AIDA
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AIDASimulation
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AIDA is a study case for model based system engineering, made by MOISE project. This project contains the simulation model of AIDA (made with SimulationX in Modelica)
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AIDASimulation/SimulationModels/AIDAModelica/PositionControl.mo

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// CP: 65001
// SimulationX Version: 3.8.2.45319 x64
within AIDAModelica;
model PositionControl "Position Control Model"
Modelica.Blocks.Interfaces.RealInput DronPositionConsign[3](
quantity="Mechanics.Translation.Displace",
displayUnit="m") "Desired drone position consign" annotation(Placement(
transformation(extent={{-163,56},{-123,96}}),
iconTransformation(extent={{-120,30},{-80,70}})));
Modelica.Blocks.Interfaces.RealInput Position[3](
quantity="Mechanics.Translation.Displace",
displayUnit="m") "Real drone position feedback" annotation(Placement(
transformation(extent={{-125,15},{-85,55}}),
iconTransformation(extent={{-120,-20},{-80,20}})));
Modelica.Blocks.Interfaces.RealOutput TotalThrustAP(
quantity="Mechanics.Translation.Force",
displayUnit="N") "Desired total thrust autopilot mode output" annotation(Placement(
transformation(
origin={71,29},
extent={{-16,-16},{16,16}}),
iconTransformation(
origin={100,50},
extent={{-10,-10},{10,10}})));
Modelica.Blocks.Interfaces.RealOutput AttitudeConsignAP[2](
quantity="Mechanics.Rotation.Angle",
displayUnit="rad") "Desired attitude autopilot mode consign" annotation(Placement(
transformation(
origin={81,61},
extent={{-16,-16},{16,16}}),
iconTransformation(
origin={100,-50},
extent={{-10,-10},{10,10}})));
Modelica.Blocks.Interfaces.RealInput Attitude[3](
quantity="Mechanics.Rotation.Angle",
displayUnit="rad") "Real drone attitude feedback" annotation(Placement(
transformation(extent={{-15,-25},{25,15}}),
iconTransformation(
origin={-50,-100},
extent={{-20,-20},{20,20}},
rotation=90)));
Modelica.Blocks.Interfaces.RealInput Speed[3](
quantity="Mechanics.Translation.Velocity",
displayUnit="m/s") "Real drone speed feedback" annotation(Placement(
transformation(extent={{-60,-25},{-20,15}}),
iconTransformation(extent={{-120,-70},{-80,-30}})));
ControlPosition controlPosition1 annotation(Placement(transformation(extent={{-75,60},{-55,80}})));
ControlSpeed controlSpeed1 annotation(Placement(transformation(extent={{-5,55},{15,75}})));
ComputeThrustAndAttitudeConsign computeThrustAndAttitudeConsign1 annotation(Placement(transformation(extent={{25,50},{45,70}})));
SelectSpeedConsign selectSpeedConsign1 annotation(Placement(transformation(extent={{-45,65},{-25,75}})));
equation
connect(computeThrustAndAttitudeConsign1.AttitudeAPConsigns,AttitudeConsignAP) annotation(Line(
points={{44.7,64.7},{49.7,64.7},{76,64.7},{76,61},{81,61}},
color={0,0,127},
thickness=0.0625));
connect(computeThrustAndAttitudeConsign1.TotalThrustAP, TotalThrustAP) annotation(
Line(points = {{45, 55}, {60, 55}, {60, 29}, {71, 29}}, color = {0, 0, 127}, thickness = 0.0625));
connect(controlPosition1.DronePositionConsign,DronPositionConsign) annotation(Line(
points={{-75,69.3},{-80,69.3},{-138,69.3},{-138,76},{-143,76}},
color={0,0,127},
thickness=0.0625));
connect(selectSpeedConsign1.NavigationVelocityConsign,controlPosition1.NavigationSpeedConsign) annotation(Line(
points={{-45,69.3},{-50,69.3},{-50,70.3},{-55,70.3}},
color={0,0,127},
thickness=0.0625));
connect(controlSpeed1.SpeedConsign,selectSpeedConsign1.VelocityConsign) annotation(Line(
points={{-5,69.3},{-10,69.3},{-20,69.3},{-20,69.7},{-25,69.7}},
color={0,0,127},
thickness=0.0625));
connect(controlPosition1.Position,Position) annotation(Line(
points={{-66,60},{-66,55},{-66,35},{-100,35},{-105,35}},
color={0,0,127},
thickness=0.0625));
connect(controlSpeed1.Speed,Speed) annotation(Line(
points={{-5,59.3},{-10,59.3},{-35,59.3},{-35,-5},{-40,-5}},
color={0,0,127},
thickness=0.0625));
connect(computeThrustAndAttitudeConsign1.AccelerationConsign,controlSpeed1.AccelerationConsign) annotation(Line(
points={{25,64.3},{20,64.3},{20,64.7},{15,64.7}},
color={0,0,127},
thickness=0.0625));
connect(computeThrustAndAttitudeConsign1.Attitude,Attitude) annotation(Line(
points={{25,54.3},{20,54.3},{10,54.3},{10,-5},{5,-5}},
color={0,0,127},
thickness=0.0625));
annotation(
DronPositionConsign(flags=2),
Position(flags=2),
TotalThrustAP(flags=2),
AttitudeConsignAP(flags=2),
Attitude(flags=2),
Speed(flags=2),
controlPosition1(
DronePositionConsign(flags=2),
Position(flags=2),
NavigationSpeedConsign(flags=2),
DHP(flags=2),
HP(flags=2),
DZP(flags=2),
ZP(flags=2),
HNSC(flags=2),
ASC(flags=2)),
controlSpeed1(
SpeedConsign(flags=2),
Speed(flags=2),
AccelerationConsign(flags=2),
speedErrorModel1(
SpeedConsign(flags=2),
Speed(flags=2),
SpeedError(flags=2)),
PID(
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))),
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))),
PID1(
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)))),
computeThrustAndAttitudeConsign1(
AccelerationConsign(flags=2),
Attitude(flags=2),
AttitudeAPConsigns(flags=2),
TotalThrustAP(flags=2),
HAC(flags=2),
Rpsi(flags=2),
Apsi(flags=2),
InvApsi(flags=2),
AAC(flags=2)),
selectSpeedConsign1(
NavigationVelocityConsign(flags=2),
VelocityConsign(flags=2)),
Icon(graphics={
Rectangle(
fillColor={255,255,255},
fillPattern=FillPattern.Solid,
extent={{-100,100},{100,-100}}),
Text(
textString="%name",
fillPattern=FillPattern.None,
extent={{5,-7},{105,-31}},
origin={-57,21})}),
experiment(
StopTime=1,
StartTime=0,
Interval=0.002,
MaxInterval="0.001"));
end PositionControl;