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included in the open-loop and closed-loop models of the FDC toolbox.
Detailed descriptions about these libraries and simulation models will be provided
in the next chapters. The sublibraries and models can be opened by double-clicking
108 Chapter 7. Getting started with the FDC toolbox
Figure 7.8: Top-level of the system Beaver
the corresponding boxes in the main library window, or by right-clicking these boxes
and selecting ‘open’ in the context-menu. They can also be accessed directly from
the MATLAB command-line by typing their names in lower-case. For instance, the
command navlib will open the navigation library NAVLIB, and apilot1 will open
the autopilot model APILOT1.
7.8 Taking a closer look at the aircraft model
The complete nonlinear aircraft model is contained in the SIMULINK system Beaver,
which can be accessed via FDCLIB, or directly from the command-line. A detailed
description of this model can be found in chapter 8. Here we will use this model to
explain the layered and modular structure of the SIMULINK systems, the use of block
libraries, and the on-line help facilities for the FDC toolbox. A similar structure has
been used for virtually all SIMULINK models from this toolbox.
To open the system Beaver, double-click the block ‘Complete system BEAVER’ in
the FDCLIB window, or type beaver at the command-line. The top-level of this model
has been shown in figure 7.8. This level handles the input/output functions of the
aircraft model, sending simulation results to the MATLAB workspace by means of
To Workspace blocks, and providing Inport and Outport handles that allow MATLAB
programs to access this model. The actual system dynamics have been implemented
in the subsystem ‘Beaver dynamics and output equations’.
7.9. Linking to SIMULINK libraries 109
Notice the three blocks with shadow borders (in reality, these blocks have been accentuated
by a blue colour). The shadow indicates that some action will occur when
these blocks are double-clicked. In this case, related help information will be displayed
in your webbrowser or the MATLAB help browser. The upper-left block is
called a ‘title block’, which shows the blockname, the author, and the latest revision
date; it has been linked to help information about the subsystem itself. Similar title
blocks can be found in all models and most subsystems from the FDC toolbox.
If you double-click on the subsystem ‘Beaver dynamics and output equations’, the
dialog window from figure 7.9 will be shown. The first line below the window title
provides the blockname, and indicates that we are dealing with a masked subsystem,
that has been linked from a SIMULINK library. Directly beneath, a brief description
about the block is given. Detailed information about the masked subsystem will be
shown in a webbrowser or in the MATLAB help browser if the Help button is clicked.
The dialog window can be closed by clicking Cancel, which will cause SIMULINK
to return to the system Beaver. Without further interaction from the user, the subsystem
‘Beaver dynamics and output equations’ will remain active, which is indicated by
four tiny black squares in its corners. The active status of the subsystem can be cycled
by repeated single-clicking on the subsystem block (the tiny squares will disappear
when the block is deactivated, and reappear when it is reactivated again).
In order to examine the internal structure of this block, we need to look under
the mask. This can be done in several ways: (i) right-click the block, and select ‘Look
under Mask’ in the context-menu, (ii) activate the block and select ‘Look under Mask’
in the Edit menu, or (iii) activate the block and press Ctrl + U in order to unmask
the block. Use whatever method you prefer. Unmasking the subsystem ‘Beaver dynamics
and output equations’ results in the opening of the new window shown in
figure 7.10, which reveals the internal structure of this subsystem.
This second level of the aircraft model again contains a title block in the upper-left
corner; double-clicking this block will reveal the same help information as the Help
button from figure 7.9. The subsystem includes four masked blocks, which have
been linked from a SIMULINK library, and five subsystems without a mask interface.
To indicate that these unmasked subsystems also have library links, they have been
highlighted with a light-blue colour (shown as a grey colour in figure 7.10).
7.9 Linking to SIMULINK libraries
SIMULINK libraries enable users to copy blocks from external libraries into the simulation
models, and automatically update these blocks when the source libraries
　
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