ControllerActor
ptolemy.domains.ct.demo.Helicopter.ControllerActor

The controller for the helicopter. It has the form: <pre><code> +- -+ +- +- -+ -+ | dddTm/dttt| | | Vx | | | | = inv(K)|-b + | | | | dA/dt | | | Vz | | +- -+ +- +- -+ -+ </code></pre> where <pre><code> [kInv11 kInv12] inv(K) = [ ] [kInv21 kInv22] and kInv11 = ((MM*TM*Sin[th])/(Iy*m) + (hM*TM^2*Cos[a]*Sin[th])/(Iy*m))/ ((MM*TM*Cos[th]^2)/(Iy*m^2) + (hM*TM^2*Cos[a]*Cos[th]^2)/(Iy*m^2) + (MM*TM*Sin[th]^2)/(Iy*m^2) + (hM*TM^2*Cos[a]*Sin[th]^2)/(Iy*m^2)) kInv12 = (-((MM*TM*Cos[th])/(Iy*m)) - (hM*TM^2*Cos[a]*Cos[th])/(Iy*m))/ ((MM*TM*Cos[th]^2)/(Iy*m^2) + (hM*TM^2*Cos[a]*Cos[th]^2)/(Iy*m^2) + (MM*TM*Sin[th]^2)/(Iy*m^2) + (hM*TM^2*Cos[a]*Sin[th]^2)/(Iy*m^2)) kInv21 = Cos[th]/ (m*((MM*TM*Cos[th]^2)/(Iy*m^2) + (hM*TM^2*Cos[a]*Cos[th]^2)/(Iy*m^2) + (MM*TM*Sin[th]^2)/(Iy*m^2) + (hM*TM^2*Cos[a]*Sin[th]^2)/(Iy*m^2))) kInv22 = Sin[th]/ (m*((MM*TM*Cos[th]^2)/(Iy*m^2) + (hM*TM^2*Cos[a]*Cos[th]^2)/(Iy*m^2) + (MM*TM*Sin[th]^2)/(Iy*m^2) + (hM*TM^2*Cos[a]*Sin[th]^2)/(Iy*m^2))) [b1] b = [ ] [b2] b1 = (3*DDotTM*Dotth*Cos[th])/m - (Dotth^3*TM*Cos[th])/m + (DotTM*hM*TM*Cos[th]*Sin[a])/(Iy*m) + (3*DotTM*Cos[th]*(a*MM + hM*TM*Sin[a]))/(Iy*m) - (3*Dotth^2*DotTM*Sin[th])/m - (3*Dotth*TM*(a*MM + hM*TM*Sin[a])*Sin[th])/(Iy*m) b2 = (3*Dotth^2*DotTM*Cos[th])/m + (3*Dotth*TM*Cos[th]*(a*MM + hM*TM*Sin[a]))/(Iy*m) + (3*DDotTM*Dotth*Sin[th])/m - (Dotth^3*TM*Sin[th])/m + (DotTM*hM*TM*Sin[a]*Sin[th])/(Iy*m) + (3*DotTM*(a*MM + hM*TM*Sin[a])*Sin[th])/(Iy*m) </pre> The input of the actors are Tm, DTm, DDTm, A, Th, DTh, Vx, and Vz The outputs are DDDTm, and DA

Author(s): Jie Liu
Version:$Id: ControllerActor.doc.html,v 1.1 2006/02/22 18:40:26 mangal Exp $
Pt.Proposed Rating:Red (liuj)
Pt.Accepted Rating:Red (reviewmoderator)


inputTm
Input port Tm
inputDTm
Input port DTm = dTm/dt
inputDDTm
Input port DDTm = ddTm/dtt
inputA
Input port a
inputTh
Input port Th
inputDTh
Input port DTh
inputVx
Input port Vx
inputVz
Input port Vz
outputDDDTm
Output port DDDTm = dddTm/dttt
outputDA
Output port DA = dA/dt


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.