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

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xDot=u*CTheta*CPsi+v*(SPhi*STheta*CPsi-CPhi*SPsi)+w*(CPhi*STheta*CPsi+SPhi*SPsi);yDot=u*CTheta*SPsi+v*(SPhi*STheta*SPsi+CPhi*CPsi)+w*(CPhi*STheta*SPsi-SPhi*CPsi);zDot= -u*STheta+v*SPhi*CTheta+w*CPhi*CTheta;Theta+=(3.0*ThetaDot-OldThetaDot)/2.0*dt; /***** Euler angle integration *****/Phi+=(3.0*PhiDot-OldPhiDot)/2.0*dt;Psi+=(3.0*PsiDot-OldPsiDot)/2.0*dt;xx+=(3.0*xDot-OldxDot)/2.0*dt; /***** position integration *****/yy+=(3.0*yDot-OldyDot)/2.0*dt;zz+=(3.0*zDot-OldzDot)/2.0*dt;OlduDot=uDot; /***** Update the derivatives for the integrations *****/OldvDot=vDot;OldwDot=wDot;OldpDot=pDot;OldqDot=qDot;OldrDot=rDot;OldThetaDot=ThetaDot;OldPhiDot=PhiDot;OldPsiDot=PsiDot;OldxDot=xDot;OldyDot=yDot;OldzDot=zDot;/* handle bounds checking on roll and yaw at 180 or -180 */if (Phi > pi)Phi = -pi + (Phi - pi);else if (Phi < -pi)Phi = pi + (Phi - -pi);if (Psi > pi)Psi = -pi + (Psi - pi);else if (Psi < -pi)Psi = pi + (Psi - -pi);}/* handle special case when aircraft pitch passes the vertical */if ((Theta > HalfPi) || (Theta < -HalfPi)){if (Phi >= 0)Phi -= pi;else if (Phi < 0)Phi += pi;if (Psi >= 0)Psi -= pi;else if (Psi < 0)Psi += pi;if (Theta > 0)Theta = (pi - Theta);else if (Theta < 0)Theta = (-pi - Theta);}void Wind2Body(float FxWind, float FyWind, float FzWind, double AirSpeed){float vSquared, AlphaSpeed, combo;150
vSquared = u*u+w*w;AlphaSpeed = sqrt(vSquared);combo = -v/(AlphaSpeed*AirSpeed);Fx += FxWind*u/AirSpeed+FyWind*u*combo-FzWind*w/AlphaSpeed;Fy += FxWind*v/AirSpeed+FyWind*AlphaSpeed/AirSpeed;Fz += FxWind*w/AirSpeed+FyWind*w*combo+FzWind*u/AlphaSpeed;}/****************************************************************************/void read_derivs(char *fname, double *dp){FILE *f;char *c;int i;if (!(f = fopen(fname, "rt"))) {free(c); printf("Could Not open file");}if (!(c = (char *)malloc(N_COLS*sizeof(char))));{ printf("Memory not dynamically allocated");}for (i = 0; i < 48; i++, dp++){readline(c,f);*dp = atof(c);}}free(c);fclose(f);/****************************************************************************//* Function: mdlUpdate =====================================================* Abstract:* perform action at major integration time step*/static void mdlUpdate(SimStruct *S, int_T tid){}/* 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 */#endif151
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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
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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
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
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 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
Page 184 and 185: */static void mdlInitializeConditio
Page 186 and 187: * This function is called once for
Page 188 and 189: Navion Longitudianal State Space Se
Page 190 and 191: ANavionLatB=[0 .07045610 028.73202
Page 192 and 193: Navion Longitudinal State Space Set
Page 194 and 195: NNavionLatB=[0 0.070456128.73202 2.
Page 196: % create a frequency vectorw=0.1:0.
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