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    Fixed Mass 6dof Motion

    Uploaded by

    mohammadrezamadadi

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as DOCX or read online from Scribd

    Fixed Mass 6dof Motion

    Uploaded by

    mohammadrezamadadi
    37 views2 pages

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    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as DOCX or read online from Scribd
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    37 views2 pages

    Fixed Mass 6dof Motion

    Uploaded by

    mohammadrezamadadi

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as DOCX or read online from Scribd
    Download as docx
    of 2

    ( function [t,y] = sixdof(Forces, Moments, Mass, Inertia, tarray, varargin

    SIXDOF Calculate aircraft fixed-mass rigid-body six-degrees-of-freedom %


    .equations of motion using MATLAB ODE45 solver %
    %
    =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= %
    :Inputs %
    =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= %
    Forces = 3x1 vector of forces in body coordinates %
    Moments = 3x1 vectory of moments in body coordinates %
    Mass = fixed mass of the aircraft %
    Inertia = 3x3 Inertia Tensor matrix %
    tarray = time series vector %
    %
    :OPTIONAL INPUTS %
    Ipos_i = 3x1 vector of initial position %
    (Ivel_b = 3x1 vector of initial velocity (body %
    Irates_b = 3x1 vector of initial body rates %
    Ieuler = 3x1 vector of initial euler angles %
    %
    =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= %
    :Outputs %
    =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= %
    t = simulation time %
    y(1:3) = body rates %
    y(4:6) = velocity in body coordinates %
    y(7:9) = position in body coordinates %
    %
    =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= %
    An example of how to call sixdof %
    %
    ;[Ipos_i = [10 20 100 %
    ;[Ivel_b = [30 10 20 %
    ;[Ieuler = [0 0 0 %
    ;[Irates_b = [1 1 1 %
    ;mass = 1.0 %
    ;(inertia = eye(3 %
    ;'[Moments = [1 1 1 %
    ;'[Forces = [10 5 8 %
    ;tout = 1:100 %
    %
    ,t_expected,y_expected]=sixdof(Forces,Moments,mass,inertia,tout,Ipos_i] %
    ...
    ;(Ivel_b,Irates_b,Ieuler %

    if nargin < 5
    ('.error('Less than the minimum 5 inputs
    elseif nargin > 9
    ('.error('More than maximum 9 inputs
    else
    switch nargin
    case 5
    ;[Ipos_i = [0 0 0
    ;[Ivel_b = [0 0 0
    ;[Irates_b = [0 0 0
    ;[Ieuler = [0 0 0
    case 6
    ;{Ipos_i = varargin{1
    ;[Ivel_b = [0 0 0
    ;[Irates_b = [0 0 0
    ;[Ieuler = [0 0 0
    case 7
    ;{Ipos_i = varargin{1
    ;{Ivel_b = varargin{2
    ;[Irates_b = [0 0 0
    ;[Ieuler = [0 0 0
    case 8
    ;{Ipos_i = varargin{1
    ;{Ivel_b = varargin{2
    ;{Irates_b = varargin{3
    ;[Ieuler = [0 0 0
    case 9
    ;{Ipos_i = varargin{1
    ;{Ivel_b = varargin{2
    ;{Irates_b = varargin{3
    ;{Ieuler = varargin{4
    convert Ipos_i into body coordinates %
    ;((cph = cos(Ieuler(1
    ;((sph = sin(Ieuler(1
    ;((cth = cos(Ieuler(2
    ;((sth = sin(Ieuler(2
    ;((cps = cos(Ieuler(3
    ;((sps = sin(Ieuler(3

    ...;dcm = [cth*cps cth*sps -sth


    ... ;sph*sth*cps-cph*sps sph*sth*sps+cph*cps sph*cth
    ;[cph*sth*cps+sph*sps cph*sth*sps-sph*cps cph*cth
    ;Ipos_i = dcm*Ipos_i
    end
    end

    if Mass <= 0
    ('.error('Mass should be a positive non-zero value
    else
    ;[y0 = [Irates_b Ivel_b Ipos_i
    options = odeset('MaxStep',1/50); % set max step size to Simulink's
    ;(t,y] = ode45(@f,tarray,y0,options,Forces,Mass,Moments,Inertia]

    end
    %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
    %%%%%
    (function dydt = f(t,y,Forces,Mass,Moments,Inertia

    dydt(1:3) = rates_dot %
    dydt(4:6) = accel %
    dydt(7:9) = vel %
    y(1:3) = rates %
    y(4:6) = vel %
    y(7:9) = pos %

    ... ;(((dydt = [inv(Inertia)*(Moments - cross(y(1:3),Inertia*y(1:3


    ... ;((Forces/Mass - cross(y(1:3),y(4:6
    ;[(y(4:6

    %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
    %%%%%

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