// CP: 65001 // SimulationX Version: 3.8.2.45319 x64 within AIDAModelica; model QuadcopterModel "Quadcopter model" Modelica.Blocks.Interfaces.RealInput ThrottleCommand1 "Throttle command 1" annotation(Placement( transformation(extent={{-135,35},{-95,75}}), iconTransformation(extent={{-120,55},{-80,95}}))); Modelica.Blocks.Interfaces.RealOutput Accelerations[3] "Accelerations" annotation(Placement( transformation(extent={{20,-25},{40,-5}}), iconTransformation(extent={{90,-110},{110,-90}}))); Modelica.Blocks.Interfaces.RealInput ThrottleCommand2 "Throttle command 2" annotation(Placement( transformation(extent={{-135,10},{-95,50}}), iconTransformation(extent={{-120,5},{-80,45}}))); Modelica.Blocks.Interfaces.RealInput ThrottleCommand3 "Throttle command 2" annotation(Placement( transformation(extent={{-135,-15},{-95,25}}), iconTransformation(extent={{-120,-45},{-80,-5}}))); Modelica.Blocks.Interfaces.RealInput ThrottleCommand4 "Throttle command 4" annotation(Placement( transformation(extent={{-135,-40},{-95,0}}), iconTransformation(extent={{-120,-95},{-80,-55}}))); Modelica.Blocks.Interfaces.RealOutput AngularVelocities[3]( quantity="Mechanics.Rotation.RotVelocity", displayUnit="rad/s") "Angular velocities" annotation(Placement( transformation(extent={{40,25},{60,45}}), iconTransformation(extent={{90,90},{110,110}}))); Modelica.Blocks.Interfaces.RealOutput Attitude[3]( quantity="Mechanics.Rotation.Angle", displayUnit="rad") "Attitude" annotation(Placement( transformation(extent={{105,35},{125,55}}), iconTransformation(extent={{90,40},{110,60}}))); Modelica.Blocks.Interfaces.RealOutput Position[3]( quantity="Mechanics.Translation.Displace", displayUnit="m") "Position" annotation(Placement( transformation(extent={{105,-20},{125,0}}), iconTransformation(extent={{90,-10},{110,10}}))); Modelica.Blocks.Interfaces.RealOutput Speed[3]( quantity="Mechanics.Translation.Velocity", displayUnit="m/s") "Speed" annotation(Placement( transformation(extent={{40,-10},{60,10}}), iconTransformation(extent={{90,-60},{110,-40}}))); RigidBodyKinematicModel rigidBodyKinematicModel1 annotation(Placement(transformation(extent={{65,5},{85,25}}))); MotorPropellerModel motorPropellerModel1(createMotion1(W(y_start=0))) annotation(Placement(transformation(extent={{-90,40},{-70,65}}))); MotorPropellerModel motorPropellerModel2(createMotion1(W(y_start=0))) annotation(Placement(transformation(extent={{-90,15},{-70,40}}))); MotorPropellerModel motorPropellerModel3(createMotion1(W(y_start=0))) annotation(Placement(transformation(extent={{-90,-10},{-70,15}}))); MotorPropellerModel motorPropellerModel4(createMotion1(W(y_start=0))) annotation(Placement(transformation(extent={{-90,-35},{-70,-10}}))); RigidBodyDynamicModel rigidBodyDynamicModel1 annotation(Placement(transformation(extent={{-10,5},{10,25}}))); ControlEffectivenessModel controlEffectivenessModel1 annotation(Placement(transformation(extent={{-45,5},{-25,30}}))); drone_feets drone_feets1 annotation(Placement(transformation(extent={{60,-45},{40,-25}}))); Modelica.Blocks.Sources.Constant Fx(k=0) annotation(Placement(transformation(extent={{-40,-35},{-20,-15}}))); Modelica.Blocks.Sources.Constant Fy(k=0) annotation(Placement(transformation(extent={{-40,-65},{-20,-45}}))); initial equation der(Position[1])=0; der(Position[2])=0; der(Position[3])=0; equation connect(rigidBodyKinematicModel1.Attitude[:],Attitude[:]) annotation(Line( points={{85,20},{90,20},{110,20},{110,45},{115,45}}, color={0,0,127}, thickness=0.0625)); connect(rigidBodyKinematicModel1.Position[:],Position[:]) annotation(Line( points={{85,10},{90,10},{110,10},{110,-10},{115,-10}}, color={0,0,127}, thickness=0.0625)); connect(rigidBodyKinematicModel1.Attitude[:],rigidBodyKinematicModel1.AttitudeFB[:]) annotation(Line( points={{85,20},{90,20},{90,35},{70,35},{70,25}}, color={0,0,127}, thickness=0.0625)); connect(motorPropellerModel4.ThrottleCommandK,ThrottleCommand4) annotation(Line( points={{-90,-22.7},{-95,-22.7},{-110,-22.7},{-110,-20},{-115,-20}}, color={0,0,127}, thickness=0.0625)); connect(motorPropellerModel3.ThrottleCommandK,ThrottleCommand3) annotation(Line( points={{-90,2.3},{-95,2.3},{-110,2.3},{-110,5},{-115,5}}, color={0,0,127}, thickness=0.0625)); connect(motorPropellerModel2.ThrottleCommandK,ThrottleCommand2) annotation(Line( points={{-90,27.3},{-95,27.3},{-110,27.3},{-110,30},{-115,30}}, color={0,0,127}, thickness=0.0625)); connect(motorPropellerModel1.ThrottleCommandK,ThrottleCommand1) annotation(Line( points={{-90,52.3},{-95,52.3},{-110,52.3},{-110,55},{-115,55}}, color={0,0,127}, thickness=0.0625)); connect(rigidBodyDynamicModel1.DroneAngularVelocities[:],AngularVelocities[:]) annotation(Line( points={{10,20},{15,20},{45,20},{45,35},{50,35}}, color={0,0,127}, thickness=0.0625)); connect(rigidBodyDynamicModel1.DroneVelocity[:],Speed[:]) annotation(Line( points={{10,15},{15,15},{45,15},{45,0},{50,0}}, color={0,0,127}, thickness=0.0625)); connect(rigidBodyKinematicModel1.DroneAngularVelocities[:],rigidBodyDynamicModel1.DroneAngularVelocities[:]) annotation(Line( points={{65,20},{60,20},{15,20},{10,20}}, color={0,0,127}, thickness=0.0625)); connect(rigidBodyKinematicModel1.Velocity[:],rigidBodyDynamicModel1.DroneVelocity[:]) annotation(Line( points={{65,10},{60,10},{15,10},{15,15},{10,15}}, color={0,0,127}, thickness=0.0625)); connect(rigidBodyDynamicModel1.Attitude[:],rigidBodyKinematicModel1.Attitude[:]) annotation(Line( points={{0,25},{0,30},{90,30},{90,20},{85,20}}, color={0,0,127}, thickness=0.0625)); connect(controlEffectivenessModel1.TotalThrust,rigidBodyDynamicModel1.TotalThrust) annotation(Line( points={{-25,25},{-20,25},{-15,25},{-15,20},{-10,20}}, color={0,0,127}, thickness=0.0625)); connect(controlEffectivenessModel1.Moments[:],rigidBodyDynamicModel1.Moments[:]) annotation(Line( points={{-25,10},{-20,10},{-15,10},{-10,10}}, color={0,0,127}, thickness=0.0625)); connect(controlEffectivenessModel1.Motor1AngularVelocity,motorPropellerModel1.MotorKAngularVelocity) annotation(Line( points={{-45,25},{-50,25},{-65,25},{-65,52.3},{-70,52.3}}, color={0,0,127}, thickness=0.0625)); connect(controlEffectivenessModel1.Motor2AngularVelocity,motorPropellerModel2.MotorKAngularVelocity) annotation(Line( points={{-45,20},{-50,20},{-65,20},{-65,27.3},{-70,27.3}}, color={0,0,127}, thickness=0.0625)); connect(controlEffectivenessModel1.Motor3AngularVelocity,motorPropellerModel3.MotorKAngularVelocity) annotation(Line( points={{-45,15},{-50,15},{-65,15},{-65,2.3},{-70,2.3}}, color={0,0,127}, thickness=0.0625)); connect(controlEffectivenessModel1.Motor4AngularVelocity,motorPropellerModel4.MotorKAngularVelocity) annotation(Line( points={{-45,10},{-50,10},{-65,10},{-65,-22.7},{-70,-22.7}}, color={0,0,127}, thickness=0.0625)); connect(rigidBodyKinematicModel1.Position[3],drone_feets1.Position) annotation(Line( points={{85,10.3},{90,10.3},{90,-35},{65,-35},{60,-35}}, color={0,0,127}, thickness=0.0625)); connect(drone_feets1.Force,rigidBodyDynamicModel1.ExternalForce[3]) annotation(Line( points={{40,-35},{35,-35},{0.3,-35},{0.3,0},{0.3,5}}, color={0,0,127}, thickness=0.0625)); connect(Fx.y,rigidBodyDynamicModel1.ExternalForce[1]) annotation(Line( points={{-19,-25},{-14,-25},{-0.7,-25},{-0.7,0},{-0.7,5}}, color={0,0,127}, thickness=0.0625)); connect(Fy.y,rigidBodyDynamicModel1.ExternalForce[2]) annotation(Line( points={{-19,-55},{-14,-55},{0,-55},{0,0},{0,5}}, color={0,0,127}, thickness=0.0625)); connect(rigidBodyDynamicModel1.Accelerations[:],Accelerations[:]) annotation(Line( points={{10,10},{15,10},{25,10},{25,-15},{30,-15}}, color={0,0,127}, thickness=0.0625)); annotation( ThrottleCommand1(flags=2), ThrottleCommand2(flags=2), ThrottleCommand3(flags=2), ThrottleCommand4(flags=2), AngularVelocities(flags=2), Attitude(flags=2), Position(flags=2), Speed(flags=2), rigidBodyKinematicModel1( DroneAngularVelocities(flags=2), Velocity(flags=2), AttitudeFB(flags=2), Attitude(flags=2), Position(flags=2), computeDronePosition1( DronVelocity(flags=2), Position(flags=2), integrator10( u(flags=2), y(flags=2)), integrator11( u(flags=2), y(flags=2)), integrator12( u(flags=2), y(flags=2))), computeDroneAttitude1( DroneAngularVelocities(flags=2), AttitudeFB(flags=2), Attitude(flags=2), computationChangeAngleVelocity1( DronAngularVelocities(flags=2), Attitude(flags=2), ChangeAngleVelocity(flags=2), W(flags=2)), integrator7( u(flags=2), y(flags=2)), integrator8( u(flags=2), y(flags=2)), integrator9( u(flags=2), y(flags=2)))), motorPropellerModel1( ThrottleCommandK(flags=2), MotorKAngularVelocity(flags=2), createMotion1( ThrottleCommandK(flags=2), MotorKAngularVelocity(flags=2), W( u(flags=2), y(flags=2)), wSSModel1( CmdKIn(flags=2), WSSOut(flags=2)))), motorPropellerModel2( ThrottleCommandK(flags=2), MotorKAngularVelocity(flags=2), createMotion1( ThrottleCommandK(flags=2), MotorKAngularVelocity(flags=2), W( u(flags=2), y(flags=2)), wSSModel1( CmdKIn(flags=2), WSSOut(flags=2)))), motorPropellerModel3( ThrottleCommandK(flags=2), MotorKAngularVelocity(flags=2), createMotion1( ThrottleCommandK(flags=2), MotorKAngularVelocity(flags=2), W( u(flags=2), y(flags=2)), wSSModel1( CmdKIn(flags=2), WSSOut(flags=2)))), motorPropellerModel4( ThrottleCommandK(flags=2), MotorKAngularVelocity(flags=2), createMotion1( ThrottleCommandK(flags=2), MotorKAngularVelocity(flags=2), W( u(flags=2), y(flags=2)), wSSModel1( CmdKIn(flags=2), WSSOut(flags=2)))), rigidBodyDynamicModel1( Moments(flags=2), TotalThrust(flags=2), Attitude(flags=2), DroneAngularVelocities(flags=2), DroneVelocity(flags=2), ExternalForce(flags=2), computeDroneVelocity1( TotalThrust(flags=2), Attitude(flags=2), DroneVelocity(flags=2), ExternalForce(flags=2), computationAccelerationModel1( TotalThrust(flags=2), Attitude(flags=2), DroneAcceleration(flags=2), ExternalForce(flags=2), Reb(flags=2), Rz(flags=2), Ry(flags=2), Rx(flags=2)), integrator4( u(flags=2), y(flags=2)), integrator5( u(flags=2), y(flags=2)), integrator6( u(flags=2), y(flags=2))), computeDroneAngularsVelocities1( Moments(flags=2), DroneAngularVelocities(flags=2), computationAngularAccelerationModel1( Moments(flags=2), DroneAngularAcceleration(flags=2), invJ(flags=2)), integrator1( u(flags=2), y(flags=2)), integrator2( u(flags=2), y(flags=2)), integrator3( u(flags=2), y(flags=2)))), controlEffectivenessModel1( Motor1AngularVelocity(flags=2), Motor2AngularVelocity(flags=2), Motor3AngularVelocity(flags=2), Motor4AngularVelocity(flags=2), TotalThrust(flags=2), Moments(flags=2), computeMoments1( Motor1AngularVelocity(flags=2), Motor2AngularVelocity(flags=2), Motor3AngularVelocity(flags=2), Motor4AngularVelocity(flags=2), Moments(flags=2)), computeTotalThrust1( Motor1AngularVelocity(flags=2), Motor2AngularVelocity(flags=2), Motor3AngularVelocity(flags=2), Motor4AngularVelocity(flags=2), TotalThrust(flags=2))), drone_feets1( Position(flags=2), Force(flags=2)), Fx(y(flags=2)), 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