📄 apilot.htm
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<TITLE>FDC help: APILOT1/2/3</TITLE>
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<H2>The autopilot simulation models <I><FONT FACE="Arial","Helvetica","Sans Serif">APILOT1</FONT></I>, <I><FONT FACE="Arial","Helvetica","Sans Serif">APILOT2</FONT></I>, and <I><FONT FACE="Arial","Helvetica","Sans Serif">APILOT3</FONT></I></H2>
The S-functions <I><FONT SIZE=2 FACE="Arial","Helvetica","Sans Serif"><A HREF="#APILOT1">APILOT1</A></FONT></I>, <I><FONT SIZE=2 FACE="Arial","Helvetica","Sans Serif"><A HREF="#APILOT2">APILOT2</A></FONT></I>, and <I><FONT SIZE=2 FACE="Arial","Helvetica","Sans Serif"><A HREF="#APILOT3">APILOT3</A></FONT></I> contain the simulation models of the 'Beaver' autopilot, coupled to the non-linear model of the 'Beaver' itself (i.e. the S-function <I><FONT SIZE=2 FACE="Arial","Helvetica","Sans Serif"><A HREF="beaver.htm">Beaver</A></FONT></I>). The three versions of the autopilot simulation systems differ in their complexity and computation speed.
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For more information, see the <A HREF="#References">references</A> below and the help-texts for the subsystems <I><FONT SIZE=2 FACE="Arial","Helvetica","Sans Serif"><A HREF="actuatr.htm">Actuator & cable dynamics</A></FONT></I>,
<I><FONT SIZE=2 FACE="Arial","Helvetica","Sans Serif"><A HREF="sensors.htm">Sensors / Add initial inputs</A></FONT></I>, <I><FONT SIZE=2 FACE="Arial","Helvetica","Sans Serif"><A HREF="ap_symm.htm">Symmetrical autopilot modes</A></FONT></I>, <I><FONT SIZE=2 FACE="Arial","Helvetica","Sans Serif"><A HREF="ap_asymm.htm">Asymmetrical autopilot modes</A></FONT></I>, and <I><FONT SIZE=2 FACE="Arial","Helvetica","Sans Serif"><A HREF="modectrl.htm">Mode Controller</A></FONT></I>. Details about the autopilot initialization can be found in the help-texts for the routines <I><FONT SIZE=2 FACE="Arial","Helvetica","Sans Serif"><A HREF="apinit.htm">APINIT</A></FONT></I> and <I><FONT SIZE=2 FACE="Arial","Helvetica","Sans Serif"><A HREF="apmode.htm">APMODE</A></FONT></I>. See the descriptions of the blocks <I><FONT SIZE=2 FACE="Arial","Helvetica","Sans Serif"><A HREF="ils.htm">ILS</A></FONT></I> and <I><FONT SIZE=2 FACE="Arial","Helvetica","Sans Serif"><A HREF="vor.htm">VOR</A></FONT></I> for more information about the radio-navigation blocks.
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See also the <A HREF="colors.htm">color definitions</A> for the FDC toolbox.
<H3><I><FONT SIZE=2 FACE="Arial","Helvetica","Sans Serif"><A NAME= "APILOT1">APILOT1</A></FONT></I></H3>
This S-function contains the basic autopilot modes:
<UL>
<LI> Pitch Attitude Hold
<LI> Altitude Hold
<LI> Altitude Select
<LI> Roll Attitude Hold
<LI> Heading Hold / Heading select
</UL>
For reasons of computing speed, it does <I>not</I> contain:
<UL>
<LI> approach and navigation modes
<LI> mode-switching loops for approach and navigation modes
<LI> ILS and VOR blocks
<LI> any noisy disturbances (sensors, atmospheric turbulence)
<LI> Moving Average filter for Altitude Hold mode
</UL>
<I><FONT SIZE=2 FACE="Arial","Helvetica","Sans Serif">APILOT1</FONT></I> can be used for fast evaluation of the basic autopilot results, using the integrators ADAMS/GEAR, which are quite efficient for systems with relatively smooth signals (i.e. few discontinuities, or none at all). In that case, the simulations will be very fast, and the number of timesteps will be limited.
<H3><I><FONT SIZE=2 FACE="Arial","Helvetica","Sans Serif"><A NAME= "APILOT2">APILOT2</A></FONT></I></H3>
This S-function contains all control laws of the 'Beaver' autopilot:
<UL>
<LI> Pitch Attitude Hold
<LI> Altitude Hold
<LI> Altitude Select
<LI> Roll Attitude Hold
<LI> Heading Hold / Heading Select
<LI> longitudinal and lateral approach modes
<LI> VOR-navigation mode
</UL>
Due to the inclusion of the approach and navigation modes, it also contains:
<UL>
<LI> mode-switching loops for approach and NAV (call M-files with mode-switching criteria, which slows down simulations)
<LI> ILS and VOR blocks
</UL>
However, for reasons of computing speed, <I><FONT SIZE=2 FACE="Arial","Helvetica","Sans Serif">APILOT2</FONT></I> does <I>not</I> contain:
<UL>
<LI> any noisy disturbances (sensors, ILS noise, turbulence)
<LI> Moving Average filter for Altitude Hold mode
</UL>
In order to cope with the additional blocks, the integrator RK45 had to be applied in stead of ADAMS/GEAR. This increases the number of time-steps, compared to <I><FONT SIZE=2 FACE="Arial","Helvetica","Sans Serif">APILOT1</FONT></I>; therefore simulations will be slower!
<H3><I><FONT SIZE=2 FACE="Arial","Helvetica","Sans Serif"><A NAME= "APILOT3">APILOT3</A></FONT></I></H3>
This S-function is equal to <I><FONT SIZE=2 FACE="Arial","Helvetica","Sans Serif">APILOT2</FONT></I>, but it also inserts:
<UL>
<LI> ILS noise in the block ILS
<LI> a Moving Average filter for Altitude Hold
<LI> atmospheric turbulence
</UL>
Due to the noisy signals, the time steps are all equal to their minimum value, which means very slow simulations (unless you have a very fast PC or workstation).
<H3><A NAME= "References">References</A></H3>
For a detailed description of the 'Beaver' autopilot, the following references should be consulted:
<OL>
<LI>M.O. Rauw: <I>FDC 1.2 - A S<SMALL>IMULINK</SMALL> Environment for Flight Dynamics and Control Analysis</I>. Zeist, The Netherlands, March 1997.
<LI>M.O. Rauw: <I>A S<SMALL>IMULINK</SMALL> environment for Flight Dynamics and Control analysis - Application to the DHC-2 'Beaver'</I> (PART II). MSc-thesis, Delft University of Technology, Faculty of Aerospace Engineering, Delft, The Netherlands, 1993.
<LI>P.N.H. Wever: <I>Ontwerp en implementatie van de regelwetten van de De Havilland DHC-2 'Beaver'</I> (in Dutch). MSc-thesis, Delft University of Technology, Faculty of Aerospace Engineering, Delft, The Netherlands, 1993.
</OL>
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