103 lines
4.7 KiB
Plaintext
103 lines
4.7 KiB
Plaintext
within Requirements;
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model StabilityRequirement
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"SR-WIND-02: The UAS shall maintain lateral and yaw stability under wind disturbance and recover within limits"
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// ---- System-level parameters (traceable to SR-WIND-02) ----
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parameter Real hoverTolerance = 2.5
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"Maximum allowed lateral deviation during hover [m]";
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parameter Real yawTolerance = 5
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"Maximum allowed yaw error [deg]";
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parameter Real recoveryBand = 0.5
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"Position error band for recovery after disturbance [m]";
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parameter Real recoveryTime = 3
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"Time to remain within recovery band [s]";
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// ---- Inputs from the system ----
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Modelica.Blocks.Interfaces.RealInput posX
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"Measured X position [m]" annotation(
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Placement(transformation(extent={{120,40},{80,80}})));
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Modelica.Blocks.Interfaces.RealInput posY
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"Measured Y position [m]" annotation(
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Placement(transformation(extent={{120,-80},{80,-40}})));
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Modelica.Blocks.Interfaces.RealInput yaw
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"Measured yaw angle [deg]" annotation(
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Placement(transformation(extent={{120,-10},{80,30}})));
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Modelica.Blocks.Interfaces.RealInput DronePositionConsign[3]
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"Commanded reference position [m]" annotation(
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Placement(transformation(extent={{-20,120},{20,80}}, rotation=-90)));
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Modelica.Blocks.Interfaces.RealInput yawConsign
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"Commanded yaw angle [deg]" annotation(
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Placement(transformation(extent={{-60,120},{-20,80}}, rotation=-90)));
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// ---- Outputs for monitoring ----
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Modelica.Blocks.Interfaces.RealOutput lateralError
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"2D lateral position error magnitude [m]" annotation(
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Placement(transformation(extent={{-90,50},{-110,70}})));
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Modelica.Blocks.Interfaces.RealOutput yawError
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"Yaw error magnitude [deg]" annotation(
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Placement(transformation(extent={{-90,20},{-110,40}})));
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Modelica.Blocks.Interfaces.BooleanOutput withinHoverLimit
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"true if lateralError < hoverTolerance" annotation(
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Placement(visible = true, transformation(extent = {{-110, -10}, {-90, 10}}, rotation = 0), iconTransformation(origin = {-100, 0}, extent = {{10, -10}, {-10, 10}}, rotation = 0)));
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Modelica.Blocks.Interfaces.BooleanOutput withinYawLimit
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"true if yawError < yawTolerance" annotation(
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Placement(visible = true, transformation(extent = {{-110, -40}, {-90, -20}}, rotation = 0), iconTransformation(origin = {-100, -30}, extent = {{10, -10}, {-10, 10}}, rotation = 0)));
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Modelica.Blocks.Interfaces.BooleanOutput recovered
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"true if position remains within recoveryBand for recoveryTime" annotation(
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Placement(visible = true, transformation(extent = {{-110, -70}, {-90, -50}}, rotation = 0), iconTransformation(origin = {-100, -60}, extent = {{10, -10}, {-10, 10}}, rotation = 0)));
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Modelica.Blocks.Interfaces.BooleanOutput pass
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"true if all criteria are satisfied" annotation(
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Placement(visible = true, transformation(extent = {{-110, -100}, {-90, -80}}, rotation = 0), iconTransformation(origin = {-100, -90}, extent = {{10, -10}, {-10, 10}}, rotation = 0)));
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protected
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Real t_within(start=0) "Timer for recovery criterion";
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equation
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// --- Lateral and yaw errors ---
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lateralError = sqrt((posX - DronePositionConsign[1])^2 +
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(posY - DronePositionConsign[2])^2);
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yawError = abs(yaw - yawConsign);
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withinHoverLimit = lateralError < hoverTolerance;
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withinYawLimit = yawError < yawTolerance;
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// --- Recovery logic (after gust disturbance) ---
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der(t_within) = if lateralError < recoveryBand then 1 else 0;
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// Reset timer whenever the drone leaves the recovery band
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when lateralError > recoveryBand then
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reinit(t_within, 0);
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end when;
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recovered = t_within >= recoveryTime;
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// --- Overall requirement pass flag ---
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//pass = withinHoverLimit and withinYawLimit and recovered;
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pass = withinHoverLimit and withinYawLimit;
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annotation(
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Documentation(info="
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<html>
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<h4>SR-WIND-02 – Performance in Wind</h4>
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<p>
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Source: EASA Means of Compliance Light-UAS.2512,
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ISO 21384-3 (Clause 10 – Operational limitations).
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</p>
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<p>
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<b>Requirement:</b><br>
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Under a steady 8 m/s wind with 12 m/s gusts, the UAS shall:
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<ul>
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<li>Maintain lateral position error ≤ 1.5 m (95th percentile) during hover.</li>
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<li>Maintain yaw pointing error ≤ 5° (95th percentile).</li>
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<li>Recover to within 0.5 m position error within 3 s after gust disturbance.</li>
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</ul>
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</p>
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<p>
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<b>Simulation Inputs:</b> Connect to AIDA_System position, yaw, and
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reference signals.
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</p>
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</html>"),
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uses(Modelica(version="3.2.2")),
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Icon(graphics = {Text(extent = {{-100, 100}, {100, -100}}, textString = "SR-WIND-02"), Rectangle(extent = {{-104, -2}, {-104, -2}}), Rectangle(origin = {0, -1}, extent = {{-100, 101}, {100, -99}})}, coordinateSystem(initialScale = 0.1)));
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end StabilityRequirement;
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