jsbsim.js/JSBSim/systems/rpm_governor.xml

JSBSim flight dynamics model ported to JavaScript

<?xml version="1.0"?>
<system name="RPM Governor (AH1S)">

<!--  =================================================================

       RPM governor for the ah1s model (Adjusted for electric engines,
       and rather 'crisp').

       A more basic/lazy PID might use the following values:
         <kp> 0.0035 </kp>
         <ki> 0.001  </ki>
         <kd> 0.0    </kd>

       Note:
         When developing a new helicopter fdm you should run the rotor
         in constant-speed mode (by setting ExternalRPM to -1 and 
         manipulate propulsion/engine[x]/x-rpm-dict accordingly).
         Implement the governor as last step, otherwise chances are high 
         that a bad governor might spoil a good model.

      =================================================================  -->


  <property value="0.0">fcs/rpm-governor-active-norm</property>
  <property value="324.0"> fcs/nominal-rpm </property>

  <channel name="RPM-Governor">
    <switch name="fcs/rpm-governor-pid-inhibit">
      <default value="-1.0"/>
      <test value="0.0"> fcs/rpm-governor-active-norm GT 0.0 </test>
    </switch>
    <fcs_function name="fcs/rpm-delta">
      <function>
        <product>
          <property> fcs/rpm-governor-active-norm </property>
          <difference>
            <property> fcs/nominal-rpm </property>
            <property> propulsion/engine/rotor-rpm </property>
          </difference>
        </product>
      </function>
      <clipto>
        <min> -50.0 </min>
        <max>  50.0 </max>
      </clipto>
    </fcs_function>
    <pid name="fcs/throttle-pid">
      <input>fcs/rpm-delta</input>
      <kp>  0.07   </kp>
      <ki>  0.0012 </ki>
      <kd> -0.0008 </kd>
      <trigger> fcs/rpm-governor-pid-inhibit </trigger>
      <clipto>
        <min>  0.00 </min>
        <max>  1.00 </max>
      </clipto>
      <output>fcs/throttle-pos-norm</output> 
    </pid>
  </channel>

</system>