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

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Table 9 Cab InputsInput from cab output rangepitch command angle +-1pitch force +-1ptich trim def +-1pitch velocity +-1pritch trim position +-1roll command angle +-1roll force +-1roll trim def +-1roll trim position +-1roll velocity +-1yaw comand angle +-1yaw force +-1yaw trim position +-1yaw control velocity +-1right throttle +-1left throttle +-1FeedbackOriginally the feedback of the stick forces was done in the simulation code. TheS-function provides only a force input. Any feedback architecture is done in the Simulinkblock diagram . ForceThe force at the stick is controlled by the gain input to the S-function. By feedingback a state to the force input of the stick, cueing of the states is possible.Active Sick CueingCreating canned responses to certain airframe or power plant states allows a pilotto be cued actively that he is approaching a limit or a limit is changing. The mostcommon form of active stick cueing is a stick shaker to inform the pilot that stall of the46
wing is imminent. A sine wave input with a frequency of about 5 hz would provide theinput for a stick shaker.GraphicsGraphics is currently being provided by the World Up VR viewer. The graphicsfor PhEagle I are still being developed and will be incorporated as soon as they areavailable. The PhEagle I uses the Ethernet to send the data to the graphics hardware.PhEagle Iionly requires a TCP/IP client S-function to access the remote graphicscomputers. Graphics is a whole area that can be investigated. Since there can be morethan one computer processing equations of motion it is conceivable that any number ofcomputers can be added to the network to provide formation or air to air combatsimulation. A graphics subsystem can be created to handle expansions of the systembeyond PhEagle II.Network (TCP/IP)A TCP/IP communications template block is included to allow for futureexpansion of the remote parallel processing capabilities of the PhEagle II system. Theblock is being used to send states to the graphics computers. The block can also be usedfor multiple aircraft simulations, playback of flight test or earlier simulation data to thegraphics system, and hardware in the loop simulation.47
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Authorization PageI grant permissio
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Table of ContentsLIST OF TABLESXIIL
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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 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 [
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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]=
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***** 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
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Standard Atmosphere Simulink S-func
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* in estimate();** Alt=*uPtrs[0]; m
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Euler Coordinate Transform and Inte
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* Abstract:* Specifiy that we inher
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* calulate the trig functions first
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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
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Navion Longitudianal State Space Se
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ANavionLatB=[0 .07045610 028.73202
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Navion Longitudinal State Space Set
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NNavionLatB=[0 0.070456128.73202 2.
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% create a frequency vectorw=0.1:0.
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An Integrated, Modular Simulation System for Education ... - Cal Poly

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