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/SimulationModels/SimulationX/Modelica_drone_system.mo
+++ b/SimulationModels/SimulationX/Modelica_drone_system.mo
@@ -0,0 +1,127 @@
+// CP: 65001
+// SimulationX Version: 3.8.4.46141 x64
+within ;
+model Modelica_drone_system "Modelica_drone_system"
+	AIDAModelica.RunFlightPlan runFlightPlan1 annotation(Placement(transformation(
+		origin={-50,-44},
+		extent={{-10,-10},{10,10}})));
+	AIDAModelica.ControlPosition controlPosition1 annotation(Placement(transformation(
+		origin={44,-24},
+		extent={{-10,-10},{10,10}})));
+	AIDAModelica.AcquirePositioningSignal acquirePositioningSignal1 annotation(Placement(transformation(
+		origin={-36,8},
+		extent={{-10,-10},{10,10}})));
+	AIDAModelica.ComputePositionAndTime computePositionAndTime1 annotation(Placement(transformation(
+		origin={-4,4},
+		extent={{-10,-10},{10,10}})));
+	AIDAModelica.GeneratePositioningSignal generatePositioningSignal1 annotation(Placement(transformation(
+		origin={-70,8},
+		extent={{-10,-10},{10,10}})));
+	AIDAModelica.TrajectoryManagement trajectoryManagement1 annotation(Placement(transformation(
+		origin={-130,10},
+		extent={{-10,-10},{10,10}})));
+	AIDA.Drone_physical_model drone_physical_model1 annotation(Placement(transformation(extent={{105,10},{125,30}})));
+	ModelicaCompatibility.RI2O rI2O1(n=3) annotation(Placement(transformation(extent={{75,-30},{85,-20}})));
+	SignalBlocks.Connection connection1;
+	equation
+		connect(controlPosition1.Position_command,trajectoryManagement1.Position_Command) annotation(
+			Line(
+				points={{54,-24.33332824707031},{59,-24},{59,40},{-145,40},{-145,14.3},{-140,
+				14.33333587646484}},
+				color={0,0,127}),
+			AutoRoute=false);
+		connect(trajectoryManagement1.Drone_coordinates,generatePositioningSignal1.Drone_coordinates) annotation(Line(
+			points={{-120,9.699999999999999},{-115,9.699999999999999},{-85,9.699999999999999},{-85,7.3},{-80,7.3}},
+			color={0,0,127}));
+		connect(generatePositioningSignal1.Positioning_signal,acquirePositioningSignal1.Positioning_signal) annotation(Line(
+			points={{-60,7.7},{-55,7.7},{-51,7.7},{-51,7.3},{-46,7.3}},
+			color={0,0,127}));
+		connect(runFlightPlan1.Drone_Position_Consign,controlPosition1.Drone_position_consign) annotation(Line(
+			points={{-40,-44.3},{-35,-44.3},{29,-44.3},{29,-29.7},{34,-29.7}},
+			color={0,0,127}));
+		connect(computePositionAndTime1.Drone_position,controlPosition1.Drone_position) annotation(Line(
+			points={{6,8.699999999999999},{11,8.699999999999999},{29,8.699999999999999},{29,-19.7},{34,-19.7}},
+			color={0,0,127}));
+		connect(acquirePositioningSignal1.Measured_positioning_signal,computePositionAndTime1.Measured_positioning_signal) annotation(Line(
+			points={{-26,7.7},{-21,7.7},{-19,7.7},{-19,8.300000000000001},{-14,8.300000000000001}},
+			color={0,0,127}));
+		connect(controlPosition1.Position_command[:],rI2O1.u[:]) annotation(Line(
+			points={{54,-24},{59,-24},{68,-24},{68,-25},{73,-25}},
+			color={0,0,127},
+			thickness=0.0625));
+		connect(connection1,rI2O1.y);
+		connect(connection1,drone_physical_model1.Position);
+	annotation(
+		__iti_controlPosition1(
+			Position_command(flags=2),
+			Drone_position_consign(flags=2),
+			Drone_position(flags=2),
+			PID(
+				u_s(flags=2),
+				u_m(flags=2),
+				y(flags=2),
+				controlError(flags=2),
+				addP(
+					u1(flags=2),
+					u2(flags=2),
+					y(flags=2)),
+				addD(
+					u1(flags=2),
+					u2(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)),
+				gainPID(
+					u(flags=2),
+					y(flags=2)),
+				addPID(
+					u1(flags=2),
+					u2(flags=2),
+					u3(flags=2),
+					y(flags=2)),
+				addI(
+					u1(flags=2),
+					u2(flags=2),
+					u3(flags=2),
+					y(flags=2)),
+				addSat(
+					u1(flags=2),
+					u2(flags=2),
+					y(flags=2)),
+				gainTrack(
+					u(flags=2),
+					y(flags=2)),
+				limiter(
+					u(flags=2),
+					y(flags=2)),
+				Dzero(y(flags=2)),
+				Izero(y(flags=2)))),
+		__iti_connection1(viewinfo[0](
+			line[0](
+				dirSrc=1,
+				dirDst=0,
+				points(
+					x={704,719,750,750,765},
+					y={405,405,405,255,255}),
+				src=false,
+				insBefore=0,
+				pinSrc=rI2O1.y,
+				pinDst=drone_physical_model1.Position,
+				pinSrcValid=true,
+				pinDstValid=true,
+				typename="Line"),
+			typename="ConnectionInfo")),
+		experiment(
+			StopTime=60,
+			StartTime=0,
+			Interval=0.12,
+			__iti_MaxInterval="0.001"));
+end Modelica_drone_system;