", + final unit="Gy/s"); + type LinearEnergyTransfer = Real( + final quantity="LinearEnergyTransfer", + final unit="J/m"); + type Kerma = Real( + final quantity="Kerma", + final unit="Gy"); + type KermaRate = Real( + final quantity="KermaRate", + final unit="Gy/s"); + type MassEnergyTransferCoefficient = Real( + final quantity="MassEnergyTransferCoefficient", + final unit="m2/kg"); + type Exposure = Real( + final quantity="Exposure", + final unit="C/kg"); + type ExposureRate = Real( + final quantity="ExposureRate", + final unit="C/(kg.s)"); + type ReynoldsNumber = Real( + final quantity="ReynoldsNumber", + final unit="1"); + type EulerNumber = Real( + final quantity="EulerNumber", + final unit="1"); + type FroudeNumber = Real( + final quantity="FroudeNumber", + final unit="1"); + type GrashofNumber = Real( + final quantity="GrashofNumber", + final unit="1"); + type WeberNumber = Real( + final quantity="WeberNumber", + final unit="1"); + type MachNumber = Real( + final quantity="MachNumber", + final unit="1"); + type KnudsenNumber = Real( + final quantity="KnudsenNumber", + final unit="1"); + type StrouhalNumber = Real( + final quantity="StrouhalNumber", + final unit="1"); + type FourierNumber = Real( + final quantity="FourierNumber", + final unit="1"); + type PecletNumber = Real( + final quantity="PecletNumber", + final unit="1"); + type RayleighNumber = Real( + final quantity="RayleighNumber", + final unit="1"); + type NusseltNumber = Real( + final quantity="NusseltNumber", + final unit="1"); + type BiotNumber = NusseltNumber; + type StantonNumber = Real( + final quantity="StantonNumber", + final unit="1"); + type FourierNumberOfMassTransfer = Real( + final quantity="FourierNumberOfMassTransfer", + final unit="1"); + type PecletNumberOfMassTransfer = Real( + final quantity="PecletNumberOfMassTransfer", + final unit="1"); + type GrashofNumberOfMassTransfer = Real( + final quantity="GrashofNumberOfMassTransfer", + final unit="1"); + type NusseltNumberOfMassTransfer = Real( + final quantity="NusseltNumberOfMassTransfer", + final unit="1"); + type StantonNumberOfMassTransfer = Real( + final quantity="StantonNumberOfMassTransfer", + final unit="1"); + type PrandtlNumber = Real( + final quantity="PrandtlNumber", + final unit="1"); + type SchmidtNumber = Real( + final quantity="SchmidtNumber", + final unit="1"); + type LewisNumber = Real( + final quantity="LewisNumber", + final unit="1"); + type MagneticReynoldsNumber = Real( + final quantity="MagneticReynoldsNumber", + final unit="1"); + type AlfvenNumber = Real( + final quantity="AlfvenNumber", + final unit="1"); + type HartmannNumber = Real( + final quantity="HartmannNumber", + final unit="1"); + type CowlingNumber = Real( + final quantity="CowlingNumber", + final unit="1"); + type BraggAngle = Angle; + type OrderOfReflexion = Real( + final quantity="OrderOfReflexion", + final unit="1"); + type ShortRangeOrderParameter = Real( + final quantity="RangeOrderParameter", + final unit="1"); + type LongRangeOrderParameter = Real( + final quantity="RangeOrderParameter", + final unit="1"); + type DebyeWallerFactor = Real( + final quantity="DebyeWallerFactor", + final unit="1"); + type CircularWavenumber = Real( + final quantity="CircularWavenumber", + final unit="m-1"); + type FermiCircularWavenumber = Real( + final quantity="FermiCircularWavenumber", + final unit="m-1"); + type DebyeCircularWavenumber = Real( + final quantity="DebyeCircularWavenumber", + final unit="m-1"); + type DebyeCircularFrequency = Real( + final quantity="AngularFrequency", + final unit="s-1"); + type DebyeTemperature = ThermodynamicTemperature; + type SpectralConcentration = Real( + final quantity="SpectralConcentration", + final unit="s/m3"); + type GrueneisenParameter = Real( + final quantity="GrueneisenParameter", + final unit="1"); + type MadelungConstant = Real( + final quantity="MadelungConstant", + final unit="1"); + type DensityOfStates = Real( + final quantity="DensityOfStates", + final unit="J-1/m-3"); + type ResidualResistivity = Real( + final quantity="ResidualResistivity", + final unit="Ohm.m"); + type LorenzCoefficient = Real( + final quantity="LorenzCoefficient", + final unit="V2/K2"); + type HallCoefficient = Real( + final quantity="HallCoefficient", + final unit="m3/C"); + type ThermoelectromotiveForce = Real( + final quantity="ThermoelectromotiveForce", + final unit="V"); + type SeebeckCoefficient = Real( + final quantity="SeebeckCoefficient", + final unit="V/K"); + type PeltierCoefficient = Real( + final quantity="PeltierCoefficient", + final unit="V"); + type ThomsonCoefficient = Real( + final quantity="ThomsonCoefficient", + final unit="V/K"); + type RichardsonConstant = Real( + final quantity="RichardsonConstant", + final unit="A/(m2.K2)"); + type FermiEnergy = Real( + final quantity="Energy", + final unit="eV"); + type GapEnergy = Real( + final quantity="Energy", + final unit="eV"); + type DonorIonizationEnergy = Real( + final quantity="Energy", + final unit="eV"); + type AcceptorIonizationEnergy = Real( + final quantity="Energy", + final unit="eV"); + type ActivationEnergy = Real( + final quantity="Energy", + final unit="eV"); + type FermiTemperature = ThermodynamicTemperature; + type ElectronNumberDensity = Real( + final quantity="ElectronNumberDensity", + final unit="m-3"); + type HoleNumberDensity = Real( + final quantity="HoleNumberDensity", + final unit="m-3"); + type IntrinsicNumberDensity = Real( + final quantity="IntrinsicNumberDensity", + final unit="m-3"); + type DonorNumberDensity = Real( + final quantity="DonorNumberDensity", + final unit="m-3"); + type AcceptorNumberDensity = Real( + final quantity="AcceptorNumberDensity", + final unit="m-3"); + type EffectiveMass = Mass; + type MobilityRatio = Real( + final quantity="MobilityRatio", + final unit="1"); + type RelaxationTime = Time; + type CarrierLifeTime = Time; + type ExchangeIntegral = Real( + final quantity="Energy", + final unit="eV"); + type CurieTemperature = ThermodynamicTemperature; + type NeelTemperature = ThermodynamicTemperature; + type LondonPenetrationDepth = Length; + type CoherenceLength = Length; + type LandauGinzburgParameter = Real( + final quantity="LandauGinzburgParameter", + final unit="1"); + type FluxiodQuantum = Real( + final quantity="FluxiodQuantum", + final unit="Wb"); + type TimeAging = Real( + final quantity="1/Modelica.SIunits.Time", + final unit="1/s"); + type ChargeAging = Real( + final quantity="1/Modelica.SIunits.ElectricCharge", + final unit="1/(A.s)"); + type PerUnit = Real(unit="1"); + operator record ComplexCurrent = Complex( + redeclare Modelica.SIunits.Current re, + redeclare Modelica.SIunits.Current im) "Complex electrical current"; + operator record ComplexCurrentSlope = Complex( + redeclare Modelica.SIunits.CurrentSlope re, + redeclare Modelica.SIunits.CurrentSlope im) "Complex current slope"; + operator record ComplexCurrentDensity = Complex( + redeclare Modelica.SIunits.CurrentDensity re, + redeclare Modelica.SIunits.CurrentDensity im) "Complex electrical current density"; + operator record ComplexElectricPotential = Complex( + redeclare Modelica.SIunits.ElectricPotential re, + redeclare Modelica.SIunits.ElectricPotential im) "Complex electric potential"; + operator record ComplexPotentialDifference = Complex( + redeclare Modelica.SIunits.PotentialDifference re, + redeclare Modelica.SIunits.PotentialDifference im) "Complex electric potential difference"; + operator record ComplexVoltage = Complex( + redeclare Modelica.SIunits.Voltage re, + redeclare Modelica.SIunits.Voltage im) "Complex electrical voltage"; + operator record ComplexVoltageSlope = Complex( + redeclare Modelica.SIunits.VoltageSlope re, + redeclare Modelica.SIunits.VoltageSlope im) "Complex voltage slope"; + operator record ComplexElectricFieldStrength = Complex( + redeclare Modelica.SIunits.ElectricFieldStrength re, + redeclare Modelica.SIunits.ElectricFieldStrength im) "Complex electric field strength"; + operator record ComplexElectricFluxDensity = Complex( + redeclare Modelica.SIunits.ElectricFluxDensity re, + redeclare Modelica.SIunits.ElectricFluxDensity im) "Complex electric flux density"; + operator record ComplexElectricFlux = Complex( + redeclare Modelica.SIunits.ElectricFlux re, + redeclare Modelica.SIunits.ElectricFlux im) "Complex electric flux"; + operator record ComplexMagneticFieldStrength = Complex( + redeclare Modelica.SIunits.MagneticFieldStrength re, + redeclare Modelica.SIunits.MagneticFieldStrength im) "Complex magnetic field strength"; + operator record ComplexMagneticPotential = Complex( + redeclare Modelica.SIunits.MagneticPotential re, + redeclare Modelica.SIunits.MagneticPotential im) "Complex magnetic potential"; + operator record ComplexMagneticPotentialDifference = Complex( + redeclare Modelica.SIunits.MagneticPotentialDifference re, + redeclare Modelica.SIunits.MagneticPotentialDifference im) "Complex magnetic potential difference"; + operator record ComplexMagnetomotiveForce = Complex( + redeclare Modelica.SIunits.MagnetomotiveForce re, + redeclare Modelica.SIunits.MagnetomotiveForce im) "Complex magneto motive force"; + operator record ComplexMagneticFluxDensity = Complex( + redeclare Modelica.SIunits.MagneticFluxDensity re, + redeclare Modelica.SIunits.MagneticFluxDensity im) "Complex magnetic flux density"; + operator record ComplexMagneticFlux = Complex( + redeclare Modelica.SIunits.MagneticFlux re, + redeclare Modelica.SIunits.MagneticFlux im) "Complex magnetic flux"; + operator record ComplexReluctance = Complex( + redeclare Modelica.SIunits.Reluctance re, + redeclare Modelica.SIunits.Reluctance im) "Complex reluctance" annotation(Documentation(info=" +

+Since magnetic material properties like reluctance and permeance often are anisotropic resp. salient, +a special operator instead of multiplication (compare: tensor vs. vector) is required. +Modelica.Magnetic.FundamentalWave uses a +special record Salient +which is only valid in the rotor-fixed coordinate system. +

+

+Note: To avoid confusion, no magnetic material properties should be defined as Complex units. +

+")); + operator record ComplexImpedance = Complex( + redeclare Resistance re, + redeclare Reactance im) "Complex electrical impedance"; + operator record ComplexAdmittance = Complex( + redeclare Conductance re, + redeclare Susceptance im) "Complex electrical admittance"; + operator record ComplexPower = Complex( + redeclare ActivePower re, + redeclare ReactivePower im) "Complex electrical power"; + annotation( + Icon( + coordinateSystem( + preserveAspectRatio=false, + extent={{-100, + -100},{100,100}}), + graphics={ + Line( + points={{-66,78},{-66,-40}}, + color={64,64,64}, + smooth=Smooth.None), + Ellipse( + extent={{12,36},{68,-38}}, + lineColor={64,64,64}, + fillColor={175,175,175}, + fillPattern=FillPattern.Solid), + Rectangle( + extent={{-74,78},{-66,-40}}, + lineColor={64,64,64}, + fillColor={175,175,175}, + fillPattern=FillPattern.Solid), + Polygon( + points={{-66,-4},{-66,6},{-16,56},{-16,46},{-66,-4}}, + lineColor={64,64,64}, + smooth=Smooth.None, + fillColor={175,175,175}, + fillPattern=FillPattern.Solid), + Polygon( + points={{-46,16},{-40,22},{-2,-40},{-10,-40},{-46,16}}, + lineColor={64,64,64}, + smooth=Smooth.None, + fillColor={175,175,175}, + fillPattern=FillPattern.Solid), + Ellipse( + extent={{22,26},{58,-28}}, + lineColor={64,64,64}, + fillColor={255,255,255}, + fillPattern=FillPattern.Solid), + Polygon( + points={{68,2},{68,-46},{64,-60},{58,-68},{48,-72},{18,-72},{18,-64}, + {46,-64},{54,-60},{58,-54},{60,-46},{60,-26},{64,-20},{68,-6},{68, + 2}}, + lineColor={64,64,64}, + smooth=Smooth.Bezier, + fillColor={175,175,175}, + fillPattern=FillPattern.Solid)}), + Documentation( + info=" +

This package provides predefined types, such as Mass, +Angle, Time, based on the international standard +on units, e.g., +

+ +
   type Angle = Real(final quantity = \"Angle\",
+                     final unit     = \"rad\",
+                     displayUnit    = \"deg\");
+
+ +

+as well as conversion functions from non SI-units to SI-units +and vice versa in subpackage +Conversions. +

+ +

+For an introduction how units are used in the Modelica standard library +with package SIunits, have a look at: +How to use SIunits. +

+ +

+Copyright © 1998-2015, Modelica Association and DLR. +

+

+This Modelica package is free software and the use is completely at your own risk; it can be redistributed and/or modified under the terms of the Modelica License 2. For license conditions (including the disclaimer of warranty) see Modelica.UsersGuide.ModelicaLicense2 or visit https://www.modelica.org/licenses/ModelicaLicense2. +

+", + revisions=" + +")); + end SIunits; + package Icons + extends Icons.Package; + partial class Contact "Icon for contact information" + annotation( + Icon( + coordinateSystem( + preserveAspectRatio=false, + extent={{-100, + -100},{100,100}}), + graphics={ + Rectangle( + extent={{-100,70},{100,-72}}, + lineColor={0,0,0}, + fillColor={235,235,235}, + fillPattern=FillPattern.Solid), + Polygon( + points={{-100,-72},{100,-72},{0,20},{-100,-72}}, + lineColor={0,0,0}, + smooth=Smooth.None, + fillColor={215,215,215}, + fillPattern=FillPattern.Solid), + Polygon( + points={{22,0},{100,70},{100,-72},{22,0}}, + lineColor={0,0,0}, + smooth=Smooth.None, + fillColor={235,235,235}, + fillPattern=FillPattern.Solid), + Polygon( + points={{-100,70},{100,70},{0,-20},{-100,70}}, + lineColor={0,0,0}, + smooth=Smooth.None, + fillColor={241,241,241}, + fillPattern=FillPattern.Solid)}), + Documentation(info=" +

This icon shall be used for the contact information of the library developers.

+")); + end Contact; + partial class ObsoleteModel "Icon for classes that are obsolete and will be removed in later versions" + annotation( + Icon( + coordinateSystem( + preserveAspectRatio=false, + extent={{-100, + -100},{100,100}}), + graphics={Rectangle( + extent={{-102,102},{102,-102}}, + lineColor={255,0,0}, + pattern=LinePattern.Dash, + lineThickness=0.5)}), + Documentation(info=" +

+This partial class is intended to provide a default icon +for an obsolete model that will be removed from the +corresponding library in a future release. +

+")); + end ObsoleteModel; + partial package IconsPackage "Icon for packages containing icons" + extends Modelica.Icons.Package; + annotation(Icon( + coordinateSystem( + preserveAspectRatio=false, + extent={{-100, + -100},{100,100}}), + graphics={Polygon( + origin={-8.167,-17}, + fillColor={128,128,128}, + pattern=LinePattern.None, + fillPattern=FillPattern.Solid, + points={{-15.833,20.0},{-15.833,30.0},{14.167,40.0},{24.167,20.0},{ + 4.167,-30.0},{14.167,-30.0},{24.167,-30.0},{24.167,-40.0},{-5.833, + -50.0},{-15.833,-30.0},{4.167,20.0},{-5.833,20.0}}, + smooth=Smooth.Bezier, + lineColor={0,0,0}), Ellipse( + origin={-0.5,56.5}, + fillColor={128,128,128}, + pattern=LinePattern.None, + fillPattern=FillPattern.Solid, + extent={{-12.5,-12.5},{12.5,12.5}}, + lineColor={0,0,0})})); + end IconsPackage; + partial class References "Icon for external references" + annotation( + Icon( + coordinateSystem( + preserveAspectRatio=false, + extent={{-100, + -100},{100,100}}), + graphics={ + Polygon( + points={{-100,-80},{-100,60},{-80,54},{-80,80},{-40,58},{-40,100},{ + -10,60},{90,60},{100,40},{100,-100},{-20,-100},{-100,-80}}, + lineColor={0,0,255}, + pattern=LinePattern.None, + fillColor={245,245,245}, + fillPattern=FillPattern.Solid), + Polygon(points={{-20,-100},{-10,-80},{90,-80},{100,-100},{-20,-100}}, + lineColor={0,0,0}), + Line(points={{90,-80},{90,60},{100,40},{100,-100}}, color={0,0,0}), + Line(points={{90,60},{-10,60},{-10,-80}}, color={0,0,0}), + Line(points={{-10,60},{-40,100},{-40,-40},{-10,-80},{-10,60}}, color= + {0,0,0}), + Line(points={{-20,-88},{-80,-60},{-80,80},{-40,58}}, color={0,0,0}), + Line(points={{-20,-100},{-100,-80},{-100,60},{-80,54}}, color={0,0,0}), + Line(points={{10,30},{72,30}}, color={0,0,0}), + Line(points={{10,-10},{70,-10}}, color={0,0,0}), + Line(points={{10,-50},{70,-50}}, color={0,0,0})}), + Documentation(info=" +

This icon indicates a documentation class containing references to external documentation and literature.

+")); + end References; + partial class Information "Icon for general information packages" + annotation( + Icon( + coordinateSystem( + preserveAspectRatio=false, + extent={{-100,-100},{100,100}}), + graphics={ + Ellipse( + lineColor={75,138,73}, + fillColor={75,138,73}, + pattern=LinePattern.None, + fillPattern=FillPattern.Solid, + extent={{-100.0,-100.0},{100.0,100.0}}), + Polygon(origin={-4.167,-15.0}, + fillColor={255,255,255}, + pattern=LinePattern.None, + fillPattern=FillPattern.Solid, + points={{-15.833,20.0},{-15.833,30.0},{14.167,40.0},{24.167,20.0},{4.167,-30.0},{14.167,-30.0},{24.167,-30.0},{24.167,-40.0},{-5.833,-50.0},{-15.833,-30.0},{4.167,20.0},{-5.833,20.0}}, + smooth=Smooth.Bezier), + Ellipse(origin={7.5,56.5}, + fillColor={255,255,255}, + pattern=LinePattern.None, + fillPattern=FillPattern.Solid, + extent={{-12.5,-12.5},{12.5,12.5}})}), + Documentation(info=" +

This icon indicates classes containing only documentation, intended for general description of, e.g., concepts and features of a package.

+")); + end Information; + partial package Package "Icon for standard packages" + annotation( + Icon( + coordinateSystem( + preserveAspectRatio=false, + extent={{-100,-100},{100,100}}), + graphics={ + Rectangle( + lineColor={200,200,200}, + fillColor={248,248,248}, + fillPattern=FillPattern.HorizontalCylinder, + extent={{-100.0,-100.0},{100.0,100.0}}, + radius=25.0), + Rectangle( + lineColor={128,128,128}, + fillPattern=FillPattern.None, + extent={{-100.0,-100.0},{100.0,100.0}}, + radius=25.0)}), + Documentation(info=" +

Standard package icon.

+")); + end Package; + annotation( + Icon( + coordinateSystem( + preserveAspectRatio=false, + extent={{-100, + -100},{100,100}}), + graphics={Polygon( + origin={-8.167,-17}, + fillColor={128,128,128}, + pattern=LinePattern.None, + fillPattern=FillPattern.Solid, + points={{-15.833,20.0},{-15.833,30.0},{14.167,40.0},{24.167,20.0},{ + 4.167,-30.0},{14.167,-30.0},{24.167,-30.0},{24.167,-40.0},{-5.833, + -50.0},{-15.833,-30.0},{4.167,20.0},{-5.833,20.0}}, + smooth=Smooth.Bezier, + lineColor={0,0,0}), Ellipse( + origin={-0.5,56.5}, + fillColor={128,128,128}, + pattern=LinePattern.None, + fillPattern=FillPattern.Solid, + extent={{-12.5,-12.5},{12.5,12.5}}, + lineColor={0,0,0})}), + Documentation(info=" +

This package contains definitions for the graphical layout of components which may be used in different libraries. The icons can be utilized by inheriting them in the desired class using "extends" or by directly copying the "icon" layer.

+ +

Main Authors:

+ +
+
Martin Otter
+
Deutsches Zentrum fuer Luft und Raumfahrt e.V. (DLR)
+
Oberpfaffenhofen
+
Postfach 1116
+
D-82230 Wessling
+
email: Martin.Otter@dlr.de
+
Christian Kral
+
Electric Machines, Drives and Systems
+
1060 Vienna, Austria
+
email: dr.christian.kral@gmail.com
+
Johan Andreasson
+
Modelon AB
+
Ideon Science Park
+
22370 Lund, Sweden
+
email: johan.andreasson@modelon.se
+
+ +

Copyright © 1998-2015, Modelica Association, DLR, AIT, and Modelon AB.

+

This Modelica package is free software; it can be redistributed and/or modified under the terms of the Modelica license, see the license conditions and the accompanying disclaimer in Modelica.UsersGuide.ModelicaLicense2.

+")); + end Icons; + annotation( + version="3.2.1", + versionDate="2013-08-14", + versionBuild="4", + dateModified="2017-09-12 08:29:24Z", + revisionId="$Id:: package.mo 8524 2015-10-02 09:12:09Z #$", + Icon(graphics={ + Polygon( + points={{-93.0112,10.3188},{-93.0112,10.3188},{-73.011,24.6},{-63.011,31.221},{-51.219,36.777},{-39.842, + 38.629},{-31.376,36.248},{-25.819,29.369},{-24.232,22.49},{-23.703,17.463},{-15.501,25.135},{-6.24, + 32.015},{3.02,36.777},{15.191,39.423},{27.097,37.306},{32.653,29.633},{35.035,20.108},{43.501, + 28.046},{54.085,35.19},{65.991,39.952},{77.89700000000001,39.688},{87.422,33.338},{91.126,21.696},{90.068, + 9.525},{86.099,-1.058},{79.749,-10.054},{71.283,-21.431},{62.816,-33.337},{60.964,-32.808},{70.489, + -16.14},{77.36799999999999,-2.381},{81.072,10.054},{79.749,19.05},{72.605,24.342},{61.758,23.019},{49.587, + 14.817},{39.003,4.763},{29.214,-6.085},{21.012,-16.669},{13.339,-26.458},{5.401,-36.777},{-1.213, + -46.037},{-6.24,-53.446},{-8.092000000000001,-52.387},{-0.6840000000000001,-40.746},{5.401,-30.692},{12.81,-17.198},{19.424, + -3.969},{23.658,7.938},{22.335,18.785},{16.514,23.283},{8.047000000000001,23.019},{-1.478,19.05},{-11.267, + 11.113},{-19.734,2.381},{-29.259,-8.202},{-38.519,-19.579},{-48.044,-31.221},{-56.511,-43.392},{-64.449, + -55.298},{-72.386,-66.93899999999999},{-77.678,-74.61199999999999},{-79.53,-74.083},{-71.857,-61.383},{-62.861,-46.037},{-52.278, + -28.046},{-44.869,-15.346},{-38.784,-2.117},{-35.344,8.731},{-36.403,19.844},{-42.488,23.813},{-52.013, + 22.49},{-60.744,16.933},{-68.947,10.054},{-76.884,2.646},{-93.0112,-12.1707},{-93.0112,-12.1707}}, + smooth=Smooth.Bezier, + pattern=LinePattern.None, + fillPattern=FillPattern.Solid, + origin={-6.9888,20.048}), + Ellipse( + pattern=LinePattern.None, + fillColor={161,0,4}, + fillPattern=FillPattern.Solid, + extent={{-17.8562,-17.8563},{17.8563,17.8562}}, + origin={40.8208,-37.7602})}), + Documentation(info=" +

+Package Modelica® is a standardized and free package +that is developed together with the Modelica® language from the +Modelica Association, see +https://www.Modelica.org. +It is also called Modelica Standard Library. +It provides model components in many domains that are based on +standardized interface definitions. Some typical examples are shown +in the next figure: +

+ +

+ +

+ +

+For an introduction, have especially a look at: +

+ + +

+This version of the Modelica Standard Library consists of +

+ +

+that are directly usable (= number of public, non-partial classes). It is fully compliant +to Modelica Specification Version 3.2 Revision 2 +and it has been tested with Modelica tools from different vendors. +

+ +

+Licensed by the Modelica Association under the Modelica License 2
+Copyright © 1998-2015, ABB, AIT, T. Bödrich, DLR, Dassault Systèmes AB, Fraunhofer, A. Haumer, ITI, C. Kral, Modelon, +TU Hamburg-Harburg, Politecnico di Milano, XRG Simulation. +

+ +

+This Modelica package is free software and the use is completely at your own risk; it can be redistributed and/or modified under the terms of the Modelica License 2. For license conditions (including the disclaimer of warranty) see Modelica.UsersGuide.ModelicaLicense2 or visit https://www.modelica.org/licenses/ModelicaLicense2. +

+ +

+Modelica® is a registered trademark of the Modelica Association. +

+"), + preferredView="info"); + end Modelica; + operator record Complex "Complex number with overloaded operators" + replaceable Real re "Real part of complex number" annotation(Dialog); + replaceable Real im "Imaginary part of complex number" annotation(Dialog); + encapsulated operator 'constructor' "Constructor" + function fromReal "Construct Complex from Real" + import ImportedTypes.Complex; + input Real re "Real part of complex number"; + input Real im=0 "Imaginary part of complex number"; + output Complex result( + re=re, + im=im) "Complex number"; + algorithm + annotation( + Inline=true, + Documentation(info=" +

This function returns a Complex number defined by real part re and optional imaginary part im (default=0).

+")); + end fromReal; + annotation( + Documentation(info=" +

Here the constructor operator(s) is/are defined.

+"), + Icon(graphics={Rectangle( + lineColor={200,200,200}, + fillColor={248,248,248}, + fillPattern=FillPattern.HorizontalCylinder, + extent={{-100,-100},{100,100}}, + radius=25.0), Rectangle( + lineColor={128,128,128}, + fillPattern=FillPattern.None, + extent={{-100,-100},{100,100}}, + radius=25.0)})); + end 'constructor'; + encapsulated operator function '0' "Zero-element of addition (= Complex(0))" + import ImportedTypes.Complex; + output Complex result "Complex(0)"; + algorithm + result := Complex(0); + annotation( + Inline=true, + Documentation(info=" +

This function returns the zero-element of Complex, that is, Complex(0) = 0 + j*0.

+")); + end '0'; + encapsulated operator '-' "Unary and binary minus" + function negate "Unary minus (multiply complex number by -1)" + import ImportedTypes.Complex; + input Complex c1 "Complex number"; + output Complex c2 "= -c1"; + algorithm + c2 := Complex(-c1.re, -c1.im); + annotation( + Inline=true, + Documentation(info=" +

This function returns the binary minus of the given Complex number.

+")); + end negate; + function subtract "Subtract two complex numbers" + import ImportedTypes.Complex; + input Complex c1 "Complex number 1"; + input Complex c2 "Complex number 2"; + output Complex c3 "= c1 - c2"; + algorithm + c3 := Complex(c1.re - c2.re, c1.im - c2.im); + annotation( + Inline=true, + Documentation(info=" +

This function returns the difference of two given Complex numbers.

+")); + end subtract; + annotation( + Documentation(info=" +

Here the unary and binary minus operator(s) is/are defined.

+"), + Icon( + coordinateSystem( + preserveAspectRatio=false, + extent={{-100,-100}, + {100,100}}), + graphics={ + Rectangle( + lineColor={200,200,200}, + fillColor={248,248,248}, + fillPattern=FillPattern.HorizontalCylinder, + extent={{-100,-100},{100,100}}, + radius=25.0), + Rectangle( + lineColor={128,128,128}, + fillPattern=FillPattern.None, + extent={{-100,-100},{100,100}}, + radius=25.0), + Line( + points={{-50,0},{50,0}}, + color={0,0,0}, + smooth=Smooth.None)})); + end '-'; + encapsulated operator '*' "Multiplication" + function multiply "Multiply two complex numbers" + import ImportedTypes.Complex; + input Complex c1 "Complex number 1"; + input Complex c2 "Complex number 2"; + output Complex c3 "= c1*c2"; + algorithm + c3 := Complex(c1.re*c2.re - c1.im*c2.im, c1.re*c2.im + c1.im*c2.re); + annotation( + Inline=true, + Documentation(info=" +

This function returns the product of two given Complex numbers.

+")); + end multiply; + function scalarProduct "Scalar product c1*c2 of two complex vectors" + import ImportedTypes.Complex; + input Complex c1[:] "Vector of Complex numbers 1"; + input Complex c2[size(c1,1)] "Vector of Complex numbers 2"; + output Complex c3 "= c1*c2"; + algorithm + c3 :=Complex(0); + for i in 1:size(c1,1) loop + c3 :=c3 + c1[i]*c2[i]; + /* + c3 :=Complex(c3.re + c1[i].re*c2[i].re - c1[i].im*c2[i].im, + c3.im + c1[i].re*c2[i].im + c1[i].im*c2[i].re); + */ + end for; + annotation( + Inline=true, + Documentation(info=" +

This function returns the scalar product of two given arrays of Complex numbers.

+")); + end scalarProduct; + annotation( + Documentation(info=" +

Here the multiplication operator(s) is/are defined.

+"), + Icon( + coordinateSystem( + preserveAspectRatio=false, + extent={{-100,-100},{100,100}}), + graphics={ + Rectangle( + lineColor={200,200,200}, + fillColor={248,248,248}, + fillPattern=FillPattern.HorizontalCylinder, + extent={{-100,-100},{100,100}}, + radius=25.0), + Rectangle( + lineColor={128,128,128}, + fillPattern=FillPattern.None, + extent={{-100,-100},{100,100}}, + radius=25.0), + Line( + points={{-42,36},{39,-34}}, + color={0,0,0}, + smooth=Smooth.None), + Line( + points={{-42,-35},{39,37}}, + color={0,0,0}, + smooth=Smooth.None), + Line( + points={{-55,1},{52,1}}, + color={0,0,0}, + smooth=Smooth.None), + Line( + points={{-1.5,55},{-2,-53}}, + color={0,0,0}, + smooth=Smooth.None)})); + end '*'; + encapsulated operator function '+' "Add two complex numbers" + import ImportedTypes.Complex; + input Complex c1 "Complex number 1"; + input Complex c2 "Complex number 2"; + output Complex c3 "= c1 + c2"; + algorithm + c3 := Complex(c1.re + c2.re, c1.im + c2.im); + annotation( + Inline=true, + Documentation(info=" +

This function returns the sum of two given Complex numbers.

+")); + end '+'; + encapsulated operator function '/' "Divide two complex numbers" + import ImportedTypes.Complex; + input Complex c1 "Complex number 1"; + input Complex c2 "Complex number 2"; + output Complex c3 "= c1/c2"; + algorithm + c3 := Complex((+c1.re*c2.re + c1.im*c2.im)/(c2.re*c2.re + c2.im*c2.im), + (-c1.re*c2.im + c1.im*c2.re)/(c2.re*c2.re + c2.im*c2.im)); + annotation( + Inline=true, + Documentation(info=" +

This function returns the quotient of two given Complex numbers.

+")); + end '/'; + encapsulated operator function '^' "Complex power of complex number" + import ImportedTypes.Complex; + input Complex c1 "Complex number"; + input Complex c2 "Complex exponent"; + output Complex c3 "= c1^c2"; + protected + Real lnz=0.5*log(c1.re*c1.re + c1.im*c1.im); + Real phi=atan2(c1.im, c1.re); + Real re=lnz*c2.re - phi*c2.im; + Real im=lnz*c2.im + phi*c2.re; + algorithm + c3 := Complex(exp(re)*cos(im), exp(re)*sin(im)); + annotation( + Inline=true, + Documentation(info=" +

This function returns the given Complex numbers c1 to the power of the Complex number c2.

+")); + end '^'; + encapsulated operator function '==' "Test whether two complex numbers are identical" + import ImportedTypes.Complex; + input Complex c1 "Complex number 1"; + input Complex c2 "Complex number 2"; + output Boolean result "c1 == c2"; + algorithm + result := c1.re == c2.re and c1.im == c2.im; + annotation( + Inline=true, + Documentation(info=" +

This function tests whether two given Complex numbers are equal.

+")); + end '=='; + encapsulated operator function 'String' "Transform Complex number into a String representation" + import ImportedTypes.Complex; + input Complex c "Complex number to be transformed in a String representation"; + input String name="j" "Name of variable representing sqrt(-1) in the string"; + input Integer significantDigits=6 "Number of significant digits that are shown"; + output String s=""; + algorithm + s := String(c.re, significantDigits=significantDigits); + if c.im <> 0 then + if c.im > 0 then + s := s + " + "; + else + s := s + " - "; + end if; + s := s + String(abs(c.im), significantDigits=significantDigits) + "*" + name; + end if; + annotation( + Inline=true, + Documentation(info=" +

This function converts a given Complex number to String representation.

+")); + end 'String'; + annotation( + __iti_Protection(hideFromBrowser=true), + Protection(access=Access.hide), + version="3.2.1", + versionBuild=2, + versionDate="2013-08-14", + dateModified="2013-08-14 08:44:41Z", + revisionId="$Id:: Complex.mo 6931 2013-08-14 11:38:51Z #$", + conversion( + noneFromVersion="1.0", + noneFromVersion="1.1"), + Documentation(info=" +

Complex number defined as a record containing real and imaginary part, utilizing operator overloading.

+"), + Icon(graphics={Rectangle( + lineColor={160,160,164}, + fillColor={160,160,164}, + fillPattern=FillPattern.Solid, + extent={{-100,-100},{100,100}}, + radius=25.0), Text( + lineColor={255,255,255}, + extent={{-90,-50},{90,50}}, + textString="C")})); + end Complex; + annotation(dateModified="2017-09-12 08:29:24Z"); + end ImportedTypes; + equation + connect(Position_Command[:],limIntegrator1.u) annotation(Line( + points={{-130,10},{-125,10},{-52,10},{-47,10}}, + color={0,0,127}, + thickness=0.0625)); + connect(limIntegrator1.y,Drone_coordinates[:]) annotation(Line( + points={{-24,10},{-19,10},{60,10},{65,10}}, + color={0,0,127}, + thickness=0.0625)); + annotation( + viewinfo[0]( + simViewInfos[0]( + runtimeClass="CSimView", + tabGroup=0, + tabFrame=0, + tabAlignment=0, + typename="ModelViewInfo"), + typename="ModelInfo"), + Icon(graphics={ + Rectangle( + fillColor={255,255,255}, + fillPattern=FillPattern.Solid, + extent={{-100,100},{100,-103.3}}), + Bitmap( + 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diff --git a/SimulationModels/AIDAModelica/TrajectoryManagement.mo b/SimulationModels/AIDAModelica/TrajectoryManagement.mo new file mode 100644 index 0000000..3d27ecb --- /dev/null +++ b/SimulationModels/AIDAModelica/TrajectoryManagement.mo @@ -0,0 +1,1860 @@ +// CP: 65001 +// SimulationX Version: 3.8.2.45319 x64 +within AIDAModelica; +model TrajectoryManagement "TrajectoryManagement.ism" + Modelica.Blocks.Interfaces.RealOutput Drone_coordinates[3] "'output Real' as connector" annotation(Placement( + transformation(extent={{55,0},{75,20}}), + iconTransformation(extent={{90,-10},{110,10}}))); + Modelica.Blocks.Interfaces.RealInput Position_Command[3] "'input Real' as connector" annotation(Placement( + transformation(extent={{-150,-10},{-110,30}}), + iconTransformation(extent={{-120,30},{-80,70}}))); + Modelica.Blocks.Continuous.LimIntegrator limIntegrator1( + outMax=1000, + y_start=y_start1) "Integrator with limited value of the output" annotation(Placement(transformation(extent={{-45,0},{-25,20}}))); + Modelica.Blocks.Continuous.LimIntegrator limIntegrator2( + outMax=1000, + y_start=y_start2) "Integrator with limited value of the output" annotation(Placement(transformation(extent={{-45,-35},{-25,-15}}))); + Modelica.Blocks.Continuous.LimIntegrator limIntegrator3( + outMax=1000, + y_start=y_start3) annotation(Placement(transformation(extent={{-45,-65},{-25,-45}}))); + parameter Real y_start1(displayUnit="-")=1 "Initial or guess value of output (must be in the limits outMin .. outMax) (limIntegrator1)"; + parameter Real y_start2(displayUnit="-")=58 "Initial or guess value of output (must be in the limits outMin .. outMax) (limIntegrator2)"; + parameter Real y_start3(displayUnit="-")=0 "Initial or guess value of output (must be in the limits outMin .. outMax) (limIntegrator3)"; + equation + connect(Position_Command[1],limIntegrator1.u) annotation(Line( + points={{-130,10},{-125,10},{-52,10},{-47,10}}, + color={0,0,127}, + thickness=0.0625)); + connect(Position_Command[2],limIntegrator2.u) annotation(Line( + points={{-130,10},{-125,10},{-52,10},{-52,-25},{-47,-25}}, + color={0,0,127}, + thickness=0.0625)); + connect(Position_Command[3],limIntegrator3.u) annotation(Line( + points={{-130,10},{-125,10},{-52,10},{-52,-55},{-47,-55}}, + color={0,0,127}, + thickness=0.0625)); + connect(limIntegrator1.y,Drone_coordinates[1]) annotation(Line( + points={{-24,10},{-19,10},{60,10},{65,10}}, + color={0,0,127}, + thickness=0.0625)); + connect(limIntegrator2.y,Drone_coordinates[2]) annotation(Line( + points={{-24,-25},{-19,-25},{60,-25},{60,10},{65,10}}, + color={0,0,127}, + thickness=0.0625)); + connect(limIntegrator3.y,Drone_coordinates[3]) annotation(Line( + points={{-24,-55},{-19,-55},{60,-55},{60,10},{65,10}}, + color={0,0,127}, + thickness=0.0625)); + annotation( + Icon(graphics={ + Rectangle( + fillColor={255,255,255}, + fillPattern=FillPattern.Solid, + extent={{-100,100},{100,-103.3}}), + Bitmap( + 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+X6dc2hoModpDPxhNybjKloyrXLVD/9xDn448In5THwfLJ6qOHJ5rT11cV/Q50S4+ulvRBxn08Uk+ +28co3UkH6Te/M58sj88Yhn6xjzji2FfZU8ZSIBuAD6H3RTlQVjUx8IAkAKJsTS84Ilt2uOCouVfy +LxqXJ20XX7RXQWBEGuuuKgxROBWDtAhfgpOhF3hqQ6QHprLk31wrAFXHUDHDde9KMOjSB56Ma7TF +7yrHTgWUgPFWG1AZD8cCT65BnFOeclCMmpVDzgHP4c319uADW+3ZK4fbs1e32iMPrSrqAEA8pEgR +c54HYD36MH4rpxusr8GL+CzlDf2rrKLXwuK4RwwP8BPPPDgBZFDKqw2JMSZW0OItuV9jv04G7m+Q +LwR/tFXtUZb2RnKVfpAP7Zaeqr0qV2UBi1MxG3cZkfSrue7K8lQ7d2ahfe87h9v3XqzoAz+D3qHi +rc6xF9pABsWbgSPZ84iC9J/UnwzH82ecrWyDOrRTMiga7wvw4ETzPI1FgYo29DlEHwjgZBNAZEz9 +neRQ/VCmpgoBJeNCpwIPFShUlShUDSK4vLMvA5exY4wck751ryBiHoTHgOhsEE4JDg8w6flO1cOY +EBAP9VxHZf2/gcQDwOEcqrYYXHmIapt7GGd9X4x8eBR1BKg5Ush5PiF7sD1wjn9ku9z+5PtH2tMX +j7ajx/IPuzJOGbfBQ5sSovtM3/TrlTIdrWwLcLvQ3Yb65+3amptEAQEMbddCSsk59wdAFNFuGTD3 +qx+OdR7wlIxLwfBU/EZOBrXKpL84LcoZHH0MlKcs7RTfBpf4Bjz0EwDlOosqW5vT7YnH1trf/PRU +e+KROzRnhM84iBrXtUTd8v78RhYhjJyFpGHenN0iQxSi3Rp/tVe/PQZFH9J30nju0U9NA+gXKhlx +TiSCSg7wTDvIdjR+rjF294kMh10HgIdrBg8Fi8q4rSTCIBMwERHGBmojGAOPvROTtazAwYzrygjj +wdO+Q7IEk6VQlMRgEKgEpvYBD6tjZSgB0GBUpWQMucrYszO/AkAo22NgcAxenlbHRYHn2JGDSjEW +2h99Z7W9cGVWnnN/W12dUKTIOG3gHh+RI167FES/+Xd9XGcs13rugMxjArye72V88BEAcZ56GAUy +onzkcC2Iws+1SoV2OudI2QEQiX5FVaZ0xXn4yBjos5xDyhXv6TsET0PEJPqcPb3Qvv/dI/7vcqeP +75Oc4XnIPmin2oOiayJM5sclC+tKzoWdJnnQmjGEj9gk5+PjZixuV+d1nRSe1I1z2gY42x7k97Yg ++i9wQfzmOm0721J5yLs+GD+2zMKEX2VgnLQzm7SthJKBijF70TRmj2PwRPhO0yQkBFyDSLkht+Z3 +gBOhB7lqB2MaeeaAx6FZ9fLSUUCSCXuEwu+KOKEYWAwhKdpIqIRTBk5EU5pJlFxenmn3nVtX1NEk +98UjBtGRrUm1wWdmA4ByBvBE+/AeWURpgIcPKNYkl7FmnEP/NcakjRkfY4Mio1wbV9Yg+zgi2slY +amwZf67FEDkWVXnaKUOIHqOrUPii72qTduCffrlWMi6dUTblh75KHhgNy8y8dXvx8dX21z852R55 +4ANtTXLm2Y1lSf0ycB2rf8YNj8P3rhl3eEKOVXa8X4j7pX94TTmMOzyG/1o8SmYSuTKOyIB+6hr9 +DsRvrtMm/HabV7nR/zt1+9K/AFpL49PTM+3/D8i/C3OsoLzjAAAAAElFTkSuQmCC", + extent={{-63.7,-100},{63.7,100}})}), + experiment( + StopTime=1, + StartTime=0, + Interval=0.002, + MaxInterval="0.001")); +end TrajectoryManagement; diff --git a/SimulationModels/AIDAModelica/XAngularSpeedErrorModel.mo b/SimulationModels/AIDAModelica/XAngularSpeedErrorModel.mo new file mode 100644 index 0000000..722231b --- /dev/null +++ b/SimulationModels/AIDAModelica/XAngularSpeedErrorModel.mo @@ -0,0 +1,42 @@ +// CP: 65001 +// SimulationX Version: 3.8.2.45319 x64 +within AIDAModelica; +model XAngularSpeedErrorModel "X angular speed error calculation model" + Modelica.Blocks.Interfaces.RealInput RollConsign( + quantity="Mechanics.Rotation.Angle", + displayUnit="rad") "'input Real' as connector" annotation(Placement( + transformation(extent={{-20,-20},{20,20}}), + iconTransformation(extent={{-120,30},{-80,70}}))); + Modelica.Blocks.Interfaces.RealInput Roll( + quantity="Mechanics.Rotation.Angle", + displayUnit="rad") "'input Real' as connector" annotation(Placement( + transformation(extent={{-20,-20},{20,20}}), + iconTransformation(extent={{-120,-20},{-80,20}}))); + Modelica.Blocks.Interfaces.RealInput AngularSpeedX( + quantity="Mechanics.Rotation.RotVelocity", + displayUnit="rad/s") "'input Real' as connector" annotation(Placement( + transformation(extent={{-20,-20},{20,20}}), + iconTransformation(extent={{-120,-70},{-80,-30}}))); + Modelica.Blocks.Interfaces.RealOutput AngularSpeedXError( + quantity="Mechanics.Rotation.RotVelocity", + displayUnit="rad/s") "'output Real' as connector" annotation(Placement( + transformation(extent={{-10,-10},{10,10}}), + iconTransformation(extent={{86.7,-10},{106.7,10}}))); + parameter Real Kwphi=1.5 "Proportional gain Kwphi"; + Real ephi( + quantity="Mechanics.Rotation.Angle", + displayUnit="rad") "Phi error"; + Real wxd( + quantity="Mechanics.Rotation.RotVelocity", + displayUnit="rad/s") "Desired angular speed X"; + equation + // enter your equations here + ephi = Roll-RollConsign; + wxd = -Kwphi*ephi; + AngularSpeedXError = wxd-AngularSpeedX ; + annotation(Icon(graphics={ + Rectangle( + fillColor={255,255,255}, + fillPattern=FillPattern.Solid, + extent={{-100,100},{100,-100}})})); +end XAngularSpeedErrorModel; diff --git a/SimulationModels/AIDAModelica/YAngularSpeedErrorModel.mo b/SimulationModels/AIDAModelica/YAngularSpeedErrorModel.mo new file mode 100644 index 0000000..2d37c84 --- /dev/null +++ b/SimulationModels/AIDAModelica/YAngularSpeedErrorModel.mo @@ -0,0 +1,46 @@ +within AIDAModelica; +model YAngularSpeedErrorModel "Y angular speed error calculation model" + Modelica.Blocks.Interfaces.RealInput PitchCosign( + quantity="Mechanics.Rotation.Angle", + displayUnit="rad") "'input Real' as connector" annotation(Placement( + transformation(extent={{-20,-20},{20,20}}), + iconTransformation(extent={{-120,30},{-80,70}}))); + Modelica.Blocks.Interfaces.RealInput Pitch( + quantity="Mechanics.Rotation.Angle", + displayUnit="rad") "'input Real' as connector" annotation(Placement( + transformation(extent={{-20,-20},{20,20}}), + iconTransformation(extent={{-120,-20},{-80,20}}))); + Modelica.Blocks.Interfaces.RealInput AngularSpeedY( + quantity="Mechanics.Rotation.RotVelocity", + displayUnit="rad/s") "'input Real' as connector" annotation(Placement( + transformation(extent={{-20,-20},{20,20}}), + iconTransformation(extent={{-120,-70},{-80,-30}}))); + Modelica.Blocks.Interfaces.RealOutput AngularSpeedYError( + quantity="Mechanics.Rotation.RotVelocity", + displayUnit="rad/s") "'output Real' as connector" annotation(Placement( + transformation(extent={{-10,-10},{10,10}}), + iconTransformation(extent={{86.7,-10},{106.7,10}}))); + parameter Real Kwteta=1.5 "Proportional gain Kwteta"; + parameter Boolean RTStepConsign=false "test pour commande de step sur la consigne de vitesse angulaire"; + Real eteta( + quantity="Mechanics.Rotation.Angle", + displayUnit="rad") "Teta error"; + Real wyd( + quantity="Mechanics.Rotation.RotVelocity", + displayUnit="rad/s") "Desired angular speed Y"; + equation + // enter your equations here + eteta = Pitch-PitchCosign; + + if RTStepConsign==true and abs(PitchCosign)>0.001 then + wyd = Kwteta; + else + wyd = -Kwteta*eteta; + end if; + AngularSpeedYError = wyd-AngularSpeedY; + annotation(Icon(graphics={ + Rectangle( + fillColor={255,255,255}, + fillPattern=FillPattern.Solid, + extent={{-100,100},{100,-100}})})); +end YAngularSpeedErrorModel; diff --git a/SimulationModels/AIDAModelica/YawConsignProducing.mo b/SimulationModels/AIDAModelica/YawConsignProducing.mo new file mode 100644 index 0000000..f220952 --- /dev/null +++ b/SimulationModels/AIDAModelica/YawConsignProducing.mo @@ -0,0 +1,27 @@ +within AIDAModelica; +model YawConsignProducing "Yaw consign producing" + Modelica.Blocks.Interfaces.RealInput Yaw( + quantity="Mechanics.Rotation.Angle", + displayUnit="rad") "Yaw feenback for logical algo" annotation(Placement( + transformation(extent={{-20,-20},{20,20}}), + iconTransformation(extent={{-120,-70},{-80,-30}}))); + Modelica.Blocks.Interfaces.RealOutput DesiredYaw( + quantity="Mechanics.Rotation.Angle", + displayUnit="rad") "Desired yaw produced point" annotation(Placement( + transformation(extent={{-10,-10},{10,10}}), + iconTransformation(extent={{90,-10},{110,10}}))); + Modelica.Blocks.Interfaces.BooleanInput YRC "Yaw RC command from remote control indication" annotation(Placement( + transformation(extent={{-20,-20},{20,20}}), + iconTransformation( + origin={-100,50}, + extent={{-20,-20},{20,20}}))); + initial equation + DesiredYaw=0; + equation +// when a yaw order is commanded from the remote control, the current yaw position is recorded into DesiredYaw, which is added to the remote control order +//this is to prevent a return to 0 heading at manual mode transition + when YRC == false then + DesiredYaw = Yaw; + end when; + annotation(Icon(graphics = {Rectangle(fillColor = {255, 255, 255}, fillPattern = FillPattern.Solid, extent = {{-100, 100}, {100, -100}}), Text(origin = {-8, 0}, extent = {{-40, 10}, {40, -10}}, textString = "%name")}, coordinateSystem(initialScale = 0.1))); +end YawConsignProducing; diff --git a/SimulationModels/AIDAModelica/ZAngularSpeedErrorModel.mo b/SimulationModels/AIDAModelica/ZAngularSpeedErrorModel.mo new file mode 100644 index 0000000..6f7e0d9 --- /dev/null +++ b/SimulationModels/AIDAModelica/ZAngularSpeedErrorModel.mo @@ -0,0 +1,46 @@ +// CP: 65001 +// SimulationX Version: 3.8.2.45319 x64 +within AIDAModelica; +model ZAngularSpeedErrorModel "Z angular speed error calculation model" + Modelica.Blocks.Interfaces.RealInput YawCosign( + quantity="Mechanics.Rotation.Angle", + displayUnit="rad") "'input Real' as connector" annotation(Placement( + transformation(extent={{-20,-20},{20,20}}), + iconTransformation(extent={{-120,30},{-80,70}}))); + Modelica.Blocks.Interfaces.RealInput Yaw( + quantity="Mechanics.Rotation.Angle", + displayUnit="rad") "'input Real' as connector" annotation(Placement( + transformation(extent={{-20,-20},{20,20}}), + iconTransformation(extent={{-120,-20},{-80,20}}))); + Modelica.Blocks.Interfaces.RealInput AngularSpeedZ( + quantity="Mechanics.Rotation.RotVelocity", + displayUnit="rad/s") "'input Real' as connector" annotation(Placement( + transformation(extent={{-20,-20},{20,20}}), + iconTransformation(extent={{-120,-70},{-80,-30}}))); + Modelica.Blocks.Interfaces.RealOutput AngularSpeedZError( + quantity="Mechanics.Rotation.RotVelocity", + displayUnit="rad/s") "'output Real' as connector" annotation(Placement( + transformation(extent={{-10,-10},{10,10}}), + iconTransformation(extent={{86.7,-10},{106.7,10}}))); + parameter Real Kwyaw=1.5 "Proportional gain Kwyaw"; + Real eyaw( + quantity="Mechanics.Rotation.Angle", + displayUnit="rad") "Yaw error"; + Real wzd( + quantity="Mechanics.Rotation.RotVelocity", + displayUnit="rad/s") "Desired angular speed Z"; + equation + // enter your equations here + eyaw = YawCosign-Yaw; + wzd = Kwyaw*eyaw; + AngularSpeedZError = wzd-AngularSpeedZ; + annotation(Icon(graphics={ + Rectangle( + fillColor={255,255,255}, + fillPattern=FillPattern.Solid, + extent={{-100,96.7},{-100,93.3}}), + Rectangle( + fillColor={255,255,255}, + fillPattern=FillPattern.Solid, + extent={{-100,100},{100,-100}})})); +end ZAngularSpeedErrorModel; diff --git a/SimulationModels/AIDAModelica/modele_complet_RC.mo b/SimulationModels/AIDAModelica/modele_complet_RC.mo new file mode 100644 index 0000000..b12b580 --- /dev/null +++ b/SimulationModels/AIDAModelica/modele_complet_RC.mo @@ -0,0 +1,64 @@ +within AIDAModelica; + +model modele_complet_RC "modele_complet_RC_Cosim.mo" + AIDAModelica.ControlDroneNavigation controlDroneNavigation1 annotation( + Placement(visible = true, transformation(origin = {-64, 22}, extent = {{-12, -12}, {12, 12}}, rotation = 0))); + AIDAModelica.LowLevelFlightControlSystem lowLevelFlightControlSystem1 annotation( + Placement(transformation(origin = {-22, 22}, extent = {{-12.5, -12.5}, {12.5, 12.5}}))); + AIDAModelica.QuadcopterModel quadcopterModel1 annotation( + Placement(visible = true, transformation(origin = {32, 22}, extent = {{-10, -12.5}, {10, 12.5}}, rotation = 0))); + AIDAModelica.RemoteControl remoteControl1(Pitch_cmd = 0.02, Pitch_cmd_t = {9, 15}, Roll_cmd = 0.02, Roll_cmd_t = {6, 12}, VS_cmd = -0.5, VS_cmd_t = {0.1, 3}, Yaw_cmd_t = {18, 22}) annotation( + Placement(visible = true, transformation(origin = {-22, 78}, extent = {{-12.5, -10}, {12.5, 10}}, rotation = 0))); + parameter Real Cosim_step_i = 0.02; + parameter Boolean Cosim_activ_i = false; +equation + connect(remoteControl1.ControlMode, controlDroneNavigation1.APEngagement) annotation( + Line(points = {{-34.5, 73}, {-83, 73}, {-83, 28}, {-76, 28}}, color = {255, 0, 255})); + connect(remoteControl1.IndicatorYawConsign, controlDroneNavigation1.IndicatorYawConsign) annotation( + Line(points = {{-34.5, 78}, {-89, 78}, {-89, 22}, {-76, 22}}, color = {255, 0, 255})); + connect(remoteControl1.PitchCommand, lowLevelFlightControlSystem1.RCAttitudeCommands[2]) annotation( + Line(points = {{-19.5, 68}, {-19.5, 49.7}, {-24.3, 49.7}, {-24.3, 34.7}}, color = {0, 0, 127})); + connect(remoteControl1.VerticalSpeedCommand, lowLevelFlightControlSystem1.RCVerticalSpeedCommand) annotation( + Line(points = {{-29.5, 68}, {-29.5, 39.7}, {-29.3, 39.7}, {-29.3, 34.7}}, color = {0, 0, 127})); + connect(remoteControl1.YawCommand, lowLevelFlightControlSystem1.RCYawCommand) annotation( + Line(points = {{-14.5, 68}, {-14.5, 39.7}, {-19.7, 39.7}, {-19.7, 34.7}}, color = {0, 0, 127})); + connect(remoteControl1.RollCommand, lowLevelFlightControlSystem1.RCAttitudeCommands[1]) annotation( + Line(points = {{-24.5, 68}, {-24.5, 39.7}, {-24.7, 39.7}, {-24.7, 34.7}}, color = {0, 0, 127})); + connect(quadcopterModel1.Accelerations[:], lowLevelFlightControlSystem1.Accelerations[:]) annotation( + Line(points = {{42, 14}, {63, 14}, {63, 4}, {-13.75, 4}, {-13.75, 10}, {-14, 10}}, color = {0, 0, 127})); + // + connect(controlDroneNavigation1.DronPositionConsign, lowLevelFlightControlSystem1.DronePositionConsign) annotation( + Line(points = {{-52, 28}, {-39.3, 28}, {-39.3, 29.5}, {-34.5, 29.5}}, color = {0, 0, 127})); + connect(controlDroneNavigation1.YawConsign, lowLevelFlightControlSystem1.YawConsign) annotation( + Line(points = {{-52, 22}, {-39.3, 22}, {-39.3, 19.5}, {-34.5, 19.5}}, color = {0, 0, 127})); + connect(controlDroneNavigation1.SelectedControlMode, lowLevelFlightControlSystem1.SelectedControlMode) annotation( + Line(points = {{-52, 16}, {-39.3, 16}, {-39.3, 14.5}, {-34.5, 14.5}}, color = {255, 0, 255})); + // + connect(lowLevelFlightControlSystem1.ThrottleCommand1, quadcopterModel1.ThrottleCommand1) annotation( + Line(points = {{-9.5, 29.5}, {17.15, 29.5}, {17.15, 28}, {22, 28}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(lowLevelFlightControlSystem1.ThrottleCommand2, quadcopterModel1.ThrottleCommand2) annotation( + Line(points = {{-9.5, 24.5}, {17.15, 24.5}, {17.15, 24}, {22, 24}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(lowLevelFlightControlSystem1.ThrottleCommand3, quadcopterModel1.ThrottleCommand3) annotation( + Line(points = {{-9.5, 19.5}, {17.15, 19.5}, {17.15, 20}, {22, 20}}, color = {0, 0, 127}, thickness = 0.0625)); + connect(lowLevelFlightControlSystem1.ThrottleCommand4, quadcopterModel1.ThrottleCommand4) annotation( + Line(points = {{-9.5, 14.5}, {17.15, 14.5}, {17.15, 16}, {22, 16}}, color = {0, 0, 127}, thickness = 0.0625)); + // + connect(quadcopterModel1.AngularVelocities[:], lowLevelFlightControlSystem1.AngularSpeed[:]) annotation( + Line(points = {{42, 30}, {86, 30}, {86, -15.25}, {-30, -15.25}, {-30, 9.5}}, color = {0, 0, 127})); + connect(quadcopterModel1.Attitude[:], lowLevelFlightControlSystem1.Attitude[:]) annotation( + Line(points = {{42, 26}, {80, 26}, {80, -12}, {-26, -12}, {-26, 9.5}}, color = {0, 0, 127})); + connect(quadcopterModel1.Position[:], lowLevelFlightControlSystem1.Position[:]) annotation( + Line(points = {{42, 22}, {74, 22}, {74, -8}, {-22, -8}, {-22, 9.5}}, color = {0, 0, 127})); + connect(quadcopterModel1.Speed[:], lowLevelFlightControlSystem1.Speed[:]) annotation( + Line(points = {{42, 18}, {68, 18}, {68, -4}, {-18, -4}, {-18, 9.5}}, color = {0, 0, 127})); + connect(quadcopterModel1.Attitude[3], controlDroneNavigation1.Yaw) annotation( + Line(points = {{42, 26}, {94, 26}, {94, -30}, {-88, -30}, {-88, 16}, {-76, 16}}, color = {0, 0, 127})); +// + annotation( + uses(Modelica(version = "3.2.1")), + Diagram, + __iti_controlDroneNavigation1(YawConsign(flags = 2), DronPositionConsign(flags = 2), APEngagement(flags = 2), SelectedControlMode(flags = 2), IndicatorYawConsign(flags = 2), Yaw(flags = 2), runFlightPlan1(DronPositionConsign(flags = 2), YawConsign(flags = 2), X_coordinate_map(u(flags = 2), y(flags = 2)), timeSource1(TimeOutput(flags = 2)), Y_coordinate_map(u(flags = 2), y(flags = 2)), Z_coordinate_map(u(flags = 2), y(flags = 2)), YawAngle(u(flags = 2), y(flags = 2))), switch1(u1(flags = 2), u2(flags = 2), u3(flags = 2), y(flags = 2)), yawConsignProducing1(Yaw(flags = 2), DesiredYaw(flags = 2), YRC(flags = 2), YawOld(flags = 2))), + __iti_lowLevelFlightControlSystem1(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), TotalThrustSAC(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(TotalThrustSAC(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)), add1(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)))), + __iti_quadcopterModel1(ThrottleCommand1(flags = 2), ThrottleCommand2(flags = 2), ThrottleCommand3(flags = 2), ThrottleCommand4(flags = 2), AngularVelocities(flags = 2), Attitude(flags = 2), Position(flags = 2), Speed(flags = 2), rigidBodyKinematicModel1(DroneAngularVelocities(flags = 2), Velocity(flags = 2), AttitudeFB(flags = 2), Attitude(flags = 2), Position(flags = 2), computeDronePosition1(DronVelocity(flags = 2), Position(flags = 2), integrator10(u(flags = 2), y(flags = 2)), integrator11(u(flags = 2), y(flags = 2)), integrator12(u(flags = 2), y(flags = 2))), computeDroneAttitude1(DroneAngularVelocities(flags = 2), AttitudeFB(flags = 2), Attitude(flags = 2), computationChangeAngleVelocity1(DronAngularVelocities(flags = 2), Attitude(flags = 2), ChangeAngleVelocity(flags = 2), W(flags = 2)), integrator7(u(flags = 2), y(flags = 2)), integrator8(u(flags = 2), y(flags = 2)), integrator9(u(flags = 2), y(flags = 2)))), motorPropellerModel1(ThrottleCommandK(flags = 2), MotorKAngularVelocity(flags = 2), createMotion1(ThrottleCommandK(flags = 2), MotorKAngularVelocity(flags = 2), W(u(flags = 2), y(flags = 2)), wSSModel1(CmdKIn(flags = 2), WSSOut(flags = 2)))), motorPropellerModel2(ThrottleCommandK(flags = 2), MotorKAngularVelocity(flags = 2), createMotion1(ThrottleCommandK(flags = 2), MotorKAngularVelocity(flags = 2), W(u(flags = 2), y(flags = 2)), wSSModel1(CmdKIn(flags = 2), WSSOut(flags = 2)))), motorPropellerModel3(ThrottleCommandK(flags = 2), MotorKAngularVelocity(flags = 2), createMotion1(ThrottleCommandK(flags = 2), MotorKAngularVelocity(flags = 2), W(u(flags = 2), y(flags = 2)), wSSModel1(CmdKIn(flags = 2), WSSOut(flags = 2)))), motorPropellerModel4(ThrottleCommandK(flags = 2), MotorKAngularVelocity(flags = 2), createMotion1(ThrottleCommandK(flags = 2), MotorKAngularVelocity(flags = 2), W(u(flags = 2), y(flags = 2)), wSSModel1(CmdKIn(flags = 2), WSSOut(flags = 2)))), rigidBodyDynamicModel1(Moments(flags = 2), TotalThrust(flags = 2), Attitude(flags = 2), DroneAngularVelocities(flags = 2), DroneVelocity(flags = 2), computeDroneVelocity1(TotalThrust(flags = 2), Attitude(flags = 2), DroneVelocity(flags = 2), computationAccelerationModel1(TotalThrust(flags = 2), Attitude(flags = 2), DroneAcceleration(flags = 2), Reb(flags = 2), Rz(flags = 2), Ry(flags = 2), Rx(flags = 2)), integrator4(u(flags = 2), y(flags = 2)), integrator5(u(flags = 2), y(flags = 2)), integrator6(u(flags = 2), y(flags = 2))), computeDroneAngularsVelocities1(Moments(flags = 2), DroneAngularVelocities(flags = 2), computationAngularAccelerationModel1(Moments(flags = 2), DroneAngularAcceleration(flags = 2), invJ(flags = 2)), integrator1(u(flags = 2), y(flags = 2)), integrator2(u(flags = 2), y(flags = 2)), integrator3(u(flags = 2), y(flags = 2)))), cotrolEffectivenessModel1(Motor1AngularVelocity(flags = 2), Motor2AngularVelocity(flags = 2), Motor3AngularVelocity(flags = 2), Motor4AngularVelocity(flags = 2), TotalThrust(flags = 2), Moments(flags = 2), computeMoments1(Motor1AngularVelocity(flags = 2), Motor2AngularVelocity(flags = 2), Motor3AngularVelocity(flags = 2), Motor4AngularVelocity(flags = 2), Moments(flags = 2)), computeTotalThrust1(Motor1AngularVelocity(flags = 2), Motor2AngularVelocity(flags = 2), Motor3AngularVelocity(flags = 2), Motor4AngularVelocity(flags = 2), TotalThrust(flags = 2)))), + experiment(StopTime = 1, StartTime = 0, Interval = 0.002, __iti_MaxInterval = "0.001")); +end modele_complet_RC; diff --git a/SimulationModels/AIDAModelica/package.mo b/SimulationModels/AIDAModelica/package.mo new file mode 100644 index 0000000..69b7a66 --- /dev/null +++ b/SimulationModels/AIDAModelica/package.mo @@ -0,0 +1,14697 @@ +within; +// CP: 65001 +// SimulationX Version: 3.8.2.45319 x64 +//Licensed by 2000-2019 Modelica Association & al. under the Modelica License 2 +//Copyright © 2000-2019, Modelica Association & al. +package AIDAModelica "AIDA Modelica Libraries" + model WSSModel "Steady-steta speed model" + Modelica.Blocks.Interfaces.RealInput CmdKIn "K-th command input" annotation(Placement( + transformation(extent={{-20,-20},{20,20}}), + iconTransformation(extent={{-95,-20},{-55,20}}))); + Modelica.Blocks.Interfaces.RealOutput WSSOut( + quantity="Mechanics.Rotation.RotVelocity", + displayUnit="rpm") "Steady-state velocity output" annotation(Placement( + transformation(extent={{-10,-10},{10,10}}), + iconTransformation(extent={{65,-10},{85,10}}))); + parameter Real cR( + quantity="Mechanics.Rotation.RotVelocity", + displayUnit="rpm")=626.51735092990043 "parameter cR"; + parameter Real wb( + quantity="Mechanics.Rotation.RotVelocity", + displayUnit="rpm")=222.30956814352572 "parameter wb"; + equation +// enter your equations here + WSSOut = cR*CmdKIn+wb; + annotation(Icon( + coordinateSystem(extent = {{-75, -100}, {75, 100}}, initialScale = 0.1), + graphics={ + Rectangle( fillColor = {255, 255, 255}, fillPattern = FillPattern.Solid, extent = {{-73.3, 50}, {73.3, -50}}), Text(origin = {-6, 2}, extent = {{-16, 6}, {30, -10}}, textString = "%name")})); + end WSSModel; + + + model ComputationAngularAccelerationModel "Computation Angular Acceleration Model" + import Modelica.Math; + Modelica.Blocks.Interfaces.RealInput Moments[3]( + quantity="Mechanics.Rotation.Torque", + displayUnit="Nm") "'input Real' as connector" annotation(Placement( + transformation(extent={{-20,-20},{20,20}}), + iconTransformation(extent={{-95,-20},{-55,20}}))); + Modelica.Blocks.Interfaces.RealOutput DroneAngularAcceleration[3]( + quantity="Mechanics.Rotation.RotAccel", + displayUnit="rad/s²") "'output Real' as connector" annotation(Placement( + transformation(extent={{-10,-10},{10,10}}), + iconTransformation(extent={{61.7,-10},{81.7,10}}))); + parameter Real J[3,3]={{0.009074,0,0},{0,0.009074,0},{0,0,0.013279}} "Diagonal matrix of inertia"; + Real invJ[3,3] "Inverse of matrix J"; + equation +// enter your equations here + invJ = Modelica.Math.Matrices.inv(J); + DroneAngularAcceleration = invJ*Moments; + annotation(Icon( + coordinateSystem(extent = {{-75, -50}, {75, 50}}, initialScale = 0.1), + graphics={ + Rectangle( + fillColor={255,255,255}, + fillPattern=FillPattern.Solid, + extent={{-76.7,50},{76.7,-50}}), Text(origin = {-5, 4}, extent = {{-11, 6}, {11, -6}}, textString = "%name")})); + end ComputationAngularAccelerationModel; + + model drone_feets "drone_feets.mo" + Modelica.Blocks.Interfaces.RealInput Position "'input Real' as connector" annotation(Placement( + transformation(extent={{-115,45},{-75,85}}), + iconTransformation(extent={{-125,-25},{-75,25}}))); + Modelica.Blocks.Interfaces.RealOutput Force(start=0) "'output Real' as connector" annotation(Placement( + transformation(extent={{85,55},{105,75}}), + iconTransformation(extent={{75,-25},{125,25}}))); + parameter Real Raideur=2000; + parameter Real Z0=-0.30; + equation + if Position>Z0 then + Force=-Raideur*(Position-Z0); + else + Force=0; + end if; + annotation( + Force(flags=2), + Icon(graphics={ + Line(points={{-50,26.7},{53.3,26.7},{-50,6.7},{50,6.7},{-50,-13.3},{50, + -16.7},{-46.7,-33.3},{50,-33.3},{-50,-53.3},{50,-53.3}})}), + Diagram(graphics={ + Line(points={{-45,80},{-45,45},{-25,80},{-25,45},{-5,80},{-5, + 45},{15,80},{15,45},{35,80},{35,45}}), + Line(points={{-45,65},{-70,65},{-70,65}}), + Line(points={{35,65},{85,65}})}), + experiment( + StopTime=1, + StartTime=0, + Interval=0.002, + MaxInterval="0.001")); + end drone_feets; + model RealArrayPassThrough "Pass a Real signal through without modification" + Modelica.Blocks.Interfaces.RealInput u[:] "Input signal" annotation(Placement( + transformation(extent={{-140,-20},{-100,20}}), + iconTransformation(extent={{-140,-20},{-100,20}}))); + Modelica.Blocks.Interfaces.RealOutput y[:] "Output signal" annotation(Placement( + transformation(extent={{100,-10},{120,10}}), + iconTransformation(extent={{100,-10},{120,10}}))); + extends Modelica.Blocks.Icons.Block; + equation + y[:] = u[:]; + annotation( + Icon(graphics={ + Line( + points={{-100,0},{100,0}}, + color={0,0,127})}), + Documentation(info=" +

+Passes a Real signal through without modification. Enables signals to be read out of one bus, have their name changed and be sent back to a bus. +

+")); + end RealArrayPassThrough; + annotation( + dateModified="2017-09-18 11:29:51Z", + Icon(graphics={ + Bitmap( + imageSource="iVBORw0KGgoAAAANSUhEUgAABBgAAALECAIAAAAtrxRQAAAAAXNSR0IArs4c6QAAAARnQU1BAACx +jwv8YQUAAAAJcEhZcwAAEnMAABJzAYwiuQcAAP+lSURBVHhe7H0HgFRF8j6gd0ranHdmd2Y2zea8 +5JwRkZxzFgFXMkvOSaIkybskEREQETEhJsScw6mYc74z3J13t/+vut7r6XkTNgEuv/+8+66trq6q +ru4ZfV+9MFujRksffPDBh6sBvWrU6ClaFnpXsNvD66iXrmwBBPE0itbQRWvoqkoZp0yloWXBbc5u +lSy7Kl1tpOBqw7un2hhaCXQN86I1dGUrIZUGXy9K15bNRLdWH2f0c9Ew4KLAMKTKNMrooxt7cnQL +JMA5uM2kPBEMYBeRhsyEhxz5eJkR4JSkozSWQn8B1gglzdJXoJ/Yc31eLYJADQFHV6RHs/StUbOv +kKHXldzV3Ln1BCQwsNa1w651YKiAKgy7FjacqoTMUJvFCzgfhlSKtdcEBtas0b9Gzf5iIRCg181q +DhTxsS08kb4DJAg9DGoOqgmZvGDPAaW9W4jRmIFBTYcn9hvXtHBclwmjOo8b0XH8qC6TxnUtHNd1 +0pjOk8Z0gTB5fNdJoyB3nDy+y+QJhKmErtMn9Zg6odvMST2KCtESpk/oWlTYo2hSr+kTMNRVG53U +aya64xGny3TYFHZDhFEj2rXpVJDTNK0t2ibpmQ0S8xrFtW+f0q9Pk169GrTumNyms71918y+/Zt2 +7pY1YVyXmZN6TRzTtaBVQl7L2IZt4jt0ySlok9iovT2/VXx+y/icpnG5zZJadMq9eWyXm8d2nV7Y 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extent={{-100,-67.59999999999999},{100,67.59999999999999}})}), +uses(Modelica(version="3.2.2"))); +end AIDAModelica; diff --git a/SimulationModels/AIDAModelica/package.order b/SimulationModels/AIDAModelica/package.order new file mode 100644 index 0000000..3af5e55 --- /dev/null +++ b/SimulationModels/AIDAModelica/package.order @@ -0,0 +1,70 @@ +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