aclin.m

matlab的FDC工具箱

      % ----------------------------------------------------------------
      for ii = 1:length(xdef)             % ii = row number
         for jj = 1:length(udef)          % jj = column number
            Bac_s(ii,jj) = Bac(xdef(ii),udef(jj));
         end
      end

   end

   clc;
   disp('State-space matrices of complete 12th-order system:');
   disp('Aac, Bac, Cac, and Dac.');
   disp(' ');
   if allstates ~= 1 & allinputs ~= 1
      disp('State-space matrices of simplified model (state equation only):');
      disp('Aac_s and Bac_s');
      disp(' ');
   end
   disp('<<< Press a key >>>');
   pause

   %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

   % Create a text matrix with information about the linearized model.
   % Note: the function NUM2STR2 is just a slightly changed version
   % of NUM2STR. Type HELP NUM2STR2 at the Matlab command line  for
   % more info.
   % =================================================================
   line1  = ['Linearized aircraft model of the system ' sysname ':'];
   line2  = '';
   line3  = ['User-specified operating point:'];
   line4  = '';
   line5  = ['Airspeed:          V      =  ' num2str2(xinco(1),10)  ' [m/s]'  ];
   line6  = ['Angle of attack:   alpha  =  ' num2str2(xinco(2),10)  ' [rad]'  ];
   line7  = ['Sideslip angle:    beta   =  ' num2str2(xinco(3),10)  ' [rad]'  ];
   line8  = ['Roll-rate:         p      =  ' num2str2(xinco(4),10)  ' [rad/s]'];
   line9  = ['Pitch-rate:        q      =  ' num2str2(xinco(5),10)  ' [rad/s]'];
   line10 = ['Yaw-rate:          r      =  ' num2str2(xinco(6),10)  ' [rad/s]'];
   line11 = ['Yaw-angle:         psi    =  ' num2str2(xinco(7),10)  ' [rad]  '];
   line12 = ['Pitch-angle:       theta  =  ' num2str2(xinco(8),10)  ' [rad]  '];
   line13 = ['Roll-angle:        phi    =  ' num2str2(xinco(9),10)  ' [rad]  '];
   line14 = ['X-coordinate:      xe     =  ' num2str2(xinco(10),10) ' [m]    '];
   line15 = ['Y-coordinate:      ye     =  ' num2str2(xinco(11),10) ' [m]    '];
   line16 = ['Altitude:          H      =  ' num2str2(xinco(12),10) ' [m]    '];
   line17 = '';
   line18 = ['Elevator angle:    deltae =  ' num2str2(uaero0(1),10) ' [rad]  '];
   line19 = ['Aileron angle:     deltaa =  ' num2str2(uaero0(2),10) ' [rad]  '];
   line20 = ['Rudder angle:      deltar =  ' num2str2(uaero0(3),10) ' [rad]  '];
   line21 = ['Flap angle:        deltaf =  ' num2str2(uaero0(4),10) ' [rad]  '];
   line22 = '';
   line23 = ['Engine speed:      n      =  ' num2str2(uprop0(1),10) ' [RPM]  '];
   line24 = ['Manifold pressure: pz     =  ' num2str2(uprop0(2),10) ' ["Hg]  '];
   line25 = '';
   line26 = ['Full state space model: Aac, Bac, Cac, Dac.'];
   line27 = '';

   % Add definition of Aac_s and Bac_s to text matrix.
   % -------------------------------------------------
   if allstates == 1 & allinputs == 1  % all states and all outputs selected,
                                       % so no model simplifications...
      line28 = ['No simplified model available.'];
      line29 = '';
      line30 = ['x     =  [V alpha beta p q r psi theta phi xe ye H]'''];
      line31 = ['u     =  [ua'' ut'' uwind'']'''];
      line32 = '';
      line33 = ['ua    =  [deltae deltaa deltar deltaf]'''];
      line34 = ['ut    =  [n pz]'','];
      line35 = ['uwind =  [uw vw ww uwdot vwdot wwdot]'''];
      line36 = '';

   else                            % simplified model has been determined

      line28 = ['Aac_s and Bac_s contain simplified model (state eqs. only!)'];
      line29 = '';

      line30 = ['State and input vectors of the simplified model:'];

      line31 = ['x_s=['];
      for ii = 1:length(xdef)
         line31 = [line31 'x(' num2str(xdef(ii)) ') '];
      end
      line31 = [line31(1:length(line31)-1) ']'];

      line32 = ['u_s=['];
      for jj = 1:length(udef)
         line32 = [line32 'u(' num2str(udef(jj)) ') '];
      end
      line32 = [line32(1:length(line32)-1) ']'];

      line33 = '';
      line34 = ['where: x = [V alpha beta p q r psi theta phi xe ye H]'''];
      line35 = ['       u = [deltae deltaa deltar deltaf n pz  ...'];
      line36 = ['                     ...  uw vw ww uwdot vwdot wwdot]'''];

   end

   % Include default output definition (ACLIN will also work when the output
   % definition is altered in the nonlinear model, hence the caution)
   % -----------------------------------------------------------------------
   line37 = '';
   line38 = 'For the default system BEAVER, the output vector is equal to:';
   line39 = '';
   line40 = 'y = [x'' dH/dt pb/2V qc/V rb/2V]''';
   line41 = '';
   line42 = 'If you are not sure of the current output definition, please';
   line43 = 'verify the nonlinear Simulink model that was used to obtain';
   line44 = 'the linearized system.';
   line45 = '';

   % Add time and date to text matrix.
   % ---------------------------------
   t  = clock;
   t1 = num2str(t(4));
   t2 = num2str(t(5));
   t3 = num2str(t(6));

   line46 = ['date: ', date, '   time: ', t1, ':', t2, ':', t3];


   % Enhance explanatory lines to 80 characters and collect the results in the 
   % string matrix 'lindef'. Clear the individual line variables.
   % -------------------------------------------------------------------------
   lindef = [];
   for ii = 1:46
      linestr = ['line' num2str(ii)];
      eval([linestr '= [' linestr ' blanks(79-length(' linestr '))];']);
      eval(['lindef = [lindef; ' linestr '];']);
      eval(['clear ' linestr ]);
   end


   %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


   % Results can now be saved to a file, which will be filled with the
   % state space matrices Aac, Bac, Cac, Dac of the linearized aircraft
   % model, and the information matrix lindef. Moreover, the user will
   % be asked if the operating point, defined by xinco, uaero0, and uprop0
   % must be saved to the same file too. In that case, the information
   % matrix trimdef will be saved too if it exists (see ACTRIM for more
   % info).
   %
   % Note: files with linearized aircraft model have extension .LIN!
   % ==================================================================
   clc
   answ = input('Save linear state-space model to file (y/[n])? ','s');
   if isempty(answ)
       answ = 'n';
   end
   if answ == 'y'

      % Destination directory for storing the results is the default FDC 
      % data-directory, which is obtained from the function DATADIR.M. 
      % If that directory does not exist, the current directory will be 
      % used instead.
      % ----------------------------------------------------------------
      defdir = datadir;
      currentdir = chdir;

      % Go to default directory if that directory exists (if not, start
      % save-routine from the current directory).
      % ---------------------------------------------------------------
      try
        chdir(defdir);
      catch
        chdir(currentdir);
      end
      
      % Obtain filename and path
      % ------------------------ 
      [filename,dirname] = uiputfile('*.lin','Save linearized model');
      
      % Save results to the specified file
      % ----------------------------------
      save([dirname,filename],'Aac','Bac','Cac','Dac','lindef');
      
      % If simplified matrices exist, append them to the saved file
      % -----------------------------------------------------------
      if allstates ~= 1 | allinputs ~= 1
         save([dirname,filename],'Aac_s','Bac_s','-append');
      end

      % Ask if operating point needs to be included to the .LIN file. 
      % If it does, append xinco, uaero0, uprop0 and (if present) 
      % trimdef to the saved file.
      % -------------------------------------------------------------
      disp(' ');
      answ = input('Include operating point {xinco,uaero0,uprop0} to file ([y]/n)? ','s');
      if isempty(answ)
          answ = 'y';
      end
      if answ == 'y'
         save([dirname,filename],'xinco','uaero0','uprop0','-append');
         
         % If operating point has been loaded from .TRI file or computed by
         % directly calling ACTRIM, the definition of the trimmed flight-
         % condition is stored in the text-matrix trimdef. If the operating
         % point is defined in another way, this matrix does not exist. If
         % trimdef exists, it will be saved along with the trimmed flight-
         % condition itself.
         % -----------------------------------------------------------------
         if exist('trimdef') == 1
            save([dirname,filename],'trimdef','-append');
         end
      end

      % Display file location
      % ---------------------
      clc
      disp('The linear state-space model was saved to the file:');
      disp(' ');
      disp(['     ',dirname,filename]);
      disp(' ');
      disp('<<< Press a key >>>');
      pause
   end

   %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

   % Display results for user.
   % =========================
   clc
   disp('State-space matrices of linearized aircraft model: Aac, Bac, Cac,');
   disp('and Dac (ac = aircraft). Operating point is defined by the vectors');
   disp('xinco, uaero0, and uprop0.');
   disp(' ');
   disp('The default output definition used by the system BEAVER equals:');
   disp(' ');
   disp(' y = [x'' dH/dt pb/2V qc/V rb/2V]''');
   disp(' ');
   disp('which contains all relevant information for the autopilot simu-');
   disp('lation model APILOT. Notice that this includes four additional');
   disp('output trajectories, when compared with the state vector. Since');
   disp('ACLIN will also work when the output definition in the nonlinear');
   disp('model is altered, it is recommended always to verify the current');
   disp('output definition when using a different aircraft model that is');
   disp('based on the system BEAVER.');
   disp(' ');

   if allstates ~= 1 | allinputs ~= 1
      disp('Simplified state model available in matrices Aac_s and Bac_s');
      disp('(state equations only!).');
      disp(' ');
   end

   disp('See matrix lindef for more details!');

end % of the part of the program in which the actual linearization takes
    % place, and which contains the save routines (skipped if the option
    % QUIT is selected from the main menu).

disp(' ');
disp('Ready.');
disp(' ');

% Clear variables which are not needed anymore
% --------------------------------------------
clear V alpha beta p q r psi theta phi xe ye H deltae deltaa deltar
clear deltaf n pz ok ok1 ok2 proceed answ answ1
clear opt skip sysname uinco udef xdef allstates allinputs ii jj h
clear t t1 t2 t3 dirname filename savecmmnd defdir currentdir


%-----------------------------------------------------------------------
% The Flight Dynamics and Control Toolbox version 1.4.0. 
% (c) Copyright Marc Rauw, 1994-2005. Licensed under the Open Software 
% License version 2.1; see COPYING.TXT and LICENSE.TXT for more details.
% Last revision of this file: December 31, 2004.
%-----------------------------------------------------------------------