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

More documents

Recommendations

Info

Game Joystick Driver Simulink S-function/***************************************************************************** MODULE: game_stick.c** AUTHOR(S): Eyal Lebedinsky / Doug Hiranaka** DATE: February 11, 1999** Copyright (c) ALL RIGHTS RESERVED* Cal Poly San Luis Obispo 1998** REVISION HISTORY:** REV AUTHOR DATE DESCRIPTION** This was part of the flight simulator ’fly8’.* Author: Eyal Lebedinsky (eyal@ise.canberra.edu.au).* 0 EL Creation joytest.c* 1 dkh 2-8-99 removed test functions* 2 dkh 2-11-99 converted into s-mex format** S-mex: See simulink/src/sfuntmpl.doc** S-mex Copyright (c) 1990-1998 by The MathWorks, Inc. All Rights Reserved.* $Revision: 1.3** This S-function block Reads the commanded stick position from a game* joystick and sends out values from +-1*****************************************************************************/#define S_FUNCTION_NAME game_stk#define S_FUNCTION_LEVEL 2#include "simstruc.h"#include #include /* #include */#include /* This is part of the flight simulator ’fly8’.* Author: Eyal Lebedinsky (eyal@ise.canberra.edu.au). */#define JS_PORT#define JS_TIMEOUT 32000#define JS_READ0x201inp (JS_PORT)typedef unsigned shorttypedef unsigned inttypedef unsigned longUshort;Uint;Ulong;#define READING(JS_TIMEOUT-i)struct stick {UshortUshort};a[4];b[4];168
typedef struct stickSTICK;/* Function: mdlInitializeSizes ===============================================* Abstract:* Setup sizes of the various vectors.*/static void mdlInitializeSizes(SimStruct *S){ssSetNumSFcnParams(S, 0);if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) {return; /* Parameter mismatch will be reported by Simulink */}ssSetNumInputPorts(S, 0);/* ssSetInputPortWidth(S, 0, 0); *//* ssSetInputPortDirectFeedThrough(S, 0, 1); */if (!ssSetNumOutputPorts(S,1)) return;ssSetOutputPortWidth(S, 0, 2);/* Stick, rudder, and throttles */ssSetNumSampleTimes(S, 1);}/* Take care when specifying exception free code - see sfuntmpl.doc */ssSetOptions(S, SS_OPTION_EXCEPTION_FREE_CODE);/* Function: mdlInitializeSampleTimes =========================================* Abstract:* Specifiy that we inherit our sample time from the driving block.*/static void mdlInitializeSampleTimes(SimStruct *S){ssSetSampleTime(S, 0, INHERITED_SAMPLE_TIME);ssSetOffsetTime(S, 0, 0.0);}#define MDL_START /* Change to #undef to remove function */#if defined(MDL_START)/* Function: mdlStart ========================================* Abstract:* Initialize the da cards.*/static void mdlStart(SimStruct *S){}#endif /* MDL_START */#define MDL_INITIALIZE_CONDITIONS /* Change to #undef to remove function */#if defined(MDL_INITIALIZE_CONDITIONS)/* Function: mdlInitializeConditions ========================================* Abstract:* Initialize the state. Note, that if this S-function is placed* with in an enabled subsystem which is configured to reset states,* this routine will be called during the reset of the states.169
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 14 and 15:
Figure 27. Kaman SH2-F 72Figure 28.
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
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 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 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
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 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.
show all

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

You also want an ePaper? Increase the reach of your titles

Delete template?

Save as template?