WOLFRAM SYSTEM MODELER
WorldWorld coordinate system used in aircraft libray |
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Wolfram Language
In[1]:=
SystemModel["Aircraft.World"]
Out[1]:=
Information
This model is the modified version of the MultiBody.World for aircraft library in which follows North-East-Down (NED) convention. The graity is pointing downward in the same direction of the positive z component of the world frame.
Parameters (32)
| enableAnimation |
Value: true Type: Boolean Description: = true, if animation of all components is enabled |
|---|---|
| animateWorld |
Value: false Type: Boolean Description: = true, if world coordinate system shall be visualized |
| animateGravity |
Value: false Type: Boolean Description: = true, if gravity field shall be visualized (acceleration vector or field center) |
| animateGround |
Value: false Type: Boolean Description: = true, if ground plane shall be visualized |
| gravityType |
Value: GravityTypes.UniformGravity Type: GravityTypes Description: Type of gravity field |
| g |
Value: Modelica.Constants.g_n Type: Acceleration (m/s²) Description: Constant gravity acceleration |
| n |
Value: {0, 0, 1} Type: Axis Description: Direction of gravity resolved in world frame (gravity = g*n/length(n)) |
| mu |
Value: 3.986004418e14 Type: Real (m³/s²) Description: Gravity field constant (default = field constant of earth) |
| driveTrainMechanics3D |
Value: true Type: Boolean Description: = true, if 3-dim. mechanical effects of Parts.Mounting1D/Rotor1D/BevelGear1D shall be taken into account |
| axisLength |
Value: nominalLength / 2 Type: Distance (m) Description: Length of world axes arrows |
| axisDiameter |
Value: axisLength / defaultFrameDiameterFraction Type: Distance (m) Description: Diameter of world axes arrows |
| axisShowLabels |
Value: true Type: Boolean Description: = true, if labels shall be shown |
| gravityArrowTail |
Value: {0, 0, 0} Type: Position[3] (m) Description: Position vector from origin of world frame to arrow tail, resolved in world frame |
| gravityArrowLength |
Value: axisLength / 2 Type: Length (m) Description: Length of gravity arrow |
| gravityArrowDiameter |
Value: gravityArrowLength / defaultWidthFraction Type: Diameter (m) Description: Diameter of gravity arrow |
| gravitySphereDiameter |
Value: 12742000 Type: Diameter (m) Description: Diameter of sphere representing gravity center (default = mean diameter of earth) |
| groundAxis_u |
Value: if abs(n[1]) >= 0.99 then {0, 1, 0} else {1, 0, 0} Type: Axis Description: Vector along 1st axis (called u) of ground plane, resolved in world frame (should be perpendicular to gravity direction) |
| groundLength_u |
Value: 2 Type: Length (m) Description: Length of ground plane along groundAxis_u |
| groundLength_v |
Value: groundLength_u Type: Length (m) Description: Length of ground plane perpendicular to groundAxis_u |
| nominalLength |
Value: 1 Type: Length (m) Description: Nominal length of multi-body system |
| defaultAxisLength |
Value: nominalLength / 5 Type: Length (m) Description: Default for length of a frame axis (but not world frame) |
| defaultJointLength |
Value: nominalLength / 10 Type: Length (m) Description: Default for the fixed length of a shape representing a joint |
| defaultJointWidth |
Value: nominalLength / 20 Type: Length (m) Description: Default for the fixed width of a shape representing a joint |
| defaultForceLength |
Value: nominalLength / 10 Type: Length (m) Description: Default for the fixed length of a shape representing a force (e.g., damper) |
| defaultForceWidth |
Value: nominalLength / 20 Type: Length (m) Description: Default for the fixed width of a shape representing a force (e.g., spring, bushing) |
| defaultBodyDiameter |
Value: nominalLength / 9 Type: Length (m) Description: Default for diameter of sphere representing the center of mass of a body |
| defaultWidthFraction |
Value: 20 Type: Real Description: Default for shape width as a fraction of shape length (e.g., for Parts.FixedTranslation) |
| defaultArrowDiameter |
Value: nominalLength / 40 Type: Length (m) Description: Default for arrow diameter (e.g., of forces, torques, sensors) |
| defaultFrameDiameterFraction |
Value: 40 Type: Real Description: Default for arrow diameter of a coordinate system as a fraction of axis length |
| defaultSpecularCoefficient |
Value: 0.7 Type: Real Description: Default reflection of ambient light (= 0: light is completely absorbed) |
| defaultN_to_m |
Value: 1000 Type: Real (N/m) Description: Default scaling of force arrows (length = force/defaultN_to_m) |
| defaultNm_to_m |
Value: 1000 Type: Real (N⋅m/m) Description: Default scaling of torque arrows (length = torque/defaultNm_to_m) |
Inputs (6)
| axisColor_x |
Default Value: Modelica.Mechanics.MultiBody.Types.Defaults.FrameColor Type: Color Description: Color of x-arrow |
|---|---|
| axisColor_y |
Default Value: axisColor_x Type: Color Description: RGB representation of color |
| axisColor_z |
Default Value: axisColor_x Type: Color Description: Color of z-arrow |
| gravityArrowColor |
Default Value: {0, 230, 0} Type: Color Description: Color of gravity arrow |
| gravitySphereColor |
Default Value: {0, 230, 0} Type: Color Description: Color of gravity sphere |
| groundColor |
Default Value: {200, 200, 200} Type: Color Description: Color of ground plane |
Connectors (1)
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frame_b |
Type: Frame_b Description: Coordinate system fixed in the origin of the world frame |
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Components (12)
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x_arrowLine |
Type: Shape Description: Visualizing an elementary object with variable size; all data have to be set as modifiers (see info layer) |
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x_arrowHead |
Type: Shape Description: Visualizing an elementary object with variable size; all data have to be set as modifiers (see info layer) |
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x_label |
Type: Lines Description: Visualizing a set of lines as cylinders with variable size, e.g., used to display characters (no Frame connector) |
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y_arrowLine |
Type: Shape Description: Visualizing an elementary object with variable size; all data have to be set as modifiers (see info layer) |
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y_arrowHead |
Type: Shape Description: Visualizing an elementary object with variable size; all data have to be set as modifiers (see info layer) |
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y_label |
Type: Lines Description: Visualizing a set of lines as cylinders with variable size, e.g., used to display characters (no Frame connector) |
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z_arrowLine |
Type: Shape Description: Visualizing an elementary object with variable size; all data have to be set as modifiers (see info layer) |
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z_arrowHead |
Type: Shape Description: Visualizing an elementary object with variable size; all data have to be set as modifiers (see info layer) |
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z_label |
Type: Lines Description: Visualizing a set of lines as cylinders with variable size, e.g., used to display characters (no Frame connector) |
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gravityArrowLine |
Type: Shape Description: Visualizing an elementary object with variable size; all data have to be set as modifiers (see info layer) |
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gravityArrowHead |
Type: Shape Description: Visualizing an elementary object with variable size; all data have to be set as modifiers (see info layer) |
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gravitySphere |
Type: Shape Description: Visualizing an elementary object with variable size; all data have to be set as modifiers (see info layer) |
Used in Examples (10)
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Aircraft.Examples Vertical motion of quadrotor system in 3DOF, constrained in z axis |
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Aircraft.Examples Circular path tracking by a quadrotor |
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Aircraft.Examples Compare the impact of two types of controller structures on the motion of the quadrotor |
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Aircraft.Examples Simulation of the uncontrolled flight of Boeing 737-800 and Douglas DC-8 as they stabilize themselves |
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Aircraft.Examples Comparison of the performance of Boeing 737-800 with known and estimated mass properties |
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Aircraft.Examples Example of tuning autopilot PID controllers |
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Aircraft.Examples Example for demonstrating the linearized state space modeling environment |
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Aircraft.Examples Example of flying an aircraft with custom propulsion and engine failure |
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Aircraft.Examples Model for testing stall recovery and stall effects for Saab 2000 |
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Aircraft.Examples Example of towing a glider up to cruise altitude by an electric aircraft |