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

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set(&yawForceOut,*uPtrs[26]);set(&rollForceOut,*uPtrs[27]);set(&pitchForceOut,*uPtrs[28]);}/*---------------------------------------------------------------------------* Source code for DACCard*---------------------------------------------------------------------------*//***** setup for d/a *****/void DACCardInit(struct DAC *card){short channel;unsigned short count;unsigned short addr1;float voltage;voltage=0;if (card->nBits > 16 || card->nBits < 2)printf("DAC error: Cannot set for %d bits\n", card->nBits);card->maxCount = (unsigned short)((1 nBits) - 1);card->gainVtoCounts = (float)card->maxCount/(card->pLimit - card->nLimit);card->vOffset = -(card->nLimit);for (channel = 0; channel < card->nChannels; channel++) {if (channel >= card->nChannels)printf("DACCard: channel %d is out of range\n", channel);if (card->vDefault > card->pLimit || card->vDefault < card->nLimit) {if (errorChecking)printf("DACCard: Voltage %1.3f is out of range\n", card->vDefault);voltage = (voltage > card->pLimit) ? card->pLimit : card->nLimit;}}}count = (unsigned short)(card->gainVtoCounts*(voltage + card->vOffset));addr1 = card->baseAddr + (channel channelNumber >= Card->nChannels) {printf("DACCard: channel %d is out of range\n", chan->channelNumber);}elsechan->addr = Card->baseAddr + (chan->channelNumber min == chan->max) {min = Card->nLimit;max = Card->pLimit;chan->gain = (float)(Card->maxCount)/(max - min);}112
}else {chan->gain = (float)(Card->maxCount)/(chan->maxV - chan->minV);}chan->offset = -(chan->min);/*--------------------------------------------------------------------------*/void set(struct DACChannel *Chan, float value){unsigned short count;float checkMin, checkMax;if (Chan->max < Chan->minV) {checkMin = Chan->maxV;checkMax = Chan->minV;} else {checkMax = Chan->maxV;checkMin = Chan->minV;}}if (value > checkMax || value < checkMin) {if (errorChecking)printf("DACChannel: Value %1.3f is out of range\n", value);value = (value > Chan->maxV) ? Chan->maxV : Chan->minV;}count = (unsigned short)(Chan->gain*(value + Chan->offset));outpw(Chan->addr, count);/* Function: mdlTerminate =====================================================* Abstract:* No termination needed, but we are required to have this routine.*/static void mdlTerminate(SimStruct *S){}#ifdef MATLAB_MEX_FILE /* Is this file being compiled as a MEX-file? */#include "simulink.c" /* MEX-file interface mechanism */#else#include "cg_sfun.h" /* Code generation registration function */#endif113
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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
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Simulink environment, and Mathworks
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D/A (output) block is the code for
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Table 9 Cab InputsInput from cab ou
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Key Features of SimulationsStabilit
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subsystem with inputs and outputs.
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viewer has the end of the runway co
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The 6 degree of freedom (3 translat
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difference between the two axes are
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Unit Delay1zelevatorelevElevElevato
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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 106 and 107: k4=dt*(z(index-1)+l3/2.0);l4=dt*(-a
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 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
Page 156 and 157: #define Deg2Rad 0.01745329#define R
Page 158 and 159: * Parameter Value Description* Name
Page 160 and 161: * y[15]= qDot* y[16]= rDot* y[17]=
Page 162 and 163: ***** Compute the rolling moment ex
Page 164 and 165: xDot=u*CTheta*CPsi+v*(SPhi*STheta*C
Page 166 and 167: SAD file: Navion.tsf2.153 1 Alt1 [f
Page 168 and 169: % | sAcB -sAsB cA | Fzb% Test dataF
Page 170 and 171: Standard Atmosphere Simulink S-func
Page 172 and 173: * in estimate();** Alt=*uPtrs[0]; m
Page 174 and 175: 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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