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Helicopter Flight Model Config (XML)
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Helicopter Flight Model Config (XML)
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==== Helicopter Control System Modeling ==== Helicopter flight control is accomplished by controlling the rotor swash plates, which, by axial movements or tilting, can change the blade pitch collectively (same amount of pitch at every blade azimuth) or cyclically (periodically changing amounts of pitch depending on current azimuth of the blade). Aerodynamic effects, that are produced by blade pitch control, can be used to control the thrust and rotational moments that are produced by a rotor. Pilots control the swash plates, and hence the helicopters, with cyclic stick, collective lever and anti-torque pedals. Flight control system modeling is about modeling the way these control devices are connected to the swash plates. Every helicopter has a different mechanical mixing method, different actuators, and different stability augmentation methods. Because of this, GenHeli600 does not connect pilot inputs to the swash plates automatically. Instead, GenericControlSystem component must be used to connect control system outputs to the swash plates. In the following example a simple flight control system is modeled. The first control system stage, which receives the pilot inputs, is a FCSRotationDamper. FCSRotationDamper modifies the inputs to reduce the angular rates. For example, if the helicopter has a positive roll rate (rolling right), FCSRotationDamper will reduce the RTD::PilotInputs::m_rollPitchControl[0] slightly to dampen this roll motion. The output of the stage will include the reduced value. The second stage of the control system is a GenericControlSystem. Input to this component is the output of the first stage. In this stage, m_rollPitchControl input is used to tilt the main rotor swash plate and hence the rotor itself to produce pitching and rolling moments. m_collective is used to move the main rotor swash plate vertically for controlling the rotor thrust. Finally, m_pedals input is used to move the tail rotor swash plate axially to provide tail rotor thrust control (i.e yaw control). '''''Note''' In reality, most of the helicopters have a more complex mechanical mixer unit. For example, collective lever is usually connected to the tail rotor so that when collective lever is moved, some amount of yaw moment compensation is provided automatically. There are various similar mixing methods that are used to alleviate control coupling problems.'' We have to change the simulation variables that represent swash plate state to connect the control inputs to the swash plates as described above. These variables are listed below. Note that, all variables are in radians : * MainRotor/theta0 : Main rotor collective pitch. * MainRotor/A1 : Main rotor cyclic blade pitch lateral component * MainRotor/B1: Main rotor cyclic blade pitch longitudinal component * TailRotor/theta0 : Tail rotor collective pitch * TailRotor/A1 : Tail rotor cyclic blade pitch lateral component * TailRotor/B1: Tail rotor cyclic blade pitch longitudinal component [[Image:RLIBDOC22.jpg|thumb|center|800px|Helicopter control system example]] In the example control system, following control ranges are used: * Collective [6.5, 20] deg * Lateral cyclic [-13 , 9] deg * Longitudinal cyclic [-12 , 16] deg * Pedals [30,-30] deg You can find the configuration of the described system below. Note that, ''latCyclic , lonCyclic'' and'' pedals'' are in [-1,1] range. This is why they are mapped into [0,1] range inside the linearInterp function. <syntaxhighlight lang="xml"> <ControlSystem> <FCSComponent type="FCSRotationDamper"> <YawController P="2" D="0"/> <PitchController P="2.0" D="0"/> <RollController P="0.4" D="0.01"/> </FCSComponent> <CSComponent type="GenericControlSystem"> <Variables> <Variable name="CSComponent_1/ControlOutput/pitchRollControl" member="roll" alias="latCyclic" /> <Variable name="CSComponent_1/ControlOutput/pitchRollControl" member="pitch" alias="lonCyclic" /> <Variable name="CSComponent_1/ControlOutput/pedals" alias="pedals" /> <Variable name="CSComponent_1/ControlOutput/collective" alias="collective" /> <Variable name="MainRotor/A1" alias="A1m" /> <Variable name="MainRotor/B1" alias="B1m" /> <Variable name="MainRotor/theta0" alias="Th0m" /> <Variable name="TailRotor/A1" alias="A1t" /> <Variable name="TailRotor/B1" alias="B1t" /> <Variable name="TailRotor/theta0" alias="Th0t" /> </Variables> <MathExpression> <Expression> A1m = linearInterp( -13 , 9 , (latCyclic + 1)/2 ), B1m = linearInterp( -12 , 16 , (lonCyclic + 1)/2 ), Th0m= collective * 13.5 + 6.5, A1t = 0.0, B1t = 0.0, Th0t = linearInterp( 30 , -30 , (pedals + 1)/2 ), A1m = degToRad(A1m), B1m = degToRad(B1m), Th0m = degToRad(Th0m), Th0t = degToRad(Th0t) </Expression> </MathExpression> </CSComponent> </ControlSystem> </syntaxhighlight>
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