WOLFRAM SYSTEM MODELER

AutopilotStateSpace

Autopilot with default setup for state space models

Diagram

Wolfram Language

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

Information

This autopilot model is to be used to control the flight of a state space aircraft model. The inputs for the altitude, total velocity and track angle commands are translated into control actuator perturbations from the reference flight conditions with the LimPID controllers. The rudder is not controlled by an input command but with a constant signal for zero sideslip angle. Feedback from the state space aircraft model is an input to this model through the positionSignalBus connector.

The architecture used in this autopilot is similar to the one used in AutopilotBase, where it is described in more detail.

Parameters (24)

elvControl

Value: true

Type: Boolean

Description: true, if elevator is controlled

throtControl

Value: true

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: 0.0075

Type: Real

Description: Altitude PID Gain

altPIDTi

Value: 50

Type: Time (s)

Description: Altitude PID Integrator Block

altPIDTd

Value: 5

Type: Time (s)

Description: Altitude PID Derivative Block

thetaPIDk

Value: 0.5

Type: Real

Description: Theta PID Gain

thetaPIDTi

Value: 15

Type: Time (s)

Description: Theta PID Integrator Block

thetaPIDTd

Value: 0.5

Type: Time (s)

Description: Theta PID Derivative Block

vtotPIDk

Value: 2

Type: Real

Description: Velocity PID Gain

vtotPIDTi

Value: 2

Type: Time (s)

Description: Velocity PID Integrator Block

vtotPIDTd

Value: 0.5

Type: Time (s)

Description: Velocity PID Derivative Block

trackPIDk

Value: 2

Type: Real

Description: Track PID Gain

trackPIDTi

Value: 100

Type: Time (s)

Description: Track PID Integrator Block

trackPIDTd

Value: 5

Type: Time (s)

Description: Track PID Derivative Block

phiPIDk

Value: 0.75

Type: Real

Description: Phi PID Gain

phiPIDTi

Value: 20

Type: Time (s)

Description: Phi PID Integrator Block

phiPIDTd

Value: 2

Type: Time (s)

Description: Phi PID Derivative Block

betaPIDk

Value: 1

Type: Real

Description: Beta PID Gain

betaPIDTi

Value: 2

Type: Time (s)

Description: Beta PID Integrator Block

betaPIDTd

Value: 0.75

Type: Time (s)

Description: Beta PID Derivative Block

Connectors (8)

deltaElvDmd

Type: RealOutput

Description: Demand for elevator deflection perturbation

deltaThrotDmd

Type: RealOutput

Description: Demand for throttle position perturbation

deltaAilDmd

Type: RealOutput

Description: Demand for aileron deflection perturbation

deltaRdrDmd

Type: RealOutput

Description: Demand for rudder deflection perturbation

altCmd

Type: RealInput

Description: Altitude command

vtotCmd

Type: RealInput

Description: Total velocity command

trackCmd

Type: RealInput

Description: Track command

positionSignalBus

Type: PositionSignalBus

Description: Input for aircraft motion, position and orientation data

Components (8)

altPID

Type: LimPID

Description: P, PI, PD, and PID controller with limited output, anti-windup compensation, setpoint weighting and optional feed-forward

vtotPID

Type: LimPID

Description: P, PI, PD, and PID controller with limited output, anti-windup compensation, setpoint weighting and optional feed-forward

trackPID

Type: LimPID

Description: P, PI, PD, and PID controller with limited output, anti-windup compensation, setpoint weighting and optional feed-forward

betaPID

Type: LimPID

Description: P, PI, PD, and PID controller with limited output, anti-windup compensation, setpoint weighting and optional feed-forward

phiPID

Type: LimPID

Description: P, PI, PD, and PID controller with limited output, anti-windup compensation, setpoint weighting and optional feed-forward

thetaPID

Type: LimPID

Description: P, PI, PD, and PID controller with limited output, anti-windup compensation, setpoint weighting and optional feed-forward

signChange

Type: Gain

Description: Output the product of a gain value with the input signal

constBeta

Type: Constant

Description: Generate constant signal of type Real

Used in Examples (1)

LinearizedStateSpace

Aircraft.Examples

Example for demonstrating the linearized state space modeling environment