UAVModel (Autonomous Unmanned Vehicle (AUV) Workbench Documentation)

java.lang.Object
- dynamics.models.uavGeneral.UAVModel

```
public class UAVModel
extends Object
```
Coefficients and vehicle characteristics for a generalized unmanned aerial vehicle as described in NPSNET: Flight Simulation Dynamics Using Quaternions, J. Cooke, M. Zyda, D. Pratt, R. McGhee, PRESENCE, Vol. 1, Nbr. 4, Fall 1992.

Author:

dtdavis

Field Summary

Fields
Modifier and Type	Field and Description
`protected double`	`b` Wing span (meters)
`protected double`	`c` Average wing chord length (meters)
`protected double`	`cD0` Reference drag at zero angle of attack
`protected double`	`cDAlpha` Drag curve slope (drag vs angle of attack)
`protected double`	`cDDeltaElevator` Drag due to elevator
`protected double`	`cL0` Reference lift at zero angle of attack
`protected double`	`cLAlpha` Lift curve slope (lift vs angle of attack)
`protected double`	`cLAlphaDot` Lift due to angle of attack rate
`protected double`	`cLBeta` Dihedral effect
`protected double`	`cLDeltaAileron` Rolling moment due to aileron
`protected double`	`cLDeltaElevator` Lift due to elevator
`protected double`	`cLDeltaRudder` Rolling moment due to rudder
`protected double`	`cLP` Roll damping
`protected double`	`cLQ` Lift due to pitch rate
`protected double`	`cLR` Roll due to yaw rate
`protected double`	`cM0` Reference pitch moment at zero angle of attack
`protected double`	`cMAlpha` Pitch moment due to angle of attack
`protected double`	`cMAlphaDot` Pitching moment due to angle of attack rate
`protected double`	`cMDeltaElevator` Pitching moment due to elevator
`protected double`	`cMQ` Pitching moment due to pitch rate
`protected double`	`cNBeta` Weather cocking stability
`protected double`	`cNDeltaAileron` Yawing moment due to aileron
`protected double`	`cNDeltaRudder` Yawing moment due to rudder
`protected double`	`cNP` Rudder adverse yaw
`protected double`	`cNR` Yaw damping
`protected double`	`cYBeta` Side force due to sideslip
`protected double`	`cYDeltaRudder` Side force due to rudder
`protected double`	`idlePower` Percentage of battery or fuel power consumed per second at idle
`protected double`	`Ixx` Inertia tensor Ixx value (kg-meter^2)
`protected double`	`Ixy` Inertia tensor Ixy value (kg-meter^2) -- not used in model
`protected double`	`Ixz` Inertia tensor Ixz value (kg-meter^2)
`protected double`	`Iyy` Inertia tensor Iyy value (kg-meter^2)
`protected double`	`Iyz` Inertia tensor Iyz value (kg-meter^2) -- not used in model
`protected double`	`Izz` Inertia tensor Izz value (kg-meter^2)
`protected double`	`m` Mass (kilograms)
`protected double`	`maxPwr` Maximum power setting available
`protected double`	`s` Wing surface area (meters square)
`protected Vector3D`	`tailPosition` Tail position relative to the CG (body coordinates)
`protected double`	`thrustPower` Percentage of battery or fuel power consumed per second at max power (in excess of idle consumption)

Constructor Summary

Constructors
Constructor and Description

UAVModel()
Creates a new instance of UAVModel

Constructors
Constructor and Description
`UAVModel()` Creates a new instance of UAVModel

Method Summary

Methods
Modifier and Type Method and Description

String load(String configurationXmlFileName)
Loads coefficients from an configuration XML file
- Methods inherited from class java.lang.Object
  clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods
Modifier and Type	Method and Description
`String`	`load(String configurationXmlFileName)` Loads coefficients from an configuration XML file

- Field Detail
  - maxPwr
```
protected double maxPwr
```
    Maximum power setting available
  - s
```
protected double s
```
    Wing surface area (meters square)
  - b
```
protected double b
```
    Wing span (meters)
  - c
```
protected double c
```
    Average wing chord length (meters)
  - m
```
protected double m
```
    Mass (kilograms)
  - tailPosition
```
protected Vector3D tailPosition
```
    Tail position relative to the CG (body coordinates)
  - Ixx
```
protected double Ixx
```
    Inertia tensor Ixx value (kg-meter^2)
  - Iyy
```
protected double Iyy
```
    Inertia tensor Iyy value (kg-meter^2)
  - Izz
```
protected double Izz
```
    Inertia tensor Izz value (kg-meter^2)
  - Ixz
```
protected double Ixz
```
    Inertia tensor Ixz value (kg-meter^2)
  - Ixy
```
protected double Ixy
```
    Inertia tensor Ixy value (kg-meter^2) -- not used in model
  - Iyz
```
protected double Iyz
```
    Inertia tensor Iyz value (kg-meter^2) -- not used in model
  - cL0
```
protected double cL0
```
    Reference lift at zero angle of attack
  - cD0
```
protected double cD0
```
    Reference drag at zero angle of attack
  - cM0
```
protected double cM0
```
    Reference pitch moment at zero angle of attack
  - cLAlpha
```
protected double cLAlpha
```
    Lift curve slope (lift vs angle of attack)
  - cDAlpha
```
protected double cDAlpha
```
    Drag curve slope (drag vs angle of attack)
  - cMAlpha
```
protected double cMAlpha
```
    Pitch moment due to angle of attack
  - cLQ
```
protected double cLQ
```
    Lift due to pitch rate
  - cMQ
```
protected double cMQ
```
    Pitching moment due to pitch rate
  - cLAlphaDot
```
protected double cLAlphaDot
```
    Lift due to angle of attack rate
  - cMAlphaDot
```
protected double cMAlphaDot
```
    Pitching moment due to angle of attack rate
  - cYBeta
```
protected double cYBeta
```
    Side force due to sideslip
  - cLBeta
```
protected double cLBeta
```
    Dihedral effect
  - cLP
```
protected double cLP
```
    Roll damping
  - cLR
```
protected double cLR
```
    Roll due to yaw rate
  - cNBeta
```
protected double cNBeta
```
    Weather cocking stability
  - cNP
```
protected double cNP
```
    Rudder adverse yaw
  - cNR
```
protected double cNR
```
    Yaw damping
  - cLDeltaElevator
```
protected double cLDeltaElevator
```
    Lift due to elevator
  - cDDeltaElevator
```
protected double cDDeltaElevator
```
    Drag due to elevator
  - cMDeltaElevator
```
protected double cMDeltaElevator
```
    Pitching moment due to elevator
  - cLDeltaAileron
```
protected double cLDeltaAileron
```
    Rolling moment due to aileron
  - cNDeltaAileron
```
protected double cNDeltaAileron
```
    Yawing moment due to aileron
  - cYDeltaRudder
```
protected double cYDeltaRudder
```
    Side force due to rudder
  - cLDeltaRudder
```
protected double cLDeltaRudder
```
    Rolling moment due to rudder
  - cNDeltaRudder
```
protected double cNDeltaRudder
```
    Yawing moment due to rudder
  - idlePower
```
protected double idlePower
```
    Percentage of battery or fuel power consumed per second at idle
  - thrustPower
```
protected double thrustPower
```
    Percentage of battery or fuel power consumed per second at max power (in excess of idle consumption)
- Constructor Detail
  - UAVModel
```
public UAVModel()
```
    Creates a new instance of UAVModel
- Method Detail
  - load
```
public String load(String configurationXmlFileName)
```
    Loads coefficients from an configuration XML file

Class UAVModel

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

maxPwr

s

b

c

m

tailPosition

Ixx

Iyy

Izz

Ixz

Ixy

Iyz

cL0

cD0

cM0

cLAlpha

cDAlpha

cMAlpha

cLQ

cMQ

cLAlphaDot

cMAlphaDot

cYBeta

cLBeta

cLP

cLR

cNBeta

cNP

cNR

cLDeltaElevator

cDDeltaElevator

cMDeltaElevator

cLDeltaAileron

cNDeltaAileron

cYDeltaRudder

cLDeltaRudder

cNDeltaRudder

idlePower

thrustPower

Constructor Detail

UAVModel

Method Detail

load