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EXAMPLES\CH01\FIGURE14.M (1244, 2003-08-14)
EXAMPLES\CH01\FIGURE15.M (492, 2003-08-14)
EXAMPLES\CH01 (0, 2007-07-08)
EXAMPLES\CH02\FIGURES.M (2694, 2003-08-14)
EXAMPLES\CH02\PIDCONTR.C (1380, 2003-10-13)
EXAMPLES\CH02\PIDCONTR.CPP (1442, 2003-10-13)
EXAMPLES\CH02\PIDCONTR.MDL (20584, 2003-08-22)
EXAMPLES\CH02 (0, 2007-05-21)
EXAMPLES\CH03\FIGURE31.M (594, 2003-08-14)
EXAMPLES\CH03\FIGURE32.M (1786, 2003-08-14)
EXAMPLES\CH03\LINEARMO.M (946, 2003-08-14)
EXAMPLES\CH03\PEND.M (199, 2003-08-14)
EXAMPLES\CH03\SYS_ID.M (1795, 2003-08-14)
EXAMPLES\CH03 (0, 2007-05-21)
EXAMPLES\CH04\FIGURE41.M (210, 2003-08-14)
EXAMPLES\CH04\FIGURE42.M (201, 2003-08-14)
EXAMPLES\CH04 (0, 2007-05-21)
EXAMPLES\CH05\CHECKRAN.M (160, 2003-08-22)
EXAMPLES\CH05 (0, 2007-05-21)
EXAMPLES\CH06\LQRKALMA.M (794, 2003-08-26)
EXAMPLES\CH06\OPTIMALS.M (2169, 2003-01-11)
EXAMPLES\CH06\PLOTPOLE.M (998, 2003-08-05)
EXAMPLES\CH06\SELECTPO.M (1830, 2003-08-05)
EXAMPLES\CH06 (0, 2007-05-21)
EXAMPLES\CH07\DOTRIM.M (796, 2003-08-30)
EXAMPLES\CH07\GLIDESLO.M (1354, 2003-08-30)
EXAMPLES\CH07\GLIDESLO.MDL (33500, 2003-08-30)
EXAMPLES\CH07\PENDULUM.M (1770, 2003-08-30)
EXAMPLES\CH07\PENDULUM.MDL (19185, 2003-08-30)
EXAMPLES\CH07\PLOTPOLE.M (998, 2003-08-05)
EXAMPLES\CH07\SELECTPO.M (1830, 2003-08-05)
EXAMPLES\CH07 (0, 2007-05-21)
EXAMPLES\CH08\DSYS.C (1787, 2003-02-27)
EXAMPLES\CH08\DSYS.CPP (1634, 2003-02-27)
EXAMPLES\CH08\DSYSFIXP.C (2153, 2003-03-01)
EXAMPLES\CH08\DSYSFIXP.CPP (2049, 2003-03-01)
EXAMPLES\CH08\WRITECFI.M (7592, 2003-08-21)
EXAMPLES\CH08\WRITECMO.M (5622, 2003-08-21)
EXAMPLES\CH08\WRITECP1.M (7076, 2003-08-21)
EXAMPLES\CH08\WRITECPP.M (5097, 2003-08-21)
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Embedded Control Systems in C/C++ by Jim Ledin Chapter 10 - Helicopter control system example This file describes the procedures for setup and operation of the 6DOF helicopter model and control system simulation. The helicopter is modeled as a 6DOF system composed of three rigid bodies: the helicopter body, the main rotor, and the tail rotor. The dynamic behavior of this mechanical system is modeled using SimMechanics. The aerodynamic modeling is very simple, with forces and moments modeled as proportional to control actuator deflection. This is a reasonable approximation for small control deflections about an equilibrium hover condition. Aerodynamic drag force is modeled as proportional to the square of the helicopter velocity. The plant actuators are the normal helicopter controls: main rotor collective, main rotor cyclic, and rudder actuators. Sensors are assumed to provide perfect measurements of the helicopter position, velocity, angular orientation, and body rotation rates. This simplified sensor modeling provides a reasonable approximation of a modern GPS/INS navigation system. ------------------------------------------------------------- Simulation Operation ------------------------------------------------------------- To run this simulation, the following products are required: MATLAB, Simulink, Stateflow, SimMechanics, Virtual Reality Toolbox, Control System Toolbox, and Dials & Gauges Blockset. The following steps describe how to run the simulation: 1) Start Matlab and change the current Matlab directory to the directory containing the helicopter model files. 2) Open the Simulink model named Helicopter.mdl. 3) Navigate to the following subsystem: "Helicopter/Displays/Display Subsystem/Instruments". The dials & gauges should be visible. 4) Start the simulation running. The dials & gauges will begin to update, the VR helicopter display will show the flight of the helicopter, and a 2-D trajectory display will open and begin plotting the helicopter flight path. Scopes will be visible that display the helicopter position, velocity, and Euler angles. ------------------------------------------------------------- Waypoint Definition ------------------------------------------------------------- The set of waypoints that define the helicopter's flight path is contained in the MATLAB matrix variable named waypoint. You can modify the helicopter's trajectory by changing the contents of this matrix. Each row in the waypoint matrix describes a single waypoint. There are six columns in this matrix. Columns 1-3 are the North, East, and Altitude coordinates of the waypoint in meters. Column 4 contains the yaw Euler angle (in degrees relative to North) that the helicopter will assume when hovering at this waypoint. Column 5 contains the number of seconds to hover at this waypoint. If column 5 contains a zero, the value in column 4 is not used. Column 6 contains the waypoint number (row index) of the waypoint to head toward after this waypoint is reached and any hover time has expired. To simply continue on to the waypoint in the next row of the matrix, set the value in column 6 to zero. Column 6 provides an easy way to make an infinite loop of waypoints. To do this, set the value in column 6 to zero for all waypoints except for the last waypoint. In the last row of the matrix set the value in column 6 to one. This will repeatedly execute the entire sequence of waypoints as long as the simulation runs. The default waypoint matrix is shown below. Waypoint number 1 is the first waypoint the helicopter flies to when controller execution begins. Waypoint North East Altitude Hover Yaw Hover Time Next Waypoint Number Position Position Angle (deg) (seconds) Number -------- -------- -------- -------- ----------- ---------- ------------- 1 -100 0 25 0 0 0 2 -100 -100 25 0 0 0 3 0 -100 25 0 0 0 4 0 0 25 0 0 0 5 -100 0 25 0 0 0 6 -100 -200 50 0 0 0 7 -200 -200 50 0 0 0 8 -200 -100 50 0 0 0 9 -100 -100 50 0 0 0 10 -100 -200 50 0 0 0 11 -200 -200 50 0 0 0 12 -200 -100 50 0 0 0 13 0 -100 25 0 0 0 14 0 0 25 0 0 1 The list below describes the files enclosed in this Zip file. Jim Ledin, Ledin Engineering, 7/18/03 ------------------------------ - ----------------------------------------- File name Description ------------------------------ - ----------------------------------------- Readme.txt - This file, which describes the simulation Helicopter.mdl - Simulink helicopter/controller simulation HelicopterBlockset.mdl - Shared plant & controller blocks Helicopter@*.ax (6 files) - Dials & Gauges settings for Simulink model HelicopterData.mat - Helicopter parameters (auto-loaded by model) design_orientation_controllers.m - Design Euler angle controllers model_params.m - Parameters for the helicopter plant lin_models.m - Linearized models for controller design make_lin_model.m - Extracts linear models from nonlinear model helicopter_runway.wrl - VR world including the helicopter

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