Implement Euler angle representation of six-degrees-of-freedom equations of motion of simple variable mass
The Simple Variable Mass 6DoF (Euler Angles) block considers the rotation of a body-fixed coordinate frame (Xb, Yb, Zb) about a flat Earth reference frame (Xe, Ye, Ze). The origin of the body-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 body-fixed coordinate frame is given below, where the applied forces [Fx Fy Fz]T are in the body-fixed frame.
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.
The inertia tensor is determined using a table lookup which linearly interpolates between Ifull and Iempty based on mass (m). While the rate of change of the inertia tensor is estimated by the following equation.
The relationship between the body-fixed angular velocity vector, [p q r]T, and the rate of change of the Euler angles, [ ]T, can be determined by resolving the Euler rates into the body-fixed coordinate frame.
Inverting J then gives the required relationship to determine the Euler rate vector.
Specifies the input and output units:
|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|
Select the type of mass to use:
|Fixed||Mass is constant throughout the simulation.|
|Simple Variable||Mass and inertia vary linearly as a function of mass rate.|
|Custom Variable||Mass and inertia variations are customizable.|
The Simple Variable selection conforms to the previously described equations of motion.
Select the representation to use:
|Euler Angles||Use Euler angles within equations of motion.|
|Quaternion||Use quaternions within equations of motion.|
The Euler Angles selection conforms to the previously described equations of motion.
The three-element vector for the initial location of the body in the flat Earth reference frame.
The three-element vector for the initial velocity in the body-fixed coordinate frame.
The three-element vector for the initial Euler rotation angles [roll, pitch, yaw], in radians.
The three-element vector for the initial body-fixed angular rates, in radians per second.
The initial mass of the rigid body.
A scalar value for the empty mass of the body.
A scalar value for the full mass of the body.
A 3-by-3 inertia tensor matrix for the empty inertia of the body.
A 3-by-3 inertia tensor matrix for the full inertia of the body.
|Vector||Contains the three applied forces.|
|Vector||Contains the three applied moments.|
|Scalar||Contains the rate of change of mass.|
|Three-element vector||Contains the velocity in the flat Earth reference frame.|
|Three-element vector||Contains the position in the flat Earth reference frame.|
|Three-element vector||Contains the Euler rotation angles [roll, pitch, yaw], in radians.|
|3-by-3 matrix||Applies to the coordinate transformation from flat Earth axes to body-fixed axes.|
|Three-element vector||Contains the velocity in the body-fixed frame.|
|Three-element vector||Contains the angular rates in body-fixed axes, in radians per second.|
|Three-element vector||Contains the angular accelerations in body-fixed axes, in radians per second squared.|
|Three-element vector||Contains the accelerations in body-fixed axes.|
|Scalar element||Contains a flag for fuel tank status:|
The block assumes that the applied forces are acting at the center of gravity of the body.
Mangiacasale, L., Flight Mechanics of a μ-Airplane with a MATLAB Simulink Helper, Edizioni Libreria CLUP, Milan, 1998.