Implement wind angle representation of sixdegreesoffreedom equations of motion of simple variable mass
Equations of Motion/6DOF
For a description of the coordinate system employed and the translational dynamics, see the block description for the Simple Variable Mass 6DOF (Quaternion) block.
The relationship between the wind angles, [$$\mu \gamma \chi $$]^{T}, can be determined by resolving the wind rates into the windfixed coordinate frame.
$$\left[\begin{array}{l}{p}_{w}\\ {q}_{w}\\ {r}_{w}\end{array}\right]=\left[\begin{array}{l}\dot{\mu}\\ 0\\ 0\end{array}\right]+\left[\begin{array}{lll}1\hfill & 0\hfill & 0\hfill \\ 0\hfill & \mathrm{cos}\mu \hfill & \mathrm{sin}\mu \hfill \\ 0\hfill & \mathrm{sin}\mu \hfill & \mathrm{cos}\mu \hfill \end{array}\right]\left[\begin{array}{l}0\\ \dot{\gamma}\\ 0\end{array}\right]+\left[\begin{array}{lll}1\hfill & 0\hfill & 0\hfill \\ 0\hfill & \mathrm{cos}\mu \hfill & \mathrm{sin}\mu \hfill \\ 0\hfill & \mathrm{sin}\mu \hfill & \mathrm{cos}\mu \hfill \end{array}\right]\left[\begin{array}{lll}\mathrm{cos}\gamma \hfill & 0\hfill & \mathrm{sin}\gamma \hfill \\ 0\hfill & 1\hfill & 0\hfill \\ \mathrm{sin}\gamma \hfill & 0\hfill & \mathrm{cos}\gamma \hfill \end{array}\right]\left[\begin{array}{l}0\\ 0\\ \dot{\chi}\end{array}\right]\equiv {J}^{1}\left[\begin{array}{l}\dot{\mu}\\ \dot{\gamma}\\ \dot{\chi}\end{array}\right]$$
Inverting J then gives the required relationship to determine the wind rate vector.
$$\left[\begin{array}{l}\dot{\mu}\\ \dot{\gamma}\\ \dot{\chi}\end{array}\right]=J\left[\begin{array}{l}{p}_{w}\\ {q}_{w}\\ {r}_{w}\end{array}\right]=\left[\begin{array}{lll}1\hfill & (\mathrm{sin}\mu \mathrm{tan}\gamma )\hfill & (\mathrm{cos}\mu \mathrm{tan}\gamma )\hfill \\ 0\hfill & \mathrm{cos}\mu \hfill & \mathrm{sin}\mu \hfill \\ 0\hfill & \frac{\mathrm{sin}\mu}{\mathrm{cos}\gamma}\hfill & \frac{\mathrm{cos}\mu}{\mathrm{cos}\gamma}\hfill \end{array}\right]\left[\begin{array}{l}{p}_{w}\\ {q}_{w}\\ {r}_{w}\end{array}\right]$$
The bodyfixed angular rates are related to the windfixed angular rate by the following equation.
$$\left[\begin{array}{l}{p}_{w}\\ {q}_{w}\\ {r}_{w}\end{array}\right]=DM{C}_{wb}\left[\begin{array}{c}{p}_{b}\dot{\beta}\mathrm{sin}\alpha \\ {q}_{b}\dot{\alpha}\\ {r}_{b}+\dot{\beta}\mathrm{cos}\alpha \end{array}\right]$$
Using this relationship in the wind rate vector equations, gives the relationship between the wind rate vector and the bodyfixed angular rates.
$$\left[\begin{array}{l}\dot{\mu}\\ \dot{\gamma}\\ \dot{\chi}\end{array}\right]=J\left[\begin{array}{l}{p}_{w}\\ {q}_{w}\\ {r}_{w}\end{array}\right]=\left[\begin{array}{lll}1\hfill & (\mathrm{sin}\mu \mathrm{tan}\gamma )\hfill & (\mathrm{cos}\mu \mathrm{tan}\gamma )\hfill \\ 0\hfill & \mathrm{cos}\mu \hfill & \mathrm{sin}\mu \hfill \\ 0\hfill & \frac{\mathrm{sin}\mu}{\mathrm{cos}\gamma}\hfill & \frac{\mathrm{cos}\mu}{\mathrm{cos}\gamma}\hfill \end{array}\right]DM{C}_{wb}\left[\begin{array}{c}{p}_{b}\dot{\beta}\mathrm{sin}\alpha \\ {q}_{b}\dot{\alpha}\\ {r}_{b}+\dot{\beta}\mathrm{cos}\alpha \end{array}\right]$$
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 
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 Simple Variable
selection conforms to the previously described
equations of motion.
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.
The threeelement vector for the initial location of the body in the flat Earth reference frame.
The threeelement vector containing the initial airspeed, initial sideslip angle and initial angle of attack.
The threeelement vector containing the initial wind angles [bank, flight path, and heading], in radians.
The threeelement vector for the initial bodyfixed angular rates, in radians per second.
The initial mass of the rigid body.
A scalar value for the empty mass of the body.
A scalar value for the full mass of the body.
A 3by3 inertia tensor matrix for the empty inertia of the body, in bodyfixed axes.
A 3by3 inertia tensor matrix for the full inertia of the body, in bodyfixed axes.
Select this check box to add a mass flow relative velocity port. This is the relative velocity at which the mass is accreted or ablated.
Select this check box to enable an additional output port for the accelerations in bodyfixed axes with respect to the inertial frame. You typically connect this signal to the accelerometer.
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
commadelimited 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.
Specify position state names.
Default value is
''
.
Specify velocity state name.
Default value is
''
.
Specify incidence angle state name.
Default value is
''
.
Specify sideslip angle state name.
Default value is
''
.
Specify wind orientation state names. This
parameter appears if the
Representation parameter is
set to Wind
Angles
.
Default value is
''
.
Specify body rotation rates state names.
Default value is
''
.
Specify mass state name.
Default value is
''
.
Input  Dimension Type  Description 

First  Vector  Contains the three applied forces in windfixed axes. 
Second  Vector  Contains the three applied moments in bodyfixed axes. 
Third  Scalar or vector  Contains one or more rates of change of mass. This value is positive if the mass is added (accreted) to the body in wind axes. It is negative if the mass is ejected (ablated) from the body in wind axes. 
Fourth (Optional)  Threeelement vector  Contains one or more relative velocities at which the mass is accreted to or ablated from the body in wind axes. 
Output  Dimension Type  Description 

First  Threeelement vector  Contains the velocity in the fixed Earth reference frame. 
Second  Threeelement vector  Contains the position in the flat Earth reference frame. 
Third  Threeelement vector  Contains the wind rotation angles [bank, flight path, heading], within ±pi, in radians. 
Fourth  3by3 matrix  Applies to the coordinate transformation from flat Earth axes to windfixed axes. 
Fifth  Threeelement vector  Contains the velocity in the windfixed frame. 
Sixth  Twoelement vector  Contains the angle of attack and sideslip angle, in radians. 
Seventh  Twoelement vector  Contains the rate of change of angle of attack and rate of change of sideslip angle, in radians per second. 
Eighth  Threeelement vector  Contains the angular rates in bodyfixed axes, in radians per second. 
Ninth  Threeelement vector  Contain the angular accelerations in bodyfixed axes, in radians per second squared. 
Tenth  Threeelement vector  Contains the accelerations in bodyfixed axes with respect to body frame. 
Eleventh  Scalar element  Contains a flag for fuel tank status:

Twelfth (Output)  Threeelement vector  Contains the accelerations in bodyfixed axes with respect to inertial frame (flat Earth). You typically connect this signal to the accelerometer. 
The block assumes that the applied forces are acting at the center of gravity of the body.
Stevens, Brian, and Frank Lewis, Aircraft Control and Simulation, Second Edition, John Wiley & Sons, 2003.
Zipfel, Peter H., Modeling and Simulation of Aerospace Vehicle Dynamics. Second Edition, AIAA Education Series, 2007.
6th Order Point Mass (Coordinated Flight)
Custom Variable Mass 6DOF (Euler Angles)
Custom Variable Mass 6DOF (Quaternion)
Custom Variable Mass 6DOF ECEF (Quaternion)
Custom Variable Mass 6DOF Wind (Quaternion)
Custom Variable Mass 6DOF Wind (Wind Angles)
Simple Variable Mass 6DOF (Euler Angles)
Simple Variable Mass 6DOF (Quaternion)
Simple Variable Mass 6DOF ECEF (Quaternion)