within AIDAModelica;

model ZAngularSpeedErrorModel "Z angular speed error calculation model"
  // CP: 65001
  // SimulationX Version: 3.8.2.45319 x64
  Modelica.Blocks.Interfaces.RealInput YawCosign(quantity = "Mechanics.Rotation.Angle", displayUnit = "rad") "'input Real' as connector" annotation(
    Placement(transformation(origin = {-120, -58}, extent = {{-20, -20}, {20, 20}}), iconTransformation(extent = {{-120, 30}, {-80, 70}})));
  Modelica.Blocks.Interfaces.RealInput Yaw(quantity = "Mechanics.Rotation.Angle", displayUnit = "rad") "'input Real' as connector" annotation(
    Placement(transformation(origin = {-120, 62}, extent = {{-20, -20}, {20, 20}}), 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(origin = {-120, 2}, extent = {{-20, -20}, {20, 20}}), iconTransformation(extent = {{-120, -70}, {-80, -30}})));
  Modelica.Blocks.Interfaces.RealOutput AngularSpeedZError(quantity = "Mechanics.Rotation.RotVelocity", displayUnit = "rad/s") "'output Real' as connector" annotation(
    Placement(transformation(origin = {110, 0}, extent = {{-10, -10}, {10, 10}}), iconTransformation(extent = {{86.7, -10}, {106.7, 10}})));
  parameter Real Kwyaw = 1.5 "Proportional gain Kwyaw";
  Real eyaw(quantity = "Mechanics.Rotation.Angle", displayUnit = "rad") "Yaw error";
  Real wzd(quantity = "Mechanics.Rotation.RotVelocity", displayUnit = "rad/s") "Desired angular speed Z";
equation
// enter your equations here
  eyaw = YawCosign - Yaw;
  wzd = Kwyaw*eyaw;
  AngularSpeedZError = wzd - AngularSpeedZ;
  annotation(
    Icon(graphics = {Rectangle(fillColor = {255, 255, 255}, fillPattern = FillPattern.Solid, extent = {{-100, 96.7}, {-100, 93.3}}), Rectangle(fillColor = {255, 255, 255}, fillPattern = FillPattern.Solid, extent = {{-100, 100}, {100, -100}})}));
end ZAngularSpeedErrorModel;