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WOLFRAM SYSTEM MODELER

Body2Fixed

Transformation of linear and angular velocity from body frame to world frame

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 (V_x, V_y and V_z) 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)

	VbuIn	Type: RealInput Description: Velocity u component (body frame) input
	VbvIn	Type: RealInput Description: Velocity v component (body frame) input
	VbwIn	Type: RealInput Description: Velocity w component (body frame) input
	pIn	Type: RealInput Description: Roll rate input
	qIn	Type: RealInput Description: Pitch rate input
	rIn	Type: RealInput Description: Yaw rate input
	phi0In	Type: RealInput Description: Reference roll angle input
	theta0In	Type: RealInput Description: Reference pitch angle input
	psi0In	Type: RealInput Description: Reference yaw angle input
	phiOut	Type: RealOutput Description: Euler phi angle output
	thetaOut	Type: RealOutput Description: Euler theta angle output
	psiOut	Type: RealOutput Description: Euler psi angle output
	VfxOut	Type: RealOutput Description: Velocity V_x component (world frame) output
	VfyOut	Type: RealOutput Description: Velocity V_y component (world frame) output
	VfzOut	Type: RealOutput Description: Velocity V_z component (world frame) output
	VtotOut	Type: RealOutput Description: Total velocity output
	VgroundOut	Type: RealOutput Description: Ground speed output
	gammaOut	Type: RealOutput Description: gammaWing (Flight path) output
	trackOut	Type: RealOutput Description: Track angle output

Used in Components (1)

PositionAndOrientation

Aircraft.StateSpace.FixedWing.Blocks

Calculates the position, orientation and velocities of the aircraft in the world frame