Linearized Longitudinal

Equations of Motion

Fairchild-Republic A-10

Robert Stengel, Aircraft Flight Dynamics

MAE 331, 2010

6th-Order Longitudinal
Equations of Motion

6th-order -> 4th-order -> hybrid equations

Dynamic stability derivatives
Phugoid mode
Short-period mode

Symmetric aircraft
Motions in the vertical plane
Flat earth

Nonlinear Dynamic Equations

u! = X / m ! g sin " ! qw
w! = Z / m + g cos" + qu

x! I = ( cos" ) u + ( sin " ) w

z!I = ( ! sin " ) u + ( cos" ) w

q! = M / I yy
"! = q

State Vector, 6 components

!
#
#
#
#
#
#
#
#
"

!
x1 $
! u $ # Axial Velocity
&
&
#
x2 &
# Vertical Velocity
# w & #
x3 &
Range
# x & #
&=x
=
Lon6 = #
&
z
#
x4 &
Altitude()
& #
#
&
Pitch Rate
# q & #
x5 &
# ' & #
&
%
"
Pitch Angle
x6
"
%

Copyright 2010 by Robert Stengel. All rights reserved. For educational use only.
http://www.princeton.edu/~stengel/MAE331.html
http://www.princeton.edu/~stengel/FlightDynamics.html

4th-Order Longitudinal
Equations of Motion
Nonlinear Dynamic Equations,
neglecting range and altitude

u! = f1 = X / m ! g sin " ! qw
w! = f2 = Z / m + g cos" + qu
q! = f3 = M / I yy
"! = f4 = q

Caproni-Campini N1

State Vector, 4 components

!
#
#
#
#
#
"

x1 $
! u $ ! Axial Velocity
&
& #
#
x2 &
w & # Vertical Velocity
#
=
=
x
=
Lon4
# q & #
Pitch Rate
x3 &
&
# ' & #
#
Pitch
Angle
x4 &
% "
"
%

$
&
&
&
&
&
%

Fourth-Order Hybrid
Equations of Motion

$
&
&
&
&
&
&
&
&
%

Transform Longitudinal
Velocity Components

Replace Cartesian body components of velocity by polar inertial components

Replace X and Z by T, D, and L
1
V! = f1 = $%T cos (! + i ) " D " mg sin # &'
m
1
#! = f2 =
$T sin (! + i ) + L " mg cos # &'
mV %
q! = f3 = M / I yy
(! = f4 = q

u! = f1 = X / m ! g sin " ! qw
w! = f2 = Z / m + g cos" + qu
q! = f3 = M / I yy

"! = f4 = q

!
#
#
#
#
#
"

x1 $ !
&
x2 & #
=#
x3 & #
& #
x4 & "
%

$ ! Axial Velocity
& # Vertical Velocity
&=#
& #
Pitch Rate
#
' &% # Pitch Angle
"
u
w
q

$
&
&
&
&
&
%

!
#
#
#
#
#
"

x1 $ !
& #
x2 & #
=
x3 & #
& #
x4 & #"
%

Velocity
V $ !
& #
' & # Flight Path Angle
=
Pitch Rate
q & #
& #
( &% #
Pitch Angle
"

$
&
&
&
&
&
%

Hybrid Longitudinal
Equations of Motion

! =" #$

Replace pitch angle by angle of attack

1
V! = f1 = $%T cos (! + i ) " D " mg sin # &'
m
1
#! = f2 =
$T sin (! + i ) + L " mg cos # &'
mV %
q! = f3 = M / I yy
(! = f = q
4

!
#
#
#
#
#
"

x1 $ !
& #
x2 & #
=
x3 & #
& #
x4 & #"
%

Velocity
V $ !
& #
' & # Flight Path Angle
=
Pitch Rate
q & #
& #
( &% #
Pitch Angle
"

1
V! = f1 = $%T cos (! + i ) " D " mg sin # &'
m
1
#! = f2 =
$T sin (! + i ) + L " mg cos # &'
mV %
q! = f3 = M / I yy

1
!! = f4 = (! " #! = q "
$T sin (! + i ) + L " mg cos # &'
mV %

$
&
&
&
&
&
%

!
#
#
#
#
#
"

x1 $ !
& #
x2 & #
=
x3 & #
& #
x4 & #"
%

Velocity
V $ !
& #
' & # Flight Path Angle
=#
Pitch Rate
q &
& #
( &% # Angle of Attack
"

i = Incidence angle of the thrust vector

with respect to the centerline

Why Transform Equations and

State Vector?
!
#
#
#
#
#
"

x1 $ !
& #
x2 & #
=
x3 & #
& #
x4 & #"
%

Velocity
V $ !
& #
' & # Flight Path Angle
=
Pitch Rate
q & #
& #
( &% # Angle of Attack
"

$
&
&
&
&
&
%

Phugoid (long-period) mode is primarily described by

velocity and flight path angle

Short-period mode is primarily described by

pitch rate and angle of attack

Why Transform Equations and

State Vector?
Hybrid linearized equations allow the
two modes to be examined separately
Effects of phugoid perturbations on
phugoid motion

! F
Ph
FLon = # SP
# FPh
"
Effects of phugoid perturbations on
short-period motion

Effects of short-period perturbations on

phugoid motion

Ph $
! FPh
FSP
&=#
FSP & #" small
%

small $ ! FPh
&'#
FSP & # 0
% "

Effects of short-period perturbations on

short-period motion

0 $
&
FSP &
%

$
&
&
&
&
&
%

Nominal Equations of Motion in

Equilibrium (Trimmed Condition)
x! N (t) = 0 = f[x N (t), u N (t), w N (t),t]

Linearized
Equations of Motion

T, D, and M contain x, u, and w effects

1
V!N = 0 = f1 = $%T cos (! N + i ) " D " mg sin # N &'
m
1
$T sin (! N + i ) + L " mg cos # N &'
mV %
M
q! N = 0 = f3 =
I yy

#! N = 0 = f2 =

!! N = 0 = f4 = q "

xTN = # VN
$

1
$T sin (! N + i ) + L " mg cos # N &'
mV %

!N

0 " N % = constant
&

Sensitivity Matrices for LTI Model

!!x Lon (t) = FLon !x Lon (t) + G Lon !u Lon (t) + L Lon !w Lon (t)
$
&
&
&
&
&
F=&
&
&
&
&
&%

! f1
!V
! f2
!V
! f3
!V
! f4
!V

! f1
!"
! f2
!"
! f3
!"
! f4
!"

! f1
!q
! f2
!q
! f3
!q
! f4
!q

! f1
!#
! f2
!#
! f3
!#
! f4
!#

'
)
)
)
)
)
)
)
)
)
)
)(

Velocity Dynamics
Nonlinear equation
(
$V 2
1
1%
$V 2
S " CD
S " mg sin # *
V! = f1 = [T cos ! " D " mg sin # ] = 'CT cos !
2
2
m
m&
)
Thrust incidence angle
neglected

#
%
%
%
%
G=%
%
%
%
%
%
$

! f1
!" E
! f2
!" E
! f3
!" E
! f4
!" E

! f1
!" T
! f2
!" T
! f3
!" T
! f4
!" T

! f1
!" F
! f2
!" F
! f3
!" F
! f4
!" F

&
(
(
(
(
(
(
(
(
(
(
'

First row of linearized dynamic equation

#
%
%
%
%
%
L=%
%
%
%
%
%
$

! f1
!Vwind
! f2
!Vwind
! f3
!Vwind
! f4
!Vwind

! f1 &
(
!" wind (
! f2 (
(
!" wind (
! f3 (
(
!" wind (
(
! f4 (
!" wind (
'

%" f
(
"f
"f
"f
!V! (t) = ' 1 !V (t) + 1 !# (t) + 1 !q(t) + 1 !$ (t) *
"#
"q
"$
& "V
)
"
f
"
f
"
f
%
(
+ ' 1 !+ E(t) + 1 !+ T (t) + 1 !+ F(t) *
"+ T
"+ F
& "+ E
)
% " f1
(
" f1
!Vwind +
!$ wind *
+'
"
V
"$
& wind
)
wind

Sensitivity of Velocity Dynamics

to State Perturbations

Sensitivity of Velocity Dynamics to

Control and Disturbance Perturbations

Coefficients in first row of F

(
! f1 1 %
$VN2
= ' CTV cos " N # C DV
S + CTN cos " N # C DN $VN S *
!V m &
2
)
! f1 #1
= [ mg cos + N ] = #g cos + N
!+
m

! f1 #1 %
$VN2 (
=
C
S
D
! q m '& q 2 *)

C DV
C D#
C Dq

Flight Path Angle Dynamics

Nonlinear equation
!! = f2 =

Coefficients in first rows of G and L

! f1 #1 %
$VN2 (
=
C
S
D
!" E m '& " E 2 *)
! f1
$V 2 (
1%
= 'CT"T cos + N N S *
!" T m &
2 )

" CT
"V
" CD
!
"V
" CD
!
"#
" CD
!
"q

CTV !

! f1 #1 %
$VN2 (
=
C
sin
"
+
C
S
T
N
D"
!" m '& N
2 *)

(
$V 2
1
1 %
$V 2
[T sin " + L # mg cos ! ] = mV 'CT sin " 2 S + CL 2 S # mg cos ! *
mV
&
)

! f1 #1 %
$VN2 (
=
C
S
D
!" F m '& " F 2 *)

C D! E
C D! F

Sensitivity of Flight Path Angle

Dynamics to State Perturbations
Coefficients in second row of F
'
! f2
#VN2
1 $
=
CTV sin " N + C LV
S + CTN sin " N + C LN #VN S )
&
!V mVN %
2
(
'
#VN2
1 $
CT sin " N + C LN
S * mg cos + N )
*
2
mVN2 &% N
(

Linearized equation

! f2
1
=
[ mg sin + N ] = g sin + N VN
!+
mVN

%# f
(
#f
#f
#f
!"! (t) = ' 2 !V (t) + 2 !" (t) + 2 !q(t) + 2 !$ (t) *
#"
#q
#$
& #V
)
#
f
#
f
#
f
%
(
+ ' 2 !+ E(t) + 2 !+ T (t) + 2 !+ F(t) *
#+ T
#+ F
& #+ E
)
% # f2
(
# f2
!Vwind +
!$ wind *
+'
#
V
#$
& wind
)
wind

# CT
#! T
# CD
"
#! E
# CD
"
#! F

CT!T "

! f1
!f
=" 1
!Vwind
!V
! f1
!f
=" 1
!# wind
!#

! f2
#V 2 '
1 $
=
C Lq N S )
&
! q mVN %
2 (
! f2
#VN2 '
1 $
=
CT cos " N + C L"
S
!" mVN &% N
2 )(

" CT
"V
" CL
C LV !
"V
" CL
C Lq !
"q
" CL
C L# !
"#
CTV !

Coefficients in second row of G and L in Supplemental Slide

Pitch Rate Dynamics

Nonlinear equation
q! = f3 =

2
M Cm !V 2 Sc
=
I yy
I yy

Coefficients in third row of F

Cm may include thrust as well
as aerodynamic effects

Linearized equation
%" f
(
"f
"f
"f
! = ' 3 !V (t) + 3 !# (t) + 3 !q(t) + 3 !$ (t) *
!q(t)
"
V
"#
"
q
"$
&
)
" f3
" f3
% " f3
(
!+ E(t) +
!+ T (t) +
!+ F(t) *
+'
"+ T
"+ F
& "+ E
)
% " f3
(
" f3
!Vwind +
!$ wind *
+'
"$ wind
& "Vwind
)

Angle of Attack Dynamics

Nonlinear equation
1
!! = f4 = "! # $! = q #
[T sin ! + L # mg cos $ ]
mV

Linearized equation
%# f
(
#f
#f
#f
!"! (t) = ' 4 !V (t) + 4 !$ (t) + 4 !q(t) + 4 !" (t) *
#$
#q
#"
& #V
)
# f4
# f4
% # f4
(
!+ E(t) +
!+ T (t) +
!+ F(t) *
+'
#+ T
#+ F
& #+ E
)
% # f4
(
# f4
!Vwind +
!" wind *
+'
#" wind
& #Vwind
)

Sensitivity of Pitch Rate

Dynamics to State Perturbations
&
! f3
"VN2
1 #
=
C
Sc + CmN "VN Sc (
mV
%
!V I yy $
2
'
! f3
=0
!)

! f3
"VN2 &
1 #
=
C
Sc (
m
! q I yy %$ q 2
'
&
! f3
"V
1 #
=
Cm*
Sc (
%
!* I yy $
2
'
2
N

" Cm
"V
" Cm
!
"q
" Cm
!
"#

CmV !
C mq
Cm#

Sensitivity of Angle of Attack

Dynamics to State Perturbations
Coefficients in fourth row of F
! f4
!V
! f4
!#
! f4
!q
! f4
!$

! f2
!V
!f
=" 2
!#
!f
= 1" 2
!q
!f
=" 2
!$
="

Dimensional Stability-Derivative
Notation

Longitudinal Stability
and Control Derivatives

Dimensional stability derivatives portray acceleration sensitivities to

state perturbations
Redefine force and moment symbols as acceleration symbols

Drag
! D;
mass (m)

Lift
! L;
mass

Moment
!M
moment of inertia (I yy )

)
! f1
%VN2
1&
" #DV = ( CTV cos $ N # C DV
S + CTN cos $ N # C DN %VN S +
!V
2
m'
*

Thrust and lift effects are

combined and
represented by one
symbol

! f2 L"
$VN2 (
1 %
# V =
CT cos " N + C L"
S
N
!"
2 *)
mVN '& N

! f3
1
# M" =
!"
I yy

Elements of the Stability Matrix

! f2 LV
" V ;
N
!V

! f2
g
=
sin # N ;
!# VN

! f3
" MV ;
!V
! f4
L
"# VV ;
N
!V

! f1
= #g cos $ N ;
!$

! f3
= 0;
!#

! f4
g
= # sin $ N ;
!$
VN

! f1
" #Dq ;
!q

! f3
" M q;
!q

! f2 L$
" V
N
!$

! f3
" M$
!$

! f4
L
" 1# q V ;
N
!q

%
$VN2 (
'Cm" 2 Sc *
&
)

Effects of phugoid
perturbations on phugoid
motion

! f1
" #D%
!%

! f 2 Lq
" V ;
N
!q

Longitudinal Stability Matrix

Stability derivatives portray acceleration sensitivities

to state perturbations
! f1
" #DV ;
!V

! f4
L
"# %V
N
!%

Thrust and drag effects

are combined and
represented by one
symbol

FLon

! F
Ph
= # SP
# FPh
"

Ph
SP

FSP

! 'DV
#
# LV
$ #
VN
&=#
& # MV
% #
# LV
# ' VN
"

Effects of short-period
perturbations on phugoid
motion

'g cos ( N

'Dq

'D)

g
sin ( N
VN

Lq

L)

'

VN

Mq

g
sin ( N
VN

Lq *
,+ 1 ' V /.
N

Effects of phugoid
perturbations on shortperiod motion

VN

M)
'

L)

VN

$
&
&
&
&
&
&
&
&
%

Effects of short-period
perturbations on short-period
motion

Primary Longitudinal
Stability Derivatives
&
"VN2
!1 #
CTV ! C DV
S + CTN ! C DN "VN S (
%
2
m$
'

DV !
LV

1
VN ! mV
N

Origins of Stability Effects

"
%
%
!VN2
!VN2
1 "
$C LV 2 S + C LN !VN S ' ( mV 2 $C LN 2 S ( mg '
#
&
&
N #

L!

"
!VN2 %
$Cmq 2 Sc '
#
&

Mq =

1
I yy

M! =

"VN2 &
1 #
Cm!
Sc (
%
2
I yy $
'

"VN2 &
1 #
VN ! mV % CTN + C L! 2 S (
'
N $

Assuming ! N ! " N ! 0

Velocity-Dependent
Derivative Definitions

Pitch-Moment Coefficient
Sensitivity to Angle of Attack

Air compressibility effects are a principal source of

velocity dependence
C DM !

" CD
" CD
"C
=
=a D
" M " (V / a )
"V

a = Speed of Sound
M = Mach number =

C DV

C DM > 0
C DM ! 0

C DM < 0

C LV
CmV

" CD # 1 &
!
= % ( CD
"V $ a ' M
" CL # 1 &
!
= % ( CL
"V $ a ' M
" Cm # 1 &
!
= % ( Cm
"V $ a ' M

V
a

For small angle of attack and no control deflection

M B = Cm q Sc ! Cmo + Cmq q + Cm" " q Sc

$ xcm # xcpnet '
Cm! " #C N!net hcm # hcpnet " #C L!net hcm # hcpnet = #C L!net &
)(
c
%

$ xcm # xcpwing '

$ xcm # xcpht '
$ lwing '
= #C L!wing &
) # C L!ht &%
)( = #C L!wing &% c )( # C L!ht
c
c
%
(

$ lht '
&% )(
c

= Cm!wing + Cm!ht
referenced to wing area, S, and m.a.c., c

Angle of Attack Distribution

Due to Pitch Rate

Pitch-Rate Derivative Definitions

(

M B = Cm q Sc ! Cmo + Cmq q + Cm" " q Sc

$
'
#C
! & Cmo + m q + Cm" " ) q Sc
%
(
#q

Pitch rate derivatives are often expressed in terms of a

normalized pitch rate

qc
2VN

q =

often tabulated

Cmq

! Cm
! Cm
" 2V %
=
=
= $ N ' C mq
# c &
qc
! q
!
2VN

used in pitch-rate equation

C mq =

Aircraft pitching at a constant rate, q rad/s, produces a normal

velocity distribution along x

!w = "q!x

! Cm " c %
=
Cm
! q $# 2VN '& q

Corresponding angle of attack distribution

!" =

Pitch acceleration sensitivity to pitch rate

Mq =

# c & # "VN2 &

# "V Sc 2 &
!M
= Cmq ( "VN2 2 ) Sc = Cmq %
Sc = Cmq % N
%
(
(
!q
4 ('
$
$ 2VN ' $ 2 '

Angle of attack perturbation at tail center of pressure

!" ht =

Incremental tail lift due to pitch rate, referenced to tail area, Sht

!Lht = !C Lht

ht

Lht

aircraft

= !C Lht

" #C Lht
"q

aircraft

lht = horizontal tail distance from c.m.

% lht (
% " C Lht (
='
*
& "$ ) aircraft '& VN *)

Differential pitch moment due to pitch rate

%l (1
!"M ht
1
= Cmqht #VN2 Sc = $C Lqht ' ht * #VN2 Sc
2
!q
& VN ) 2
,% ! C L (
% lht ( / % lht ( 1 2
ht
= $ .'
*
' * 1 ' * #VN Sc
.-& !+ ) aircraft & VN ) 10 & c ) 2

- " ( CL %
" qlht %
" Sht % *" ( C Lht %
ht
!) / = $
= ,$
'
'
'&
$# V '&
ht $
# S & ,# () & aircraft
()
#
/
N
aircraft
.
+

Lift coefficient sensitivity to pitch rate referenced to wing area

C Lqht !

1 2
"VN Sht
2

Incremental tail lift coefficient due to pitch rate, referenced to

wing area, S

( !C )

qlht
VN

Moment Coefficient
Sensitivity to Pitch Rate of
the Horizontal Tail

Horizontal Tail Lift

Due to Pitch Rate

!w #q!x
=
VN
VN

Coefficient derivative with respect to pitch rate

Cmqht = !

" C Lht $ lht ' $ lht '

" C Lht $ lht ' 2 $ c '
=
!
&
)
& )
"# %& VN )( % c (
"# % c ( %& VN ()

Coefficient derivative with respect to normalized pitch rate is insensitive to

velocity

Cmqht =

! Cmht
=
! q

! Cmht
! C Lht $ lht ' 2
= "2
& )
!# % c (
! qc 2V
N

Initial-Condition Responses
of Business Jet at Two Time
Scales

Comparison of Fourthand Second-Order

Dynamic Models

4 initial conditions

Second-Order Models of
Longitudinal Motion

Assume off-diagonal blocks of (4 x 4)

stability matrix are negligible

Approximate Phugoid Equation

# *DV
# !V! & %
!!x Ph = %
( ) % LV
%$ !"! '( %
VN
$

&
# *DV
(
%
+
T
+
!
(
% LV
VN
('
%$

$
&
&%

&
(
( !Vwind
('

Fourth
Order

Second
Order

Approximate Short-Period Equation

!!x SP

#
Mq
# !q! & %
=%
()% +
Lq .
%$ !"! (' % -, 1 * V 0/
N
$

M"
*

L"

VN

&
# M1E
( # !q & %
( + % *L1 E
(%
( %$ !" (' %
VN
$
'

&
# M"
(
%
1
E
+
!
(
% *L"
VN
('
%$

0 - 100 sec
Reveals Phugoid Mode

0 - 6 sec
Reveals Short-Period Mode

Comparison of Bizjet Fourth- and

Second-Order Model Responses

! FPh ~ 0
FLon = #
#" ~ 0 FSP

*g cos " N &

# T+ T
( # !V & %
g
( + % L+ T
%
(
sin " N ( %$ !" ('
VN
%$
VN
'

LTI 4th-order responses viewed over different periods of time

&
(
( !" wind
('

Full and approximate linear models

Phugoid Time Scale

Short-Period Time Scale

Approximate Phugoid Roots

Approximate Phugoid Equation (!N = 0)

# T+ T
*g & #
( !V & %
(+ L
%
0 ( %$ !" (' % + T V
%$
('
N

#
# !V! & % *DV
!!x Ph = %
( ) % LV
%$ !"! (' %
VN
$

&
(
( !+ T
('

Characteristic polynomial

sI ! FPh = det ( sI ! FPh ) " #(s) = s 2 + DV s + gLV / VN

= s 2 + 2$% n s + % n2

Natural frequency and

damping ratio

! n = gLV / VN
"=

DV
2 gLV / VN

Neglecting
compressibility effects
! n " 2 g V ; T = 2# / ! n
N
1
$"
2 ( L / D )N

Approximate Phugoid Response to

a 10% Thrust Increase

Effect of Airspeed and L/D on Approximate

Phugoid Natural Frequency, Period, and
Damping Ratio
! n " 2 g V " 13.87 / VN (m / s); Period, T = 2# / ! n " 0.45VN sec
N
1
Neglecting
$"
compressibility effects
2 ( L / D )N

Velocity
m/s
50
100
200
400

Natural
Frequency
rad/s
0.28
0.14
0.07
0.035

Damping
L/D Ratio

Period
sec
23
45
90
180

5
10
20
40

0.14
0.07
0.035
0.018

Approximate Short-Period Roots

Approximate Short-Period Equation (Lq = 0)

# Mq
# !q! & %
!!x SP = %
()%
%$ !"! (' % 1
$

M"
*

L"

VN

&
# M+E
( # !q & %
( % !" ( + % *L+ E
(
%
' %
VN
($
$
'

&
(
( !+ E
('

Characteristic polynomial
$L
'
$
L '
!(s) = s 2 + & " # M q ) s # & M " + M q " )
VN (
% VN
(
%
= s 2 + 2*+ n s + + n2

What is the steady-state response?

Natural frequency and damping ratio

$
L '
! n = " & M# + M q # ) ; * =
V (
%
N

$ L#
'
&% V " M q )(
N
$
L '
2 " & M# + M q # )
VN (
%

Approximate Short-Period
Response to a 0.1-Rad Pitch
Control Step Input
Pitch Rate, rad/s

Normal Load Factor Response to a

0.1-Rad Pitch Control Step Input

Angle of Attack, rad

Normal load factor at the center of mass

nz =

(
VN
V %L
L
( !"! # !q ) = N ' " !" + $ E !$ E *
g
g & VN
VN
)

Pilot focuses on normal load factor during rapid maneuvering

Normal Load Factor, g!s at c.m.
Aft Pitch Control

Next Time:
Lateral-Directional Dynamics

Grumman X-29

Normal Load Factor, g!s at c.m.

Forward Pitch Control

Supplemental
Material

Control and Disturbance Sensitivities in

Flight Path Angle, Pitch Rate, and Angle-ofAttack Dynamics
! f2
#VN2 '
1 $
=
CL
S
!" E mVN &% " E 2 )(
! f2
#V 2 '
1 $
=
CT sin * N N S )
!" T mVN &% "T
2 (
! f2
1
=
!" F mVN

$
#VN2 '
&C L" F 2 S )
%
(

! f3
1
=
!" E I yy

$
#VN2 '
&Cm" E 2 Sc )
%
(

! f3
1
=
!" T I yy

$
'
#V
&Cm"T 2 Sc )
%
(

! f3
1
=
!" F I yy

$
'
#V
&Cm" F 2 Sc )
%
(

2
N

2
N

! f3
!f
=" 3
!Vwind
!V
! f3
!f
=" 3
!# wind
!#

! f2
!f
=" 2
!Vwind
!V
! f2
!f
=" 2
!# wind
!#

Control- and DisturbanceEffect Matrices

Control-effect derivatives portray acceleration

sensitivities to control input perturbations

! f4
!f
=# 2
!" E
!" E
! f4
!f
=# 2
!" T
!" T
! f4
!f
=# 2
!" F
!" F

G Lon

! f4
!f
= 2
!Vwind !V
! f3
!f
= 2
!" wind !"

# !D" E
%
% L" E / VN
=%
M"E
%
% !L" E / VN
$

#VN2 '
"1 $
!
CT
S
m &% !T 2 )(

D! T
L! F

1
!
VN mV
N

M!E

1
=
I yy

$
#VN2 '
&C L! F 2 S )
%
(

$
#VN2 '
&Cm! E 2 Sc )
%
(

!D" F
L" F / VN

M "T

M"F

!L" T / VN

!L" F / VN

&
(
(
(
(
(
'

Disturbance-effect derivatives portray acceleration sensitivities

to disturbance input perturbations

L Lon

Primary Longitudinal
Control Derivatives

T" T
L" T / VN

# !DV
wind
%
% LVwind / VN
=%
M Vwind
%
% !L
Vwind / VN
%$

!D" wind
L" wind / VN
M " wind
!L" wind / VN

&
(
(
(
(
(
('

Horizontal Tail Lift Sensitivity

to Angle of Attack

(C )
L! ht

aircraft

( )

"V % "
)* %
"S %
= $ tail ' $ 1 (
+elas $ ht ' C L!ht
'
# S &
)! &
# VN & #

VTail = Airspeed at vertical tail;

scrubbing lowers VTail, propeller
slipstream increases VTail

" = Wing downwash angle at the tail

#elas = Aeroelastic correction factor

Wing Lift and Moment Coefficient

Sensitivity to Pitch Rate

Comparison of Bizjet Fourth- and

Second-Order Models and Eigenvalues

Straight-wing incompressible flow estimate (Etkin)

C Lqwing = !2C L"wing ( hcm ! 0.75 )
Cmqwing = !2C L"wing ( hcm ! 0.5 )

Fourth-Order Model
F=

-0.0185
0.0019
0
-0.0019

Straight-wing supersonic flow estimate (Etkin)

C Lqwing = !2C L"wing ( hcm ! 0.5 )

Cmqwing = !

2
3 M2 !1

Phugoid Approximation
F=

! 2C L"wing ( hcm ! 0.5 )

-0.0185
0.0019

-1.2794
1

2"
CL
3 #wing
"
=!
3AR

C Lqwing = !

Effects of Airspeed, Altitude, Mass, and Moment of

Inertia on Fighter Aircraft Short Period
Airspeed variation at constant altitude
Airspeed
m/s
91
152
213
274

Dynamic
Pressure
P
2540
7040
13790
22790

Angle of
Attack
deg
14.6
5.8
3.2
2.2

Natural
Frequency
rad/s
1.34
2.3
3.21
3.84

Mass variation at constant altitude

Period
sec
4.7
2.74
1.96
1.64

Damping
Ratio
0.3
0.31
0.3
0.3

Altitude variation with constant dynamic pressure

Airspeed
m/s
122
152
213
274

Altitude
m
2235
6095
11915
16260

Natural
Frequency
rad/s
2.36
2.3
2.24
2.18

Period
sec
2.67
2.74
2.8
2.88

Damping
Ratio
0.39
0.31
0.23
0.18

Mass
Variation
%
-50
0
50

Natural
Frequency
rad/s
2.4
2.3
2.26

Period
sec
2.62
2.74
2.78

Damping
Ratio
0.44
0.31
0.26

Moment of inertia variation at constant altitude

Moment of
Inertia
Variation
%
-50
0
50

-9.8067
0

Short-Period Approximation
F=

Triangular-wing estimate (Bryson, Nielsen)

Cmqwing

-9.8067
0
0
0
0 1.2709
0 -1.2794 -7.9856
0
1 -1.2709

Natural
Frequency
rad/s
3.25
2.3
1.87

Period
sec
1.94
2.74
3.35

Damping
Ratio
0.33
0.31
0.31

-7.9856
-1.2709

G=
0
0
-9.069
0
G=
4.6645
0
G=
-9.069
0

Eigenvalue
4.6645
0
0
0

-8.43e-03 + 1.24e-01j
-8.43e-03 - 1.24e-01j
-1.28e+00 + 2.83e+00j
-1.28e+00 - 2.83e+00j
Eigenvalue
-9.25e-03 + 1.36e-01j
-9.25e-03 - 1.36e-01j
Eigenvalue
-1.28e+00 + 2.83e+00j
-1.28e+00 - 2.83e+00j

Damping
6.78E-02
6.78E-02
4.11E-01
4.11E-01
Damping
6.78E-02
6.78E-02
Damping
4.11E-01
4.11E-01

Freq. (rad/s)
1.24E-01
1.24E-01
3.10E+00
3.10E+00
Freq. (rad/s)
1.37E-01
1.37E-01
Freq. (rad/s)
3.10E+00
3.10E+00

Approximations are very close to 4th-order values because natural

frequencies are widely separated