within AIDAModelica;
model ControlYawAngle "[SF2.3.5] Control yaw angle"
	Modelica.Blocks.Interfaces.RealInput YawConsign(
		quantity="Mechanics.Rotation.Angle",
		displayUnit="rad") "Desired momentum at axe Z" annotation(Placement(
		transformation(extent={{-135,30},{-95,70}}),
		iconTransformation(extent={{-120,30},{-80,70}})));
	Modelica.Blocks.Interfaces.RealInput Yaw(
		quantity="Mechanics.Rotation.Angle",
		displayUnit="rad") "'input Real' as connector" annotation(Placement(
		transformation(extent={{-135,0},{-95,40}}),
		iconTransformation(extent={{-120,-20},{-80,20}})));
	Modelica.Blocks.Interfaces.RealInput AngularSpeedZ(
		quantity="Mechanics.Rotation.RotVelocity",
		displayUnit="rad/s") "'input Real' as connector" annotation(Placement(
		transformation(extent={{-135,-30},{-95,10}}),
		iconTransformation(extent={{-120,-70},{-80,-30}})));
	Modelica.Blocks.Interfaces.RealOutput MomentumZ(
		quantity="Mechanics.Rotation.Torque",
		displayUnit="Nm") "'output Real' as connector" annotation(Placement(
		transformation(extent={{30,10},{50,30}}),
		iconTransformation(extent={{86.7,-10},{106.7,10}})));
	ZAngularSpeedErrorModel zAngularSpeedErrorModel1 "Z angular speed error calculation model" annotation(Placement(transformation(extent={{-55,10},{-35,30}})));
	Modelica.Blocks.Continuous.PID PID2(
		k=0.1,
		Ti=2,
		Td=0.1,
		initType=Modelica.Blocks.Types.InitPID.InitialState,
		Add(
			k1=-1,
			k2=-1,
			k3=-1)) "PID-controller in additive description form" annotation(Placement(transformation(extent={{-10,10},{10,30}})));
	equation
		connect(PID2.y,MomentumZ) annotation(Line(
			points={{11,20},{16,20},{35,20},{40,20}},
			color={0,0,127},
			thickness=0.0625));
		
		
		
		connect(zAngularSpeedErrorModel1.YawCosign,YawConsign) annotation(Line(
			points={{-55,25},{-60,25},{-110,25},{-110,50},{-115,50}},
			color={0,0,127},
			thickness=0.0625));
		connect(zAngularSpeedErrorModel1.Yaw,Yaw) annotation(Line(
			points={{-55,20},{-60,20},{-110,20},{-115,20}},
			color={0,0,127},
			thickness=0.0625));
		connect(zAngularSpeedErrorModel1.AngularSpeedZ,AngularSpeedZ) annotation(Line(
			points={{-55,15},{-60,15},{-110,15},{-110,-10},{-115,-10}},
			color={0,0,127},
			thickness=0.0625));
		connect(PID2.u,zAngularSpeedErrorModel1.AngularSpeedZError) annotation(Line(
			points={{-12,20},{-17,20},{-30.3,20},{-35.3,20}},
			color={0,0,127},
			thickness=0.0625));
	annotation(
		YawConsign(flags=2),
		Yaw(flags=2),
		AngularSpeedZ(flags=2),
		MomentumZ(flags=2),
		zAngularSpeedErrorModel1(
			YawCosign(flags=2),
			Yaw(flags=2),
			AngularSpeedZ(flags=2),
			AngularSpeedZError(flags=2),
			eyaw(flags=2),
			wzd(flags=2)),
		PID2(
			u(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)),
			Gain(
				u(flags=2),
				y(flags=2)),
			Add(
				u1(flags=2),
				u2(flags=2),
				u3(flags=2),
				y(flags=2))),
		Icon(graphics = {Rectangle(fillColor = {255, 255, 255}, fillPattern = FillPattern.Solid, extent = {{-100, 100}, {100, -103.3}}), Text(origin = {-4, 0}, extent = {{-16, 8}, {16, -8}}, textString = "%name")}, coordinateSystem(initialScale = 0.1)),
		experiment(
			StopTime=1,
			StartTime=0,
			Interval=0.002,
			MaxInterval="0.001"));
end ControlYawAngle;