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      FDC help: Mode Controller
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    <h2>
      Autopilot subsystem <i>Mode Controller</i>
    </h2>
    <p>The autopilot subsystem <i>Mode Controller</i> supplies the switch-settings
    for the different autopilot modes. The systems <i><a href=
    "apilot.htm#APILOT2">APILOT2</a></i> and <i><a href=
    "apilot.htm#APILOT3">APILOT3</a></i> contain radio-navigation modes
    (Glideslope, Localizer, and Navigation) which start in &#39;Armed&#39;
    setting and switch over to &#39;Coupled&#39; as soon as some
    switch-criterion is satisfied. The block <i>Mode Controller</i> evaluates
    those switch-criteria. In the system <i><a href=
    "apilot.htm#APILOT1">APILOT1</a></i> the radio-navigation modes have been
    omitted, so in that case <i>Mode Controller</i> only
    defines the autopilot modes, but does not contain any
    mode-switching functions.</p>
     <p>Before starting a new simulation, double-click the block &#39;Select Mode
    and Reference Signals&#39;, or type <code>apmode</code> at the Matlab
    command line in order to run <i><a href="apmode.htm">APMODE</a></i> to define the autopilot modes. This utility will generate the vectors
    <i>ymod1S</i>, <i>ymod2S</i>, <i>ymod1A</i>, and <i>ymod2A</i> in the
    Matlab workspace. These vectors are defined as follows:</p> 
    <ul>
      <li>
        <i>ymod1S / ymod2S</i>: symmetrical autopilot modes
      </li>
      <li>
        <i>ymod1A / ymod2A</i>: asymmetrical autopilot modes<br>
        <br>
      </li>
      <li>
        extension <i>1</i>: initial autopilot setting
      </li>
      <li>
        extension <i>2</i>: second autopilot setting (used for radio-navigation
        modes to make it possible to switch from &#39;Armed&#39; = initial
        phase to &#39;Coupled&#39; = second phase)
      </li>
    </ul>
    <h3>Symmetrical modes:</h3> 
<pre>
 ymodS = [symm. autopilot modes on/off ,
          symm. outer-loops on/off     ,
          Altitude Hold mode on/off    ,
          Altitude Select mode on/off  ,
          Glideslope mode on/off        ]
</pre>
    with the following combinations for <i>ymodS</i>: 
<pre>
          Pitch Attitude Hold              :  [1 0 0 0 0]
          Altitude Hold / Glideslope Armed :  [1 1 1 0 0]
          Altitude Select                  :  [1 1 0 1 0]
          Glideslope Coupled               :  [1 1 0 0 1]
</pre>
    <h3>Asymmetrical modes:</h3> 
<pre>
 ymodA = [asymm. autopilot modes on/off,
          asymm. outer-loops on/off    ,
          Heading Hold/Select on/off   ,
          VOR-Navigation mode on/off   ,
          Localizer mode on/off         ]
</pre>
    with the following combinations for <i>ymodA</i>: 
<pre>
          Roll Attitude Hold               :  [1 0 0 0 0]
          Heading Hold/Heading Select/
                 NAV Armed/Localizer Armed :  [1 1 1 0 0]
          NAV Coupled                      :  [1 1 0 1 0]
          Localizer Coupled                :  [1 1 0 0 1]
</pre>
    <h3>
      More information
    </h3>
    <p>See the source-codes of <small>GSSWITCH.M</small>,
    <small>LOCSWTCH.M</small>, and <small>NAVSWTCH.M</small> for the
    switch-criteria used in Glideslope, Localizer, and VOR navigation modes,
    respectively. See <small>APMODE.M</small> for more details on the
    mode-initialization of the autopilot.</p> 
    <h3>
      <a name="References">References</a>
    </h3>
    <p>A detailed description of the &#39;Beaver&#39; autopilot can be found in the FDC user-manual, and the following references:</p> 
    <ol>
      <li>
        M.O. Rauw: <i>A Simulink environment for Flight Dynamics and Control
        analysis - Application to the DHC-2 &#39;Beaver&#39;</i> (PART II).
        MSc-thesis, Delft University of Technology, Faculty of Aerospace
        Engineering, Delft, The Netherlands, 1993.
      </li>
      <li>
        P.N.H. Wever: <i>Ontwerp en implementatie van de regelwetten van de De
        Havilland DHC-2 &#39;Beaver&#39;</i> (in Dutch). MSc-thesis, Delft
        University of Technology, Faculty of Aerospace Engineering, Delft, The
        Netherlands, 1993.
      </li>
    </ol>
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