DynamicSysMod PRJ PDF

Introduction 9.1 P. 5DoF Equations of Motion 9.
2 Subsystem Models
Faculty of New Sciences & Technologies
5 DoF Simulation
MSc. Student: A. Asgharpoor

Aerospace Eng. Department
Spring 2020
Course Modeling and Simulation of Aerospace Vehicle Dynamics 7/30/2020 1 of 112
Introduction 9.1 P. 5DoF Equations of Motion 9.2 Subsystem Models
References
➢P.H. Zipfel (2014), Modeling and Simulation of Aerospace Vehicle Dynamics, AIAA
Education Series, 3rd Edition.
➢P.H. Zipfel (2006), CADAC- Historical Paper
➢P.H. Zipfel (2007), A C++ Architecture for Unmanned Aerial Vehicle Simulations,
AIAA
➢F. Dietrich et all (2003), A FLIGHT MECHANICS/AERODYNAMICS COUPLING
METHODOLOGY FOR PROJECTILES, AIAA
➢P.H. Zipfel (2003), A C++ ARCHITECTURE FOR UNMANNED AERIAL VEHICLE
SIMULATIONS, AIAA
➢M. A. Creagh et all (2010), Attitude Guidance for Spinning Vehicles with
Independent Pitch and Yaw Control, Journal of guidance, control, and dynamics

References
➢P.H. Zipfel (2011), CADAC: Multi-use Architecture for Constructive

Aerospace Simulations, Journal of guidance, control, and dynamics
➢P.H. Zipfel et all (1999), Hypersonic Guidance via the State-Dependent
Riccati Equation Control Method
➢T. Yamasaki et all, Intercept Guidance for Cooperative Aircraft Defense
against a Guided Missile
➢P.H. Zipfel (1999), Missile model fidelity and integration for air combat
simulators, AIAA
➢S. R. Vukelich et all (2011), Missile DATCOM, United States Air Force,
McDonnell Douglas Missile Systems Company

References
➢D. Preller (2018), Multidisciplinary Design and Optimization of a

Pitch Trimmed Hypersonic Airbreathing Accelerating Vehicle, The
University of Queensland PhD thesis
➢P.H. Zipfel (2014), Orbital Insertion Control of a Three-stage Solid
Rocket Booster Modeled in Six Degrees-of-freedom, Journal of
Modeling, Simulation, Identification, and Control
➢P.H. Zipfel, UAV Conceptual Design Using Computer Simulations
➢P.H. Zipfel, Inside Six Degrees of Freedom Aerospace Simulations
➢Details(2016), C++ How to Program (10th Edition), Pearson

Materials
➢9. Five-Degrees-of-Freedom Simulation

➢9.1 Pseudo-Five-DoF Equations of Motion
➢9.1.1 Derivation of the Pseudo-Five-DoF Equations
➢9.1.2 Coordinate Transformation Matrices and Angular Rates
➢ 9.1.2.1 Transformation matrix of velocity wrt inertial coordinates.
➢ 9.1.2.2 Skid-to-turn incidence angles and rates.
➢ 9.1.2.3 Bank-to-turn incidence angles and rates.
➢9.1.3 More Kinematics
➢9.1.4 Equations of Motion over Round Rotating Earth
➢9.1.5 Equations of Motion over Flat Earth

Materials
➢9.2 Subsystem Models

➢9.2.1 Trimmed Aerodynamics
➢ 9.2.1.1 Tetragonal missiles.
➢ 9.2.1.2 Planar aircraft.
➢9.2.2 Propulsion
➢9.2.3 Autopilot
➢ 9.2.3.1 Acceleration controller.
➢ 9.2.3.2 Bank-to-turn autopilot
➢ 9.2.3.3 Altitude hold autopilot

Introduction
➢5 DoF: “2 attitude” + “3 translational” Degree of Freedom
➢Pseudo 5 DoF simulation:

• Approximating the attitude dynamics with the linear differential
equations of the transfer functions.
• Popular models for concepts that are only loosely defined.
• The feasible approach when execution time is critical such as in air
combat simulators.

Introduction
➢Pseudo 6 DoF simulation:

• Add the rolling transfer function of missiles or the yawing transfer
function of aircraft to the dynamics.
• May be beneficial when the attitude dynamics are emphasized.

9.1 Pseudo-Five-DoF Equations of Motion
• 1. Formulate Newton’s second law wrt the flight path reference frame.
• 2. Choose coordinate system:
• For the round rotating Earth model: Inertial coordinate ]𝐼
• For the flat-Earth simplification: Local level coordinates ]𝐿
• This Equations will mimic the attitude dynamics.
• 𝜔𝐵𝐼 : Angular Velocity of body wrt the inertial frame.
• In six DoF models is the output of Euler’s Eques.
• 𝑇 𝐵𝐼 : The direction cosine matrix of body frame wrt inertial frame.
• Use the flight path angle rates and incidence angle rates to construct the body rates.
• Their integrals build the direction cosine matrix.

• Inertial velocity frame U:

• The frame that is associated with the velocity vector 𝑉𝐵𝐼
• The state variables when Newton's equations are expressed in this frame:
• Inertial heading angle: 𝜓𝑈𝐼
• Inertial flight-path angle: 𝜃𝑈𝐼
• Inertial speed: 𝑉𝐵𝐼
• The complete body rate:
𝝎𝑩𝑰 = 𝝎𝑩𝑼 + 𝝎𝑼𝑰

• Velocity frame with the inertial velocity

𝒗𝑰𝑩 = 𝒗𝑬𝑩 + 𝜴𝑬𝑰 𝒔𝑩𝑰
• 𝒗𝑬𝑩 : The velocity frame of the geographic velocity (For flat Earth).
[𝑻]𝑩𝑰 = [𝑻]𝑩𝑼 +[𝑻]𝑼𝑰

• [𝑻]𝑩𝑼 : Function of 𝛼, 𝛽or 𝛼, 𝜙𝑈𝐼
• [𝑻]𝑼𝑰 : Function of 𝜓𝑈𝐼 , 𝜃𝑈𝐼

9.1.1 Derivation of the Pseudo-Five-DoF Equations
𝒎𝑩 𝑫𝑰 𝒗𝑰𝑩 = 𝒇𝒂⋅𝑷 + 𝒇𝒈
• 𝒎𝑩 : Vehicle mass
• 𝒇𝒂⋅𝑷 : External aerodynamic and propulsive forces
• 𝒇𝒈 : gravitational force
• Shift to the velocity frame U using Euler's transformation

𝟏
𝑫𝑼 𝒗𝑰𝑩 + 𝜴𝑼𝑰 𝒗𝑰𝑩 = 𝑩 (𝒇𝒂⋅𝑷 + 𝒇𝒈 )
𝒎
• Express the equation in inertial velocity coordinates
𝟏
[𝑫𝑼 𝒗𝑰𝑩 ]𝑼 + [𝜴𝑼𝑰 ]𝑼 [𝒗𝑰𝑩 ]𝑼 = ([𝒇𝒂⋅𝑷 ]𝑼 + [𝒇𝒈 ]𝑼 )
𝒎𝑩

9.1.1 Derivation of the Pseudo-Five-DoF Equations
• The rotational time derivative

𝒅
[ 𝑫𝑼 𝒗𝑰𝑩 ]𝑼 = 𝒗𝑰𝑩 𝟎 𝟎 ≡ 𝑼ሶ 𝟎 𝟎
𝒅𝒕

9.1.2 Coordinate Transformation Matrices and Angular Rates
➢9.1.2.1 Transformation matrix of velocity wrt inertial coordinates.

• Inertial coordinate system ]𝑰 is associated with the inertial frame I
• 𝟏𝑰 : the direction of vernal equinox
• 𝟑𝑰 : the Earth rotation axis
• Inertial velocity axes ]𝑼 are associated with the inertial velocity frame U
• 𝟏𝑼 : the direction of velocity vector
• 𝟐𝑼 : is in 𝟏𝑰 and 𝟐𝑰 plane

• The standard sequence of transformation

]𝑼 𝜃𝑈𝐼 ] 𝜓𝑈𝐼 ]𝑰
cos 𝜃𝑈𝐼 cos 𝜓𝑈𝐼 cos 𝜃𝑈𝐼 sin 𝜓𝑈𝐼 −sin 𝜃𝑈𝐼
[𝑻]𝑼𝑰 = − sin 𝜓𝑈𝐼 cos 𝜓𝑈𝐼 𝟎
sin 𝜃𝑈𝐼 cos 𝜓𝑈𝐼 sin 𝜃𝑈𝐼 sin 𝜓𝑈𝐼 cos 𝜃𝑈𝐼

−𝜓ሶ 𝑼𝐼 sin 𝜃𝑈𝐼

[𝝎𝑼𝑰 ]𝑼 = 𝜃ሶ𝑼𝐼
𝜓ሶ 𝑼𝐼 cos 𝜃𝑈𝐼
• The angular velocity of the velocity frame wrt the inertial frame.
𝝎𝑼𝑰 = 𝜓ሶ 𝑼𝐼 𝒊𝟑 + 𝜃ሶ𝑼𝐼 𝒖𝟐
[𝝎𝑼𝑰 ]𝑼 = 𝜓ሶ 𝑼𝐼 [𝑻]𝑼𝑰 [𝒊𝟑 ]𝑰 +𝜃ሶ𝑼𝐼 [𝒖𝟐 ]𝑼

➢9.1.2.2 Skid-to-turn incidence angles and rates.
𝟏𝑩 the body centerline

• Body frame B: 𝟐𝑩 the right wing
𝟑𝑩 points down.

• The sequence of transformation between the body and geographic velocity

coordinates
]𝑩 𝛼 ] −𝛽 ]𝑽
cos 𝛼 cos 𝛽 −cos 𝛼 sin 𝛽 −sin 𝛼

[𝑻]𝑩𝑽 = − sin 𝛽 cos 𝛽 𝟎
sin 𝛼 cos 𝛽 −sin 𝛼 sin 𝛽 cos 𝛼
𝛼: the angle of attack 𝛽: the sideslip angle

• Combining the incidence rates with their respective unit vectors and
adding them vectorially yields
ሶ 𝟑 + 𝛼𝒃
𝝎𝑩𝑽 = 𝛽𝒖 ሶ 𝟐
ሶ 𝑩𝑽 [𝒖𝟑 ]𝑽 +𝛼[𝒃
[𝝎𝑩𝑽 ]𝑩 = 𝛽[𝑻] ሶ 𝟐 ]𝑩
𝛽ሶ sin 𝛼
[𝝎𝑩𝑽 ]𝑩 = 𝛼ሶ
−𝛽ሶ cos 𝛼

➢9.1.2.3 Bank-to-turn incidence angles and rates.
• The sequence of rotation

]𝑩 𝛼 ] 𝜙𝐵𝑉 ]𝑽
cos 𝛼 −sin 𝛼 sin 𝜙𝐵𝑉 −sin 𝛼 cos 𝜙𝐵𝑉

[𝑻]𝑩𝑽 = 𝟎 cos 𝜙𝐵𝑉 sin 𝜙𝐵𝑉
sin 𝛼 −sin 𝛼 sin 𝛽 cos 𝛼

ሶ 𝒗𝟏 + 𝛼𝒃
𝝎𝑩𝑽 = 𝜙𝑩𝑽 ሶ 𝟐
ሶ [𝑻]𝑩𝑽 [𝒗𝟏 ]𝑽 +𝛼[𝒃
[𝝎𝑩𝑽 ]𝑩 = 𝜙𝑩𝑽 ሶ 𝟐 ]𝑩
ሶ cos 𝛼
𝜙𝑩𝑽
𝜙𝑩𝑽ሶ sin 𝛼

9.1.3 More Kinematics
ഥ]𝑮𝑰
[𝑻]𝑼𝑮 = [𝑻]𝑼𝑰 +[𝑻
ഥ]𝑼𝑮
[𝑻]𝑩𝑼 = [𝑻]𝑩𝑽 [𝑻]𝑽𝑮 +[𝑻
• [𝑻]𝑽𝑮 : Transformation matrix f the geographic velocity wrt geographic coordinates.
• The challenge is to calculate [𝑻]𝑽𝑮
𝑣𝐵𝑙 ≡ 𝐷𝑙 𝑠𝐵𝐼 = 𝐷𝐸 𝑠𝐵𝐼 + 𝛺𝐸𝐼 𝑠𝐵𝐼 = 𝑣𝐵𝐸 + 𝛺𝐸𝐼 𝑠𝐵𝐼
𝒗𝑰𝑩 = 𝒗𝑬𝑩 + 𝜴𝑬𝑰 𝒔𝑩𝑰

𝑰 𝑰
[𝒗𝑬𝑩 ]𝑮 = 𝑻 𝑮𝑰 ( 𝒗𝑩 − 𝜴𝑬𝑰 𝑰 𝒔𝑩𝑰 𝑰 )
➢ Now we can calculate the geographic heading and flight path angle

9.1.3 More Kinematics
• Body angular velocity rate

[𝝎𝑩𝑰 ]𝑩 = [𝝎𝑩𝑽 ]𝑩 +[𝝎𝑽𝑼 ]𝑩 + [𝝎𝑼𝑰 ]𝑩
[𝝎𝑽𝑼 ]𝑩 : angular velocity vector of the geographic velocity frame wrt the inertial velocity frame.
𝟎
[𝝎𝑽𝑰 ]𝑰 = [𝝎𝑬𝑰 ]𝑰 = 𝟎
𝝎𝑬𝑰
• Calculate the body rates
[𝝎𝑩𝑰 ]𝑩 = [𝝎𝑩𝑽 ]𝑩 +[𝑻]𝑩𝑰 [𝝎𝑬𝑰 ]𝑰 + [𝑻]𝑩𝑼 [𝝎𝑼𝑰 ]𝑼

9.1.4 Equations of Motion over Round Rotating Earth
𝑼ሶ
ഥ]𝑩𝑼 1𝐵 [𝑓𝑎,𝑝 ]𝑩 + [𝑻]𝑼𝑮 1𝐵 [𝑓𝑔 ]𝑮
𝜓ሶ 𝑼𝐼 Ucos 𝜃𝑈𝐼 = [𝑻
𝑚 𝑚
−𝜃ሶ𝑼𝐼 𝑼
• These equations cannot be solved if U = 0 or 𝜃𝑈𝐼 = 90 deg
𝟎
1 𝑮 = [𝑔]𝑮 = 𝟎
[𝑓 ]
𝑚𝐵 𝑔
𝒈

9.1.5 Equations of Motion over Flat Earth
• For many situations like short-range missiles, the earth curvature is

neglectable (flat earth).
• Consider Earth as a flat plane can eliminate several coordinate transformation
and the distinction between inertial and geographic velocity.
𝑽 𝐸 𝑩𝑼 𝑉𝐸 𝑽 𝐸 𝑽 1
[𝑫 𝑣𝐵 ] +[𝛺 ] [𝑣𝐵 ] = 𝐵 ([𝑓𝑎,𝑝 ]𝑽 + 𝑓𝑔 ]𝑮
𝑚
𝑽
[𝑣𝐵𝐸 ]𝑽 = 𝟎 : the geographic velocity of the c.m
𝟎

• The rotational time derivative

ⅆ
𝐸 𝑽
[𝑫𝑽 𝑣𝐵 ] = 𝑣𝐵𝐸 0 0 = 𝑉ሶ 0 0
ⅆ𝑡
• Local level coordinates with the label ]𝑳
cos 𝜃𝑉𝐿 cos 𝜓𝑉𝐿 cos 𝜃𝑉𝐿 sin 𝜓𝑉𝐿 −sin 𝜃𝑉𝐿
[𝑻]𝑽𝑳 = − sin 𝜓𝑉𝐿 cos 𝜓𝑉𝐿 𝟎
sin 𝜃𝑉𝐿 cos 𝜓𝑉𝐿 sin 𝜃𝑉𝐿 sin 𝜓𝑉𝐿 cos 𝜃𝑉𝐿
• The direction cosine matrix [𝑻]𝑩𝑳 of body wrt local-level coordinates is
[𝑻]𝑩𝑳 = [𝑻]𝑩𝑽 [𝑻]𝑽𝑳

• The angular velocity [𝝎𝑽𝑬 ]𝑽 of the velocity frame wrt the Earth frame
−𝜓ሶ 𝑽𝑳 sin 𝜃𝑉𝐿
[𝝎𝑽𝑬 ]𝑽 = 𝜃ሶ 𝑽𝑳
𝜓ሶ 𝑽𝑳 cos 𝜃𝑉𝐿
• The incidence angular rates for skid-to-turn missiles
𝛽ሶ sin 𝛼
−𝛽ሶ cos 𝛼
• The incidence angular rates for bank-to-turn aircraft
𝜙𝑩𝑽 ሶ cos 𝛼
𝜙𝑩𝑽 ሶ sin 𝛼
• 𝜙𝐵𝑉 :is the bank angle of the normal load factor plane rotated about the [𝑣𝐵𝐸 ]vector from the vertical plane.

• the body rates

𝝎𝑩𝑬 = 𝝎𝑩𝑽 + 𝝎𝑽𝑬
• in body axes
[𝝎𝑩𝑬 ]𝑩 = [𝝎𝑩𝑽 ]𝑩 +[𝑻]𝑩𝑽 [𝝎𝑽𝑬 ]𝑽
• As you can see the body rates in the flat-Earth simplification is much
simpler
• Because geographic and inertial velocities are undistinguishable

• For the flat-Earth
• Because of singularity, we cannot simulate

1.Vertically takeoff missile
2.Aircraft that dives straight to the ground
3.Hovering helicopter

• The aerodynamic and propulsive term can be expressed in velocity

coordinates directly.
• Lift and drag are referred to these coordinates.
• Thrust, usually parallel to the 1𝐵 axis, is projected by the angle of attack

into the 1𝑉 axis.
• Three DoF aerodynamic model can be adopted to five-DoF simulations.

• F :thrust
• 𝑞:dynamic
ത pressure
• S :aerodynamic reference area

Subsystem Models
• the most important components for a missile or aircraft to fly effectively:

1. Airframe 5. Sensors
2. Propulsion 6. Guidance
3. Controls 7. Navigation
4. Autopilot
• These subsystems must be modeled mathematically or included as hardware.

Subsystem Models
• The shape of the airframe determines

➢ The aerodynamic forces and moments
• The structure determines

➢ The mass properties and deflections under loads
• In pseudo-five-DoF approach the airframe consider as a rigid body.

• The moments are balanced
• The drag as a result of steady state control deflections is included in the
aerodynamic forces.

Subsystem Models
• The aerodynamics can model by trimmed force approach.

• The autopilots are simplified models of the control-loop dynamics,
and their responses simulate the vehicle’s attitude dynamics.
• Sensors: Measuring the states of the vehicle wrt frames.
• High bandwidth sensors: Modeled by gains without dynamics, their output is
corrupted by noise (gyros and accelerometers).
• Sensors with BW near the autopilot BW: modeled dynamically (Gimbaled
homing seekers).

9.2.1 Trimmed Aerodynamics
• Aerodynamics simulates the forces and moments that shape the flight
trajectory.
• Aerodynamics data can be found in references, computer’s code,
wind tunnel and …
• Missile DATCOM: Consists of compendium of experimental and
theoretical results.


• Missile and aircraft simulations the emphasis is more on performance rather

than on stability and control.
• Pseudo-five-DoF simulations: Content with simple aerodynamic
representations.
• Normal and axial forces, or alternatively, lift and drag forces.
• Aero forces and moments

• Mach number: velocity/sonic speed

• Reynolds number: Inertia forces/frictional forces.
• The forces and moments are nondimensionalized by parameters
1. 𝑞ത (dynamic pressure)
2. 𝑆 (reference area)
3. 𝒍 (reference length)

• Lift coefficient
𝐿
𝐶𝐿 =
𝑞ത 𝑆
• Drag coefficient
𝐷
𝐶𝐷 =
𝑞ത 𝑆
• Their dependencies are reduced to
• The Reynolds number primarily expresses the dependency of the size

of the vehicle and skin friction as a function of altitude.

• With size and shape of a particular vehicle fixed and altitude

dependency neglected, the coefficients simplify
➢9.2.1.1 Tetragonal missiles.

• A tetragonal missile’s aerodynamics is only weakly dependent on the
roll orientation of the body.
Total incidence angle a’

• The autopilot provides 𝛼 and β information and converted to

aeroballistics incidence angles by
✓lift vector: Normal to the velocity vector in the load factor plane
Function of 𝛼’

• To express forces in body coordinates transform:

1. lift and drag to normal force
2. Axial force coefficients in aeroballistics wind coordinates
3. Rotation through the angle 𝝓′ to body fixed axes

• Difference between the aeroballistics 𝝓′ and the bank

angle 𝜙𝐵𝑉
𝝓′ it is the body axis and for 𝜙𝐵𝑉 it is the velocity vector
• The aerodynamic force vector

➢9.2.1.2 Planar aircraft

• We assumed bank to turn occurred at zero sideslip angle
(In 5 Dof Sim.).
• Lift and Drag vector: lie in the load factor plane

• In earlier literatures the aerodynamics coefficient defined in the

positive direction of body axes

9.2.2 Propulsion
• Thrust Eques.
V: flight velocity 𝑉𝑒: exhaust velocity 𝑚ሶ 𝑎 : airflow rate
• Cruise missiles have to maintain Mach number under maneuvers and

environmental effects.
• The thrust required to maintain a certain Mach number
if turbine axis is parallel to the body 1 axis

9.2.2 Propulsion
• 𝑓𝑟 is used in the Mach hold control loop

• 𝑀𝑐 Commanded Mach number

9.2.2 Propulsion
• The Mach hold control loop can be completed by adding

1. vehicle transfer functions, represented by the vehicle mass m B
2. Integrator
3. conversion to Mach number by the sonic speed V
• By eliminating the 𝜔𝑛 :

9.2.3 Autopilot
• Autopilots
1. stabilize airframes
2. improve control response
3. convert guidance signals to actuator commands
4. maintain constant flight parameters
• Compare the commanded inputs with the measured states and shape
the error signal.

9.2.3 Autopilot
• The signal of the feedback loop determines the type of autopilot.
• Flight-path controller:
Use flight-path-angle measurements.
• Altitude controller.
Use height measurements
• Bank-angle controller executes constant turns.

9.2.3 Autopilot
➢9.2.3.1 Acceleration controller.

• For missiles guidance system are expressed in body accelerations
Fig 9.9 Pseudo-five-DoF pitch plane acceleration controller for missiles (similar for yaw plane).
• If the flight conditions are changing dramatically, the value of 𝑇𝑅 must

be a function of dynamic pressure.
9.2.3 Autopilot
• Generate the angle of attack from the output of the rate loop
• Use of the incidence-lag relationship
• For small incidence angles
• Incidence-lag differential equation

9.2.3 Autopilot
• Time constant
• Laplace transfer function of angle of attack wrt pitch-rate response

9.2.3 Autopilot
• Use root locus technique to calculate the 𝐺𝑅 and 𝐺𝐼 gain
𝐺𝑅 𝐺𝑅 𝑉
𝑇𝐴 = 𝐺𝐴𝐶𝑃 =
𝐺𝐼 𝑇𝑅 𝑇𝑖

9.2.3 Autopilot
• To calculate 𝑇𝑅
• 𝛿0 : The maximum deflection

• 𝒂𝒄 𝒔𝒕𝒆𝒑 : Acceleration step input

9.2.3 Autopilot
➢9.2.3.2 Bank-to-turn autopilot

• The lateral acceleration given the by the normal load 𝒂𝑵

9.2.3 Autopilot
• For a roll autopilot with position and rate feedback
• Ip : Roll moment of inertia

• K p : Inner roll rate gain
• Clδ : Roll control derivative
• Clp : Roll damping derivative

9.2.3 Autopilot
➢9.2.3.3 Altitude hold autopilot

• TWO feedback loops are wrapped around the acceleration autopilot
with two gains GH and GI
• HDTLZM: altitude rate limiter


Supplemental Material

C++: Object-Oriented Programming (OOP)
• Development of programming languages

Unstructured programming: FORTRAN (1957 IBM)
Structured programming: FORTRAN 77, Pascal, ALGOL
Object-Based Programming: C (1972 Bell Labs)
• Object Oriented Programming with C++
Bjarne Stroustrup 1983 Bell Labs
ANSI/ISO Standard 1998
OOP is programming with objects declared by classes
Objects are compound variables consisting of data and functions and are declared by
classes

Variables
• A variable is a name given to a memory location.

• Basic unit of storage in a program.
• The value stored in a variable can be changed during program
execution.
• All the variables must be declared before use.

Data types
DT
• All variables use data-type during
declaration to restrict the type of
data to be stored.
• Data types are used to tell the
variables the type of data it can
store.
• Every data type requires a different
amount of memory.

Example
Int Students_Num = 25
Data type Variable Value
25 RAM

Expressions
Formed by data and operators

Statements
Part of a program that can be executed

Arrays
• Collection of items stored at contiguous memory locations and

elements can be accessed randomly using indices of an array.
• Used to store similar type of elements as in the data type must be the
same for all elements.
• Can be used to store collection of primitive data types

Arrays
• One-Dimensional Array
• Two-Dimensional Array

Three-Dimensional Array

Pointers
• Symbolic representation of addresses.

• A variable that holds the memory address of an object
• Is created by using the character *
int *ptr; //ptr can point to an address which holds int data

Pointers
• A pointer is de-referenced with the dereferencing (indirection) operator *

q = *m; //means: q gets the object at address m
• The address of an object is obtained by the pointer operator &
m = &q; //means: m gets the address of object q
Declaring: declares the nature of the entity

Defining: defines the executable code of the entity
Creating: creates memory allocation for the entity
Invoking: makes a copy of the entity
Assigning: associates one entity with another
Functions
• A set of statements that take inputs, do some specific computation

and produces output.
• Building blocks of C++.

P.I.E.
• Polymorphism
Many forms, one interface (overloading of functions and operators, run-time
polymorphism) – reduces complexity
• Inheritance
An object can acquire the properties of another object (hierarchical
classification) – mirrors the hierarchy of the real world
• Encapsulation
Binding together data and functions and restricting their access – supports
large-scale programming

Inheritance (object-oriented programming)
• A process in which one object acquires all the properties and behaviors of
its parent object automatically.
• Derived class: the class which inherits the members of another class
• Base class: the class whose members are inherited is called
• Types Of Inheritance
• C++ supports five types of inheritance:
1. Single inheritance
2. Multiple inheritance
3. Hierarchical inheritance
4. Multilevel inheritance
5. Hybrid inheritance

Advantage of C++ Inheritance
• Code reusability
• reuse the members of your parent class. So, there is no need to
define the member again. So less code is required in the class.

CADAC History
• CADAC – Computer Aided Design of Aerospace Concepts

• Family of trajectory simulations
• Developed by the U.S. Air Force and the University of Florida
• Digital Modular Simulation (DIMODS):
• Was initially developed in 1966 by Litton Industries, created a FORTRAN
framework for six degrees of freedom trajectory simulations

CADAC History
• Based on the hierarchical structure of inherited classes.

• The vehicles (aircraft, missiles, satellites or ground targets), inherit the 6-
DoF equations of motion from the classes Flat6 or Round6.(flat or elliptical
Earth model)
• CADAC Time Line
1966 1978 1998 2000
Litton Industry CADAC-Air Force CADAC Version 3.0 CADAC Version 3.1

CADAC Genesis
• 1966 Litton Industries

–6 DOF missile simulation in Fortran IV
–Adopted by industry and government
–IBM, Control Data mainframes
• 1978 U.S. Air Force – CADAC Fortran
–Air-to-ground and air-to-air missiles
–Fighter Aircraft
–Hypersonic vehicles
–Hosted on Digital VAX, IBM PC

CADAC Genesis
• 2000 University of Florida – CADAC C++

–Conversion to C++
–ANSI / ISO 1998 Standard C++
–Microsoft Visual C++ compilers
• Present
–USAF/AFRL 5 & 6 DOF simulations
–UFL and other academic institutions
–Embedded in FLAMES

CADAC – Computer Aided Design of Aerospace Concepts
• An engineering tool for the development of aerospace vehicles

Focuses on high fidelity flight simulation of main vehicle
Interacts with other secondary vehicles
• An evaluation tool for performance studies
Fly-out performance
Flight envelopes, launch envelopes, footprints

CADAC – Computer Aided Design of Aerospace Concepts
• A planning and analysis tool for flight tests

Trajectories, safety footprints
Performance prediction
Data correlation
• A training tool
Graduate courses in M&S
Real-time integration into flight simulators
• An open source framework
For constructive aerospace simulations

CADAC
• CADAC families:
• CADAC1: air-to-ground 3 DoF
• CADAC2: air-to-ground 5 DoF
• CADAC3: advanced versions of CADAC2
• CADAC4: air-to-air 5 DoF
• CADAC5: air-to-space 5 DoF

CADAC
• CADAC Family of Simulations

CADAC 2: 3 DoF, spherical earth, GHAME3, ROCKET3
CADAC 3: 5 DoF, flat earth, air-to-ground, CRUISE5
CADAC 4: 5 DoF, flat earth, air-to-air, AIM5, SRAAM5
CADAC 5: 5 DoF, spherical earth
CADAC 6: 6 DoF, flat earth, missiles SRAAM6
CADAC 7: 6 DoF, flat earth, aircraft FALCON6
CADAC 8: 6 DoF, elliptical earth, hypersonic GHAME6

CADAC++ Active Simulations

6 DoF simulations
• GHAME6
NASA X30 with flight control, GPS/INS, SAR sensor, Monte Carlo
• FALCON6
F16 aircraft simulation with flight control
• SRAAM6
Air-to-air missile against aircraft target, multiple engagements
• ROCKET6
Three stage solid rocket booster, orbit insertion guidance, weather deck, Monte Carlo

CADAC Usage
• USAF/AFRL since 1978

• University of Florida since 1978
• Missouri University of Science and Technology, Rolla, MO
• University of Queensland, Australia
• Indian Institute of Technology, Madras, India
• National University of Córdoba, Argentina
• Technion, Haifa, Israel

Class Structure
CLASS DESCRIPTION
• Each aerospace vehicle is an object Cadac Base class of hierarchical class structure of vehicles
declared by its hierarchical class structure
Vehicle Hosting a pointer array of type Cadac
• Data and methods are encapsulated
Aerodynamic and propulsion data tables Module Storing module information
Vehicle characteristics are computed in module Variable Declaring module-variables
functions Event Storing event information
• Class hierarchy Packet Storing data packets for global communication bus
Datadeck Hosting a pointer array of type Table
Abstract base class CADAC
Table Storing tabular data
First derived class defines the equations of motion
Markov Storing Markov data
Second derived class defines the vehicle modules
Matrix Declaring matrix operations
Document Storing module-variable definitions

Inheritance
• The classes inherit the communication structure from the base class
CADAC
• The components of the vehicle, aerodynamics, propulsion and
autopilot, are represented by modules, which are member functions
of the vehicle class.

Examples of Hierarchies
Cruise Missile Fighter Aircraft Hypersonic Ascent Plane
CADAC CADAC CADAC
Round3 Flat6 Round6 Round3 Ground0
Cruise Target Satellite Plane Hyper Satellite Radar

CADAC Studio
• 2DIM
2-dimensional plotting
Up to three variables in two frames (total of six variables)
Multiple vehicle plotting
• PITA
3-dimensional plotting in Cartesian coordinates
Up to ten vehicles
• GLOBE
3-dimensional plotting over the Earth (longitude, latitude, altitude)
Up to four vehicles

CADAC Studio
• CHARTS:
Strip charts
Up to 12 traces in one frame
• Stochastic processing
1. HIST: Histograms
2. BIVAR: CEP and bivariate ellipses from scatter plots
3. MCAP: Mean and std. deviation of trajectory fans
• Automated launch envelope and footprint generation
SWEEP and SWEEP++ for CADAC_FTN and CADAC++

KPLOT 2 – 2DIM

KPLOT – 3 DIM (1 of 2)

KPLOT – 3DIM (2 of 2)

KPLOT - GLOBE

How to Compile and Link
• Prerequisites
• Microsoft Visual Studio 2019
• Intel® Parallel Studio XE 2019
• Check Intel® Fortran Compiler While installing
• Windows 10 with latest updates
• Latest Windows SDK

• Open a new C++ project:

• Add the files in:

1. Header
2. Resource
3. Source

• Go to Project Setting
• Make sure that:
• Configuration types : .exe
• SDK Ver

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Introduction 9.1 P. 5DoF Equations of Motion 9.

Faculty of New Sciences & Technologies

MSc. Student: A. Asgharpoor

Course Modeling and Simulation of Aerospace Vehicle Dynamics 7/30/2020 2 of 112

➢P.H. Zipfel (2011), CADAC: Multi-use Architecture for Constructive

Course Modeling and Simulation of Aerospace Vehicle Dynamics 7/30/2020 3 of 112

➢D. Preller (2018), Multidisciplinary Design and Optimization of a

Course Modeling and Simulation of Aerospace Vehicle Dynamics 7/30/2020 4 of 112

➢9. Five-Degrees-of-Freedom Simulation

Course Modeling and Simulation of Aerospace Vehicle Dynamics 7/30/2020 5 of 112

➢9.2 Subsystem Models

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➢5 DoF: “2 attitude” + “3 translational” Degree of Freedom

➢Pseudo 5 DoF simulation:

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➢Pseudo 6 DoF simulation:

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9.1 Pseudo-Five-DoF Equations of Motion

Course Modeling and Simulation of Aerospace Vehicle Dynamics 7/30/2020 9 of 112

9.1 Pseudo-Five-DoF Equations of Motion

• Inertial velocity frame U:

• The complete body rate:

𝝎𝑩𝑰 = 𝝎𝑩𝑼 + 𝝎𝑼𝑰

Course Modeling and Simulation of Aerospace Vehicle Dynamics 7/30/2020 10 of 112

9.1 Pseudo-Five-DoF Equations of Motion

• Velocity frame with the inertial velocity

[𝑻]𝑩𝑰 = [𝑻]𝑩𝑼 +[𝑻]𝑼𝑰

Course Modeling and Simulation of Aerospace Vehicle Dynamics 7/30/2020 11 of 112

9.1.1 Derivation of the Pseudo-Five-DoF Equations

• Shift to the velocity frame U using Euler's transformation

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9.1.1 Derivation of the Pseudo-Five-DoF Equations

• The rotational time derivative

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9.1.2 Coordinate Transformation Matrices and Angular Rates

➢9.1.2.1 Transformation matrix of velocity wrt inertial coordinates.

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9.1.2 Coordinate Transformation Matrices and Angular Rates

• The standard sequence of transformation

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9.1.2 Coordinate Transformation Matrices and Angular Rates

−𝜓ሶ 𝑼𝐼 sin 𝜃𝑈𝐼

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9.1.2 Coordinate Transformation Matrices and Angular Rates

➢9.1.2.2 Skid-to-turn incidence angles and rates.

𝟏𝑩 the body centerline

Course Modeling and Simulation of Aerospace Vehicle Dynamics 7/30/2020 17 of 112

9.1.2 Coordinate Transformation Matrices and Angular Rates

• The sequence of transformation between the body and geographic velocity

cos 𝛼 cos 𝛽 −cos 𝛼 sin 𝛽 −sin 𝛼

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9.1.2 Coordinate Transformation Matrices and Angular Rates

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9.1.2 Coordinate Transformation Matrices and Angular Rates

➢9.1.2.3 Bank-to-turn incidence angles and rates.

• The sequence of rotation

cos 𝛼 −sin 𝛼 sin 𝜙𝐵𝑉 −sin 𝛼 cos 𝜙𝐵𝑉

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9.1.2 Coordinate Transformation Matrices and Angular Rates

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9.1.3 More Kinematics

𝒗𝑰𝑩 = 𝒗𝑬𝑩 + 𝜴𝑬𝑰 𝒔𝑩𝑰

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