添加硬铰链，襟副翼当副翼用，修改Clda，巡航速度38，切换速度37，最下控速35，旋翼最大地速10，舵机模型改成3Hz打靶完成

tasks/ctrl/LHS_ROLL_SHOOTS.m

@@ -103,7 +103,7 @@ tf = 60;
 in                   = struct;
 in.time              =        [0   10     10.5    20       20.5     30     30.5       40       40.5    50     50.5     60]';
 slen                 = length(in.time);
-in.signals(1).values = single([0    0   15/57.3  15/57.3  -15/57.3   -15/57.3  0          0         0        0      0     0 ]');  % phi_c
+in.signals(1).values = single([0    0   10/57.3  10/57.3  -10/57.3   -10/57.3  0          0         0        0      0     0 ]');  % phi_c
 in.signals(2).values = zeros(slen,1,'single');                                                                                   % hdot_c
 in.signals(3).values = ones(slen,1,'single')*CAS;                                                                                % as_c
 in.signals(4).values = single([0    0     0        0       0        0       0          0       0.0    0.0     0      0  ]');     % ay_c  
@@ -233,7 +233,8 @@ for idx = 2:n
         'CndaUncertGain', para.CndaUncertGain(idx-1), ...
         'CnpUncertGain',  para.CnpUncertGain(idx-1), ... %       
         'CnrUncertGain',  para.CnrUncertGain(idx-1), ...        
-        'ThrustUncertGain',  para.ThrustUncertGain(idx-1), ...           
+        'ThrustUncertGain',  para.ThrustUncertGain(idx-1), ...   
+        'delayLen',  para.delayLen(idx-1) , ... 
         'deadband_dal',0.2/57.3,...
         'deadband_dar',0.2/57.3,...       
         'deadband_del',0.2/57.3,...

tasks/ctrl/mixer_design.m

@@ -11,16 +11,16 @@ function [outs, Glats]= mixer_design
     opts.max_alpha    = 12/57.3;
     opts.min_alpha    = -3/57.3;
     opts.max_de       = 20/57.3;
-    opts.min_de       = -30/57.3;
+    opts.min_de       = -20/57.3;
     opts.max_da       = 20/57.3;
     opts.min_da       = -20/57.3;
-    opts.max_dr       = 10/57.3; 
-    opts.min_dr       = -10/57.3;
+    opts.max_dr       = 20/57.3; 
+    opts.min_dr       = -20/57.3;
     opts.max_throttle = 1;
-    opts.min_throttle = -0.3;
-    opts.throttle     = 0.7;
-    opts.max_beta     = 9/57.3;
-    opts.min_beta     = -9/57.3;
+    opts.min_throttle = 0;
+    opts.throttle     = 0.5;
+    opts.max_beta     = 6/57.3;
+    opts.min_beta     = -6/57.3;
 
     load_system(fcn);
     mdlWks = get_param(fcn,'ModelWorkspace');
@@ -29,8 +29,8 @@ function [outs, Glats]= mixer_design
     opts.TrimOptions.DisplayReport = 'on';
 
     H_lst       = 1000;
-    CAS_lst     = [20:1:50]; 
-    mass_lst    = 360;
+    CAS_lst     = [38:1:50]; 
+    mass_lst    = 350;
 
     m = length(CAS_lst);
     

tasks/damping_confirmed.m

@@ -1,7 +1,7 @@
 function damping_confirmed()
-H  = 150; % m
-V  = 25; % m/s
-m  = 39; % kg
+H  = 1000; % m
+V  = 38; % m/s
+m  = 350; % kg
 [success,opts, op_point] = get_trim_Lon(H,V,m);
 if success
     [Glon,Glat] = linfdm(opts.fcn,op_point);
@@ -53,7 +53,7 @@ h = rlocusplot(-sys11);
 setoptions(h,'FreqUnits','rad/s')
 sgrid
 % damping gain
-k = 0.22;
+k = 0.83;
 cl11 = feedback(sys11,-k);
 
 figure(6)
@@ -73,7 +73,7 @@ impulseplot(cloop('bank angle','aileron'),'r',18)
 
 % Form the washout filter
 s = tf('s');
-H = tf([0.8 0],[0.8 1]);
+H = tf([1 0],[1 1]);
 figure(9)
 oloop = H * (-sys11);          % open loop'
 h = rlocusplot(oloop);
@@ -81,7 +81,7 @@ setoptions(h, 'FreqUnits','rad/s')
 sgrid
 
 figure(10)
-k = 0.22;
+k = 0.83;
 wof = -k * H;            % washout compensator
 cloop = feedback(sys,wof,1,1);
 impulseplot(sys,'b--',cloop,'r',20)