Custom Variable Mass 6DOF Wind (Quaternion)

Implement quaternion representation of six-degrees-of-freedom equations of motion of custom variable mass with respect to wind axes

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Libraries:
Aerospace Blockset / Equations of Motion / 6DOF

Description

The Custom Variable Mass 6DOF Wind (Quaternion) block implements a quaternion representation of six-degrees-of-freedom equations of motion of custom variable mass with respect to wind axes. It considers the rotation of a wind-fixed coordinate frame (X_w,Y_w, Z_w) about an flat Earth reference frame (X_e,Y_e, Z_e). The origin of the wind-fixed coordinate frame is the center of gravity of the body. For more information on the wind-fixed coordinate frame, see Algorithms.

Aerospace Blockset™ uses quaternions that are defined using the scalar-first convention.

Limitations

The block assumes that the applied forces act at the center of gravity of the body.

Ports

Input

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F_xyz — Applied forces
three-element vector

Applied forces, specified as a three-element vector.

Data Types: double

M_xyz — Applied moments
three-element vector

Applied moments, specified as a three-element vector.

Data Types: double

dm/dt — Rates of change of mass
three-element vector

One or more rates of change of mass (positive if accreted, negative if ablated), specified as a three-element vector.

Data Types: double

m — Mass
scalar

Mass, specified as a scalar.

Dependencies

To enable this port, set Mass type to Custom Variable.

Data Types: double

dI/dt — Rate of change of inertia tensor matrix
3-by-3 matrix

Rate of change of inertia tensor matrix, specified as a 3-by-3 matrix.

Dependencies

To enable this port, set Mass type to Custom Variable.

Data Types: double

I — Inertia tensor matrix
3-by-3 matrix

Inertia tensor matrix, specified as a 3-by-3 matrix.

Dependencies

To enable this port, set Mass type to Custom Variable.

Data Types: double

V_re — Relative velocities
three-element vector

One or more relative velocities at which the mass is accreted to or ablated from the body in body-fixed axes, specified as a three-element vector.

Dependencies

To enable this port, select Include mass flow relative velocity.

Data Types: double

Output

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V_e — Velocity in flat Earth reference frame
three-element vector

Velocity in the flat Earth reference frame, returned as a three-element vector.

Data Types: double

X_e — Position in flat Earth reference frame
three-element vector

Position in the flat Earth reference frame, returned as a three-element vector.

Data Types: double

μ γ x (rad) — Wind rotation angles
three-element vector

Wind rotation angles [bank, flight path, heading], returned as a three-element vector, in radians.

Data Types: double

DCM_we — Coordinate transformation
3-by-3 matrix

Coordinate transformation from flat Earth axes to wind-fixed axes, returned as a 3-by-3 matrix.

Data Types: double

V_w — Velocity in wind-fixed frame
three-element vector

Velocity in wind-fixed frame, returned as a three-element vector.

Data Types: double

α β (rad) — Angle of attack and sideslip angle
two-element vector

Angle of attack and sideslip angle, returned as a two-element vector, in radians.

Data Types: double

dα/dt dβ/dt — Rate of change of angle of attack and rate of change of sideslip angle
two-element vector

Rate of change of angle of attack and rate of change of sideslip angle, returned as a two-element vector, in radians per second.

Data Types: double

ω_b (rad/s) — Angular rates in body-fixed axes
three-element vector

Angular rates in body-fixed axes, returned as a three-element vector, in radians per second.

Data Types: double

dω_b/dt — Angular accelerations
three-element vector

Angular accelerations in body-fixed axes, returned as a three-element vector, in radians per second squared.

Data Types: double

A_bb — Accelerations in body-fixed axes
three-element vector

Accelerations of the body with respect to the body-fixed axes with the body-fixed coordinate frame, returned as a three-element vector.

Data Types: double

A_be — Accelerations with respect to inertial frame
three-element vector

Accelerations in body-fixed axes with respect to inertial frame (flat Earth), returned as a three-element vector. You typically connect this signal to the accelerometer.

Dependencies

To enable this point, select Include inertial acceleration.

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)

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

Mass type, specified according to the following table.

Mass Type	Description	Default for
`Fixed`	Mass is constant throughout the simulation.	6DOF (Euler Angles) 6DOF (Quaternion) 6DOF Wind (Wind Angles) 6DOF Wind (Quaternion) 6DOF ECEF (Quaternion)
`Simple Variable`	Mass and inertia vary linearly as a function of mass rate.	Simple Variable Mass 6DOF (Euler Angles) Simple Variable Mass 6DOF (Quaternion) Simple Variable Mass 6DOF Wind (Wind Angles) Simple Variable Mass 6DOF Wind (Quaternion) Simple Variable Mass 6DOF ECEF (Quaternion)
`Custom Variable`	Mass and inertia variations are customizable.	Custom Variable Mass 6DOF (Euler Angles) Custom Variable Mass 6DOF (Quaternion) Custom Variable Mass 6DOF Wind (Wind Angles) Custom Variable Mass 6DOF Wind (Quaternion) Custom Variable Mass 6DOF ECEF (Quaternion)

The Custom Variable selection conforms to the previously described equations of motion.

Programmatic Use

Block Parameter: mtype

Type: character vector

Values: Fixed | Simple Variable | Custom Variable

Default: 'Custom Variable'

Representation — Equations of motion representation
`Quaternion` (default) | `Wind Angles`

Equations of motion representation, specified according to the following table.

`Quaternion`	Use quaternions within equations of motion.
`Wind Angles`	Use wind angles within equations of motion.

The Quaternion selection conforms to the equations of motion in Algorithms.

Programmatic Use

Block Parameter: rep

Type: character vector

Values: Wind Angles | Quaternion

Default: 'Quaternion'

Initial position in inertial axes [Xe,Ye,Ze] — Position in inertial axes
`[0 0 0]` (default) | three-element vector

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

Programmatic Use

Block Parameter: xme_0

Type: character vector

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

Default: '[0 0 0]'

Initial airspeed, angle of attack, and sideslip angle [V,alpha,beta] — Initial airspeed, angle of attack, and sideslip angle
`[0 0 0]` (default) | three-element vector

Initial airspeed, angle of attack, and sideslip angle, specified as a three-element vector.

Programmatic Use

Block Parameter: Vm_0

Type: character vector

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

Default: '[0 0 0]'

Initial wind orientation [bank angle,flight path angle,heading angle] — Initial wind orientation
`[0 0 0]` (default) | three-element vector

Initial wind angles [bank, flight path, and heading], specified as a three-element vector in radians.

Programmatic Use

Block Parameter: wind_0

Type: character vector

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

Default: '[0 0 0]'

Initial body rotation rates [p,q,r] — Initial body rotation
`[0 0 0]` (default) | three-element vector

Initial body-fixed angular rates with respect to the NED frame, specified as a three-element vector, in radians per second.

Programmatic Use

Block Parameter: pm_0

Type: character vector

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

Default: '[0 0 0]'

Include mass flow relative velocity — Mass flow relative velocity port
`off` (default) | `on`

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.

Programmatic Use

Block Parameter: vre_flag

Type: character vector

Values: off | on

Default: off

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

Select this check box to add an inertial acceleration port.

Dependencies

To enable the A_{b ff} 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. Use state names instead of block paths throughout the linearization process.

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 comma-separated list surrounded by braces, for example, {'a', 'b', 'c'}. Each name must be unique.
If a parameter is empty (' '), no name is assigned.
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.

Position: e.g., {'Xe', 'Ye', '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: xme_statename

Type: character vector

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

Default: ''

Velocity: e.g., 'V' — Velocity state name
`''` (default) | character vector

Velocity state names, specified as a character vector.

Programmatic Use

Block Parameter: Vm_statename

Type: character vector

Values: '' | character vector

Default: ''

Incidence angle e.g., 'alpha' — Incidence angle state name
`''` (default) | character vector

Incidence angle state name, specified as a character vector.

Programmatic Use

Block Parameter: alpha_statename

Type: character vector

Values: ''

Default: ''

Sideslip angle e.g., 'beta' — Sideslip angle state name
`''` (default) | character vector

Sideslip angle state name, specified as a character vector.

Programmatic Use

Block Parameter: beta_statename

Type: character vector

Values: ''

Default: ''

Quaternion vector: e.g., {'qr', 'qi', 'qj', 'qk'} — Quaternion vector state name
`''` (default) | comma-separated list surrounded by braces

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

Programmatic Use

Block Parameter: quat_statename

Type: character vector

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

Default: ''

Body rotation rates: e.g., {'p', 'q', 'r'} — Body rotation state names
`''` (default) | comma-separated list surrounded by braces

Body rotation rate state names, specified comma-separated list surrounded by braces.

Programmatic Use

Block Parameter: pm_statename

Type: character vector

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

Default: ''

Algorithms

The origin of the wind-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 wind-fixed coordinate frame is given below, where the applied forces [F_x, F_y, F_z]^Tare in the wind-fixed frame. Vre_w is the relative velocity in the wind axes at which the mass flow ( $\dot{m}$ ) is ejected or added to the body.

$\begin{array}{l} {\bar{F}}_{w} = [\begin{array}{l} F_{x} \\ F_{y} \\ F_{z} \end{array}] = m ({\dot{\bar{V}}}_{w} + {\bar{ω}}_{w} \times {\bar{V}}_{w}) - \dot{m} \bar{V} r e_{w} \\ A_{b e} = D C M_{w b} \frac{[{\bar{F}}_{w} + \dot{m} V_{r e}]}{m} \\ {\bar{V}}_{w} = [\begin{array}{l} V \\ 0 \\ 0 \end{array}], {\bar{ω}}_{w} = [\begin{array}{l} p_{w} \\ q_{w} \\ r_{w} \end{array}] = D M C_{w b} [\begin{matrix} p_{b} - \dot{β} \sin α \\ q_{b} - \dot{α} \\ r_{b} + \dot{β} \cos α \end{matrix}], {\bar{w}}_{b} = [\begin{array}{l} p_{b} \\ q_{b} \\ r_{b} \end{array}] \\ A_{b b} = D C M_{w b} [\frac{\bar{F} w + \dot{m} V_{r e}}{m} - {\bar{ω}}_{w} \times {\bar{V}}_{w}] \end{array}$

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. Inertia tensor I is easier to define in body-fixed frame.

$\begin{array}{l} {\bar{M}}_{b} = [\begin{array}{l} L \\ M \\ N \end{array}] = I {\dot{\bar{ω}}}_{b} + {\bar{ω}}_{b} \times (I {\bar{ω}}_{b}) + \dot{I} {\bar{ω}}_{b} \\ A_{b b} = [\begin{array}{l} {\dot{U}}_{b} \\ {\dot{V}}_{b} \\ {\dot{W}}_{b} \end{array}] = D C M_{w b} [\frac{\bar{F} w - \dot{m} V_{r e}}{m} - {\bar{ω}}_{w} \times {\bar{V}}_{w}] \\ I = [\begin{matrix} I_{x x} & - I_{x y} & - I_{x z} \\ - I_{y x} & I_{y y} & - I_{y z} \\ - I_{z x} & - I_{z y} & I_{z z} \end{matrix}] \end{array}$

The integration of the rate of change of the quaternion vector is given below.

$[\begin{array}{l} {\dot{q}}_{0} \\ {\dot{q}}_{1} \\ {\dot{q}}_{2} \\ {\dot{q}}_{3} \end{array}] = - \frac{1}{2} [\begin{matrix} 0 & p & q & r \\ - p & 0 & - r & q \\ - q & r & 0 & - p \\ - r & - q & p & 0 \end{matrix}] [\begin{array}{l} q_{0} \\ q_{1} \\ q_{2} \\ q_{3} \end{array}]$

References

[1] Stevens, Brian, and Frank Lewis. Aircraft Control and Simulation, 2nd ed. Hoboken, NJ: John Wiley & Sons, 2003.

[2] Zipfel, Peter H. Modeling and Simulation of Aerospace Vehicle Dynamics. 2nd ed. Reston, VA: AIAA Education Series, 2007.

Extended Capabilities

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

Version History

Introduced in R2006a

Custom Variable Mass 6DOF Wind (Quaternion)

Description

Limitations

Ports

Input

Fxyz — Applied forces three-element vector

Mxyz — Applied moments three-element vector

dm/dt — Rates of change of mass three-element vector

m — Mass scalar

Dependencies

dI/dt — Rate of change of inertia tensor matrix 3-by-3 matrix

Dependencies

I — Inertia tensor matrix 3-by-3 matrix

Dependencies

Vre — Relative velocities three-element vector

Dependencies

Output

Ve — Velocity in flat Earth reference frame three-element vector

Xe — Position in flat Earth reference frame three-element vector

μ γ x (rad) — Wind rotation angles three-element vector

DCMwe — Coordinate transformation 3-by-3 matrix

Vw — Velocity in wind-fixed frame three-element vector

α β (rad) — Angle of attack and sideslip angle two-element vector

dα/dt dβ/dt — Rate of change of angle of attack and rate of change of sideslip angle two-element vector

ωb (rad/s) — Angular rates in body-fixed axes three-element vector

dωb/dt — Angular accelerations three-element vector

Abb — Accelerations in body-fixed axes three-element vector

Abe — Accelerations with respect to inertial frame three-element vector

Dependencies

Parameters

Main

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

Programmatic Use

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

Programmatic Use

Representation — Equations of motion representation Quaternion (default) | Wind Angles

Programmatic Use

Initial position in inertial axes [Xe,Ye,Ze] — Position in inertial axes [0 0 0] (default) | three-element vector

Programmatic Use

Initial airspeed, angle of attack, and sideslip angle [V,alpha,beta] — Initial airspeed, angle of attack, and sideslip angle [0 0 0] (default) | three-element vector

Programmatic Use

Initial wind orientation [bank angle,flight path angle,heading angle] — Initial wind orientation [0 0 0] (default) | three-element vector

Programmatic Use

Initial body rotation rates [p,q,r] — Initial body rotation [0 0 0] (default) | three-element vector

Programmatic Use

Include mass flow relative velocity — Mass flow relative velocity port off (default) | on

Programmatic Use

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

Dependencies

Programmatic Use

State Attributes

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

Programmatic Use

Velocity: e.g., 'V' — Velocity state name '' (default) | character vector

Programmatic Use

Incidence angle e.g., 'alpha' — Incidence angle state name '' (default) | character vector

Programmatic Use

Sideslip angle e.g., 'beta' — Sideslip angle state name '' (default) | character vector

Programmatic Use

Quaternion vector: e.g., {'qr', 'qi', 'qj', 'qk'} — Quaternion vector state name '' (default) | comma-separated list surrounded by braces

Programmatic Use

Body rotation rates: e.g., {'p', 'q', 'r'} — Body rotation state names '' (default) | comma-separated list surrounded by braces

Programmatic Use

Algorithms

References

Extended Capabilities

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

Version History

See Also

F_xyz — Applied forces
three-element vector

M_xyz — Applied moments
three-element vector

dm/dt — Rates of change of mass
three-element vector

m — Mass
scalar

dI/dt — Rate of change of inertia tensor matrix
3-by-3 matrix

I — Inertia tensor matrix
3-by-3 matrix

V_re — Relative velocities
three-element vector

V_e — Velocity in flat Earth reference frame
three-element vector

X_e — Position in flat Earth reference frame
three-element vector

μ γ x (rad) — Wind rotation angles
three-element vector

DCM_we — Coordinate transformation
3-by-3 matrix

V_w — Velocity in wind-fixed frame
three-element vector

α β (rad) — Angle of attack and sideslip angle
two-element vector

dα/dt dβ/dt — Rate of change of angle of attack and rate of change of sideslip angle
two-element vector

ω_b (rad/s) — Angular rates in body-fixed axes
three-element vector

dω_b/dt — Angular accelerations
three-element vector

A_bb — Accelerations in body-fixed axes
three-element vector

A_be — Accelerations with respect to inertial frame
three-element vector

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

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

Representation — Equations of motion representation
`Quaternion` (default) | `Wind Angles`

Initial position in inertial axes [Xe,Ye,Ze] — Position in inertial axes
`[0 0 0]` (default) | three-element vector

Initial airspeed, angle of attack, and sideslip angle [V,alpha,beta] — Initial airspeed, angle of attack, and sideslip angle
`[0 0 0]` (default) | three-element vector

Initial wind orientation [bank angle,flight path angle,heading angle] — Initial wind orientation
`[0 0 0]` (default) | three-element vector

Initial body rotation rates [p,q,r] — Initial body rotation
`[0 0 0]` (default) | three-element vector

Include mass flow relative velocity — Mass flow relative velocity port
`off` (default) | `on`

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

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

Velocity: e.g., 'V' — Velocity state name
`''` (default) | character vector

Incidence angle e.g., 'alpha' — Incidence angle state name
`''` (default) | character vector

Sideslip angle e.g., 'beta' — Sideslip angle state name
`''` (default) | character vector

Quaternion vector: e.g., {'qr', 'qi', 'qj', 'qk'} — Quaternion vector state name
`''` (default) | comma-separated list surrounded by braces

Body rotation rates: e.g., {'p', 'q', 'r'} — Body rotation state names
`''` (default) | comma-separated list surrounded by braces

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