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

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up to perform the less processor intensive tasks such as IO. An additional cost savings isachieved by using a switching box to allow the various computers to be controlled by onemonitor, keyboard, and mouse. The Instructor Station (Figure 7.) is the single point ofIO from the operator to the system. The graphicscomputers have separate outputs to the out thewindow screens.Analog to Digital - InputThe A/D card uses variations in voltage asinput and converts the signal from a analog voltage toa digital number corresponding to the level ofvoltage. Potentiometers are used to vary thereference voltage from the stick and pedals. AnyFigure 7 Instructor Stationdevice that can be connected to a linear or rotating potentiometer can be used for input tothe simulator.Digital to Analog — OutputThe instruments (Figure 8.) andthe force feedback are run using areference voltage sent out from thecomputer then amplified to run theactuators (voltage meters) in theinstruments and torque motorsconnected to the stick and pedals. Anydevice that can be controlled using aFigure 8 PhEagle Instrumentsvoltage signal can be used as output from the D/A card.16
Graphics Cards - Voodoo IIGraphics require the greatestamount of processing power in a visualsimulation. The PhEagle currently hasprovisions for up to 3 views, each view isprocessed by a single computerproviding enough speed for real timehigh resolution texture mapped graphics(Figure 9). Each computer only requiresFigure 9 Graphics Front Viewthe position, orientation, and direction that the view is displaying. Each computer gets theinformation once an integration step. The graphics are handled by providing threecomputers with the same terrain database and software. By sending the position andorientation to the three computers the rest of the graphics are processed separately. Thegraphics computers’ only special pieces of hardware are network cards and Quantum 3Dgraphics cards based on 3Dfx Voodoo graphics chips. The card provides hardwaretexture mapping, z buffering, and Gouraud shading. The card has a pixel fill rate of 90million pixels per second at 800 x 600 resolution, which translates to 5 to 10 thousandpolygons being shaded at 30 Hz. The three default views available in PhEagle I are outthe cockpit window, looking out the front and slightly to the sides. The view direction isset on the computer that is doing the graphics for the view through the software. Thedirection that the view is looking is simple to change allowing great flexibility inplacement of the side view monitors. Placing the side monitor directly to the side allowsfor close formation flying while placing the monitors close together allows a widerpanoramic view out the front. The Center Monitor has the additional task of displaying17
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 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
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directly to the Euler block the out
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function and the dynamics were very
Page 88 and 89:
made by handling qualities engineer
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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
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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;
Page 104 and 105:
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
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
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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