jsbsim.js/JSBSim/aircraft/J246/Systems/J246ControlSystem.xml

JSBSim flight dynamics model ported to JavaScript

<?xml version="1.0"?>
<system name="J246 Control System"
        xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
        xsi:noNamespaceSchemaLocation="http://jsbsim.sourceforge.net/JSBSimSystem.xsd">

  <channel name="Mode 0: Vertical Rise">

    <!-- This is a simple PID controller to maintain zero pitch and yaw rate
             during the vertical rise phase when the roll angle is being adjusted 
             to the appropriate heading - if the orientation on the pad is not
             aligned with the launch azimuth. -->

    <!-- Pitch Vertical Rise - hold pitch rate at zero. -->

    <pid name="control/pitch-hold-vertical">
      <input>velocities/q-rad_sec</input>
      <kp>2</kp>
      <ki>0.1</ki>
      <kd>0.1</kd>
      <trigger> guidance/executive/integrator-wind-up-guard-0 </trigger>
    </pid>

    <lag_filter name="control/pitch-lag">
      <input>control/pitch-hold-vertical</input>
      <c1>20</c1>
    </lag_filter>

    <pure_gain name="control/pitch-gain">
      <input>control/pitch-lag</input>
      <gain>1.0</gain>
    </pure_gain>

    <!-- Yaw Vertical Rise - hold yaw rate at zero. -->

    <pid name="control/yaw-hold-vertical">
      <input>velocities/r-rad_sec</input>
      <kp>2</kp>
      <ki>0.1</ki>
      <kd>0.1</kd>
      <trigger> guidance/executive/integrator-wind-up-guard-0 </trigger>
    </pid>

    <lag_filter name="control/yaw-lag">
      <input>control/yaw-hold-vertical</input>
      <c1>20</c1>
    </lag_filter>

    <pure_gain name="control/yaw-gain">
      <input>control/yaw-lag</input>
      <gain>1.0</gain>
    </pure_gain>

  </channel>

  <channel name="Mode 2, 3: Gravity turn">

    <!-- This is a simple controller to generate a small pitch rate to
             align heads down and ascending. -->

    <!-- Gravity turn (Pitch Rate Command) -->

    <summer name="control/gravity-turn-pitch-rate-error">
      <input>  velocities/q-rad_sec </input>
      <input> -guidance/executive/gravity-turn-pitch-rate-command </input>
    </summer>

    <pid name="control/gravity-turn-pitch-rate-controller">
      <input> control/gravity-turn-pitch-rate-error </input>
      <kp>4.5</kp>
      <ki>0.5</ki>
      <kd>0.0</kd>
      <trigger> guidance/executive/integrator-wind-up-guard-2 </trigger>
    </pid>

    <pure_gain name="control/gravity-turn-pitch-rate-command-gain">
      <input>control/gravity-turn-pitch-rate-controller</input>
      <gain>1.0</gain>
    </pure_gain>

  </channel>

  <channel name="Mode 4: Zero Alpha/Beta">

    <pid name="control/gravity-turn-alpha-controller">
      <input> aero/alpha-rad </input>
      <kp>  0.4 </kp>
      <ki>  0.005 </ki>
      <kd>  0.4 </kd>
      <trigger> guidance/executive/integrator-wind-up-guard-3 </trigger>
    </pid>

    <pid name="control/gravity-turn-beta-controller">
      <input> aero/beta-rad </input>
      <kp>  0.4 </kp>
      <ki>  0.005 </ki>
      <kd>  0.4 </kd>
      <trigger> guidance/executive/integrator-wind-up-guard-3 </trigger>
    </pid>

  </channel>

  <property value="0.0"> guidance/executive/peg-target-pitch-attitude </property>

  <channel name="Mode 5:*** Mode, Second Stage">

    <summer name="control/peg-pitch-rate-command">
      <input>  attitude/theta-rad </input>
      <input> -guidance/executive/peg-target-pitch-attitude </input>
      <clipto>
        <max>  0.01 </max>
        <min> -0.01 </min>
      </clipto>
    </summer>

    <summer name="control/peg-pitch-rate-error">
      <input> control/peg-pitch-rate-command </input>
      <input> -velocities/q-rad_sec </input>
    </summer>

    <pid name="control/peg-pitch-controller">
      <input> control/peg-pitch-rate-error </input>
      <kp>  1.5 </kp>
      <ki>  0.2 </ki>
      <kd>  0.1 </kd>
      <trigger> guidance/executive/integrator-wind-up-guard-4 </trigger>
    </pid>

    <lag_filter name="control/peg-pitch-control-lag">
      <input> control/peg-pitch-controller </input>
      <c1> 5 </c1>
    </lag_filter>
    
    <pure_gain name="control/peg-pitch-control-inverter">
      <input> control/peg-pitch-control-lag </input>
      <gain> -1.0 </gain>
    </pure_gain>
    
    <pid name="control/peg-beta-controller">
      <input> aero/beta-rad </input>
      <kp>  0.4 </kp>
      <ki>  0.005 </ki>
      <kd>  0.4 </kd>
      <trigger> guidance/executive/integrator-wind-up-guard-4 </trigger>
    </pid>
    
  </channel>

</system>