LZY\79495
88 lines
2.0 KiB
Matlab
88 lines
2.0 KiB
Matlab
function damping_confirmed()
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H = 1000; % m
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V = 38; % m/s
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m = 350; % kg
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[success,opts, op_point] = get_trim_Lon(H,V,m);
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if success
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[Glon,Glat] = linfdm(opts.fcn,op_point);
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end
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U0 = V;
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A1 = Glat.A;
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B1 = Glat.B;
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c1 = Glat.C;
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D1 = Glat.D;
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% inputs: [da dr]
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% states: [beta p r phi]
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% outputs: [beta p r phi]
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A2 = [A1(1,1) A1(1,2:end)./U0;A1(2,1)*U0 A1(2,2:end);A1(3,1)*U0 A1(3,2:end);A1(4,1)*U0 A1(4,2:end)]; % delta_beta = atan(delta_v/u0)
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B2 = [B1(1,:)./U0;B1(2,:);B1(3,:);B1(4,:)];
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C2 = eye(4);
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D2 = zeros(4,2);
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% inputs: [dr da]
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% states: [beta r p phi]
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% outputs: [r phi]
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A = A2([1 3 2 4],[1 3 2 4]);
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B = B2([1 3 2 4],[2 1]);
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C = [0 1 0 0;0 0 0 1];
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D = zeros(2,2);
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sys = ss(A,B,C,D);
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set(sys, 'inputname', {'rudder' 'aileron'},...
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'outputname', {'yaw rate' 'bank angle'},...
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'statename', {'beta' 'yaw' 'roll' 'phi'});
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damp(sys)
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figure(1)
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axis(gca,'normal')
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h = pzplot(sys);
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setoptions(h,'FreqUnits','rad/s','Grid','off');
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figure(2)
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impulseplot(sys,20)
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figure(3)
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sys11 = sys('yaw','rudder'); % select I/O pair
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h = bodeplot(sys11);
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setoptions(h, 'FreqUnits','rad/s','MagUnits','dB','PhaseUnits','deg');
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figure(4)
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h = rlocusplot(sys11);
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setoptions(h,'FreqUnits','rad/s')
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figure(5)
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% need positive feedback
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h = rlocusplot(-sys11);
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setoptions(h,'FreqUnits','rad/s')
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sgrid
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% damping gain
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k = 0.83;
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cl11 = feedback(sys11,-k);
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figure(6)
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impulseplot(sys11,'b--',cl11,'r')
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legend('open loop','closed loop','Location','SouthEast')
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xlim([0 10]);
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figure(7)
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% see how the response for the aileron looks
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cloop = feedback(sys,-k,1,1);
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damp(cloop) % closed-loop poles
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impulseplot(sys,'b--',cloop,'r',20) % MIMO impulse response
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xlim([0 10]);
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figure(8)
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impulseplot(cloop('bank angle','aileron'),'r',18)
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% Form the washout filter
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s = tf('s');
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H = tf([1 0],[1 1]);
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figure(9)
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oloop = H * (-sys11); % open loop'
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h = rlocusplot(oloop);
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setoptions(h, 'FreqUnits','rad/s')
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sgrid
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figure(10)
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k = 0.83;
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wof = -k * H; % washout compensator
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cloop = feedback(sys,wof,1,1);
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impulseplot(sys,'b--',cloop,'r',20)
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end |