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290 lines
20 KiB
290 lines
20 KiB
// CP: 65001 |
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// SimulationX Version: 3.8.2.45319 x64 |
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within AIDAModelica; |
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model ControlPositionV0 "ControlPosition_Modelica.ism" |
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Modelica.Blocks.Interfaces.RealOutput Position_command[3] "'output Real' as connector" annotation(Placement( |
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transformation(extent={{40,50},{60,70}}), |
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iconTransformation(extent={{90,-10},{110,10}}))); |
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Modelica.Blocks.Interfaces.RealInput Drone_position_consign[3] "'input Real' as connector" annotation(Placement( |
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transformation(extent={{-140,40},{-100,80}}), |
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iconTransformation(extent={{-120,-70},{-80,-30}}))); |
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Modelica.Blocks.Interfaces.RealInput Drone_position[3] "'input Real' as connector" annotation(Placement( |
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transformation(extent={{-85,-15},{-45,25}}), |
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iconTransformation(extent={{-120,30},{-80,70}}))); |
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Modelica.Blocks.Continuous.LimPID PID[3]( |
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controllerType=Modelica.Blocks.Types.SimpleController.P, |
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k={1.26,1.26,1.26}, |
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Ti={0.5,0.5,0.5}, |
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Td={0.1,0.1,0.1}, |
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yMax={1000,1000,1000}, |
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initType=Modelica.Blocks.Types.InitPID.SteadyState, |
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limitsAtInit={false, false, false}, |
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y_start={1,58,0}) "P, PI, PD, and PID controller with limited output, anti-windup compensation and setpoint weighting" annotation(Placement(transformation(extent={{-30,50},{-10,70}}))); |
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equation |
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connect(PID.y,Position_command[:]) annotation(Line( |
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points={{-9,60},{-4,60},{45,60},{50,60}}, |
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color={0,0,127}, |
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thickness=0.0625)); |
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connect(Drone_position_consign[:],PID.u_s) annotation(Line( |
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points={{-120,60},{-115,60},{-37,60},{-32,60}}, |
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color={0,0,127}, |
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thickness=0.0625)); |
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connect(Drone_position[:],PID.u_m) annotation(Line( |
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points={{-65,5},{-60,5},{-20,5},{-20,43},{-20,48}}, |
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color={0,0,127}, |
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thickness=0.0625)); |
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annotation( |
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Icon(graphics={ |
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Rectangle( |
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fillColor={255,255,255}, |
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fillPattern=FillPattern.Solid, |
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extent={{-100,100},{100,-100}}), |
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Bitmap( |
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9jUAAAAASUVORK5CYII=", |
|
extent={{-100,-60.9},{100,60.9}})}), |
|
experiment( |
|
StopTime=1, |
|
StartTime=0, |
|
Interval=0.002, |
|
MaxInterval="0.001")); |
|
end ControlPositionV0;
|
|
|