📄 rah.mdl
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DstBlock "Sum1"
DstPort 1
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "Sum1"
DstPort 2
}
Line {
SrcBlock "Ddelta_a"
SrcPort 1
Points [15, 0; 0, 25]
DstBlock "Mux"
DstPort 2
}
Line {
SrcBlock "Ground_5"
SrcPort 1
DstBlock "Mux"
DstPort 1
}
Line {
SrcBlock "Ddelta_r"
SrcPort 1
DstBlock "Mux"
DstPort 3
}
Line {
SrcBlock "Ground_4"
SrcPort 1
DstBlock "Mux"
DstPort 4
}
Line {
SrcBlock "c1"
SrcPort 1
DstBlock "Beaver dynamics"
DstPort 3
}
Line {
SrcBlock "Selector"
SrcPort 1
DstBlock "Demux"
DstPort 1
}
Line {
SrcBlock "Demux"
SrcPort 1
DstBlock "Dr"
DstPort 1
}
Line {
SrcBlock "Demux"
SrcPort 2
DstBlock "Dphi"
DstPort 1
}
Annotation {
Position [387, 237]
VerticalAlignment "top"
ForegroundColor "red"
Text "Subtract initial value of the state \nvect"
"or. Only deviations from the \nnominal flight-condition are used \nas inputs "
"to the control laws."
FontName "Arial"
FontSize 11
}
Annotation {
Position [97, 237]
VerticalAlignment "top"
ForegroundColor "red"
Text "Add initial inputs. Here the elevator\nis t"
"he only control input; this must \nbe added to uaero0. The engine\ninputs mus"
"t be set to uprop0. Here,\nno atmospheric disturbances are\nconsidered, so uw"
"ind = [0 0 0 0 0 0]'."
FontName "Arial"
FontSize 11
}
}
}
Block {
BlockType Gain
Name "dar"
Position [335, 95, 370, 125]
Orientation "left"
FontName "Arial"
FontSize 11
Gain "dar"
SaturateOnIntegerOverflow on
}
Block {
BlockType Gain
Name "drr-Kr"
Position [335, 285, 370, 315]
Orientation "left"
FontName "Arial"
FontSize 11
Gain "drr-Kr"
SaturateOnIntegerOverflow on
}
Block {
BlockType SubSystem
Name "elevator"
Ports [2, 2, 0, 0, 0]
Position [275, 143, 330, 212]
ShowName off
FontName "Arial"
FontSize 11
ShowPortLabels off
MaskDisplay "disp('Cable &\\nactuator\\ndynamics')"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
Port {
PortNumber 1
Name "Ddeltaa"
TestPoint off
RTWStorageClass "Auto"
}
Port {
PortNumber 2
Name "Ddeltar"
TestPoint off
RTWStorageClass "Auto"
}
System {
Name "elevator"
Location [27, 53, 334, 323]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
AutoZoom on
Block {
BlockType Inport
Name "VDdeltaa"
Position [20, 68, 50, 82]
FontName "Arial"
FontSize 11
Port "1"
PortWidth "-1"
SampleTime "-1"
DataType "auto"
SignalType "auto"
Interpolate on
}
Block {
BlockType Inport
Name "VDdeltar"
Position [20, 138, 50, 152]
FontName "Arial"
FontSize 11
Port "2"
PortWidth "-1"
SampleTime "-1"
DataType "auto"
SignalType "auto"
Interpolate on
}
Block {
BlockType StateSpace
Name "Ailerons actuator\nand cables"
Position [145, 66, 215, 104]
FontName "Arial"
FontSize 11
A "Aail"
B "Bail"
C "Cail"
D "Dail"
X0 "0"
}
Block {
BlockType Ground
Name "Ground_1"
Position [75, 85, 85, 95]
ShowName off
FontSize 11
}
Block {
BlockType Ground
Name "Ground_2"
Position [75, 155, 85, 165]
ShowName off
FontSize 11
}
Block {
BlockType Mux
Name "Mux"
Ports [2, 1, 0, 0, 0]
Position [100, 68, 105, 97]
BackgroundColor "black"
ShowName off
FontName "Arial"
FontSize 11
Inputs "2"
DisplayOption "none"
}
Block {
BlockType Mux
Name "Mux1"
Ports [2, 1, 0, 0, 0]
Position [100, 138, 105, 167]
BackgroundColor "black"
ShowName off
FontName "Arial"
FontSize 11
Inputs "2"
DisplayOption "none"
}
Block {
BlockType StateSpace
Name "Rudder actuator\nand cables"
Position [145, 136, 215, 174]
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 [10, 5, 176, 48]
ForegroundColor "blue"
DropShadow on
ShowName off
OpenFcn "browse actuatr"
FontName "Arial"
FontSize 11
ShowPortLabels off
MaskDisplay "disp('Dynamics of the actuators and\\ncable"
"s for 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 "Ddeltaa"
Position [250, 78, 280, 92]
FontName "Arial"
FontSize 11
Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Block {
BlockType Outport
Name "Ddeltar"
Position [250, 148, 280, 162]
FontName "Arial"
FontSize 11
Port "2"
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
}
Annotation {
Position [152, 212]
VerticalAlignment "top"
ForegroundColor "red"
Text "Second inputs of Mux blocks take into accou"
"nt\ninfluence of roll and yaw-rate upon aileron deflection\nand rudder deflec"
"tion, respectively (neglected here)."
FontSize 11
}
}
}
Block {
BlockType Fcn
Name "f1"
Position [245, 255, 415, 275]
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, 18, 153, 82]
ForegroundColor "blue"
DropShadow on
ShowName off
OpenFcn "browse apilot"
FontName "Arial"
FontSize 11
ShowPortLabels off
MaskDisplay "disp('Roll Attitude Hold with\\nturn-coordinati"
"on\\n(no signal limiters).\\nM.O. Rauw, May 2004')"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
System {
Name "t"
Location [29, 93, 134, 183]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
AutoZoom on
}
}
Line {
SrcBlock "Dphi_ref"
SrcPort 1
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "Sum"
SrcPort 1
DstBlock "Kphi"
DstPort 1
}
Line {
Name "Ddeltaa"
FontName "Arial"
Labels [1, 0]
SrcBlock "elevator"
SrcPort 1
DstBlock "ac"
DstPort 1
}
Line {
Name "Ddeltar"
FontName "Arial"
Labels [1, 0]
SrcBlock "elevator"
SrcPort 2
DstBlock "ac"
DstPort 2
}
Line {
SrcBlock "Sum1"
SrcPort 1
DstBlock "elevator"
DstPort 1
}
Line {
SrcBlock "ac"
SrcPort 1
Points [15, 0]
Branch {
DstBlock "Dr"
DstPort 1
}
Branch {
Points [0, -50]
DstBlock "dar"
DstPort 1
}
Branch {
Points [0, 140]
DstBlock "drr-Kr"
DstPort 1
}
}
Line {
SrcBlock "Sum2"
SrcPort 1
Points [5, 0]
DstBlock "elevator"
DstPort 2
}
Line {
SrcBlock "drr-Kr"
SrcPort 1
Points [-120, 0; 0, -80]
DstBlock "Sum2"
DstPort 1
}
Line {
SrcBlock "ac"
SrcPort 2
Points [5, 0]
Branch {
Points [20, 0]
Branch {
Points [0, 145; -405, 0; 0, -175]
DstBlock "Sum"
DstPort 2
}
Branch {
DstBlock "Dphi"
DstPort 1
}
}
Branch {
Points [0, 70]
DstBlock "f1"
DstPort 1
}
}
Line {
SrcBlock "Kphi"
SrcPort 1
Points [10, 0]
Branch {
DstBlock "Sum1"
DstPort 2
}
Branch {
DstBlock "Integrator"
DstPort 1
}
}
Line {
SrcBlock "Integrator"
SrcPort 1
Points [10, 0; 0, -15]
DstBlock "Sum1"
DstPort 3
}
Line {
SrcBlock "dar"
SrcPort 1
Points [-110, 0; 0, 40]
DstBlock "Sum1"
DstPort 1
}
Line {
SrcBlock "f1"
SrcPort 1
Points [-20, 0]
DstBlock "Sum2"
DstPort 2
}
Annotation {
Position [407, 352]
VerticalAlignment "top"
ForegroundColor "red"
Text "Note: since phi(0) = 0, Dphi = phi. This\nis wh"
"y Dphi could be used as input to the\nturn-coordination loops. The turn-coord"
"i-\nnation is based upon the mean value of\nthe airspeed, defined in PRAHINIT"
"."
FontName "Arial"
FontSize 11
}
Annotation {
Position [107, 327]
VerticalAlignment "top"
ForegroundColor "red"
Text "Roll Attitude Hold"
FontName "Arial"
FontSize 11
}
Annotation {
Position [267, 287]
VerticalAlignment "top"
ForegroundColor "red"
Text "Turn-coordination"
FontName "Arial"
FontSize 11
}
Annotation {
Position [272, 112]
VerticalAlignment "top"
ForegroundColor "red"
Text "Turn-coordination "
FontName "Arial"
FontSize 11
}
}
}
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