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25
/05
/13
16
:10
F:\
mo
no
gra
fia E
ng
Me
cat_
alte
rad
o e
m M
AI1
1\0
3_
re
ferê
nci
as\
Sm
all
Un
ma
nn
ed
Air
cra
ft_
Th
e..
.\p
ara
m_
cha
p5
.m1
of
4
P.g
ravi
ty =
9.8
;
%
ph
ysic
al p
ara
me
ters
of
air
fra
me
P.m
ass
= 1
.56
;P
.Jx
=
0.1
14
7;
P.J
y
= 0
.05
76
;P
.Jz
=
0.1
71
2;
P.J
xz
= 0
.00
15
; %
ae
rod
yna
mic
co
eff
icie
nts
P.M
= 5
0;
P.e
psi
lon
=
0.1
59
2;
P.a
lph
a0
= 0
.47
12
;P
.rh
o
= 1
.26
82
;P
.c
=
0.3
30
2;
P.b
= 1
.42
24
;P
.S_
win
g
=
0.2
58
9;
P.S
_p
rop
= 0
.03
14
;P
.k_
mo
tor
=
20
;P
.C_
L_
0
=
0.2
8;
P.C
_L
_a
lph
a
=
3.4
5;
P.C
_L
_q
= 0
.0;
P.C
_L
_d
elta
_e
=
-0
.36
;P
.C_
D_
0
=
0.0
3;
P.C
_D
_q
= 0
.0;
P.C
_D
_d
elta
_e
=
0.0
;P
.C_
M_
0
=
0.0
;P
.C_
M_
alp
ha
= -
0.3
8;
P.C
_M
_q
= -
3.6
;P
.C_
M_
de
lta_
e
= -
0.5
;P
.C_
Y_
0
=
0.0
;P
.C_
Y_
be
ta
= -
0.9
8;
P.C
_Y
_p
= -
0.2
6;
P.C
_Y
_r
= 0
.0;
P.C
_Y
_d
elta
_a
=
0.0
;P
.C_
Y_
de
lta_
r
= -
0.1
7;
25
/05
/13
16
:10
F:\
mo
no
gra
fia E
ng
Me
cat_
alte
rad
o e
m M
AI1
1\0
3_
re
ferê
nci
as\
Sm
all
Un
ma
nn
ed
Air
cra
ft_
Th
e..
.\p
ara
m_
cha
p5
.m2
of
4
P.C
_e
ll_0
=
0.0
;P
.C_
ell_
be
ta
=
-0
.12
;P
.C_
ell_
p
= -
0.2
6;
P.C
_e
ll_r
=
0.1
4;
P.C
_e
ll_d
elta
_a
= 0
.08
;P
.C_
ell_
de
lta_
r =
0.1
05
;P
.C_
n_
0
=
0.0
;P
.C_
n_
be
ta
= 0
.25
;P
.C_
n_
p
=
0.0
22
;P
.C_
n_
r
=
-0
.35
;P
.C_
n_
de
lta_
a
= 0
.06
;P
.C_
n_
de
lta_
r
= -
0.0
32
;P
.C_
pro
p
=
1;
% w
ind
pa
ram
ete
rsP
.win
d_
n =
0;
%3
;P
.win
d_
e =
0;
%2
;P
.win
d_
d =
0;
P.L
_w
x =
12
50
;P
.L_
wy
= 1
75
0;
P.L
_w
z =
17
50
;P
.sig
ma
_w
x =
1;
P.s
igm
a_
wy
= 1
;P
.sig
ma
_w
z =
1;
P.V
a0
= 1
0;
% a
uto
pilo
t sa
mp
le r
ate
P.T
s =
0.0
1;
% c
om
pu
te t
rim
co
nd
itio
ns
usi
ng
'ma
vsim
_ch
ap
5_
trim
.m
dl'
P.V
a
=
13
;
%
de
sire
d a
irsp
ee
d (
m/s
)g
am
ma
= 0
*pi/1
80
;
% d
esi
red
flig
ht
pa
th a
ng
le (
rad
ian
s)R
= 0
;
%
de
sire
d r
ad
ius
(m)
- u
se (
+)
for
rig
ht
ha
nd
ed
orb
it,
%
(-)
for
left
ha
nd
ed
orb
it
% f
irst
cu
t a
t in
itia
l co
nd
itio
ns
25
/05
/13
16
:10
F:\
mo
no
gra
fia E
ng
Me
cat_
alte
rad
o e
m M
AI1
1\0
3_
re
ferê
nci
as\
Sm
all
Un
ma
nn
ed
Air
cra
ft_
Th
e..
.\p
ara
m_
cha
p5
.m3
of
4
P.p
n0
= 0
;
% in
itia
l No
rth
po
sitio
nP
.pe
0
=
0;
%
initi
al E
ast
po
sitio
nP
.pd
0
=
0;
%
initi
al D
ow
n p
osi
tion
(n
eg
ativ
e a
ltitu
de
)P
.u0
= P
.Va
; %
initi
al v
elo
city
alo
ng
bo
dy
x-a
xis
P.v
0
=
0;
%
initi
al v
elo
city
alo
ng
bo
dy
y-a
xis
P.w
0
=
0;
%
initi
al v
elo
city
alo
ng
bo
dy
z-a
xis
P.p
hi0
=
0;
%
initi
al r
oll
an
gle
P.t
he
ta0
= 0
;
% in
itia
l pitc
h a
ng
leP
.psi
0
= 0
;
% in
itia
l ya
w a
ng
leP
.p0
= 0
;
% in
itia
l bo
dy
fra
me
ro
ll ra
teP
.q0
= 0
;
% in
itia
l bo
dy
fra
me
pitc
h r
ate
P.r
0
=
0;
%
initi
al b
od
y fr
am
e y
aw
ra
te %
ru
n t
rim
co
mm
an
ds
[x_
trim
, u
_tr
im]=
com
pu
te_
trim
('m
avs
im_
trim
',P
.Va
,ga
mm
a,R
);P
.u_
trim
= u
_tr
im;
P.x
_tr
im =
x_
trim
; %
se
t in
itia
l co
nd
itio
ns
to t
rim
co
nd
itio
ns
% in
itia
l co
nd
itio
ns
P.p
n0
= 0
;
% in
itia
l No
rth
po
sitio
nP
.pe
0
=
0;
%
initi
al E
ast
po
sitio
nP
.pd
0
=
0;
%
initi
al D
ow
n p
osi
tion
(n
eg
ativ
e a
ltitu
de
)P
.u0
= x
_tr
im(4
);
% in
itia
l ve
loci
ty a
lon
g b
od
y x-
axi
sP
.v0
= x
_tr
im(5
);
% in
itia
l ve
loci
ty a
lon
g b
od
y y-
axi
sP
.w0
= x
_tr
im(6
);
% in
itia
l ve
loci
ty a
lon
g b
od
y z-
axi
sP
.ph
i0
= x
_tr
im(7
);
% in
itia
l ro
ll a
ng
leP
.th
eta
0 =
x_
trim
(8);
%
initi
al p
itch
an
gle
P.p
si0
=
x_
trim
(9);
%
initi
al y
aw
an
gle
P.p
0
=
x_
trim
(10
);
% in
itia
l bo
dy
fra
me
ro
ll ra
teP
.q0
= x
_tr
im(1
1);
%
initi
al b
od
y fr
am
e p
itch
ra
teP
.r0
= x
_tr
im(1
2);
%
initi
al b
od
y fr
am
e y
aw
ra
te %
co
mp
ute
diff
ere
nt
tra
nsf
er
fun
ctio
ns
[T_
ph
i_d
elta
_a
,T_
chi_
ph
i,T_
the
ta_
de
lta_
e,T
_h
_th
eta
,T
_h
_V
a,T
_V
a_
de
lta_
t,T
_V
a_
the
ta,T
_v_
de
lta_
r]..
.
=
co
mp
ute
_tf
_m
od
el(
x_tr
im,u
_tr
im,P
);
25
/05
/13
16
:10
F:\
mo
no
gra
fia E
ng
Me
cat_
alte
rad
o e
m M
AI1
1\0
3_
re
ferê
nci
as\
Sm
all
Un
ma
nn
ed
Air
cra
ft_
Th
e..
.\p
ara
m_
cha
p5
.m4
of
4
% li
ne
ari
ze t
he
eq
ua
tion
s o
f m
otio
n a
rou
nd
tri
m c
on
diti
on
s[A
_lo
n,
B_
lon
, A
_la
t, B
_la
t] =
co
mp
ute
_ss
_m
od
el(
'ma
vsim
_tr
im'
,x_
trim
,u_
trim
);
![H20youryou[2] · 2020. 9. 1. · 65 pdf pdf xml xsd jpgis pdf ( ) pdf ( ) txt pdf jmp2.0 pdf xml xsd jpgis pdf ( ) pdf pdf ( ) pdf ( ) txt pdf pdf jmp2.0 jmp2.0 pdf xml xsd](https://img.dokumen.tips/doc/110x75/60af39aebf2201127e590ef7/h20youryou2-2020-9-1-65-pdf-pdf-xml-xsd-jpgis-pdf-pdf-txt-pdf-jmp20.jpg)
