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

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.

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], 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.

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.