Pushing entire Modelica HIL Tasks repoHEADmaster

1 files changed, 95 insertions, 0 deletions

diff --git a/Flight_Eqns/Wind_Axis_eqns/Wind6DOFBasic.mo b/Flight_Eqns/Wind_Axis_eqns/Wind6DOFBasic.mo
new file mode 100644
index 0000000..0d4c90c
--- /dev/null
+++ b/Flight_Eqns/Wind_Axis_eqns/Wind6DOFBasic.mo
@@ -0,0 +1,95 @@
+model Wind6DOFBasic
+
+import Modelica.Math.Matrices.*;
+import SI=Modelica.SIunits;
+import Modelica.Blocks.Interfaces.*;
+
+
+
+parameter Real g = 9.81;
+parameter Real m = 1043.26;//1.56 for zagi
+parameter Real[3,3] J = {{1285.31, 0.0, 0.0}, {0.0, 1824.93, 0.0}, {0.0, 0.0, 2666.893}};
+
+
+
+//12 states
+RealOutput[3] omega(start = {0.0,0.0,0})  annotation(    Placement(visible = true, transformation(origin = {110, -33}, extent = {{-20, -20}, {20, 20}}, rotation = 0), iconTransformation(origin = {110, -33}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));//omega
+
+Real OMEGA[3,3] = skew(omega);//Skew symmetric matrix form of the angular velocity term
+
+
+Real V (start =39.8858);
+Real alpha (start =0.1);
+Real beta (start = 0);
+
+RealOutput[3] VAB annotation(    Placement(visible = true, transformation(origin = {110, 33}, extent = {{-20, -20}, {20, 20}}, rotation = 0), iconTransformation(origin = {110, 33}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));//V, alpha, beta
+
+
+Real x (start = 0);
+Real y (start = 0);
+Real z (start = 100);
+
+Real mu (start = 0); 
+Real gamma (start = 0);
+Real chi (start = 0); 
+
+
+RealInput Force[3] annotation(   Placement(visible = true, transformation(origin = {-110, 33}, extent = {{-20, -20}, {20, 20}}, rotation = 0), iconTransformation(origin = {-110, 33}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));//Thrust force
+
+RealInput Moment[3] annotation(   Placement(visible = true, transformation(origin = {-110, -33}, extent = {{-20, -20}, {20, 20}}, rotation = 0), iconTransformation(origin = {-110, -33}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));//Thrust force
+
+
+
+Real Vdot;
+Real alphadot;
+Real betadot;
+
+Real[3] omegadot;
+
+Real mudot;
+Real gammadot;
+Real chidot;
+
+Real xdot;
+Real ydot;
+Real zdot;
+
+
+equation
+
+
+Vdot = der(V);
+alphadot = der(alpha);
+betadot = der(beta);
+
+omegadot= der(omega);
+
+xdot = der(x);
+ydot = der(y);
+zdot = der(z);
+
+mudot = der(mu);
+gammadot = der(gamma);
+chidot = der(chi);
+
+
+Vdot = 1/m*(Force[1] -m*g*sin(gamma));
+
+alphadot = omega[2]-1/cos(beta)*((omega[1]*cos(alpha)+omega[3]*sin(alpha))*sin(beta)-g/V*cos(gamma)*cos(mu)+Force[3]/(m*V));
+
+betadot = (omega[1]*sin(alpha)-omega[3]*cos(alpha))+1/(m*V)*(Force[2]+m*g*cos(gamma)*sin(mu));
+
+
+omegadot = inv(J) * (Moment- OMEGA* J*omega);
+
+xdot=V*cos(gamma)*cos(chi);
+ydot=V*cos(gamma)*sin(chi);
+zdot=-V*sin(gamma);
+
+mudot = omega[1]+tan(gamma)*sin(mu)*omega[2]+tan(gamma)*cos(mu)*omega[3];
+gammadot = cos(mu)*omega[2]-sin(mu)*omega[3];
+chidot=(1/cos(gamma))*sin(mu)*omega[2]+(1/cos(gamma))*cos(mu)*omega[3];
+
+VAB = {V,alpha,beta};
+
+end Wind6DOFBasic;
\ No newline at end of file