3DOF (Body Axes)

Ports

Input

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F_x — Applied force along x-axis
scalar

Applied force along the body x-axis, specified as a scalar, in the units selected in Units.

Data Types: double

F_z — Applied force along z-axis
scalar

Applied force along the body z-axis, specified as a scalar.

Data Types: double

M — Applied pitching moment
scalar

Applied pitching moment, specified as a scalar.

Data Types: double

g — Gravity
scalar

Gravity, specified as a scalar.

Dependencies

To enable this port, set Gravity source to External.

Data Types: double

Output

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θ — Pitch altitude
scalar

Pitch attitude, within ±pi, returned as a scalar, in radians.

Data Types: double

q — Pitch angular rate
scalar

Pitch angular rate, returned as a scalar, in radians per second.

Data Types: double

dq/dt — Pitch angular acceleration
scalar

Pitch angular acceleration, returned as a scalar, in radians per second squared.

Data Types: double

X_eZ_e — Location of body
two-element vector

Location of the body in the flat Earth reference frame, (Xe, Ze), returned as a two-element vector.

Data Types: double

U w — Velocity of body
two-element vector

Velocity of the body resolved into the body-fixed coordinate frame, (u, w), returned as a two-element vector.

Data Types: double

A_xbA_zb — Acceleration of body
two-element vector

Acceleration of the body with respect to the body-fixed coordinate frame, (Ax, Az), returned as a two-element vector.

Data Types: double

A_xeA_ze — Acceleration of body
two-element vector

Accelerations of the body with respect to the inertial (flat Earth) coordinate frame, returned as a two-element vector. You typically connect this signal to the accelerometer.

Dependencies

To enable this port, select the Include inertial acceleration check box.

Data Types: double

Parameters

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Main

Units — Input and output units
`Metric (MKS)` (default) | `English (Velocity in ft/s)` | `English (Velocity in kts)`

Input and output units, specified as Metric (MKS), English (Velocity in ft/s), or English (Velocity in kts).

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

Programmatic Use

Block Parameter: units

Type: character vector

Values: Metric (MKS) | English (Velocity in ft/s) | English (Velocity in kts)

Default: Metric (MKS)

Axes — Body or wind axes
`Body` (default) | `Wind`

Body or wind axes, specified as Wind or Body.

Programmatic Use

Block Parameter: axes

Type: character vector

Values: Wind | Body

Default: Body

Mass Type — Mass type
`Fixed` (default) | `Simple Variable` | `Custom Variable`

Mass type, specified according to the following table.

Mass Type	Description	Default for
`Fixed`	Mass is constant throughout the simulation.	3DOF (Body Axes) 3DOF (Wind Axes)
`Simple Variable`	Mass and inertia vary linearly as a function of mass rate.	Simple Variable Mass 3DOF (Body Axes) Simple Variable Mass 3DOF (Wind Axes)
`Custom Variable`	Mass and inertia variations are customizable.	Custom Variable Mass 3DOF (Body Axes) Custom Variable Mass 3DOF (Wind Axes)

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

Programmatic Use

Block Parameter: mtype

Type: character vector

Values: Fixed | Simple Variable | Custom Variable

Default: 'Fixed'

Initial velocity — Initial velocity of body
`100` (default) | scalar

Initial velocity of the body, (V₀), specified as a scalar.

Programmatic Use

Block Parameter: v_ini

Type: character vector

Values: '100' | scalar

Default: '100'

Initial body attitude — Initial pitch altitude
`0` (default) | scalar

Initial pitch attitude of the body, (θ₀), specified as a scalar.

Programmatic Use

Block Parameter: theta_ini

Type: character vector

Values: '0' | scalar

Default: '0'

Initial body rotation rate — Initial pitch rotation rate
`0` (default) | scalar

Initial pitch rotation rate, (q₀), specified as a scalar.

Programmatic Use

Block Parameter: q_ini

Type: character vector

Values: '0' | scalar

Default: '0'

Initial incidence — Initial angle
`0` (default) | scalar

Initial angle between the velocity vector and the body, (α₀), specified as a scalar.

Programmatic Use

Block Parameter: alpha_ini

Type: character vector

Values: '0' | scalar

Default: '0'

Initial position (x,z) — Initial location
`[0 0]` (default) | two-element vector

Initial location of the body in the flat Earth reference frame, specified as a two-element vector.

Programmatic Use

Block Parameter: pos_ini

Type: character vector

Values: '[0 0]' | two-element vector

Default: '[0 0]'

Initial mass — Initial mass
`1.0` (default) | scalar

Initial mass of the rigid body, specified as a scalar.

Programmatic Use

Block Parameter: mass

Type: character vector

Values: '1.0' | scalar

Default: '1.0'

Inertia — Inertia
`1.0` (default) | scalar

Inertia of the body, specified as a scalar.

Dependencies

To enable this parameter, set Mass type to Fixed.

Programmatic Use

Block Parameter: Iyy

Type: character vector

Values: '1.0' | scalar

Default: '1.0'

Gravity Source — Gravity source
`Internal` (default) | `External`

Gravity source, specified as:

`External`	Variable gravity input to block
`Internal`	Constant gravity specified in mask

Programmatic Use

Block Parameter: g_in

Type: character vector

Values: 'Internal' | 'External'

Default: 'Internal'

Acceleration due to gravity — Gravity source
`9.81` (default) | scalar

Acceleration due to gravity, specified as a double scalar and used if internal gravity source is selected. If gravity is to be neglected in the simulation, this value can be set to 0.

Dependencies

To enable this parameter, set Gravity Source to Internal.

Programmatic Use

Block Parameter: g

Type: character vector

Values: '9.81' | scalar

Default: '9.81'

Include inertial acceleration — Include inertial acceleration port
`off` (default) | `on`

Select this check box to add an inertial acceleration in flat Earth frame output port. You typically connect this signal to the accelerometer.

Dependencies

To enable the A_xeA_ze port, select this parameter.

Programmatic Use

Block Parameter: abi_flag

Type: character vector

Values: 'off' | 'on'

Default: 'off'

State Attributes

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

The number of names must match the number of states, as shown for each item, or be empty. Set all or none of the block states.
To assign names to single-variable states, enter unique names between quotes, for example, 'q' or "q".
To assign names to two-variable states, enter a comma-separated list surrounded by braces, for example, {'Xe','Ze'}.
If a state parameter is empty (' '), no name is assigned.
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 of character vectors, or string.

Velocity: e.g., {'u, 'w'} — Velocity state name
`''` (default) | comma-separated list surrounded by braces

Velocity state names, specified as a comma-separated list surrounded by braces.

Programmatic Use

Block Parameter: vel_statename

Type: character vector

Values: '' | comma-separated list surrounded by braces

Default: ''

Position: e.g., {'Xe', 'Ze'} — Position state name
`''` (default) | comma-separated list surrounded by braces

Position state names, specified as a comma-separated list surrounded by braces.

Programmatic Use

Block Parameter: pos_statename

Type: character vector

Values: '' | comma-separated list surrounded by braces

Default: ''

Pitch angular rate e.g., 'q' — Pitch angular rate state name
`''` (default)

Pitch angular rate state name, specified as a character vector or string.

Programmatic Use

Block Parameter: q_statename

Type: character vector | string

Values: '' | scalar

Default: ''

Pitch attitude: e.g., 'theta' — Pitch attitude state name
`''` (default)

Pitch attitude state name, specified as a character vector or string.

Programmatic Use

Block Parameter: theta_statename

Type: character vector | string

Values: ''

Default: ''

Algorithms

The block considers the rotation in the vertical plane of a body-fixed coordinate frame about a flat Earth reference frame.

Graphical view of rotation in the vertical plane of a body-fixed coordinate frame about a flat Earth reference frame.

The equations of motion are

$\begin{array}{l} A_{x b} = \dot{u} = A_{x e} - q w \\ A_{z b} = \dot{w} = A_{z e} + q u \\ A_{x e} = \frac{F_{x}}{m} - g \sin θ \\ A_{z e} = \frac{F_{z}}{m} + g \cos θ \\ {\dot{X}}_{e} = u \cos θ + w \sin θ \\ {\dot{Z}}_{e} = - u \sin θ + w \cos θ \\ \dot{q} = \frac{M_{y}}{I_{y y}} \\ \dot{θ} = q \end{array}$

where the applied forces are assumed to act at the center of gravity of the body. Input variables are F_x, F_z, M_y. g is an optional input variable.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.

Version History

Introduced in R2006a

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R2021b: 3DOF (Body Axes) Block Changes

The 3DOF equations of motion have been updated. Existing models created prior to R2021b that contain 3DOF equations of motion blocks continue to run. If you replace a pre-R2021b version of a 3DOF equation of motion block with an R2021b or later version, your updated model might have a higher tendency for algebraic loops. For an example of how to remove algebraic loops using unit delays, see Remove Algebraic Loops. For further information about algebraic loops, see Identify Algebraic Loops in Your Model.

3DOF (Body Axes)

Description

Ports

Input

Fx — Applied force along x-axis scalar

Fz — Applied force along z-axis scalar

M — Applied pitching moment scalar

g — Gravity scalar

Dependencies

Output

θ — Pitch altitude scalar

q — Pitch angular rate scalar

dq/dt — Pitch angular acceleration scalar

XeZe — Location of body two-element vector

U w — Velocity of body two-element vector

AxbAzb — Acceleration of body two-element vector

AxeAze — Acceleration of body two-element vector

Dependencies

Parameters

Main

Units — Input and output units Metric (MKS) (default) | English (Velocity in ft/s) | English (Velocity in kts)

Programmatic Use

Axes — Body or wind axes Body (default) | Wind

Programmatic Use

Mass Type — Mass type Fixed (default) | Simple Variable | Custom Variable

Programmatic Use

Initial velocity — Initial velocity of body 100 (default) | scalar

Programmatic Use

Initial body attitude — Initial pitch altitude 0 (default) | scalar

Programmatic Use

Initial body rotation rate — Initial pitch rotation rate 0 (default) | scalar

Programmatic Use

Initial incidence — Initial angle 0 (default) | scalar

Programmatic Use

Initial position (x,z) — Initial location [0 0] (default) | two-element vector

Programmatic Use

Initial mass — Initial mass 1.0 (default) | scalar

Programmatic Use

Inertia — Inertia 1.0 (default) | scalar

Dependencies

Programmatic Use

Gravity Source — Gravity source Internal (default) | External

Programmatic Use

Acceleration due to gravity — Gravity source 9.81 (default) | scalar

Dependencies

Programmatic Use

Include inertial acceleration — Include inertial acceleration port off (default) | on

Dependencies

Programmatic Use

State Attributes

Velocity: e.g., {'u, 'w'} — Velocity state name '' (default) | comma-separated list surrounded by braces

Programmatic Use

Position: e.g., {'Xe', 'Ze'} — Position state name '' (default) | comma-separated list surrounded by braces

Programmatic Use

Pitch angular rate e.g., 'q' — Pitch angular rate state name '' (default)

Programmatic Use

Pitch attitude: e.g., 'theta' — Pitch attitude state name '' (default)

Programmatic Use

Algorithms

Extended Capabilities

C/C++ Code Generation Generate C and C++ code using Simulink® Coder™.

Version History

R2021b: 3DOF (Body Axes) Block Changes

See Also

Topics

F_x — Applied force along x-axis
scalar

F_z — Applied force along z-axis
scalar

M — Applied pitching moment
scalar

g — Gravity
scalar

θ — Pitch altitude
scalar

q — Pitch angular rate
scalar

dq/dt — Pitch angular acceleration
scalar

X_eZ_e — Location of body
two-element vector

U w — Velocity of body
two-element vector

A_xbA_zb — Acceleration of body
two-element vector

A_xeA_ze — Acceleration of body
two-element vector

Units — Input and output units
`Metric (MKS)` (default) | `English (Velocity in ft/s)` | `English (Velocity in kts)`

Axes — Body or wind axes
`Body` (default) | `Wind`

Mass Type — Mass type
`Fixed` (default) | `Simple Variable` | `Custom Variable`

Initial velocity — Initial velocity of body
`100` (default) | scalar

Initial body attitude — Initial pitch altitude
`0` (default) | scalar

Initial body rotation rate — Initial pitch rotation rate
`0` (default) | scalar

Initial incidence — Initial angle
`0` (default) | scalar

Initial position (x,z) — Initial location
`[0 0]` (default) | two-element vector

Initial mass — Initial mass
`1.0` (default) | scalar

Inertia — Inertia
`1.0` (default) | scalar

Gravity Source — Gravity source
`Internal` (default) | `External`

Acceleration due to gravity — Gravity source
`9.81` (default) | scalar

Include inertial acceleration — Include inertial acceleration port
`off` (default) | `on`

Velocity: e.g., {'u, 'w'} — Velocity state name
`''` (default) | comma-separated list surrounded by braces

Position: e.g., {'Xe', 'Ze'} — Position state name
`''` (default) | comma-separated list surrounded by braces

Pitch angular rate e.g., 'q' — Pitch angular rate state name
`''` (default)

Pitch attitude: e.g., 'theta' — Pitch attitude state name
`''` (default)

C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.