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

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simplified to resemble a spring-damper system. Analysis of spring damper systems areperformed using frequency domain [bode] plots (figure 29). NASA Ames CIFERsoftware provides the toolsBode Diagramsnecessary to process time200histories into frequency domaindata.To get a bode plot thePhase (deg); Magnitude (dB)406080050motion of the control input and100the airframes response to thecontrol is required. Themaneuver that is used in15010 1 10 0 10 1 10 2 10 3Frequency (rad/sec)Figure 29 Bode Plot of 36/(S^2+8.3S+36)TransferFunctionnormalized10.500.5CHIRP InputMAGNITUDE(DB)-90 -70 -50 -30 -1010-1 100 101 102 103FREQUENCY(RAD/SEC)Frequency Response: TSTSWP_COM_ABCDE_ELEV_QWindow composite for C172COMPOSITE TRANSFER FUNCTION PHASE-STRAIGHTENEDCIFER v3.0normalized10 10 20 30 40 50 60 70 80 90 100Time (sec)CHIRP Output10.500.5PHASE(DEG)-350 -270 -190 -110 -30 5010-1 100 101 102 103FREQUENCY(RAD/SEC)Frequency Response: TSTSWP_COM_ABCDE_ELEV_QWindow composite for C172COMPOSITE COHERENCECIFER v3.010 10 20 30 40 50 60 70 80 90 100Time (sec)COHERENCE0 0.2 0.4 0.6 0.8 110-1 100 101 102 103FREQUENCY(RAD/SEC)Frequency Response: TSTSWP_COM_ABCDE_ELEV_QWindow composite for C172Figure 30 CHIRP Time and Frequency Plots from CessnaTransfer Function78
frequency analysis is a oscillation of the controls starting at a low frequency thenprogressing to as high a frequency as the pilot can attain without exceeding strict safetylimits. The maneuver is called a CHIRP. Note that in figure 30 the input the magnitudestays constant while in the output the magnitude drops off. This is characteristic for adamped second order system. On the right of the figure is the Frequency plot (bode plot)processed by CIFER. Compare the bode plot from CIFER to the bode plot in Figure 29.Note that in the Figure 29 the magnitude line breaks down and then stays slanted. In theCIFER plot the magnitude line breaks back up. This is incorrect. However notice thethird coherence plot. Coherence is a measure of the linearity of the system, the accuracyof the output data at the corresponding frequency. The same frequency where thecoherence plot breaks downward is the frequency that the magnitude breaks upward. Thecoherence plot tells the user that where the magnitude breaks upward the data is nolonger valid. CIFER is also able to fit a low order [first or second order] transfer functionto the bode plot. The original transfer function was obtained by doing a second order fitto the frequency data within the frequency range where the coherence was at or close toone. Given a complete set of control inputs and outputs, CIFER can create a full set ofdimensional stability derivatives and state space model.To demonstrate the procedure for creating, converting moving and processingCHIRP data using CIFER a Simulink model was created to produce the time history filesand several programs were created to save and convert the output data to a format CIFERuses for input.CIFER requires a binary file with a separate file for each control and response.Each file contains a column of numbers representing the position of the control or theacceleration or angular rate of the airframe. To demonstrate the procedure for collecting79
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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
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highlight some text on a word proce
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up to perform the less processor in
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the Heads Up Display (HUD). While c
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and monitors and computer code to s
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Existing Simulation ToolsThere are
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great control over the model dynami
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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 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
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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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