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Aerospace Vehicles
Aircraft Equations of
Motion
Dynamic Stability
Degree of
dynamic
stability:
time it takes
the motion to
damp to half or
to double the
amplitude of its
initial
amplitude
Handling
quality of an
airplane
Oscillations
growing
exponentially
Dynamic Stability
Longitudinal (symmetric)
Short period
z
z
Exchange of KE and PE
Easily controlled by pilot (usually)
Lightly damped
Usually heavily damped
Higher frequency than phugoid
Lateral-directional (asymmetric)
Moderately damped
Moderate frequency
Vector Analysis
z
z
Rigid body
z
vc
CM
Fixed frame
inertial axis
a,v referred to an
absolute reference
system (inertial)
P (t ) = c (t ) + r (t )
P m
r
vc
dr
v = vc +
= vc + r
dt
a = ac +
CM
d 2r
dt
CM
= ac + r + ( r )
= pi + qj + rk
c
o
ye
xe
Fixed frame
ze inertial axis
F=
F = Fx i + Fy j + Fz k
d
( mv )
dt
Fx =
d
d
d
( mu ) ; Fy = ( mv ) ; Fz = ( mw )
dt
dt
dt
M = dt H
d
L=
d
d
d
Hx; M = H y; N = Hz
dt
dt
dt
F, M
Force Equation
F = dt (mv)
d
F =m
dv
dt
v = vc +
dr
dt
dr
dr
F = F = dt vc + dt m = dt vc m + dt m
d
dv c d
dv
dr
d2
+ m = m c + 2 r m
dt dt
dt
dt dt
r
m
=
0
r
measured
from
the
center of mass
F=m
Force equation:
F=m
dv c
dt
Moment Equation M = dt H
d
M =
d
d
H = (r v ) m
dt
dt
v = vc +
dr
= vc + r
dt
H = H = ( r vc ) m + r ( r ) m
vc constant with respect to the summation
H=
r m vc + r ( r ) m
r m = 0 r measured from the center of mass
H=
r ( r ) m
H=
Moment Equation
Angular velocity
r ( r ) m
Position vector
= pi + qj + r k
r = xi + yj + zk
Propriety of Cross
Product
H = ( pi + qj + r k ) x + y + z m
2
r ( r )
(r r ) (r ) r
( xi + yj + zk )( px + qy + rz ) m
( y 2 + z 2 ) m q xy m r xz m
H y = p xy m + q ( x 2 + z 2 ) m r yz m
Hx = p
Hz = p
xz m q yz m + r ( x2 + y 2 ) m
Ix
Moment Equation
z
( y + z ) m
I y = ( x 2 + z 2 ) m
I z = ( x 2 + y 2 ) m
Ix =
xy m
I xz = xz m
I yz = yz m
I xy =
Moment Equation
Scalar equations for the angular momentum
H x = pI x qI xy rI xz
H y = pI xy + qI y rI yz
H z = pI xz qI yz + rI z
NOTE: If the reference frame is not rotating, then as the airplane rotates
the moments and the products of inertia will vary with the time
To simplify the problem we will fix the axis system to the aircraft
(body axis system)
=
I
dA
dt
+ A
B
then
F=m
dv c
dt
M=
=m
I
dH
dt
=
I
dv c
dt
dH
dt
+ m ( vc )
+ H
dv
Fx = m c
dt
+ m ( vc ) i
Force equations
Fx = m ( u + qw rv ) ; Fy = m ( v + ru pw ) ; Fz = m ( w + pv qu )
Moment equations L = (
dH
dt
+ H) i
B
L = H x + qH z rH y ; M = H y + rH x pH z ;
xz plane of symmetry
I yz = I xy = 0
Moment equations:
N = H z + pH y qH x
L = I x p I xz r + qr I z I y I xz pq
M = I y q + rp ( I x I z ) + I xz p 2 r 2
N = I xz p + I z r + pq I y I x + I xz qr
Euler Angles
Fixed Reference Frame:
dx
= u1 cos v1 sin
dt
dy
= u1 sin + v1 cos
dt
dz
= w1
dt
u1 , v1 , w1 = f (u2 , v2 , w2 )
u2 , v2 , w2 = g (u, v, w)
u1
w1
v1
dx
dt
u
dy = C v
[
]
dt
w
dz
dt
Velocity components
along the body axes
=
=
=
NOTE: Use of Quarternions is sometime better: see
Kinematic
equations for
the Euler angles
http://www.aerojockey.com/papers/meng/node19.html
10
r 0 S
1 S tan
C
= 0
0 S sec
S
C S
C C
C tan p
S q
C sec r
Gravitational Forces
Along the body axes
Fgrav = mg
Fx
grav
Fy
grav
Fz
grav
= mg sin
= mg cos sin
= mg cos cos
11
Force and
Moment due to
propulsion
system
Fprop
Trust forces
Fxprop = X T
Fy
Fz
prop
prop
= YT
= ZT
Lprop = LT
M prop = M T
N prop = NT
Summary
xz plane of symmetry I yz = I xy = 0
12
Summary
12 equations, 12 unknowns/variables: x, y, z; , , ; u, v, w; p, q, r
13
14
There are two senses in which we may deal with "linear" aerodynamic
models.
15
Small-Disturbance Theory
The equations of motion are frequently linearized for use in stability
and control analysis. It is assumed that the motion of the aircraft
consists of small deviation from a steady flight condition. The use of
small disturbance theory predicts the stability of unaccelerated flight. In
most cases, a perturbed fluid-aerodynamic force is a function of
perturbed linear and angular velocities and their rates:
Small-Disturbance Theory
z
16
Stability Derivative
Control
17
18
19
Small-Disturbance Theory
Small deviations about the steady-flight:
u = u0 + u; v = v0 + v; w = w0 + w;
p = p0 + p; q = q0 + q; r = r0 + r ;
X = X 0 + X ; Y = Y0 + Y ; Z = Z 0 + Z ;
L = L0 + L;
M = M 0 + M ; N = N 0 + N ;
= 0 + ;
Symmetric flight condition and constant propulsive forces
v0 = p0 = q0 = r0 = 0 = 0 = 0
(x-axis in the direction of the velocity vector)
w0 = 0
20
X Force Equation
X mg sin = m ( u + qw rv )
X 0 + X mg sin ( 0 + ) =
d
= m ( u0 + u ) + ( q0 + q )( w0 + w ) ( r0 + r )( v0 + v )
dt
X mg cos 0 = mu
X ( u , w, e , T ) =
X
X
X
X
u +
w +
e +
T
u
w
e
T
X
X
d X
X
m dt u u w w + ( mg cos 0 ) = e +
T
e
d
dt X u u ( X w ) w + ( g cos 0 ) = X e e + X T T
( )
Xu =
1 X
m u
21
X =
X
X
X
X
u +
w +
e +
T
u
w
e
T
Bryan, 1904
X,M (aero)
Expressed as
function of the
instantaneous
values of the
perturbation
variables
C x 1
X C x u0
1
=
QS =
QS = C xu
QS
u
u u0
u u0 u0
u0
X u , u , w, w, , e , e =
X =
X
X
X
X
u +
u + +
e +
e + H.O.T.
u
u
e
e
M ( u , v, w, u, v, w, p, q, r , a , e , r ) =
M =
M
M
M
M
u +
v +
w + +
p +
u
v
w
p
22
X
X
X
X
u +
w +
e +
T
u
w
e
T
Y =
Y
Y
Y
Y
v +
p +
r +
r
v
p
r
r
Z =
Z
Z
Z
Z
Z
Z
u +
w +
w +
q +
e +
T
u
w
w
q
e
T
L =
L
L
L
L
L
v +
p +
r +
r +
a
v
p
r
r
a
M =
M
M
M
M
M
M
T
u +
w +
w +
q +
e +
T
u
w
w
q
e
N =
N
N
N
N
N
v +
p +
r +
r +
a
v
p
r
r
a
dt X u u X w w + ( g cos 0 ) = X e e + X T T
d
d
Z u u + (1 Z w ) Z w w u0 + Z q
g sin 0 = Z e e + ZT T
dt
dt
d2
d
d
M u u M w + M w w + 2 M q = M e e + M T T
dt
dt
dt
Lateral Equations
dt Yv v Y p p + ( u0 Yr ) r ( g cos 0 ) = Y r r
I d
Lv v + L p p xz
+ Lr r = L a a + L r r
I
dt
dt
I d
N v v xz
+ N p p + N r r = N a a + N r r
dt
I z dt
23
X
D
T
u =
u +
u
u
u
u
X
D T
1
=
+
= C xu
QS
u
u u
u0
X =
S 2 CD
X
T
=
u0
+ 2u0CD0 +
u
u
2
u
CX u
u X
= 0 u
QS
CDu
Tu
24
C xu = u0
=
1 S 2 CD
T
u0
+ 2u0 CD0 +
QS 2
u
u
1 S 2 CD
T
+ 2CD0 +
u0
QS 2 u u0
u u0
CD u =
= ( CDu + 2CD 0 ) + CT u
CD
CT
; CT u =
u u0
u u0
CD u = M
CD
; M = Mach number
M
C xu = ( CDu + 2CD 0 ) + CT u
CT u = 0
u CL
CL
CL
M2
= 0
=M
=
CL
u u0
M 1 M 2
a u a
M =0
25
M
u
u
M
= Cmu Scu0
u
Cm
Cmu = M
M
C zq
Cmq
Lt = CL t Qt St
t
Z = Lt = CL
CZ =
qlt
Qt St
u0
Z
QS
CZ = CL
CZ q
qlt Qt St
ql S
= CL t t
t u
u0 QS
S
0
2u CZ
l S
CZ
= 0
= 2CL t t = 2CL VH
t
t
qc 2u0
c q
c S
26
Cmq
M cg q
QSc
qlt
Qt St
u0
= VH CL
qlt
u0
2u Cm
Cm
= 0
c q
qc 2u0
Cmq 2CL VH
t
lt
c
C z Cm
lt
d
d d
d
t
t =
t =
dt
d dt
d
t =
d lt
d u0
27
t =
=
=
dt u0 d dt u0 d u0
t = lt u0 ;
t =
Lt = CL t Qt St
t
C z =
C z =
Lt
S
d lt St
= CL t t = CL
t
t
QS
S
d u0 S
2u C z
C z
d
= 0
= 2VH CL
t d
c
( c / 2u0 )
VH =
Qt
Q
lt St
c S
M cg = lt Lt = lt CL t Qt St
t
Cmcg = VH CL
Cm =
d lt
d u0
Cm
2u Cm
d lt
= 0
= 2VH CL
t d c
( c / 2u0 )
c
1.1CZ ; 1.1Cm
28
C yp , Cnp , Clp
py
u0
dL = Lift y
CL
CL
pb
2u0
CY
( rb / 2u0 )
N = CL v Qv Sv lv Cn Cnr
=
rlv
u0
29