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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 1.25/AIDAModelica/ControlPosition.mo Normal file
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within AIDAModelica;
model ControlPosition "[SF2.1.1] Control position"
Modelica.Blocks.Interfaces.RealInput DronePositionConsign[3](
each quantity="Mechanics.Translation.Displace",
each displayUnit="m") "Desired drone position consign" annotation(Placement(
transformation(origin = {-120, -60}, extent = {{-20, -20}, {20, 20}}),
iconTransformation(extent={{-120,-20},{-80,20}})));
Modelica.Blocks.Interfaces.RealInput Position[3](
each quantity="Mechanics.Translation.Displace",
each displayUnit="m") "Real drone position feedback" annotation(Placement(
transformation(origin = {-120, 60}, extent = {{-20, -20}, {20, 20}}),
iconTransformation(
origin={0,-100},
extent={{-20,-20},{20,20}},
rotation=90)));
Modelica.Blocks.Interfaces.RealOutput NavigationSpeedConsign[3](
each quantity="Mechanics.Translation.Velocity",
each displayUnit="m/s") "Desired drone speed consign" annotation(Placement(
transformation(origin = {110, 0}, extent = {{-10, -10}, {10, 10}}),
iconTransformation(extent={{85,-15},{115,15}})));
Real DHP[2](
each quantity="Mechanics.Translation.Displace",
each displayUnit="m") "Desired horizontal position of the drone";
Real HP[2](
each quantity="Mechanics.Translation.Displace",
each displayUnit="m") "Real horizontal position of the drone";
Real DZP(
quantity="Mechanics.Translation.Displace",
displayUnit="m") "Desired altitude position";
Real ZP(
quantity="Mechanics.Translation.Displace",
displayUnit="m") "Real altitude position";
Real HNSC[2](
each quantity="Mechanics.Translation.Velocity",
each displayUnit="m/s") "Horizontal Navigation Speed Consign";
Real ASC(
quantity="Mechanics.Translation.Velocity",
displayUnit="m/s") "AltitudeSpeedConsign";
parameter Real Kph[2,2]={{1,0},{0,1}} "Proportional regulator gain attitude chanel";
parameter Real kpz=1.5 "Proportional regulator gain altitude chanel";
equation
// enter your equations here
DHP = {DronePositionConsign[1],DronePositionConsign[2]};
HP = {Position[1],Position[2]};
HNSC = Kph*(DHP-HP);
DZP = DronePositionConsign[3];
ZP = Position[3];
ASC = kpz*(DZP-ZP);
NavigationSpeedConsign = {HNSC[1],HNSC[2],ASC};
annotation(Icon(graphics={
Rectangle(
fillColor={255,255,255},
fillPattern=FillPattern.Solid,
extent={{-100,100},{100,-100}}),
Ellipse(
fillColor={255,255,255},
fillPattern=FillPattern.Solid,
extent={{-35,37},{35,-33}}),
Text(
textString="+",
fillPattern=FillPattern.None,
extent={{-33.8,17},{-0.4,-19.6}}),
Text(
textString="-",
fillPattern=FillPattern.None,
extent={{-15,-6.6},{18.4,-43.2}}),
Text(
textString="kh/kz",
fillPattern=FillPattern.None,
extent={{33.5,30.5},{93.5,-22.9}}),
Line(points={{-36.7,0},{-86.7,0.3}}),
Line(points={{0,-83.3},{0,-31.7}})}));
end ControlPosition;