Documentation

### This is machine translation

Mouseover text to see original. Click the button below to return to the English version of the page.

Note: This page has been translated by MathWorks. Click here to see
To view all translated materials including this page, select Country from the country navigator on the bottom of this page.

# 6DOF Wind (Wind Angles)

Implement wind angle representation of six-degrees-of-freedom equations of motion

## Library

Equations of Motion/6DOF ## Description

For a description of the coordinate system employed and the translational dynamics, see the block description for the 6DOF Wind (Quaternion) block.

The relationship between the wind angles, ${\left[\mu \gamma \chi \right]}^{\text{T}}$, can be determined by resolving the wind rates into the wind-fixed coordinate frame.

 `$\left[\begin{array}{c}{p}_{w}\\ {q}_{w}\\ {r}_{w}\end{array}\right]=\left[\begin{array}{c}\stackrel{˙}{\mu }\\ 0\\ 0\end{array}\right]+\left[\begin{array}{ccc}1& 0& 0\\ 0& \mathrm{cos}\mu & \mathrm{sin}\mu \\ 0& -\mathrm{sin}\mu & \mathrm{cos}\mu \end{array}\right]\left[\begin{array}{c}0\\ \stackrel{˙}{\gamma }\\ 0\end{array}\right]+\left[\begin{array}{ccc}1& 0& 0\\ 0& \mathrm{cos}\mu & \mathrm{sin}\mu \\ 0& -\mathrm{sin}\mu & \mathrm{cos}\mu \end{array}\right]\left[\begin{array}{ccc}\mathrm{cos}\gamma & 0& -\mathrm{sin}\gamma \\ 0& 1& 0\\ \mathrm{sin}\gamma & 0& \mathrm{cos}\gamma \end{array}\right]\left[\begin{array}{c}0\\ 0\\ \stackrel{˙}{\chi }\end{array}\right]\equiv {J}^{-1}\left[\begin{array}{c}\stackrel{˙}{\mu }\\ \stackrel{˙}{\gamma }\\ \stackrel{˙}{\chi }\end{array}\right]$`

Inverting J then gives the required relationship to determine the wind rate vector.

`$\left[\begin{array}{c}\stackrel{˙}{\mu }\\ \stackrel{˙}{\gamma }\\ \stackrel{˙}{\chi }\end{array}\right]=J\left[\begin{array}{c}{p}_{w}\\ {q}_{w}\\ {r}_{w}\end{array}\right]=\left[\begin{array}{ccc}1& \left(\mathrm{sin}\mu \mathrm{tan}\gamma \right)& \left(\mathrm{cos}\mu \mathrm{tan}\gamma \right)\\ 0& \mathrm{cos}\mu & -\mathrm{sin}\mu \\ 0& \frac{\mathrm{sin}\mu }{\mathrm{cos}\gamma }& \frac{\mathrm{cos}\mu }{\mathrm{cos}\gamma }\end{array}\right]\left[\begin{array}{c}{p}_{w}\\ {q}_{w}\\ {r}_{w}\end{array}\right]$`

The body-fixed angular rates are related to the wind-fixed angular rate by the following equation.

`$\left[\begin{array}{c}{p}_{w}\\ {q}_{w}\\ {r}_{w}\end{array}\right]=DM{C}_{wb}\left[\begin{array}{c}{p}_{b}-\stackrel{˙}{\beta }\mathrm{sin}\alpha \\ {q}_{b}-\stackrel{˙}{\alpha }\\ {r}_{b}+\stackrel{˙}{\beta }\mathrm{cos}\alpha \end{array}\right]$`

Using this relationship in the wind rate vector equations, gives the relationship between the wind rate vector and the body-fixed angular rates.

`$\left[\begin{array}{c}\stackrel{˙}{\mu }\\ \stackrel{˙}{\gamma }\\ \stackrel{˙}{\chi }\end{array}\right]=J\left[\begin{array}{c}{p}_{w}\\ {q}_{w}\\ {r}_{w}\end{array}\right]=\left[\begin{array}{ccc}1& \left(\mathrm{sin}\mu \mathrm{tan}\gamma \right)& \left(\mathrm{cos}\mu \mathrm{tan}\gamma \right)\\ 0& \mathrm{cos}\mu & -\mathrm{sin}\mu \\ 0& \frac{\mathrm{sin}\mu }{\mathrm{cos}\gamma }& \frac{\mathrm{cos}\mu }{\mathrm{cos}\gamma }\end{array}\right]DM{C}_{wb}\left[\begin{array}{c}{p}_{b}-\stackrel{˙}{\beta }\mathrm{sin}\alpha \\ {q}_{b}-\stackrel{˙}{\alpha }\\ {r}_{b}+\stackrel{˙}{\beta }\mathrm{cos}\alpha \end{array}\right]$`

## Parameters

### Main

Units

Specifies the input and output units:

Units

Forces

Moment

Acceleration

Velocity

Position

Mass

Inertia

```Metric (MKS)```

Newton

Newton meter

Meters per second squared

Meters per second

Meters

Kilogram

Kilogram meter squared

```English (Velocity in ft/s)```

Pound

Foot pound

Feet per second squared

Feet per second

Feet

Slug

Slug foot squared

```English (Velocity in kts)```

Pound

Foot pound

Feet per second squared

Knots

Feet

Slug

Slug foot squared

Mass type

Select the type of mass to use:

 `Fixed` Mass is constant throughout the simulation. ```Simple Variable``` Mass and inertia vary linearly as a function of mass rate. ```Custom Variable``` Mass and inertia variations are customizable.

The `Fixed` selection conforms to the previously described equations of motion.

Representation

Select the representation to use:

 ```Wind Angles``` Use wind angles within equations of motion. `Quaternion` Use quaternions within equations of motion.

The `Wind Angles` selection conforms to the previously described equations of motion.

Initial position in inertial axes

The three-element vector for the initial location of the body in the flat Earth reference frame.

Initial airspeed, angle of attack, and sideslip angle

The three-element vector containing the initial airspeed, initial angle of attack and initial sideslip angle.

Initial wind orientation

The three-element vector containing the initial wind angles [bank, flight path, and heading], in radians.

Initial body rotation rates

The three-element vector for the initial body-fixed angular rates, in radians per second.

Initial mass

The mass of the rigid body.

Inertia

The 3-by-3 inertia tensor matrix I, in body-fixed axes.

Include inertial acceleration

Select this check box to enable an additional output port for the accelerations in body-fixed axes with respect to the inertial frame. You typically connect this signal to the accelerometer.

### State Attributes

Assign unique name to each state. You can use state names instead of block paths during linearization.

• To assign a name to a single state, enter a unique name between quotes, for example, `'velocity'`.

• To assign names to multiple states, enter a comma-delimited list surrounded by braces, for example, `{'a', 'b', 'c'}`. Each name must be unique.

• If a parameter is empty (```' '```), no name assignment occurs.

• The state names apply only to the selected block with the name parameter.

• The number of states must divide evenly among the number of state names.

• You can specify fewer names than states, but you cannot specify more names than states.

For example, you can specify two names in a system with four states. The first name applies to the first two states and the second name to the last two states.

• To assign state names with a variable in the MATLAB® workspace, enter the variable without quotes. A variable can be a character vector, cell array, or structure.

Position: e.g., {'Xe', 'Ye', 'Ze'}

Specify position state names.

Default value is `''`.

Velocity: e.g., 'V'

Specify velocity state name.

Default value is `''`.

Incidence angle: e.g., 'alpha'

Specify incidence angle state name.

Default value is `''`.

Sideslip angle: e.g., 'beta'

Specify sideslip angle state name.

Default value is `''`.

Wind orientation: e.g., {'mu', 'gamma', 'chi'}

Specify wind orientation state names. This parameter appears if the Representation parameter is set to ```Wind Angles```.

Default value is `''`.

Body rotation rates: e.g., {'p', 'q', 'r'}

Specify body rotation rate state names.

Default value is `''`.

## Inputs and Outputs

InputDimension TypeDescription

First

VectorContains the three applied forces in wind-fixed axes.

Second

VectorContains the three applied moments in body-fixed axes.
OutputDimension TypeDescription

First

Three-element vectorContains the velocity in the flat Earth reference frame.

Second

Three-element vectorContains the position in the flat Earth reference frame.

Third

Three-element vectorContains the wind rotation angles [bank, flight path, heading], within ±pi, in radians.

Fourth

3-by-3 matrixContains the coordinate transformation from flat Earth axes to wind-fixed axes.

Fifth

Three-element vectorContains the velocity in the wind-fixed frame.

Sixth

Two-element vectorContains the angle of attack and sideslip angle, in radians.

Seventh

Two-element vectorContains the rate of change of angle of attack and rate of change of sideslip angle, in radians per second.

Eighth

Three-element vectorContains the angular rates in body-fixed axes, in radians per second.

Ninth

Three-element vectorContains the angular accelerations in body-fixed axes, in radians per second squared.

Tenth

Three-element vectorContains the accelerations in body-fixed axes with respect to body frame.

Eleventh (Optional)

Three-element vectorContains the accelerations in body-fixed axes with respect to inertial frame (flat Earth). You typically connect this signal to the accelerometer.

## Assumptions and Limitations

The block assumes that the applied forces are acting at the center of gravity of the body, and that the mass and inertia are constant.

## Reference

Stevens, B. L., and F. L. Lewis, Aircraft Control and Simulation, John Wiley & Sons, New York, 1992.

#### Introduced in R2006a

##### Support 평가판 신청