FLIGHT

SIMULATING (6DOF)

Poorya Mehrabi
Farzad Chehrazad
Mohammad Jebelli
Summer 2013

3 ........................................................................................................................................................................

5 .........................................................................................................................................................

11 ........................................................................................................................................................................

12 ...................................................................................................
19 .................................................................................................................

21 ..........................................................................................................................................
28 .................................................................................................................................................................

03 .................................................................................................................................... simulink

Dihedral Sweep .
AAA
AAA .

: 787 787-033 / 787-833 / 787-033 .

787-033

.

 1 Boeing 787

 Screenshot
:

-7534.2
-353433
-352337
-457234
-7533.3
.52...
352...
.5344
.53
.53.
.53325
35.4..
353227
35.723

10

-1 .
-2 .
-0 ( )lift,drag
.
-4 .
-5 flap , elevator
.
-6 xz .

.
-7 .
-8 longitudinal
pitch.
-0 .

11

)F=d/dt(mv
H=mr V

:V
: F
:m
:M

1 2

.

12

)OXeYeZe(NED

: Oe ( )
:OeXe N
:OeYe E
:OeZe

)OXbYbZb(body axes

:O ( O
.
)

:OXb

:OZb

:OYb

.
1 2 :

13

d(Hx)/dt=L

d/dt(mv)=Fx

d(Hy)/dt=M

d/dt(mv)=Fy

d(Hz)/dt=N

d/dt(mv)=Fz

: Fx,Fy,Fz ( )
:U,v,w
: Hx,Hy,Hz
:L,M,N

L: Rolling Momentom
M: Pitching Momentom
N: Yawing Momentom

m r
V . f
:
md(v)/dtf=

V=Vc+d(r)/dt
)F=F=d/dt(mv

14

)F=md/dt(Vc

M m :
M=d/dt( H)

)m= d/dt(rv

V=Vc+d(v)/dt=Vc+r+wr

m c.g r=0

d(Vc)/dt Vc .

:W m

H=H=(rv)m

W=Pi+qj+rk

: I,j,k m

:P,q,r

15

 :X,y,z m

r = Xi+Yj+Zk

)m-(Xi+Yj+Zk)(px+qy+rz

(()H=(pi+qj+rj

)m-qxym-rxzm
)m-ryzm
)m

(Hx=p

(Hy= -pxym+q
(Hz= -pxzm-qyzm+r

Hx=p
Hy= -p
Hz= -p

(.
) H,r
.

16

F= md(Vc)/dt=m((dVc/dt)+(wVc))

M=dH/dt =
W=

Vc=

F=

M=

Fx= +qw+rv
Fy= +ru-pw ) 5 (
Fz= +pv-qu

17

 ( XZ )
:

xz .

( ) 6

5 6 ( ) .

18


.
( ) OXeYeZe
OXbYbZb

:
)1 OXeYeZe OX1Y1Z1
)2 OZ1 OX2Y2Z2
)0 OY2 OX3Y3Z3
)4 OX3 oxyz

19

20

Boeing 787
. xz y
:

12,037,944
18,669,671
40,201,704
10,020
0
0
1

21

MATLAB
ode 45 . 13
3.35 .
(

ode 45
.
.

-1

phee t

22

 roll
roll ( ) .

- 2

theta t

( )actuator,flap,
.

23

 - 0

saii t

( )actuator,flap,
yaw .
roll .

24

 u t

- 4

600 kmph trim

.
.

25

 v t

- 5

.
100kmph . saii saii
. .

26

 - 6

w t

.
.
z .

27

 MATLAB :

28

29

M .
.
.

30