public void takeOff(DifferentialMeanings d, IntegralMeanings S, Forses F, Moments M, Controls del, Statics s)
{
d.Vx = (1 / s.m) * F.x;
d.BETA = (1 / (s.m * S.Vx)) * F.z + S.Wy;
d.Wy = 1 / s.Iyy * M.y;
d.X = S.Vx * cos(S.BETA);
d.Z = -S.Vx * sin(S.BETA);
S.Y = s.Cyo * S.q * s.S;
S.Q = s.Cxo * S.q * s.S;
F.x = 20 * del.Tr - S.Q - (s.G - S.Y) * (s.froll + s.fslip * (s.InhibitionL + s.InhibitionR));
F.z = F.zBETA * S.BETA + F.zDELn * del.n + F.zt;
F.zBETA = s.Cz_BETA * s.S * S.q;
F.zDELn = s.Cz_del_n * s.S * S.q;
F.zt = (s.G - S.Y) * s.Czk_BETA * (S.BETA + s.fW * del.fW);
M.y = M.yz + M.yWy + M.yp + M.yt;
M.yz = s.my_BETA * S.q * s.S * s.L * S.BETA + s.my_DELn * del.n;
M.yWy = s.my_Wy * S.q * s.S * s.L * d.Wy;
M.yp = 0; // = (P1 - P2) * s.Zengine
M.yt = (s.fW * s.XfrontWheel * del.fW + s.fslip * (s.G - S.Y) * (s.InhibitionL + s.InhibitionR) * (s.Zchassis / 2));
S.q = (s.PO_h * S.Vx * S.Vx / 2);
d.Xg = S.Vx * cos(S.BETA);
}
public void dynLinear(DifferentialMeanings d, IntegralMeanings S, LinearizedCoefficient c, Controls del, Statics s)
{
d.THETA_DEL = S.Wz_DEL;
d.Wz_DEL = -c.c1 * d.THETA_DEL - c.c2 * S.ALPHA_DEL - c.c5 * d.ALPHA_DEL - c.c3 * del.e_rv_DEL;
d.THETA_PATH_DEL = c.c4 * S.ALPHA_DEL + c.c9 * del.e_rv_DEL;
d.ALPHA_DEL = d.THETA_DEL - d.THETA_PATH_DEL;
d.Yg_DEL = c.c6 * S.THETA_PATH_DEL;
d.GAMA_DEL = S.Wx_DEL;
d.Wy_DEL = -c.a1 * S.Wy_DEL - c.b6 * S.Wx_DEL - c.a2 * S.BETA_DEL - c.a3 * del.n_DEL - c.b5 * del.e_DEL;
d.PSI_DEL = S.Wy_DEL;
d.Wx_DEL = -c.a6 * S.Wy_DEL - c.b1 * S.Wx_DEL - c.b2 * S.BETA_DEL - c.a5 * del.n_DEL - c.b3 * del.e_DEL;
d.BETA_DEL = S.Wy_DEL + c.b7 * S.Wx_DEL - c.b4 * S.PSI_DEL - c.a4 * S.BETA_DEL - c.a7 * del.n_DEL;
}
public void dynFullDiff(DifferentialMeanings d, IntegralMeanings S, LinearizedCoefficient c, Controls del, Statics s)
{
S.q = (s.PO_h * S.V * S.V) / 2;
d.THETA = S.Wz;
d.THETA_PATH = c.c4 * S.ALPHA + c.c9 * del.e_rv;
d.Wz = -c.c1 * S.Wz - c.c2 * S.ALPHA - c.c3 * del.e_rv - c.c5 * d.ALPHA;
d.ALPHA = d.THETA - d.THETA_PATH;
d.GAMA = S.Wx;
d.Wy = -c.a1 * S.Wy - c.b6 * S.Wx - c.a2 * S.BETA - c.a3 * del.n - c.b5 * del.e;
d.PSI = S.Wy;
d.Wx = -c.a6 * S.Wy - c.b1 * S.Wx - c.b2 * S.BETA - c.a5 * del.n - c.b3 * del.e;
d.BETA = S.Wy + c.b7 * S.Wx - c.b4 * S.PSI - c.a4 * S.BETA - c.a7 * del.n;
}
public void setRealParamValuesFromIncrements(IntegralMeanings S, DifferentialMeanings d, Controls del)
{
S.V = S.V_BAL + S.V_DEL;
S.Wx = S.Wx_BAL + S.Wx_DEL;
S.Wy = S.Wy_BAL + S.Wy_DEL;
S.Wz = S.Wz_BAL + S.Wz_DEL;
S.Xg = S.Xg_BAL + S.Xg_DEL;
S.Yg = S.Yg_BAL + S.Yg_DEL;
S.Zg = S.Zg_BAL + S.Zg_DEL;
S.GAMA = S.GAMA_BAL + S.GAMA_DEL;
S.PSI = S.PSI_BAL + S.PSI_DEL;
S.THETA = S.THETA_BAL + S.THETA_DEL;
S.THETA_PATH = S.THETA_PATH_BAL + S.THETA_PATH_DEL;
S.ALPHA = S.ALPHA_BAL + S.ALPHA_DEL;
S.BETA = S.BETA_BAL + S.BETA_DEL;
d.Wx = d.Wx_DEL;
d.Wy = d.Wy_DEL;
d.Wz = d.Wz_DEL;
d.Xg = d.Xg_DEL;
d.Yg = d.Yg_DEL;
d.Zg = d.Zg_DEL;
d.GAMA = d.GAMA_DEL;
d.PSI = d.PSI_DEL;
d.THETA = d.THETA_DEL;
d.THETA_PATH = d.THETA_PATH_DEL;
d.ALPHA = d.ALPHA_DEL;
d.BETA = d.BETA_DEL;
del.e = del.e_DEL + del.e_BAL;
del.n = del.n_DEL + del.n_BAL;
del.e_rv = del.e_rv_DEL + del.e_rv_BAL;
del.Tr = del.Tr_DEL + del.Tr_BAL;
}
/// <summary>
/// Получаем диф значения после отработки модели
/// </summary>
/// <param name="d">Диф значения</param>
/// <param name="n">Размерность модели</param>
public Double[] getDiffValuesIncrements(DifferentialMeanings d, int n)
{
Double[] X = new Double[n];
X[0] = d.Wx_DEL;
X[1] = d.Wy_DEL;
X[2] = d.Wz_DEL;
X[3] = d.PSI_DEL;
X[4] = d.GAMA_DEL;
X[5] = d.THETA_DEL;
X[6] = d.THETA_PATH_DEL;
X[7] = d.ALPHA_DEL;
X[8] = d.BETA_DEL;
X[9] = d.Yg_DEL;
return(X);
}
/// <summary>
/// Получаем диф значения после отработки модели
/// </summary>
/// <param name="d">Диф значения</param>
/// <param name="n">Размерность модели</param>
public Double[] getDiffValues(DifferentialMeanings d, int n)
{
Double[] X = new Double[n];
X[0] = d.Wx;
X[1] = d.Wy;
X[2] = d.Wz;
X[3] = d.PSI;
X[4] = d.GAMA;
X[5] = d.THETA;
X[6] = d.THETA_PATH;
X[7] = d.ALPHA;
X[8] = d.BETA;
X[9] = d.Yg;
return(X);
}
/// <summary>
/// Set initial conditions
/// </summary>
public void SetInitialConditions()
{
d = new DifferentialMeanings();
S = new IntegralMeanings();
F = new Forses();
M = new Moments();
C = new Coefficient();
c = new LinearizedCoefficient();
N = new Overload();
del = new Controls();
s = new Statics();
SetInitialValues();
if (stForm == null)
{ stForm = new StaticsForm(this, s); }
else if (stForm != null)
{
stForm.Close();
stForm = new StaticsForm(this, s);
}
if (fpForm == null)
{ fpForm = new FlyParamForm(this); }
else if (fpForm != null)
{
fpForm.Close();
fpForm = new FlyParamForm(this);
}
if (glForm == null)
{ glForm = new GraphicsListForm(this); }
else if (glForm != null)
{
glForm.Close();
glForm = new GraphicsListForm(this);
}
if (dgForm == null)
{ dgForm = new DataGridForm(this); }
else if (dgForm != null)
{
dgForm.Close();
dgForm = new DataGridForm(this);
}
if (avForm == null)
{ avForm = new AviatingForm(this); }
else if (avForm != null)
{
avForm.Close();
avForm = new AviatingForm(this);
}
if (pvForm == null)
{ pvForm = new PlaneVisualisationForm(this.toolStripButton6_Visualisation, S); }
else if (pvForm != null)
{
pvForm.Close();
pvForm = new PlaneVisualisationForm(this.toolStripButton6_Visualisation, S);
}
if (auForm == null)
{ auForm = new AutopilotForm(this); }
else if (auForm != null)
{
auForm.Close();
auForm = new AutopilotForm(this);
}
if (scrForm == null)
{ scrForm = new ScriptingAutopilotForm(this); }
else if (scrForm != null)
{
scrForm.Close();
scrForm = new ScriptingAutopilotForm(this);
}
}
public void takeOff(DifferentialMeanings d, IntegralMeanings S, Forses F, Moments M, Controls del, Statics s)
{
d.Vx = (1 / s.m) * F.x;
d.BETA = (1 / (s.m * S.Vx)) * F.z + S.Wy;
d.Wy = 1 / s.Iyy * M.y;
d.X = S.Vx * cos(S.BETA);
d.Z = -S.Vx * sin(S.BETA);
S.Y = s.Cyo * S.q * s.S;
S.Q = s.Cxo * S.q * s.S;
F.x = 20 * del.Tr - S.Q - (s.G - S.Y) * (s.froll + s.fslip * (s.InhibitionL + s.InhibitionR));
F.z = F.zBETA * S.BETA + F.zDELn * del.n + F.zt;
F.zBETA = s.Cz_BETA * s.S * S.q;
F.zDELn = s.Cz_del_n * s.S * S.q;
F.zt = (s.G - S.Y) * s.Czk_BETA * (S.BETA + s.fW * del.fW);
M.y = M.yz + M.yWy + M.yp + M.yt;
M.yz = s.my_BETA * S.q * s.S * s.L * S.BETA + s.my_DELn * del.n;
M.yWy = s.my_Wy * S.q * s.S * s.L * d.Wy;
M.yp = 0; // = (P1 - P2) * s.Zengine
M.yt = (s.fW * s.XfrontWheel * del.fW + s.fslip * (s.G - S.Y) * (s.InhibitionL + s.InhibitionR) * (s.Zchassis / 2));
S.q = (s.PO_h * S.Vx * S.Vx / 2);
d.Xg = S.Vx * cos(S.BETA);
}
public void setRealParamValuesFromIncrements(IntegralMeanings S, DifferentialMeanings d, Controls del)
{
S.V = S.V_BAL + S.V_DEL;
S.Wx = S.Wx_BAL + S.Wx_DEL;
S.Wy = S.Wy_BAL + S.Wy_DEL;
S.Wz = S.Wz_BAL + S.Wz_DEL;
S.Xg = S.Xg_BAL + S.Xg_DEL;
S.Yg = S.Yg_BAL + S.Yg_DEL;
S.Zg = S.Zg_BAL + S.Zg_DEL;
S.GAMA = S.GAMA_BAL + S.GAMA_DEL;
S.PSI = S.PSI_BAL + S.PSI_DEL;
S.THETA = S.THETA_BAL + S.THETA_DEL;
S.THETA_PATH = S.THETA_PATH_BAL + S.THETA_PATH_DEL;
S.ALPHA = S.ALPHA_BAL + S.ALPHA_DEL;
S.BETA = S.BETA_BAL + S.BETA_DEL;
d.Wx = d.Wx_DEL;
d.Wy = d.Wy_DEL;
d.Wz = d.Wz_DEL;
d.Xg = d.Xg_DEL;
d.Yg = d.Yg_DEL;
d.Zg = d.Zg_DEL;
d.GAMA = d.GAMA_DEL;
d.PSI = d.PSI_DEL;
d.THETA = d.THETA_DEL;
d.THETA_PATH = d.THETA_PATH_DEL;
d.ALPHA = d.ALPHA_DEL;
d.BETA = d.BETA_DEL;
del.e = del.e_DEL + del.e_BAL;
del.n = del.n_DEL + del.n_BAL;
del.e_rv = del.e_rv_DEL + del.e_rv_BAL;
del.Tr = del.Tr_DEL + del.Tr_BAL;
}
/// <summary>
/// Получаем диф значения после отработки модели
/// </summary>
/// <param name="d">Диф значения</param>
/// <param name="n">Размерность модели</param>
public Double[] getDiffValuesIncrements(DifferentialMeanings d, int n)
{
Double[] X = new Double[n];
X[0] = d.Wx_DEL;
X[1] = d.Wy_DEL;
X[2] = d.Wz_DEL;
X[3] = d.PSI_DEL;
X[4] = d.GAMA_DEL;
X[5] = d.THETA_DEL;
X[6] = d.THETA_PATH_DEL;
X[7] = d.ALPHA_DEL;
X[8] = d.BETA_DEL;
X[9] = d.Yg_DEL;
return (X);
}
/// <summary>
/// Получаем диф значения после отработки модели
/// </summary>
/// <param name="d">Диф значения</param>
/// <param name="n">Размерность модели</param>
public Double[] getDiffValues(DifferentialMeanings d, int n)
{
Double[] X = new Double[n];
X[0] = d.Wx;
X[1] = d.Wy;
X[2] = d.Wz;
X[3] = d.PSI;
X[4] = d.GAMA;
X[5] = d.THETA;
X[6] = d.THETA_PATH;
X[7] = d.ALPHA;
X[8] = d.BETA;
X[9] = d.Yg;
return (X);
}
public void dynLinear(DifferentialMeanings d, IntegralMeanings S, LinearizedCoefficient c, Controls del, Statics s)
{
d.THETA_DEL = S.Wz_DEL;
d.Wz_DEL = -c.c1 * d.THETA_DEL - c.c2 * S.ALPHA_DEL - c.c5 * d.ALPHA_DEL - c.c3 * del.e_rv_DEL;
d.THETA_PATH_DEL = c.c4 * S.ALPHA_DEL + c.c9 * del.e_rv_DEL;
d.ALPHA_DEL = d.THETA_DEL - d.THETA_PATH_DEL;
d.Yg_DEL = c.c6 * S.THETA_PATH_DEL;
d.GAMA_DEL = S.Wx_DEL;
d.Wy_DEL = -c.a1 * S.Wy_DEL - c.b6 * S.Wx_DEL - c.a2 * S.BETA_DEL - c.a3 * del.n_DEL - c.b5 * del.e_DEL;
d.PSI_DEL = S.Wy_DEL;
d.Wx_DEL = -c.a6 * S.Wy_DEL - c.b1 * S.Wx_DEL - c.b2 * S.BETA_DEL - c.a5 * del.n_DEL - c.b3 * del.e_DEL;
d.BETA_DEL = S.Wy_DEL + c.b7 * S.Wx_DEL - c.b4 * S.PSI_DEL - c.a4 * S.BETA_DEL - c.a7 * del.n_DEL;
}
public void dynFullDiff(DifferentialMeanings d, IntegralMeanings S, LinearizedCoefficient c, Controls del, Statics s)
{
S.q = (s.PO_h * S.V * S.V) / 2;
d.THETA = S.Wz;
d.THETA_PATH = c.c4 * S.ALPHA + c.c9 * del.e_rv;
d.Wz = -c.c1 * S.Wz - c.c2 * S.ALPHA - c.c3 * del.e_rv - c.c5 * d.ALPHA;
d.ALPHA = d.THETA - d.THETA_PATH;
d.GAMA = S.Wx;
d.Wy = -c.a1 * S.Wy - c.b6 * S.Wx - c.a2 * S.BETA - c.a3 * del.n - c.b5 * del.e;
d.PSI = S.Wy;
d.Wx = -c.a6 * S.Wy - c.b1 * S.Wx - c.b2 * S.BETA - c.a5 * del.n - c.b3 * del.e;
d.BETA = S.Wy + c.b7 * S.Wx - c.b4 * S.PSI - c.a4 * S.BETA - c.a7 * del.n;
}
