Added all project files.

Scripts_Data/sm_aileron_actuator_plot4ctrlcircavgpwm.m

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+% Code to plot simulation results from sm_aileron_actuator
+%% Plot Description:
+%
+% The plots below show the effects of implementing the control algorithm
+% using an analog circuit.
+%
+% Copyright 2018-2019 The MathWorks, Inc.
+
+% Reuse figure if it exists, else create new figure
+if ~exist('h4_sm_aileron_actuator', 'var') || ...
+        ~isgraphics(h4_sm_aileron_actuator, 'figure')
+    h4_sm_aileron_actuator = figure('Name', 'sm_aileron_actuator');
+end
+figure(h4_sm_aileron_actuator)
+temp_colororder = get(gca,'defaultAxesColorOrder');
+clf(h4_sm_aileron_actuator)
+
+config_set = {'E Cir Avg','E Cir PWM'};
+stopti_set = {'0.002','0.002'};
+clrind_set = [4 5];
+modelname = 'sm_aileron_actuator';
+
+open_system('sm_aileron_actuator/Actuator/Electric');
+for i=1:length(config_set)
+    sm_aileron_actuator_configModel(modelname,config_set{i})
+    set_param(modelname,'StopTime',stopti_set{i});
+    sim(modelname)
+    % Get simulation results
+    simlog_t    = simlog_sm_aileron_actuator.Mechanical.Cyl_MC_BrkLAil.Rz.q.series.time;
+    simlog_qAil = simlog_sm_aileron_actuator.Mechanical.Cyl_MC_BrkLAil.Rz.q.series.values('deg');
+    simlog_actFrc = logsout_sm_aileron_actuator.get('force_act');
+    simlog_qCmd = logsout_sm_aileron_actuator.get('qCmd');
+    simlog_iMot = simlog_sm_aileron_actuator.Actuator.Electric.Leadscrew_1.DC_Motor.i.series.values('A');
+
+    % Plot results
+    simlog_handles(1) = subplot(2, 1, 1);
+    hold on
+    %if(i==1)
+    %    plot(simlog_qCmd.Values.Time, simlog_qCmd.Values.Data, 'k-.', 'LineWidth', 1)
+    %end
+    plot(simlog_t, simlog_qAil, 'LineWidth', 1,'Color',temp_colororder(clrind_set(i),:));
+
+    simlog_handles(2) = subplot(2, 1, 2);
+    hold on
+    plot(simlog_t,simlog_iMot, 'LineWidth', 1, 'Color',temp_colororder(clrind_set(i),:))
+end
+set_param(modelname,'StopTime','10');
+
+grid(simlog_handles(1),'on');
+box(simlog_handles(1),'on');
+grid(simlog_handles(2),'on');
+box(simlog_handles(2),'on');
+
+title(simlog_handles(1),'Aileron Angle')
+ylabel(simlog_handles(1),'Angle (deg)')
+legend(simlog_handles(1),{'Average','PWM'},'Location','Best');
+
+title(simlog_handles(2),'Motor Current')
+ylabel(simlog_handles(2),'Current (A)')
+xlabel(simlog_handles(2),'Time (s)')
+
+linkaxes(simlog_handles, 'x')
+
+set(simlog_handles(2),'XLim',[0 str2num(stopti_set{2})]);
+
+hold(simlog_handles(1),'off')
+hold(simlog_handles(2),'off')
+
+% Remove temporary variables
+%clear simlog_t simlog_handles temp_colororder
+clear simlog_actFrc simlog_qCmd simlog_qAil

Scripts_Data/startup_sm_aileron_actuator.m

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+% Startup script for project Aileron_Act.prj
+% Copyright 2018-2019 The MathWorks, Inc.
+
+AAC_HomeDir = pwd;
+
+sm_aileron_actuator_PARAM
+load sm_aileron_actuator_Ang2Ext
+
+sm_aileron_actuator
+web('sm_aileron_actuator_Demo_Script.html');

Workflows/IP_Protect/sm_aileron_actuator_IP_Protect.m

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+% Protect model containing Simscape components
+% and test with varying parameters.
+
+% Copyright 2013-2019 The MathWorks(TM), Inc.
+
+% Open model, create copy
+orig_mdl = 'sm_aileron_actuator';
+mdl = 'sm_aileron_actuator_protected';
+refmdl = 'Aileron_System';
+refsys = [mdl '/' refmdl];
+open_system(orig_mdl);
+save_system(orig_mdl,mdl);
+set_param(mdl,'SystemTargetFile','grt.tlc');
+sm_aileron_actuator_configModel(mdl,'Hydraulic')
+
+%% Configure test and parameters
+%Aileron_EH_Final_Values;
+sm_aileron_actuator_configRTParams(mdl,'Hydraulic')
+
+%% Create subsystem to be protected
+bh(1) = get_param([mdl '/Actuator'],'Handle');
+bh(2) = get_param([mdl '/Mechanical'],'Handle');
+bh(3) = get_param([mdl '/Aero Load'],'Handle');
+bh(4) = get_param([mdl '/qMGoto'],'Handle');
+bh(5) = get_param([mdl '/qMFrom1'],'Handle');
+bh(6) = get_param([mdl '/qMFrom2'],'Handle');
+Simulink.BlockDiagram.createSubSystem(bh);
+set_param([mdl '/Subsystem'],...
+    'Name',refmdl,...
+    'Position',[-250   -24   -25    64]);
+
+set_param([mdl '/Flight Cycle'],...
+    'Position',[-315   -81  -270   -39]);
+set_param([mdl '/Goto1'],...
+    'Position',[25    -8    45     8]);
+
+
+%% Create Reference Model
+set_param(refsys,'TreatAsAtomicUnit','on');
+
+Simulink.SubSystem.convertToModelReference(...
+   refsys,refmdl, ...
+   'AutoFix',true,...
+   'ReplaceSubsystem',true);
+
+%% Configure Reference Model
+open_system(refmdl);
+set_param(refmdl,'SimscapeLogType','none');
+set_param(refmdl,'SimMechanicsOpenEditorOnUpdate','off');
+set_param(refmdl,'ModelReferenceNumInstancesAllowed','single');
+save_system(refmdl);
+
+%% Create and reference protected model
+[harnessHandle, neededVars] = ...
+    Simulink.ModelReference.protect(refmdl,...
+    'Harness', false,...
+    'Webview',true);
+set_param(refsys,'ModelName',[refmdl '.slxp']);
+bdclose(refmdl);
+
+save_system(mdl);
+
+%% Run simulation with modified parameter value
+hydr_supply_pressure.Value = 2e6;
+sim(mdl)
+y_run1 = Angles_Forces.signals(1).values(:,1);
+t_run1 = Angles_Forces.time;
+y_ref  = logsout_sm_aileron_actuator.get('qCmd');
+
+hydr_supply_pressure.Value = 2e6*0.7;
+sim(mdl);
+y_run2 = Angles_Forces.signals(1).values(:,1);
+t_run2 = Angles_Forces.time;
+
+if ~exist('h5_sm_aileron_actuator_ipprotect', 'var') || ...
+        ~isgraphics(h5_sm_aileron_actuator_ipprotect, 'figure')
+    h5_sm_aileron_actuator_ipprotect = figure('Name', 'sm_aileron_actuator');
+end
+figure(h5_sm_aileron_actuator_ipprotect)
+clf(h5_sm_aileron_actuator_ipprotect)
+
+temp_colororder = get(gca,'defaultAxesColorOrder');
+
+plot(y_ref.Values.Time,y_ref.Values.Data,'Color','k','LineWidth',1,'LineStyle','--');
+hold on
+plot(t_run1, y_run1,'LineWidth',1,'Color',temp_colororder(1,:));
+plot(t_run2, y_run2,'LineWidth',1,'Color',temp_colororder(2,:));
+hold off
+title('Supply Pressure Test');
+xlabel('Time (s)');ylabel('Angle (deg)');
+legend({'Command','Full','Reduced'},'Location','Best');
+grid on
+
+
+%% Close model and clean up directory
+%{
+bdclose(mdl); 
+delete([mdl '.slx']);
+delete([mdl '.slxc']);
+bdclose(refmdl);
+delete([refmdl '.slx']);
+delete([refmdl '.slxp']);
+delete([refmdl '_msp.mexw64']);
+!rmdir slprj /S/Q
+%}
+

Workflows/Optimize/sm_aileron_actuator_resp_opt.m

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+% Copyright 2013-2019 The MathWorks(TM), Inc.
+
+% Initial values
+Kp = 0.03;
+Ki = 0.03;
+
+% Configure model
+set_param('sm_aileron_actuator','FastRestart','on');
+set_param('sm_aileron_actuator','SimMechanicsOpenEditorOnUpdate','off');
+
+% Load session
+load sm_aileron_actuator_sdosession
+sdotool(SDOSessionData);

Workflows/Param_Est/Elec/sn_motor_params_setparams.m

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+function sn_motor_params_setparams(initialtuned)
+% Copyright 2012-2019 The MathWorks(TM), Inc.
+
+if (strcmp(initialtuned,'Initial'))
+    evalin('base','DC_Motor_R = 3;');
+    evalin('base','DC_Motor_L = 0.01;');
+    evalin('base','DC_Motor_K = 0.02;');
+    evalin('base','DC_Motor_J = 0.01;');
+    evalin('base','DC_Motor_B = 0.5;');
+else
+    evalin('base','DC_Motor_R = 4.0162;');
+    evalin('base','DC_Motor_L = 2.0536e-04;');
+    evalin('base','DC_Motor_K = 1.0363;');
+    evalin('base','DC_Motor_J = 0.1306;');
+    evalin('base','DC_Motor_B = 1.0630;');
+end

Workflows/Param_Est/Hydr/HS_Param_Est_Slide_Prep.m

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+% Copyright 2014-2019 The MathWorks, Inc.
+time = HS_Param_Est_Input_DATA.time;
+Input_Data = HS_Param_Est_Input_DATA.signals.values;
+Cyl_Pos_Data = logsout_Hydraulic_System_Param_Est.get('Piston_Position');
+Cyl_Pos_Sim_Data = Cyl_Pos_Data.Values.Data(:,1);
+Cyl_Pos_Meas_Data = Cyl_Pos_Data.Values.Data(:,2);
+Cyl_Pos_time = Cyl_Pos_Data.Values.time;
+
+figure(1);
+clf;
+temp_colorOrder = get(gca,'DefaultAxesColorOrder');
+
+new_sb211_h = 336;
+set(gcf,'Position',[765   189   449   new_sb211_h]);
+%POSITION_211 = [0.15 0.583837 0.775 0.341163*522/new_sb211_h];
+subplot(211)
+set(gca,'Position',[0.1300    0.48   0.7750    0.4]);
+
+pos2_h = plot(Cyl_Pos_time,Cyl_Pos_Meas_Data,'LineWidth',3,'Color',temp_colorOrder(1,:));
+hold on
+pos_h = plot(Cyl_Pos_time,Cyl_Pos_Sim_Data,'LineWidth',3,'Color',temp_colorOrder(2,:));
+
+title_h = title('Cylinder Position (m)');
+ylabel_h = ylabel('Position (m)');
+set(title_h,'FontSize',14);
+set(ylabel_h,'FontSize',12);
+grid on
+set(gca,'Box','on');
+axis([time(1) time(end) -1.4 .4]);
+legend({'Measured','Simulated'},'Location','Best')
+
+subplot(212)
+set(gca,'Position',[0.1300    0.1100   0.7750    0.2]);
+pos_h = stairs(time,Input_Data,'LineWidth',3);
+title_h = title('Input Signal (PB | close | PA)');
+set(gca,'YTickLabel',{'PA','close','PB'});
+set(title_h,'FontSize',14);
+set(ylabel_h,'FontSize',12);
+grid on
+set(gca,'Box','on');
+axis([time(1) time(end) -1.2 1.2]);
+

Workflows/Param_Est/Hydr/HS_Param_Final_Values.m

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+% Copyright 2014-2019 The MathWorks, Inc.
+HS_Valve_Max_Opening=0.002;
+HS_Valve_Max_Area=200;     
+HS_Piston_Area_A=0.0174;   
+HS_Piston_Area_B=0.0108;

Workflows/Param_Est/Hydr/HS_Param_Start_Values.m

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+% Copyright 2014-2019 The MathWorks, Inc.
+HS_Valve_Max_Opening=0.002;
+HS_Valve_Max_Area=100;     
+HS_Piston_Area_A=0.0176;   
+HS_Piston_Area_B=0.02;

Workflows/Param_Sweep/Generate_Sim_Settings.m

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+function [simCmdParamValStructs] = Generate_Sim_Settings(param_vals,param_name,rtp)
+
+% Copyright 2012-2019 The MathWorks(TM), Inc.
+
+numParamSets = length(param_vals);
+
+% Create parameter sets:
+paramSets = cell(1, numParamSets);
+for k = 1:numParamSets
+    paramSets{k} = ...
+        Simulink.BlockDiagram.modifyTunableParameters(rtp, ...
+        param_name,param_vals(k));
+end
+
+%% Step 5: Create SIM Command Argument Sets
+
+numSimCmdArgStructs = numParamSets;
+simCmdParamValStructs = cell(1, numSimCmdArgStructs);
+
+%paramValStruct.SaveTime = 'on';
+%paramValStruct.SaveOutput = 'on';
+%paramValStruct.LoadExternalInput = 'on';
+% 'externalInput' is the name of the base workspace variable of
+% the MATLAB worker sessions containing the external inputs data
+%paramValStruct.ExternalInput = 'externalInput';
+paramValStruct.RapidAcceleratorUpToDateCheck = 'off';
+paramValStruct.RapidAcceleratorParameterSets = [];
+paramValStruct.SimulationMode = 'rapid';
+
+for paramSetsIdx = 1:numParamSets
+    simCmdParamValStructs{paramSetsIdx} = paramValStruct;
+    simCmdParamValStructs{paramSetsIdx}.RapidAcceleratorParameterSets = ...
+        paramSets{paramSetsIdx};
+end

Workflows/Param_Sweep/Initialize_MLPool.m

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+% Copyright 2013-2019 The MathWorks, Inc.
+TempSimSettings = SimSettings;
+Temppool = gcp;
+Temppoolsize = Temppool.NumWorkers;
+
+for i = 1:Temppoolsize
+    TempSimSettings{i}.StopTime = '0.01';
+end
+
+parfor i = 1:Temppoolsize
+    out{i} = sim(mdl, TempSimSettings{i});
+end

Workflows/Param_Sweep/PCT_Simulation_Slide_Prep.m

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+% Copyright 2012-2019 The MathWorks(TM), Inc.
+
+set(gcf,'Position',[765   405   449   336]);
+box on
+text(200,25,'Testing Time (normal): 93.2 sec','FontSize',12,'FontWeight','Bold'); 
+text(200,15,'Testing Time (two cores): 53.4 sec','FontSize',12,'FontWeight','Bold'); 
+axis([0 1200 0 100])