windAngularRate

Angular wind velocity on UAV platform

Since R2024a

Syntax

omegaWind = windAngularRate(platform)

omegaWind = windAngularRate(platform,ID)

Description

omegaWind = windAngularRate(platform) returns the resultant angular wind velocity generated by all wind models on the platform.

omegaWind = windAngularRate(platform,ID) returns the angular wind velocity generated by the specified wind model ID on the platform.

Examples

Generate Wind in UAV Scenario

Create a UAV scenario and platform. Specify a trajectory to fly the platform 5 meters north of the scenario origin at an altitude of 50 meters.

scene = uavScenario;
platformTrajectory = waypointTrajectory([0 0 -50; 5 0 -50],[0 1]);
platform = uavPlatform("UAV",scene,Trajectory=platformTrajectory);

Create a steady wind object with default properties.

steadyWind = uavWindSteady

steadyWind = 
  uavWindSteady with properties:

     Velocity: [3.5000 3.5000 5]
    StartTime: 0
     StopTime: Inf

Create a wind gust object with default properties.

gustWind = uavWindGust

gustWind = 
  uavWindGust with properties:

    GustAmplitude: [3.5000 3.5000 5]
       GustLength: [120 120 80]
        StartTime: 0
         StopTime: Inf

Create a turbulence wind object with default properties.

turbulenceWind = uavWindTurbulence

turbulenceWind = 
  uavWindTurbulence with properties:

                          Specification: "MIL-F-8785C"
                              ModelType: "Von Karman (+q +r)"
                          WindSpeedAt6m: 15
                      WindDirectionAt6m: 0
    ProbExceedanceHighAltitudeIntensity: "10^-2 - Light"
        ScaleLengthAtMediumHighAltitude: 762
                               Wingspan: 10
             BandLimitedNoiseSampleTime: 0.1000
                       RandomNoiseSeeds: [23341 23342 23343 23344]
                              StartTime: 0
                               StopTime: Inf

Add the wind objects to the UAV platform.

addWind(platform,{steadyWind gustWind turbulenceWind})

Set up the simulation, and advance the scene.

setup(scene)
advance(scene);

Obtain the translational wind velocity on the UAV platform.

velocityWind = windVelocity(platform)

velocityWind = 1×3

    3.5753    3.0892    4.5805

Obtain the angular wind velocity on the UAV platform.

angularVelocityWind = windAngularRate(platform)

angularVelocityWind = 1×3

   -0.0484   -0.0323   -0.0419

Input Arguments

platform — UAV platform

uavPlatform handle

UAV platform, specified as a uavPlatform object.

ID — Wind model object identifier

positive integer | vector of positive integers

Wind model object identifier, specified as a positive integers in the range [1, N], where N is the number of wind model objects that have been added to the platform. You can use the windDetails function to see how many wind model objects have been added to the UAV platform platform.

Example: windVelocity(platform,[1 2]) returns the wind velocity of the first and second wind models added to platform.

Output Arguments

omegaWind — Wind angular velocity

K-by-3 matrix

Wind angular velocity in the UAV platform body frame, returned as a K-by-3 matrix. K is the number of elements specified in ID. Each row contains the wind angular velocity from the corresponding element of IDin the form [p_w q_w r_w]. The values of p_w, q_w, and r_w are the wind angular velocities in the positive x-, y-, and z-axes, respectively. Units are in rad/s.

Version History

Introduced in R2024a