📄 pahrah.mdl
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Ports [2, 1, 0, 0, 0]
Position [95, 148, 100, 177]
BackgroundColor "black"
ShowName off
FontName "Arial"
FontSize 11
Inputs "2"
DisplayOption "none"
}
Block {
BlockType Mux
Name "Mux1"
Ports [2, 1, 0, 0, 0]
Position [95, 218, 100, 247]
BackgroundColor "black"
ShowName off
FontName "Arial"
FontSize 11
Inputs "2"
DisplayOption "none"
}
Block {
BlockType Mux
Name "Mux2"
Ports [2, 1, 0, 0, 0]
Position [95, 78, 100, 107]
BackgroundColor "black"
ShowName off
FontName "Arial"
FontSize 11
Inputs "2"
DisplayOption "none"
}
Block {
BlockType StateSpace
Name "Rudder actuator\nand cables"
Position [140, 216, 210, 254]
FontName "Arial"
FontSize 11
A "Arud"
B "Brud"
C "Crud"
D "Drud"
X0 "0"
}
Block {
BlockType SubSystem
Name "t"
Ports [0, 0, 0, 0, 0]
Position [15, 15, 213, 61]
ForegroundColor "blue"
DropShadow on
ShowName off
OpenFcn "browse actuatr"
FontName "Arial"
FontSize 11
ShowPortLabels off
MaskDisplay "disp('Dynamics of the actuators and cables"
"\\nfor elevator, ailerons, and rudder.\\nM.O. Rauw, April 2003')"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
System {
Name "t"
Location [469, 78, 574, 168]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
AutoZoom on
}
}
Block {
BlockType Outport
Name "Ddeltae"
Position [245, 88, 275, 102]
FontName "Arial"
FontSize 11
Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Block {
BlockType Outport
Name "Ddeltaa"
Position [245, 158, 275, 172]
FontName "Arial"
FontSize 11
Port "2"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Block {
BlockType Outport
Name "Ddeltar"
Position [245, 228, 275, 242]
FontName "Arial"
FontSize 11
Port "3"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Line {
SrcBlock "Ailerons actuator\nand cables"
SrcPort 1
DstBlock "Ddeltaa"
DstPort 1
}
Line {
SrcBlock "VDdeltaa"
SrcPort 1
DstBlock "Mux"
DstPort 1
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "Ailerons actuator\nand cables"
DstPort 1
}
Line {
SrcBlock "Mux1"
SrcPort 1
DstBlock "Rudder actuator\nand cables"
DstPort 1
}
Line {
SrcBlock "VDdeltar"
SrcPort 1
DstBlock "Mux1"
DstPort 1
}
Line {
SrcBlock "Rudder actuator\nand cables"
SrcPort 1
DstBlock "Ddeltar"
DstPort 1
}
Line {
SrcBlock "Ground_1"
SrcPort 1
DstBlock "Mux"
DstPort 2
}
Line {
SrcBlock "Ground_2"
SrcPort 1
DstBlock "Mux1"
DstPort 2
}
Line {
SrcBlock "Elevator actuator\nand cables"
SrcPort 1
DstBlock "Ddeltae"
DstPort 1
}
Line {
SrcBlock "Ground_3"
SrcPort 1
DstBlock "Mux2"
DstPort 2
}
Line {
SrcBlock "Mux2"
SrcPort 1
DstBlock "Elevator actuator\nand cables"
DstPort 1
}
Line {
SrcBlock "VDdeltae"
SrcPort 1
DstBlock "Mux2"
DstPort 1
}
Annotation {
Position [152, 292]
VerticalAlignment "top"
ForegroundColor "red"
Text "Second inputs of Mux blocks take into accou"
"nt the in-\nfluence of pitch, roll and yaw-rates upon elevator, aileron \nand"
" rudder deflections, respectively (neglected here)."
FontSize 11
}
}
}
Block {
BlockType Fcn
Name "f1"
Position [280, 319, 450, 341]
Orientation "left"
ShowName off
FontName "Arial"
FontSize 9
Expr "(Kr*9.80665/xinco(1))*sin(u[1])"
}
Block {
BlockType SubSystem
Name "t"
Ports [0, 0, 0, 0, 0]
Position [15, 10, 181, 73]
ForegroundColor "blue"
DropShadow on
ShowName off
OpenFcn "browse apilot"
FontName "Arial"
FontSize 11
ShowPortLabels off
MaskDisplay "disp('PAH without turn-compensation;\\nRAH with"
" turn-coordination\\n(no signal limiters).\\nMarc Rauw, May 2004')"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
System {
Name "t"
Location [469, 78, 574, 168]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
AutoZoom on
}
}
Line {
SrcBlock "ac"
SrcPort 1
Points [5, 0; 0, -25]
Branch {
DstBlock "Dq"
DstPort 1
}
Branch {
Points [0, -45]
DstBlock "Kq"
DstPort 1
}
}
Line {
SrcBlock "ac"
SrcPort 2
Points [15, 0; 0, -10]
Branch {
DstBlock "Dtheta"
DstPort 1
}
Branch {
Points [0, -105; -435, 0; 0, 55]
DstBlock "Sum4"
DstPort 1
}
}
Line {
SrcBlock "ac"
SrcPort 3
Points [15, 0; 0, 10]
Branch {
DstBlock "Dr"
DstPort 1
}
Branch {
Points [0, 125]
Branch {
Points [0, 45]
DstBlock "dar"
DstPort 1
}
Branch {
DstBlock "drr-Kr"
DstPort 1
}
}
}
Line {
SrcBlock "ac"
SrcPort 4
Points [5, 0; 0, 25]
Branch {
Points [20, 0]
Branch {
Points [0, 165; -450, 0; 0, -175]
DstBlock "Sum"
DstPort 2
}
Branch {
DstBlock "Dphi"
DstPort 1
}
}
Branch {
Points [0, 55]
DstBlock "f1"
DstPort 1
}
}
Line {
Name " Ddeltar"
FontName "Arial"
Labels [-1, 1]
SrcBlock "elevator"
SrcPort 3
DstBlock "ac"
DstPort 3
}
Line {
Name "Ddeltaa"
FontName "Arial"
Labels [1, 0]
SrcBlock "elevator"
SrcPort 2
DstBlock "ac"
DstPort 2
}
Line {
Name "Ddeltae"
FontName "Arial"
Labels [1, 0]
SrcBlock "elevator"
SrcPort 1
DstBlock "ac"
DstPort 1
}
Line {
SrcBlock "Dphi_ref"
SrcPort 1
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "Sum"
SrcPort 1
DstBlock "Kphi"
DstPort 1
}
Line {
SrcBlock "drr-Kr"
SrcPort 1
Points [-110, 0; 0, -70]
DstBlock "Sum2"
DstPort 1
}
Line {
SrcBlock "Sum2"
SrcPort 1
Points [20, 0]
DstBlock "elevator"
DstPort 3
}
Line {
SrcBlock "dar"
SrcPort 1
Points [-120, 0; 0, -140]
DstBlock "Sum1"
DstPort 3
}
Line {
SrcBlock "Sum4"
SrcPort 1
DstBlock "Ktheta"
DstPort 1
}
Line {
SrcBlock "Dtheta_ref"
SrcPort 1
DstBlock "Sum4"
DstPort 2
}
Line {
SrcBlock "Sum3"
SrcPort 1
Points [10, 0; 0, 40]
DstBlock "elevator"
DstPort 1
}
Line {
SrcBlock "Kq"
SrcPort 1
Points [-95, 0; 0, 25]
DstBlock "Sum3"
DstPort 1
}
Line {
SrcBlock "Sum1"
SrcPort 1
Points [10, 0; 0, -40]
DstBlock "elevator"
DstPort 2
}
Line {
SrcBlock "Integrator "
SrcPort 1
DstBlock "Sum3"
DstPort 2
}
Line {
SrcBlock "Ktheta"
SrcPort 1
Points [10, 0]
Branch {
DstBlock "Integrator "
DstPort 1
}
Branch {
Points [0, 35; 85, 0; 0, -25]
DstBlock "Sum3"
DstPort 3
}
}
Line {
SrcBlock "Integrator"
SrcPort 1
DstBlock "Sum1"
DstPort 2
}
Line {
SrcBlock "Kphi"
SrcPort 1
Points [15, 0]
Branch {
DstBlock "Integrator"
DstPort 1
}
Branch {
Points [0, -25; 70, 0; 0, 15]
DstBlock "Sum1"
DstPort 1
}
}
Line {
SrcBlock "f1"
SrcPort 1
Points [-35, 0; 0, -25]
DstBlock "Sum2"
DstPort 2
}
Annotation {
Position [107, 427]
VerticalAlignment "top"
ForegroundColor "red"
Text "Roll Attitude Hold"
FontName "Arial"
FontSize 11
}
Annotation {
Position [112, 97]
VerticalAlignment "top"
ForegroundColor "red"
Text "Pitch Attitude Hold"
FontName "Arial"
FontSize 11
}
Annotation {
Position [272, 397]
VerticalAlignment "top"
ForegroundColor "red"
Text "Turn-coordination"
FontName "Arial"
FontSize 11
}
}
}
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