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{"sheet":"SimS3K3","index":0,"n_rows":426,"n_cols":41,"rows_kept":426,"cut":false,"hidden":false,"merged":[]}
[]
[null,"Start SimS3K3",null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,"Q 4 4 .1",null,"R 8 ","Update ",{"$f":"1/75","v":1.3333333333333334E-2},-5.3711028319086402,null,null,-2.7576454595200182,null,null,2.7228689903541641]
[null,"Time increment ",{"$f":"1/75","v":1.3333333333333334E-2},{"$f":"1/C3","v":75},null,null,null,"Instructions:",null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,"Sec/Ft",244.51138429241001,null,"Sec/Ft",119.99466958636327,null,"Ft/Sec",5.2433909208846684E-2]
[null,"Speed knots",16,{"$f":"C4*6076/3600","v":27.004444444444445},null,null,null,null,"Highlight the cell in which output is to start, e.g. b2    Start SimS3K3 .",null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,"Ft/Sec",4.839871037430591E-2,{"$f":"SUM(AI6:AI14)","v":0.37925090688170171},"Ft/Sec",2.5476012510846316E-2,{"$f":"SUM(AL6:AL14)","v":0.10309167424569568},"Ft/Sec",null,{"$f":"SUM(AO6:AO14)","v":0.14064633914105693}]
[null,"MI - Moment Of Inertia",6768.1640625,null,null,null,3263.4765625,null,"Go to View, Macros, View Macros, and highlight SimS3K3, and run",null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,"Knots","Ft/Sec","G1","G2","G3","G(1,1)","G(1,1)",null,"G(1,2)","G(1,2)",null,"G(1,3)","G(1,3)"]
[null,"Kr",0.46655765477777728,null,null,null,1.511874439955107,null,"You will notice that the number after iteration, \"c23\", cycles from 1 to 200",null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,10,{"$f":"AB6*6076/3600","v":16.877777777777776},10.140025894757244,4.8900032001289473,3.8531671341909286,{"$f":"AD6","v":10.140025894757244},{"$f":"AH$2+AH$3/$AC6+AH$4*$AC6","v":9.9329386393552781},{"$f":"(AG6-AH6)^2","v":4.2885131349919024E-2},{"$f":"AE6","v":4.8900032001289473},{"$f":"AK$2+AK$3/$AC6+AK$4*$AC6","v":4.781957944419573},{"$f":"(AJ6-AK6)^2","v":1.1673777281304077E-2},{"$f":"AF6","v":3.8531671341909286},{"$f":"AN$2+AN$3*$AC6","v":3.6078368580012543},{"$f":"(AM6-AN6)^2","v":6.0186944415301868E-2}]
[null,"j",1.9353233792092996,3.7454765821141027,null,null,2.2485457226878389,null,"Wait for the output to be placed on your sheet ",null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,15,{"$f":"AB7*6076/3600","v":25.316666666666666},5.1043276450614288,2.4147874098226416,4.0628722321128601,{"$f":"AD7","v":5.1043276450614288},5.5123103809577723,{"$f":"(AG7-AH7)^2","v":0.16644991278946555},2.4147874098226416,2.6270722079580007,{"$f":"(AJ7-AK7)^2","v":4.5064835519370142E-2},4.0628722321128601,{"$f":"AN$2+AN$3*$AC7","v":4.0503207918247988},1.5753865330476888E-4]
[null,"Vert Acc dKh/dAoA",119.31643919880528,0.1,null,null,291.29990038770819,null,"Below the simulation is graphed",null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,20,{"$f":"AB8*6076/3600","v":33.755555555555553},3.3675859109302584,1.5844304904558817,4.3897697259238324,3.3675859109302584,3.5062119213661633,1.9217170769375628E-2,1.5844304904558817,1.6571239591827034,5.2843403955374043E-3,4.3897697259238324,4.4928047256483445,1.0616211168230215E-2]
[null,"CGFoil",5.5,null,null,null,3,null,null,null,null,"Comments:",null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,25,42.194444444444443,2.5579044793520023,1.2087206486784425,4.7949253753663781,2.5579044793520023,2.4659253812969086,8.4601544790285296E-3,1.2087206486784425,1.1611507054819143,2.2628994957209184E-3,4.7949253753663781,4.9352886594718894,1.9701851524884496E-2]
[null,"Hull radius",3.5,0.75,1.5,null,3.5,null,null,null,null,"This example (code) calculates the A and B matrixes, from the differential equations of roll dynamics ",null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,30,50.633333333333333,2.1064987601770651,1.0053290771311907,5.2502224220754803,2.1064987601770651,1.9085448009888331,3.9185769958296222E-2,1.0053290771311907,0.90216494931838009,1.0642837267377919E-2,5.2502224220754803,5.3777725932954343,1.6269046178239592E-2]
[null,"tq foil roll rate torque",3157.7387521512337,null,null,null,4933.9668002363051,null,null,null,null,"It calculates the feedback gains (g1, g2, g3) and runs a simulation",null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,35,59.072222222222223,1.8233219193414152,0.88114044357688048,5.7375551595359395,1.8233219193414152,1.6271104834014314,3.8498927593630369E-2,0.88114044357688048,0.77860062031899169,1.0514415353759072E-2,5.7375551595359395,5.8202565271189801,6.8395162001051966E-3]
[null,"Control Surface torque",26594.471970370374,26553.841527082302,null,null,64927.910083912036,null,null,null,null,"The simulation perturbs the roll state and simulates the roll dynamics",null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,40,67.511111111111106,1.6304058422573064,0.79852202557297314,6.2456576977770242,1.6304058422573064,1.5181425800144503,1.2603040049408279E-2,0.79852202557297314,0.73967468329719432,3.4630096929226645E-3,6.2456576977770242,6.2627404609425241,2.9182079736856178E-4]
[null,"BUr       BUh",3.9293480070497884,115.57888441772393,null,null,19.895319865319866,null,null,null,null,"You will see in the AandB subprogram most of the data peculiar to Talaria",null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,45,75.95,1.4908342331902813,0.73994206467205292,6.7674595542601708,1.4908342331902813,1.5241522860944166,1.1100926493227555E-3,0.73994206467205292,0.75717434092712388,2.9695134493108228E-4,6.7674595542601708,6.7052243947660699,3.8732150772561717E-3]
[null,null,"A",null,null,"B",null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,50,84.388888888888886,1.3851674788999027,0.69632197677860608,7.2984073502399429,1.3851674788999027,1.6106463188012454,5.0840707243255359E-2,0.69632197677860608,0.81417191481326268,1.3888607894772399E-2,7.2984073502399429,7.1477083285896148,2.2710195126366062E-2]
[null,"A","Roll","Roll Rate","Flap","B",null,null,null,null,null,"To access the VB code: Go to View, Macros, highlight SimS3K3, click Edit "]
[null,"Roll",1.0003322603896638,1.3293422553421395E-2,3.4857158263428256E-4,1.5490081070266023E-6,null,null,null,null,null,"The upper right drop dopdown list shows the subroutines"]
[null,"Roll Rate",4.9790202869987338E-2,0.99413011233916948,5.2234483417157113E-2,3.4857200976079846E-4,null,null,null,null,null,"SimS3K3 is the main program and contains the Q and R matrixes and the actuator delay \"ndelay\". "]
[null,"Flap",0,0,1,1.3333333333333331E-2,null,null,null,null,null," It calls Control3, Kalman3, and calculates the simulation."]
[null,"Q","Q",null,null,"R",null,null,null,null,null,"AandB3 calculates the state matrix A and the control matrix B."]
[null,"Roll",4,0,0,8]
[null,"Roll Rate",0,4,0]
[null,"Flap",0,0,0.1]
[null,"iteration",1000,null,null,null,null,null,null,null,null,"From column \"AB\" are placed the control gains for the speed range "]
[null,"Control Gain","g1","g2","g3",null,null,null,null,null,null,"Excel Solver, ( under Data, \"?\" or Solver ) is used to fit functions to the gain values over their speed range"]
[null,null,4.6228990239451591,2.1824267410315179,4.1202528559623435,null,3854.7083047331203,1727.4028824588104,2818.6375425582855]
[null,null,null,null,null,null,1727.4028824588102,858.68428448057716,1331.6914637257992]
[null,"C",null,null,null,null,2818.6375425582855,1331.6914637257964,2506.8821067737072]
[null,null,1,0,0]
[null,null,0,1,0]
[null,null,0,0,1]
[null,"Measurement error matrix"]
[null,null,0.01,0,0]
[null,null,0,1.7E-5,0]
[null,null,0,0,1.5E-5]
[null,"System noise matrix"]
[null,null,1E-4,0,0]
[null,null,0,9.9999999999999995E-7,0]
[null,null,0,0,5.0000000000000001E-3]
[null,"Kalman iteration",1000]
[null,"Kalman gain h matrix",null,null,null,null,"SN residual",null,1.4055171501742688E-4]
[null,null,4.1950785078397911E-2,1.6303880276126337,-2.5332616176039697E-4,null,4.1950785078397908E-4,2.7716596469414771E-5,-3.7998924264059541E-9]
[null,null,2.7716596469414771E-3,0.39958876875368921,9.339014423373105E-5,null,2.7716596469414771E-5,6.7930090688127166E-6,1.4008521635059656E-9]
[null,null,-3.7998924264059541E-7,8.2403068441527392E-5,0.99701785330659953,null,-3.7998924264059541E-9,1.4008521635059656E-9,1.4955267799598992E-5]
[]
[null,"maxCSRate in Radians",0.69808027923211169,{"$f":"C45*180/3.14159","v":39.997087545408569},"Actuator"]
[null,"maxCSDeflect in Radians",0.26178010471204188,{"$f":"C46*180/3.14159","v":14.998907829528214},"Hz"]
[null,"Actuator delay",3,0.04,{"$f":"1/D47","v":25}]
[null,"Max",{"$f":"MAX(C52:C426)","v":0.2750011198976251},{"$f":"MAX(D52:D426)","v":4.3412652216818365E-5},{"$f":"MAX(E52:E426)","v":-6.8376916208909316E-2},{"$f":"MAX(F52:F426)","v":0.1031830503995752}]
[null,"Min",{"$f":"MIN(C52:C426)","v":7.2736247102677259E-2},{"$f":"MIN(D52:D426)","v":-8.3863033458412825E-2},-0.26178010471204188,-0.19283788826655046,null,{"$f":"E49*180/3.14159","v":-14.998907829528214}]
[null,"t","Roll","Rate","Flap","Control",0.25900000000000001,{"$f":"G50*180/3.14159","v":14.839619428378626}]
[null,null,"xtt1","xtt2","xtt3","-u(1, 1)"]
[null,0,0.27500004585250737,6.8711339513555236E-6,-0.26178010471204188,0,{"$f":"C52*180/3.14159","v":15.756355302076759}]
[null,1.3333333333333334E-2,0.27500025971038528,2.5190334896315128E-5,-0.26178010471204188,0,{"$f":"C53*180/3.14159","v":15.75636755524093}]
[null,2.6666666666666668E-2,0.27500071716419872,4.3412652216818365E-5,-0.26178010471204188,0,15.756393765435901]
[null,0.04,0.2750011198976251,-5.3074861957412686E-6,-0.26178010471204188,-0.1918061910407729]
[null,5.3333333333333337E-2,0.27500087364057701,-5.4051685993992949E-5,-0.26178010471204188,-0.19275318418638676]
[null,6.6666666666666666E-2,0.27499997925958436,-1.0253662346665765E-4,-0.26178010471204188,-0.19279506782177824]
[null,0.08,0.27499843998433382,-1.5079641722267673E-4,-0.26178010471204188,-0.19283788826655046]
[null,9.3333333333333338E-2,0.27499625882523382,-1.9881234757881792E-4,-0.26178010471204188,-0.19273109639012276]
[null,0.10666666666666667,0.27499343881563232,-2.4661671607952408E-4,-0.26178010471204188,-0.19262117909521059]
[null,0.12000000000000001,0.27498998255950158,-2.9424170539904857E-4,-0.26178010471204188,-0.19250877259830079]
[null,0.13333333333333333,0.27498589223395525,-3.4171915844542419E-4,-0.26178010471204188,-0.19239381606480332]
[null,0.14666666666666667,0.27498116959344254,-3.8908064233819114E-4,-0.26178010471204188,-0.19227636550820781]
[null,0.16,0.27497581597344978,-4.3635743143101332E-4,-0.26178010471204188,-0.19215636321863183]
[null,0.17333333333333334,0.27496983229425609,-4.8358052927447776E-4,-0.26178010471204188,-0.19203374971912446]
[null,0.18666666666666668,0.27496321906439714,-5.3078069043891579E-4,-0.26178010471204188,-0.19190846427041297]
[null,0.2,0.27495597638384012,-5.7798844199383811E-4,-0.26178010471204188,-0.19178044474801537]
[null,0.21333333333333335,0.27494810394687474,-6.2523410472250737E-4,-0.26178010471204188,-0.19164962769763938]
[null,0.22666666666666668,0.27493960104472237,-6.7254781405716533E-4,-0.26178010471204188,-0.19151594830395569]
[null,0.24000000000000002,0.27493046656786851,-7.1995954075019879E-4,-0.26178010471204188,-0.19137934035830506]
[null,0.25333333333333335,0.27492069900812083,-7.6749911129636659E-4,-0.26178010471204188,-0.19123973622580515]
[null,0.26666666666666666,0.27491029646039666,-8.1519622812095921E-4,-0.26178010471204188,-0.19109706681169958]
[null,0.28000000000000003,0.27489925662424303,-8.6308048954847534E-4,-0.26178010471204188,-0.19095126152700215]
[null,0.29333333333333333,0.27488757680509107,-9.111814095661753E-4,-0.26178010471204188,-0.19080224825341552]
[null,0.3066666666666667,0.27487525391524892,-9.5952843739668058E-4,-0.26178010471204188,-0.190649953307511]
[null,0.32,0.27486228447463457,-1.0081509768934921E-3,-0.26178010471204188,-0.19049430140414603]
[null,0.33333333333333337,0.27484866461125079,-1.0570784057731557E-3,-0.26178010471204188,-0.19033521561910716]
[null,0.34666666666666668,0.27483439006140536,-1.1063400946975887E-3,-0.26178010471204188,-0.19017261735095503]
[null,0.36000000000000004,0.27481945616967729,-1.1559654262198436E-3,-0.26178010471204188,-0.190006426282054]
[null,0.37333333333333335,0.27480385788863093,-1.2059838136064703E-3,-0.26178010471204188,-0.18983656033876861]
[null,0.38666666666666671,0.27478758977828072,-1.2564247195494542E-3,-0.26178010471204188,-0.18966293565080483]
[null,0.4,0.27477064600530626,-1.3073176747804974E-3,-0.26178010471204188,-0.18948546650967568]
[null,0.41333333333333339,0.2747530203420202,-1.3586922966003156E-3,-0.26178010471204188,-0.18930406532627386]
[null,0.42666666666666669,0.27473470616508938,-1.4105783073354635E-3,-0.26178010471204188,-0.18911864258752376]
[null,0.44,0.27471569645401012,-1.4630055527350501E-3,-0.26178010471204188,-0.18892910681210173]
[null,0.45333333333333337,0.27469598378933885,-1.5160040203196154E-3,-0.26178010471204188,-0.18873536450518924]
[null,0.46666666666666667,0.27467556035067803,-1.5696038576942827E-3,-0.26178010471204188,-0.18853732011224911]
[null,0.48000000000000004,0.27465441791441814,-1.6238353908382449E-3,-0.26178010471204188,-0.1883348759717931]
[null,0.49333333333333335,0.27463254785123581,-1.6787291423824781E-3,-0.26178010471204188,-0.18812793226712143]
[null,0.50666666666666671,0.2746099411233483,-1.7343158498875639E-3,-0.26178010471204188,-0.1879163869770113]
[null,0.52,0.27458658828152416,-1.7906264841333487E-3,-0.26178010471204188,-0.18770013582532408]
[null,0.53333333333333333,0.2745624794618497,-1.8476922674321389E-3,-0.26178010471204188,-0.18747907222951476,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,"ab","ab","ab","ab","ab","ab","ab","ab","ab","u","bu","bu","bu"]
[null,0.54666666666666675,0.27453760438225122,-1.9055446919770574E-3,-0.26178010471204188,-0.18725308724801137,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,"1,1","1,2","1,3","2,1","2,2","2,3","3,1","3,2","3,3","1,1","1,1","2,1","3,1"]
[null,0.56000000000000005,0.27451195233877218,-1.9642155382371056E-3,-0.26178010471204188,-0.18702206952643841,null,null,null,null,null,null,null,null,null,null,null,null,null,null,1.3000000000000001E-2,1.0003158705255681,1.2962022823529099E-2,3.3137711394430256E-4,4.8548952942356859E-2,0.99426833955584626,5.0932298548968045E-2,0,0,1,6.6666666666666675E-4,2.2091807596286841E-7,3.3954865699312034E-5,6.6666666666666675E-4]
[null,0.57333333333333336,0.27448551220160472,-2.0237368934104649E-3,-0.26178010471204188,-0.18678590524266681,null,null,null,null,null,null,null,null,null,null,null,null,null,null,1.2333333333333333E-2,1.0002843321913888,1.2299084773759386E-2,2.9829051259026482E-4,4.6065934001551886E-2,0.99454610004343047,4.8327384244307825E-2,0,0,1,6.6666666666666675E-4,4.1977841768971166E-7,6.6173121862183923E-5,1.3333333333333335E-3]
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