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Migration to OpenModelica 1.25 and FMUs Generation

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jean-marie.gauthier
2026-05-26 09:37:35 +02:00
parent fdf293ece6
commit fe90b840ed
370 changed files with 968105 additions and 743 deletions
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SimulationModels/OpenModelica 1.11/AIDAModelica/ComputeMotorRate.mo Normal file
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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;