5. Editing YFILE et. al.
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Edit_Yfile Menu is designed to define a list of variables that are passed
from the plant dynamics to the control workspace. Specifically, this list goes to the
control subroutine in the Fortran and C++ cases or to the plant S function as in the
Simulink case. Its construct is similar to that of Edit_Ofile and Edit_Ufile. It is
illustrated here.
The menu has three parts. At the top of the menu, you see the Y_file data
index, and the name of the indexed Y_file data. On entry, the data index is one. If the
data is undefined, then you will see '*****' displayed in the data name entry. Below the
data record definition area is a table of Y_file data names and commands. The content of
that table is listed below.
| Index |
Data Name/Command |
Selection Command |
Description |
| 1 |
ANGLE |
|
Angle of a 1dof hinge |
| 2 |
B2O123 |
|
Euler angle of the Body 1 frame wrt the Orbit frame in an xyz
Euler sequence |
| 3 |
B2O313 |
|
Euler angle of the Body 1 frame wrt the Orbit frame in an zxz
Euler sequence |
| 4 |
B2O132 |
|
Euler angle of the Body 1 frame wrt the Orbit frame in an xzy
Euler sequence |
| 5 |
B2O321 |
|
Euler angle of the Body 1 frame wrt the Orbit frame in an zyx
Euler sequence |
| 6 |
CMPOS |
|
Center of mass of the indexed body relative to the origin of
the body 1 coorinate frame |
| 7 |
CMPOSI |
|
CMPOS of the indexed body in the inertial frame |
| 8 |
DC |
|
Direction Cosine Matrix of the indexed body relative to the
Body 1 frame |
| 9 |
DCI |
|
Direction Cosine Matrix of the indexed body in the inertial
frame |
| 10 |
DCREL |
|
Direction Cosine Matrix of the indexed body relative to its
parent body frame |
| 11 |
DCRSML |
|
Small rotation angles extracted from DCREL |
| 12 |
DEQ |
|
The states of the indexed set of auxiliary differential
equations |
| 13 |
HPOSRAX |
|
Axial displacement of the indexed hinge |
| 14 |
HVEL |
|
Hinge velocity relative to the origin of Body 1, given in Body
1 coordinates |
| 15 |
HVELRAX |
|
d/dt( HVELRAX) |
| 16 |
HVELR |
|
Hinge displacement velocity given in local body coordinates |
| ... |
and others... |
|
and others... |
| 31 |
WHLSPD |
|
Wheel Speed |
| 32 |
WI |
|
Total angular rate of a body in inertial frame |
| 33 |
WREL |
|
Angular rate of a body wrt its parent body |
| 34 |
WRELAX |
|
Angular rate of a body along the 1dof hinge axis |
| ... |
and others... |
|
and others... |
|
| 43 |
SELECT |
S |
Select a variable name for the current y_file data entry |
| 44 |
LIST |
L |
List the current y_file data list |
| 45 |
GO TO |
G |
Go to the desired y_file data |
| 46 |
NEXT |
N |
Go to the next body ID <= ID + 1 |
| 47 |
BACK |
B |
Go to the previous body ID <= ID - 1 |
| 48 |
MOVE |
M |
Move the content of the current body to another body |
| 49 |
ERASE |
E |
Delete the current body |
| 50 |
DONE |
D |
Return to the BuildX Main Menu |
Desired Action |
Procedure |
| Move from one y_file data record to another |
Type 'G' at command prompt, and supply the desired y_file data index |
| Select any of the 39 variables for the current y_file data |
Type 'S' at command prompt, and supply the variable index, and the body
index to go with the selected varaible |
| List the current y_file data list |
Type 'L' at command prompt |
| Navigate between body menus |
Use Go To, Next, Back commands |
| Find definition of a parameter |
Type 'H' and the parameter index |
| Find definition of a command |
Type 'H' and the command index |
| Move content of current body to Body j |
Type 'M' and supply the target body index j when prompted |
| Delete the current y_file data from the list |
Type 'E' at the command prompt |
| Go back to Main Menu |
Type 'D' |
