
AccelerLinearizer |
ptolemy.domains.ct.demo.Helicopter.AccelerLinearizer |
Linearization of the Acceler 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: AccelerLinearizer.doc.html,v 1.1 2006/02/22 18:40:26 mangal Exp $
Pt.Proposed Rating:Red (liuj)
Pt.Accepted Rating:Red (reviewmoderator)
inputPx
Input port Px
inputDPx
Input port DPx
inputDDPx
Input port DDPx
inputD3Px
Input port D3Px
inputD4Px
Input port D4Px
inputPz
Input port Pz
inputDPz
Input port DPz
inputDDPz
Input port DDPz
inputD3Pz
Input port D3Pz
inputD4Pz
Input port D4Pz
outputVx
Output port Vx
outputVz
output port Vz
outputV
Output port V
outputR
output port R
paramAlphaP
Parameter for alphaP, string,
default "500.0, 650.0, 395.0, 121.0, 17.8"
paramAlphaA
Parameter for alphaA, string,
default "20.0000, 18.0000, 7.8000"
paramCAx
Parameter for CAx, the set point of Ax, double,
default g/20.0.
paramCPz
Parameter for CPz, the set point of Pz, double,
default -2.0.