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46 lines
1.8 KiB
46 lines
1.8 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 ZAngularSpeedErrorModel "Z angular speed error calculation model" |
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Modelica.Blocks.Interfaces.RealInput YawCosign( |
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quantity="Mechanics.Rotation.Angle", |
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displayUnit="rad") "'input Real' as connector" annotation(Placement( |
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transformation(extent={{-20,-20},{20,20}}), |
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iconTransformation(extent={{-120,30},{-80,70}}))); |
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Modelica.Blocks.Interfaces.RealInput Yaw( |
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quantity="Mechanics.Rotation.Angle", |
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displayUnit="rad") "'input Real' as connector" annotation(Placement( |
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transformation(extent={{-20,-20},{20,20}}), |
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iconTransformation(extent={{-120,-20},{-80,20}}))); |
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Modelica.Blocks.Interfaces.RealInput AngularSpeedZ( |
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quantity="Mechanics.Rotation.RotVelocity", |
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displayUnit="rad/s") "'input Real' as connector" annotation(Placement( |
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transformation(extent={{-20,-20},{20,20}}), |
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iconTransformation(extent={{-120,-70},{-80,-30}}))); |
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Modelica.Blocks.Interfaces.RealOutput AngularSpeedZError( |
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quantity="Mechanics.Rotation.RotVelocity", |
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displayUnit="rad/s") "'output Real' as connector" annotation(Placement( |
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transformation(extent={{-10,-10},{10,10}}), |
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iconTransformation(extent={{86.7,-10},{106.7,10}}))); |
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parameter Real Kwyaw=1.5 "Proportional gain Kwyaw"; |
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Real eyaw( |
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quantity="Mechanics.Rotation.Angle", |
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displayUnit="rad") "Yaw error"; |
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Real wzd( |
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quantity="Mechanics.Rotation.RotVelocity", |
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displayUnit="rad/s") "Desired angular speed Z"; |
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equation |
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// enter your equations here |
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eyaw = YawCosign-Yaw; |
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wzd = Kwyaw*eyaw; |
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AngularSpeedZError = wzd-AngularSpeedZ; |
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annotation(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={{-100,96.7},{-100,93.3}}), |
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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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end ZAngularSpeedErrorModel;
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