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Diffstat (limited to 'Flight_Dynamics_Test.mo')
| -rwxr-xr-x | Flight_Dynamics_Test.mo | 168 |
1 files changed, 168 insertions, 0 deletions
diff --git a/Flight_Dynamics_Test.mo b/Flight_Dynamics_Test.mo new file mode 100755 index 0000000..e412224 --- /dev/null +++ b/Flight_Dynamics_Test.mo @@ -0,0 +1,168 @@ +model Flight_Dynamics_Test +import Modelica.Math.Matrices.*; +import Modelica.SIunits.*; +import Modelica.Blocks.Interfaces.*; +import Modelica.Math.Vectors.*; + +function T1 + + input Real a; + output Real T[3,3]; +algorithm + T := {{ 1, 0, 0}, { 0, cos(a), sin(a)},{ 0,-sin(a), cos(a)}}; +end T1; + +function T2 + input Real a; + output Real T[3,3]; +algorithm + T := {{ cos(a), 0,-sin(a)}, { 0, 1, 0},{ sin(a), 0, cos(a)}}; +end T2; + +function T3 + input Real a; + output Real T[3,3]; +algorithm + T := {{ cos(a), sin(a), 0},{-sin(a), cos(a), 0},{ 0, 0, 1}}; +end T3; + + + + + + +parameter Real alphazero = 0.010576161309471; + +parameter Real delta[3] = {0,-0.0304977268414434,0}; +parameter Real thrust[3] = {1526.49255280348 , 0, 0}; + + +Real[3] omega ( start = {0, 0, 0}); +Real[3] pos (start = {0, 0, -1000}); +Real[3] v (start = {60*cos(alphazero), 0, 60*sin(alphazero)}); +Real[3] angles ; +Real[3] Force;//Forces + +Real[3] Moment;//Moments + + + +parameter Real m = 1043.26; +parameter Real s = 16.1651;//reference area +parameter Real cbar = 1.493 ;//average chord +parameter Real b = 10.911 ;//span +parameter Real W[3] = m*{0,0, -9.8};//gravitational force +Real CL; //Coeff of Lift +Real CD;//Coeff of Drag +//Real CY;//Coeff of Sideslip +//Real Cl;//Roll coeff +Real Cm;//Pitch coeff +//Real Cn;//Yaw coeff + + +//// environmental constants +parameter Real rho = 1.225; // air desnsity +parameter Real g = 9.81; // gravity + + + + + + +//weight + +//// aerodynamic coefficients +// drag +parameter Real CD0 = 0.036; +parameter Real K_drag = 0.0830304; +parameter Real CD_beta = 0.17; + +//side force +parameter Real Cy_beta = -0.31; +parameter Real Cy_p = -0.037; +parameter Real Cy_r = 0.21; +parameter Real Cy_delta_r = 0.187; +parameter Real Cy_delta_a = 0; + +// lift +parameter Real CL0 = 0.25; +parameter Real CL_alpha = 4.47; +parameter Real CL_q = 3.9; +parameter Real CL_delta_e = 0.3476; + +// rolling moment +parameter Real Cl_beta = -0.089; +parameter Real Cl_p = -0.47; +parameter Real Cl_r = 0.096; +parameter Real Cl_delta_a = -0.09; +parameter Real Cl_delta_r = 0.0147; + +// pitching moment +parameter Real Cm0 = -0.02; +parameter Real Cm_alpha = -1.8; +parameter Real Cm_q = -12.4; +parameter Real Cm_delta_e = -1.28; + +// yawing moment +parameter Real Cn_beta = 0.065; +parameter Real Cn_p = -0.03; +parameter Real Cn_r = -0.99; +parameter Real Cn_delta_a = -0.0053; +parameter Real Cn_delta_r = -0.0657; + + +parameter Real[3,3] J = {{1285.31, 0, 0}, {0, 1824.93, 0}, {0, 0, 2666.893}};//Moment of Inertia + +Real vdot[3];//Linear Acceleration +Real omegadot[3];//Angular acceleration +Real OMEGA[3,3] = skew(omega);//Skew symmetric matrix form of the angular velocity term +Real DCM[3,3] = T1(angles[1])*T2(angles[2])*T3(angles[3]);//The direction cosine matrix +Real Rotation_mat[3,3] = {{1, tan(angles[2])*sin(angles[1]), tan(angles[2])*cos(angles[1])}, {0, cos(angles[1]), -sin(angles[1])},{0, sin(angles[1])/cos(angles[2]) , cos(angles[1])/cos(angles[2])}}; +Real euler_rates[3]; + + + +Real L; +Real D; + +Real Q; +Real alpha; +Real alphadot; + + +initial equation +alpha = alphazero; +angles[2] = alphazero; + + + +equation +alpha = atan2(v[3],v[1]); +alphadot = der(alpha); +Q=0.5*rho*norm(v)*norm(v); +CL = CL0+CL_alpha*alpha+((CL_q*omega[2]*cbar)/(2*norm(v)))+CL_delta_e*delta[2]; +Cm = Cm0+Cm_alpha*alpha+((Cm_q*omega[2]*cbar)/(2*norm(v)))+Cm_delta_e*delta[2]; +CD = CD0+K_drag*CL^2; + +L = CL*s*Q; +D = CD*s*Q; + +Moment[2] = Cm*s*cbar*Q; +Moment[1] = 0; +Moment[3] = 0; + +Force[1] = -D*cos(alpha)+L*sin(alpha)+thrust[1] - m*g*sin(angles[2]); +Force[3] = -D*sin(alpha)-L*cos(alpha)+m*g*cos(angles[2]); +Force[2] = 0; + + +vdot = 1 / m * Force + OMEGA * v; +der(v) = vdot; +der(pos) = inv(DCM)*v; +omegadot = inv(J) * (Moment- OMEGA * J * omega); +der(omega) = omegadot; +euler_rates = Rotation_mat * omega; +der(angles) = euler_rates; + + +end Flight_Dynamics_Test;
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