
XZHigherDerivatives |
ptolemy.domains.ct.demo.Helicopter.XZHigherDerivatives |
Compute the third and fourth derivatives of Px and Pz
DDDotPx = (Dotth*TM*Cos[th))/m + (DotTM*Math.sin[th))/m
DDDDotPx = (2*Dotth*DotTM*Cos[th))/m +
(TM*Cos[th)*(a*MM + hM*TM*Math.sin[a)))/(Iy*m) + (DDotTM*Math.sin[th))/m -
(Dotth^2*TM*Math.sin[th))/m
DDDotPz = -((DotTM*Cos[th))/m) + (Dotth*TM*Math.sin[th))/m
DDDDotPz = -((DDotTM*Cos[th))/m) + (Dotth^2*TM*Cos[th))/m +
(2*Dotth*DotTM*Math.sin[th))/m +
(TM*(a*MM + hM*TM*Math.sin[a))*Math.sin[th))/(Iy*m)
Author(s): liuj
Version:$Id: XZHigherDerivatives.doc.html,v 1.1 2006/02/22 18:42:26 mangal Exp $
Pt.Proposed Rating:Red (liuj)
Pt.Accepted Rating:Red (reviewmoderator)
inputTm
Input port Tm
inputDTm
Input port DTm = dTm/dt
inputDDTm
Input port DDTm = ddTm/dtt
inputA
Input port a
inputTh
Input port Th
inputDTh
Input port DTh
outputD3Px
Output port D3Px = dddPx/dttt
outputD4Px
Output port D4Px = ddddPx/dtttt
outputD3Pz
Output port D3Pz = dddPz/dttt
outputD4Pz
Output port D4Pz = ddddPz/dtttt
paramIy
Parameter for Iy, double, default 0.271256.
paramHm
Parameter for hm, double, default 0.2943.
paramMm
Parameter for Mm, double, default 25.23.
paramMass
Parameter for the mass, double, default 4.9.