
HelicopterActor |
ptolemy.domains.ct.demo.Helicopter.HelicopterActor |
The system dynamic of a 2D-helicopter model.
<pre><code>
ddPx/dtt = [-Tm*Cos(th)*sin(a) + Tm*Sin(th)*Cos(a)]/m
ddPz/dtt = [-Tm*Sin(th)*Sin(a) - Tm*Cos(th)*Cos(a)]/m + g
ddth/dtt = [Mm*a+hm*Tm*Sin(a)]/Iy
</code></pre>
where Px is the position of the helicopter on the x-axis; Pz is the
position of the helicopter on the z-axis; th is the pitch angle of the
helicopter; m is the mass; Tm is the torque generated by the rotor;
a is the angle of the rotor; Mm, hm, Iy, and g are physical parameters;
dd/dtt is the second order derivative operator.
<P>
The input of the actor is Tm and a, which are the control signals from
the controller. The outputs are ddPx/dtt, ddPz/dtt, and ddth/dtt, they
will be fed into integrators to get Px, Pz, and th.
Author(s): Jie Liu, John Koo
Version:$Id: HelicopterActor.doc.html,v 1.1 2006/02/22 18:40:27 mangal Exp $
Pt.Proposed Rating:Red (liuj)
Pt.Accepted Rating:Red (reviewmoderator)
inputTm
Input port Tm
inputA
Input port a
inputTh
Input port Th
outputDDPx
Output port Px
outputDDPz
Output port Pz
outputDDTh
Output port Th
paramIy
Parameter for Iy, double, default 0.271256.
paramHm
Parameter for hm, double, default 0.2943.
paramMm
Parameter for Mm, double, default 25.23.
paramMass
Parameter for the mass, double, default 4.9.