You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
570 lines
14 KiB
570 lines
14 KiB
7 years ago
|
<?xml version="1.0" encoding="UTF-8"?>
|
||
|
<Operator xmlns="http://www.esterel-technologies.com/ns/scade/6" xmlns:ed="http://www.esterel-technologies.com/ns/scade/pragmas/editor/5" xmlns:kcg="http://www.esterel-technologies.com/ns/scade/pragmas/codegen/3" kind="function" name="GainsPID">
|
||
|
<inputs>
|
||
|
<Variable name="Mass">
|
||
|
<type>
|
||
|
<NamedType>
|
||
|
<type>
|
||
|
<TypeRef name="float64"/>
|
||
|
</type>
|
||
|
</NamedType>
|
||
|
</type>
|
||
|
<pragmas>
|
||
|
<ed:Variable oid="!ed/4e7f/471E/275C/591476bc250f"/>
|
||
|
</pragmas>
|
||
|
</Variable>
|
||
|
<Variable name="Altitude">
|
||
|
<type>
|
||
|
<NamedType>
|
||
|
<type>
|
||
|
<TypeRef name="float64"/>
|
||
|
</type>
|
||
|
</NamedType>
|
||
|
</type>
|
||
|
<pragmas>
|
||
|
<ed:Variable oid="!ed/4e80/471E/275C/591476bf588c"/>
|
||
|
</pragmas>
|
||
|
</Variable>
|
||
|
<Variable name="Speed">
|
||
|
<type>
|
||
|
<NamedType>
|
||
|
<type>
|
||
|
<TypeRef name="float64"/>
|
||
|
</type>
|
||
|
</NamedType>
|
||
|
</type>
|
||
|
<pragmas>
|
||
|
<ed:Variable oid="!ed/4e81/471E/275C/591476c5915"/>
|
||
|
</pragmas>
|
||
|
</Variable>
|
||
|
<Variable name="phase">
|
||
|
<type>
|
||
|
<NamedType>
|
||
|
<type>
|
||
|
<TypeRef name="Type::te_Phase"/>
|
||
|
</type>
|
||
|
</NamedType>
|
||
|
</type>
|
||
|
<pragmas>
|
||
|
<ed:Variable oid="!ed/4f89/471E/275C/59147971514d" hidden="true"/>
|
||
|
</pragmas>
|
||
|
</Variable>
|
||
|
</inputs>
|
||
|
<outputs>
|
||
|
<Variable name="Kp">
|
||
|
<type>
|
||
|
<NamedType>
|
||
|
<type>
|
||
|
<TypeRef name="float64"/>
|
||
|
</type>
|
||
|
</NamedType>
|
||
|
</type>
|
||
|
<pragmas>
|
||
|
<ed:Variable oid="!ed/4e9a/471E/275C/591476d05a3b"/>
|
||
|
</pragmas>
|
||
|
</Variable>
|
||
|
<Variable name="Kd">
|
||
|
<type>
|
||
|
<NamedType>
|
||
|
<type>
|
||
|
<TypeRef name="float64"/>
|
||
|
</type>
|
||
|
</NamedType>
|
||
|
</type>
|
||
|
<pragmas>
|
||
|
<ed:Variable oid="!ed/4e9b/471E/275C/591476d9525b"/>
|
||
|
</pragmas>
|
||
|
</Variable>
|
||
|
<Variable name="Ki">
|
||
|
<type>
|
||
|
<NamedType>
|
||
|
<type>
|
||
|
<TypeRef name="float64"/>
|
||
|
</type>
|
||
|
</NamedType>
|
||
|
</type>
|
||
|
<pragmas>
|
||
|
<ed:Variable oid="!ed/4e9c/471E/275C/591476e76603"/>
|
||
|
</pragmas>
|
||
|
</Variable>
|
||
|
</outputs>
|
||
|
<locals>
|
||
|
<Variable name="_L1">
|
||
|
<type>
|
||
|
<NamedType>
|
||
|
<type>
|
||
|
<TypeRef name="float64"/>
|
||
|
</type>
|
||
|
</NamedType>
|
||
|
</type>
|
||
|
<pragmas>
|
||
|
<ed:Variable oid="!ed/9405/7AC7/1190/598839a45190"/>
|
||
|
</pragmas>
|
||
|
</Variable>
|
||
|
<Variable name="_L2">
|
||
|
<type>
|
||
|
<NamedType>
|
||
|
<type>
|
||
|
<TypeRef name="float64"/>
|
||
|
</type>
|
||
|
</NamedType>
|
||
|
</type>
|
||
|
<pragmas>
|
||
|
<ed:Variable oid="!ed/9428/7AC7/1190/598839ae3a4d"/>
|
||
|
</pragmas>
|
||
|
</Variable>
|
||
|
<Variable name="_L3">
|
||
|
<type>
|
||
|
<NamedType>
|
||
|
<type>
|
||
|
<TypeRef name="float64"/>
|
||
|
</type>
|
||
|
</NamedType>
|
||
|
</type>
|
||
|
<pragmas>
|
||
|
<ed:Variable oid="!ed/9447/7AC7/1190/598839b776fb"/>
|
||
|
</pragmas>
|
||
|
</Variable>
|
||
|
<Variable name="_L4">
|
||
|
<type>
|
||
|
<NamedType>
|
||
|
<type>
|
||
|
<TypeRef name="float64"/>
|
||
|
</type>
|
||
|
</NamedType>
|
||
|
</type>
|
||
|
<pragmas>
|
||
|
<ed:Variable oid="!ed/9459/7AC7/1190/598839c313a9"/>
|
||
|
</pragmas>
|
||
|
</Variable>
|
||
|
<Variable name="_L5">
|
||
|
<type>
|
||
|
<NamedType>
|
||
|
<type>
|
||
|
<TypeRef name="float64"/>
|
||
|
</type>
|
||
|
</NamedType>
|
||
|
</type>
|
||
|
<pragmas>
|
||
|
<ed:Variable oid="!ed/945b/7AC7/1190/598839c3303"/>
|
||
|
</pragmas>
|
||
|
</Variable>
|
||
|
<Variable name="_L6">
|
||
|
<type>
|
||
|
<NamedType>
|
||
|
<type>
|
||
|
<TypeRef name="float64"/>
|
||
|
</type>
|
||
|
</NamedType>
|
||
|
</type>
|
||
|
<pragmas>
|
||
|
<ed:Variable oid="!ed/945d/7AC7/1190/598839c33711"/>
|
||
|
</pragmas>
|
||
|
</Variable>
|
||
|
<Variable name="_L7">
|
||
|
<type>
|
||
|
<NamedType>
|
||
|
<type>
|
||
|
<TypeRef name="Type::te_Phase"/>
|
||
|
</type>
|
||
|
</NamedType>
|
||
|
</type>
|
||
|
<pragmas>
|
||
|
<ed:Variable oid="!ed/945f/7AC7/1190/598839c38df"/>
|
||
|
</pragmas>
|
||
|
</Variable>
|
||
|
</locals>
|
||
|
<data>
|
||
|
<!-- Kp = _L1; -->
|
||
|
<Equation>
|
||
|
<lefts>
|
||
|
<VariableRef name="Kp"/>
|
||
|
</lefts>
|
||
|
<right>
|
||
|
<IdExpression>
|
||
|
<path>
|
||
|
<ConstVarRef name="_L1"/>
|
||
|
</path>
|
||
|
</IdExpression>
|
||
|
</right>
|
||
|
<pragmas>
|
||
|
<ed:Equation oid="!ed/93fb/7AC7/1190/598839a14fac"/>
|
||
|
</pragmas>
|
||
|
</Equation>
|
||
|
<!-- Kd = _L2; -->
|
||
|
<Equation>
|
||
|
<lefts>
|
||
|
<VariableRef name="Kd"/>
|
||
|
</lefts>
|
||
|
<right>
|
||
|
<IdExpression>
|
||
|
<path>
|
||
|
<ConstVarRef name="_L2"/>
|
||
|
</path>
|
||
|
</IdExpression>
|
||
|
</right>
|
||
|
<pragmas>
|
||
|
<ed:Equation oid="!ed/93fc/7AC7/1190/598839a12004"/>
|
||
|
</pragmas>
|
||
|
</Equation>
|
||
|
<!-- Ki = _L3; -->
|
||
|
<Equation>
|
||
|
<lefts>
|
||
|
<VariableRef name="Ki"/>
|
||
|
</lefts>
|
||
|
<right>
|
||
|
<IdExpression>
|
||
|
<path>
|
||
|
<ConstVarRef name="_L3"/>
|
||
|
</path>
|
||
|
</IdExpression>
|
||
|
</right>
|
||
|
<pragmas>
|
||
|
<ed:Equation oid="!ed/93fd/7AC7/1190/598839a1208"/>
|
||
|
</pragmas>
|
||
|
</Equation>
|
||
|
<!-- _L1 = 1.0; -->
|
||
|
<Equation>
|
||
|
<lefts>
|
||
|
<VariableRef name="_L1"/>
|
||
|
</lefts>
|
||
|
<right>
|
||
|
<ConstValue value="1.0"/>
|
||
|
</right>
|
||
|
<pragmas>
|
||
|
<ed:Equation oid="!ed/9404/7AC7/1190/598839a4744"/>
|
||
|
</pragmas>
|
||
|
</Equation>
|
||
|
<!-- _L2 = 0.25; -->
|
||
|
<Equation>
|
||
|
<lefts>
|
||
|
<VariableRef name="_L2"/>
|
||
|
</lefts>
|
||
|
<right>
|
||
|
<ConstValue value="0.25"/>
|
||
|
</right>
|
||
|
<pragmas>
|
||
|
<ed:Equation oid="!ed/9427/7AC7/1190/598839ae4ac5"/>
|
||
|
</pragmas>
|
||
|
</Equation>
|
||
|
<!-- _L3 = 0.5; -->
|
||
|
<Equation>
|
||
|
<lefts>
|
||
|
<VariableRef name="_L3"/>
|
||
|
</lefts>
|
||
|
<right>
|
||
|
<ConstValue value="0.5"/>
|
||
|
</right>
|
||
|
<pragmas>
|
||
|
<ed:Equation oid="!ed/9446/7AC7/1190/598839b74893"/>
|
||
|
</pragmas>
|
||
|
</Equation>
|
||
|
<!-- _L4 = Mass; -->
|
||
|
<Equation>
|
||
|
<lefts>
|
||
|
<VariableRef name="_L4"/>
|
||
|
</lefts>
|
||
|
<right>
|
||
|
<IdExpression>
|
||
|
<path>
|
||
|
<ConstVarRef name="Mass"/>
|
||
|
</path>
|
||
|
</IdExpression>
|
||
|
</right>
|
||
|
<pragmas>
|
||
|
<ed:Equation oid="!ed/9458/7AC7/1190/598839c34dcd"/>
|
||
|
</pragmas>
|
||
|
</Equation>
|
||
|
<!-- _L5 = Altitude; -->
|
||
|
<Equation>
|
||
|
<lefts>
|
||
|
<VariableRef name="_L5"/>
|
||
|
</lefts>
|
||
|
<right>
|
||
|
<IdExpression>
|
||
|
<path>
|
||
|
<ConstVarRef name="Altitude"/>
|
||
|
</path>
|
||
|
</IdExpression>
|
||
|
</right>
|
||
|
<pragmas>
|
||
|
<ed:Equation oid="!ed/945a/7AC7/1190/598839c3221d"/>
|
||
|
</pragmas>
|
||
|
</Equation>
|
||
|
<!-- _L6 = Speed; -->
|
||
|
<Equation>
|
||
|
<lefts>
|
||
|
<VariableRef name="_L6"/>
|
||
|
</lefts>
|
||
|
<right>
|
||
|
<IdExpression>
|
||
|
<path>
|
||
|
<ConstVarRef name="Speed"/>
|
||
|
</path>
|
||
|
</IdExpression>
|
||
|
</right>
|
||
|
<pragmas>
|
||
|
<ed:Equation oid="!ed/945c/7AC7/1190/598839c3249d"/>
|
||
|
</pragmas>
|
||
|
</Equation>
|
||
|
<!-- _L7 = phase; -->
|
||
|
<Equation>
|
||
|
<lefts>
|
||
|
<VariableRef name="_L7"/>
|
||
|
</lefts>
|
||
|
<right>
|
||
|
<IdExpression>
|
||
|
<path>
|
||
|
<ConstVarRef name="phase"/>
|
||
|
</path>
|
||
|
</IdExpression>
|
||
|
</right>
|
||
|
<pragmas>
|
||
|
<ed:Equation oid="!ed/945e/7AC7/1190/598839c369e6"/>
|
||
|
</pragmas>
|
||
|
</Equation>
|
||
|
<!-- _ = _L4; -->
|
||
|
<Equation>
|
||
|
<lefts>
|
||
|
<VariableRef name="_"/>
|
||
|
</lefts>
|
||
|
<right>
|
||
|
<IdExpression>
|
||
|
<path>
|
||
|
<ConstVarRef name="_L4"/>
|
||
|
</path>
|
||
|
</IdExpression>
|
||
|
</right>
|
||
|
<pragmas>
|
||
|
<ed:Equation oid="!ed/9467/7AC7/1190/598839c710c5"/>
|
||
|
</pragmas>
|
||
|
</Equation>
|
||
|
<!-- _ = _L5; -->
|
||
|
<Equation>
|
||
|
<lefts>
|
||
|
<VariableRef name="_"/>
|
||
|
</lefts>
|
||
|
<right>
|
||
|
<IdExpression>
|
||
|
<path>
|
||
|
<ConstVarRef name="_L5"/>
|
||
|
</path>
|
||
|
</IdExpression>
|
||
|
</right>
|
||
|
<pragmas>
|
||
|
<ed:Equation oid="!ed/946c/7AC7/1190/598839c87002"/>
|
||
|
</pragmas>
|
||
|
</Equation>
|
||
|
<!-- _ = _L6; -->
|
||
|
<Equation>
|
||
|
<lefts>
|
||
|
<VariableRef name="_"/>
|
||
|
</lefts>
|
||
|
<right>
|
||
|
<IdExpression>
|
||
|
<path>
|
||
|
<ConstVarRef name="_L6"/>
|
||
|
</path>
|
||
|
</IdExpression>
|
||
|
</right>
|
||
|
<pragmas>
|
||
|
<ed:Equation oid="!ed/9471/7AC7/1190/598839c9528b"/>
|
||
|
</pragmas>
|
||
|
</Equation>
|
||
|
<!-- _ = _L7; -->
|
||
|
<Equation>
|
||
|
<lefts>
|
||
|
<VariableRef name="_"/>
|
||
|
</lefts>
|
||
|
<right>
|
||
|
<IdExpression>
|
||
|
<path>
|
||
|
<ConstVarRef name="_L7"/>
|
||
|
</path>
|
||
|
</IdExpression>
|
||
|
</right>
|
||
|
<pragmas>
|
||
|
<ed:Equation oid="!ed/9476/7AC7/1190/598839ca1e85"/>
|
||
|
</pragmas>
|
||
|
</Equation>
|
||
|
</data>
|
||
|
<pragmas>
|
||
|
<ed:Operator oid="!ed/4e7d/471E/275C/591476a77805" xmlns="http://www.esterel-technologies.com/ns/scade/pragmas/editor/5">
|
||
|
<diagrams>
|
||
|
<NetDiagram name="GainsPID_1" landscape="true" format="A4 (210 297)" oid="!ed/93fa/7AC7/1190/598839997184">
|
||
|
<presentationElements>
|
||
|
<EquationGE presentable="!ed/93fb/7AC7/1190/598839a14fac">
|
||
|
<position>
|
||
|
<Point x="10001" y="2037"/>
|
||
|
</position>
|
||
|
<size>
|
||
|
<Size width="318" height="503"/>
|
||
|
</size>
|
||
|
</EquationGE>
|
||
|
<EquationGE presentable="!ed/93fc/7AC7/1190/598839a12004">
|
||
|
<position>
|
||
|
<Point x="10001" y="3069"/>
|
||
|
</position>
|
||
|
<size>
|
||
|
<Size width="318" height="503"/>
|
||
|
</size>
|
||
|
</EquationGE>
|
||
|
<EquationGE presentable="!ed/93fd/7AC7/1190/598839a1208">
|
||
|
<position>
|
||
|
<Point x="10001" y="4101"/>
|
||
|
</position>
|
||
|
<size>
|
||
|
<Size width="318" height="503"/>
|
||
|
</size>
|
||
|
</EquationGE>
|
||
|
<EquationGE kind="OBJ_LIT" presentable="!ed/9404/7AC7/1190/598839a4744">
|
||
|
<position>
|
||
|
<Point x="8916" y="2143"/>
|
||
|
</position>
|
||
|
<size>
|
||
|
<Size width="212" height="317"/>
|
||
|
</size>
|
||
|
</EquationGE>
|
||
|
<Edge leftVarIndex="1" rightExprIndex="1" srcEquation="!ed/9404/7AC7/1190/598839a4744" dstEquation="!ed/93fb/7AC7/1190/598839a14fac">
|
||
|
<positions>
|
||
|
<Point x="9128" y="2302"/>
|
||
|
<Point x="9578" y="2302"/>
|
||
|
<Point x="9578" y="2302"/>
|
||
|
<Point x="10054" y="2302"/>
|
||
|
</positions>
|
||
|
</Edge>
|
||
|
<EquationGE kind="OBJ_LIT" presentable="!ed/9427/7AC7/1190/598839ae4ac5">
|
||
|
<position>
|
||
|
<Point x="8916" y="3175"/>
|
||
|
</position>
|
||
|
<size>
|
||
|
<Size width="212" height="318"/>
|
||
|
</size>
|
||
|
</EquationGE>
|
||
|
<Edge leftVarIndex="1" rightExprIndex="1" srcEquation="!ed/9427/7AC7/1190/598839ae4ac5" dstEquation="!ed/93fc/7AC7/1190/598839a12004">
|
||
|
<positions>
|
||
|
<Point x="9128" y="3334"/>
|
||
|
<Point x="9578" y="3334"/>
|
||
|
<Point x="9578" y="3334"/>
|
||
|
<Point x="10054" y="3334"/>
|
||
|
</positions>
|
||
|
</Edge>
|
||
|
<EquationGE kind="OBJ_LIT" presentable="!ed/9446/7AC7/1190/598839b74893">
|
||
|
<position>
|
||
|
<Point x="8916" y="4207"/>
|
||
|
</position>
|
||
|
<size>
|
||
|
<Size width="212" height="317"/>
|
||
|
</size>
|
||
|
</EquationGE>
|
||
|
<Edge leftVarIndex="1" rightExprIndex="1" srcEquation="!ed/9446/7AC7/1190/598839b74893" dstEquation="!ed/93fd/7AC7/1190/598839a1208">
|
||
|
<positions>
|
||
|
<Point x="9128" y="4366"/>
|
||
|
<Point x="9578" y="4366"/>
|
||
|
<Point x="9578" y="4366"/>
|
||
|
<Point x="10054" y="4366"/>
|
||
|
</positions>
|
||
|
</Edge>
|
||
|
<EquationGE presentable="!ed/9458/7AC7/1190/598839c34dcd">
|
||
|
<position>
|
||
|
<Point x="2593" y="1773"/>
|
||
|
</position>
|
||
|
<size>
|
||
|
<Size width="265" height="502"/>
|
||
|
</size>
|
||
|
</EquationGE>
|
||
|
<EquationGE presentable="!ed/945a/7AC7/1190/598839c3221d">
|
||
|
<position>
|
||
|
<Point x="2593" y="2805"/>
|
||
|
</position>
|
||
|
<size>
|
||
|
<Size width="265" height="502"/>
|
||
|
</size>
|
||
|
</EquationGE>
|
||
|
<EquationGE presentable="!ed/945c/7AC7/1190/598839c3249d">
|
||
|
<position>
|
||
|
<Point x="2593" y="3836"/>
|
||
|
</position>
|
||
|
<size>
|
||
|
<Size width="265" height="503"/>
|
||
|
</size>
|
||
|
</EquationGE>
|
||
|
<EquationGE presentable="!ed/945e/7AC7/1190/598839c369e6">
|
||
|
<position>
|
||
|
<Point x="2593" y="4868"/>
|
||
|
</position>
|
||
|
<size>
|
||
|
<Size width="265" height="503"/>
|
||
|
</size>
|
||
|
</EquationGE>
|
||
|
<EquationGE presentable="!ed/9467/7AC7/1190/598839c710c5">
|
||
|
<position>
|
||
|
<Point x="3810" y="1773"/>
|
||
|
</position>
|
||
|
<size>
|
||
|
<Size width="503" height="503"/>
|
||
|
</size>
|
||
|
</EquationGE>
|
||
|
<EquationGE presentable="!ed/946c/7AC7/1190/598839c87002">
|
||
|
<position>
|
||
|
<Point x="3757" y="2805"/>
|
||
|
</position>
|
||
|
<size>
|
||
|
<Size width="503" height="503"/>
|
||
|
</size>
|
||
|
</EquationGE>
|
||
|
<EquationGE presentable="!ed/9471/7AC7/1190/598839c9528b">
|
||
|
<position>
|
||
|
<Point x="3625" y="3836"/>
|
||
|
</position>
|
||
|
<size>
|
||
|
<Size width="503" height="502"/>
|
||
|
</size>
|
||
|
</EquationGE>
|
||
|
<EquationGE presentable="!ed/9476/7AC7/1190/598839ca1e85">
|
||
|
<position>
|
||
|
<Point x="3757" y="4868"/>
|
||
|
</position>
|
||
|
<size>
|
||
|
<Size width="503" height="502"/>
|
||
|
</size>
|
||
|
</EquationGE>
|
||
|
<Edge leftVarIndex="1" rightExprIndex="1" srcEquation="!ed/9458/7AC7/1190/598839c34dcd" dstEquation="!ed/9467/7AC7/1190/598839c710c5">
|
||
|
<positions>
|
||
|
<Point x="2858" y="2037"/>
|
||
|
<Point x="3466" y="2037"/>
|
||
|
<Point x="3466" y="2037"/>
|
||
|
<Point x="4075" y="2037"/>
|
||
|
</positions>
|
||
|
</Edge>
|
||
|
<Edge leftVarIndex="1" rightExprIndex="1" srcEquation="!ed/945a/7AC7/1190/598839c3221d" dstEquation="!ed/946c/7AC7/1190/598839c87002">
|
||
|
<positions>
|
||
|
<Point x="2858" y="3069"/>
|
||
|
<Point x="3440" y="3069"/>
|
||
|
<Point x="3440" y="3069"/>
|
||
|
<Point x="4022" y="3069"/>
|
||
|
</positions>
|
||
|
</Edge>
|
||
|
<Edge leftVarIndex="1" rightExprIndex="1" srcEquation="!ed/945c/7AC7/1190/598839c3249d" dstEquation="!ed/9471/7AC7/1190/598839c9528b">
|
||
|
<positions>
|
||
|
<Point x="2858" y="4101"/>
|
||
|
<Point x="3360" y="4101"/>
|
||
|
<Point x="3360" y="4101"/>
|
||
|
<Point x="3889" y="4101"/>
|
||
|
</positions>
|
||
|
</Edge>
|
||
|
<Edge leftVarIndex="1" rightExprIndex="1" srcEquation="!ed/945e/7AC7/1190/598839c369e6" dstEquation="!ed/9476/7AC7/1190/598839ca1e85">
|
||
|
<positions>
|
||
|
<Point x="2858" y="5133"/>
|
||
|
<Point x="3440" y="5133"/>
|
||
|
<Point x="3440" y="5133"/>
|
||
|
<Point x="4022" y="5133"/>
|
||
|
</positions>
|
||
|
</Edge>
|
||
|
</presentationElements>
|
||
|
</NetDiagram>
|
||
|
</diagrams>
|
||
|
</ed:Operator>
|
||
|
</pragmas>
|
||
|
</Operator>
|