Migration to OpenModelica 1.25 and FMUs Generation

2026-05-26 09:37:35 +02:00
parent fdf293ece6
commit fe90b840ed
370 changed files with 968105 additions and 743 deletions
--- a/1.11/Requirements/StabilityRequirement.mo
+++ b/1.11/Requirements/StabilityRequirement.mo
@@ -0,0 +1,102 @@
+within Requirements;
+
+model StabilityRequirement
+ "SR-WIND-02: The UAS shall maintain lateral and yaw stability under wind disturbance and recover within limits"
+
+  // ---- System-level parameters (traceable to SR-WIND-02) ----
+  parameter Real hoverTolerance = 2.5 
+    "Maximum allowed lateral deviation during hover [m]";
+  parameter Real yawTolerance = 5 
+    "Maximum allowed yaw error [deg]";
+  parameter Real recoveryBand = 0.5 
+    "Position error band for recovery after disturbance [m]";
+  parameter Real recoveryTime = 3 
+    "Time to remain within recovery band [s]";
+
+  // ---- Inputs from the system ----
+  Modelica.Blocks.Interfaces.RealInput posX 
+    "Measured X position [m]" annotation(
+      Placement(transformation(extent={{120,40},{80,80}})));
+  Modelica.Blocks.Interfaces.RealInput posY 
+    "Measured Y position [m]" annotation(
+      Placement(transformation(extent={{120,-80},{80,-40}})));
+  Modelica.Blocks.Interfaces.RealInput yaw 
+    "Measured yaw angle [deg]" annotation(
+      Placement(transformation(extent={{120,-10},{80,30}})));
+  Modelica.Blocks.Interfaces.RealInput DronePositionConsign[3] 
+    "Commanded reference position [m]" annotation(
+      Placement(transformation(extent={{-20,120},{20,80}}, rotation=-90)));
+  Modelica.Blocks.Interfaces.RealInput yawConsign 
+    "Commanded yaw angle [deg]" annotation(
+      Placement(transformation(extent={{-60,120},{-20,80}}, rotation=-90)));
+
+  // ---- Outputs for monitoring ----
+  Modelica.Blocks.Interfaces.RealOutput lateralError 
+    "2D lateral position error magnitude [m]" annotation(
+      Placement(transformation(extent={{-90,50},{-110,70}})));
+  Modelica.Blocks.Interfaces.RealOutput yawError 
+    "Yaw error magnitude [deg]" annotation(
+      Placement(transformation(extent={{-90,20},{-110,40}})));
+  Modelica.Blocks.Interfaces.BooleanOutput withinHoverLimit 
+    "true if lateralError < hoverTolerance" annotation(
+      Placement(visible = true, transformation(extent = {{-110, -10}, {-90, 10}}, rotation = 0), iconTransformation(origin = {-100, 0}, extent = {{10, -10}, {-10, 10}}, rotation = 0)));
+  Modelica.Blocks.Interfaces.BooleanOutput withinYawLimit 
+    "true if yawError < yawTolerance" annotation(
+      Placement(visible = true, transformation(extent = {{-110, -40}, {-90, -20}}, rotation = 0), iconTransformation(origin = {-100, -30}, extent = {{10, -10}, {-10, 10}}, rotation = 0)));
+  Modelica.Blocks.Interfaces.BooleanOutput recovered 
+    "true if position remains within recoveryBand for recoveryTime" annotation(
+      Placement(visible = true, transformation(extent = {{-110, -70}, {-90, -50}}, rotation = 0), iconTransformation(origin = {-100, -60}, extent = {{10, -10}, {-10, 10}}, rotation = 0)));
+  Modelica.Blocks.Interfaces.BooleanOutput pass 
+    "true if all criteria are satisfied" annotation(
+      Placement(visible = true, transformation(extent = {{-110, -100}, {-90, -80}}, rotation = 0), iconTransformation(origin = {-100, -90}, extent = {{10, -10}, {-10, 10}}, rotation = 0)));
+
+protected 
+  Real t_within(start=0) "Timer for recovery criterion";
+equation
+  // --- Lateral and yaw errors ---
+  lateralError = sqrt((posX - DronePositionConsign[1])^2 + 
+                      (posY - DronePositionConsign[2])^2);
+  yawError = abs(yaw - yawConsign);
+
+  withinHoverLimit = lateralError < hoverTolerance;
+  withinYawLimit   = yawError < yawTolerance;
+
+  // --- Recovery logic (after gust disturbance) ---
+  der(t_within) = if lateralError < recoveryBand then 1 else 0;
+  
+   // Reset timer whenever the drone leaves the recovery band
+  when lateralError > recoveryBand then
+    reinit(t_within, 0);
+  end when;
+  
+  recovered = t_within >= recoveryTime;
+
+  // --- Overall requirement pass flag ---
+  //pass = withinHoverLimit and withinYawLimit and recovered;
+  pass = withinHoverLimit and withinYawLimit;
+annotation(
+  Documentation(info="
+  <html>
+  <h4>SR-WIND-02 – Performance in Wind</h4>
+  <p>
+  Source: EASA Means of Compliance Light-UAS.2512, 
+  ISO 21384-3 (Clause 10 – Operational limitations).
+  </p>
+  <p>
+  <b>Requirement:</b><br>
+  Under a steady 8 m/s wind with 12 m/s gusts, the UAS shall:
+  <ul>
+    <li>Maintain lateral position error ≤ 1.5 m (95th percentile) during hover.</li>
+    <li>Maintain yaw pointing error ≤ 5° (95th percentile).</li>
+    <li>Recover to within 0.5 m position error within 3 s after gust disturbance.</li>
+  </ul>
+  </p>
+  <p>
+  <b>Simulation Inputs:</b> Connect to AIDA_System position, yaw, and 
+  reference signals.
+  </p>
+  </html>"),
+  uses(Modelica(version="3.2.2")),
+  Icon(graphics = {Text(extent = {{-100, 100}, {100, -100}}, textString = "SR-WIND-02"), Rectangle(extent = {{-104, -2}, {-104, -2}}), Rectangle(origin = {0, -1}, extent = {{-100, 101}, {100, -99}})}, coordinateSystem(initialScale = 0.1)));
+ 
+end StabilityRequirement;