
HoverLinearizer |
ptolemy.domains.ct.demo.Helicopter.HoverLinearizer |
Linearization of the Hover mode
Vx = -a0(Px-CPx)-a1*DPx-a2*DDPx-a3*D3Px-a4*D4Px
Vz = -a0(Pz-CPz)-a1*DPz-a2*DDPz-a3*D3Pz-a4*D4Pz
Author(s): Jie Liu
Version:$Id: HoverLinearizer.doc.html,v 1.1 2006/02/22 18:41:22 mangal Exp $
Pt.Proposed Rating:Red (liuj)
Pt.Accepted Rating:Red (reviewmoderator)
inputPx
Input port Px, single port with type double.
inputDPx
Input port DPx, single port with type double.
inputDDPx
Input port DDPx, single port with type double.
inputD3Px
Input port D3Px, single port with type double.
inputD4Px
Input port D4Px, single port with type double.
inputPz
Input port Pz, single port with type double.
inputDPz
Input port DPz, single port with type double.
inputDDPz
Input port DDPz, single port with type double.
inputD3Pz
Input port D3Pz, single port with type double.
inputD4Pz
Input port D4Pz, single port with type double.
outputVx
Output port Vx, single port with type double.
outputVz
output port Vz, single port with type double.
outputV
Output port V, single port with type double.
outputR
output port R, single port with type double.
paramAlphaP
Parameter for alphaP, string,
default "500.0, 650.0, 395.0, 121.0, 17.8"
paramCPx
Parameter for CPx, the set point of Px, double,
default 0.0.
paramCPz
Parameter for CPz, the set point of Pz, double,
default -2.0.