WOLFRAM SYSTEM MODELER
Body2FixedTransformation of linear and angular velocity from body frame to world frame |
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Wolfram Language
In[1]:=
SystemModel["Aircraft.StateSpace.FixedWing.Blocks.Body2Fixed"]
Out[1]:=
Information
This block performs calculations with the transformation matrices from body frame to world (fixed) frame to resolve the Euler angles (φ, θ and ψ) and velocities in world frame components (Vx, Vy and Vz) from the absolute linear and angular velocities in body frame components (u, v, w, p, r, q) and the reference values for Euler angles (φ0, θ0 and ψ0).
The transformation matrices for velocity from body frame to fixed frame and from angular velocities in body frame to Euler angle time derivatives and their derivations are found in Reference [1].
References
[1] Nelson, R. C. (1998) Flight Stability and Automatic Control. 2nd ed. McGraw-Hill.
Available at: http://home.eng.iastate.edu/~shermanp/AERE355/lectures/Flight_Stability_and_Automatic_Control_N.pdf.
Connectors (19)
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VbuIn |
Type: RealInput Description: Velocity u component (body frame) input |
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VbvIn |
Type: RealInput Description: Velocity v component (body frame) input |
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VbwIn |
Type: RealInput Description: Velocity w component (body frame) input |
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pIn |
Type: RealInput Description: Roll rate input |
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qIn |
Type: RealInput Description: Pitch rate input |
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rIn |
Type: RealInput Description: Yaw rate input |
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phi0In |
Type: RealInput Description: Reference roll angle input |
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theta0In |
Type: RealInput Description: Reference pitch angle input |
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psi0In |
Type: RealInput Description: Reference yaw angle input |
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phiOut |
Type: RealOutput Description: Euler phi angle output |
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thetaOut |
Type: RealOutput Description: Euler theta angle output |
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psiOut |
Type: RealOutput Description: Euler psi angle output |
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VfxOut |
Type: RealOutput Description: Velocity V_x component (world frame) output |
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VfyOut |
Type: RealOutput Description: Velocity V_y component (world frame) output |
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VfzOut |
Type: RealOutput Description: Velocity V_z component (world frame) output |
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VtotOut |
Type: RealOutput Description: Total velocity output |
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VgroundOut |
Type: RealOutput Description: Ground speed output |
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gammaOut |
Type: RealOutput Description: gammaWing (Flight path) output |
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trackOut |
Type: RealOutput Description: Track angle output |
Used in Components (1)
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Aircraft.StateSpace.FixedWing.Blocks Calculates the position, orientation and velocities of the aircraft in the world frame |