octave_packages/control-2.3.52/WestlandLynx.m

   1 ## -*- texinfo -*-
   2 ## @deftypefn{Function File} {@var{sys} =} WestlandLynx ()
   3 ## Model of the Westland Lynx Helicopter about hover.
   4 ## @example
   5 ## @group
   6 ## INPUTS
   7 ## main rotor collective
   8 ## longitudinal cyclic
   9 ## lateral cyclic
  10 ## tail rotor collective
  11 ## @end group
  12 ## @end example
  13 ## @example
  14 ## @group
  15 ## STATES
  16 ## pitch attitude           theta       [rad]
  17 ## roll attitude            phi         [rad]
  18 ## roll rate (body-axis)    p           [rad/s]
  19 ## pitch rate (body-axis)   q           [rad/s]
  20 ## yaw rate                 xi          [rad/s]
  21 ## forward velocity         v_x         [ft/s]
  22 ## lateral velocity         v_y         [ft/s]
  23 ## vertical velocity        v_z         [ft/s]
  24 ## @end group
  25 ## @end example
  26 ## @example
  27 ## @group
  28 ## OUTPUTS
  29 ## heave velocity           H_dot       [ft/s]
  30 ## pitch attitude           theta       [rad]
  31 ## roll attitude            phi         [rad]
  32 ## heading rate             psi_dot     [rad/s]
  33 ## roll rate                p           [rad/s]
  34 ## pitch rate               q           [rad/s]
  35 ## @end group
  36 ## @end example
  37 ## @example
  38 ## @group
  39 ## Reference:
  40 ## Skogestad, S. and Postlethwaite I.
  41 ## Multivariable Feedback Control: Analysis and Design
  42 ## Second Edition
  43 ## Wiley 2005
  44 ## http://www.nt.ntnu.no/users/skoge/book/2nd_edition/matlab_m/matfiles.html
  45 ## @end group
  46 ## @end example
  47 ## @end deftypefn
  48
  49 ## Author: Lukas Reichlin <lukas.reichlin@gmail.com>
  50 ## Created: January 2010
  51 ## Version: 0.1
  52
  53 function sys = WestlandLynx ()
  54
  55   if (nargin)
  56     print_usage ();
  57   endif
  58
  59   a01 = [                 0                  0                  0   0.99857378005981;
  60                           0                  0   1.00000000000000  -0.00318221934140;
  61                           0                  0 -11.57049560546880  -2.54463768005371;
  62                           0                  0   0.43935656547546  -1.99818229675293;
  63                           0                  0  -2.04089546203613  -0.45899915695190;
  64          -32.10360717773440                  0  -0.50335502624512   2.29785919189453;
  65            0.10216116905212  32.05783081054690  -2.34721755981445  -0.50361156463623;
  66           -1.91097259521484   1.71382904052734  -0.00400543212891  -0.05741119384766];
  67
  68   a02 = [  0.05338427424431                  0                  0                  0;
  69            0.05952465534210                  0                  0                  0;
  70           -0.06360262632370   0.10678052902222  -0.09491866827011   0.00710757449269;
  71                           0   0.01665188372135   0.01846204698086  -0.00118747074157;
  72           -0.73502779006958   0.01925575733185  -0.00459562242031   0.00212036073208;
  73                           0  -0.02121581137180  -0.02116791903973   0.01581159234047;
  74            0.83494758605957   0.02122657001019  -0.03787973523140   0.00035400385968;
  75                           0   0.01398963481188  -0.00090675335377  -0.29051351547241];
  76
  77   a0 = [a01 a02];
  78
  79   b0 = [                  0                  0                  0                  0;
  80                           0                  0                  0                  0;
  81            0.12433505058289   0.08278584480286  -2.75247764587402  -0.01788876950741;
  82           -0.03635892271996   0.47509527206421   0.01429074257612                  0;
  83            0.30449151992798   0.01495801657438  -0.49651837348938  -0.20674192905426;
  84            0.28773546218872  -0.54450607299805  -0.01637935638428                  0;
  85           -0.01907348632812   0.01636743545532  -0.54453611373901   0.23484230041504;
  86           -4.82063293457031  -0.00038146972656                  0                  0];
  87
  88   c0 = [  0        0         0         0         0    0.0595   0.05329  -0.9968;
  89         1.0        0         0         0         0         0         0        0;
  90           0      1.0         0         0         0         0         0        0;
  91           0        0         0  -0.05348       1.0         0         0        0;
  92           0        0       1.0         0         0         0         0        0;
  93           0        0         0       1.0         0         0         0       0];
  94
  95   d0 = zeros (6, 4);
  96
  97   inname = {"main_coll", "long_cyc", "lat_cyc", "tail_coll"};
  98   stname = {"theta", "phi", "p", "q", "xi", "v_x", "v_y", "v_z"};
  99   outname = {"H_dot", "theta", "phi", "psi_dot", "p", "q"};
 100
 101   sys = ss (a0, b0, c0, d0, "inname", inname, "stname", stname, "outname", outname);
 102
 103 endfunction