windAngularRate
Description
Examples
Generate Wind in UAV Scenario
Create a UAV scenario and platform. Specify a trajectory to fly the platform 5 meters north of the scenario origin at an altitude of 50 meters.
scene = uavScenario;
platformTrajectory = waypointTrajectory([0 0 -50; 5 0 -50],[0 1]);
platform = uavPlatform("UAV",scene,Trajectory=platformTrajectory);
Create a steady wind object with default properties.
steadyWind = uavWindSteady
steadyWind = uavWindSteady with properties: Velocity: [3.5000 3.5000 5] StartTime: 0 StopTime: Inf
Create a wind gust object with default properties.
gustWind = uavWindGust
gustWind = uavWindGust with properties: GustAmplitude: [3.5000 3.5000 5] GustLength: [120 120 80] StartTime: 0 StopTime: Inf
Create a turbulence wind object with default properties.
turbulenceWind = uavWindTurbulence
turbulenceWind = uavWindTurbulence with properties: Specification: "MIL-F-8785C" ModelType: "Von Karman (+q +r)" WindSpeedAt6m: 15 WindDirectionAt6m: 0 ProbExceedanceHighAltitudeIntensity: "10^-2 - Light" ScaleLengthAtMediumHighAltitude: 762 Wingspan: 10 BandLimitedNoiseSampleTime: 0.1000 RandomNoiseSeeds: [23341 23342 23343 23344] StartTime: 0 StopTime: Inf
Add the wind objects to the UAV platform.
addWind(platform,{steadyWind gustWind turbulenceWind})
Set up the simulation, and advance the scene.
setup(scene) advance(scene);
Obtain the translational wind velocity on the UAV platform.
velocityWind = windVelocity(platform)
velocityWind = 1×3
3.5753 3.0892 4.5805
Obtain the angular wind velocity on the UAV platform.
angularVelocityWind = windAngularRate(platform)
angularVelocityWind = 1×3
-0.0484 -0.0323 -0.0419
Input Arguments
platform
— UAV platform
uavPlatform
handle
UAV platform, specified as a uavPlatform
object.
ID
— Wind model object identifier
positive integer | vector of positive integers
Wind model object identifier, specified as a positive integers in the range [1,
N], where N is the number of wind model objects
that have been added to the platform. You can use the windDetails
function to see how many wind model objects have been added to the UAV platform
platform
.
Example: windVelocity(platform,[1 2])
returns the wind velocity of
the first and second wind models added to platform
.
Output Arguments
omegaWind
— Wind angular velocity
K-by-3 matrix
Wind angular velocity in the UAV platform body frame, returned as a
K-by-3 matrix. K is the number of elements
specified in ID
. Each row contains the wind angular velocity from the
corresponding element of ID
in the form
[pw
qw
rw]. The values of
pw,
qw, and
rw are the wind angular velocities in the
positive x
-, y
-, and z
-axes,
respectively. Units are in rad/s.
Version History
Introduced in R2024a
See Also
Functions
Objects
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