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

More documents

Recommendations

Info

Basic 6-DOF Nonlinear, Rigid Body, Steady-State Subsonic AerodynamicsA single point 6 degree of freedom nonlinear rigid body model of an aircraft [Ref.32] was created to provide the basis for more advanced models. The simulation has beendivided into three main functions: Forces and moments, accelerations, coordinatetransform and state update. Figure 13 shows a symbolic representation of functions andUnit Delay81zUnit Delay71zUnit Delay614Psiz1rhorhouvMassIxxIyyIzzIxzFxMassIxxIyyIzzIxzuuDotvDotuDotvDotxyzPsi2y1x3zwFyFzvwTheta2Elevator3Aileron4RudderLElevatorMNAileronAlphaBetaRudderAirspeedForces Moments7Alpha8Beta9AirspeedpqrPsiThetaPhiFxFyFzwDotpDotqDotwDotpDotqDotrDotPhipqruv5Theta6PhiLrDotMAccelerationsUnit Delay41Unit Delay51zUnit Delay3 z1zUnit Delay21zUnit Delay11zTransform /IntegrateUnit Delay1zwFigure 13 Symbolic Model of 6 DOF Functionswhere the states are calculated. The diagram also shows how the states are used by theother functions to calculate the forces and momentes or positions and orientations. It isalso easy to see where the final states are output. Note that in order avoid algebraic loopsa unit delay must be included in the feedback states. The aircraft is represented at anytime by the states summarized in Table 2. The states include the position and orientation28
Table 2 State Vectorx, y, z Location of aircraft in inertial coordinatesu, v, w Body axis velocity componentsp, q, r Body axis rotation ratesΦ, Θ, Ψ Aircraft Euler anglesof the aircraft ininertial space, as wellas the body axisvelocities androtational rates. The forces and moments function starts with stability derivatives read infrom a ASCII based Standard Aircraft Data (SAD) file. The file contains 48 elementsdescribing the physical and aerodynamic characteristics of the modeled aircraft alongwith some initial conditions for the flight condition. The function uses a single sad file atone point in the flight envelope. The function is intended to be used as a quick check ofthe dynamics of a developing aircraft at one point. To provide complete dynamics for atraining type simulator would require a complex lookup table that would require one ormore dedicated computers doing the interpolation from the look up tables. Table 3summarizes the information contained in a typical SAD file.Table 3. SAD File100 1 Initial Altitude [ft]0.002377 2 Starting Density [slugs/ft^3]175.05 3 initial forward velocity U [ft/sec]0 4 Starting Altitude [ft]184 5 Wing reference area — S [ft^2]33.4 6 Wing span — b [ft]5.7 7 Wing mean aerodynamic chord- MAC [ft]2750 8 Aircraft weight [lbs]1048 9 Moments of inerita Ixx [slug-ft^2]3000 10 Iyy [slug-ft^2]3530 11 Izz [slug-ft^2]0 12 Ixz [slug-ft^2]0.41 13 CL1 - Initial total lift coefficient0.05 14 CD1 - Initial total drag coefficient0.05 15 CTX1 - Initial thrust coefficient0 16 Cm1 - Initial pitch moment coefficient0 17 CmT1 - Initial pitch moment due to thrust29
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 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 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.
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?