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uprop
yatm
yad1
ypow
Cprop
FMprop
Engine Group (Beaver)
x
yatm
yad1
yad2
yad3
Airdata Group
Ftot
Mtot
uwind
yatm
yhlp
x
xdot
ybvel
Aircraft Equations
of Motion (Beaver)
x
uaero
yad1
ydl
Caero
FMaero
Aerodynamics
Group (Beaver)
x
xdot
yhlp
Ftot
Fgrav
yfp
yuvw
yacc
Additional outputs
FMsort
Add/sort forces
and moments
1
hlpfcn
(co)sines of
alpha, beta,
psi, theta, phi
1
3
uwind
2
uprop
1
uaero
Figure 8.1: Block-diagram of the main level of the aircraft model (Beaver Level 2)
16
rb/2V
15
qc/V
14
pb/2V
13
Hdot
12
H
11
ye
10
xe
9
phi
8
theta
7
psi
6
r
5
q
4
p
3
beta
2
alpha
1
V
time
To Workspace
In To Workspace Out To Workspace
Mux
Double-click for info!
Mux
click
2x for
info!
Mux
Mux
Mux
Demux
Demux
Demux
Clock
DeHavilland
DHC-2 Beaver
dynamics and
output equations
12
wwdot
11
vwdot
10
uwdot
9
ww
8
vw
7
uw
6
pz
5
n
4
deltaf
3
deltar
2
deltaa
1
deltae
uwind
uprop
uaero
xdot
ydl
x
Figure 8.2: Block-diagram of the interface level of the aircraft model (Beaver Level 1)
120 Chapter 8. Aircraft model block reference
ered the ‘main level’ of the airplane model, because it contains the actual system
dynamics. The full name of this subsystem is ‘DeHavilland DHC-2 Beaver dynamics
and output equations’, but for obvious reasons we will use the shorthand notation
‘Beaver Level 2’.
The toolbox includes three variants of the airplane model: a stand-alone model
of the Beaver aircraft (called Beaver), and two ‘subsystem equivalents’ of this model.
The stand-alone model is used for model analysis from the MATLAB environment
(simulations, trimming, linearisation), while the subsystem equivalents are intended
to be used as subsystems within larger simulation models, such as the autopilot models
from chapter 15. All three variants call the subsystem Beaver Level 2, and they all
use the same input definitions.
The stand-alone model and the first subsystem equivalent use the I/O structure
from figure 8.2; the second subsystem equivalent uses a slightly different output
structure, creating two output vectors instead of 16 scalar output signals. From figure
8.2 we can see that all inputs and outputs are sent to the MATLAB workspace,
together with a clock signal that provides a corresponding time reference for postsimulation
processing (e.g. trajectory plotting). Only a small subset of the outputs
has been connected to the scalar Outport blocks in Beaver Level 1, visible on the righthand
side of figure 8.2.1 The current choice of output signals provides sufficient
information for the autopilot simulation models from chapter 15.
8.2 The aircraft model block libraries
The blocks and subsystems from the aircraft model have been sorted six individual
blocklibraries, which are directly accessible from the main FDC library FDCLIB:
1. Airdata, atmosphere,
2. Aerodynamics,
3. Engine forces and moments,
4. Gravity and wind forces,
5. Equations of motion,
6. Other (output-) equations.
Although these libraries are considered to be sublibraries of FDCLIB, they can also
be accessed directly by typing fdclibi in the command-line, where i represents the
number of the blocklibrary according to the list above.
In addition, FDCLIB contains a direct link to the system Beaver (the stand-alone
version of the aircraft model), and a link to a sublibrary containing the subsystem
equivalents of Beaver. The stand-alone model and this sublibrary can also be opened
directly from the command-line by typing beaver or fdclib10, respectively. In figure
8.3, the main FDC library has been shown, with highighted links to the aircraft
blocklibraries and the complete aircraft models. FDCLIB can be opened from the
command-line by typing fdclib.
1The reason for using scalar Inport and Outport blocks in the interface level of the aircraft model
was that older versions of SIMULINK did not allow the use of vector inputs or outputs in top-levels of
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FDC 1.4 – A SIMULINK Toolbox for Flight Dynamics and Contro(60)
