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AN-TWQ-1-Avenger.xml
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<?xml version="1.0"?>
<!-- $Id: AN-TWQ-1-Avenger.xml,v 1.5 2013-10-19 16:52:52 anders Exp $ -->
<!--
An/TWQ-1 Avenger flight model for JSBSim.
Copyright (C) 2012 - 2013 Martien van der Plas
This file is licensed under the GPL license version 2 or later.
-->
<?xml-stylesheet type="text/xsl" href="http://jsbsim.sourceforge.net/JSBSim.xsl"?>
<fdm_config name="Fire truck" version="2.0" release="ALPHA"
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:noNamespaceSchemaLocation="http://jsbsim.sourceforge.net/JSBSim.xsd">
<!--
NOTE: This file is not very accurate yet.
-->
<fileheader>
<author> Martien van der Plas </author>
<filecreationdate> 2013-10-19 </filecreationdate>
<version>
$Id: AN-TWQ-1-Avenger.xml,v 1.5 2010-01-03 16:52:52 anders Exp $
</version>
<description>An/TWQ-1 Avenger</description>
</fileheader>
<!--
NOTE: The origo of the structural frame coordinate system is at the 3d model
origo. External dimensions about 4.95x2.18x2.64 meters.
x/y/z = front/right/up
NOTE: The x-axis is reversed due to the 3d model!
-->
<metrics>
<wingarea unit="M2"> 26.1 </wingarea> <!-- Must be large to avoid -->
<wingspan unit="M"> 2.9 </wingspan> <!-- numerical problems. -->
<chord unit="M"> 0.0 </chord>
<htailarea unit="FT2"> 0 </htailarea>
<htailarm unit="FT"> 0 </htailarm>
<vtailarea unit="FT2"> 0 </vtailarea>
<vtailarm unit="FT"> 0 </vtailarm>
<location name="AERORP" unit="M">
<x> 0 </x>
<y> 0 </y>
<z> 1.0 </z>
</location>
<location name="EYEPOINT" unit="M">
<x> -4.0 </x>
<y> 0 </y>
<z> 2.5 </z>
</location>
<location name="VRP" unit="M">
<x> 0 </x>
<y> 0 </y>
<z> 0 </z>
</location>
</metrics>
<mass_balance>
<!--
Rough model to estimate CG and inertia tensor.
% The car is a uniform 4.95x2.18x2.64 meter box.
% CG in the middle between the wheels.
m = 10000 % KG
a = 9.0 % m
b = 2.9 % m
c = 1 % m
Ixx = 1/12 * m * (b^2 + c^2)
Iyy = 1/12 * m * (a^2 + c^2)
Izz = 1/12 * m * (a^2 + b^2)
Ixy = Ixz = Iyz = 0
-->
<ixx unit="KG*M2"> 7841.7 </ixx>
<iyy unit="KG*M2"> 68333.0 </iyy>
<izz unit="KG*M2"> 74508.0 </izz>
<ixy unit="KG*M2"> -0 </ixy>
<ixz unit="KG*M2"> -0 </ixz>
<iyz unit="KG*M2"> -0 </iyz>
<emptywt unit="KG"> 10000 </emptywt>
<location name="CG" unit="M">
<x> 0.0 </x>
<y> 0.0 </y>
<z> 0.7 </z>
</location>
</mass_balance>
<ground_reactions>
<contact type="BOGEY" name="LEFT_FRONT_WHEEL">
<location unit="M">
<x> -2.65 </x>
<y> -1.4 </y>
<z> -0.1 </z>
</location>
<static_friction> 0.7 </static_friction>
<dynamic_friction> 0.6 </dynamic_friction>
<rolling_friction> 0.05 </rolling_friction>
<spring_coeff unit="N/M"> 150000 </spring_coeff>
<damping_coeff unit="N/M/SEC"> 30000 </damping_coeff>
<max_steer unit="DEG"> 30.0 </max_steer>
<brake_group> LEFT </brake_group>
<retractable>0</retractable>
</contact>
<contact type="BOGEY" name="RIGHT_FRONT_WHEEL">
<location unit="M">
<x> -2.65 </x>
<y> 1.4 </y>
<z> -0.1 </z>
</location>
<static_friction> 0.7 </static_friction>
<dynamic_friction> 0.6 </dynamic_friction>
<rolling_friction> 0.05 </rolling_friction>
<spring_coeff unit="N/M"> 150000 </spring_coeff>
<damping_coeff unit="N/M/SEC"> 30000 </damping_coeff>
<max_steer unit="DEG"> 30.0 </max_steer>
<brake_group> RIGHT </brake_group>
<retractable>0</retractable>
</contact>
<contact type="BOGEY" name="LEFT_REAR_WHEEL">
<location unit="M">
<x> 2.70 </x>
<y> -1.4 </y>
<z> -0.1 </z>
</location>
<static_friction> 0.7 </static_friction>
<dynamic_friction> 0.6 </dynamic_friction>
<rolling_friction> 0.05 </rolling_friction>
<spring_coeff unit="N/M"> 150000 </spring_coeff>
<damping_coeff unit="N/M/SEC"> 30000 </damping_coeff>
<max_steer unit="DEG"> 0.0 </max_steer>
<brake_group> LEFT </brake_group>
<retractable>0</retractable>
</contact>
<contact type="BOGEY" name="RIGHT_REAR_WHEEL">
<location unit="M">
<x> 2.70 </x>
<y> 1.4 </y>
<z> -0.1 </z>
</location>
<static_friction> 0.7 </static_friction>
<dynamic_friction> 0.6 </dynamic_friction>
<rolling_friction> 0.05 </rolling_friction>
<spring_coeff unit="N/M"> 150000 </spring_coeff>
<damping_coeff unit="N/M/SEC"> 30000 </damping_coeff>
<max_steer unit="DEG"> 0.0 </max_steer>
<brake_group> RIGHT </brake_group>
<retractable>0</retractable>
</contact>
<contact type="STRUCTURE" name="REAR_LEFT">
<location unit="M">
<x> 4.6 </x>
<y> -1.4 </y>
<z> 1.0 </z>
</location>
<static_friction> 0.8 </static_friction>
<dynamic_friction> 0.8 </dynamic_friction>
<rolling_friction> 0.8 </rolling_friction>
<spring_coeff unit="N/M"> 300000 </spring_coeff>
<damping_coeff unit="N/M/SEC"> 60000 </damping_coeff>
<max_steer unit="DEG"> 0.0 </max_steer>
<brake_group> NONE </brake_group>
<retractable>0</retractable>
</contact>
<contact type="STRUCTURE" name="REAR_RIGHT">
<location unit="M">
<x> 4.6 </x>
<y> 1.4 </y>
<z> 1.0 </z>
</location>
<static_friction> 0.8 </static_friction>
<dynamic_friction> 0.8 </dynamic_friction>
<rolling_friction> 0.8 </rolling_friction>
<spring_coeff unit="N/M"> 300000 </spring_coeff>
<damping_coeff unit="N/M/SEC"> 60000 </damping_coeff>
<max_steer unit="DEG"> 0.0 </max_steer>
<brake_group> NONE </brake_group>
<retractable>0</retractable>
</contact>
<contact type="STRUCTURE" name="FRONT_LEFT">
<location unit="M">
<x> -4.4 </x>
<y> -1.4 </y>
<z> 0.9 </z>
</location>
<static_friction> 0.8 </static_friction>
<dynamic_friction> 0.8 </dynamic_friction>
<rolling_friction> 0.8 </rolling_friction>
<spring_coeff unit="N/M"> 300000 </spring_coeff>
<damping_coeff unit="N/M/SEC"> 60000 </damping_coeff>
<max_steer unit="DEG"> 0.0 </max_steer>
<brake_group> NONE </brake_group>
<retractable>0</retractable>
</contact>
<contact type="STRUCTURE" name="FRONT_RIGHT">
<location unit="M">
<x> -4.4 </x>
<y> 1.4 </y>
<z> 0.9 </z>
</location>
<static_friction> 0.8 </static_friction>
<dynamic_friction> 0.8 </dynamic_friction>
<rolling_friction> 0.8 </rolling_friction>
<spring_coeff unit="N/M"> 300000 </spring_coeff>
<damping_coeff unit="N/M/SEC"> 60000 </damping_coeff>
<max_steer unit="DEG"> 0.0 </max_steer>
<brake_group> NONE </brake_group>
<retractable>0</retractable>
</contact>
<contact type="STRUCTURE" name="REAR_LEFT_TOP">
<location unit="M">
<x> 4.6 </x>
<y> -1.4 </y>
<z> 3.0 </z>
</location>
<static_friction> 0.8 </static_friction>
<dynamic_friction> 0.8 </dynamic_friction>
<rolling_friction> 0.8 </rolling_friction>
<spring_coeff unit="N/M"> 300000 </spring_coeff>
<damping_coeff unit="N/M/SEC"> 60000 </damping_coeff>
<max_steer unit="DEG"> 0.0 </max_steer>
<brake_group> NONE </brake_group>
<retractable>0</retractable>
</contact>
<contact type="STRUCTURE" name="REAR_RIGHT_TOP">
<location unit="M">
<x> 4.6 </x>
<y> 1.4 </y>
<z> 3.0 </z>
</location>
<static_friction> 0.8 </static_friction>
<dynamic_friction> 0.8 </dynamic_friction>
<rolling_friction> 0.8 </rolling_friction>
<spring_coeff unit="N/M"> 300000 </spring_coeff>
<damping_coeff unit="N/M/SEC"> 60000 </damping_coeff>
<max_steer unit="DEG"> 0.0 </max_steer>
<brake_group> NONE </brake_group>
<retractable>0</retractable>
</contact>
<contact type="STRUCTURE" name="FRONT_LEFT_TOP">
<location unit="M">
<x> -4.5 </x>
<y> -1.4 </y>
<z> 3.0 </z>
</location>
<static_friction> 0.8 </static_friction>
<dynamic_friction> 0.8 </dynamic_friction>
<rolling_friction> 0.8 </rolling_friction>
<spring_coeff unit="N/M"> 300000 </spring_coeff>
<damping_coeff unit="N/M/SEC"> 60000 </damping_coeff>
<max_steer unit="DEG"> 0.0 </max_steer>
<brake_group> NONE </brake_group>
<retractable>0</retractable>
</contact>
<contact type="STRUCTURE" name="FRONT_RIGHT_TOP">
<location unit="M">
<x> -4.5 </x>
<y> 1.4 </y>
<z> 3.0 </z>
</location>
<static_friction> 0.8 </static_friction>
<dynamic_friction> 0.8 </dynamic_friction>
<rolling_friction> 0.8 </rolling_friction>
<spring_coeff unit="N/M"> 300000 </spring_coeff>
<damping_coeff unit="N/M/SEC"> 60000 </damping_coeff>
<max_steer unit="DEG"> 0.0 </max_steer>
<brake_group> NONE </brake_group>
<retractable>0</retractable>
</contact>
</ground_reactions>
<propulsion>
<engine file="electric75kW">
<location unit="M">
<x> 1.0 </x>
<y> 0.0 </y>
<z> 1.0 </z>
</location>
<orient unit="DEG">
<roll> 0.0 </roll>
<pitch> 0.0 </pitch>
<yaw> 0.0 </yaw>
</orient>
<thruster file="direct">
<location unit="M">
<x> 2.5 </x>
<y> 0.0 </y>
<z> 0.6 </z>
</location>
<orient unit="DEG">
<roll> 0.0 </roll>
<pitch> 0.0 </pitch>
<yaw> 0.0 </yaw>
</orient>
</thruster>
</engine>
</propulsion>
<flight_control name="FGFCS">
<property>fcs/engine-throttle-pos-norm</property>
<property>/controls/gear/brake-left</property>
<property>/controls/gear/brake-right</property>
<property>/controls/gear/brake-parking</property>
<channel name="Steering">
<fcs_function name="fcs/steering-cmd-deg">
<function>
<product>
<value>30.0</value>
<property>fcs/aileron-cmd-norm</property>
</product>
</function>
<output>fcs/steer-pos-deg[0]</output>
<output>fcs/steer-pos-deg[1]</output>
</fcs_function>
<aerosurface_scale name="Rudder Position Normalized">
<input>-fcs/steering-cmd-deg</input>
<domain>
<min>-30.0</min>
<max>30.0</max>
</domain>
<range>
<min>-1</min>
<max>1</max>
</range>
<output>fcs/rudder-pos-norm</output>
</aerosurface_scale>
</channel>
<channel name="Brakes">
<fcs_function name="fcs/brake-cmd-norm">
<function>
<property>/controls/gear/brake-left</property>
</function>
<output>fcs/left-brake-cmd-norm</output>
<output>fcs/right-brake-cmd-norm</output>
<output>fcs/center-brake-cmd-norm</output>
</fcs_function>
</channel>
<channel name="Engine control">
<fcs_function name="fcs/engine-throttle-cmd-norm">
<function>
<sum>
<property>/controls/gear/brake-right</property>
<property>fcs/throttle-cmd-norm</property>
</sum>
</function>
</fcs_function>
<scheduled_gain name="Power limiter">
<input>fcs/engine-throttle-cmd-norm</input>
<gain>1.0</gain>
<table>
<independentVar>velocities/u-fps</independentVar>
<tableData>
-35.0 0.0
0 1.0
30 1.0
100.0 0.0
</tableData>
</table>
<output>fcs/engine-throttle-pos-norm</output>
</scheduled_gain>
<switch name="Brake cut off">
<default value="0.0"/>
<test logic="AND" value="fcs/engine-throttle-pos-norm">
/controls/gear/brake-left lt 0.01
/controls/gear/brake-parking lt 0.01
</test>
<output>fcs/throttle-pos-norm</output>
</switch>
</channel>
</flight_control>
<aerodynamics>
<!-- Wild guess: D = K A q_inf -->
<!-- A = cross sectional area (m^2); -->
<axis name="DRAG">
<function name="aero/coefficient/CDcar">
<description>Drag</description>
<product>
<property>aero/qbar-psf</property>
<value> 93.6 </value>
<!-- Start CD -->
<value> 0.05 </value>
</product>
</function>
</axis>
</aerodynamics>
</fdm_config>