WOLFRAM SYSTEM MODELER

AutopilotGlider

Autopilot for gliders

Diagram

Wolfram Language

In[1]:=
SystemModel["Aircraft.Autopilots.AutopilotGlider"]
Out[1]:=

Information

This autopilot model extends the AutopilotBase model and is adjusted to work with gliders.

Parameters (24)

elvControl

Value: true

Type: Boolean

Description: true, if elevator is controlled

throtControl

Value: false

Type: Boolean

Description: true, if throttle is controlled

ailControl

Value: true

Type: Boolean

Description: true, if ailerons are controlled

rdrControl

Value: true

Type: Boolean

Description: true, if rudder is controlled

maxPhi

Value: 0.349065850398866

Type: Angle (rad)

Description: Maximum roll angle

maxTheta

Value: 0.349065850398866

Type: Angle (rad)

Description: Maximum pitch angle

altPIDk

Value: 0.025

Type: Real

Description: Altitude PID Gain

altPIDTi

Value: 4.5

Type: Time (s)

Description: Altitude PID Integrator Block

altPIDTd

Value: 0.9

Type: Time (s)

Description: Altitude PID Derivative Block

thetaPIDk

Value: 1.5

Type: Real

Description: Theta PID Gain

thetaPIDTi

Value: 1.4

Type: Time (s)

Description: Theta PID Integrator Block

thetaPIDTd

Value: 0.27

Type: Time (s)

Description: Theta PID Derivative Block

vtotPIDk

Value: 0.17

Type: Real

Description: Velocity PID Gain

vtotPIDTi

Value: 50

Type: Time (s)

Description: Velocity PID Integrator Block

vtotPIDTd

Value: 0.5

Type: Time (s)

Description: Velocity PID Derivative Block

trackPIDk

Value: 0.75

Type: Real

Description: Track PID Gain

trackPIDTi

Value: 6000

Type: Time (s)

Description: Track PID Integrator Block

trackPIDTd

Value: 0.4

Type: Time (s)

Description: Track PID Derivative Block

phiPIDk

Value: 1.35

Type: Real

Description: Phi PID Gain

phiPIDTi

Value: 20

Type: Time (s)

Description: Phi PID Integrator Block

phiPIDTd

Value: 0.95

Type: Time (s)

Description: Phi PID Derivative Block

betaPIDk

Value: 0.12

Type: Real

Description: Beta PID Gain

betaPIDTi

Value: 0.5

Type: Time (s)

Description: Beta PID Integrator Block

betaPIDTd

Value: 0.9

Type: Time (s)

Description: Beta PID Derivative Block

Connectors (8)

deltaElvCmd

Type: RealOutput

Description: Elevator deflection command

deltaThrotCmd

Type: RealOutput

Description: Throttle position command

altCmd

Type: RealInput

Description: Altitude command

vTotCmd

Type: RealInput

Description: Total velocity command

deltaRdrCmd

Type: RealOutput

Description: Rudder deflection command

deltaAilCmd

Type: RealOutput

Description: Aileron deflection command

trackCmd

Type: RealInput

Description: Track command

flightDataIn

Type: FlightDataIn

Description: Flight data input

Components (8)

altPID

Type: LimPID

Description: PID controller from altitude command to pitch angle (theta) command

vtotPID

Type: LimPID

Description: PID controller from total velocity command to throttle position command

trackPID

Type: LimPID

Description: PID controller from track angle command to roll angle (phi) command

betaPID

Type: LimPID

Description: PID controller from sideslip angle command to rudder deflection command

phiPID

Type: LimPID

Description: PID controller from roll angle (phi) command to aileron deflection command

thetaPID

Type: LimPID

Description: PID controller from pitch angle (theta) command to elevator deflection command

constBeta

Type: Constant

Description: Constant 0 signal to Beta PID setpoint input

deltaElvSignChange

Type: Gain

Description: Sign change for elevator deflection command

Used in Examples (1)

GliderTow

Aircraft.Examples

Example of towing a glider up to cruise altitude by an electric aircraft