CN108008645A - Six-degree-of-freedom simulation modeling method - Google Patents

Six-degree-of-freedom simulation modeling method Download PDF

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CN108008645A
CN108008645A CN201711344974.1A CN201711344974A CN108008645A CN 108008645 A CN108008645 A CN 108008645A CN 201711344974 A CN201711344974 A CN 201711344974A CN 108008645 A CN108008645 A CN 108008645A
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munder
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薛令德
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Sichuan Hanke Computer Info-Tech Co Ltd
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Sichuan Hanke Computer Info-Tech Co Ltd
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    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B17/00—Systems involving the use of models or simulators of said systems
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Abstract

The present invention relates to Six-degree-of-freedom Simulation modeling method, defines origin O and is connected in earth center, and XOY plane is located in equator, and X-axis is directed toward a certain fixed star, and Z axis passes through the arctic；Earth center is connected coordinate system, is rotated with earth rotation；Origin O is connected in earth center, and XOY plane is located in equatorial plane, and X-axis initial position differs an angle LG (0) with Xeci, and Z axis presses the vertical XOZ planes of right hand rule by the arctic, Y-axis；Origin O is connected in the center of gravity of airplane, and along head forward, Z axis vertical X axis in the aircraft plane of symmetry is downward for X-axis, and the vertical XOZ planes of Y-axis are to the right；For the center of gravity of airplane, normal direction projects origin at the earth's surface, X-axis is directed toward the arctic, Y-axis is directed toward east, vertically local earth's surface is downward for Z axis, using Object-oriented Technique and Software Module Design thought, establish that six-freedom motion in general unmanned machine flight envelope is non-linear, High Precision Simulation model library, for flight control during unmanned plane simulated flight and flight path planning, display task.

Description

Six-degree-of-freedom Simulation modeling method
Technical field
The present invention relates to Simulation and Modeling Technology field, and in particular to a kind of Six-degree-of-freedom Simulation modeling method.
Background technology
Modeling is exactly to establish model, and exactly one kind that things is made is abstracted in order to understand things, is one to things The written description of kind unambiguously.The process of system model is established, is also known as modeled.Modeling is the important means of research system with before Carry.The process of every causality or correlation for describing system with model belongs to modeling.Because the relation of description is different, institute To realize that the means of this process and method are also diversified.The analysis to the system characteristics of motion itself, root can be passed through Modeled according to the mechanism of things；Can also by the experiment or the processing of statistics to system, and according on system Some knowledge and experiences models.Several method can also be used at the same time.
System modelling is mainly used for three aspects.
1. analysis and design real system.Such as engineering circles are when analysis designs a new system, usual advanced line number Emulation and physical simulation experiment, finally arrive scene and make full-scale investigation again.Mathematical simulation is simpler than physical simulation, easy.Use mathematics When emulation is to analyze and design a real system, it is necessary to have the model of a description system features.For many complicated works Industry controls process, and modeling is often most critical and most difficult task.Qualitative or quantitative research to society and economic system Set about from modeling.Such as in population cybernetics, various types of demographic models are established, change some ginsengs in model Amount, influence of the population policy that can analyze and research for population development.
2. the future developing trend of some states of prediction or forecast real system.Prediction or forecast are based on things development mistake The continuity of journey.Such as the mathematical model of meteorological change is established according to conventional measurement data, for forecasting the meteorology in future.
3. optimum control is carried out to system.With control theory design controller or optimal control law key or on condition that There is a mathematical model that can characterize system features.On the basis of modeling, further according to maximal principle, Dynamic Programming, feedback, The methods of decoupling, POLE PLACEMENT USING, self-organizing, adaptive and intelligent control, design various controllers or control law.System Modeling is mainly used for 3 aspects can establish different for same real system, people according to different purposes and purpose Model.But any model established all is the simplification of real system prototype, because both can not possibly or need not be real system All details all include come.If some substantive characteristics of system prototype can be retained in simplified model, then can recognize To system prototype it is similar for model, may be employed to description original system.Therefore, during actual modeling, it is necessary in model Simplify and make appropriate compromise between precision of analysis, this is often the principle that modeling follows.
The shortcomings that prior art, is：For unmanned plane analogue system, current modeling pattern can not also provide a set of Effective simulated effect system model true to nature.
The content of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of Six-degree-of-freedom Simulation modeling method, uses Object-oriented Technique and Software Module Design thought, it is non-linear, high to establish six-freedom motion in general unmanned machine flight envelope Precision simulation model library, for flight control during unmanned plane simulated flight and flight path planning, display task.
The purpose of the present invention is what is be achieved through the following technical solutions：
Six-degree-of-freedom Simulation modeling method, the flight simulation applied to aircraft model, it is characterised in that comprise the following steps：
ECI：Inertial coodinate system；Define origin O and be connected in earth center, XOY plane is located in equator, and X-axis is directed toward a certain Fixed star, Z axis pass through the arctic；
ECEF：Earth center is connected coordinate system, is rotated with earth rotation；Origin O is connected in earth center, and XOY is put down Face is located in equatorial plane, and X-axis initial position differs an angle LG (0) with Xeci, and Z axis is hung down by the arctic, Y-axis by right hand rule Straight XOZ planes；
B：Body shafting, defines origin O and is connected in the center of gravity of airplane, X-axis along head forward, Z axis vertical X in the aircraft plane of symmetry Under axial direction, the vertical XOZ planes of Y-axis are to the right；
GEO：Geographic coordinate system, for the center of gravity of airplane, normal direction projects origin at the earth's surface, and X-axis is directed toward the arctic, and Y-axis is directed toward East, vertically local earth's surface is downward for Z axis.
Direction cosine matrix subscript explanation：DCMba：Direction cosine matrix by a coordinate systems to b coordinate systems.
Preferably, it is ω to further include according to rotational-angular velocity of the eartheWith consideration earth rotation, aircraft barycenter dynamics is established Equation：
Wherein DCMbi, be inertia shafting to body shafting direction cosine matrix,F bGet off the plane suffered bonding force for body shafting, including Aerodynamic force, motor power and gravity,x iFor aircraft under inertial system position.
Preferably, aircraft change in location under inertial system is calculated by the following formula：
Wherein DCMibFor body shafting to inertia shafting direction cosine matrix；Aircraft speed under axisV b, angular speedω b, rotational-angular velocity of the earthω eProjected in body shaftingω relRespectively：
Preferably, rotational power equation under the body shafting：
Wherein Mb is bonding force square under body shafting, and I is moment of inertia matrix：
It is unusual to occur when avoiding and being solved using Eulerian angles, solved using Quaternion method：
Preferably, the direction cosine matrix can also try to achieve correspondence with four elements and try to achieve：
The calculation formula that Eulerian angles are converted to by four elements is：
Aircraft angle of attack：
Body shafting is got off the plane linear acceleration：
Wherein Ab is inertial acceleration in body axial projection：
Body shafting gets off the plane speed can be by quadraturing to obtain to following partial differential formula：
Eulerian angles to the following formula by integrating to obtain：
The beneficial effects of the invention are as follows：Using Object-oriented Technique and Software Module Design thought, general unmanned machine is established Six-freedom motion is non-linear in flight envelope, High Precision Simulation model library, for control of flying during unmanned plane simulated flight System and flight path planning, display task.
Brief description of the drawings
Fig. 1 is Six-degree-of-freedom Simulation modeling method；
Fig. 2 is coordinate system definition figure.
Embodiment
Technical scheme is described in further detail with reference to specific embodiment, but protection scope of the present invention is not It is confined to as described below.
As shown in Figs. 1-2：
Six-degree-of-freedom Simulation modeling method, including following following steps：
ECI：Inertial coodinate system；Origin O is connected in earth center, and XOY plane is located in equator, and X-axis is directed toward a certain fixed star, Z axis passes through the arctic；
ECEF：Earth center is connected coordinate system, is rotated with earth rotation；Origin O is connected in earth center, and XOY is put down Face is located in equatorial plane, and X-axis initial position differs an angle LG (0) with Xeci, and Z axis is hung down by the arctic, Y-axis by right hand rule Straight XOZ planes；
B：Body shafting, origin O are connected in the center of gravity of airplane, X-axis along head forward, Z axis in the aircraft plane of symmetry vertical X axis to Under, the vertical XOZ planes of Y-axis are to the right；
GEO：Geographic coordinate system, for the center of gravity of airplane, normal direction projects origin at the earth's surface, and X-axis is directed toward the arctic, and Y-axis is directed toward East, vertically local earth's surface is downward for Z axis.
Variable name subscript explanation under different coordinates：
i：Inertial coodinate system；
b：Body shafting；
f：Earth center is connected coordinate system；
e：Geographic coordinate system.
Direction cosine matrix subscript explanation：
DCMba：Direction cosine matrix by a coordinate systems to b coordinate systems.
Consider the dynamics and kinematics model of earth rotation
Barycenter dynamics and kinematical equation
Rotational-angular velocity of the earth is ωe, consider earth rotation, aircraft barycenter kinetics equation is：
Wherein DCMbiFor inertia shafting to body shafting direction cosine matrix,F bGet off the plane suffered bonding force for body shafting, Including aerodynamic force, motor power and gravity,x iFor aircraft under inertial system position.
Aircraft change in location under inertial system is calculated by the following formula：
Wherein DCMibFor body shafting to inertia shafting direction cosine matrix；Aircraft speed under axisV bAngular speedω b, rotational-angular velocity of the earthω eProjected in body shaftingω relRespectively：
Rotational power and kinematical equation under body shafting
Rotational power equation under body shafting：
Wherein Mb is bonding force square under body shafting, and I is moment of inertia matrix：
It is unusual to occur when avoiding and being solved using Eulerian angles, solved using Quaternion method：
Also it is as follows corresponding direction cosine matrix can be tried to achieve with four elements：
The calculation formula that Eulerian angles are converted to by four elements is：
Aircraft angle of attack：
Body shafting is got off the plane linear acceleration：
Wherein Ab is inertial acceleration in body axial projection：
Body shafting gets off the plane speed can be by quadraturing to obtain to following partial differential formula：
Eulerian angles to the following formula by integrating to obtain：
The above is only the preferred embodiment of the present invention, it should be understood that the present invention is not limited to described herein Form, is not to be taken as the exclusion to other embodiment, and can be used for various other combinations, modification and environment, and can be at this In the text contemplated scope, it is modified by the technology or knowledge of above-mentioned teaching or association area.And those skilled in the art institute into Capable modifications and changes do not depart from the spirit and scope of the present invention, then all should be in the protection domain of appended claims of the present invention It is interior.

Claims (5)

1. Six-degree-of-freedom Simulation modeling method, the flight simulation applied to aircraft models, it is characterised in that comprises the following steps：
ECI：Inertial coodinate system；Defining origin O and be connected in earth center, XOY plane is located in equator, and X-axis is directed toward a certain fixed star, Z axis passes through the arctic；
ECEF：Earth center is connected coordinate system, is rotated with earth rotation；Origin O is connected in earth center, XOY plane position In in equatorial plane, X-axis initial position differs an angle LG (0) with Xeci, and Z axis is vertical by right hand rule by the arctic, Y-axis XOZ planes；
B：Body shafting, defines origin O and is connected in the center of gravity of airplane, X-axis along head forward, Z axis in the aircraft plane of symmetry vertical X axis to Under, the vertical XOZ planes of Y-axis are to the right；
GEO：Geographic coordinate system, for the center of gravity of airplane, normal direction projects origin at the earth's surface, and X-axis is directed toward the arctic, and Y-axis is directed toward east, Z axis Vertical locality earth's surface is downward.
Direction cosine matrix subscript explanation：DCMba：Direction cosine matrix by a coordinate systems to b coordinate systems.
2. Six-degree-of-freedom Simulation modeling method according to claim 1, it is characterised in that further include according to earth rotation angle Speed is ωeWith consideration earth rotation, aircraft barycenter kinetics equation is established：
Wherein DCMbiFor inertia shafting to body shafting direction cosine matrix,F bGet off the plane suffered bonding force for body shafting, including Aerodynamic force, motor power and gravity,x iFor aircraft under inertial system position.
3. Six-degree-of-freedom Simulation modeling method according to claim 2, it is characterised in that the aircraft is the next in inertial system Change is put to be calculated by the following formula：
<mrow> <msub> <munder> <mover> <mi>x</mi> <mo>&amp;CenterDot;</mo> </mover> <mo>&amp;OverBar;</mo> </munder> <mi>i</mi> </msub> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <msub> <mover> <mi>x</mi> <mo>&amp;CenterDot;</mo> </mover> <mrow> <mi>E</mi> <mi>C</mi> <mi>I</mi> </mrow> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mover> <mi>y</mi> <mo>&amp;CenterDot;</mo> </mover> <mrow> <mi>E</mi> <mi>C</mi> <mi>I</mi> </mrow> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mover> <mi>z</mi> <mo>&amp;CenterDot;</mo> </mover> <mrow> <mi>E</mi> <mi>C</mi> <mi>I</mi> </mrow> </msub> </mtd> </mtr> </mtable> </mfenced> <mo>=</mo> <msub> <mi>DCM</mi> <mrow> <mi>i</mi> <mi>b</mi> </mrow> </msub> <msub> <munder> <mi>V</mi> <mo>&amp;OverBar;</mo> </munder> <mi>b</mi> </msub> <mo>+</mo> <msub> <munder> <mi>&amp;omega;</mi> <mo>&amp;OverBar;</mo> </munder> <mi>e</mi> </msub> <mo>&amp;times;</mo> <msub> <munder> <mi>x</mi> <mo>&amp;OverBar;</mo> </munder> <mi>i</mi> </msub> </mrow>
Wherein DCMibFor body shafting to inertia shafting direction cosine matrix；Aircraft speed under axisV b, angular speedω b, ground Revolutions angular speedω eProjected in body shaftingω relRespectively：
<mrow> <msub> <munder> <mi>V</mi> <mo>&amp;OverBar;</mo> </munder> <mi>b</mi> </msub> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mi>u</mi> </mtd> </mtr> <mtr> <mtd> <mi>v</mi> </mtd> </mtr> <mtr> <mtd> <mi>w</mi> </mtd> </mtr> </mtable> </mfenced> <mo>,</mo> <msub> <munder> <mi>&amp;omega;</mi> <mo>&amp;OverBar;</mo> </munder> <mi>b</mi> </msub> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mi>p</mi> </mtd> </mtr> <mtr> <mtd> <mi>q</mi> </mtd> </mtr> <mtr> <mtd> <mi>r</mi> </mtd> </mtr> </mtable> </mfenced> <mo>,</mo> <msub> <munder> <mi>&amp;omega;</mi> <mo>&amp;OverBar;</mo> </munder> <mi>e</mi> </msub> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <msub> <mi>&amp;omega;</mi> <mi>e</mi> </msub> </mtd> </mtr> </mtable> </mfenced> <mo>,</mo> <msub> <munder> <mi>w</mi> <mo>&amp;OverBar;</mo> </munder> <mrow> <mi>r</mi> <mi>e</mi> <mi>l</mi> </mrow> </msub> <mo>=</mo> <msub> <munder> <mi>&amp;omega;</mi> <mo>&amp;OverBar;</mo> </munder> <mi>b</mi> </msub> <mo>-</mo> <msub> <mi>DCM</mi> <mrow> <mi>b</mi> <mi>i</mi> </mrow> </msub> <msub> <munder> <mi>&amp;omega;</mi> <mo>&amp;OverBar;</mo> </munder> <mi>e</mi> </msub> <mo>.</mo> </mrow>
4. Six-degree-of-freedom Simulation modeling method according to claim 2, it is characterised in that rotational power under the body shafting Learn equation：
<mrow> <msub> <munder> <mi>M</mi> <mo>&amp;OverBar;</mo> </munder> <mi>b</mi> </msub> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mi>L</mi> </mtd> </mtr> <mtr> <mtd> <mi>M</mi> </mtd> </mtr> <mtr> <mtd> <mi>N</mi> </mtd> </mtr> </mtable> </mfenced> <mo>=</mo> <msub> <mi>I</mi> <mover> <msub> <munder> <mi>&amp;omega;</mi> <mo>&amp;OverBar;</mo> </munder> <mi>b</mi> </msub> <mo>&amp;CenterDot;</mo> </mover> </msub> <mo>+</mo> <msub> <munder> <mi>&amp;omega;</mi> <mo>&amp;OverBar;</mo> </munder> <mi>b</mi> </msub> <mo>&amp;times;</mo> <mrow> <mo>(</mo> <mi>I</mi> <msub> <munder> <mi>&amp;omega;</mi> <mo>&amp;OverBar;</mo> </munder> <mi>b</mi> </msub> <mo>)</mo> </mrow> </mrow>
Wherein Mb is bonding force square under body shafting, and I is moment of inertia matrix：
<mrow> <mi>I</mi> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <msub> <mi>I</mi> <mrow> <mi>x</mi> <mi>x</mi> </mrow> </msub> </mtd> <mtd> <mrow> <mo>-</mo> <msub> <mi>I</mi> <mrow> <mi>x</mi> <mi>y</mi> </mrow> </msub> </mrow> </mtd> <mtd> <mrow> <mo>-</mo> <msub> <mi>I</mi> <mrow> <mi>x</mi> <mi>z</mi> </mrow> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mo>-</mo> <msub> <mi>I</mi> <mrow> <mi>y</mi> <mi>x</mi> </mrow> </msub> </mrow> </mtd> <mtd> <msub> <mi>I</mi> <mrow> <mi>y</mi> <mi>y</mi> </mrow> </msub> </mtd> <mtd> <mrow> <mo>-</mo> <msub> <mi>I</mi> <mrow> <mi>y</mi> <mi>z</mi> </mrow> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mo>-</mo> <msub> <mi>I</mi> <mrow> <mi>z</mi> <mi>x</mi> </mrow> </msub> </mrow> </mtd> <mtd> <mrow> <mo>-</mo> <msub> <mi>I</mi> <mrow> <mi>z</mi> <mi>y</mi> </mrow> </msub> </mrow> </mtd> <mtd> <msub> <mi>I</mi> <mrow> <mi>z</mi> <mi>z</mi> </mrow> </msub> </mtd> </mtr> </mtable> </mfenced> </mrow>
It is unusual to occur when avoiding and being solved using Eulerian angles, solved using Quaternion method：
<mrow> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <msub> <mi>q</mi> <mn>0</mn> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>q</mi> <mn>1</mn> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>q</mi> <mn>2</mn> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>q</mi> <mn>3</mn> </msub> </mtd> </mtr> </mtable> </mfenced> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mrow> <mi>cos</mi> <mrow> <mo>(</mo> <mfrac> <mi>&amp;phi;</mi> <mn>2</mn> </mfrac> <mo>)</mo> </mrow> <mi>cos</mi> <mrow> <mo>(</mo> <mfrac> <mi>&amp;theta;</mi> <mn>2</mn> </mfrac> <mo>)</mo> </mrow> <mi>cos</mi> <mrow> <mo>(</mo> <mfrac> <mi>&amp;psi;</mi> <mn>2</mn> </mfrac> <mo>)</mo> </mrow> <mo>+</mo> <mi>sin</mi> <mrow> <mo>(</mo> <mfrac> <mi>&amp;phi;</mi> <mn>2</mn> </mfrac> <mo>)</mo> </mrow> <mi>sin</mi> <mrow> <mo>(</mo> <mfrac> <mi>&amp;theta;</mi> <mn>2</mn> </mfrac> <mo>)</mo> </mrow> <mi>sin</mi> <mrow> <mo>(</mo> <mfrac> <mi>&amp;psi;</mi> <mn>2</mn> </mfrac> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mi>sin</mi> <mrow> <mo>(</mo> <mfrac> <mi>&amp;phi;</mi> <mn>2</mn> </mfrac> <mo>)</mo> </mrow> <mi>cos</mi> <mrow> <mo>(</mo> <mfrac> <mi>&amp;theta;</mi> <mn>2</mn> </mfrac> <mo>)</mo> </mrow> <mi>cos</mi> <mrow> <mo>(</mo> <mfrac> <mi>&amp;psi;</mi> <mn>2</mn> </mfrac> <mo>)</mo> </mrow> <mo>-</mo> <mi>cos</mi> <mrow> <mo>(</mo> <mfrac> <mi>&amp;phi;</mi> <mn>2</mn> </mfrac> <mo>)</mo> </mrow> <mi>sin</mi> <mrow> <mo>(</mo> <mfrac> <mi>&amp;theta;</mi> <mn>2</mn> </mfrac> <mo>)</mo> </mrow> <mi>sin</mi> <mrow> <mo>(</mo> <mfrac> <mi>&amp;psi;</mi> <mn>2</mn> </mfrac> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mi>cos</mi> <mrow> <mo>(</mo> <mfrac> <mi>&amp;phi;</mi> <mn>2</mn> </mfrac> <mo>)</mo> </mrow> <mi>sin</mi> <mrow> <mo>(</mo> <mfrac> <mi>&amp;theta;</mi> <mn>2</mn> </mfrac> <mo>)</mo> </mrow> <mi>cos</mi> <mrow> <mo>(</mo> <mfrac> <mi>&amp;psi;</mi> <mn>2</mn> </mfrac> <mo>)</mo> </mrow> <mo>+</mo> <mi>sin</mi> <mrow> <mo>(</mo> <mfrac> <mi>&amp;phi;</mi> <mn>2</mn> </mfrac> <mo>)</mo> </mrow> <mi>cos</mi> <mrow> <mo>(</mo> <mfrac> <mi>&amp;theta;</mi> <mn>2</mn> </mfrac> <mo>)</mo> </mrow> <mi>sin</mi> <mrow> <mo>(</mo> <mfrac> <mi>&amp;psi;</mi> <mn>2</mn> </mfrac> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mi>cos</mi> <mrow> <mo>(</mo> <mfrac> <mi>&amp;phi;</mi> <mn>2</mn> </mfrac> <mo>)</mo> </mrow> <mi>cos</mi> <mrow> <mo>(</mo> <mfrac> <mi>&amp;theta;</mi> <mn>2</mn> </mfrac> <mo>)</mo> </mrow> <mi>sin</mi> <mrow> <mo>(</mo> <mfrac> <mi>&amp;psi;</mi> <mn>2</mn> </mfrac> <mo>)</mo> </mrow> <mo>-</mo> <mi>sin</mi> <mrow> <mo>(</mo> <mfrac> <mi>&amp;phi;</mi> <mn>2</mn> </mfrac> <mo>)</mo> </mrow> <mi>sin</mi> <mrow> <mo>(</mo> <mfrac> <mi>&amp;theta;</mi> <mn>2</mn> </mfrac> <mo>)</mo> </mrow> <mi>cos</mi> <mrow> <mo>(</mo> <mfrac> <mi>&amp;psi;</mi> <mn>2</mn> </mfrac> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> </mtable> </mfenced> </mrow>
<mrow> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <msub> <mover> <mi>q</mi> <mo>&amp;CenterDot;</mo> </mover> <mn>0</mn> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mover> <mi>q</mi> <mo>&amp;CenterDot;</mo> </mover> <mn>1</mn> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mover> <mi>q</mi> <mo>&amp;CenterDot;</mo> </mover> <mn>2</mn> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mover> <mi>q</mi> <mo>&amp;CenterDot;</mo> </mover> <mn>3</mn> </msub> </mtd> </mtr> </mtable> </mfenced> <mo>=</mo> <mo>-</mo> <mfrac> <mn>1</mn> <mn>2</mn> </mfrac> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mi>p</mi> </mtd> <mtd> <mi>q</mi> </mtd> <mtd> <mi>r</mi> </mtd> </mtr> <mtr> <mtd> <mrow> <mo>-</mo> <mi>p</mi> </mrow> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mrow> <mo>-</mo> <mi>r</mi> </mrow> </mtd> <mtd> <mi>q</mi> </mtd> </mtr> <mtr> <mtd> <mrow> <mo>-</mo> <mi>q</mi> </mrow> </mtd> <mtd> <mi>r</mi> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mrow> <mo>-</mo> <mi>p</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mo>-</mo> <mi>r</mi> </mrow> </mtd> <mtd> <mrow> <mo>-</mo> <mi>q</mi> </mrow> </mtd> <mtd> <mi>p</mi> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> </mtable> </mfenced> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <msub> <mi>q</mi> <mn>0</mn> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>q</mi> <mn>1</mn> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>q</mi> <mn>2</mn> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>q</mi> <mn>3</mn> </msub> </mtd> </mtr> </mtable> </mfenced> <mo>.</mo> </mrow>
5. Six-degree-of-freedom Simulation modeling method according to claim 2, it is characterised in that the direction cosine matrix also may be used Correspondence is tried to achieve with four elements to try to achieve：
<mrow> <mi>D</mi> <mi>C</mi> <mi>M</mi> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mrow> <mo>(</mo> <mrow> <msubsup> <mi>q</mi> <mn>0</mn> <mn>2</mn> </msubsup> <mo>+</mo> <msubsup> <mi>q</mi> <mn>1</mn> <mn>2</mn> </msubsup> <mo>-</mo> <msubsup> <mi>q</mi> <mn>2</mn> <mn>2</mn> </msubsup> <mo>-</mo> <msubsup> <mi>q</mi> <mn>3</mn> <mn>2</mn> </msubsup> </mrow> <mo>)</mo> </mrow> </mtd> <mtd> <mrow> <mn>2</mn> <mrow> <mo>(</mo> <mrow> <msub> <mi>q</mi> <mn>1</mn> </msub> <msub> <mi>q</mi> <mn>2</mn> </msub> <mo>+</mo> <msub> <mi>q</mi> <mn>0</mn> </msub> <msub> <mi>q</mi> <mn>3</mn> </msub> </mrow> <mo>)</mo> </mrow> </mrow> </mtd> <mtd> <mrow> <mn>2</mn> <mrow> <mo>(</mo> <mrow> <msub> <mi>q</mi> <mn>1</mn> </msub> <msub> <mi>q</mi> <mn>3</mn> </msub> <mo>-</mo> <msub> <mi>q</mi> <mn>0</mn> </msub> <msub> <mi>q</mi> <mn>2</mn> </msub> </mrow> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mn>2</mn> <mrow> <mo>(</mo> <mrow> <msub> <mi>q</mi> <mn>1</mn> </msub> <msub> <mi>q</mi> <mn>2</mn> </msub> <mo>-</mo> <msub> <mi>q</mi> <mn>0</mn> </msub> <msub> <mi>q</mi> <mn>3</mn> </msub> </mrow> <mo>)</mo> </mrow> </mrow> </mtd> <mtd> <mrow> <mo>(</mo> <mrow> <msubsup> <mi>q</mi> <mn>0</mn> <mn>2</mn> </msubsup> <mo>-</mo> <msubsup> <mi>q</mi> <mn>1</mn> <mn>2</mn> </msubsup> <mo>+</mo> <msubsup> <mi>q</mi> <mn>2</mn> <mn>2</mn> </msubsup> <mo>-</mo> <msubsup> <mi>q</mi> <mn>3</mn> <mn>2</mn> </msubsup> </mrow> <mo>)</mo> </mrow> </mtd> <mtd> <mrow> <mn>2</mn> <mrow> <mo>(</mo> <mrow> <msub> <mi>q</mi> <mn>2</mn> </msub> <msub> <mi>q</mi> <mn>3</mn> </msub> <mo>+</mo> <msub> <mi>q</mi> <mn>0</mn> </msub> <msub> <mi>q</mi> <mn>1</mn> </msub> </mrow> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mn>2</mn> <mrow> <mo>(</mo> <mrow> <msub> <mi>q</mi> <mn>1</mn> </msub> <msub> <mi>q</mi> <mn>3</mn> </msub> <mo>+</mo> <msub> <mi>q</mi> <mn>0</mn> </msub> <msub> <mi>q</mi> <mn>2</mn> </msub> </mrow> <mo>)</mo> </mrow> </mrow> </mtd> <mtd> <mrow> <mn>2</mn> <mrow> <mo>(</mo> <mrow> <msub> <mi>q</mi> <mn>2</mn> </msub> <msub> <mi>q</mi> <mn>3</mn> </msub> <mo>-</mo> <msub> <mi>q</mi> <mn>0</mn> </msub> <msub> <mi>q</mi> <mn>1</mn> </msub> </mrow> <mo>)</mo> </mrow> </mrow> </mtd> <mtd> <mrow> <mo>(</mo> <mrow> <msubsup> <mi>q</mi> <mn>0</mn> <mn>2</mn> </msubsup> <mo>-</mo> <msubsup> <mi>q</mi> <mn>1</mn> <mn>2</mn> </msubsup> <mo>-</mo> <msubsup> <mi>q</mi> <mn>2</mn> <mn>2</mn> </msubsup> <mo>+</mo> <msubsup> <mi>q</mi> <mn>3</mn> <mn>2</mn> </msubsup> </mrow> <mo>)</mo> </mrow> </mtd> </mtr> </mtable> </mfenced> </mrow>
The calculation formula that Eulerian angles are converted to by four elements is：
<mfenced open='' close=''> <mtable> <mtr> <mtd> <mrow> <mi>&amp;phi;</mi> <mo>=</mo> <mi>a</mi> <mi>tan</mi> <mrow> <mo>(</mo> <mi>D</mi> <mi>C</mi> <mi>M</mi> <mo>(</mo> <mrow> <mn>2</mn> <mo>,</mo> <mn>3</mn> </mrow> <mo>)</mo> <mo>,</mo> <mi>D</mi> <mi>C</mi> <mi>M</mi> <mo>(</mo> <mrow> <mn>3</mn> <mo>,</mo> <mn>3</mn> </mrow> <mo>)</mo> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mo>=</mo> <mi>a</mi> <mi>tan</mi> <mrow> <mo>(</mo> <mrow> <mn>2</mn> <mrow> <mo>(</mo> <mrow> <msub> <mi>q</mi> <mn>2</mn> </msub> <msub> <mi>q</mi> <mn>3</mn> </msub> <mo>+</mo> <msub> <mi>q</mi> <mn>0</mn> </msub> <msub> <mi>q</mi> <mn>1</mn> </msub> </mrow> <mo>)</mo> </mrow> <mo>,</mo> <mrow> <mo>(</mo> <mrow> <msubsup> <mi>q</mi> <mn>0</mn> <mn>2</mn> </msubsup> <mo>+</mo> <msubsup> <mi>q</mi> <mn>1</mn> <mn>2</mn> </msubsup> <mo>-</mo> <msubsup> <mi>q</mi> <mn>2</mn> <mn>2</mn> </msubsup> <mo>+</mo> <msubsup> <mi>q</mi> <mn>3</mn> <mn>2</mn> </msubsup> </mrow> <mo>)</mo> </mrow> </mrow> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> </mtable> </mfenced>
θ=asin (- DCM (1,3))
=asin (- 2 (q1q3-q0q2))
<mfenced open = "" close = ""> <mtable> <mtr> <mtd> <mrow> <mi>&amp;psi;</mi> <mo>=</mo> <mi>a</mi> <mi>tan</mi> <mrow> <mo>(</mo> <mi>D</mi> <mi>C</mi> <mi>M</mi> <mo>(</mo> <mrow> <mn>1</mn> <mo>,</mo> <mn>2</mn> </mrow> <mo>)</mo> <mo>,</mo> <mi>D</mi> <mi>C</mi> <mi>M</mi> <mo>(</mo> <mrow> <mn>1</mn> <mo>,</mo> <mn>1</mn> </mrow> <mo>)</mo> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mo>=</mo> <mi>a</mi> <mi>tan</mi> <mrow> <mo>(</mo> <mrow> <mn>2</mn> <mrow> <mo>(</mo> <mrow> <msub> <mi>q</mi> <mn>1</mn> </msub> <msub> <mi>q</mi> <mn>2</mn> </msub> <mo>+</mo> <msub> <mi>q</mi> <mn>0</mn> </msub> <msub> <mi>q</mi> <mn>3</mn> </msub> </mrow> <mo>)</mo> </mrow> <mo>,</mo> <mrow> <mo>(</mo> <mrow> <msubsup> <mi>q</mi> <mn>0</mn> <mn>2</mn> </msubsup> <mo>+</mo> <msubsup> <mi>q</mi> <mn>1</mn> <mn>2</mn> </msubsup> <mo>-</mo> <msubsup> <mi>q</mi> <mn>2</mn> <mn>2</mn> </msubsup> <mo>-</mo> <msubsup> <mi>q</mi> <mn>3</mn> <mn>2</mn> </msubsup> </mrow> <mo>)</mo> </mrow> </mrow> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> </mtable> </mfenced>
Aircraft angle of attack：
<mrow> <mi>&amp;alpha;</mi> <mo>=</mo> <mi>a</mi> <mi>t</mi> <mi>a</mi> <mi>n</mi> <mrow> <mo>(</mo> <mfrac> <mi>w</mi> <mi>u</mi> </mfrac> <mo>)</mo> </mrow> </mrow>
Body shafting is got off the plane linear acceleration：
<mrow> <msub> <mover> <munder> <mi>V</mi> <mo>&amp;OverBar;</mo> </munder> <mo>&amp;CenterDot;</mo> </mover> <mi>b</mi> </msub> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mover> <mi>u</mi> <mo>&amp;CenterDot;</mo> </mover> </mtd> </mtr> <mtr> <mtd> <mover> <mi>v</mi> <mo>&amp;CenterDot;</mo> </mover> </mtd> </mtr> <mtr> <mtd> <mover> <mi>w</mi> <mo>&amp;CenterDot;</mo> </mover> </mtd> </mtr> </mtable> </mfenced> <mo>=</mo> <msub> <munder> <mi>A</mi> <mo>&amp;OverBar;</mo> </munder> <mi>b</mi> </msub> <mo>-</mo> <msub> <munder> <mi>&amp;omega;</mi> <mo>&amp;OverBar;</mo> </munder> <mi>b</mi> </msub> <mo>&amp;times;</mo> <msub> <munder> <mi>V</mi> <mo>&amp;OverBar;</mo> </munder> <mi>b</mi> </msub> <mo>-</mo> <msub> <mi>DCM</mi> <mrow> <mi>b</mi> <mi>i</mi> </mrow> </msub> <msub> <munder> <mi>&amp;omega;</mi> <mo>&amp;OverBar;</mo> </munder> <mi>e</mi> </msub> <mo>&amp;times;</mo> <msub> <munder> <mi>V</mi> <mo>&amp;OverBar;</mo> </munder> <mi>b</mi> </msub> <mo>-</mo> <msub> <mi>DCM</mi> <mrow> <mi>b</mi> <mi>i</mi> </mrow> </msub> <msub> <munder> <mi>&amp;omega;</mi> <mo>&amp;OverBar;</mo> </munder> <mi>e</mi> </msub> <mo>&amp;times;</mo> <mrow> <mo>(</mo> <msub> <munder> <mi>&amp;omega;</mi> <mo>&amp;OverBar;</mo> </munder> <mi>e</mi> </msub> <mo>&amp;times;</mo> <msub> <munder> <mi>x</mi> <mo>&amp;OverBar;</mo> </munder> <mi>i</mi> </msub> <mo>)</mo> </mrow> </mrow>
Wherein Ab is inertial acceleration in body axial projection：
<mrow> <msub> <mi>A</mi> <mi>b</mi> </msub> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <msub> <mi>A</mi> <mi>x</mi> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>A</mi> <mi>y</mi> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>A</mi> <mi>z</mi> </msub> </mtd> </mtr> </mtable> </mfenced> <mo>=</mo> <mfrac> <msub> <mi>F</mi> <mi>b</mi> </msub> <mi>m</mi> </mfrac> </mrow>
Body shafting gets off the plane speed can be by quadraturing to obtain to following partial differential formula：
<mrow> <mfrac> <mrow> <mo>&amp;part;</mo> <msub> <munder> <mi>V</mi> <mo>&amp;OverBar;</mo> </munder> <mi>b</mi> </msub> </mrow> <mrow> <mo>&amp;part;</mo> <mi>t</mi> </mrow> </mfrac> <mo>=</mo> <msub> <mover> <munder> <mi>V</mi> <mo>&amp;OverBar;</mo> </munder> <mo>&amp;CenterDot;</mo> </mover> <mi>b</mi> </msub> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mover> <mi>u</mi> <mo>&amp;CenterDot;</mo> </mover> </mtd> </mtr> <mtr> <mtd> <mover> <mi>v</mi> <mo>&amp;CenterDot;</mo> </mover> </mtd> </mtr> <mtr> <mtd> <mover> <mi>w</mi> <mo>&amp;CenterDot;</mo> </mover> </mtd> </mtr> </mtable> </mfenced> <mo>=</mo> <msub> <munder> <mi>A</mi> <mo>&amp;OverBar;</mo> </munder> <mi>b</mi> </msub> <mo>-</mo> <msub> <munder> <mi>&amp;omega;</mi> <mo>&amp;OverBar;</mo> </munder> <mi>b</mi> </msub> <mo>&amp;times;</mo> <msub> <munder> <mi>V</mi> <mo>&amp;OverBar;</mo> </munder> <mi>b</mi> </msub> <mo>-</mo> <msub> <mi>DCM</mi> <mrow> <mi>b</mi> <mi>i</mi> </mrow> </msub> <msub> <munder> <mi>&amp;omega;</mi> <mo>&amp;OverBar;</mo> </munder> <mi>e</mi> </msub> <mo>&amp;times;</mo> <msub> <munder> <mi>V</mi> <mo>&amp;OverBar;</mo> </munder> <mi>b</mi> </msub> <mo>-</mo> <msub> <mi>DCM</mi> <mrow> <mi>b</mi> <mi>i</mi> </mrow> </msub> <msub> <munder> <mi>&amp;omega;</mi> <mo>&amp;OverBar;</mo> </munder> <mi>e</mi> </msub> <mo>&amp;times;</mo> <mrow> <mo>(</mo> <mrow> <msub> <munder> <mi>&amp;omega;</mi> <mo>&amp;OverBar;</mo> </munder> <mi>e</mi> </msub> <mo>&amp;times;</mo> <msub> <munder> <mi>x</mi> <mo>&amp;OverBar;</mo> </munder> <mi>i</mi> </msub> </mrow> <mo>)</mo> </mrow> </mrow>
Eulerian angles to the following formula by integrating to obtain：
<mrow> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mover> <mi>&amp;phi;</mi> <mo>&amp;CenterDot;</mo> </mover> </mtd> </mtr> <mtr> <mtd> <mover> <mi>&amp;theta;</mi> <mo>&amp;CenterDot;</mo> </mover> </mtd> </mtr> <mtr> <mtd> <mover> <mi>&amp;psi;</mi> <mo>&amp;CenterDot;</mo> </mover> </mtd> </mtr> </mtable> </mfenced> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mn>1</mn> </mtd> <mtd> <mrow> <mo>(</mo> <mrow> <mi>sin</mi> <mi>&amp;phi;</mi> <mi>tan</mi> <mi>&amp;theta;</mi> </mrow> <mo>)</mo> </mrow> </mtd> <mtd> <mrow> <mo>(</mo> <mrow> <mi>cos</mi> <mi>&amp;phi;</mi> <mi>tan</mi> <mi>&amp;theta;</mi> </mrow> <mo>)</mo> </mrow> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mrow> <mi>cos</mi> <mi>&amp;phi;</mi> </mrow> </mtd> <mtd> <mrow> <mo>-</mo> <mi>sin</mi> <mi>&amp;phi;</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mfrac> <mrow> <mi>sin</mi> <mi>&amp;phi;</mi> </mrow> <mrow> <mi>cos</mi> <mi>&amp;theta;</mi> </mrow> </mfrac> </mtd> <mtd> <mfrac> <mrow> <mi>cos</mi> <mi>&amp;phi;</mi> </mrow> <mrow> <mi>cos</mi> <mi>&amp;theta;</mi> </mrow> </mfrac> </mtd> </mtr> </mtable> </mfenced> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mi>p</mi> </mtd> </mtr> <mtr> <mtd> <mi>q</mi> </mtd> </mtr> <mtr> <mtd> <mi>r</mi> </mtd> </mtr> </mtable> </mfenced> <mo>.</mo> </mrow>
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CN111785128A (en) * 2020-07-27 2020-10-16 中国工程物理研究院总体工程研究所 Overload simulation control method for five-degree-of-freedom continuous load simulator
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