跨界飞行员模型

代表跨界飞行员模型

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库:
航空空间/ Pilot Models

Description

这跨界飞行员模型block represents the pilot model described inMathematical Models of Human Pilot Behavior[1]). This pilot model is a single input, single output (SISO) model that represents some aspects of human behavior when controlling aircraft.

这跨界飞行员模型takes into account the combined dynamics of the human pilot and the aircraft, using the form described in算法around the crossover frequency.

This block has nonlinear behavior. If you want to linearize the block (for example, with one of thelinmod函数），您可能需要更改幻象近似顺序。这跨界飞行员模型block implementation incorporates the运输延迟与幻想（用于线性化）参数设置为2默认情况下。要更改此值，请使用set_param函数，例如：

set_param（gcb，'pade'，'3'）

When modeling human pilot models, use this block for more accuracy than that provided by theTustin Pilot Model堵塞。这个块也不如精密飞行员模型堵塞。

端口

输入

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`x com`- 信号command
scalar

信号命令指出指定为标量的模型。

Data Types:double

`x`- 信号
scalar

信号表明试验模型控制，指定为标量。

Data Types:double

Output

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`u`— Aircraft command
scalar

Aircraft command, returned as a scalar.

Data Types:double

Parameters

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`类型of control`— Dynamics control
`Proportional`(default) |`速率或速度`|`Spiral divergence`|`二阶 - 短期`|`加速度（）`|`Roll attitude()`|`不稳定的短期（）`|`Second order - Phugoid()`

Dynamics control that you want the pilot to have over the aircraft. This table lists the options and associated dynamics.

Option (Controlled Element Transfer Function) Transfer Function of Controlled Element (Y_c) Transfer Function of Pilot (Y_p) Y_cY_p Notes

Option (Controlled Element Transfer Function)	Transfer Function of Controlled Element (Y_c)	Transfer Function of Pilot (Y_p)	Y_cY_p	Notes
`Proportion al`	$K_{c}$	$\frac{K_{p} e^{- τ s}}{s}$	$\frac{K_{c} K_{p} e^{- τ s}}{s}$
`速率或速度`	$\frac{K_{c}}{s}$	$K_{p} e^{- τ s}$	$\frac{K_{c} K_{p} e^{- τ s}}{s}$
`Spiral divergence`	$\frac{K_{c}}{T_{I} s - 1}$	$K_{p} e^{- τ s}$	$\frac{K_{c} K_{p} e^{- τ s}}{(T_{I} s - 1)}$
`二阶 - 短期`	$\frac{K_{c} ω_{n}^{2}}{s^{2} + 2 ζ ω_{n} s + ω_{n}^{2}}$	$\frac{K_{p} e^{- τ s}}{T_{I} s + 1}$	$\begin{array}{l} \frac{K_{c} ω_{n}^{2}}{s^{2} + 2 ζ ω_{n} s + ω_{n}^{2}} \times \\ \frac{K_{p} e^{- τ s}}{T_{I} s + 1} \end{array}$	Short period, with $ω_{n} > 1 / τ$
`加速度（*）`	$\frac{K_{c}}{s^{2}}$	$K_{p} s e^{- τ s}$	$\frac{K_{c} K_{p} e^{- τ s}}{s}$
`Roll attitude (*)`	$\frac{K_{c}}{s (T_{I} s + 1)}$	$K_{p} (T_{L} s + 1) e^{- τ s}$	$\frac{K_{c} K_{p} e^{- τ s}}{s}$	With T_L≈ T_I
`不稳定的短期（*）`	$\frac{K_{c}}{(T_{I 1} s + 1) (T_{I 2} s - 1)}$	$K_{p} (T_{L} s + 1) e^{- τ s}$	$\frac{K_{c} K_{p} e^{- τ s}}{(T_{I 2} s - 1)}$	With T_L≈ T_I1
`Second order - Phugoid(*)`	$\frac{K_{c} ω_{n}^{2}}{s^{2} + 2 ζ ω_{n} s + ω_{n}^{2}}$	$K_{p} (T_{L} s + 1) e^{- τ s}$	$\frac{K_{c} K_{p} ω_{n}^{2} e^{- τ s}}{s}$	Phugoid, with $\begin{array}{l} ω_{n} ≪ 1 / τ, \\ 1 / T_{L} \approx ζ ω_{n} \end{array}$

Proportion al

$K_{c}$

$\frac{K_{p} e^{- τ s}}{s}$

$\frac{K_{c} K_{p} e^{- τ s}}{s}$

速率或速度

$\frac{K_{c}}{s}$

$K_{p} e^{- τ s}$

$\frac{K_{c} K_{p} e^{- τ s}}{s}$

Spiral divergence

$\frac{K_{c}}{T_{I} s - 1}$

$K_{p} e^{- τ s}$

$\frac{K_{c} K_{p} e^{- τ s}}{(T_{I} s - 1)}$

二阶 - 短期

$\frac{K_{c} ω_{n}^{2}}{s^{2} + 2 ζ ω_{n} s + ω_{n}^{2}}$

$\frac{K_{p} e^{- τ s}}{T_{I} s + 1}$

$\begin{array}{l} \frac{K_{c} ω_{n}^{2}}{s^{2} + 2 ζ ω_{n} s + ω_{n}^{2}} \times \\ \frac{K_{p} e^{- τ s}}{T_{I} s + 1} \end{array}$

Short
period,
with

ω_{n} > 1 / τ

加速度（*）

$\frac{K_{c}}{s^{2}}$

$K_{p} s e^{- τ s}$

$\frac{K_{c} K_{p} e^{- τ s}}{s}$

Roll attitude (*)

$\frac{K_{c}}{s (T_{I} s + 1)}$

$K_{p} (T_{L} s + 1) e^{- τ s}$

$\frac{K_{c} K_{p} e^{- τ s}}{s}$

With
T_L≈ T_I

不稳定的短期（*）

$\frac{K_{c}}{(T_{I 1} s + 1) (T_{I 2} s - 1)}$

$K_{p} (T_{L} s + 1) e^{- τ s}$

$\frac{K_{c} K_{p} e^{- τ s}}{(T_{I 2} s - 1)}$

With
T_L≈ T_I1

Second order - Phugoid(*)

$\frac{K_{c} ω_{n}^{2}}{s^{2} + 2 ζ ω_{n} s + ω_{n}^{2}}$

$K_{p} (T_{L} s + 1) e^{- τ s}$

$\frac{K_{c} K_{p} ω_{n}^{2} e^{- τ s}}{s}$

Phugoid,
with

\begin{array}{l} ω_{n} ≪ 1 / τ, \\ 1 / T_{L} \approx ζ ω_{n} \end{array}

* Indicates that the pilot model includes a衍生物块，产生数值导数。因此，请勿向不连续（例如步骤）或嘈杂的输入发送到跨界飞行员模型堵塞。Such inputs can cause large outputs that might render the system unstable.

This table defines the variables used in the list of control options.

多变的	Description
K_c	Aircraft gain.
K_p	飞行员收益.
τ	Pilot time delay.
T_I	Lag constant.
T_L	Lead constant.
ζ	Damping ratio for the aircraft.
ω_n	Natural frequency of the aircraft.

Dependencies

这跨界飞行员模型parameters are enabled and disabled according to the类型of controloptions. TheCalculated value,Controlled element gain,飞行员收益,Crossover frequency (rad/s)，和Pilot time delay(s)参数始终启用。

Programmatic Use

Block Parameter:sw_popup

类型: character vector

默认:'部分'

`Calculated value`- 交叉频率or pilot gain
`Crossover frequency`(default) |`飞行员收益`

Crossover frequency or pilot gain value you want the block to calculate:

Crossover frequency— The block calculates the crossover frequency value. The parameter value is disabled.
飞行员收益— The block calculates the pilot gain value. The parameter value is disabled.

Programmatic Use

Block Parameter:freq_gain_popup

类型: character vector

Values:“跨界频率”|“飞行员收益”

默认:“跨界频率”

`Controlled element gain`- 受控元素增益
`1`(default) | scalar

Controlled element gain, specified as a double scalar.

Programmatic Use

Block Parameter:KC

类型: character vector

Values: double scalar

默认:'1'

`飞行员收益`- 飞行员收益
`3`(default) | scalar

飞行员收益, specified as a double scalar.

Dependencies

To enable this parameter, setCalculated valueto飞行员收益.

Programmatic Use

Block Parameter:KP

类型: character vector

Values: double scalar

默认:'3'

`Crossover frequency (rad/s)`- 交叉频率
`3`(default) | scalar in the range of 1 and 10

跨频率值，指定为双标量值，为rad/s。该值必须在1到10之间。

Dependencies

To enable this parameter, setCalculated valuetoCrossover frequency.

Programmatic Use

Block Parameter:omega_c

类型: character vector

Values: double scalar

默认:'3'

`Pilot time delay(s)`- 飞行员时间延迟
`0.1`(default) | scalar

总先导时间延迟，以秒为单位指定为双标量值。该值通常从0.1 s到0.2 s。

Programmatic Use

Block Parameter:time_delay

类型: character vector

Values: double scalar

默认:'0.1'

`Pilot lead constant`— Pilot lead constant
`1`(default) | scalar

飞行员导线常数，指定为双标量值。

Dependencies

To enable this parameter, set类型of controlto one of the following options:

Roll attitude (*)
Unstable short period (*)
Second order - Phygoid(*)

Programmatic Use

Block Parameter:T

类型: character vector

Values: double scalar

默认:'1'

`Pilot lag constant`— Pilot lag constant
`5`(default) | scalar

Pilot lag constant, specified as a double scalar.

Dependencies

To enable this parameter, set类型of controlto二阶 - 短期.

Programmatic Use

Block Parameter:Ti

类型: character vector

Values: double scalar

默认:'5'

算法

交叉模型考虑了人类飞行员和飞机的组合动力学，使用以下形式围绕交叉频率：

$Y_{p} Y_{c} = \frac{ω_{c} e^{- τ s}}{s},$

Where:

多变的	Description
Y_p	Pilot transfer function.
Y_c	飞机转移功能。
ω_c	Crossover frequency.
τ	飞行员神经肌肉系统引起的运输延迟时间。

如果飞机的动态Y_c) change,Y_pchanges correspondingly.

Note

This block is valid only around the crossover frequency. It is not valid for discrete inputs such as a step.

参考

[1]McRuer, D. T., Krendel, E.,Mathematical Models of Human Pilot Behavior. Advisory Group on Aerospace Research and Development AGARDograph 188, Jan. 1974.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.

Version History

在R2012B中引入

跨界飞行员模型

Description

端口

输入

x com- 信号commandscalar

x- 信号scalar

Output

u— Aircraft commandscalar

Parameters

类型of control— Dynamics controlProportional(default) |速率或速度|Spiral divergence|二阶 - 短期|加速度（*）|Roll attitude(*)|不稳定的短期（*）|Second order - Phugoid(*)

Dependencies

Programmatic Use

Calculated value- 交叉频率or pilot gainCrossover frequency(default) |飞行员收益

Programmatic Use

Controlled element gain- 受控元素增益1(default) | scalar

Programmatic Use

飞行员收益- 飞行员收益3(default) | scalar

Dependencies

Programmatic Use

Crossover frequency (rad/s)- 交叉频率3(default) | scalar in the range of 1 and 10

Dependencies

Programmatic Use

Pilot time delay(s)- 飞行员时间延迟0.1(default) | scalar

Programmatic Use

Pilot lead constant— Pilot lead constant1(default) | scalar

Dependencies

Programmatic Use

Pilot lag constant— Pilot lag constant5(default) | scalar

Dependencies

Programmatic Use

算法

参考

Extended Capabilities

C/C++ Code GenerationGenerate C and C++ code using Simulink® Coder™.

Version History

See Also

`x com`- 信号command
scalar

`x`- 信号
scalar

`u`— Aircraft command
scalar

`类型of control`— Dynamics control
`Proportional`(default) |`速率或速度`|`Spiral divergence`|`二阶 - 短期`|`加速度（）`|`Roll attitude()`|`不稳定的短期（）`|`Second order - Phugoid()`

`Calculated value`- 交叉频率or pilot gain
`Crossover frequency`(default) |`飞行员收益`

`Controlled element gain`- 受控元素增益
`1`(default) | scalar

`飞行员收益`- 飞行员收益
`3`(default) | scalar

`Crossover frequency (rad/s)`- 交叉频率
`3`(default) | scalar in the range of 1 and 10

`Pilot time delay(s)`- 飞行员时间延迟
`0.1`(default) | scalar

`Pilot lead constant`— Pilot lead constant
`1`(default) | scalar

`Pilot lag constant`— Pilot lag constant
`5`(default) | scalar

C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.