Motion Platform
A moving platform.
blockType: MotionPlatform
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Path in the library: |
Description
Block Motion Platform simulates the movement of multiple platforms, such as airplanes, ground vehicles, and/or arrays of receiving and transmitting sensors, determining their position and speed. Platforms move along trajectories determined by their initial positions and speeds, depending on the chosen model of movement — high-speed or accelerated. The positions and speeds of the platforms are updated at each step of the simulation. You can also set initial platform orientations and receive orientation updates.
Ports
Entrance
Ref — input value of the reference time
scalar
The input value of the reference time. The units of measurement are seconds.
Dependencies
To use this port, set the Source of elapsed simulation time parameter to `Derive from reference input port'.
Data types: Float16, Float32, Float64, Int8, Int16, Int32, Int64, UInt8, UInt16, UInt32, UInt64, Bool
Vel — input speed of the pass platform:q[<br>] a 3-by-N real matrix
The speed of the platform, set as a 3—by-N real matrix, where N is the number of platforms for modeling. The units of measurement are meters per second.
Dependencies
To use this port, set the Model of object motion parameter to Velocity, and the Source of velocity parameter to `Input port'.
Data types: Float16, Float32, Float64, Int8, Int16, Int32, Int64, UInt8, UInt16, UInt32, UInt64, Bool
Acl — acceleration of the pass platform:q[<br>] a 3-by-N real matrix
The acceleration of the platform, given as a 3—by-N real matrix, where N is the number of platforms for modeling. The units of measurement are meters per second squared.
Dependencies
To use this port, set the Model of object motion parameter to `Acceleration', and the Source of acceleration parameter to `Input port'.
Data types: Float16, Float32, Float64, Int8, Int16, Int32, Int64, UInt8, UInt16, UInt32, UInt64, Bool
Output
Pos — position of the pass platform:q[<br>] a 3-by-N real matrix
The current position of the platform, returned as a 3—by-N real matrix, where N is the number of platforms to simulate. The units of measurement are meters.
Data types: Float16, Float32, Float64, Int8, Int16, Int32, Int64, UInt8, UInt16, UInt32, UInt64, Bool
Vel — output speed of the pass platform:q[<br>] a 3-by-N real matrix
The current speed of the platform, returned as a 3—by-N real matrix, where N is the number of platforms to simulate. The units of measurement are meters per second.
Data types: Float16, Float32, Float64, Int8, Int16, Int32, Int64, UInt8, UInt16, UInt32, UInt64, Bool
LAxes — axes of orientation of the pass platform:q[<br>] a 3 by 3 by N real matrix
The current orientation axes of the platform, returned as a 3 by 3 by N real matrix, where N is the number of platforms for modeling. Each 3-by-3 submatrix is an orthogonal matrix. This output is enabled when the OrientationAxesOutputPort parameter is set to true. The current axes of the platform rotate around the vector normal to the trajectory of the platform.
Dependencies
To use this port, select the Enable orientation axes output checkbox.
Data types: Float16, Float32, Float64, Int8, Int16, Int32, Int64, UInt8, UInt16, UInt32, UInt64, Bool
Parameters
Model of object motion — model of object movement
Velocity (default) | Acceleration | Custom
Specify the object’s motion model as Velocity, Acceleration, or `Custom'.
When the parameter is set to `Velocity', the platform moves along the trajectory at a constant speed at each step of the simulation.
When the parameter is set to Acceleration, the platform moves along a trajectory with constant acceleration at each step of the simulation.
When the parameter is set to Custom, the platform moves according to the sequence of waypoints specified by the Custom trajectory waypoints parameter. To obtain the position and velocity at each time step, the object performs piecewise cubic waypoint interpolation.
Initial position (m) — initial position of the pass platform:q[<br>] [0;0;0] ( by default)
The initial position of the platform in meters in the form of a 3-by-N matrix, where each column represents the initial position of the platform in the form [x;y;z]. The number N is the number of platforms.
Initial velocity (m/s) — initial speed of the pass platform:q[<br>] [0;0;0] ( by default)
The initial velocity of the platform (in m/s), in the form of a 3-by-N matrix, where each column represents the initial velocity of the platform in the form of [vx;vy;vz]. The number N is the number of platforms.
Dependencies
This parameter is used if the Source of velocity or Source of acceleration parameters are set to Input port.
Source of velocity — speed data source
Property (default) | Input port
This parameter is used only when setting the Model of object motion parameter to Velocity. In this case, it is necessary to provide speed data for the model. Specify the speed data source Property or `Input port'.
Velocity (m/s) — current speed of the pass platform:q[<br>] [0;0;0] ( by default)
The current speed of the platform (in m/s), in the form of a 3-by-N matrix, where each column represents the initial speed of the platform in the form of [vx;vy;vz]. The number N is the number of platforms.
Dependencies
This parameter is used if the Model of object motion parameter is set to Velocity and the Source of velocity parameter is set to Property.
Source of acceleration — acceleration data source
Property (default) | Input port
This parameter is used only when setting the Model of object motion parameter to Acceleration. In this case, acceleration data must be provided for the model. Specify the acceleration data source Property or `Input port'.
Acceleration (m/s^2) — current acceleration of
[0;0;0] ( by default)
The current acceleration (in m/s2), in the form of a 3-by-N matrix, where each column represents the initial velocity of the platform in the form of [ax;ay;az]. The number N is the number of platforms.
Dependencies
This parameter is used if the Model of object motion parameter is set to Acceleration and the Source of acceleration parameter is set to Property.
Custom trajectory waypoints — waypoints of the pass trajectory:q[<br>] [ 0, 0, 0, 0, 0, 0, 0; 1, 0, 0, 0, 0, 0, 0 ] ( by default)
The waypoints of the trajectory, defined as a real matrix M by L or an array M by L by N. M is the number of waypoints. L — 4 or 7.
If L is 4, then the first column indicates the time points at which the position of the platform is measured. Columns 2-4 are position measurements in x, y, and z coordinates. The speed is determined based on position measurements.
If L is 7, then columns 5-7 of the matrix represent velocity measurements in x, y, and z coordinates.
When setting the Custom trajectory waypoints parameter to the value of a three-dimensional array, the number of pages, N, represents the number of platforms.
Time units are seconds, position units are meters, and velocity units are meters per second.
Dependencies
This parameter is used if the Model of object motion parameter is set to Custom.
Mechanical scanning mode — pass mechanical scanning mode:q[<br>] None (default) | Circular | Sector
The mechanical scanning mode for the platform is set as None, Circular or Sector, where None is the default value.
When setting the Mechanical scanning mode parameter to Circular, the platform continuously scans clockwise by 360 degrees in the azimuthal direction of the platform orientation axes.
When setting the Mechanical scan mode parameter to Sector, the platform scans clockwise in the azimuth direction along the platform orientation axes in the range set by the Azimuth scan angle span (deg) parameter. When the scanning platform reaches the range boundary, the scanning changes direction and returns to the other scanning boundary. Scanning takes place within the orientation axes of the platform.
Initial scan angle (deg) — the initial scanning angle of the pass platform:q[<br>] 0 (default)
The initial scanning angle of the platform, set as a vector 1 by N, where N is the number of platforms.
Scanning takes place in the local coordinate system of the platform. The Initial orientation axes parameter sets the initial local coordinate system. At the beginning of the simulation, the orientation axes specified by the Initial orientation axes parameter are rotated by the angle specified in the Initial scan angle (deg) parameter. The default value is zero. The units of measurement are degrees.
Dependencies
This parameter is used if the Mechanical scanning mode parameter is set to Circular or `Sector'.
Azimuth scan angle span (deg) — Azimuth scan angle range
[-60,60] (default)
The azimuth scanning angle range, set as an N-by-2 matrix, where N is the number of platforms.
Each row of the matrix defines the scanning range of the corresponding platform in the form of [ScanAngleLowerBound ScanAngleHigherBound]. The default value is `[-60 60]'. The units of measurement are degrees.
Dependencies
This parameter is used if the Mechanical scanning mode parameter is set to Sector.
Azimuth scan rate (deg/s) — Azimuth scan rate
10 (default)
The azimuth scan rate, set as a vector of 1 by N, where N is the number of platforms.
Each entry in the vector is the azimuth scan rate for the respective platform. The default value is 10 deg/sec. The units of measurement are degrees/seconds.
Dependencies
This parameter is used if the Mechanical scanning mode parameter is set to Circular or `Sector'.
Initial orientation axes — initial axes of orientation of the pass platform:q[<br>] eye(3) (default)
Three axes defining the initial local (x,y,z) coordinate system of the platform, in the form of a 3 by 3 by N matrix. Each column of the matrix represents an axis of the local coordinate system. All three axes must be orthogonal.
Enable orientation axes output — output of orientation axes
disabled (by default) | enabled
Select this option to get instantaneous platform orientation axes via the LAxes output port.
The port appears only when the checkbox is selected.
Source of elapsed simulation time — source of elapsed simulation time
Auto (default) | Derive from reference input port
Specify Auto or Derive from reference input port as the simulation time source.
When Auto is selected, the block calculates the elapsed time.
When selecting Derive from reference input port, the block uses the duration of the reference signal sent to the input port Ref.
Inherit sample rate — inherit the sample rate of
enabled (by default) | disabled
Check the box to inherit the sampling rate from higher-level blocks. Otherwise, set the sampling rate using the Sample rate (Hz) parameter.
Sample rate (Hz) — pass sampling rate:q[<br>] 1e6 (default) | positive scalar
The sampling frequency of the signal in the form of a positive scalar. The units of measurement are Hz.
Dependencies
To use this option, uncheck the Inherit sample rate checkbox.
Data types: Float16, Float32, Float64, Int8, Int16, Int32, Int64, UInt8, UInt16, UInt32, UInt64, Bool