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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/ControlPositionSAC.mo Normal file
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within AIDAModelica;
model ControlPositionSAC "[SF2.1.1] Control position SAC"
Modelica.Blocks.Interfaces.RealInput DronePositionConsign[3](
each quantity="Mechanics.Translation.Displace",
each displayUnit="m") "Desired drone position consign" annotation(Placement(
transformation(origin = {-122, -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, 0}, extent = {{-20, -20}, {20, 20}}),
iconTransformation(extent={{-120,-70},{-80,-30}})));
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={{90,-10},{110,10}})));
Modelica.Blocks.Interfaces.RealInput RCVErticalSpeedCommand(
quantity="Mechanics.Translation.Velocity",
displayUnit="m/s") "RC vertical speed consign" annotation(Placement(
transformation(origin = {-120, 60}, extent = {{-20, -20}, {20, 20}}),
iconTransformation(extent={{-120,30},{-80,70}})));
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 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";
equation
// enter your equations here
DHP = {DronePositionConsign[1],DronePositionConsign[2]};
HP = {Position[1],Position[2]};
HNSC = Kph*(DHP-HP);
ASC = RCVErticalSpeedCommand;
NavigationSpeedConsign = {HNSC[1],HNSC[2],ASC};
annotation(Icon(graphics={
Rectangle(
fillColor={255,255,255},
fillPattern=FillPattern.Solid,
extent={{-100,100},{100,-100}})}));
end ControlPositionSAC;