📄 pqrdot.htm
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<TITLE>FDC help: pqrdot</TITLE>
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<H2>Subsystem <I><FONT FACE="Arial","Helvetica","Sans Serif">pqrdot</FONT></I></H2>
<I><FONT SIZE=2 FACE="Arial","Helvetica","Sans Serif">pqrdot</FONT></I> is a S<SMALL>IMULINK</SMALL> subsystem which is used to compute the time-derivatives of the angular body-axes velocities <I>p</I>, <I>q</I>, and <I>r</I>. The block <I><FONT SIZE=2 FACE="Arial","Helvetica","Sans Serif">pqrdot</FONT></I> is contained in the sub-sub-system <I><FONT SIZE=2 FACE="Arial","Helvetica","Sans Serif"><A HREF="12odes.htm">12 ODEs</A></FONT></I> of the subsystem <I><FONT SIZE=2 FACE="Arial","Helvetica","Sans Serif"><A HREF="eqmotion.htm">Aircraft Equations of Motion</A></FONT></I> in the S-function <I><FONT SIZE=2 FACE="Arial","Helvetica","Sans Serif"><A HREF="beaver.htm">Beaver</A></FONT></I>. The remaining nine differential equations are stored in the subsystems <I><FONT SIZE=2 FACE="Arial","Helvetica","Sans Serif"><A HREF="vabdot.htm">Vabdot</A></FONT></I>, <I><FONT SIZE=2 FACE="Arial","Helvetica","Sans Serif"><A HREF="eulerdot.htm">Eulerdot</A></FONT></I>, and <FONT SIZE=2 FACE="Arial","Helvetica","Sans Serif"><I><A HREF="xyhdot.htm">xyHdot</A></I></FONT>, which are all contained in <I><FONT SIZE=2 FACE="Arial","Helvetica","Sans Serif">12 ODEs</FONT></I>.
<H3>Inputvector: <I>upqr</I>
</H3>
<PRE> upqr = [x' Ftot' Mtot' yhlp'],
x = [V alpha beta p q r psi theta phi xe ye H]' (states)
Ftot = [Fx Fy Fz]' (total forces along the body-axes,
computed in the block <A HREF="fmsort.htm">FMsort</A>)
Mtot = [L M N]' (total moments along the body-axes,
computed in the block <A HREF="fmsort.htm">FMsort</A>)
yhlp = [cos(alpha) sin(alpha) cos(beta) sin(beta) ...
... tan(beta) sin(psi) cos(psi) sin(theta) ...
... cos(theta) sin(phi) cos(phi)]'
(sines and cosines, coming from the block <A HREF="hlpfcn.htm">Hlpfcn</A>)
{V : airspeed [m/s] }
{alpha: angle of attack [rad] }
{beta : sideslip angle [rad] }
p : roll rate [rad/s]
q : pitch rate [rad/s]
r : yaw rate [rad/s]
{psi : yaw angle [rad] }
{theta: pitch angle [rad] }
{phi : roll angle [rad] }
{xe : x-coordinate in Earth-fixed reference frame [m] }
{ye : y-coordinate '' '' '' '' [m] }
{H : altitude above sea-level [m] }
{Fx, Fy, Fz: total forces along the aircraft's body-axes [N] }
L, M, N : total moments along the aircraft's body-axes [Nm]
</PRE>
The inputvariables which are not actually used by <I><FONT SIZE=2 FACE="Arial","Helvetica","Sans Serif">pqrdot</FONT></I> have been displayed between accolades.
None of the elements of <I>yhlp</I> are used by <I><FONT SIZE=2 FACE="Arial","Helvetica","Sans Serif">pqrdot</FONT></I>.
<H3>Outputvector: <I>ypqr</I>
</H3>
<PRE> ypqr = [pdot qdot rdot]'
pdot : dp/dt [rad/s^2]
qdot : dq/dt [rad/s^2]
rdot : dr/dt [rad/s^2]
</PRE>
<H3>Parameters which must be loaded in the M<SMALL>ATLAB</SMALL> Workspace
</H3>
<I>GM2</I>: matrix with inertia parameters of the 'Beaver' aircraft (which is assumed to be constant during the motions of interest). <I>GM2</I> can be loaded into the workspace by calling the routine <I><FONT SIZE=2 FACE="Arial","Helvetica","Sans Serif"><A HREF="loader.htm">LOADER</A></FONT></I>. Use <I><FONT SIZE=2 FACE="Arial","Helvetica","Sans Serif"><A HREF="modbuild.htm">MODBUILD</A></FONT></I> if the datafile with model parameters does not yet exist.
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