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[hybrid] add basic support for Heewing T1 Ranger VTOL (#3464)
The Ranger T1 is a tilt-rotor hybrid plane. As a first basic approach, two separated controls are used for hovering (INDI) and forward flight (PID). The mixing is done by a dedicated module and the autopilot is customized to support the specific modes. A simple PID controller is added to the rotorcraft firmware as it is not possible to directly reuse the one from fixedwing firmware. In a future work, a full INDI version might be used, but this approach can still serves as an example of customized autopilot. A simulation model for JSBSim is also provided.
This commit is contained in:
Gautier Hattenberger
committed by
GitHub
GitHub
parent
982c6947a3
commit
4b6c185516
@@ -0,0 +1,204 @@
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<aerodynamics>
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<axis name="LIFT">
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<function name="aero/force/Lift_alpha">
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<description>Lift due to alpha</description>
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<product>
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<property>aero/qbar-psf</property>
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<property>metrics/Sw-sqft</property>
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<table>
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<independentVar lookup="row">aero/alpha-rad</independentVar>
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<tableData>
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-1.57 0.
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-0.20 -0.750
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0.00 0.250
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0.23 1.400
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0.60 0.710
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1.57 0.
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</tableData>
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</table>
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</product>
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</function>
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</axis>
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<axis name="DRAG">
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<function name="aero/force/Drag_basic">
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<description>Drag at zero lift</description>
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<product>
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<property>aero/qbar-psf</property>
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<property>metrics/Sw-sqft</property>
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<value> 0.15 </value>
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</product>
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</function>
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<function name="aero/force/Drag_induced">
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<description>Induced drag</description>
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<product>
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<property>aero/qbar-psf</property>
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<property>metrics/Sw-sqft</property>
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<property>aero/cl-squared</property>
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<value> 0.3 </value>
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</product>
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</function>
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</axis>
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<axis name="SIDE">
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<function name="aero/force/Side_beta">
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<description>Side force due to beta</description>
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<product>
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<property>aero/qbar-psf</property>
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<property>metrics/Sw-sqft</property>
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<property>aero/beta-rad</property>
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<value>-0.1</value>
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</product>
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</function>
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</axis>
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<axis name="ROLL">
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<function name="aero/moment/Roll_beta">
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<description>Roll moment due to beta</description>
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<product>
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<property>aero/qbar-psf</property>
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<property>metrics/Sw-sqft</property>
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<property>metrics/bw-ft</property>
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<sin>
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<property>aero/beta-rad</property>
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</sin>
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<value>-0.01</value>
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</product>
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</function>
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<function name="aero/moment/Roll_damp">
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<description>Roll moment due to roll rate</description>
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<product>
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<property>aero/qbar-psf</property>
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<property>metrics/Sw-sqft</property>
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<property>metrics/bw-ft</property>
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<property>aero/bi2vel</property>
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<property>velocities/p-aero-rad_sec</property>
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<value>-0.4</value>
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</product>
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</function>
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<function name="aero/moment/Roll_yaw">
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<description>Roll moment due to yaw rate</description>
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<product>
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<property>aero/qbar-psf</property>
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<property>metrics/Sw-sqft</property>
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<property>metrics/bw-ft</property>
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<property>aero/bi2vel</property>
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<property>velocities/r-aero-rad_sec</property>
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<!--value>0.15</value-->
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<value>0.</value>
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</product>
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</function>
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<function name="aero/moment/Roll_aileron">
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<description>Roll moment due to aileron</description>
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<product>
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<property>aero/qbar-psf</property>
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<property>metrics/Sw-sqft</property>
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<property>metrics/bw-ft</property>
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<property>fcs/aileron_lag</property>
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<value> 0.17 </value>
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</product>
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</function>
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</axis>
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<axis name="PITCH">
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<function name="aero/moment/Pitch_alpha">
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<description>Pitch moment due to alpha</description>
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<product>
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<property>aero/qbar-psf</property>
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<property>metrics/Sw-sqft</property>
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<property>metrics/cbarw-ft</property>
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<property>aero/alpha-rad</property>
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<value>-0.5</value>
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<table>
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<independentVar lookup="row">aero/alpha-rad</independentVar>
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<tableData>
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-1.57 0.
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-0.60 0.3
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0.00 0.
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0.60 -0.3
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1.57 0.
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</tableData>
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</table>
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</product>
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</function>
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<function name="aero/moment/Pitch_elevator">
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<description>Pitch moment due to elevator</description>
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<product>
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<property>aero/qbar-psf</property>
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<property>metrics/Sw-sqft</property>
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<property>metrics/cbarw-ft</property>
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<property>fcs/elevator_lag</property>
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<value>1.1</value>
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</product>
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</function>
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<function name="aero/moment/Pitch_damp">
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<description>Pitch moment due to pitch rate</description>
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<product>
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<property>aero/qbar-psf</property>
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<property>metrics/Sw-sqft</property>
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<property>metrics/cbarw-ft</property>
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<property>aero/ci2vel</property>
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<property>velocities/q-aero-rad_sec</property>
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<value>-12</value>
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</product>
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</function>
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</axis>
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<axis name="YAW">
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<function name="aero/moment/Yaw_beta">
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<description>Yaw moment due to beta</description>
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<product>
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<property>aero/qbar-psf</property>
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<property>metrics/Sw-sqft</property>
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<property>metrics/bw-ft</property>
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<sin>
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<property>aero/beta-rad</property>
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</sin>
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<value>0.12</value>
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</product>
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</function>
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<function name="aero/moment/Yaw_damp">
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<description>Yaw moment due to yaw rate</description>
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<product>
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<property>aero/qbar-psf</property>
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<property>metrics/Sw-sqft</property>
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<property>metrics/bw-ft</property>
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<property>aero/bi2vel</property>
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<property>velocities/r-aero-rad_sec</property>
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<value>-0.15</value>
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</product>
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</function>
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<function name="aero/moment/Yaw_aileron">
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<description>Adverse yaw</description>
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<product>
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<property>aero/qbar-psf</property>
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<property>metrics/Sw-sqft</property>
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<property>metrics/bw-ft</property>
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<property>fcs/aileron_lag</property>
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<value>-0.01</value>
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</product>
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</function>
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</axis>
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</aerodynamics>
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@@ -0,0 +1,442 @@
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<?xml version="1.0"?>
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<?xml-stylesheet type="text/xsl" href="http://jsbsim.sourceforge.net/JSBSim.xsl"?>
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<fdm_config name="QUAD COMPLETE EXT" version="2.0" release="BETA" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://jsbsim.sourceforge.net/JSBSim.xsd">
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<fileheader>
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<author>ENAC</author>
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<filecreationdate>23-01-2025</filecreationdate>
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<version>1.0</version>
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<description>Heewing Ranger T1 VTOL</description>
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</fileheader>
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<metrics>
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<wingarea unit="M2"> 0.09 </wingarea>
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<wingspan unit="M"> 0.73 </wingspan>
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<chord unit="M"> 0.15 </chord>
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<htailarea unit="M2"> 0.029 </htailarea>
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<htailarm unit="M"> 0.4 </htailarm>
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<vtailarea unit="M2"> 0.01 </vtailarea>
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<vtailarm unit="M"> 0.4 </vtailarm>
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<wing_incidence unit="DEG"> 0 </wing_incidence>
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<location name="AERORP" unit="M">
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<x> 0 </x>
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<y> 0 </y>
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<z> 0 </z>
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</location>
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<location name="EYEPOINT" unit="M">
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<x> 0 </x>
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<y> 0 </y>
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<z> 0 </z>
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</location>
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<location name="VRP" unit="M">
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<x> 0 </x>
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<y> 0 </y>
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<z> 0 </z>
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</location>
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</metrics>
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<mass_balance>
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<ixx unit="KG*M2"> 0.005 </ixx>
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<iyy unit="KG*M2"> 0.005 </iyy>
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<izz unit="KG*M2"> 0.015 </izz>
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<ixy unit="KG*M2"> 0. </ixy>
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<ixz unit="KG*M2"> 0. </ixz>
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<iyz unit="KG*M2"> 0. </iyz>
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<emptywt unit="KG"> 0.67 </emptywt>
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<location name="CG" unit="M">
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<x> 0 </x>
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<y> 0 </y>
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<z> 0 </z>
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</location>
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</mass_balance>
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<ground_reactions>
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<contact type="STRUCTURE" name="CONTACT_FRONT">
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<location unit="M">
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<x> -0.12 </x>
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<y> 0.0 </y>
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<z>-0.1 </z>
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</location>
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<static_friction> 0.8 </static_friction>
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<dynamic_friction> 0.5 </dynamic_friction>
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<spring_coeff unit="N/M"> 500 </spring_coeff>
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<damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
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<damping_coeff_rebound type="SQUARE" unit="N/M2/SEC2"> 1000 </damping_coeff_rebound>
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<max_steer unit="DEG"> 0.0 </max_steer>
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<brake_group> NONE </brake_group>
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<retractable>0</retractable>
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</contact>
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<contact type="STRUCTURE" name="CONTACT_BACK">
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<location unit="M">
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<x> 0.12</x>
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<y> 0.0</y>
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<z> -0.1</z>
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</location>
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<static_friction> 0.8 </static_friction>
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<dynamic_friction> 0.5 </dynamic_friction>
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<spring_coeff unit="N/M"> 500 </spring_coeff>
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<damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
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<damping_coeff_rebound type="SQUARE" unit="N/M2/SEC2"> 1000 </damping_coeff_rebound>
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<max_steer unit="DEG"> 0.0 </max_steer>
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<brake_group> NONE </brake_group>
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<retractable>0</retractable>
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</contact>
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<contact type="STRUCTURE" name="CONTACT_RIGHT">
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<location unit="M">
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<x> 0.0 </x>
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<y> 0.12</y>
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<z> -0.1 </z>
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</location>
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<static_friction> 0.8 </static_friction>
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<dynamic_friction> 0.5 </dynamic_friction>
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<spring_coeff unit="N/M"> 500 </spring_coeff>
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<damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
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<damping_coeff_rebound type="SQUARE" unit="N/M2/SEC2"> 1000 </damping_coeff_rebound>
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<max_steer unit="DEG"> 0.0 </max_steer>
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<brake_group> NONE </brake_group>
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<retractable>0</retractable>
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</contact>
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<contact type="STRUCTURE" name="CONTACT_LEFT">
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<location unit="M">
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<x> 0.0 </x>
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<y>-0.12</y>
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<z> -0.1 </z>
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</location>
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<static_friction> 0.8 </static_friction>
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<dynamic_friction> 0.5 </dynamic_friction>
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<spring_coeff unit="N/M"> 500 </spring_coeff>
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<damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
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<damping_coeff_rebound type="SQUARE" unit="N/M2/SEC2"> 1000 </damping_coeff_rebound>
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<max_steer unit="DEG"> 0.0 </max_steer>
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<brake_group> NONE </brake_group>
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<retractable>0</retractable>
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</contact>
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</ground_reactions>
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<flight_control name="actuator_dynamics">
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<property value="30.">fcs/motor_lag</property>
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<property value="54.">fcs/servo_lag</property>
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<property value="0.">fcs/tilt_min_rad</property>
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<property value="1.73329">fcs/tilt_max_rad</property> <!-- 99.3 deg -->
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<channel name="filtering">
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<!--First order filter represents actuator dynamics-->
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<lag_filter name="motor_right_lag">
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<input> fcs/MOTOR_RIGHT </input>
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<clipto>
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<min>0</min>
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<max>1</max>
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</clipto>
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<c1> fcs/motor_lag </c1>
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<output> fcs/motor_right_lag</output>
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</lag_filter>
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<lag_filter name="motor_left_lag">
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<input> fcs/MOTOR_LEFT </input>
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<clipto>
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<min>0</min>
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<max>1</max>
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</clipto>
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<c1> fcs/motor_lag </c1>
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<output> fcs/motor_left_lag</output>
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</lag_filter>
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<lag_filter name="motor_tail_lag">
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<input> fcs/MOTOR_TAIL </input>
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<clipto>
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<min>0</min>
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<max>1</max>
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</clipto>
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<c1> fcs/motor_lag </c1>
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<output> fcs/motor_tail_lag</output>
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</lag_filter>
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<lag_filter name="aileron_lag">
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<input> fcs/ROLL </input>
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<c1> fcs/servo_lag </c1>
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<output> fcs/aileron_lag</output>
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</lag_filter>
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<lag_filter name="elevator_lag">
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<input> fcs/PITCH </input>
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<c1> fcs/servo_lag </c1>
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<output> fcs/elevator_lag</output>
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</lag_filter>
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</channel>
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<channel name="tilt">
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<fcs_function name="tilt_right">
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<function>
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<sum>
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<property>fcs/TILT</property>
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<property>fcs/YAW</property>
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</sum>
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</function>
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<output> fcs/tilt_right </output>
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</fcs_function>
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<aerosurface_scale name="tilt_right_dyn">
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<input> fcs/tilt_right </input>
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<zero_centered> false </zero_centered>
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<domain>
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<min> 0. </min>
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<max> 1. </max>
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</domain>
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<range>
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<min> 0. </min>
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<max> 1.73329 </max>
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</range>
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<output> fcs/tilt_right_rad </output>
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</aerosurface_scale >
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<actuator name="tilt_right_output">
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<input> fcs/tilt_right_rad </input>
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<rate_limit> 3.5 </rate_limit> <!-- 200 degrees/sec -->
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<clipto>
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<min> fcs/tilt_min_rad </min>
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<max> fcs/tilt_max_rad </max>
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</clipto>
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<output> fcs/tilt_right_lag </output>
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</actuator>
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<fcs_function name="tilt_right_dir_x">
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<function>
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<cos><property> -fcs/tilt_right_lag </property></cos>
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</function>
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<output> external_reactions/motor_right/x </output>
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</fcs_function>
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<fcs_function name="tilt_right_dir_z">
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<function>
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<sin><property> -fcs/tilt_right_lag </property></sin>
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</function>
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<output> external_reactions/motor_right/z </output>
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</fcs_function>
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<fcs_function name="torque_right_dir_x">
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<function>
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<cos><property> -fcs/tilt_right_lag </property></cos>
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</function>
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<output> external_reactions/motor_right_torque/l </output>
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</fcs_function>
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<fcs_function name="torque_right_dir_z">
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<function>
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<sin><property> -fcs/tilt_right_lag </property></sin>
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</function>
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<output> external_reactions/motor_right_torque/n </output>
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</fcs_function>
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<fcs_function>
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<function>
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<sum>
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<property>fcs/TILT</property>
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<property>-fcs/YAW</property>
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</sum>
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</function>
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<output> fcs/tilt_left </output>
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</fcs_function>
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<aerosurface_scale name="tilt_left">
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<input> fcs/tilt_left </input>
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<zero_centered> false </zero_centered>
|
||||
<domain>
|
||||
<min> 0. </min>
|
||||
<max> 1. </max>
|
||||
</domain>
|
||||
<range>
|
||||
<min> 0. </min>
|
||||
<max> 1.73329 </max>
|
||||
</range>
|
||||
<output> fcs/tilt_left_rad </output>
|
||||
</aerosurface_scale >
|
||||
<actuator name="tilt_left_output">
|
||||
<input> fcs/tilt_left_rad </input>
|
||||
<rate_limit> 3.5 </rate_limit> <!-- 200 degrees/sec -->
|
||||
<clipto>
|
||||
<min> fcs/tilt_min_rad </min>
|
||||
<max> fcs/tilt_max_rad </max>
|
||||
</clipto>
|
||||
<output> fcs/tilt_left_lag </output>
|
||||
</actuator>
|
||||
<fcs_function name="tilt_left_dir_x">
|
||||
<function>
|
||||
<cos><property> -fcs/tilt_left_rad </property></cos>
|
||||
</function>
|
||||
<output> external_reactions/motor_left/x </output>
|
||||
</fcs_function>
|
||||
<fcs_function name="tilt_left_dir_z">
|
||||
<function>
|
||||
<sin><property> -fcs/tilt_left_rad </property></sin>
|
||||
</function>
|
||||
<output> external_reactions/motor_left/z </output>
|
||||
</fcs_function>
|
||||
<fcs_function name="torque_left_dir_x">
|
||||
<function>
|
||||
<product>
|
||||
<value>-1.</value>
|
||||
<cos><property> -fcs/tilt_left_rad </property></cos>
|
||||
</product>
|
||||
</function>
|
||||
<output> external_reactions/motor_left_torque/l </output>
|
||||
</fcs_function>
|
||||
<fcs_function name="torque_left_dir_z">
|
||||
<function>
|
||||
<product>
|
||||
<value>-1.</value>
|
||||
<sin><property> -fcs/tilt_left_rad </property></sin>
|
||||
</product>
|
||||
</function>
|
||||
<output> external_reactions/motor_left_torque/n </output>
|
||||
</fcs_function>
|
||||
</channel>
|
||||
|
||||
</flight_control>
|
||||
|
||||
<external_reactions>
|
||||
|
||||
<property>fcs/MOTOR_RIGHT</property>
|
||||
<property>fcs/MOTOR_LEFT</property>
|
||||
<property>fcs/MOTOR_TAIL</property>
|
||||
<property>fcs/PITCH</property>
|
||||
<property>fcs/ROLL</property>
|
||||
<property>fcs/YAW</property>
|
||||
<property>fcs/THRUST</property>
|
||||
<property>fcs/TILT</property>
|
||||
<property>fcs/motor_right_lag</property>
|
||||
<property>fcs/motor_left_lag</property>
|
||||
<property>fcs/motor_tail_lag</property>
|
||||
<property>fcs/aileron_lag</property>
|
||||
<property>fcs/elevator_lag</property>
|
||||
<property>fcs/tilt_left_lag</property>
|
||||
<property>fcs/tilt_right_lag</property>
|
||||
|
||||
<property value="3.5">fcs/motor_max_thrust</property> <!-- 0.67 kg hovering at 62% throttle with 3 motors -->
|
||||
<!--property value="0.00001">fcs/motor_max_torque</property-->
|
||||
<property value="0.">fcs/motor_max_torque</property>
|
||||
|
||||
<!-- First the lift forces produced by each propeller -->
|
||||
|
||||
<force name="motor_right" frame="BODY" unit="LBS">
|
||||
<function>
|
||||
<product>
|
||||
<property>fcs/motor_right_lag</property>
|
||||
<property>fcs/motor_max_thrust</property>
|
||||
<value>0.224808943</value> <!-- N to LBS -->
|
||||
</product>
|
||||
</function>
|
||||
<location unit="M">
|
||||
<x> -0.09 </x>
|
||||
<y> 0.12 </y>
|
||||
<z> 0. </z>
|
||||
</location>
|
||||
<direction>
|
||||
<x> 1 </x>
|
||||
<y> 0 </y>
|
||||
<z> 0 </z>
|
||||
</direction>
|
||||
</force>
|
||||
<force name="motor_left" frame="BODY" unit="LBS">
|
||||
<function>
|
||||
<product>
|
||||
<property>fcs/motor_left_lag</property>
|
||||
<property>fcs/motor_max_thrust</property>
|
||||
<value>0.224808943</value> <!-- N to LBS -->
|
||||
</product>
|
||||
</function>
|
||||
<location unit="M">
|
||||
<x> -0.09 </x>
|
||||
<y> -0.12 </y>
|
||||
<z> 0 </z>
|
||||
</location>
|
||||
<direction>
|
||||
<x> 1 </x>
|
||||
<y> 0 </y>
|
||||
<z> 0 </z>
|
||||
</direction>
|
||||
</force>
|
||||
<force name="motor_tail" frame="BODY" unit="LBS">
|
||||
<function>
|
||||
<product>
|
||||
<property>fcs/motor_tail_lag</property>
|
||||
<property>fcs/motor_max_thrust</property>
|
||||
<value>0.224808943</value> <!-- N to LBS -->
|
||||
</product>
|
||||
</function>
|
||||
<location unit="M">
|
||||
<x> 0.25 </x>
|
||||
<y> 0 </y>
|
||||
<z> 0 </z>
|
||||
</location>
|
||||
<direction>
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<z>-1</z>
|
||||
</direction>
|
||||
</force>
|
||||
|
||||
<!-- Then the Moment Couples -->
|
||||
|
||||
<moment name="motor_right_torque" frame="BODY">
|
||||
<function>
|
||||
<product>
|
||||
<property>fcs/motor_right_lag</property>
|
||||
<property>fcs/motor_max_torque</property>
|
||||
<value> 0.738 </value> <!-- N.m to FT.LBS -->
|
||||
</product>
|
||||
</function>
|
||||
<location unit="M">
|
||||
<x> 0.09 </x>
|
||||
<y> 0.12 </y>
|
||||
<z> 0. </z>
|
||||
</location>
|
||||
<direction>
|
||||
<x> 1 </x>
|
||||
<y> 0 </y>
|
||||
<z> 0 </z>
|
||||
</direction>
|
||||
</moment>
|
||||
|
||||
|
||||
<moment name="motor_left_torque" frame="BODY">
|
||||
<function>
|
||||
<product>
|
||||
<property>fcs/motor_left_lag</property>
|
||||
<property>fcs/motor_max_torque</property>
|
||||
<value> 0.738 </value> <!-- N.m to FT.LBS -->
|
||||
</product>
|
||||
</function>
|
||||
<location unit="M">
|
||||
<x> 0.09 </x>
|
||||
<y> -0.12 </y>
|
||||
<z> 0. </z>
|
||||
</location>
|
||||
<direction>
|
||||
<x> -1 </x>
|
||||
<y> 0 </y>
|
||||
<z> 0 </z>
|
||||
</direction>
|
||||
</moment>
|
||||
|
||||
<moment name="motor_tail_torque" frame="BODY">
|
||||
<function>
|
||||
<product>
|
||||
<property>fcs/motor_tail_lag</property>
|
||||
<property>fcs/motor_max_torque</property>
|
||||
<value> 0.738 </value> <!-- N.m to FT.LBS -->
|
||||
</product>
|
||||
</function>
|
||||
<location unit="M">
|
||||
<x>-0.25</x>
|
||||
<y>0</y>
|
||||
<z>0</z>
|
||||
</location>
|
||||
<direction>
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<z>-1</z>
|
||||
</direction>
|
||||
</moment>
|
||||
|
||||
</external_reactions>
|
||||
|
||||
<propulsion/>
|
||||
|
||||
<flight_control name="FGFCS"/>
|
||||
<aerodynamics file="Systems/aerodynamics_ranger_t1.xml"/>
|
||||
|
||||
</fdm_config>
|
||||
Reference in New Issue
Block a user