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Control: Refactor FBW Gains

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This commit is contained in:
Joshua Davidson 2018-11-08 15:08:30 -05:00
parent 1ecd3897d0
commit d028d44604
2 changed files with 37 additions and 51 deletions
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82
Systems/a320-fcs.xml
View file

@ -24,7 +24,7 @@
<property value="0">fbw/pitch/d-gain</property> <property value="0">fbw/pitch/d-gain</property>
<property value="0">fbw/yaw/yd-p-gain</property> <property value="0">fbw/yaw/yd-p-gain</property>
<property value="0">fbw/yaw/tc-p-gain</property> <property value="0">fbw/yaw/tc-p-gain</property>
<property value="0">fbw/yaw/tc-i-gain</property> <property value="0">fbw/yaw/tc-d-gain</property>
<!-- FMGC stuff --> <!-- FMGC stuff -->
<property value="0">fbw/fmgc/roll-cmd</property> <property value="0">fbw/fmgc/roll-cmd</property>
@ -79,12 +79,12 @@
<fcs_function name="fbw/roll/p-gain"> <fcs_function name="fbw/roll/p-gain">
<function> <function>
<table> <table>
<independentVar lookup="row">velocities/mach</independentVar> <independentVar lookup="row">velocities/vc-kts</independentVar>
<independentVar lookup="column">fbw/roll/gain-switch</independentVar> <independentVar lookup="column">fbw/roll/gain-switch</independentVar>
<tableData> <tableData>
0 1 0 1
0.2 -26.2 0.0 140 -26.2 0.0
0.9 -15.5 0.0 350 -9.5 0.0
</tableData> </tableData>
</table> </table>
</function> </function>
@ -93,12 +93,12 @@
<fcs_function name="fbw/roll/i-gain"> <fcs_function name="fbw/roll/i-gain">
<function> <function>
<table> <table>
<independentVar lookup="row">velocities/mach</independentVar> <independentVar lookup="row">velocities/vc-kts</independentVar>
<independentVar lookup="column">fbw/roll/gain-switch</independentVar> <independentVar lookup="column">fbw/roll/gain-switch</independentVar>
<tableData> <tableData>
0 1 0 1
0.2 -45.5 0.0 140 -45.5 0.0
0.9 -36.0 0.0 350 -29.0 0.0
</tableData> </tableData>
</table> </table>
</function> </function>
@ -107,12 +107,12 @@
<fcs_function name="fbw/roll/d-gain"> <fcs_function name="fbw/roll/d-gain">
<function> <function>
<table> <table>
<independentVar lookup="row">velocities/mach</independentVar> <independentVar lookup="row">velocities/vc-kts</independentVar>
<independentVar lookup="column">fbw/roll/gain-switch</independentVar> <independentVar lookup="column">fbw/roll/gain-switch</independentVar>
<tableData> <tableData>
0 1 0 1
0.2 -2.1 0.0 140 -2.1 0.0
0.9 -1.1 0.0 350 -0.8 0.0
</tableData> </tableData>
</table> </table>
</function> </function>
@ -121,12 +121,12 @@
<fcs_function name="fbw/pitch/p-gain"> <fcs_function name="fbw/pitch/p-gain">
<function> <function>
<table> <table>
<independentVar lookup="row">velocities/mach</independentVar> <independentVar lookup="row">velocities/vc-kts</independentVar>
<independentVar lookup="column">fbw/pitch/gain-switch</independentVar> <independentVar lookup="column">fbw/pitch/gain-switch</independentVar>
<tableData> <tableData>
0 1 0 1
0.2 28 0 140 28 0
0.9 23 0 350 23 0
</tableData> </tableData>
</table> </table>
</function> </function>
@ -135,12 +135,12 @@
<fcs_function name="fbw/pitch/i-gain"> <fcs_function name="fbw/pitch/i-gain">
<function> <function>
<table> <table>
<independentVar lookup="row">velocities/mach</independentVar> <independentVar lookup="row">velocities/vc-kts</independentVar>
<independentVar lookup="column">fbw/pitch/gain-switch</independentVar> <independentVar lookup="column">fbw/pitch/gain-switch</independentVar>
<tableData> <tableData>
0 1 0 1
0.2 61 0 140 61 0
0.9 45 0 350 45 0
</tableData> </tableData>
</table> </table>
</function> </function>
@ -149,12 +149,12 @@
<fcs_function name="fbw/pitch/d-gain"> <fcs_function name="fbw/pitch/d-gain">
<function> <function>
<table> <table>
<independentVar lookup="row">velocities/mach</independentVar> <independentVar lookup="row">velocities/vc-kts</independentVar>
<independentVar lookup="column">fbw/pitch/gain-switch</independentVar> <independentVar lookup="column">fbw/pitch/gain-switch</independentVar>
<tableData> <tableData>
0 1 0 1
0.2 2.9 0.0 140 2.4 0.0
0.9 1.3 0.0 350 0.6 0.0
</tableData> </tableData>
</table> </table>
</function> </function>
@ -163,12 +163,12 @@
<fcs_function name="fbw/yaw/yd-p-gain"> <fcs_function name="fbw/yaw/yd-p-gain">
<function> <function>
<table> <table>
<independentVar lookup="row">velocities/mach</independentVar> <independentVar lookup="row">velocities/vc-kts</independentVar>
<independentVar lookup="column">fbw/yaw/gain-switch</independentVar> <independentVar lookup="column">fbw/yaw/gain-switch</independentVar>
<tableData> <tableData>
0 1 0 1
0.2 -7.5 0.0 140 -7.0 0.0
0.9 -1.5 0.0 350 -1.2 0.0
</tableData> </tableData>
</table> </table>
</function> </function>
@ -177,26 +177,26 @@
<fcs_function name="fbw/yaw/tc-p-gain"> <fcs_function name="fbw/yaw/tc-p-gain">
<function> <function>
<table> <table>
<independentVar lookup="row">velocities/mach</independentVar> <independentVar lookup="row">velocities/vc-kts</independentVar>
<independentVar lookup="column">fbw/yaw/gain-switch</independentVar> <independentVar lookup="column">fbw/yaw/gain-switch</independentVar>
<tableData> <tableData>
0 1 0 1
0.2 5.01 0.00 140 13 0
0.9 1.05 0.00 350 5 0
</tableData> </tableData>
</table> </table>
</function> </function>
</fcs_function> </fcs_function>
<fcs_function name="fbw/yaw/tc-i-gain"> <fcs_function name="fbw/yaw/tc-d-gain">
<function> <function>
<table> <table>
<independentVar lookup="row">velocities/mach</independentVar> <independentVar lookup="row">velocities/vc-kts</independentVar>
<independentVar lookup="column">fbw/yaw/gain-switch</independentVar> <independentVar lookup="column">fbw/yaw/gain-switch</independentVar>
<tableData> <tableData>
0 1 0 1
0.2 1.03 0.00 140 16 0
0.9 0.79 0.00 350 9 0
</tableData> </tableData>
</table> </table>
</function> </function>
@ -520,12 +520,12 @@
</tableData> </tableData>
</table> </table>
<table> <table>
<independentVar lookup="row">velocities/mach</independentVar> <independentVar lookup="row">velocities/vc-kts</independentVar>
<independentVar lookup="column">position/wow</independentVar> <independentVar lookup="column">position/wow</independentVar>
<tableData> <tableData>
0 1 0 1
0.2 0.5 1.0 140 0.5 1.0
0.9 0.1 1.0 350 0.1 1.0
</tableData> </tableData>
</table> </table>
</product> </product>
@ -1113,25 +1113,11 @@
</test> </test>
</switch> </switch>
<switch name="fbw/yaw/trigger">
<default value="0"/>
<test logic="OR" value="-1">
fbw/yaw/gain-switch gt 0
/position/gear-agl-ft lt 50
fbw/yaw/autoland-switch eq 1
</test>
<test logic="OR" value="1">
fbw/yaw/tc-pid le -0.199
fbw/yaw/tc-pid ge 0.199
</test>
</switch>
<pid name="fbw/yaw/tc-pid-v"> <pid name="fbw/yaw/tc-pid-v">
<input>fbw/yaw/slip-skid</input> <input>fbw/yaw/slip-skid</input>
<kp>fbw/yaw/tc-p-gain</kp> <kp>fbw/yaw/tc-p-gain</kp>
<ki>fbw/yaw/tc-i-gain</ki> <ki>0.0</ki>
<kd>0.0</kd> <kd>fbw/yaw/tc-d-gain</kd>
<trigger>fbw/yaw/trigger</trigger>
<clipto> <clipto>
<min>-0.2</min> <min>-0.2</min>
<max>0.2</max> <max>0.2</max>

2
revision.txt
View file

@ -1 +1 @@
4695 4696