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

Modifications Required to FlyThe model of the SH-2f was a 6 DOF state space model of the helicopter. Themodel (Figure 28) required fewer modification to fly than the X-29a as there wereMatlab 5.1 / Simulink 2.1August 3, 1998Chad R. FrostNASA Amestheta bodyArenaVariable:collFrom Ctrl Arena321Constant3Sum40.1 msphi bodypsi bodyu bodyArenaVariable:long cycSimulation Delayp (rad/sec)q (rad/sec)v bodyFrom Ctrl ArenaMuxcontrol inputs (stu)Demuxr (rad/sec)w bodyTo GraphicsArenaVariable:lat cycFrom Ctrl Arena1Control SystemActuatorsAircraftDynamicsx (ft)y (ft)1x_out2y_outArenaVariable:rudderFrom Ctrl Arena2z (ft)57.357.357.33z_out4phi (deg/sec)phi_out5theta (deg/sec)theta_out6psi (deg/sec)psi_out.5925ft/sec2ktsArenaVariable:equ a/s (kts)To State ArenaFigure 28 SH-2F Block Diagramoutputs for airspeed as well as all the linear and rotational rates and positions. The Flyboxinput was included in the model and wired up to the inputs and the graphics and HUDwere wired to the outputs of the model the timing block was included and set.Observations of Flight ModelThe procedure for setting the timing of the model to real time was still notcomplete during the testing of the SH-2f. The timing error was found after a engineerfamiliar with the dynamics of the helicopter noticed that the model was still flying muchfaster than the actual helicopter would. Despite the error in timing with the model a greatdeal was learned about the flying qualities and dynamics of the flight and control models.The control gains were tested to confirm decoupling of the axis then, doubletswere performed to confirm damping ratio. No force feedback was available on theversion of RIPTIDE used for the evaluation so actual handling qualities information waslimited. No actual piloted evaluations of the model were conducted. All flights were73