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

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highlight some text on a word processing document and over shooting the desiredsentence and then correcting up the page and overshooting again etc. Cal Poly s basicsimulation lab provides many capabilities that are available to anyone with access topersonal computers. The programmable PhEagle handling qualities force stick and pedalsallow Cal Poly to expand the knowledge base on pilot feedback.SiblincThe PhEagle’s dial instrumentsare run through an analog computercalled the Siblinc. The input to theSiblinc is in the form of referencevoltages sent from a PC through an offthe shelf digital to analog (D/A)converter card. The voltages areamplified in the Siblinc to drive theinstruments. The Siblink is the tall toweron the left of Figure 5.Figure 5 Siblinc and Stick ComputerStick ComputerAll of the functions of the stick arehandled through a separate analog computer(the center tower in Figure 5.). The stickcomputer buffers command inputs from thestick, rudder pedals and two throttles(Figure 6.) to the PC s analog to digital A/DFigure 6 Engine Throttles14
card and sends commands from the PC s D/A card through an amplifier to the sick andrudder pedal torque motors. The amount of torque generated by the motors can be setstatically through the stick computers front panel or by varying the reference voltagesfrom the PC to the stick computer. The stick computer also sends back to the IO (PC)computer stick position, force, and trim position and velocity. Feeding back force to theposition, virtual spring and damping can be created. By feeding back force and dampingproportional to any of the modeled states can be used to enhance the handling qualities ofan aircraft [Ref. 25].PhEagle Hardware - ComputersThe heart of the simulation lab is the computer network. There are 4 Pentium 166MHz computers connected by Ethernet to provide the simulation dynamics, highresolution texture mapped graphics and, input-output (IO) to the simulation cab. Byseparating the simulation tasks to processes that are only dependant on input once eachintegration time step or once every several time steps, a flexible computing environmentusing as many or as few computers as are required for each simulation is possible. Sincethe information is sent over a network the machine acting as the master controlling thesimulation could be any computer. Substituting a Unix workstation for a PC calculatingthe equations of motion for a complex simulation such as a helicopter blade elementmodel running in real time would be seamless.Low-cost PC sSince each task in the system is performed on a separate PC with little specialhardware, upgrades to the system can be made incrementally, spreading the cost ofhardware upgrades over as much time as is required. Slower machines can be quickly set15
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 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
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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]=
Page 162 and 163:
***** 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
Page 170 and 171:
Standard Atmosphere Simulink S-func
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* 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
Page 180 and 181:
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
Page 188 and 189:
Navion Longitudianal State Space Se
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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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An Integrated, Modular Simulation System for Education ... - Cal Poly

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