Implement Euler angle representation of six-degrees-of-freedom equations of motion
The 6DOF (Euler Angles) block considers the rotation of a body-fixed coordinate frame (Xb, Yb, Zb) about a flat Earth reference frame (Xe, Ye, Ze). The origin of the body-fixed coordinate frame is the center of gravity of the body, and the body is assumed to be rigid, an assumption that eliminates the need to consider the forces acting between individual elements of mass. The flat Earth reference frame is considered inertial, an excellent approximation that allows the forces due to the Earth's motion relative to the “fixed stars” to be neglected.
The translational motion of the body-fixed coordinate frame is given below, where the applied forces [Fx Fy Fz]T are in the body-fixed frame, and the mass of the body m is assumed constant.
Abb is the acceleration of the body with respect to the body reference frame. Abi is the acceleration of the body with respect to an inertial reference frame.
The rotational dynamics of the body-fixed frame are given below, where the applied moments are [L M N]T, and the inertia tensor I is with respect to the origin O.
The relationship between the body-fixed angular velocity vector, [p q r]T, and the rate of change of the Euler angles, , can be determined by resolving the Euler rates into the body-fixed coordinate frame.
Inverting J then gives the required relationship to determine the Euler rate vector.
Specifies the input and output units:
Meters per second squared
Meters per second
Kilogram meter squared
Feet per second squared
Feet per second
Slug foot squared
Feet per second squared
Slug foot squared
Select the type of mass to use:
Mass is constant throughout the simulation.
Mass and inertia vary linearly as a function of mass rate.
Mass and inertia variations are customizable.
Fixed selection conforms to the previously
described equations of motion.
Select the representation to use:
Use Euler angles within equations of motion.
Use quaternions within equations of motion.
Euler Angles selection conforms to the
previously described equations of motion.
The three-element vector for the initial location of the body in the flat Earth reference frame.
The three-element vector for the initial velocity in the body-fixed coordinate frame.
The three-element vector for the initial Euler rotation angles [roll, pitch, yaw], in radians.
The three-element vector for the initial body-fixed angular rates, in radians per second.
The mass of the rigid body.
The 3-by-3 inertia tensor matrix I.
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.
|Vector||Contains the three applied forces in body-fixed coordinate frame.|
|Vector||Contains the three applied moments in body-fixed coordinate frame.|
|Three-element vector||Contains the velocity in the flat Earth reference frame.|
|Three-element vector||Contains the position in the flat Earth reference frame.|
|Three-element vector||Contains the Euler rotation angles [roll, pitch, yaw], in radians.|
|3-by-3 matrix||Contains the coordinate transformation from flat Earth axes to body-fixed axes.|
|Three-element vector||Contains the velocity in the body-fixed frame.|
|Three-element vector||Contains the angular rates in body-fixed axes, in radians per second.|
|Three-element vector||Contains the angular accelerations in body-fixed axes, in radians per second squared.|
|Three-element vector||Contains the accelerations in body-fixed axes with respect to body frame.|
|Three-element vector||Contains the accelerations in body-fixed 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, and that the mass and inertia are constant.
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.