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

More documents

Recommendations

Info

Table of ContentsLIST OF TABLESXIILIST OF FIGURESXIIIINTRODUCTION 1Computer Aided 1Research Objectives 8PHEAGLE I 12PhEagle Hardware - Sim Cab 12Sim Cab F-4/F-15 PHantom/EAGLE 12Siblinc 14Stick Computer 14PhEagle Hardware - Computers 15Low-cost PC s 15Analog to Digital - Input 16Digital to Analog — Output 16Graphics Cards - Voodoo II 17Network 18Parallel Computing 18PhEagle I Software 21Development of PhEagle I 21Existing Simulation Tools 22General 23Cal Poly 23Transfer Function 23State Space 27vi
Basic 6-DOF Nonlinear, Rigid Body, Steady-State Subsonic Aerodynamics 28PHEAGLE II 34PhEagle II Introduction and Objectives 34Simulink 34Modular Problem Setup 37Simulink Time block 38Hardware Setup and Test 38Real Time Workshop 39Stand-alone Code 39Hardware in the Loop 40Existing Infrastructure 40PhEagle II — Software 40Modular Structure 42Including Existing IO Functions 42Expanding the Possible 43Output - D to A 43Instruments 44Input - A to D 45Stick 45Feedback 46Force 46Active Sick Cueing 46Graphics 47Network (TCP/IP) 47Key Features of Simulations 48Linear 49Modifications Required to Fly 51Euler Block 52Trim Attitude and Speed 53Feel 536-DOF Non linear 536 DOF Model Verification 60vii
Page 2: Authorization PageI grant permissio
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 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?