jsbsim.js/JSBSim/aircraft/ZLT-NT/Systems/engine-control.xml

JSBSim flight dynamics model ported to JavaScript

<?xml version="1.0"?>
<!-- $Id: engine-control.xml,v 1.1 2010/04/02 22:18:37 andgi Exp $ -->
<!--

  ZLT NT-07 airship flight model for JSBSim.

    Copyright (C) 2008 - 2010  Anders Gidenstam  (anders(at)gidenstam.org)

    This program is free software; you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation; either version 2 of the License, or
    (at your option) any later version.
  
    This program is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.
  
    You should have received a copy of the GNU General Public License
    along with this program; if not, write to the Free Software
    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
  
-->
<system name="engine-control-jsbsim">

 <documentation>
  Controls according to [FAA:2008:AS1CE]:
    Vectored Thrust Movements
      Side Engines            0 (forward horizontal) to 120 degrees up.
      Aft Engine              0 (aft horizontal) to 90 degrees down.
  Avoid sustained operation with forward swivel angles between
  43 and 57 degrees during normal operation.
 </documentation>

 <documentation>
  Engine controls (from pictures of the engine panel and other sources)
  - RPM SEL levers
    - LH AFT RH: IDLE - ?  (to 1250RPM - max according to [FAA:2008:E8-6600])
    - fcs/propeller-speed-cmd-norm[0|1|2] range [0, 1].
  - Mixture levers
    - LH AFT RH: LEAN - RICH
    - the standard mixture properties
      fcs/mixture-cmd-norm[0|1|2]
  - Thrust (prop pitch) levers (direct propeller pitch [FAA:2008:E8-6600])
    - LH RH AFT: REV - ZERO - T/O - CRUISE
    - fcs/thrust-cmd-norm[0|1|2] range [0, 1].
  - Swivel levers 
    - LH RH: 0 - 120 degrees
    - AFT:   0 - (-)90 degrees (only 0 or -90 according to [FAA:2008:E8-6600])
    - fcs/side-engine-swivel-cmd-norm[0|1], fcs/rear-engine-swivel-cmd-norm
      range [0, 1].
 </documentation>

 <property value="0.0">fcs/propeller-speed-cmd-norm[0]</property>
 <property value="0.0">fcs/propeller-speed-cmd-norm[1]</property>
 <property value="0.0">fcs/propeller-speed-cmd-norm[2]</property>

 <!-- Automatically created by JSBSim.
 <property value="0.0">fcs/mixture-cmd-norm[0]</property>
 <property value="0.0">fcs/mixture-cmd-norm[1]</property>
 <property value="0.0">fcs/mixture-cmd-norm[2]</property>
 -->

 <property value="0.0">fcs/thrust-cmd-norm[0]</property>
 <property value="0.0">fcs/thrust-cmd-norm[1]</property>
 <property value="0.0">fcs/thrust-cmd-norm[2]</property>

 <property value="0.0">fcs/side-engine-swivel-cmd-norm[0]</property>
 <property value="0.0">fcs/side-engine-swivel-cmd-norm[1]</property>
 <property value="0.0">fcs/rear-engine-swivel-cmd-norm</property>

 <documentation>
  I have not seen any controls for the auxilliary rear side propeller
  so I assume that it is controlled by the FCS in response to yaw
  requests.
 </documentation>

 <!--
 === Engine throttle control ================================
 -->
 <channel name="Engine 1 throttle control">

  <aerosurface_scale name="fcs/etc/propeller-speed-cmd-rpm[0]">
   <input>fcs/propeller-speed-cmd-norm[0]</input>
   <domain>
    <min>0</min>
    <max>1</max>
   </domain>
   <range>
    <min>300</min>
    <max>1250</max>
   </range>
   <zero_centered>0</zero_centered>
  </aerosurface_scale>

  <summer name="fcs/etc/propeller-speed-error-rpm[0]">
   <input>fcs/etc/propeller-speed-cmd-rpm[0]</input>
   <input>-propulsion/engine[0]/propeller-rpm</input>
  </summer>

  <switch name="fcs/etc/propeller-speed-error-switch[0]">
   <default value="0.0"/>
   <test value="fcs/etc/propeller-speed-error-rpm[0]">
     propulsion/engine[0]/fuel-flow-rate-pps GT 0.0
   </test>
  </switch>

  <switch name="fcs/etc/windup-trigger[0]">
   <default value="0.0"/>
   <test value="-1.0">
     fcs/etc/throttle-controller-pid[0] LT 0.0
   </test>
   <test value="1.0">
     fcs/etc/propeller-speed-error-switch[0] GT 0.0
     fcs/etc/throttle-controller-pid[0] GT 1.0
   </test>
  </switch>

  <pid name="fcs/etc/throttle-controller-pid[0]">
   <input>fcs/etc/propeller-speed-error-switch[0]</input>
   <kp> 0.0 </kp>
   <ki> 0.0002 </ki>
   <trigger>fcs/etc/windup-trigger[0]</trigger>
  </pid>

  <actuator name="fcs/etc/throttle-actuator[0]">
   <input>fcs/etc/throttle-controller-pid[0]</input>
   <!-- lag> number </lag -->
   <!-- rate_limit> number </rate_limit -->
   <!-- bias> number </bias -->
   <!-- deadband_width> number </deadband_width -->
   <!-- hysteresis_width> number </hysteresis_width -->
   <clipto>
    <min>0.0</min>
    <max>1.0</max>
   </clipto>
   <output>fcs/throttle-pos-norm[0]</output>
  </actuator>

 </channel>

 <channel name="Engine 2 throttle control">

  <aerosurface_scale name="fcs/etc/propeller-speed-cmd-rpm[1]">
   <input>fcs/propeller-speed-cmd-norm[1]</input>
   <domain>
    <min>0</min>
    <max>1</max>
   </domain>
   <range>
    <min>300</min>
    <max>1250</max>
   </range>
   <zero_centered>0</zero_centered>
  </aerosurface_scale>
  <summer name="fcs/etc/propeller-speed-error-rpm[1]">
   <input>fcs/etc/propeller-speed-cmd-rpm[1]</input>
   <input>-propulsion/engine[1]/propeller-rpm</input>
  </summer>

  <switch name="fcs/etc/propeller-speed-error-switch[1]">
   <default value="0.0"/>
   <test value="fcs/etc/propeller-speed-error-rpm[1]">
     propulsion/engine[1]/fuel-flow-rate-pps GT 0.0
   </test>
  </switch>

  <switch name="fcs/etc/windup-trigger[1]">
   <default value="0.0"/>
   <test value="-1.0">
     fcs/etc/throttle-controller-pid[1] LT 0.0
   </test>
   <test value="1.0">
     fcs/etc/propeller-speed-error-switch[1] GT 0.0
     fcs/etc/throttle-controller-pid[1] GT 1.0
   </test>
  </switch>

  <pid name="fcs/etc/throttle-controller-pid[1]">
   <input>fcs/etc/propeller-speed-error-switch[1]</input>
   <kp> 0.0 </kp>
   <ki> 0.0002 </ki>
   <trigger>fcs/etc/windup-trigger[1]</trigger>
  </pid>

  <actuator name="fcs/etc/throttle-actuator[1]">
   <input>fcs/etc/throttle-controller-pid[1]</input>
   <!-- lag> number </lag -->
   <!-- rate_limit> number </rate_limit -->
   <!-- bias> number </bias -->
   <!-- deadband_width> number </deadband_width -->
   <!-- hysteresis_width> number </hysteresis_width -->
   <clipto>
    <min>0.0</min>
    <max>1.0</max>
   </clipto>
   <output>fcs/throttle-pos-norm[1]</output>
  </actuator>

 </channel>

 <channel name="Engine 3 throttle control">

  <aerosurface_scale name="fcs/etc/propeller-speed-cmd-rpm[2]">
   <input>fcs/propeller-speed-cmd-norm[2]</input>
   <domain>
    <min>0</min>
    <max>1</max>
   </domain>
   <range>
    <min>300</min>
    <max>1250</max>
   </range>
   <zero_centered>0</zero_centered>
  </aerosurface_scale>

  <summer name="fcs/etc/propeller-speed-error-rpm[2]">
   <input>fcs/etc/propeller-speed-cmd-rpm[2]</input>
   <input>-propulsion/engine[2]/propeller-rpm</input>
  </summer>

  <switch name="fcs/etc/propeller-speed-error-switch[2]">
   <default value="0.0"/>
   <test value="fcs/etc/propeller-speed-error-rpm[2]">
     propulsion/engine[2]/fuel-flow-rate-pps GT 0.0
   </test>
  </switch>

  <switch name="fcs/etc/windup-trigger[2]">
   <default value="0.0"/>
   <test value="-1.0">
     fcs/etc/throttle-controller-pid[2] LT 0.0
   </test>
   <test value="1.0">
     fcs/etc/propeller-speed-error-switch[2] GT 0.0
     fcs/etc/throttle-controller-pid[2] GT 1.0
   </test>
  </switch>

  <pid name="fcs/etc/throttle-controller-pid[2]">
   <input>fcs/etc/propeller-speed-error-switch[2]</input>
   <kp> 0.0 </kp>
   <ki> 0.0002 </ki>
   <trigger>fcs/etc/windup-trigger[2]</trigger>
  </pid>

  <actuator name="fcs/etc/throttle-actuator[2]">
   <input>fcs/etc/throttle-controller-pid[2]</input>
   <!-- lag> number </lag -->
   <!-- rate_limit> number </rate_limit -->
   <!-- bias> number </bias -->
   <!-- deadband_width> number </deadband_width -->
   <!-- hysteresis_width> number </hysteresis_width -->
   <clipto>
    <min>0.0</min>
    <max>1.0</max>
   </clipto>
   <output>fcs/throttle-pos-norm[2]</output>
  </actuator>

 </channel>

 <!--
 === Mixture control ========================================
 -->
 <channel name="Mixture control">

  <switch name="fcs/etc/mixture-pos-norm[0]">
   <default value="fcs/mixture-cmd-norm[0]"/>
   <output>fcs/mixture-pos-norm[0]</output>
  </switch>
  <switch name="fcs/etc/mixture-pos-norm[1]">
   <default value="fcs/mixture-cmd-norm[1]"/>
   <output>fcs/mixture-pos-norm[1]</output>
  </switch>
  <switch name="fcs/etc/mixture-pos-norm[2]">
   <default value="fcs/mixture-cmd-norm[2]"/>
   <output>fcs/mixture-pos-norm[2]</output>
  </switch>

 </channel>

 <!--
 === Thrust control =========================================
 -->
 <channel name="Thrust control">

  <fcs_function name="fcs/etc/blade-angle-deg[0]">
   <function>
    <difference>
     <product>
      <value>60.0</value>
      <property>fcs/thrust-cmd-norm[0]</property>
     </product>
     <value>25.0</value>
    </difference>
   </function>
   <output>propulsion/engine[0]/blade-angle</output>
  </fcs_function>
  <fcs_function name="fcs/etc/blade-angle-deg[1]">
   <function>
    <difference>
     <product>
      <value>60.0</value>
      <property>fcs/thrust-cmd-norm[1]</property>
     </product>
     <value>25.0</value>
    </difference>
   </function>
   <output>propulsion/engine[1]/blade-angle</output>
  </fcs_function>
  <fcs_function name="fcs/etc/blade-angle-deg[2]">
   <function>
    <difference>
     <product>
      <value>60.0</value>
      <property>fcs/thrust-cmd-norm[2]</property>
     </product>
     <value>25.0</value>
    </difference>
   </function>
   <output>propulsion/engine[2]/blade-angle</output>
  </fcs_function>

 </channel>

 <!--
 === Thrust vectoring =======================================
 -->
 <channel name="Thrust vectoring">

  <aerosurface_scale name="fcs/etc/side-engine-swivel-cmd-rad">
   <input>fcs/side-engine-swivel-cmd-norm</input>
   <domain>
    <min>0</min>
    <max>1</max>
   </domain>
   <range>
    <min>0</min>
    <max>2.0944</max>
   </range>
  </aerosurface_scale>
  <actuator name="fcs/etc/left-engine-swivel-actuator">
   <input>fcs/etc/side-engine-swivel-cmd-rad</input>
   <!-- lag> number </lag -->
   <rate_limit> 0.5 </rate_limit>
   <!-- bias> number </bias -->
   <!-- deadband_width> number </deadband_width -->
   <!-- hysteresis_width> number </hysteresis_width -->
   <clipto>
    <min>0.0</min>
    <max>2.0944</max>
   </clipto>
   <output>propulsion/engine[0]/pitch-angle-rad</output>
  </actuator>

  <aerosurface_scale name="fcs/etc/side-engine-swivel-cmd-rad[1]">
   <input>fcs/side-engine-swivel-cmd-norm</input>
   <domain>
    <min>0</min>
    <max>1</max>
   </domain>
    <range>
     <min>0</min>
     <max>2.0944</max>
   </range>
  </aerosurface_scale>
  <actuator name="fcs/etc/right-engine-swivel-actuator">
   <input>fcs/etc/side-engine-swivel-cmd-rad[1]</input>
   <!-- lag> number </lag -->
   <rate_limit> 0.5 </rate_limit>
   <!-- bias> number </bias -->
   <!-- deadband_width> number </deadband_width -->
   <!-- hysteresis_width> number </hysteresis_width -->
   <clipto>
    <min>0.0</min>
    <max>2.0944</max>
   </clipto>
   <output>propulsion/engine[1]/pitch-angle-rad</output>
  </actuator>

  <aerosurface_scale name="fcs/etc/rear-engine-swivel-cmd-rad">
   <input>fcs/rear-engine-swivel-cmd-norm</input>
   <domain>
    <min>0</min>
    <max>1</max>
   </domain>
   <range>
    <min>0.0</min>
    <max>1.5708</max>
   </range>
  </aerosurface_scale>
  <actuator name="fcs/etc/rear-engine-swivel-actuator">
   <input>fcs/etc/rear-engine-swivel-cmd-rad</input>
   <!-- lag> number </lag -->
   <rate_limit> 0.5 </rate_limit>
   <!-- bias> number </bias -->
   <!-- deadband_width> number </deadband_width -->
   <!-- hysteresis_width> number </hysteresis_width -->
   <clipto>
    <min>0.0</min>
    <max>1.5708</max>
   </clipto>
   <output>propulsion/engine[2]/pitch-angle-rad</output>
  </actuator>

 </channel>

</system>