An Integrated, Modular Simulation System for Education ... - Cal Poly

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k4=dt*(z(index-1)+l3/2.0);l4=dt*(-a*(z(index-1)+l3/2.0)-b*(Theta(index-1)+k3/2.0)+K*c*deltaE);Theta(index) = Theta(index-1) + 1/6.0*(k1 + 2.0*k2 + 2.0*k3 + k4);z(index) = z(index-1) + 1/6.0*(l1 + 2.0*l2 + 2.0*l3 + l4);t = t + dt;Time(index)=t;index=index+1;end; %***** Outer loop *****plot(Time,Theta,’r’);xlabel(’Time - sec’);ylabel(’Theta’);grid on;92
RK4 (Runge-Kutta) c++ class — test function// rk4.cpp//// This is a test program to integrate a second order tranfer function// Given the transfer function 0.0165/(s^2+0.186s+0.0165) solving the// differential equation, this function returns the values at the// next time step// In this version we use the fourth-order Runge-Kutta method// to do the integration.// 3/06/98 Eric Vinande - original function, Doug Hiranaka —// modified the code// to a c++ function#include #include #include #include #include void main(){//======================================================================// function opens input file and reads the data from the file to the// shape class//======================================================================FILE *fout;printf ("Starting the function\n");// fp = fopen("fcube.dat", "r");// if (!fp){// printf("can not open intput file\n");// exit(1);// }// printf("input file open!\n");// fscanf(fp,"%i %i ",&number_of_vertices,&number_of_lines); // Read #vert, #lines// printf("%i %i \n",number_of_vertices,number_of_lines);// printf("number of lines = %i\n",number_of_lines);//======================================================================// function does the actual integration to get the current state//======================================================================// variables// dt=time increment// Theta = pitch angle// deltaE = elevator angle// float DegToRad = 0.01745329;float Theta[250], z[250], Time[250], K, wn, zeta;//***** begin inputsprintf("\n\nEnter K (steady-state gain)\n");scanf("%f",&K);93
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Authorization PageI grant permissio
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Table of ContentsLIST OF TABLESXIIL
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Standard Atmosphere 64Input 65Outpu
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RK4 (RUNGE-KUTTA) HELP FILE 91RK4 (
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List of TablesTablePageTable 1. Air
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Figure 27. Kaman SH2-F 72Figure 28.
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has been developing a set of the ba
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Simulink is a graphical user interf
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computers are now fast enough to do
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simulation after the conversion. Th
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then a simple one axis closed loop
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PhEagle IPhEagle Hardware - Sim Cab
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highlight some text on a word proce
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up to perform the less processor in
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the Heads Up Display (HUD). While c
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and monitors and computer code to s
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Existing Simulation ToolsThere are
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great control over the model dynami
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Figure 11 BYOFS Original ScreenFigu
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Basic 6-DOF Nonlinear, Rigid Body,
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0 18 Cmu - Pitch moment due to forw
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each of the linear force terms. The
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PhEagle IIPhEagle II Introduction a
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instructor a graphical interface to
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Simulink block set, however, when m
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existing graphics by creating a TCP
Page 56 and 57: Simulink environment, and Mathworks
Page 58 and 59: D/A (output) block is the code for
Page 60 and 61: Table 9 Cab InputsInput from cab ou
Page 62 and 63: Key Features of SimulationsStabilit
Page 64 and 65: subsystem with inputs and outputs.
Page 66 and 67: viewer has the end of the runway co
Page 68 and 69: The 6 degree of freedom (3 translat
Page 70 and 71: difference between the two axes are
Page 72 and 73: Unit Delay1zelevatorelevElevElevato
Page 74 and 75: 6 DOF Model VerificationThe 6 DOF m
Page 76 and 77: oth models. The two state space mod
Page 78 and 79: Impulse ResponseRoll Angle32.5Ampli
Page 80 and 81: modeled. By feeding back any of the
Page 82 and 83: R10000 processors an inceptor Flybo
Page 84 and 85: directly to the Euler block the out
Page 86 and 87: function and the dynamics were very
Page 88 and 89: made by handling qualities engineer
Page 90 and 91: mode. The aircraft was divergent de
Page 92 and 93: simplified to resemble a spring-dam
Page 94 and 95: the data and converting to the prop
Page 96 and 97: ConclusionsConverting existing soft
Page 98 and 99: Future WorkPhEagle II provides basi
Page 100 and 101: workstation or PC for function test
Page 102 and 103: 13. Tischler, M. B.; Chen, R. T. N;
Page 104 and 105: AppendixEuler Help File%***** euler
Page 108 and 109: float K = 10.0;printf("\nEnter wn [
Page 110 and 111: Snoopy 2nd order RK4 Class//-------
Page 112 and 113: {private:void CalcPowerDyn();void C
Page 114 and 115: int opMode;int oldVmode;int checkpt
Page 116 and 117: }exit_code = 0;}if (opMode != DEBUG
Page 118 and 119: }opMode = HELP;else if ((*argv[i] =
Page 120 and 121: Instrument D/A Simulink S-function/
Page 122 and 123: * Function: mdlInitializeSampleTime
Page 124 and 125: cdVerIndicator.channelNumber=5;cdVe
Page 126 and 127: set(&yawForceOut,*uPtrs[26]);set(&r
Page 128 and 129: Instrument Help Filefunctionallinst
Page 130 and 131: Stick D/A Simulink S-function/*****
Page 132 and 133: aToD12.cntCtrl=addr + 3;aToD12.da1L
Page 134 and 135: * with in an enabled subsystem whic
Page 136 and 137: #define MDL_DERIVATIVES /* Change t
Page 138 and 139: Abbreviated Instrument D/A Simulink
Page 140 and 141: {d16.nBits=16;d16.baseAddr=0x340;d1
Page 142 and 143: InputRealPtrsType uPtrs = ssGetInpu
Page 144 and 145: #ifdef MATLAB_MEX_FILE /* Is this f
Page 146 and 147: Abbreviated Stick D/A Simulink S-fu
Page 148 and 149: aToD12.da2Low=addr + 6;aToD12.da2Hi
Page 150 and 151: */static void mdlDerivatives(SimStr
Page 152 and 153: Header file for Stick S-functions//
Page 154 and 155: Abbreviated Stick Help filefunction
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#define Deg2Rad 0.01745329#define R
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* Parameter Value Description* Name
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* y[15]= qDot* y[16]= rDot* y[17]=
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***** Compute the rolling moment ex
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xDot=u*CTheta*CPsi+v*(SPhi*STheta*C
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SAD file: Navion.tsf2.153 1 Alt1 [f
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% | sAcB -sAsB cA | Fzb% Test dataF
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Standard Atmosphere Simulink S-func
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* in estimate();** Alt=*uPtrs[0]; m
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Euler Coordinate Transform and Inte
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* Abstract:* Specifiy that we inher
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* calulate the trig functions first
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Euler Transform Help Filefunction [
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Game Joystick Driver Simulink S-fun
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*/static void mdlInitializeConditio
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* This function is called once for
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Navion Longitudianal State Space Se
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ANavionLatB=[0 .07045610 028.73202
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Navion Longitudinal State Space Set
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NNavionLatB=[0 0.070456128.73202 2.
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% create a frequency vectorw=0.1:0.
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An Integrated, Modular Simulation System for Education ... - Cal Poly

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