Добавил:

Upload Опубликованный материал нарушает ваши авторские права? Сообщите нам.

Вуз:

Национальный авиационный университет

Предмет:

[НЕСОРТИРОВАННОЕ]

Файл:

Thesis - Beaver simulation

.pdf

Скачиваний:

Добавлен:

19.02.2016

Размер:

5.22 Mб

Скачать

☆

<<< < Предыдущая 1 23 / 313 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 > Следующая >>>

Contents

	F.2.6 Helpprograms to create and load datafiles .......................	228
	F.2.7 Helpfunctions to compute initial conditions and to linearize the aircraft
	model .......................................................	236
	F.3 Models of wind and atmospheric turbulence ...........................	249
	F.3.1 Introduction ..............................................	249
	F.3.2 List of variables. used for the wind and turbulence models ...........	249
	F.3.3Description of the wind and turbulence models and their helpfiles	..... 251
	F.4 ILS approach and VOR navigation models ............................	254
	F.4.1 Introduction ..............................................	254
	F.4.2 List of variables. used for the ILS and VOR models ................	254
	F.4.3 Description of the ILS and VOR blocks and helpfiles ................	257
	F.5 Conclusions ...................................................	263
Appendix G.Standard SIMULINKblocks ..........................		271
	G.1 Introduction ...................................................	271
	G.2 Blocks from the Sources library ....................................	271
	G.3 Blocks from the Sinks library ......................................	272
	G.4 Blocks from the Discrete library ...................................	. 272
	G.5 Blocks from the Linear library .....................................	273
	G.6 Blocks from the Nonlinear library ..................................	273
	G.7 Blocks from the Connections library .................................	274
	G.8 The Gmup and Mask functions ....................................	. 275
	G.9 Conclusions ..................................................	. 275
Appendix H.Installation procedures ............................		277
List of tables.
	Different steps in the aircraft model identification. performance analysis. and AACS
	design and evaluation. which can be done with SIMULINK.................	23
	General aircraft data of the DHC-2 'Beaver'. PH-VTH ....................	29
	Aircraft data on which the aerodynamic model is based ...................	31
	Coefficients in the nonlinear aerodynamic model of the DHC-2 Beaver' aircraft. valid
	within the 35-55 4 s TAS-range ..................................	32/33
	Coefficients in the nonlinear engine model of the DHC-2 'Beaver' aircraft. valid within
	the 35-55 m/s TAS-range ..........................................	35
	Initial conditions for V = 45 m/s. H = 6000 ft. obtained with the	trim routine
	ACTRIM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	. . . . . . . 74
	State-space matrices of linear 'Beaver' model. derived from the nonlinear SIMULN
	model with ACLIN ................................................	76
	Basic open-loop properties of the linear Beaver' model. derived from the nonlinear
	SIMULINK model with ACLIN ........................................	77
	Steps to be taken to simulate the system from figure 6-1 .................	102
	Steps to be taken to simulate the system from figure 6-2 .................	104
A-1	Moments and products of inertia ...................................	124
A-2	Definition of inertia parameters .................................	127/128
C-1	Maximum permissible localizer steady-state errors .....................	158
C-2	Maximum permissible glideslope steady-state errors ....................	158

VOR coverage as a function of altitude above the ground. based on two different flight
tests ........................................................	163
Fehlberg coefficients ............................................	175
Coefficients for Adams-Bashforthmethods ............................	178
Coefficients for Adams-Moultonmethod ..............................	179
Coefficients for stiffly stable method (GEAR) ..........................	182
Magnitude of the signals for two calculating sequences (example) ..........	187
Parameters of the aerodynamicmodel of the 'Beaver' in the format used by the SIW-
LINK simulation model ...........................................	264
Parameters of the engine model of the 'Beaver' in the format used by the SIMULINK
simulation model ...............................................	265
Aircraft geometry and mass distribution data in the format used by the SIMULINK
simulation model ...............................................	265
List of basic blocks within the 'Beaver' model. including their inputs and outputs266
List of all outputs from the system BEAVER which are sent to the 'MAT-	work-
space . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	267/268

List of figures.

The body-axes reference frame FBand the positive directions of the body-axes forces
Fz.Fy.Fz.moments L)M.N. velocities u. v. w. and rotational velocities
p.q. a n d r ......................................................	9
Relationship between the vehicle-carried vertical reference fkame Fv and the earth-
fixed reference frame FE ..........................................	10
Relationshipbetween the vehicle-carriedvertical referenceframe Fvand the body-fixed
reference frame FB...............................................	12
Relationship between the flight path reference frame Fw and the body-fixed reference
frameFB ......................................................	13
Relationships between body-fixed reference frame FB.flight path reference frame Fw.
and stability reference frame Fs ....................................	14
Sign conventions for control surface deflections .........................	14
The De Havilland DHC-2 'Beaver' laboratory aircraft ....................	29
Basic dimensions of the DHC-2 'Beaver' ...............................	30
Functional relations between MATLAB and SIM~L~NK.....................	50
Modular structure of the DUT-flightsimulatorsoftware (sequence of computations~
Structure of the main level of the 'Beaver' model in SIMULINK..............	61
Structure of the block 'AinlataGroup' ................................	63
Structure of the block 'Aerodynamics Group' ...........................	64
Structure of the block 'EngineGroup' ................................	64
Structure of the block 'Aircraft equations of motion' ......................	65
Structure of the block 'State derivatives' ..............................	65
Model structure for simulation of an aircraft. equipped with an automatic controller.
and affected by external disturbances ................................	67
Force and moment coefficients of the nonlinear Beaver model as functions of
a a n d p ......................................................	71
Open-loop responses of the 'Beaver' to a block-shaped elevator input A6. = 3" during 2
seconds ....................................................	7@79
Open-loop repsonses of the 'Beaver' to a block-shaped aileron input A6. = 3" during 2
seconds ....................................................	80/81
Open-loop responses of the 'Beaver' to a block-shaped rudder input A6. = 3" during 2
seconds .....................................................	82/83
Open-loop responses of the 'Beaver' to a flap deflection Aat = 3 O in 3 seconds	. 84/85
Open-loop responses of the 'Beaver' to a change in engine speed An = 200 RPM in 4
seconds .....................................................	86/87
Open-loopresponses of the 'Beaver' to a change in manifold pressure Apz = 2 inch Hg
in2seconds ..................................................	ssJs9
Open-loop responses to longitudinal turbulence .......................	90191

Contents

xvi i

Open-loop responses to lateral turbulence ...........................		92/93
Open-loop responses to vertical turbulence ..........................		9gr95
Open-loop responses to longitudinal + lateral + vertical turbulence ........		m 7
Control-input Bode plots for longitudinal linearized 'Beaver' model ..........		98
Block-diagramof the system OLOOPl (nonlinear open-loopsimulation model for exter-
nalinputs) ....................................................		107
Block-diagram of the system OLOOPl-L (linear open-loop simulation model for exter-
nalinputs) ....................................................		107
Block-diagram of the system OLOOP2 (nonlinear open-loop simulation model for
atmospheric disturbances) ........................................		108
Relationship between aerodynamic forces in flight-path and body axes reference
frames .......................................................		130
Wind profile for A = -0.0065 Wm and Vw9.16 = 14 s .....................		142
Wind velocity components along the aircraft's body axes .................		143
Von-handDrydenspectra ...................................		145
Modelling atmospheric turbulence as filtered white noise ................		146
Positions of the ILS system components ..............................		151
Tsyout of the approach path ......................................		152
Required coverage of localizer signals ...............................		152
Hyperbolic intensection of localizer and glideslope reference planes .........		153
Required coverage of glideslope signals compared with required coverage of localizer
signals .......................................................
ILS performance categories .......................................
Definition of earth-fixed and runway axes, used for approach simulation .....
h l i z e r geometry and definition of &, YE, XF, YF ....................
Glideslope geometry .............................................
Maximum allowable ILS localizer and glideslope noise ..................
Geometry of VOR navigation ......................................
The 'cone of silence' ............................................	.
Family of solutions of instable ODE .................................
Family of solutions of stable ODE ..................................
Discretization error, roundoff error, and total error as a function of h,, .......
Euler's method for stiff ODE ......................................
Digital control simulation scheme ..................................
Block-diagram equivalent of transfer function .........................
Model, consisting of three gains ....................................
Gain with unity feedback: an algebraic loop ...........................
Dynamics, introduced by an algebraic loop ............................
Iterative solution of an algebraic loop ...............................
Trimalgorithm ................................................
Program-structure diagram of ACTRIM.M (main program of aircraft tY.im routines)l96
Program-structure diagram of ACCONSTRM (subroutine with flightpath constraints and
kinematic relations) .............................................		197
Program-structure diagram of ACC0ST.M (subroutine with cost function for aircraft
trim) . . . . . . . . . . . . . .	. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	197
Main level of the systc	BEAVER ..................................	207
hternal structure of t subsystem block Beaver dynamics and output equations208
hternal structure of t	subsystem block Airdata Gmup .................	211
Internal structure of t	'basic' block Atmosph .........................	211
hternal structure of t	'basic' block Airdatal ........................	212
hternal structure of t	'basic' block Airdata2 ........................	212
hternal structure of t	'basic' block Airdata3 ........................	212
[nternalstructure of t	subsystem block Aerodynamics Gmup ............	214
hternal structure of t	'basic' block Dimless .........................	214
[nternalstructure of t	'basic' block Aemmod (Beaver) ..................	214
[nternalstructure of t	'basic' block FMdims .........................	215

Internal structure of t ne subsystem block Engine Group .................	215
Internal structure o f t ne 'basic' block Power (Beaver) ................... .	216
Internal structure of t le 'basic' block Engmod (Beaver) ..................	215
Internal structure o f t ne 'basic' block Gravity ..........................	219
Internal structure of t ne 'basic' block Fwind ..........................	219
Internal structure of t ne 'basic' block FMsort ..........................	219
Internal structure of t ne subsystem block Equations of motion ............	221
Internal structure of t ne subsystem block State derivatives ...............	221
Internal structure o f t ne 'basic'block Hlpfcn ..........................	222
Internal structure of t ne 'basic' block Vabdot ..........................	223
Internal structure o f t ne 'basic' block pqrdot ..........................	223
Internal structure of t ~e 'basic' block Eulerdot .........................	223
Internal structure of t ne 'basic'block uvw ............................	224
Internal structure of t ne 'basic' block xyHdot ..........................	224
Internal structure of t ne 'basic' block xobtcorr .........................	224
Internal structure of t ne 'basic' block fZpath ...........................	227
Internal structure of t ne 'basic' block accel ............................	227
Internal structure of t ne 'basic' block uvwdot ..........................	229
Internal structure of t ne block BLWIND .............................	250
Internal structure of t ne block C W N D ..............................	250
Internal structure of t ne block UDRYDl .............................	250
Internal structure o f t ne block VDRYDl .............................	250
Internal structure of t ~e block UDRYDZ .............................	252
Internal structure of t ne block VDRYDZ .............................	252
Internal structure o f t ne block ILS .................................	257
Internal structure of t ~e block ILSTEST .............................	257
Internal structure of t ne block LOCERR .............................	259
Internal structure of t ~e block GSERR ..............................	259
Internal structure of t ne block LOCNOISEI ..........................	259
Internal structure of t ne block GSNOISEl ...........................	259
Internal structure of t ne block LOCNOISE2 ..........................	260
Internal structure of t ne block GSNOISEZ ...........................	260
Internal structure of t ne block ILSXMPL .............................	260
Internal structure of t ne block VOR .................................	262
Internal structure of t ne block VORERR .............................	262

Symbols and definitions.

Symbols and definitions (part I).

Due to the very large number of variables which will be used in this report, it is sometimes necessary to use the same symbols for different variables. Often, the meaning of the symbol follows directly from the context of its use. Some symbols will be overlined to prevent confusion with other quantities, using the same symbol. Vectors will be typeset in boldface and matrices and reference frames (reference axes) are denoted with CAPITALS. Software names are typeset in SMALL CAPITALS and commands from software packages in CAPITALS + ITALICS. Italics will also be used for examples, equations, and symbols. A list of variables is included in appendix F.

0.1 Symbols.

engine model parameter, [-I
speed of sound, [m s"]
kinematic acceleration along X,-axis,	[g]
kinematic acceleration along Y,-axis,	[g]
kinematic acceleration along 2,-axis,	[g]
output of accelerometer (specific force) in c.g. along X,-axis,		[g]
output of accelerometer (specific force) in c.g. along Y,-axis,		[g]
output of accelerometer (specific force) in c.g. along 2,-axis,		[g]
wingspan, [m]
engine model parameter, [-I
mean aerodynamic chord, [m]
course datum, [rad]
dimensionless moment about X,-axis	(rolling moment), [-I
dimensionless moment about Y,-axis	(pitching moment), [-I
dimensionless moment about 2,-axis	(yawing moment), [-I
dimensionless force along XB-axis,[-I
dimensionless force along YB-axis,[-I
dimensionless force along 2,-axis, [-I
total aerodynamic drag, [N]
distance from aircraft 1 glideslope	reference plane (see appen-
dix C), [m].

distance from aircraft 1 localizer reference plane (see appendix C), [m]

function evaluation a t time step i body-fixed reference frame earth-fixed reference frame runway ('field') reference frame measurement reference frame

special body-fixed reference frame for the 'Beaver' stability reference frame

vehicle-carried vertical reference frame flight path reference frame

flight path acceleration, [g] acceleration of gravity, [m s ' ~ ]

[N m]

pressure altitude, [m]

step size for numerical integration, [s] geopotential altitude, [m]

altitude of aircraft above the runway, [m] altitude of runway above sea level, [m] counter or iteration number, [-I

current through glideslope indicator, bA] current through localizer indicator, [CLA]

inertia parameter (i = 1,2, ...,6, see table A-2), [kg m2] moment of inertia along XB-axis,[kg m2]

moment of inertia along Y,-axis, [kg m2] moment of inertia along ZB-axis,[kg m2] product of inertia in XB-YBplane, [kg m2] product of inertia in XB-ZBplane, [kg m2] product of inertia in YB-ZBplane, [kg m2] timestep (for discrete systems, t = kat,), [-]

function evaluations between two output points for Runge-Kutta integrators

total aerodynamic rolling moment, total aerodynamic lift, [N]

general scale length for turbulence, [m] scale length for glideslope noise, [m] scale length for localizer noise, [m]

scale length for turbulence velocity along X,-axis, [m] scale length for turbulence velocity along YB-axis,[m] scale length for turbulence velocity along &axis, [m] mass of aircraft, [kg]

Mach number, [-I

molecular weight of air, [kg kmol-'1

total aerodynamic pitching moment, [N m] engine speed, [RPM]

stepnumber in numerical integration, [-I total aerodynamic yawing moment, [N m] angular rate of roll, [rad s"]

order of numerical integration method, [-I engine power, [N m s"]

Iinertia parameters for p-equation (see appendix A, table A-2)

ambient or free-stream pressure, [N m'2] manifold pressure, ["Hg]

angular rate of pitch, [rad s"] impact pressure, [N mm2] dynamic pressure, [N m'2]

iinertia parameters for q-equation (see appendix A, table A-2)

Symbols and definitions.

r	angular rate of yaw, [rad s-'1
R	RaIM,, specific gas constant of air, [ J K" kg-']
Ra	universal gas constant, [J K-' kmol-'1
Rc	Reynolds number with respect to c ,[-]
R o ~ e	distance from aircraft to DME transmitter, [m]
Re	Reynolds number per unit length, [m-'1
Rg8	ground distance from aircraft to glideslope transmitter, [m]
Rg8	ground distance from aircraft to localizer transmitter, [m]
R,	ground distance from aircraft to localizer transmitter, [m]
R m	ground distance from aircraft to VOR transmitter, [m]
Rl, Rm 9	7
Rpq9 Rpr	inertia parameters for r-equation (see appendix A , table A -2)
R99 ,R, ,
S	wing area, [m2]
sg8	sensitivity of glideslope indicator, [cLA/rad]
sg8	sensitivity of localizer indicator, [CcA/rad]
S Z ~	sensitivity of localizer indicator, [CcA/rad]
t	time, [s]
t8	sampling time (stepwith for discrete systems), [s]
T	ambient or freeatream temperature, [K]
Tt	total temperature, [K]
T,	time until a signal has damped out to an amplitude of 0.5 times
	the initial value
	velocity along XB-axis,[m s"]
	wind velocity component along XB-axis,[m s"]
	wind velocity component along XE-axis, [m s"]
	velocity along YB-axis,[m s"]
	wind velocity component along Y,-axis,	[m s"]
	wind velocity component along YE-axis, [m s"]
	true airspeed, [m s"]
	calibrated airspeed, [m s"]
	equivalent airspeed, [m s"]
	wind velocity, [m s-'1
vw9.,6	wind velocity a t a n altitude of 9.15 m (reference velocity), [m s-'1
w	velocity along ZB-axis,[m s-'1
W	aircraft weight, [N]
w,,w,, w, three independent white noise signals
W w	wind velocity component along 2,-axis,	[m s"]
Wwe	wind velocity component along &-axis,	[m s-'1
Xa	aerodynamic force along XB-axis,[N]
xf	X-coordinate of aircraft relatively to FF(see appendix C), [m]
xf	gravity force along XB-axis,[N]
Xi	gravity force along XB-axis,[N]
Xi	X-coordinate of glideslope antenna relatively to F,		(see appen-
xg8	X-coordinate of glideslope antenna relatively to F,		(see appen-
xg8	dix C), [m]
	dix C), [m]
Xzm	X-coordinate of localizer antenna relatively to F,		(see appen-
xt	dix C), [m]
xt	force along X,-axis due to operation of powerplant, [N]
XYOR	X-position of VOR antenna relatively to FE,[m]
Y	total aerodynamic sideforce, [N]
a'	aerodynamic force along YB-axis,[N]
y ~ r	gravity force along YB-axis,[N]
y ~ r

- 6a,efl

1, hadl

Y-coordinate of glideslope antenna relatively to FF (see appendix C), [m]

force along Y,-axis due to operation of powerplant, [N] Y-position of VOR antenna relatively to F, , [m] aerodynamic force along 2,-axis, [N]

gravity force along 2,-axis, [N]

force along 2,-axis due to operation of powerplant, [N]

angle of attack, [rad]

coefficient in Runge Kutta and Adams equations angle of sideslip, [rad]

coefficient in Adams equations coefficient in Runge Kutta equations flight path angle, [rad]

ratio of specific heats of air, [-I

reference flight path angle a t glideslope, [rad]

angle between localizer reference plane and line from ground position of aircraft to glideslope antenna (see appendix C), [rad] angle between localizer reference plane and line from ground position of aircraft to localizer antenna (see appendix C), [rad] angle between CD, and VOR bearing where aircraft flies, [rad] coefficient in Runge Kutta equation

coefficient in Runge Kutta equation

angle of deflection of ailerons (6, = angle of deflection of elevator, [rad] angle of deflection of flaps, [rad]

local discretization erro; a t integration step n angle of deflection of rudder, [rad] increment, [-I

increase of total pressure over the propeller, [N mm2]

angle between $ideslope reference plane, and line through aircraft and glideslope antenna (see appendix C), [rad]

pitch angle, [rad]

-aT (temperature gradient), [K m"]

a h

eigenvalue

aerodynamic angle of roll, [rad] dynamic viscosity, [kg m" s-'1 air density, [kg m-3]

standard deviation

standard deviation of glideslope noise, w ] standard deviation of localizer noise, [CLA]

standard deviation of turbulence velocity in X,-direction, [m/s] standard deviation of turbulence velocity in Y,-direction, [m/s] standard deviation of turbulence velocity in 2,-direction, [m/s] time interval

roll angle, [rad] bank angle, [rad] azimuth angle, [rad] yaw angle, [rad]

runway heading, [rad]

wind direction (north = n: rad), [rad]

Symbols and definitions.

o	angular frequency, [rad/s]

%natural frequency of damped system, [radls]

00	natural frequency of undamped system, [rad/s]
GI	spatial frequency, [radlm]

0.2 Vectors and vector functions.

	body axis acceleration vector
	vector with dimensionless force and moment coefficients from
	aerodynamic model
	vector with dimensionless force and moment coefficients from
	engine model
	state equation
	resulting force vector acting on rigid body (I? = [ Fx Fy F, lT)
	output equation
	resulting moment vector about c.g. of rigid body (G = [ L M N IT)
	resulting angular momentum of a rigid body about the centre of
	gravity (h = [ hx hy h, lT)
	position vector
	input vector (continuous signal)
	input vector (discrete signal)
	true airspeed vector
	wind velocity vector
	state vector (continuous states)
	state vector (discrete states)
	output vector (continuous signal)
	output vector (discrete signal)
	rotational velocity vector
0,3 Matrices,
A	system matrix of linear state-space system
B	input matrix of linear state-space system
Tab	transformation matrix (from reference frame F, to F,)
0	transformation matrix for first Euler rotation (section 0.8.2)

@transformation matrix for second Euler rotation (section 0.8.2)

Y	transformation matrix for third Euler rotation (section 0.8.2)

0.4 Functions,

f(t)

g(t>

ma)

S(u), S(Q)

state equation

function evaluation a t time step i

output equation

frequency response of forming filter

function evaluations between two output points for Runge-Kutta integrators

power spectral density functions

0.5 Indices.

0	nominal value
0	value a t sea level
a	aerodynamic forces and moments (-coefficients)
a	aileron
a	velocity components relative to surrounding atmosphere
BYm	asymmetrical dynamics (lateral)
c.g.	in the centre of gravity
DME	DME
e	elevator
e	velocity components relative to earth axes
f	flaps
gr	gravity forces
gs	glideslope
k	'kinematic' (used for accelerations)
loc	localizer
n	number of step in the numerical integration, [-I
		a (.I
P	derivative with respect to dimensionless rolling speed, -
		a (G)
Q		a (.I
Q	derivative with respect to dimensionless pitching speed, -
		a (G)
r		a (.I
r	derivative with respect to dimensionless yawing speed, -
r	rudder	a (4
r	rudder
ref	reference value of a signal (used for inputs to control loops)
RW	runway
symm	symmetrical dynamics (longitudinal/vertical)
t	forces and moments (-coefficients)due to operation of powerplant
VOR	VOR
w	wind velocity (-components along body axes)
W	forces due to non-steady atmosphere
we	wind velocity components along earth axes
a	derivative with respect to angle of attack, do
		a a
a2	2	a o
a2	derivative with respect to a	, -
		d a*
a3	3	a 0
a3	derivative with respect to a , -

aa3

a sf

a&:

a24t

derivative with respect to a-af , -a (.I

a (a.6,)

derivative with respect to a*dpt2,

derivative with respect to a2*dpt, -a (.)

a(a2.&t)

derivative with respect to angle of sideslip, do a P

p2	derivative with respect to p2, do
	aP2

B3	3	a o
B3	derivative with respect to fi	, -
		a P3

<<< < Предыдущая 1 23 / 313 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 > Следующая >>>

Соседние файлы в предмете [НЕСОРТИРОВАННОЕ]

#
05.08.201981.77 Кб2The key.docx
#
09.09.20193.1 Mб15Theme_2_2_L2_4.docx
#
09.09.20191.31 Mб9THeme_2_2_L2_6.docx
#
09.09.2019764.23 Кб5Theme_2_3_L2_8.docx
#
09.09.20192.7 Mб12Theme_2_3_L2_9.docx
#
19.02.20165.22 Mб38Thesis - Beaver simulation.pdf
#
19.02.2016322.56 Кб49titulka_zvitu_med-tekh.doc
#
21.08.2019342.53 Кб6TLS Met ukaz KR 11_06.doc
#
19.02.20161.7 Mб14TOE_NAU_ChASTINA_I_Siry_D_T.pdf
#
14.07.201993.18 Кб1TOPIC 5.doc
#
16.07.201993.7 Кб0TOPIC 6.doc