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

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* with in an enabled subsystem which is configured to reset states,* this routine will be called during the reset of the states.*/static void mdlInitializeConditions(SimStruct *S){}#endif /* MDL_INITIALIZE_CONDITIONS *//* Function: mdlOutputs =======================================================* Abstract:* simply passes states y[n] = x[n]**/static void mdlOutputs(SimStruct *S, int_T tid){InputRealPtrsType uPtrs = ssGetInputPortRealSignalPtrs(S,0);real_T *y = ssGetOutputPortRealSignal(S,0);float newVal;newVal = doConversion(&pitchPos,&aToD12);newVal = 0.4*newVal + 0.6*oldVals[0];oldVals[0] = newVal;y[0] = (int)newVal;newVal = doConversion(&pitchForce,&aToD12);newVal = 0.4*newVal + 0.6*oldVals[1];oldVals[1] = newVal;y[1] = (int)newVal;newVal = doConversion(&pitchTrimDef,&aToD12);newVal = 0.4*newVal + 0.6*oldVals[2];oldVals[2] = newVal;y[2] = (int)newVal;newVal = doConversion(&pitchTrimPos,&aToD12);newVal = 0.4*newVal + 0.6*oldVals[3];oldVals[3] = newVal;y[3] = (int)newVal;newVal = doConversion(&pitchVelocity,&aToD12);newVal = 0.4*newVal + 0.6*oldVals[4];oldVals[4] = newVal;y[4] = (int)newVal;newVal = doConversion(&rollPos,&aToD12);newVal = 0.4*newVal + 0.6*oldVals[5];oldVals[5] = newVal;y[5] = (int)(-newVal);newVal = doConversion(&rollForce,&aToD12);newVal = 0.4*newVal + 0.6*oldVals[6];oldVals[6] = newVal;y[6] = (int)newVal;newVal = doConversion(&rollTrimDef,&aToD12);newVal = 0.4*newVal + 0.6*oldVals[7];oldVals[7] = newVal;120
y[7] = (int)newVal;newVal = doConversion(&rollTrimPos,&aToD12);newVal = 0.4*newVal + 0.6*oldVals[8];oldVals[8] = newVal;y[8] = (int)newVal;newVal = doConversion(&rollVelocity,&aToD12);newVal = 0.4*newVal + 0.6*oldVals[9];oldVals[9] = newVal;y[9] = (int)newVal;newVal = doConversion(&rudderPos,&aToD12);newVal = 0.4*newVal + 0.6*oldVals[10];oldVals[10] = newVal;y[10] = (int)(-newVal);newVal = doConversion(&rudderForce,&aToD12);newVal = 0.4*newVal + 0.6*oldVals[11];oldVals[11] = newVal;y[11] = (int)newVal;newVal = doConversion(&rudderTrimPos,&aToD12);newVal = 0.4*newVal + 0.6*oldVals[12];oldVals[12] = newVal;y[12] = (int)newVal;newVal = doConversion(&rudderVelocity,&aToD12);newVal = 0.4*newVal + 0.6*oldVals[13];oldVals[13] = newVal;y[13] = (int)newVal;newVal = doConversion(&rThrottle,&aToD12);newVal = 0.4*newVal + 0.6*oldVals[14];oldVals[14] = newVal;y[14] = (int)newVal;}newVal = doConversion(&lThrottle,&aToD12);newVal = 0.4*newVal + 0.6*oldVals[15];oldVals[15] = newVal;y[15] = (int)newVal;#define MDL_UPDATE /* Change to #undef to remove function */#if defined(MDL_UPDATE)/* Function: mdlUpdate ======================================================* Abstract:* This function is called once for every major integration time step.* Discrete states are typically updated here, but this function is useful* for performing any tasks that should only take place once per* integration step.*/static void mdlUpdate(SimStruct *S, int_T tid){}#endif /* MDL_UPDATE */121
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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
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oth models. The two state space mod
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Impulse ResponseRoll Angle32.5Ampli
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modeled. By feeding back any of the
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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 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 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
Page 176 and 177: * Abstract:* Specifiy that we inher
Page 178 and 179: * calulate the trig functions first
Page 180 and 181: Euler Transform Help Filefunction [
Page 182 and 183: 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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