dynamics.models.uavGeneral

Class UAVBody

java.lang.Object

dynamics.RigidBody

dynamics.DISNetworkedRigidBody

dynamics.models.uavGeneral.UAVBody

public class UAVBody
extends DISNetworkedRigidBody

Implements a general aircraft model as described in NPSNET: Flight Simulation Dynamics Using Quaternions, J. Cooke, M. Zyda, D. Pratt, R. McGhee, PRESENCE, Vol. 1, Nbr. 4, Fall 1992. File: UAVBody.java Author: Duane Davis Date: 02 November 2004 Description: Coefficients and vehicle characteristics for a generalized unmanned aerial vehicle as described in the reference. Reference: NPSNET: Flight Simulation Dynamics Using Quaternions, J. Cooke, M. Zyda, D. Pratt, R. McGhee, PRESENCE, Vol. 1, Nbr. 4, Fall 1992.

Version:

$Id: UAVBody.java 9109 2015-07-29 22:39:46Z brutzman $

Author:

dtdavis

Field Summary

Fields

Modifier and Type	Field and Description
static int	AILERON
static int	DOPPLER_SOGU
static int	DOPPLER_SOGV
static int	ENGINE_POWER
static int	PORT_STAB
static int	RADALT
static int	REMAINING_BATTERY_POWER
static int	RUDDER
static int	STBD_STAB

Fields inherited from class dynamics.DISNetworkedRigidBody

APPLICATION_ID, disPdu, ENTITY_ID, MULTICAST_GROUP, MULTICAST_PORT, pduArtParams, SITE_ID, TTL, workbenchCommunicator

Fields inherited from class dynamics.RigidBody

BANK, current_time, DISCLIENT, dt, executionSocket, globals, HEAVE, hmatrix, Hprevious, MAXPARAMETERS, new_acceleration, new_velocity, p, p_dot, phi, phi_dot, PITCH, positionVector, psi, psi_dot, q, q_dot, r, r_dot, stateParameters, SURGE, SWAY, theta, theta_dot, u, u_dot, v, v_dot, w, w_dot, world, worldDown, x, x_dot, y, y_dot, YAW, z, z_dot

Constructor Summary

Constructors

Constructor and Description
UAVBody(DynamicsGlobals globals, WorkbenchCommunicator communicator, StateVector state)

Method Summary

Modifier and Type	Method and Description
void	euler_step(double stepU, double stepV, double stepW, double stepP, double stepQ, double stepR, double mslAltitude, double timeStep) Calculates 1 numerical integration step using Euler integration
protected int	getNumberStateParameters()
StateVector	getState()
void	heun_step(double stepU, double stepV, double stepW, double stepP, double stepQ, double stepR, double mslAltitude, double timeStep) Calculates 1 numerical integration step using Heun integration
void	initialize() Reset method for all transform values
void	integrateEquationsOfMotion() Lots of math done here
void	loadModel(String configFile) Loads the model coefficients from a file as required
void	rk4_step(double stepU, double stepV, double stepW, double stepP, double stepQ, double stepR, double mslAltitude, double timeStep) Calculates 1 numerical integration step using Runge-Kutta Fourth Order (RK4) integration
void	setState(StateVector state)

Methods inherited from class dynamics.DISNetworkedRigidBody

deadReckonTestWithExecutionLevel, disNetClose, disNetOpen, disNetWrite, getPduSkipInterval, getTimeOfLastPdu, isDisPortOpen, loopTestWithExecutionLevel, printRigidBody, setGroup, setPduSkipInterval, setPort, setTimeOfLastPdu, setTtl

Methods inherited from class dynamics.RigidBody

compute_world_rates, current_time_value, hmatrix_value, integrate_Hmatrix, nonzerosign, p_dot_value, phi_dot_value, phi_value, print_rigidbody, psi_dot_value, psi_value, q_dot_value, r_dot_value, set_accelerations, set_angular_accelerations, set_angular_velocities, set_current_time, set_linear_accelerations, set_linear_velocities, set_time_of_posture, set_velocities, set_world_rates, square, theta_dot_value, theta_value, time_of_posture_value, u_dot_value, update_Hmatrix, update_state_vector, v_dot_value, w_dot_value, x_dot_value, x_value, y_dot_value, y_value, z_dot_value, z_value

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

ENGINE_POWER

public static final int ENGINE_POWER

See Also:

Constant Field Values

AILERON

public static final int AILERON

See Also:

Constant Field Values

PORT_STAB

public static final int PORT_STAB

See Also:

Constant Field Values

STBD_STAB

public static final int STBD_STAB

See Also:

Constant Field Values

RUDDER

public static final int RUDDER

See Also:

Constant Field Values

RADALT

public static final int RADALT

See Also:

Constant Field Values

DOPPLER_SOGU

public static final int DOPPLER_SOGU

See Also:

Constant Field Values

DOPPLER_SOGV

public static final int DOPPLER_SOGV

See Also:

Constant Field Values

REMAINING_BATTERY_POWER

public static final int REMAINING_BATTERY_POWER

See Also:

Constant Field Values

Constructor Detail

UAVBody

public UAVBody(DynamicsGlobals globals,
               WorkbenchCommunicator communicator,
               StateVector state)

Method Detail

initialize

public void initialize()

Description copied from class: DISNetworkedRigidBody

Reset method for all transform values

Overrides:

initialize in class DISNetworkedRigidBody

loadModel

public final void loadModel(String configFile)

Loads the model coefficients from a file as required

Specified by:

loadModel in class RigidBody

Parameters:

configFile - vehicle configuration from XML file

integrateEquationsOfMotion

public void integrateEquationsOfMotion()

Description copied from class: DISNetworkedRigidBody

Lots of math done here

Specified by:

integrateEquationsOfMotion in class DISNetworkedRigidBody

heun_step

public void heun_step(double stepU,
                      double stepV,
                      double stepW,
                      double stepP,
                      double stepQ,
                      double stepR,
                      double mslAltitude,
                      double timeStep)

Calculates 1 numerical integration step using Heun integration

Parameters:

stepU - longitudinal speed (m/s) at the start of the timestep

stepV - lateral speed (m/s) at the start of the timestep

stepW - vertical speed (m/s) at the start of the timestep

stepP - bank rate (radians/s) at the start of the timestep

stepQ - pitch rate (radians/s) at the start of the timestep

stepR - yaw rate (radians/s) at the start of the timestep

mslAltitude - mean sea level altitude in meters

timeStep - duration of time interval for this integration

rk4_step

public void rk4_step(double stepU,
                     double stepV,
                     double stepW,
                     double stepP,
                     double stepQ,
                     double stepR,
                     double mslAltitude,
                     double timeStep)

Calculates 1 numerical integration step using Runge-Kutta Fourth Order (RK4) integration

Parameters:

stepU - longitudinal speed (m/s) at the start of the timestep

stepV - lateral speed (m/s) at the start of the timestep

stepW - vertical speed (m/s) at the start of the timestep

stepP - bank rate (radians/s) at the start of the timestep

stepQ - pitch rate (radians/s) at the start of the timestep

stepR - yaw rate (radians/s) at the start of the timestep

mslAltitude - mean sea level altitude in meters

timeStep - duration of time interval for this integration

euler_step

public void euler_step(double stepU,
                       double stepV,
                       double stepW,
                       double stepP,
                       double stepQ,
                       double stepR,
                       double mslAltitude,
                       double timeStep)

Calculates 1 numerical integration step using Euler integration

Parameters:

stepU - longitudinal speed (m/s) at the start of the timestep

stepV - lateral speed (m/s) at the start of the timestep

stepW - vertical speed (m/s) at the start of the timestep

stepP - bank rate (radians/s) at the start of the timestep

stepQ - pitch rate (radians/s) at the start of the timestep

stepR - yaw rate (radians/s) at the start of the timestep

mslAltitude - mean sea level altitude in meters

timeStep - duration of time interval for this integration

getNumberStateParameters

protected int getNumberStateParameters()

Specified by:

getNumberStateParameters in class DISNetworkedRigidBody

Returns:

the number of state parameters that are used by this vehicle type

getState

public StateVector getState()

Returns:

the state

setState

public final void setState(StateVector state)

Parameters:

state - the state to set