WOLFRAM SYSTEM MODELER

World

World coordinate system used in aircraft libray

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.
MultiBody.World

 

 

 

Parameters (32)

enableAnimation

Value: true

Type: Boolean

Description: = true, if animation of all components is enabled

animateWorld

Value: true

Type: Boolean

Description: = true, if world coordinate system shall be visualized

animateGravity

Value: true

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)

frame_b

Type: Frame_b

Description: Coordinate system fixed in the origin of the world frame

Components (12)

x_arrowLine

Type: Shape

Description: Visualizing an elementary object with variable size; all data have to be set as modifiers (see info layer)

x_arrowHead

Type: Shape

Description: Visualizing an elementary object with variable size; all data have to be set as modifiers (see info layer)

x_label

Type: Lines

Description: Visualizing a set of lines as cylinders with variable size, e.g., used to display characters (no Frame connector)

y_arrowLine

Type: Shape

Description: Visualizing an elementary object with variable size; all data have to be set as modifiers (see info layer)

y_arrowHead

Type: Shape

Description: Visualizing an elementary object with variable size; all data have to be set as modifiers (see info layer)

y_label

Type: Lines

Description: Visualizing a set of lines as cylinders with variable size, e.g., used to display characters (no Frame connector)

z_arrowLine

Type: Shape

Description: Visualizing an elementary object with variable size; all data have to be set as modifiers (see info layer)

z_arrowHead

Type: Shape

Description: Visualizing an elementary object with variable size; all data have to be set as modifiers (see info layer)

z_label

Type: Lines

Description: Visualizing a set of lines as cylinders with variable size, e.g., used to display characters (no Frame connector)

gravityArrowLine

Type: Shape

Description: Visualizing an elementary object with variable size; all data have to be set as modifiers (see info layer)

gravityArrowHead

Type: Shape

Description: Visualizing an elementary object with variable size; all data have to be set as modifiers (see info layer)

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)

VerticalMotion

Aircraft.Examples

Vertical motion of quadrotor system in 3DOF, constrained in z axis

CircularTrajectoryTracking

Aircraft.Examples

Circular path tracking by a quadrotor

ControllerComparison

Aircraft.Examples

Compare the impact of two types of controller structures on the motion of the quadrotor

Stabilization

Aircraft.Examples

Simulation of the uncontrolled flight of Boeing 737-800 and Douglas DC-8 as they stabilize themselves

WeightEstimation

Aircraft.Examples

Comparison of the performance of Boeing 737-800 with known and estimated mass properties

AutopilotPIDTune

Aircraft.Examples

Example of tuning autopilot PID controllers

LinearizedStateSpace

Aircraft.Examples

Example for demonstrating the linearized state space modeling environment

EngineFailure

Aircraft.Examples

Example of flying an aircraft with custom propulsion and engine failure

StallRecovery

Aircraft.Examples

Model for testing stall recovery and stall effects for Saab 2000

GliderTow

Aircraft.Examples

Example of towing a glider up to cruise altitude by an electric aircraft