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

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Impulse ResponseRoll Angle32.5Amplitude21.510.5State Space6 DOF00 5 10 15 20 25 30Time (sec.)Figure 23 Roll Angle ResponseStandard AtmosphereA C MEX S-function block was created (Figure 24) to replace the hardwiredatmosphere function. The original function estimated the atmosphere up to the firstisothermal layer. Thislimited the functionConstant459.67to altitudes less than36,090 ft the cruising1.8to Rankineto F1Temperature Faltitude ofcommercial airliners.1Alt ft3.281To metersstd_atmsSFunctionDemux.00014503To psi019403To psi12Pressure lb/in^23Density slug/ft^3The S-functionstandard atmospherefunction calculates3.281To ft/secDemuxFigure 24 Atmosphere Conversion from SI to English Units4a ft/secthe pressure, temperature, density, and speed of sound up to 47 kilometers or about155,000 ft. using altitude as an input. Using the altitude output from the 6-DOF functionrequired including a unit delay block in the Simulink model to avoid a algebraic loop.The delay and initial condition must be set to match the models starting altitude and timestep. The C MEX S-function does the calculations using SI units, the conversion to64
English engineering units is done in Simulink as shown in Figure 24. The block takes inas parameters the sea level temperature and pressure. This allows the user to set up nonstandardconditions to match flight test data that has not been normalized. The input is inKelvin and Newtons/meter^2.InputCreating the 6 DOF model as a S-function allowed the model to use any of thecanned inputs available from Simulink as well as the new PhEagle stick input block.The ability to use the standard Simulink/Matlab functions allowed the analysis of theaircraft to be done all using a single CAD/CAE package. Access to a workstation allowsCONDUIT to be used to analyze a bare airframe or optimize a control system. A paperpilot would be a matter of creating Simulink subsystems or S-functions to model pilotedinputs.OutputThe output has been expanded from basic text screen output and basic graphics tothe Simulink scope, to workspace function, to file as well as numerical output andadvanced graphics of the World up viewer and PhEagle I out the window graphics. Theability to produce ASCII file output of the control inputs and airframe dynamics allow theuse of the NASA program CIFER for simulation model verification. A function has beencreated to convert ASCII files to Fortran unformatted binary files. CIFER requires aFortran binary file of the input and output for each channel desired for identification.FeelWith all of the states being written out, actual aircraft control feel as well asartificial state feedback feel can be incorporated with the 6 DOF model. By making thefeel proportional to the dynamic pressure and Nz the actual feel of an aircraft can be65
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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
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RK4 (RUNGE-KUTTA) HELP FILE 91RK4 (
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List of TablesTablePageTable 1. Air
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Figure 27. Kaman SH2-F 72Figure 28.
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has been developing a set of the ba
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Simulink is a graphical user interf
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computers are now fast enough to do
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simulation after the conversion. Th
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then a simple one axis closed loop
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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 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
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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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