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

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Figure 27. Kaman SH2-F 72Figure 28. SH-2F Block Diagram 73Figure 29. Bode Plot of 36/(S^2+8.3S+36) Transfer Function 78Figure 30. Chirp Time and Frequency Plots from Cessna Transfer Function 78Figure 31. CIFER Tutorial Sample Transfer Function Model 80xiv
IntroductionComputer AidedThe goals of research and education are very similar: to gain a betterunderstanding of the world through the systematic exploration of it. Looking at the worldusing only one tool is as limiting as observing the world using only one sense.Understanding differs from knowledge in the scope of information. Knowledge is beingaware about something while understanding involves being thoroughly familiar with thetopic. The ability to experiment with and manipulate things allows understanding tobegin [Ref. 1] Theory and equations provide the basis for understanding engineering.However there is usually no single tool provided that ties all of the theories and equationstogether to demonstrate how the topic being studied fits into the complex set of dynamicsthat make up a complete aircraft. Modeling an aircraft provides the bridge between thetheoretical and real world. Referring to model each time a new topic is introducedprovides reinforcement that each topic is related to a whole discipline.Computer simulation provides the kind of modeling that could be available toevery engineering student. Engineering students have access to personal computers thatare used mostly for data reduction and presentation. Personal computers have becomepowerful enough to provide real time simulation of simple aircraft from the desktop [Ref.2]. Joysticks used for game type simulators are common and drivers exist to allow theiruse for input to a engineering simulation. High resolution scenery exists that is availablein the public domain to provide an out the window view. The popularity of video gameshas provided everything for a high fidelity high resolution visual simulation of an aircraftexcept the equations of motion required to provide the dynamics to the model. Cal Poly1
Page 2: Authorization PageI grant permissio
Page 6 and 7: Table of ContentsLIST OF TABLESXIIL
Page 8 and 9: Standard Atmosphere 64Input 65Outpu
Page 10 and 11: RK4 (RUNGE-KUTTA) HELP FILE 91RK4 (
Page 12 and 13: List of TablesTablePageTable 1. Air
Page 16 and 17: has been developing a set of the ba
Page 18 and 19: Simulink is a graphical user interf
Page 20 and 21: computers are now fast enough to do
Page 22 and 23: simulation after the conversion. Th
Page 24 and 25: then a simple one axis closed loop
Page 26 and 27: PhEagle IPhEagle Hardware - Sim Cab
Page 28 and 29: highlight some text on a word proce
Page 30 and 31: up to perform the less processor in
Page 32 and 33: the Heads Up Display (HUD). While c
Page 34 and 35: and monitors and computer code to s
Page 36 and 37: Existing Simulation ToolsThere are
Page 38 and 39: great control over the model dynami
Page 40 and 41: Figure 11 BYOFS Original ScreenFigu
Page 42 and 43: Basic 6-DOF Nonlinear, Rigid Body,
Page 44 and 45: 0 18 Cmu - Pitch moment due to forw
Page 46 and 47: each of the linear force terms. The
Page 48 and 49: PhEagle IIPhEagle II Introduction a
Page 50 and 51: instructor a graphical interface to
Page 52 and 53: Simulink block set, however, when m
Page 54 and 55: 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
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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
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directly to the Euler block the out
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function and the dynamics were very
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made by handling qualities engineer
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mode. The aircraft was divergent de
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simplified to resemble a spring-dam
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the data and converting to the prop
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ConclusionsConverting existing soft
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Future WorkPhEagle II provides basi
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workstation or PC for function test
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13. Tischler, M. B.; Chen, R. T. N;
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AppendixEuler Help File%***** euler
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k4=dt*(z(index-1)+l3/2.0);l4=dt*(-a
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float K = 10.0;printf("\nEnter wn [
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Snoopy 2nd order RK4 Class//-------
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{private:void CalcPowerDyn();void C
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int opMode;int oldVmode;int checkpt
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}exit_code = 0;}if (opMode != DEBUG
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}opMode = HELP;else if ((*argv[i] =
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Instrument D/A Simulink S-function/
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* Function: mdlInitializeSampleTime
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cdVerIndicator.channelNumber=5;cdVe
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set(&yawForceOut,*uPtrs[26]);set(&r
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Instrument Help Filefunctionallinst
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Stick D/A Simulink S-function/*****
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aToD12.cntCtrl=addr + 3;aToD12.da1L
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* with in an enabled subsystem whic
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#define MDL_DERIVATIVES /* Change t
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Abbreviated Instrument D/A Simulink
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{d16.nBits=16;d16.baseAddr=0x340;d1
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InputRealPtrsType uPtrs = ssGetInpu
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#ifdef MATLAB_MEX_FILE /* Is this f
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Abbreviated Stick D/A Simulink S-fu
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aToD12.da2Low=addr + 6;aToD12.da2Hi
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*/static void mdlDerivatives(SimStr
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Header file for Stick S-functions//
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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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