/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% Header: FGTrim.h Author: Tony Peden Date started: 7/1/99 ------------- Copyright (C) 1999 Anthony K. Peden (apeden@earthlink.net) ------------- This program is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 2 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program; if not, write to the Free Software Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. Further information about the GNU General Public License can also be found on the world wide web at http://www.gnu.org. HISTORY -------------------------------------------------------------------------------- 9/8/99 TP Created FUNCTIONAL DESCRIPTION -------------------------------------------------------------------------------- This class takes the given set of IC's and finds the aircraft state required to maintain a specified flight condition. This flight condition can be steady-level with non-zero sideslip, a steady turn, a pull-up or pushover. On-ground conditions can be trimmed as well, but this is currently limited to adjusting altitude and pitch angle only. It is implemented using an iterative, one-axis-at-a-time scheme. %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% SENTRY %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ #ifndef FGTRIM_H #define FGTRIM_H /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% INCLUDES %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ #include "FGFDMExec.h" #include "FGJSBBase.h" #include "FGTrimAxis.h" #include /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% DEFINITIONS %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ #define ID_TRIM "$Id$" typedef enum { tLongitudinal, tFull, tGround, tPullup, tCustom, tNone, tTurn } TrimMode; #if defined(_WIN32) && !defined(__CYGWIN__) #define snprintf _snprintf #endif /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% FORWARD DECLARATIONS %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% COMMENTS, REFERENCES, and NOTES [use "class documentation" below for API docs] %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% CLASS DOCUMENTATION %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ /** FGTrim -- the trimming routine for JSBSim. FGTrim finds the aircraft attitude and control settings needed to maintain the steady state described by the FGInitialCondition object . It does this iteratively by assigning a control to each state and adjusting that control until the state is within a specified tolerance of zero. States include the recti-linear accelerations udot, vdot, and wdot, the angular accelerations qdot, pdot, and rdot, and the difference between heading and ground track. Controls include the usual flight deck controls available to the pilot plus angle of attack (alpha), sideslip angle(beta), flight path angle (gamma), pitch attitude(theta), roll attitude(phi), and altitude above ground. The last three are used for on-ground trimming. The state-control pairs used in a given trim are completely user configurable and several pre-defined modes are provided as well. They are: Note that trims can (and do) fail for reasons that are completely outside the control of the trimming routine itself. The most common problem is the initial conditions: is the model capable of steady state flight at those conditions? Check the speed, altitude, configuration (flaps, gear, etc.), weight, cg, and anything else that may be relevant. Example usage: FGFDMExec* FDMExec = new FGFDMExec(); . . . FGInitialCondition* fgic = new FGInitialCondition(FDMExec); FGTrim *fgt(FDMExec,fgic,tFull); fgic->SetVcaibratedKtsIC(100); fgic->SetAltitudeFtIC(1000); fgic->SetClimbRate(500); if( !fgt->DoTrim() ) { cout << "Trim Failed" << endl; } fgt->ReportState(); @author Tony Peden @version $Id$ @see Header File @see Source File */ /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% CLASS DECLARATION %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ class FGTrim : public FGJSBBase { private: vector TrimAxes; unsigned int current_axis; int N, Nsub; TrimMode mode; int DebugLevel, Debug; double Tolerance, A_Tolerance; double wdot,udot,qdot; double dth; double *sub_iterations; double *successful; bool *solution; int max_sub_iterations; int max_iterations; int total_its; bool trimudot; bool gamma_fallback; bool trim_failed; unsigned int axis_count; int solutionDomain; double xlo,xhi,alo,ahi; double targetNlf; int debug_axis; double psidot,thetadot; FGFDMExec* fdmex; FGInitialCondition* fgic; bool solve(void); /** @return false if there is no change in the current axis accel between accel(control_min) and accel(control_max). If there is a change, sets solutionDomain to: 0 for no sign change, -1 if sign change between accel(control_min) and accel(0) 1 if sign between accel(0) and accel(control_max) */ bool findInterval(void); bool checkLimits(void); void setupPullup(void); void setupTurn(void); void updateRates(void); void setDebug(void); public: /** Initializes the trimming class @param FDMExec pointer to a JSBSim executive object. @param FGIC pointer to a FGInitialCondition object */ FGTrim(FGFDMExec *FDMExec, TrimMode tt=tGround ); ~FGTrim(void); /** Execute the trim */ bool DoTrim(void); /** Print the results of the trim. For each axis trimmed, this includes the final state value, control value, and tolerance used. @return true if trim succeeds */ void Report(void); /** Iteration statistics */ void TrimStats(); /** Clear all state-control pairs and set a predefined trim mode @param TrimMode the set of axes to trim. Can be: tLongitudinal, tFull, tGround, tCustom, or tNone */ void SetMode(TrimMode tt); /** Clear all state-control pairs from the current configuration. The trimming routine must have at least one state-control pair configured to be useful */ void ClearStates(void); /** Add a state-control pair to the current configuration. See the enums State and Control in FGTrimAxis.h for the available options. Will fail if the given state is already configured. @param state the accel or other condition to zero @param control the control used to zero the state @return true if add is successful */ bool AddState( State state, Control control ); /** Remove a specific state-control pair from the current configuration @param state the state to remove @return true if removal is successful */ bool RemoveState( State state ); /** Change the control used to zero a state previously configured @param state the accel or other condition to zero @param control the control used to zero the state */ bool EditState( State state, Control new_control ); /** automatically switch to trimming longitudinal acceleration with flight path angle (gamma) once it becomes apparent that there is not enough/too much thrust. @param gamma_fallback true to enable fallback */ inline void SetGammaFallback(bool bb) { gamma_fallback=bb; } /** query the fallback state @return true if fallback is enabled. */ inline bool GetGammaFallback(void) { return gamma_fallback; } /** Set the iteration limit. DoTrim() will return false if limit iterations are reached before trim is achieved. The default is 60. This does not ordinarily need to be changed. @param ii integer iteration limit */ inline void SetMaxCycles(int ii) { max_iterations = ii; } /** Set the per-axis iteration limit. Attempt to zero each state by iterating limit times before moving on to the next. The default limit is 100 and also does not ordinarily need to be changed. @param ii integer iteration limit */ inline void SetMaxCyclesPerAxis(int ii) { max_sub_iterations = ii; } /** Set the tolerance for declaring a state trimmed. Angular accels are held to a tolerance of 1/10th of the given. The default is 0.001 for the recti-linear accelerations and 0.0001 for the angular. */ inline void SetTolerance(double tt) { Tolerance = tt; A_Tolerance = tt / 10; } /** Debug level 1 shows results of each top-level iteration Debug level 2 shows level 1 & results of each per-axis iteration */ inline void SetDebug(int level) { DebugLevel = level; } inline void ClearDebug(void) { DebugLevel = 0; } /** Output debug data for one of the axes The State enum is defined in FGTrimAxis.h */ inline void DebugState(State state) { debug_axis=state; } inline void SetTargetNlf(float nlf) { targetNlf=nlf; } inline double GetTargetNlf(void) { return targetNlf; } }; #endif