Updates from Tony.
This commit is contained in:
curt
parent
a5f19c7a7c
commit
21f888a43f
3 changed files with 360 additions and 50 deletions
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@ -75,8 +75,8 @@ void engine( SCALAR dt, int init ) {
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/* F_X_engine = Throttle[3]*813.4/0.2; */ /* original code */
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/* F_Z_engine = Throttle[3]*11.36/0.2; */ /* original code */
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F_X_engine = Throttle[3]*268.42/0.83;
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F_Z_engine = Throttle[3]*3.75/0.83;
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F_X_engine = Throttle[3]*350/0.83;
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F_Z_engine = Throttle[3]*4.9/0.83;
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Throttle_pct = Throttle[3];
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}
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@ -37,8 +37,8 @@
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$Header$
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$Log$
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Revision 1.5 1999/08/07 17:18:45 curt
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Updates to Tony's c172 model.
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Revision 1.6 1999/08/08 15:12:33 curt
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Updates from Tony.
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Revision 1.1.1.1 1999/04/05 21:32:45 curt
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Start of 0.6.x branch.
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@ -28,7 +28,315 @@
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#include <FDM/LaRCsim/ls_generic.h>
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#include <FDM/LaRCsim/ls_interface.h>
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#include <FDM/LaRCsim/ls_constants.h>
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#include <FDM/LaRCsim/atmos_62.h>
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/* #include <FDM/LaRCsim/ls_trim_fs.h> */
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#include <FDM/LaRCsim/c172_aero.h>
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#include <math.h>
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#include <stdlib.h>
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#include <stdio.h>
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//simple "one-at-a-time" longitudinal trimming routine
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typedef struct
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{
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double latitude,longitude,altitude;
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double vc,alpha,beta,gamma;
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double theta,phi,psi;
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int use_gamma_tmg;
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}InitialConditions;
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// Units for setIC
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// vc knots (calibrated airspeed, close to indicated)
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// altitude ft
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// all angles in degrees
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// if use_gamma_tmg =1 then theta will be computed
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// from theta=alpha+gamma and the value given will
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// be ignored. Otherwise gamma is computed from
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// gamma=theta-alpha
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void setIC(InitialConditions IC)
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{
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SCALAR vtfps,u,v,w,vt_east;
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SCALAR vnu,vnv,vnw,vteu,vtev,vtew,vdu,vdv,vdw;
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SCALAR alphar,betar,thetar,phir,psir,gammar;
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SCALAR sigma,ps,Ts,a;
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Latitude=IC.latitude*DEG_TO_RAD;
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Longitude=IC.longitude*DEG_TO_RAD;
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Altitude=IC.altitude;
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ls_geod_to_geoc( Latitude, Altitude, &Sea_level_radius, &Lat_geocentric);
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ls_atmos(IC.altitude,&sigma,&a,&Ts,&ps);
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vtfps=sqrt(1/sigma*IC.vc*IC.vc)*1.68781;
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alphar=IC.alpha*DEG_TO_RAD;
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betar=IC.beta*DEG_TO_RAD;
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gammar=IC.gamma*DEG_TO_RAD;
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phir=IC.phi*DEG_TO_RAD;
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psir=IC.psi*DEG_TO_RAD;
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if(IC.use_gamma_tmg == 1)
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{
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thetar=alphar+gammar;
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}
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else
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{
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thetar=IC.theta*DEG_TO_RAD;
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gammar=thetar-alphar;
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}
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u=vtfps*cos(alphar)*cos(betar);
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v=vtfps*sin(betar);
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w=vtfps*sin(alphar)*cos(betar);
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vnu=u*cos(thetar)*cos(psir);
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vnv=v*(-sin(psir)*cos(phir)+sin(phir)*sin(thetar)*cos(psir));
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vnw=w*(sin(phir)*sin(psir)+cos(phir)*sin(thetar)*cos(psir));
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V_north=vnu+vnv+vnw;
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vteu=u*cos(thetar)*sin(psir);
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vtev=v*(cos(phir)*cos(psir)+sin(phir)*sin(thetar)*sin(psir));
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vtew=w*(-sin(phir)*cos(psir)+cos(phir)*sin(thetar)*sin(psir));
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vt_east=vteu+vtev+vtew;
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V_east=vt_east+ OMEGA_EARTH*Sea_level_radius*cos(Lat_geocentric);
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vdu=u*-sin(thetar);
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vdv=v*cos(thetar)*sin(phir);
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vdw=w*cos(thetar)*cos(phir);
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V_down=vdu+vdv+vdw;
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Theta=thetar;
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Phi=phir;
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Psi=psir;
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}
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int trim_long(int kmax, InitialConditions IC)
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{
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double elevator,alpha;
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double tol=1E-3;
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double a_tol=tol/10;
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double alpha_step=0.001;
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int k=0,i,j=0,jmax=75,sum=0;
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ls_loop(0.0,-1);
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do{
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//printf("k: %d\n",k);
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while((fabs(W_dot_body) > tol) && (j < jmax))
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{
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IC.alpha+=W_dot_body*0.05;
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if((IC.alpha < -5) || (IC.alpha > 21))
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j=jmax;
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setIC(IC);
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ls_loop(0.0,-1);
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/* printf("IC.alpha: %g, Alpha: %g, wdot: %g\n",IC.alpha,Alpha*RAD_TO_DEG,W_dot_body);
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*/ j++;
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}
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sum+=j;
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/* printf("\tTheta: %7.4f, Alpha: %7.4f, wdot: %10.6f, j: %d\n",Theta*RAD_TO_DEG,Alpha*RAD_TO_DEG,W_dot_body,j);
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*/ j=0;
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while((fabs(U_dot_body) > tol) && (j < jmax))
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{
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Throttle_pct-=U_dot_body*0.005;
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if((Throttle_pct < 0) || (Throttle_pct > 1))
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Throttle_pct=0.2;
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setIC(IC);
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ls_loop(0.0,-1);
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j++;
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}
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sum+=j;
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/* printf("\tThrottle_pct: %7.4f, udot: %10.6f, j: %d\n",Throttle_pct,U_dot_body,j);
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*/ j=0;
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while((fabs(Q_dot_body) > a_tol) && (j < jmax))
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{
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Long_control+=Q_dot_body*0.001;
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if((Long_control < -1) || (Long_control > 1))
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j=jmax;
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setIC(IC);
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ls_loop(0.0,-1);
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j++;
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}
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sum+=j;
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if(Long_control >= 0)
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elevator=Long_control*23;
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else
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elevator=Long_control*28;
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/* printf("\televator: %7.4f, qdot: %10.6f, j: %d\n",elevator,Q_dot_body,j);
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*/ k++;j=0;
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}while(((fabs(W_dot_body) > tol) || (fabs(U_dot_body) > tol) || (fabs(Q_dot_body) > tol)) && (k < kmax));
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/* printf("Total Iterations: %d\n",sum); */
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return k;
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}
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void do_trims(int kmax,FILE *out,InitialConditions IC)
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{
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int k=0;
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double speed,elevator;
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out=fopen("trims.out","w");
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speed=55;
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while(speed < 150)
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{
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IC.vc=speed;
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Long_control=0;Theta=0;Throttle_pct=0.2;
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k=trim_long(kmax,IC);
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if(Long_control <= 0)
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elevator=Long_control*28;
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else
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elevator=Long_control*23;
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fprintf(out,"%g,%g,%g,%g,%g,%d\n",V_calibrated_kts,Alpha*RAD_TO_DEG,Long_control,Throttle_pct,Gamma_vert_rad,k);
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printf("%g,%g,%g,%g,%d,%g,%g,%g\n",V_calibrated_kts,Alpha*RAD_TO_DEG,elevator,Throttle_pct,k,W_body,U_body,Q_body);
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if(k >= kmax)
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{
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printf("kmax exceeded at: %g knots\n",V_calibrated_kts);
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printf("wdot: %g, udot: %g, qdot: %g\n\n",W_dot_body,U_dot_body,Q_dot_body);
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}
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speed+=10;
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}
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fclose(out);
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}
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void do_stick_pull(int kmax, SCALAR tmax,FILE *out,InitialConditions IC)
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{
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SCALAR htarget,hgain,hdiffgain,herr,herr_diff,herrprev;
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SCALAR theta_trim,elev_trim,time;
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int k;
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k=trim_long(kmax,IC);
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printf("Trim:\n\tAlpha: %10.6f, elev: %10.6f, Throttle: %10.6f\n\twdot: %10.6f, qdot: %10.6f, udot: %10.6f\n",Alpha*RAD_TO_DEG,Long_control,Throttle_pct,W_dot_body,U_dot_body,Q_dot_body);
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htarget=0;
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hgain=1;
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hdiffgain=1;
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elev_trim=Long_control;
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out=fopen("stick_pull.out","w");
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herr=Q_body-htarget;
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//fly steady-level for 2 seconds, well, zero pitch rate anyway
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while(time < 2.0)
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{
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herrprev=herr;
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ls_update(1);
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herr=Q_body-htarget;
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herr_diff=herr-herrprev;
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Long_control=elev_trim+(hgain*herr + hdiffgain*herr_diff);
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time+=0.01;
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/* printf("Time: %7.4f, Alt: %7.4f, Alpha: %7.4f, pelev: %7.4f, qdot: %7.4f, udot: %7.4f, Phi: %7.4f, Psi: %7.4f\n",time,Altitude,Alpha*RAD_TO_DEG,Long_control*100,Q_body*RAD_TO_DEG,U_dot_body,Phi,Psi);
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printf("Mcg: %7.4f, Mrp: %7.4f, Maero: %7.4f, Meng: %7.4f, Mgear: %7.4f, Dx_cg: %7.4f, Dz_cg: %7.4f\n\n",M_m_cg,M_m_rp,M_m_aero,M_m_engine,M_m_gear,Dx_cg,Dz_cg);
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*/ fprintf(out,"%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,",time,V_true_kts,Theta*RAD_TO_DEG,Alpha*RAD_TO_DEG,Q_body*RAD_TO_DEG,Alpha_dot*RAD_TO_DEG,Q_dot_body*RAD_TO_DEG,Throttle_pct,elevator*RAD_TO_DEG);
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fprintf(out,"%20.8f,%20.8f,%20.8f,%20.8f,%20.8f\n",CL,CLwbh,cm,cd,Altitude);
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}
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//begin untrimmed climb at theta_trim + 2 degrees
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hgain=4;
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hdiffgain=2;
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theta_trim=Theta;
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htarget=theta_trim;
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herr=Theta-htarget;
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while(time < tmax)
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{
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//ramp in the target theta
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if(htarget < (theta_trim + 2*DEG_TO_RAD))
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{
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htarget+= 0.01*DEG_TO_RAD;
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}
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herrprev=herr;
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ls_update(1);
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herr=Theta-htarget;
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herr_diff=herr-herrprev;
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Long_control=elev_trim+(hgain*herr + hdiffgain*herr_diff);
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time+=0.01;
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/* printf("Time: %7.4f, Alt: %7.4f, Alpha: %7.4f, pelev: %7.4f, qdot: %7.4f, udot: %7.4f, Phi: %7.4f, Psi: %7.4f\n",time,Altitude,Alpha*RAD_TO_DEG,Long_control*100,Q_body*RAD_TO_DEG,U_dot_body,Phi,Psi);
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printf("Mcg: %7.4f, Mrp: %7.4f, Maero: %7.4f, Meng: %7.4f, Mgear: %7.4f, Dx_cg: %7.4f, Dz_cg: %7.4f\n\n",M_m_cg,M_m_rp,M_m_aero,M_m_engine,M_m_gear,Dx_cg,Dz_cg);
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*/ fprintf(out,"%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,",time,V_true_kts,Theta*RAD_TO_DEG,Alpha*RAD_TO_DEG,Q_body*RAD_TO_DEG,Alpha_dot*RAD_TO_DEG,Q_dot_body*RAD_TO_DEG,Throttle_pct,elevator*RAD_TO_DEG);
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fprintf(out,"%20.8f,%20.8f,%20.8f,%20.8f,%20.8f\n",CL,CLwbh,cm,cd,Altitude);
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}
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printf("%g,%g\n",theta_trim*RAD_TO_DEG,htarget*RAD_TO_DEG);
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fclose(out);
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}
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void do_takeoff(FILE *out)
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{
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SCALAR htarget,hgain,hdiffgain,elev_trim,elev_trim_save,herr;
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SCALAR time,herrprev,herr_diff;
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htarget=0;
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hgain=1;
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hdiffgain=1;
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elev_trim=Long_control;
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elev_trim_save=elev_trim;
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out=fopen("takeoff.out","w");
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herr=Q_body-htarget;
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//attempt to maintain zero pitch rate during the roll
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while((V_calibrated_kts < 61) && (time < 30.0))
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{
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/* herrprev=herr;*/
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ls_update(1);
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/*herr=Q_body-htarget;
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herr_diff=herr-herrprev;
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Long_control=elev_trim+(hgain*herr + hdiffgain*herr_diff); */
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time+=0.01;
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printf("Time: %7.4f, Vc: %7.4f, Alpha: %7.4f, pelev: %7.4f, qdot: %7.4f, udot: %7.4f, U: %7.4f, W: %7.4f\n",time,V_calibrated_kts,Alpha*RAD_TO_DEG,Long_control*100,Q_body*RAD_TO_DEG,U_dot_body,U_body,W_body);
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// printf("Mcg: %7.4f, Mrp: %7.4f, Maero: %7.4f, Meng: %7.4f, Mgear: %7.4f, Dx_cg: %7.4f, Dz_cg: %7.4f\n\n",M_m_cg,M_m_rp,M_m_aero,M_m_engine,M_m_gear,Dx_cg,Dz_cg);
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// fprintf(out,"%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,",time,V_calibrated_kts,Theta*RAD_TO_DEG,Alpha*RAD_TO_DEG,Q_body*RAD_TO_DEG,Alpha_dot*RAD_TO_DEG,Q_dot_body*RAD_TO_DEG,Throttle_pct,elevator*RAD_TO_DEG);
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fprintf(out,"%20.8f,%20.8f,%20.8f,%20.8f,%20.8f\n",CL,CLwbh,cm,cd,Altitude);
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}
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//At Vr, ramp in 10% nose up elevator in 0.5 seconds
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elev_trim_save=0;
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printf("At Vr, rotate...\n");
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while((Q_body < 3.0*RAD_TO_DEG) && (time < 30.0))
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{
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Long_control-=0.01;
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ls_update(1);
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printf("Time: %7.4f, Vc: %7.4f, Alpha: %7.4f, pelev: %7.4f, q: %7.4f, cm: %7.4f, U: %7.4f, W: %7.4f\n",time,V_calibrated_kts,Alpha*RAD_TO_DEG,Long_control*100,Q_body*RAD_TO_DEG,cm,U_body,W_body);
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fprintf(out,"%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,",time,V_calibrated_kts,Theta*RAD_TO_DEG,Alpha*RAD_TO_DEG,Q_body*RAD_TO_DEG,Alpha_dot*RAD_TO_DEG,Q_dot_body*RAD_TO_DEG,Throttle_pct,elevator*RAD_TO_DEG);
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fprintf(out,"%20.8f,%20.8f,%20.8f,%20.8f,%20.8f\n",CL,CLwbh,cm,cd,Altitude);
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time +=0.01;
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}
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//Maintain 15 degrees theta for the climbout
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htarget=15*DEG_TO_RAD;
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herr=Theta-htarget;
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hgain=10;
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hdiffgain=1;
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elev_trim=Long_control;
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while(time < 30.0)
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{
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herrprev=herr;
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ls_update(1);
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herr=Theta-htarget;
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herr_diff=herr-herrprev;
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Long_control=elev_trim+(hgain*herr + hdiffgain*herr_diff);
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time+=0.01;
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printf("Time: %7.4f, Alt: %7.4f, Speed: %7.4f, Theta: %7.4f\n",time,Altitude,V_calibrated_kts,Theta*RAD_TO_DEG);
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fprintf(out,"%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,",time,V_calibrated_kts,Theta*RAD_TO_DEG,Alpha*RAD_TO_DEG,Q_body*RAD_TO_DEG,Alpha_dot*RAD_TO_DEG,Q_dot_body*RAD_TO_DEG,Throttle_pct,elevator*RAD_TO_DEG);
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fprintf(out,"%20.8f,%20.8f,%20.8f,%20.8f,%20.8f\n",CL,CLwbh,cm,cd,Altitude);
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}
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fclose(out);
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printf("Speed: %7.4f, Alt: %7.4f, Alpha: %7.4f, pelev: %7.4f, q: %7.4f, udot: %7.4f\n",V_true_kts,Altitude,Alpha*RAD_TO_DEG,Long_control,Q_body*RAD_TO_DEG,U_dot_body);
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printf("F_down_total: %7.4f, F_Z_aero: %7.4f, F_X: %7.4f, M_m_cg: %7.4f\n\n",F_down+Mass*Gravity,F_Z_aero,F_X,M_m_cg);
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}
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// Initialize the LaRCsim flight model, dt is the time increment for
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// each subsequent iteration through the EOM
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@ -39,60 +347,61 @@ int fgLaRCsimInit(double dt) {
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}
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// Run an iteration of the EOM (equations of motion)
|
||||
int main() {
|
||||
int main(int argc, char *argv[]) {
|
||||
|
||||
|
||||
double save_alt = 0.0;
|
||||
int multiloop=1;
|
||||
double time=0;
|
||||
int multiloop=1,k=0,i;
|
||||
double time=0,elev_trim,elev_trim_save,elevator,speed;
|
||||
FILE *out;
|
||||
double hgain,hdiffgain,herr,herrprev,herr_diff,htarget;
|
||||
InitialConditions IC;
|
||||
|
||||
Altitude=1000; /*BFI as given by airnav*/
|
||||
Latitude=47.5299892;
|
||||
Longitude=122.3019561;
|
||||
Lat_geocentric=Latitude;
|
||||
Lon_geocentric=Longitude;
|
||||
Radius_to_vehicle=Altitude+EQUATORIAL_RADIUS;
|
||||
Lat_control = 0;
|
||||
Long_control = 0;
|
||||
Long_trim = 0;
|
||||
Rudder_pedal = 0;
|
||||
Throttle_pct = 0.0;
|
||||
Brake_pct = 1.0;
|
||||
V_north=200;
|
||||
V_east=0;
|
||||
V_down=0;
|
||||
|
||||
printf("Calling init...\n");
|
||||
fgLaRCsimInit(0.05);
|
||||
|
||||
/* copy control positions into the LaRCsim structure */
|
||||
|
||||
|
||||
/* Inform LaRCsim of the local terrain altitude */
|
||||
Runway_altitude = 18.0;
|
||||
printf("Entering Loop\n");
|
||||
printf("Speed: %7.4f, Lat: %7.4f, Long: %7.4f, Alt: %7.4f\n\n",V_true_kts,Latitude,Longitude,Altitude);
|
||||
|
||||
while (time < 0.2)
|
||||
if(argc < 6)
|
||||
{
|
||||
time=time+0.05;
|
||||
ls_update(multiloop);
|
||||
printf("Speed: %7.4f, Fxeng: %7.4f, Fxaero: %7.4f, Fxgear: %7.4f Alt: %7.4f\n\n",V_true_kts,F_X_engine,F_X_aero,F_X_gear,Altitude);
|
||||
|
||||
|
||||
|
||||
}
|
||||
/* // printf("%d FG_Altitude = %.2f\n", i, FG_Altitude * 0.3048);
|
||||
// printf("%d Altitude = %.2f\n", i, Altitude * 0.3048);
|
||||
printf("Need args: $c172 speed alt alpha elev throttle\n");
|
||||
exit(1);
|
||||
}
|
||||
|
||||
IC.latitude=47.5299892; //BFI
|
||||
IC.longitude=122.3019561;
|
||||
Runway_altitude = 18.0;
|
||||
IC.altitude=strtod(argv[2],NULL);
|
||||
IC.vc=strtod(argv[1],NULL);
|
||||
IC.alpha=strtod(argv[3],NULL);
|
||||
IC.beta=0;
|
||||
IC.gamma=strtod(argv[3],NULL);
|
||||
IC.use_gamma_tmg=1;
|
||||
IC.phi=0;
|
||||
IC.psi=0;
|
||||
Long_control=strtod(argv[4],NULL);
|
||||
setIC(IC);
|
||||
printf("Out setIC\n");
|
||||
ls_ForceAltitude(IC.altitude);
|
||||
fgLaRCsimInit(0.01);
|
||||
|
||||
/* printf("trim_long():\n");
|
||||
k=trim_long(200,IC); */
|
||||
|
||||
|
||||
printf("V_rel_wind: %8.2f, Alpha: %8.2f, Beta: %8.2f\n",V_rel_wind,Alpha*RAD_TO_DEG,Beta*RAD_TO_DEG);
|
||||
printf("Theta: %8.2f, Gamma: %8.2f, Alpha_tmg: %8.2f\n",Theta*RAD_TO_DEG,Gamma_vert_rad*RAD_TO_DEG,Theta*RAD_TO_DEG-Gamma_vert_rad*RAD_TO_DEG);
|
||||
printf("V_north: %8.2f, V_east_rel_ground: %8.2f, V_east: %8.2f, V_down: %8.2f\n",V_north,V_east_rel_ground,V_east,V_down);
|
||||
printf("Long_control: %8.2f, Throttle_pct: %8.2f\n",Long_control,Throttle_pct);
|
||||
printf("k: %d, udot: %8.4f, wdot: %8.4f, qdot: %8.5f\n",k,U_dot_body,W_dot_body,Q_dot_body);
|
||||
|
||||
// translate LaRCsim back to FG structure so that the
|
||||
// autopilot (and the rest of the sim can use the updated
|
||||
// values
|
||||
//fgLaRCsim_2_FGInterface(f); */
|
||||
|
||||
|
||||
printf("\nls_update():\n");
|
||||
ls_update(1);
|
||||
printf("V_rel_wind: %8.2f, Alpha: %8.2f, Beta: %8.2f\n",V_rel_wind,Alpha*RAD_TO_DEG,Beta*RAD_TO_DEG);
|
||||
printf("Theta: %8.2f, Gamma: %8.2f, Alpha_tmg: %8.2f\n",Theta*RAD_TO_DEG,Gamma_vert_rad*RAD_TO_DEG,Theta*RAD_TO_DEG-Gamma_vert_rad*RAD_TO_DEG);
|
||||
|
||||
|
||||
/* Inform LaRCsim of the local terrain altitude */
|
||||
|
||||
|
||||
do_trims(200,out,IC);
|
||||
return 1;
|
||||
}
|
||||
|
||||
|
|
@ -411,3 +720,4 @@ int fgLaRCsim_2_FGInterface (FGInterface& f) {
|
|||
return 0;
|
||||
} */
|
||||
|
||||
|
||||
|
|
|
|||
Loading…
Reference in a new issue